adhoc

completed
2026-09-23T21:27:17.077468+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
210.3 s
total steps
290
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe green pear is centered in the right wrist camera and sits just beyond the current fingertips; the blue bowl is farther ahead and slightly left. I am advancing the open right gripper a few centimetres over the pear before descending.
move_to
right_x0.3300right_y0.0000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6182, -0.3874, -0.017, -0.0261, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3761, -1.5521, 9.7573, 1.7851, -0.1294, 0.1685, -0.1197, -0.4444, -1.7983, 9.3333, 1.8926, -0.0904, 0.1099, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.0,"right_z":0.15,"right_gripper":1.0},"note":"The green pear is centered in the right wrist camera and sits just beyond the current fingertips; the blue bowl is farther ahead and slightly left. I am advancing the open right gripper a few centimetres over the pear before descending."})
tool
executing move_to over 3 steps (0.3s)
step 3
top_cam
camera top_cam step 3
left_cam
camera left_cam step 3
right_cam
camera right_cam step 3
assistant
agent noteAfter the advance, the pear is aligned on the jaw column and its base reaches the bottom edge, indicating it is now under the grasp point. I am descending to mid-height on the upright pear for a stable side grasp.
move_to
right_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]: [-0.0219, 0.8024, 0.6132, -0.3901, -0.0212, -0.0311, 0.9989, -0.017, 0.9966, 0.5503, -0.1616, -0.0166, -0.0299, 0.9994] state[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1798 left_yaw=0.0066 left_pitch=-0.0102 left_roll=0.0027 left_gripper=0.9989 right_x=0.3262 right_y=0.001 right_z=0.1413 right_yaw=0.0075 right_pitch=-0.0382 right_roll=-0.0025 right_gripper=0.9994 state[joint_eff]: [-0.0752, -0.9094, 7.0906, 1.8193, 0.0366, -0.0659, -0.0171, -0.294, -2.7419, 6.9538, 2.0342, -0.0073, 0.0317, -0.0757] camera 'top_cam' (step 3): [image omitted: streamed camera frame] camera 'left_cam' (step 3): [image omitted: streamed camera frame] camera 'right_cam' (step 3): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"After the advance, the pear is aligned on the jaw column and its base reaches the bottom edge, indicating it is now under the grasp point. I am descending to mid-height on the upright pear for a stable side grasp."})
tool
executing move_to over 7 steps (0.7s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe descended view shows the pear centered between both fingers, with the blue bowl clear to its left. I am closing the gripper around the pear.
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, 0.8043, 0.6132, -0.4015, -0.0212, -0.0311, 0.9989, -0.0162, 1.322, 0.2424, 0.437, -0.0238, -0.0376, 0.9994] state[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.1769 left_yaw=0.0066 left_pitch=-0.0236 left_roll=0.0031 left_gripper=0.9989 right_x=0.3212 right_y=0.0026 right_z=0.0325 right_yaw=0.0185 right_pitch=-0.0728 right_roll=-0.0034 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.3607, 7.2547, 1.8291, -0.0366, -0.0317, -0.0122, -0.2803, -3.9863, 5.5726, 1.9072, 0.0122, 0.0122, -0.022] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The descended view shows the pear centered between both fingers, with the blue bowl clear to its left. I am closing the gripper around the pear."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe gripper settled essentially fully closed, so the first pear grasp was empty; the wrist view now shows the pear several centimetres beyond the closed fingertips. I am reopening and lifting before correcting outward for a second attempt.
move_to
right_z0.1100right_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, 0.8043, 0.6132, -0.4088, -0.0216, -0.0311, 0.9989, -0.0162, 1.322, 0.2424, 0.4259, -0.0235, -0.0414, 0.0094] state[eef_state]: left_x=0.2927 left_y=0.001 left_z=0.1754 left_yaw=0.0069 left_pitch=-0.0308 left_roll=0.0035 left_gripper=0.9989 right_x=0.3195 right_y=0.0026 right_z=0.0303 right_yaw=0.0203 right_pitch=-0.0838 right_roll=-0.0063 right_gripper=0.0094 state[joint_eff]: [-0.0752, -1.2923, 7.0085, 1.7851, -0.0415, -0.0464, -0.0122, -0.253, -3.5077, 5.2444, 1.8242, -0.0464, -0.0073, 0.7106] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11,"right_gripper":1.0},"note":"The gripper settled essentially fully closed, so the first pear grasp was empty; the wrist view now shows the pear several centimetres beyond the closed fingertips. I am reopening and lifting before correcting outward for a second attempt."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteWith the gripper open and raised, the pear remains centered laterally but still has clear space below it in the wrist view, confirming it lies outward of the fingertips. I am advancing about 3.5 cm while staying above it.
move_to
right_x0.3500right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4168, -0.0212, -0.0334, 0.9989, -0.0162, 1.0393, 0.4427, -0.0814, -0.0242, -0.0528, 0.9986] state[eef_state]: left_x=0.2917 left_y=0.0009 left_z=0.1731 left_yaw=0.0079 left_pitch=-0.0415 left_roll=0.0017 left_gripper=0.9989 right_x=0.3149 right_y=0.0028 right_z=0.097 right_yaw=0.0272 right_pitch=-0.1083 right_roll=-0.0139 right_gripper=0.9986 state[joint_eff]: [-0.1983, -1.5111, 7.0085, 1.7753, -0.0269, -0.0073, -0.0073, -0.294, -3.2615, 9.2786, 1.6142, -0.022, 0.0952, -0.1392] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_z":0.1},"note":"With the gripper open and raised, the pear remains centered laterally but still has clear space below it in the wrist view, confirming it lies outward of the fingertips. I am advancing about 3.5 cm while staying above it."})
tool
executing move_to over 3 steps (0.3s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe outward correction moved the pear down to the fingertip row, while it remains centered between the jaws. I am descending the last few centimetres at this corrected radial position.
move_to
right_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]: [-0.0219, 0.8124, 0.6132, -0.4236, -0.0216, -0.0334, 0.9989, -0.0151, 1.2205, 0.5205, -0.0456, -0.0242, -0.0566, 0.9986] state[eef_state]: left_x=0.2911 left_y=0.001 left_z=0.1703 left_yaw=0.0082 left_pitch=-0.0537 left_roll=0.0023 left_gripper=0.9989 right_x=0.3368 right_y=0.0028 right_z=0.0808 right_yaw=0.0309 right_pitch=-0.1758 right_roll=-0.0137 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.7436, 7.1726, 1.7509, -0.0806, -0.0122, -0.0122, -0.1026, -4.2735, 8.4991, 1.9853, -0.0464, 0.0024, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"The outward correction moved the pear down to the fingertip row, while it remains centered between the jaws. I am descending the last few centimetres at this corrected radial position."})
tool
executing move_to over 3 steps (0.3s)
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 now fills the gap at the fingertip row and is centered for the corrected grasp. I am closing around it again.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0216, -0.0334, 0.9989, -0.0154, 1.356, 0.4129, 0.1619, -0.0246, -0.0635, 0.9986] state[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.1701 left_yaw=0.0082 left_pitch=-0.0544 left_roll=0.0023 left_gripper=0.9989 right_x=0.3315 right_y=0.0028 right_z=0.0334 right_yaw=0.035 right_pitch=-0.2113 right_roll=-0.0168 right_gripper=0.9986 state[joint_eff]: [-0.1299, -1.306, 6.9949, 1.6679, -0.0415, -0.022, -0.0122, -0.253, -4.7795, 5.5453, 1.8388, -0.0806, 0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_gripper":0.0},"note":"The pear now fills the gap at the fingertip row and is centered for the corrected grasp. I am closing around it again."})
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 second close was also empty, and the pear is visibly just beyond the closed jaw tips rather than between them; the radial correction was partly lost as the arm descended. I am reopening and moving to a higher, explicitly farther-out approach before remeasuring.
move_to
right_x0.3600right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0216, -0.0334, 0.9989, -0.0154, 1.356, 0.4129, 0.1524, -0.0235, -0.0681, 0.0096] state[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.1701 left_yaw=0.0082 left_pitch=-0.0544 left_roll=0.0023 left_gripper=0.9989 right_x=0.3298 right_y=0.0026 right_z=0.0317 right_yaw=0.0366 right_pitch=-0.2209 right_roll=-0.0204 right_gripper=0.0096 state[joint_eff]: [-0.0889, -1.0462, 7.0085, 1.7216, -0.0269, -0.0415, -0.0122, -0.1846, -4.4103, 5.7641, 1.6142, -0.0269, 0.0073, 0.7106] 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_x":0.36,"right_z":0.12,"right_gripper":1.0},"note":"The second close was also empty, and the pear is visibly just beyond the closed jaw tips rather than between them; the radial correction was partly lost as the arm descended. I am reopening and moving to a higher, explicitly farther-out approach before remeasuring."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteAt the farther approach, the pear is now genuinely framed between the open jaws in the wrist view rather than beyond their tips. I am descending only to about mid-body height while holding the farther radial target.
move_to
right_x0.3600right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0212, -0.0334, 0.9989, -0.0151, 1.2922, 0.7288, -0.2649, -0.0238, -0.0795, 0.9986] state[eef_state]: left_x=0.2909 left_y=0.0009 left_z=0.1701 left_yaw=0.0079 left_pitch=-0.0544 left_roll=0.0021 left_gripper=0.9989 right_x=0.3535 right_y=0.0025 right_z=0.1041 right_yaw=0.0442 right_pitch=-0.2588 right_roll=-0.0261 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.2103, 7.2, 1.7021, -0.022, -0.022, -0.0122, 0.0615, -5.8735, 9.0598, 1.4725, -0.0317, 0.0806, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_z":0.055},"note":"At the farther approach, the pear is now genuinely framed between the open jaws in the wrist view rather than beyond their tips. I am descending only to about mid-body height while holding the farther radial target."})
tool
executing move_to over 4 steps (0.4s)
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 noteAt grasp height the pear is fully between the fingers but sits slightly to the image-right of the jaw centerline, which could make it eject sideways. I am shifting the gripper about 1.5 cm to its right to center the pear before closing.
move_to
right_y-0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0216, -0.0338, 0.9989, -0.0154, 1.4261, 0.6102, -0.0463, -0.0238, -0.0872, 0.9986] state[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0084 left_pitch=-0.0548 left_roll=0.002 left_gripper=0.9989 right_x=0.3541 right_y=0.0023 right_z=0.0487 right_yaw=0.0487 right_pitch=-0.2928 right_roll=-0.0292 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.2376, 7.0222, 1.6972, -0.0513, -0.0708, -0.0122, -0.2667, -5.641, 5.9966, 1.79, -0.0464, 0.022, -0.0122] 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_y":-0.015},"note":"At grasp height the pear is fully between the fingers but sits slightly to the image-right of the jaw centerline, which could make it eject sideways. I am shifting the gripper about 1.5 cm to its right to center the pear before closing."})
tool
executing move_to over 2 steps (0.2s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe small lateral shift brought the pear onto the jaw centerline, though it briefly rolled against the nearby blue bowl. I am closing only to roughly pear width first to capture the rounded fruit without squeezing it out.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0216, -0.0338, 0.9989, -0.0669, 1.4261, 0.6102, -0.0544, -0.0547, -0.1223, 0.9986] state[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0084 left_pitch=-0.0548 left_roll=0.002 left_gripper=0.9989 right_x=0.3525 right_y=-0.0104 right_z=0.0476 right_yaw=0.0443 right_pitch=-0.2993 right_roll=-0.0277 right_gripper=0.9986 state[joint_eff]: [-0.0205, -1.1966, 6.9949, 1.7363, -0.022, -0.0708, -0.0122, -0.212, -5.1077, 6.2154, 1.5311, -0.0611, -0.0024, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.25},"note":"The small lateral shift brought the pear onto the jaw centerline, though it briefly rolled against the nearby blue bowl. I am closing only to roughly pear width first to capture the rounded fruit without squeezing it out."})
tool
executing move_to over 8 steps (0.8s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe gripper stopped at a nonzero opening around the pear, and both fingertips visibly contact its sides. I am lifting vertically to verify the pear is secured before transporting it.
move_to
right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0216, -0.0334, 0.9989, -0.0654, 1.4261, 0.6102, -0.0574, -0.0612, -0.1318, 0.2546] state[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0082 left_pitch=-0.0548 left_roll=0.0023 left_gripper=0.9989 right_x=0.352 right_y=-0.0086 right_z=0.0472 right_yaw=0.057 right_pitch=-0.3019 right_roll=-0.0286 right_gripper=0.2546 state[joint_eff]: [-0.1983, -1.3607, 6.9949, 1.7558, -0.0513, -0.0317, -0.0122, -0.4444, -5.3538, 5.9556, 1.4823, 0.0024, 0.0855, 0.1587] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.14},"note":"The gripper stopped at a nonzero opening around the pear, and both fingertips visibly contact its sides. I am lifting vertically to verify the pear is secured before transporting it."})
tool
executing move_to over 6 steps (0.6s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe pear rose with the gripper, confirming a secure grasp. The blue bowl is ahead and to the arm's left, so I am carrying the pear high over its center.
move_to
right_x0.4000right_y0.1100right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0216, -0.0334, 0.9989, -0.0654, 1.2999, 0.8665, -0.469, -0.0612, -0.1432, 0.2536] state[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0082 left_pitch=-0.0548 left_roll=0.0023 left_gripper=0.9989 right_x=0.3498 right_y=-0.0085 right_z=0.1247 right_yaw=0.0647 right_pitch=-0.3309 right_roll=-0.0324 right_gripper=0.2536 state[joint_eff]: [-0.3624, -0.9778, 7.0359, 1.663, -0.0464, -0.0317, -0.0122, -0.2667, -6.0513, 8.6222, 1.4579, -0.0855, 0.0415, -0.1197] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.11,"right_z":0.18},"note":"The pear rose with the gripper, confirming a secure grasp. The blue bowl is ahead and to the arm's left, so I am carrying the pear high over its center."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe wrist view shows the pear resting on the table just to the right of the blue bowl, so the prior contact moved it but did not retain it despite the partial gripper reading. I am reopening and repositioning over the pear from above; it is close enough to the bowl for a short controlled placement.
move_to
right_x0.3800right_y0.0500right_z0.1300right_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, 0.8143, 0.6132, -0.4313, -0.0216, -0.0334, 0.9989, 0.3412, 1.5497, 1.2774, -0.6861, 0.168, 0.1471, 0.2535] state[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0082 left_pitch=-0.0632 left_roll=0.0026 left_gripper=0.9989 right_x=0.3922 right_y=0.1117 right_z=0.1681 right_yaw=0.0983 right_pitch=-0.37 right_roll=-0.0443 right_gripper=0.2535 state[joint_eff]: [-0.0342, -1.4701, 7.1043, 1.7314, -0.0415, -0.0269, -0.0122, -0.4581, -6.6393, 9.1829, 1.3993, 0.2369, 0.2515, -0.0269] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.05,"right_z":0.13,"right_gripper":1.0},"note":"The wrist view shows the pear resting on the table just to the right of the blue bowl, so the prior contact moved it but did not retain it despite the partial gripper reading. I am reopening and repositioning over the pear from above; it is close enough to the bowl for a short controlled placement."})
tool
executing move_to over 8 steps (0.8s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe pear is now clearly visible beside the bowl, but remains about 4 cm to the image-right of the jaw column and slightly beyond the fingertip row. I am shifting farther right and a few centimetres outward while remaining above the fruit.
move_to
right_x0.4050right_y-0.0200right_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]: [-0.0219, 0.8143, 0.6132, -0.4313, -0.0216, -0.0338, 0.9989, 0.152, 1.4845, 1.0405, -0.5495, 0.0685, -0.0013, 0.9985] state[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0084 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9989 right_x=0.3756 right_y=0.0489 right_z=0.1177 right_yaw=0.0834 right_pitch=-0.4218 right_roll=-0.0534 right_gripper=0.9985 state[joint_eff]: [-0.1573, -1.347, 6.9949, 1.7167, -0.0562, -0.0366, -0.0122, -0.1709, -8.7043, 6.8991, 1.5556, -0.105, -0.0464, -0.0806] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":-0.02,"right_z":0.11},"note":"The pear is now clearly visible beside the bowl, but remains about 4 cm to the image-right of the jaw column and slightly beyond the fingertip row. I am shifting farther right and a few centimetres outward while remaining above the fruit."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe pear is now centered on the jaw column and overlaps the fingertip row, with the bowl immediately to its left. I am descending to mid-body height while maintaining this corrected outward target.
move_to
right_x0.4050right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4313, -0.0216, -0.0338, 0.9989, -0.0765, 1.5871, 1.0828, -0.543, -0.0479, -0.1898, 0.9986] state[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0084 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9989 right_x=0.3908 right_y=-0.0179 right_z=0.0967 right_yaw=0.0776 right_pitch=-0.4771 right_roll=-0.0505 right_gripper=0.9986 state[joint_eff]: [-0.1983, -1.1829, 7.1453, 1.6874, -0.0708, -0.0513, -0.0122, -0.212, -6.8034, 9.347, 1.3504, -0.1636, 0.0708, -0.0024] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_z":0.05},"note":"The pear is now centered on the jaw column and overlaps the fingertip row, with the bowl immediately to its left. I am descending to mid-body height while maintaining this corrected outward target."})
tool
executing move_to over 4 steps (0.4s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteAt the lowered pose, the pear is squarely between both fingers and centered, unlike the earlier edge contact. I am closing to a conservative width matched to the pear so it is captured without being squeezed out.
move_to
right_gripper0.3000
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, 0.6128, -0.4423, -0.0216, -0.0338, 0.9989, -0.0738, 1.702, 1.0195, -0.3851, -0.0566, -0.2001, 0.9986] state[eef_state]: left_x=0.2886 left_y=0.0011 left_z=0.1646 left_yaw=0.0085 left_pitch=-0.0792 left_roll=0.0028 left_gripper=0.9989 right_x=0.4012 right_y=-0.016 right_z=0.05 right_yaw=0.0966 right_pitch=-0.4961 right_roll=-0.044 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.7573, 6.9949, 1.7998, -0.0513, -0.0757, -0.0122, -0.1026, -7.8291, 5.4769, 1.4725, 0.0317, 0.0757, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.3},"note":"At the lowered pose, the pear is squarely between both fingers and centered, unlike the earlier edge contact. I am closing to a conservative width matched to the pear so it is captured without being squeezed out."})
tool
executing move_to over 7 steps (0.7s)
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 gripper stopped around a 3.9 cm opening with both fingers visibly seated on the pear's sides, indicating a real centered grasp. I am lifting straight up to confirm it remains held.
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, 0.8192, 0.6128, -0.4458, -0.0216, -0.0338, 0.9989, -0.0738, 1.7008, 1.0199, -0.3695, -0.0662, -0.21, 0.4056] state[eef_state]: left_x=0.2881 left_y=0.0011 left_z=0.1639 left_yaw=0.0085 left_pitch=-0.083 left_roll=0.0029 left_gripper=0.9989 right_x=0.4048 right_y=-0.0146 right_z=0.0526 right_yaw=0.11 right_pitch=-0.478 right_roll=-0.0437 right_gripper=0.4056 state[joint_eff]: [-0.0479, -1.388, 7.2547, 1.6825, -0.0415, -0.0513, -0.0122, -0.2667, -7.9385, 6.2154, 1.0427, 0.0171, 0.0659, 0.6764] 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":0.16},"note":"The gripper stopped around a 3.9 cm opening with both fingers visibly seated on the pear's sides, indicating a real centered grasp. I am lifting straight up to confirm it remains held."})
tool
executing move_to over 7 steps (0.7s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe pear rose cleanly and remains clamped between the jaws. The blue bowl is a short distance left and slightly forward, so I am carrying the pear high over the bowl center.
move_to
right_x0.4200right_y0.0750right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.45, -0.0216, -0.0334, 0.9989, -0.0738, 1.6333, 1.3312, -0.794, -0.0689, -0.2218, 0.406] state[eef_state]: left_x=0.2875 left_y=0.0011 left_z=0.163 left_yaw=0.0083 left_pitch=-0.0872 left_roll=0.0033 left_gripper=0.9989 right_x=0.4008 right_y=-0.0139 right_z=0.1409 right_yaw=0.1246 right_pitch=-0.5228 right_roll=-0.0376 right_gripper=0.406 state[joint_eff]: [-0.1846, -1.3607, 7.1453, 1.6972, -0.0317, -0.0415, -0.0122, -0.0889, -9.5248, 8.7179, 1.1013, -0.0757, 0.0415, 0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.075,"right_z":0.17},"note":"The pear rose cleanly and remains clamped between the jaws. The blue bowl is a short distance left and slightly forward, so I am carrying the pear high over the bowl center."})
tool
executing move_to over 8 steps (0.8s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe pear remains secure but is pinched against the outside of the right finger, so it is offset to the right of the commanded grasp point; the bowl is visibly about 6 cm left of the fruit. I am shifting the arm left until the fruit itself—not just the wrist—is over the bowl.
move_to
right_y0.1450right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4503, -0.0216, -0.0338, 0.9989, 0.1936, 1.7294, 1.5269, -0.9249, 0.0372, -0.017, 0.406] state[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.163 left_yaw=0.0085 left_pitch=-0.0876 left_roll=0.003 left_gripper=0.9989 right_x=0.4122 right_y=0.0778 right_z=0.1595 right_yaw=0.1608 right_pitch=-0.5573 right_roll=-0.0389 right_gripper=0.406 state[joint_eff]: [-0.0479, -1.347, 7.1726, 1.6923, -0.0366, -0.0366, -0.0073, -0.5265, -8.2803, 9.0051, 1.1941, 0.105, 0.0952, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.145,"right_z":0.17},"note":"The pear remains secure but is pinched against the outside of the right finger, so it is offset to the right of the commanded grasp point; the bowl is visibly about 6 cm left of the fruit. I am shifting the arm left until the fruit itself—not just the wrist—is over the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe offset pear has moved closer but its center is still visibly to the right of the blue bowl by roughly one fruit width. I am continuing the leftward correction before lowering.
move_to
right_y0.2200right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4503, -0.0216, -0.0334, 0.9989, 0.3775, 1.8111, 1.6402, -1.0035, 0.1009, 0.1246, 0.406] state[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.163 left_yaw=0.0083 left_pitch=-0.0876 left_roll=0.0033 left_gripper=0.9989 right_x=0.4043 right_y=0.145 right_z=0.1593 right_yaw=0.1867 right_pitch=-0.5941 right_roll=-0.0444 right_gripper=0.406 state[joint_eff]: [-0.1846, -1.1966, 7.2684, 1.6777, -0.0366, -0.0464, -0.0122, -0.3624, -8.841, 8.7453, 1.0672, 0.1343, 0.2125, -0.0122] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.22,"right_z":0.17},"note":"The offset pear has moved closer but its center is still visibly to the right of the blue bowl by roughly one fruit width. I am continuing the leftward correction before lowering."})
tool
executing move_to over 7 steps (0.7s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteAfter the second left shift, the pear is occluded directly over the blue bowl rather than visible beside it, indicating the fruit itself is aligned above the bowl. I am lowering gently until it is inside the bowl.
move_to
right_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]: [-0.0219, 0.8192, 0.6128, -0.4507, -0.0216, -0.0338, 0.9989, 0.5545, 1.9621, 1.8645, -1.1236, 0.1532, 0.2604, 0.406] state[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.1629 left_yaw=0.0085 left_pitch=-0.088 left_roll=0.003 left_gripper=0.9989 right_x=0.3983 right_y=0.2192 right_z=0.1621 right_yaw=0.2142 right_pitch=-0.6228 right_roll=-0.0533 right_gripper=0.406 state[joint_eff]: [-0.0205, -1.1556, 6.9949, 1.6435, -0.0269, -0.0464, -0.0171, -0.0752, -9.7436, 8.8821, 0.9451, 0.2466, 0.0904, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"After the second left shift, the pear is occluded directly over the blue bowl rather than visible beside it, indicating the fruit itself is aligned above the bowl. I am lowering gently until it is inside the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteAt the lowered pose, the wrist view reveals the held fruit is the yellow fruit and it is positioned over the blue bowl's interior. I am opening the gripper 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, 0.8192, 0.6128, -0.4534, -0.0216, -0.0334, 0.9989, 0.5556, 1.9469, 1.6112, -0.9058, 0.1528, 0.2543, 0.406] state[eef_state]: left_x=0.287 left_y=0.0011 left_z=0.1624 left_yaw=0.0083 left_pitch=-0.0907 left_roll=0.0034 left_gripper=0.9989 right_x=0.3921 right_y=0.216 right_z=0.1021 right_yaw=0.2148 right_pitch=-0.6421 right_roll=-0.064 right_gripper=0.406 state[joint_eff]: [-0.0752, -1.1692, 6.9402, 1.7118, -0.0269, -0.0415, -0.0122, -0.0615, -11.3026, 6.3111, 1.1062, 0.1099, -0.0024, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"At the lowered pose, the wrist view reveals the held fruit is the yellow fruit and it is positioned over the blue bowl's interior. I am opening the gripper to release it into the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe yellow fruit landed on the table beside the bowl rather than inside it, but it is now centered cleanly between the open jaws. I am lowering at this exact position for a direct grasp.
move_to
right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4541, -0.0216, -0.0338, 0.9989, 0.5602, 1.9388, 1.5471, -0.8597, 0.157, 0.2474, 0.9955] state[eef_state]: left_x=0.2869 left_y=0.0011 left_z=0.1622 left_yaw=0.0085 left_pitch=-0.0914 left_roll=0.0032 left_gripper=0.9989 right_x=0.3864 right_y=0.214 right_z=0.0882 right_yaw=0.2173 right_pitch=-0.6504 right_roll=-0.0758 right_gripper=0.9955 state[joint_eff]: [-0.212, -1.347, 7.2, 1.6386, -0.0464, -0.0562, -0.0122, -0.2256, -12.3009, 6.4479, 1.0476, 0.1392, 0.0659, -0.1538] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.045},"note":"The yellow fruit landed on the table beside the bowl rather than inside it, but it is now centered cleanly between the open jaws. I am lowering at this exact position for a direct grasp."})
tool
executing move_to over 3 steps (0.3s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe yellow fruit now fills the gap symmetrically at grasp height. I am closing to a moderate width to hold it securely.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.466, -0.0216, -0.0334, 0.9989, 0.5667, 1.9377, 1.3617, -0.6491, 0.1608, 0.244, 0.9965] state[eef_state]: left_x=0.285 left_y=0.0011 left_z=0.1599 left_yaw=0.0083 left_pitch=-0.1032 left_roll=0.0038 left_gripper=0.9989 right_x=0.3808 right_y=0.213 right_z=0.0455 right_yaw=0.2289 right_pitch=-0.6246 right_roll=-0.0706 right_gripper=0.9965 state[joint_eff]: [-0.0479, -1.3197, 6.9538, 1.7509, -0.0366, -0.0317, -0.0122, -0.0205, -9.2513, 5.9282, 1.1893, 0.1832, 0.0073, 0.0806] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.25},"note":"The yellow fruit now fills the gap symmetrically at grasp height. I am closing to a moderate width to hold it securely."})
tool
executing move_to over 8 steps (0.8s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
assistant
agent noteThe yellow fruit is now visibly captured between the two fingers. In the overhead view the blue bowl is about 7 cm to the arm's right and farther forward, so I am lifting and carrying directly above its center.
move_to
right_x0.4600right_y0.1400right_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, 0.8192, 0.6128, -0.4686, -0.0216, -0.0334, 0.9989, 0.5667, 1.9388, 1.3338, -0.6273, 0.1604, 0.2432, 0.2546] state[eef_state]: left_x=0.2846 left_y=0.0012 left_z=0.1594 left_yaw=0.0083 left_pitch=-0.1059 left_roll=0.0039 left_gripper=0.9989 right_x=0.3774 right_y=0.211 right_z=0.0379 right_yaw=0.228 right_pitch=-0.6315 right_roll=-0.0735 right_gripper=0.2546 state[joint_eff]: [-0.0889, -1.347, 6.9402, 1.6874, -0.0415, -0.0171, -0.0122, 0.1709, -11.412, 5.6821, 1.0916, 0.1978, -0.022, -0.022] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.14,"right_z":0.15},"note":"The yellow fruit is now visibly captured between the two fingers. In the overhead view the blue bowl is about 7 cm to the arm's right and farther forward, so I am lifting and carrying directly above its center."})
tool
executing move_to over 8 steps (0.8s)
step 168
assistant
agent noteThe yellow fruit slipped during the lift because I stopped the close at a commanded width instead of applying full closure; it remains beside the bowl. I am returning to the known centered approach and will use a full close once aligned.
move_to
right_x0.3800right_y0.2100right_z0.1100right_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, 0.8192, 0.6128, -0.4732, -0.0216, -0.0338, 0.9989, 0.3233, 2.0083, 1.8587, -1.0195, 0.0811, 0.0086, 0.2536] state[eef_state]: left_x=0.2839 left_y=0.0012 left_z=0.1585 left_yaw=0.0086 left_pitch=-0.1105 left_roll=0.0037 left_gripper=0.9989 right_x=0.4578 right_y=0.1421 right_z=0.1476 right_yaw=0.2284 right_pitch=-0.5954 right_roll=-0.0771 right_gripper=0.2536 state[joint_eff]: [-0.1299, -0.7726, 7.1316, 1.7021, -0.0464, -0.0562, -0.0122, -0.4171, -9.8803, 8.0752, 0.823, 0.0562, 0.0269, -0.1197] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.21,"right_z":0.11,"right_gripper":1.0},"note":"The yellow fruit slipped during the lift because I stopped the close at a commanded width instead of applying full closure; it remains beside the bowl. I am returning to the known centered approach and will use a full close once aligned."})
tool
executing move_to over 8 steps (0.8s)
step 176
assistant
agent noteThe returned approach places the yellow fruit exactly on the jaw centerline, with the bowl immediately to its right. I am descending to mid-height without changing lateral alignment.
move_to
right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4755, -0.0216, -0.0338, 0.9989, 0.556, 1.8977, 1.5135, -0.8753, 0.1516, 0.189, 0.9957] state[eef_state]: left_x=0.2836 left_y=0.0012 left_z=0.1581 left_yaw=0.0086 left_pitch=-0.1128 left_roll=0.0038 left_gripper=0.9989 right_x=0.3768 right_y=0.2069 right_z=0.093 right_yaw=0.2561 right_pitch=-0.6625 right_roll=-0.0979 right_gripper=0.9957 state[joint_eff]: [-0.1026, -1.265, 7.0906, 1.7118, -0.0562, -0.0708, -0.0122, 0.212, -13.1077, 6.5573, 1.1795, 0.1685, 0.1636, -0.1294] 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":{"right_z":0.045},"note":"The returned approach places the yellow fruit exactly on the jaw centerline, with the bowl immediately to its right. I am descending to mid-height without changing lateral alignment."})
tool
executing move_to over 4 steps (0.4s)
step 180
assistant
agent noteAt grasp height the yellow fruit is centered symmetrically between both jaws. I am now commanding a full close so the fingers continue until they actually seat on the fruit.
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, 0.8192, 0.6128, -0.4763, -0.0216, -0.0334, 0.9989, 0.5667, 1.895, 1.2991, -0.68, 0.1635, 0.1982, 0.9965] state[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1135 left_roll=0.0041 left_gripper=0.9989 right_x=0.3607 right_y=0.1997 right_z=0.0407 right_yaw=0.2446 right_pitch=-0.6741 right_roll=-0.1142 right_gripper=0.9965 state[joint_eff]: [-0.1573, -1.3333, 6.9265, 1.6239, -0.0513, -0.022, -0.0122, -0.4308, -8.9641, 6.6256, 1.0965, 0.1538, -0.1148, 0.0708] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At grasp height the yellow fruit is centered symmetrically between both jaws. I am now commanding a full close so the fingers continue until they actually seat on the fruit."})
tool
executing move_to over 10 steps (1.0s)
step 190
assistant
agent noteThe smooth yellow fruit again squeezed out to the left and the gripper closed empty. Since it is immediately beside the bowl, I am placing the closed gripper just behind it to use a controlled diagonal sweep toward the bowl instead of another pinch.
move_to
right_x0.3400right_y0.2500right_z0.0500right_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, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.5724, 1.8664, 1.2053, -0.5774, 0.1944, 0.1917, 0.0206] state[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.3582 right_y=0.1945 right_z=0.0315 right_yaw=0.2332 right_pitch=-0.6297 right_roll=-0.1367 right_gripper=0.0206 state[joint_eff]: [-0.1026, -1.347, 7.1453, 1.6337, -0.0317, -0.0611, -0.0122, 0.0615, -10.4821, 6.1333, 0.9499, -0.1001, 0.0513, 0.823] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.25,"right_z":0.05,"right_gripper":0.0},"note":"The smooth yellow fruit again squeezed out to the left and the gripper closed empty. Since it is immediately beside the bowl, I am placing the closed gripper just behind it to use a controlled diagonal sweep toward the bowl instead of another pinch."})
tool
executing move_to over 5 steps (0.5s)
step 195
assistant
agent noteThe closed gripper is now on the near-left side of the yellow fruit, while the blue bowl lies diagonally forward-right. I am sweeping along that line at fruit height to roll it over the bowl rim.
move_to
right_x0.4400right_y0.1300right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.7238, 1.8874, 1.2881, -0.6384, 0.2352, 0.2955, 0.0249] state[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.3376 right_y=0.2482 right_z=0.0458 right_yaw=0.2781 right_pitch=-0.6065 right_roll=-0.1321 right_gripper=0.0249 state[joint_eff]: [-0.1983, -1.1282, 7.2274, 1.6044, -0.0611, -0.0513, -0.0122, -0.0479, -8.6769, 7.6239, 0.7009, 0.3492, 0.1001, 1.0281] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.13,"right_z":0.045},"note":"The closed gripper is now on the near-left side of the yellow fruit, while the blue bowl lies diagonally forward-right. I am sweeping along that line at fruit height to roll it over the bowl rim."})
tool
executing move_to over 10 steps (1.0s)
step 205
assistant
agent noteThe sweep missed behind the yellow fruit: overhead shows the gripper reached the bowl while the fruit remained nearer and left. I am moving to a clearly nearer-left position behind the fruit before one more sweep.
move_to
right_x0.2800right_y0.2800right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.3283, 1.9617, 1.3705, -0.6071, 0.1089, -0.062, 0.0249] state[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.4279 right_y=0.1293 right_z=0.0406 right_yaw=0.2492 right_pitch=-0.6268 right_roll=-0.1445 right_gripper=0.0249 state[joint_eff]: [-0.1983, -1.3333, 6.9402, 1.6484, -0.0415, -0.0269, -0.0122, -0.2803, -9.265, 7.9385, 1.0134, -0.1441, 0.0122, 1.0281] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.28,"right_z":0.045},"note":"The sweep missed behind the yellow fruit: overhead shows the gripper reached the bowl while the fruit remained nearer and left. I am moving to a clearly nearer-left position behind the fruit before one more sweep."})
tool
executing move_to over 13 steps (1.3s)
step 218
assistant
agent noteThe gripper is now visibly on the near-left side of the yellow fruit, and the bowl is ahead-right along the intended line. I am executing the corrected diagonal push through the bowl center.
move_to
right_x0.4400right_y0.1300right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0334, 0.9989, 0.8913, 1.8622, 1.2137, -0.6548, 0.2951, 0.4297, 0.0249] state[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1135 left_roll=0.0041 left_gripper=0.9989 right_x=0.2825 right_y=0.2737 right_z=0.0343 right_yaw=0.2819 right_pitch=-0.6232 right_roll=-0.1706 right_gripper=0.0249 state[joint_eff]: [-0.1573, -1.265, 6.9265, 1.6142, -0.0171, -0.0269, -0.0122, 0.253, -9.9897, 8.1846, 0.7057, 0.2271, 0.1392, 1.0281] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.13,"right_z":0.045},"note":"The gripper is now visibly on the near-left side of the yellow fruit, and the bowl is ahead-right along the intended line. I am executing the corrected diagonal push through the bowl center."})
tool
executing move_to over 13 steps (1.3s)
step 231
assistant
agent noteThe push rolled the yellow fruit away from the bowl into open space, where it is now easier to approach without rim interference. I am reopening and moving above its new isolated position for a clean top-down grasp.
move_to
right_x0.2500right_y0.2800right_z0.1200right_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, 0.8192, 0.6128, -0.4767, -0.0216, -0.0334, 0.9989, 0.3397, 1.9606, 1.3613, -0.5995, 0.1249, -0.0875, 0.0249] state[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1139 left_roll=0.0041 left_gripper=0.9989 right_x=0.4263 right_y=0.1311 right_z=0.0391 right_yaw=0.2608 right_pitch=-0.6283 right_roll=-0.1746 right_gripper=0.0249 state[joint_eff]: [-0.1983, -1.306, 6.9538, 1.6044, -0.0366, -0.0464, -0.0171, -0.212, -9.4701, 7.8427, 1.0672, -0.0611, 0.0464, 1.0281] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0.28,"right_z":0.12,"right_gripper":1.0},"note":"The push rolled the yellow fruit away from the bowl into open space, where it is now easier to approach without rim interference. I am reopening and moving above its new isolated position for a clean top-down grasp."})
tool
executing move_to over 14 steps (1.4s)
step 245
assistant
agent noteThe isolated yellow fruit is now directly between the open jaws, slightly left of the jaw centerline. I am making a small leftward centering correction while descending to grasp height.
move_to
right_y0.3050right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4881, -0.0216, -0.0334, 0.9989, 0.9691, 1.7485, 1.3632, -0.9405, 0.3161, 0.4721, 0.9966] state[eef_state]: left_x=0.2818 left_y=0.0012 left_z=0.1542 left_yaw=0.0084 left_pitch=-0.1311 left_roll=0.0047 left_gripper=0.9989 right_x=0.2539 right_y=0.2792 right_z=0.1046 right_yaw=0.3053 right_pitch=-0.6251 right_roll=-0.1878 right_gripper=0.9966 state[joint_eff]: [-0.1983, -1.6342, 6.9265, 1.7509, -0.0415, -0.0415, -0.0073, 0.212, -9.5932, 7.9385, 0.7155, 0.3004, 0.1929, 0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.305,"right_z":0.05},"note":"The isolated yellow fruit is now directly between the open jaws, slightly left of the jaw centerline. I am making a small leftward centering correction while descending to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 249
assistant
agent noteThe yellow fruit is now centered exactly between both fingers at mid-height in open space. I am fully closing on this centered 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, 0.8257, 0.6128, -0.4908, -0.0216, -0.0338, 0.9989, 1.0077, 1.8584, 1.2877, -0.8024, 0.3286, 0.5087, 0.9972] state[eef_state]: left_x=0.2814 left_y=0.0012 left_z=0.1535 left_yaw=0.0086 left_pitch=-0.1345 left_roll=0.0045 left_gripper=0.9989 right_x=0.248 right_y=0.2927 right_z=0.0508 right_yaw=0.2877 right_pitch=-0.6496 right_roll=-0.2206 right_gripper=0.9972 state[joint_eff]: [-0.1573, -1.4154, 6.9265, 1.6728, -0.0513, -0.0659, -0.0122, 0.5675, -9.6889, 5.9145, 0.8083, 0.2662, 0.022, 0.0464] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The yellow fruit is now centered exactly between both fingers at mid-height in open space. I am fully closing on this centered pose."})
tool
executing move_to over 10 steps (1.0s)
step 259
assistant
agent noteEven perfectly centered, the fruit squeezed sideways along its irregular seam, so the current jaw direction is unsuitable. I am lifting, reopening, and rotating the gripper 90 degrees to close across the fruit's other axis.
move_to
right_z0.1200right_yaw1.5700right_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, 0.8257, 0.6128, -0.4911, -0.0216, -0.0338, 0.9989, 1.0176, 1.8641, 1.2442, -0.7517, 0.345, 0.5087, 0.0088] state[eef_state]: left_x=0.2814 left_y=0.0012 left_z=0.1534 left_yaw=0.0086 left_pitch=-0.1349 left_roll=0.0045 left_gripper=0.9989 right_x=0.246 right_y=0.2914 right_z=0.0397 right_yaw=0.2861 right_pitch=-0.6378 right_roll=-0.2343 right_gripper=0.0088 state[joint_eff]: [-0.0068, -1.3744, 7.0632, 1.619, -0.0317, -0.0464, -0.0122, 0.1026, -11.5761, 5.4496, 0.7643, 0.3443, 0.0708, 0.6911] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12,"right_yaw":1.57,"right_gripper":1.0},"note":"Even perfectly centered, the fruit squeezed sideways along its irregular seam, so the current jaw direction is unsuitable. I am lifting, reopening, and rotating the gripper 90 degrees to close across the fruit's other axis."})
tool
executing move_to over 10 steps (1.0s)
step 269
assistant
agent noteWith the jaw axis rotated, the overhead view shows the yellow fruit directly nearer the base than the gripper by about 6 cm, with lateral alignment already good. I am moving inward over it while keeping the new jaw orientation.
move_to
right_x0.1900right_y0.2850right_z0.1100right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4915, -0.0216, -0.0338, 0.9989, 0.7795, 1.6386, 1.235, -0.7662, -0.1123, -0.7647, 0.9952] state[eef_state]: left_x=0.2813 left_y=0.0012 left_z=0.1533 left_yaw=0.0086 left_pitch=-0.1353 left_roll=0.0045 left_gripper=0.9989 right_x=0.2557 right_y=0.2856 right_z=0.1084 right_yaw=1.3809 right_pitch=-0.6173 right_roll=-0.2337 right_gripper=0.9952 state[joint_eff]: [-0.1026, -1.3744, 7.1179, 1.6239, -0.0366, -0.0659, -0.0122, -0.2256, -7.2137, 8.212, 0.7399, -0.3883, -0.0562, 0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.19,"right_y":0.285,"right_z":0.11,"right_yaw":1.57},"note":"With the jaw axis rotated, the overhead view shows the yellow fruit directly nearer the base than the gripper by about 6 cm, with lateral alignment already good. I am moving inward over it while keeping the new jaw orientation."})
tool
executing move_to over 6 steps (0.6s)
step 275
assistant
agent noteThe rotated wrist is now laterally centered over the fruit and the overhead view shows it under the gripper. I am descending to mid-height while preserving the 90-degree jaw orientation.
move_to
right_z0.0500right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8276, 0.6128, -0.4938, -0.0219, -0.0338, 0.9989, 0.8803, 1.504, 1.0912, -0.7609, -0.1436, -0.8299, 0.9963] state[eef_state]: left_x=0.281 left_y=0.0013 left_z=0.1524 left_yaw=0.009 left_pitch=-0.1395 left_roll=0.0049 left_gripper=0.9989 right_x=0.1978 right_y=0.2848 right_z=0.1064 right_yaw=1.5535 right_pitch=-0.6115 right_roll=-0.2334 right_gripper=0.9963 state[joint_eff]: [-0.1299, -0.9641, 6.8991, 1.6142, -0.0659, -0.0464, -0.0122, 0.5265, -7.5556, 5.9282, 1.0183, -0.1685, -0.0317, 0.1001] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.05,"right_yaw":1.57},"note":"The rotated wrist is now laterally centered over the fruit and the overhead view shows it under the gripper. I am descending to mid-height while preserving the 90-degree jaw orientation."})
tool
executing move_to over 4 steps (0.4s)
step 279
assistant
agent noteAt the rotated grasp height, the yellow fruit is centered between the jaws along its other axis. I am fully closing to test this more stable orientation.
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, 0.8284, 0.6128, -0.4942, -0.0216, -0.0338, 0.9989, 0.8711, 1.5578, 0.9226, -0.593, -0.1516, -0.8375, 0.9965] state[eef_state]: left_x=0.281 left_y=0.0012 left_z=0.1521 left_yaw=0.0087 left_pitch=-0.1406 left_roll=0.0047 left_gripper=0.9989 right_x=0.1903 right_y=0.2731 right_z=0.0486 right_yaw=1.5819 right_pitch=-0.6496 right_roll=-0.1867 right_gripper=0.9965 state[joint_eff]: [-0.0205, -1.3744, 6.9402, 1.5849, -0.0464, -0.0366, -0.0122, -0.1573, -6.3385, 6.6256, 1.1209, -0.1929, -0.0464, -0.0024] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the rotated grasp height, the yellow fruit is centered between the jaws along its other axis. I am fully closing to test this more stable orientation."})
tool
executing move_to over 10 steps (1.0s)
step 289
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, 0.8288, 0.6128, -0.4942, -0.0216, -0.0338, 0.9989, 0.8497, 1.5555, 0.886, -0.5362, -0.1745, -0.8482, 0.0087] state[eef_state]: left_x=0.281 left_y=0.0012 left_z=0.152 left_yaw=0.0087 left_pitch=-0.141 left_roll=0.0047 left_gripper=0.9989 right_x=0.1937 right_y=0.2723 right_z=0.0432 right_yaw=1.5765 right_pitch=-0.6196 right_roll=-0.1899 right_gripper=0.0087 state[joint_eff]: [-0.1846, -1.1692, 6.9265, 1.58, -0.0366, -0.0513, -0.0122, 0.0068, -8.212, 5.3949, 0.9206, -0.2271, 0.0366, 0.6911] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [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 · 8.732 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
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  "role": "system"
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{
  "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"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6182, -0.3874, -0.017, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.5521, 9.7573, 1.7851, -0.1294, 0.1685, -0.1197, -0.4444, -1.7983, 9.3333, 1.8926, -0.0904, 0.1099, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84067d37907adfe969452242f9cf4d4bde147ea0f03aaad218de89ba78a4eded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d973b7793af2177950cadf0328c99bcf4750f1bd2ad73b94102166fd1ff848c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae4cf8ddd01d06b65388201cdddefb958750f59b43968c953be8c7278540317",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 3.619 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
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  "encrypted_content": "gAAAAABqtERLBrKUzIUC6dC43Uf2P-U40IUPSxsh0GWDVs9hXM6EmApBKEtZwL2RwjB65eoMttIgJNc8WL7A1aM9M9d74qA4l5TfEIkACdfnAGeqZtUHKlqRQ9z463tmtdo7tFEOUji_cM1x3wn52X4v2TCdnOxnZKmrXttkU9esy2xVmvUUbLcA4d7pN5drstJvai0xxzcN1qugfJ-D04tUNtlU7JAzvrEq8SvK-0ESOJ70gWg_IbA_zn6NOorMmhY94qJhcP__kwuxTGELk6wcZ_HlHMNVcqX6jhEPFYRmLsrmJL-9hgVbk-9olF1lvvsnzucf8-MkctFXtYWHXLmK4yFw67Po87gPY5N-Tu_S8cqCgwC8_H25_1XalA9IP_qKE_2Bi2E77FLDFjsjNXi8SpbLiErf0BgFQvJV0_di4qYTNlIbQqLLwQMkYl66KPoSbrsZCP0K9VNvYoBp97LRJCyVUhZCiUPE0OLA2YvhD6jheFfSVPIvbrLGkgrx9HNWbtCTWqeeyQCT3_U3izxG7riap57LGPJeJd4GOaHK4GGvBLGnrsy2IEWkzeoPEeJVvTcfYeTD6acsVWZEVXRQVXJsibWBv89CWToavknM4FSPMZhHzTbCzE_5z4KOkE3jEx_Kaseop7qzph0yabuKpuliQpzMnpnW4QcVmrNWD0vJFt_TWpezoWnv_zfJWJtm7_p9IMRcC_xxLGr3fJxZi3LID0ebp5Gl5ImujXASyoLk9Mr9bWfDqGsfhMAfQfMMU-Zysvqvp0dB8AIL6xMmC0OhdYHbjhi3j5C2lnwcFSJKVJErvXmt62F9Df5t50hwFp8YnWQ0_1Gx9RH7jItyZa3Fo3W1adG38sB4xVxpxBUANiBpNksPXBdH26_E3IwLK6g9mHatlzHz3YATlMldz1gABd33pdV_XkbnQefWacdTQ91Yd8za8dBY60Ba3MKL-nRKpVvMrq2RmGs7rtbFbygM2IDhk4fJQSM8aburtdGsHsfA0KZkVHnAWdw98HRZe7phTa1QvtZ2J-UZAPI6025s8rl8weD9jCp0FD-RNuykqmeCmEUXVdOZVIIJzNq_6csusl0-wLko1GKV7Gvno02GNgQtmdsq4_VXx53x3NrWieVIBuWNzuPBlEZe6gEhCqZ1s78nOe8d_A1sb99OwmS8Kr6F8nvmnrdxln_jBpCT-XfQW-U10zcHmApvWngpeRAg7Mm_MSvDNBDcfT_Norukq_248KxZxges7LolDjcQ93Pd3Qc55rePhwA2YtalG_ObGb4JeLTmkWvhEISGRIuMkZUTgNchu6hVr2VYEgiHXtVayH1nf7TNi5WURvrtVjgnJCpxgn2_UQrx-8bR7SEvFhrYBBgilTrwhu_dprFj2bEeatwTV5QBelJj82Bti5lUfkaC8hxNiacS-oA03fENfvYEGBejlVl1YFkBmirlmuiUzz2toYI9fodn5b1O8-6_XpBl49_XGvpXNG49cEdCE-FLwcnlY-1cQgPeDvroErrNJhFF_-0che6jUeUoKwOGZVCwLLXNIDxpnvsYxIi3G3cm_tW4V4u35t6zBow5yv2nBoWKAkWWGbDDIWP_etF0kM_tE6RLxdtY6qMyURx4R8N5PDvfyqeDpOh_-Ew-GgYamp7K1Ef72BAR_9aaHg5VwvNiz_LSMYkU3ajeapLIW5XAs5IAqbylg2poGSk6zRvPLgM4YzwacVtlQ4bB-Cl4K1KUMB5UEj-D9qtHr9YILkJd6J-nWhJVFduUcI0bm5kUcxmsYmpxF7uIZRFC9wb_pnOm2v1ZxctZF1w06sy15oHfIC6C-vEvh5b3NuwtRQXX_p5iwkdyItjYQKG0IkqsdhxtkxYa3xcmTAGEM7W-sIdHgQ7RvrwyrrdlK13zfe9FcaCvx2zpYHUAkaEmVd1K2kMN",
  "id": "rs_0193e155ff9bdfe1016ab444495a4887d0a24e947ea8d0033d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.0,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The green pear is centered in the right wrist camera and sits just beyond the current fingertips; the blue bowl is farther ahead and slightly left. I am advancing the open right gripper a few centimetres over the pear before descending.\"}",
  "call_id": "call_2a8IAIkmEehpfl5Sf88p1JZ3",
  "id": "fc_0193e155ff9bdfe1016ab4444ae50087d0be53be1422a41057",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2a8IAIkmEehpfl5Sf88p1JZ3",
  "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, 0.8024, 0.6132, -0.3901, -0.0212, -0.0311, 0.9989, -0.017, 0.9966, 0.5503, -0.1616, -0.0166, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1798 left_yaw=0.0066 left_pitch=-0.0102 left_roll=0.0027 left_gripper=0.9989 right_x=0.3262 right_y=0.001 right_z=0.1413 right_yaw=0.0075 right_pitch=-0.0382 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -0.9094, 7.0906, 1.8193, 0.0366, -0.0659, -0.0171, -0.294, -2.7419, 6.9538, 2.0342, -0.0073, 0.0317, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879d66e33e4edc316e5b7d288a7fcfab30ca60bfb9d8cd4c41f0b18bd00c15bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b6d10ca4f39ce28a7d6994fcbb6f75a5fdc32c51d78a696905e8404fffb658",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4b781717d748046789d6fedc3215937f3d83a41f89c1c5b081e9374f0f1fddc",
      "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 · 1.716 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6182, -0.3874, -0.017, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.5521, 9.7573, 1.7851, -0.1294, 0.1685, -0.1197, -0.4444, -1.7983, 9.3333, 1.8926, -0.0904, 0.1099, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8024, 0.6132, -0.3901, -0.0212, -0.0311, 0.9989, -0.017, 0.9966, 0.5503, -0.1616, -0.0166, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1798 left_yaw=0.0066 left_pitch=-0.0102 left_roll=0.0027 left_gripper=0.9989 right_x=0.3262 right_y=0.001 right_z=0.1413 right_yaw=0.0075 right_pitch=-0.0382 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -0.9094, 7.0906, 1.8193, 0.0366, -0.0659, -0.0171, -0.294, -2.7419, 6.9538, 2.0342, -0.0073, 0.0317, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879d66e33e4edc316e5b7d288a7fcfab30ca60bfb9d8cd4c41f0b18bd00c15bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b6d10ca4f39ce28a7d6994fcbb6f75a5fdc32c51d78a696905e8404fffb658",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4b781717d748046789d6fedc3215937f3d83a41f89c1c5b081e9374f0f1fddc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERSqT8ENnKiyAnNgfkPOd1Gf_EJsXiqzoRm1L-3Q7h50CVxOz2u8RjTRWbmgWNTlpjn9xKjHYAqX3k5gw_FZpxHNxCRsRWT9bZrf6wpaAaZKskuDxkDxMycmAAEvIo9B_V9hev_WTxLwj_U5DSJza5qWvFg_DDR8iu4nM5FaB6m1O47K16QwSlaazo0iG7T0JqHYDKbvBN89IGLtloCt5oL-wcVXZsHKA3YpIKGTH3ONanmyJsKMN4afj7rg5T1UYuBa_nefBjCYcALgrhhRZxz_bM2JW45-XOPmeuDBJxJW1s5FE-QqCZ0sPQXsdvTYpATCoZUtXOMTdCmHwqz7MU3wvyJOp_6y5ptPw3LvDbpUuVtRMhYhJAuVaBePqkKA6dJr3o6ZUKwPhl77E3y6ZQ_4-o3MWk9zjMWrvPwetY_vME4sbcmXJ9qNbf3-gteclX91j7eDcR4xCG-v_k8pfhjvdhxL1f_lcLAeI1LIgImKSb4JJ-dBLtNoYZAQH4kZ1G2SoMJSpL9RRp7TX1ASPfQ0gGTBjML64lCu-eDEJFwVQTMl-5iMh4DJIk1qNRv2IFGPqZY3FDDOgNuM1OSs3OdglnecvpwpRU7emdyhDohUQAdM16j7KdoFUHq2XvnAcH1nmStjtWwTyIgUEo6YMJtUl-2VwqaPWbsNoIoq3i_6qj1XsPRzwvflajhgE9jhWZj-GDy1lNELl2RSn4sX235rGA21klQRdoJHr-46bHnlfUnZtN2DN5MbymyuF4f3gJ3C0mQd7QxTxzeRSKnYi2IIv5dAoNkGYIEeSA5r6ghjt11fk5a6RSZPCx8oJkPZwMEHxF1enlh6SKdt5lyGCi_4fB4zXjSoE0Ih-7MImL7sgs1q0S_L925IexMdqdfFUEclZRdqjxqH8ib7HgMBXsRlwVfeT4GCKRd1UMv1k-X5sv1Ml0vePs8H6GOGRqnESAqJVUszgNWdhi8ageQj0mncdPkd0j9k6DbYpi6-ZQARuo_aQ7QJ7TVIPmJ9_buLUONZi4mOyjez5mefAEkYPDoRY-zz6Y3YvgLAxLFehO12YjC8JFVU5z5UUK0ZF6fk7OeezFL7sRG-dmUz3qvkvDCkaG6Gtdqi-RiG_C7D958UZ-3pSGU6pDxjanYKKsvKdvWB8rJniTTPMn-icR5jb2c9zg7ZzUXe4-oN4hKEmiVFnNAxmEHeLDJuTtAxah9-DqzfMdwauFZ0h_zmsE5c8a_PZMHMvTNdEIevmeJXt01vNuVHV8PWWblAPX-XXwG_yhhdiua_FFGvr49VeCBGpAXnLUWP8bmShAKBiAnx7_f-7VuHI6c40V04JZBiOytJIYUrUOTg--LWCX-_F9Bbmqw9dWJd14p-R75s8A5f5q4jqD53X9WEbXiHuiEQiUDH8YffTRUS64OqrcM2dmg0JoXOA_1lWDpWEC2bETVDZEY5vH2z-6vlm0LzkhW4V0r8GIsdZNxxEFcpZZ5WtNHR7ewj_pWmVseT_L1NwJigsYWkuZ_uCywK-bmm04-KqLM0iYgTYU0abunpNPmiWsyJtDo7RdKAk11hpW6V3k0c8vU72xHZErMxWebkOoUMQ_H2teGgykNhqLn8rstdX3DrzwEQUMKMcW64zjkYSM5XtfoDH9mCaxb3SDpmSKO-0HsmdkyWF2y_B9X6h1FRmK0G4NhIJnmOCGnZMPeNYjOWDmMuouWDwF0ps_rV4bzEBs9W-6G",
  "id": "rs_0193e155ff9bdfe1016ab44450055c87d0930b6a988c331242",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"After the advance, the pear is aligned on the jaw column and its base reaches the bottom edge, indicating it is now under the grasp point. I am descending to mid-height on the upright pear for a stable side grasp.\"}",
  "call_id": "call_kzS1CKTWC9bM96157LdMA7g4",
  "id": "fc_0193e155ff9bdfe1016ab44450fe7487d0a8876793c3cf961e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kzS1CKTWC9bM96157LdMA7g4",
  "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, 0.8043, 0.6132, -0.4015, -0.0212, -0.0311, 0.9989, -0.0162, 1.322, 0.2424, 0.437, -0.0238, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.1769 left_yaw=0.0066 left_pitch=-0.0236 left_roll=0.0031 left_gripper=0.9989 right_x=0.3212 right_y=0.0026 right_z=0.0325 right_yaw=0.0185 right_pitch=-0.0728 right_roll=-0.0034 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3607, 7.2547, 1.8291, -0.0366, -0.0317, -0.0122, -0.2803, -3.9863, 5.5726, 1.9072, 0.0122, 0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ce3581079fcdf836e2f023b7a97e4607e9c4490cd66ac8b7c8f7a2c57218f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b970ee481e156133ce36b0bcb64109ec5fa534f70430390c021a2c753ae38c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40f64b1c2e970326aa5a02354e4968acb7f28f080d77c56913f81b3b51b8c81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.623 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, 0.8024, 0.6132, -0.3901, -0.0212, -0.0311, 0.9989, -0.017, 0.9966, 0.5503, -0.1616, -0.0166, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1798 left_yaw=0.0066 left_pitch=-0.0102 left_roll=0.0027 left_gripper=0.9989 right_x=0.3262 right_y=0.001 right_z=0.1413 right_yaw=0.0075 right_pitch=-0.0382 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -0.9094, 7.0906, 1.8193, 0.0366, -0.0659, -0.0171, -0.294, -2.7419, 6.9538, 2.0342, -0.0073, 0.0317, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.4015, -0.0212, -0.0311, 0.9989, -0.0162, 1.322, 0.2424, 0.437, -0.0238, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.1769 left_yaw=0.0066 left_pitch=-0.0236 left_roll=0.0031 left_gripper=0.9989 right_x=0.3212 right_y=0.0026 right_z=0.0325 right_yaw=0.0185 right_pitch=-0.0728 right_roll=-0.0034 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3607, 7.2547, 1.8291, -0.0366, -0.0317, -0.0122, -0.2803, -3.9863, 5.5726, 1.9072, 0.0122, 0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ce3581079fcdf836e2f023b7a97e4607e9c4490cd66ac8b7c8f7a2c57218f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b970ee481e156133ce36b0bcb64109ec5fa534f70430390c021a2c753ae38c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40f64b1c2e970326aa5a02354e4968acb7f28f080d77c56913f81b3b51b8c81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERa8XgGjI_hxorIznXECsv9LRbwMnfzgiDUxh7imTi2kuPPvABpd7OFBAon6q0gx5udyG3Pkv_zeQuG0KC7NidKiI9LzQRKNEXoojwNIbTGgZPCE77NpcfT2zkkMZ2tHCTIia8fASH_uaTnb_PTt1pjgyx89zv6rs7OhTIT0xFQv0kB_ivdJjXHYB6Vsz1ztc9G4YUqf9dffc0SgLm70FHNy4WE3jMwlWDZpoxu9lViypj1wO47XzF9Gzy8ir98SJa2DceSFUkkvf_-YpQSj7UUQDE_fqea_LLmfvPIDtZsnYZHrm6FA6yYsIXht4byCRLLiXti053b-CKSbzABvWHnVpBrwlGU5BU90QysDh3WIe1u9cvSRZXyVG6L6EjFF0KQ0JWanm1aEXwnuVZpF4WSG5bqXKN7zNM0WbGkjJyPDz-kuDtd87xjJMfxkFioKNgKBC_MlzSirAZpXSR91kFrJxMY4ap12k9hf2omF2oixn6ylInVI9JX8d9_10i3dQsZHEvq1UiWKsjPruCIFGioEAE8_l92Y3O_zM5_PIn0IjcFOJu__pzr7DdsQSsk_m8Cgw7nFUgTAi5uQgS_SYiuDW5ia3kuHtnPuRtS0A1-sMUcEJMwQ6bypi3kAcMXqefJa4_Vls9AO3uR7RcVMwQaL3azng2_YWavR1D4mIhUnv20B1jIJWdNPK0y4LkcwTq8dNCTH7RtofAmsd69ib4SJYZwXCltLjOOGN4cCcUeFU5G27tNbkaxS0ZScxWgASkaOqdhHmP3cWG5TckoOZXAlP3EM_XNNXhg7OEuDdFahrb1eGb02zpiRhZ8GYBhvIg81XGtZxijneR-Eyl9BY-iDC3M18mcj_o8Weyn80GfDGa2vr3D0lCL6xQmvMyHz_2yAneV13J7MIXYx8kC14yd9SXczUEdUVmUvRudfridyN5fad9tsoEIR91cXc-f7d8e-fPLXTpuT1NI6qOWOyXiqds094zTQ5gNbg0xiBtvzwg6SL0YO1TcU5iDoc0PaYgOIxOyGqIwq80PO0glJKsh8CLpfg8Sj7W4iuvFdQPJBqvi30EX1aCXqywMVZn-Py_t1FM3xwlrj-7UkNY68HSPbU5pMoOFJd8ZwmbMbKyMj8vBP70Mvqns0yPKh4YdXNzoLEehLn4ZrsJPmYpjDSCbnwN4R5IOCHsRUa-PljEZbODrsBJRe944AT8oSQsiWO1kZe_p7jWhphcHQAn8C6HFm-ap3yL6MMNmLcy0iLr-GQOZjtnTcRvnMv-6aIkdgO_Z",
  "id": "rs_0193e155ff9bdfe1016ab44459bc0487d086ae595ad5053128",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The descended view shows the pear centered between both fingers, with the blue bowl clear to its left. I am closing the gripper around the pear.\"}",
  "call_id": "call_ziZ9O9NzgmCCjLz4Bbqxl433",
  "id": "fc_0193e155ff9bdfe1016ab44459f6e887d0b538e70119477d87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ziZ9O9NzgmCCjLz4Bbqxl433",
  "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, -0.4088, -0.0216, -0.0311, 0.9989, -0.0162, 1.322, 0.2424, 0.4259, -0.0235, -0.0414, 0.0094]\nstate[eef_state]: left_x=0.2927 left_y=0.001 left_z=0.1754 left_yaw=0.0069 left_pitch=-0.0308 left_roll=0.0035 left_gripper=0.9989 right_x=0.3195 right_y=0.0026 right_z=0.0303 right_yaw=0.0203 right_pitch=-0.0838 right_roll=-0.0063 right_gripper=0.0094\nstate[joint_eff]: [-0.0752, -1.2923, 7.0085, 1.7851, -0.0415, -0.0464, -0.0122, -0.253, -3.5077, 5.2444, 1.8242, -0.0464, -0.0073, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d52e3b5385b443fbba1cb666da57dc28de754a7d876d809189c6fbe00c2c04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d01596c78b507b270ca2973ce109e0430cac6fa58bdca1b80b031c49e4ab3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a605a33f71c7fc0aaae6ee9f03487756871f7e879a2ff43ccbd95853df6b1185",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.097 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6182, -0.3874, -0.017, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.5521, 9.7573, 1.7851, -0.1294, 0.1685, -0.1197, -0.4444, -1.7983, 9.3333, 1.8926, -0.0904, 0.1099, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.4015, -0.0212, -0.0311, 0.9989, -0.0162, 1.322, 0.2424, 0.437, -0.0238, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.1769 left_yaw=0.0066 left_pitch=-0.0236 left_roll=0.0031 left_gripper=0.9989 right_x=0.3212 right_y=0.0026 right_z=0.0325 right_yaw=0.0185 right_pitch=-0.0728 right_roll=-0.0034 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3607, 7.2547, 1.8291, -0.0366, -0.0317, -0.0122, -0.2803, -3.9863, 5.5726, 1.9072, 0.0122, 0.0122, -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, 0.8043, 0.6132, -0.4088, -0.0216, -0.0311, 0.9989, -0.0162, 1.322, 0.2424, 0.4259, -0.0235, -0.0414, 0.0094]\nstate[eef_state]: left_x=0.2927 left_y=0.001 left_z=0.1754 left_yaw=0.0069 left_pitch=-0.0308 left_roll=0.0035 left_gripper=0.9989 right_x=0.3195 right_y=0.0026 right_z=0.0303 right_yaw=0.0203 right_pitch=-0.0838 right_roll=-0.0063 right_gripper=0.0094\nstate[joint_eff]: [-0.0752, -1.2923, 7.0085, 1.7851, -0.0415, -0.0464, -0.0122, -0.253, -3.5077, 5.2444, 1.8242, -0.0464, -0.0073, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d52e3b5385b443fbba1cb666da57dc28de754a7d876d809189c6fbe00c2c04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d01596c78b507b270ca2973ce109e0430cac6fa58bdca1b80b031c49e4ab3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a605a33f71c7fc0aaae6ee9f03487756871f7e879a2ff43ccbd95853df6b1185",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERf9__NnNXLbOFQWtFLtEFc7T-riQ9ykbjJvO44HMKRX8HmxVm-vYMVGHnq5K-6vfKPWa8m6aV_PaogeYP2SHlIYdW2vOGSUWswoXVh0-2oE56vUH89DADmMTGf9FU5wdMd1YJsTckcg2Ou4IIBVwaL7bZJm_v8a-TJJyqc0aXXCqRfGmjRpV64z0AODszieUTEmPI7tBVfjfdNIF3K5Z0pjxp6wasJ0SJbCnc7KtTR0UCVwdcLLefPLaA1fR4DiEccMbys_5LxDcL25t9fmSvjrNMLrv3_ESHroKvh5qwvPeLFQhELG0mh0OCc1_fc3wJ2t8TGoZq2o2a8rUhL72g0pY2wbT515MS8sm-Emx5oLPUSiRLWPdy0nwdiEmrg8tpXSxBHxaI9CSHGthXtO3qve1i6O5CGZQHpsVfc9NTVql2ZROESlntYk96x2LGdF0-GpXWgb7S2iBWenswm7oxG9VDulr4tSRX9UMBqW4eJoNdXOGbFSM1VreeETN_42VKyR5LnZ82foOVYqhq6WyH0HHO9j35YbYhMnHsnJNml2qH9V3Nus7kuKs1hUG4X5KoRivtfafSc6HvTCY7Oe8oH3Yq43e30neajqL1JQF_kQPvcN-alLF_yMGeLpzHVp1dimvX_ZnfUfvlVZHpzgsqPjQZEBVRE0IY68VS8vYOVJB7wajKf-mwCtxFvDwmWTCe0Zu1dbdV_bRm5Y2DvZBEb0k3XmgQcmK1ZKHqU5IOQuaIUcNs0CIe3jKAHKlHo5B2rQpyhJxQd1tTyStK01r4EcgReR2rmA5XJB1QR4o5v-dStM3pSGzGq0d-Qa8oVPNaLmgxGLRdnK9SNSFSqy-wOhPv2lzpfYSAEsgxONyMf11Of0Bz5k1Hn6GmXh_oeOQk43rMuf1HGt23STtZ18qcF6-pP3YTK_yxSlyjeRaM5rBhDrj27UqTRtQKjhQoTMmlMFunsvu_owhJwWaqB47aOTMT754yQerioqaIbQ81ZCoLQUjfkFm7cchSMu1zMrkA8knhTKRK9dugctjEGPbStmw0twbUxkRzFFtP7v3i4egztyrogZSWfPa_5kgiz9z5yZur51yoOKk6YplZ60zdj5IwzrqUPawgt4HuUZiqa2M200sR1KKTED9Uw4mfNdDyFR5Km-yfay__mNLlfikQhNfzD6RsVvfSxB83Rt4YcGy2fMOncEO7DdGuNMyzSosYnH6Qu1MIW-ggs0OMVBp7s1IL7JpVr7s0Fz7jQvL1dZI67KqEloG0Tl1y4uNuhv3a7Fr5AfxiEXaa9BfbWzErSp5uf1jroWAfbBfW2yTNNstTu_spOoskYbNYWsswYbiDFDOwVUYdCkeifKSvPbCLea0EjEnQtUacUZrUa3WFEPI7_jVG_ItId_7plzP3DvmiTP7F-MBlLlo6b0JXSYk8H4m7hS1EcZYuBfCRnbHiKwlVwdfePWVnsx14ZIWO3ziSpkonR5jTMiJVtrECTZ_e69N7Ir7AgPabBcFA77PuzripyVu5Qvtxa39jKa9H0DIXog1LC1b7EpZroGMZbQfB_0EfroHdbIQM2hYmryenY9mDuHFsH20ZsUzhsVXENIPe8hJKxOaSQKUTwP4exM8Pr0osUZ-Eqd4xV-Xs5lfyJD3X9S5zOb-HS1Us_hDvyPt_ex14lc3V4L5yq5O7kPmHXjkYJuWdndyru1YxtwN9Jj79E_xZ13FZehpFtwEROKXx5v-hFsOywv-LsX_1_ZoTNBuQjqQ05cSfCGOma2nIaZSuxCEmjxmPmetgEDqVJnm0GLHABfbtSeOfNW-ENUxVcHA1aIv8fxz-8TOZbdAFs-2esiRWTplocDC0aTJB3NDqsqkr-k5d1JQMwEJ2t6LIelne72gGq_DalNvJ-lHkFg-YCNkay-Sk_dXfckgQvm9vrtPDdED6kzINfaSNKQ-gzG-G0JSjBT8wNGNXABTvfjC6L8k5pdvE-7J6a6rpfQnPZoWZRY6TXfwdb_FzpFtMov0EO4eK4Hmt4aoHK-4YSbXXnArikeD4JZv7t5rHerRDrczPJ0WLq8vB3-sqEQuyOBcID9SCCq1cSBES2Ku5EEXv2cns4hn0_0XM9zwN7wfE_gYL0nAdUnmYg8uGpbzg_25u-NbE1CcC6hbA0oR0s7E_aLMROR55yxjDnQW4pGxPl9X4ioN0kJ4VgqB9YZrKSJ7IyiDlCSlv2_yAlLBfRMUSE_3XSteQA9FN8HTpMlMyig2Vgs5rFKo9RmZeeYr1npSeI50mMpjLJ9fQP6MJu3acQl2omLIAfooovEC9qX28SNJ0Md7hUQmF696C9tiFeEhnZ04iP1VTlzINjsVqDhJtrrQq1C4hvIBSFwLP3Uc9HczB7FuW9fmrXjUgvhNIrgwDQxBwZS7_bL-eRLfdoCefWHugcPMdp9JdngJJjtaXZ",
  "id": "rs_0193e155ff9bdfe1016ab4445ca36887d08bec4ab4bfb41b96",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11,\"right_gripper\":1.0},\"note\":\"The gripper settled essentially fully closed, so the first pear grasp was empty; the wrist view now shows the pear several centimetres beyond the closed fingertips. I am reopening and lifting before correcting outward for a second attempt.\"}",
  "call_id": "call_mYPZrny3gYoYyoHaFEhgsdKJ",
  "id": "fc_0193e155ff9bdfe1016ab4445f1b8087d0b74bfa7a7bfce918",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mYPZrny3gYoYyoHaFEhgsdKJ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4168, -0.0212, -0.0334, 0.9989, -0.0162, 1.0393, 0.4427, -0.0814, -0.0242, -0.0528, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0009 left_z=0.1731 left_yaw=0.0079 left_pitch=-0.0415 left_roll=0.0017 left_gripper=0.9989 right_x=0.3149 right_y=0.0028 right_z=0.097 right_yaw=0.0272 right_pitch=-0.1083 right_roll=-0.0139 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.5111, 7.0085, 1.7753, -0.0269, -0.0073, -0.0073, -0.294, -3.2615, 9.2786, 1.6142, -0.022, 0.0952, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:667d9809d688f50906188b137d2e6005c682e7d5aa46fc96a00cb34fddb8bf60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11806e3b4b7d6bd8dc2d6528496c777987f8550406aabe37e2f981773c95c82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f35d850aa71fd9b01e15bedd13f90d15d5a7beae57b8b93a9346df4b2eae84",
      "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 · 2.242 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, 0.8024, 0.6132, -0.3901, -0.0212, -0.0311, 0.9989, -0.017, 0.9966, 0.5503, -0.1616, -0.0166, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1798 left_yaw=0.0066 left_pitch=-0.0102 left_roll=0.0027 left_gripper=0.9989 right_x=0.3262 right_y=0.001 right_z=0.1413 right_yaw=0.0075 right_pitch=-0.0382 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -0.9094, 7.0906, 1.8193, 0.0366, -0.0659, -0.0171, -0.294, -2.7419, 6.9538, 2.0342, -0.0073, 0.0317, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.4088, -0.0216, -0.0311, 0.9989, -0.0162, 1.322, 0.2424, 0.4259, -0.0235, -0.0414, 0.0094]\nstate[eef_state]: left_x=0.2927 left_y=0.001 left_z=0.1754 left_yaw=0.0069 left_pitch=-0.0308 left_roll=0.0035 left_gripper=0.9989 right_x=0.3195 right_y=0.0026 right_z=0.0303 right_yaw=0.0203 right_pitch=-0.0838 right_roll=-0.0063 right_gripper=0.0094\nstate[joint_eff]: [-0.0752, -1.2923, 7.0085, 1.7851, -0.0415, -0.0464, -0.0122, -0.253, -3.5077, 5.2444, 1.8242, -0.0464, -0.0073, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4168, -0.0212, -0.0334, 0.9989, -0.0162, 1.0393, 0.4427, -0.0814, -0.0242, -0.0528, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0009 left_z=0.1731 left_yaw=0.0079 left_pitch=-0.0415 left_roll=0.0017 left_gripper=0.9989 right_x=0.3149 right_y=0.0028 right_z=0.097 right_yaw=0.0272 right_pitch=-0.1083 right_roll=-0.0139 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.5111, 7.0085, 1.7753, -0.0269, -0.0073, -0.0073, -0.294, -3.2615, 9.2786, 1.6142, -0.022, 0.0952, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:667d9809d688f50906188b137d2e6005c682e7d5aa46fc96a00cb34fddb8bf60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11806e3b4b7d6bd8dc2d6528496c777987f8550406aabe37e2f981773c95c82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f35d850aa71fd9b01e15bedd13f90d15d5a7beae57b8b93a9346df4b2eae84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERj8tRtD_m7XwoY_PEHhWhsZMVYzcYYmhP2cUFOS1SpQ9Ups-oGdOuc7oU3TptBKMGjzPxAA_QZC_un7Ao6CMlyKDq8JetspTb1WV1xx_Dwc4n7YOmtHk3FktV3XwElggOVQ1yN2Kq5QBYsmzf-1GF3q-LWN36f2hyd2x4kmeoUMdK-lUwMV4oKoUUyOtkCW5Ht2IH4QAWnIY6wQatlgEcZ9UdLau4ZF71IEQM280iPapPHXAHrEsS7q28rAkOPiVcRzcqRR-PNtKJngXP2ebdndQFB8wOXVKwNS3vE2HxeUkEa0x2_bJGhx2r6sq-_tX9G7ih6vzfeqx-3qys6WzxCeff7EtPp62P3-FnQL9HErGTzBzHzMhxmFGv-uq0FPQBwg32jplcVmbnp90tN10gosf8o5wkF6R8Unh4zY0gvmiqNUPTU3qVGGwjH0_UrdCFGx7JnvwCPapycb4pOMJL2pDa9nryx_HK0VDRCQQFwSkIWw7xXDSuO1KJ61bwcwTqBIP1HqjMg6ARiAtsO3u3aW-ZsW3iLAzUJ_LPBbswrRMy18TFr7Z4cRfp9Cxv-ti9fE83G_SVJTlTM-p2_F6Bd6Wk13kXNKnpZYTe5FrAKclkfqnlXXeiNRd7HoJ4mUWq4_BMxdAQKPOOdReMHPXJyS2lNWIPY3IMi5hQ-5UrWyau9uOtDfiY4LwXpRgiGB-YTQpEGeuBGLyt2W6ilPzn5Diiyr-QAXLklkJtiTAQJ3VWrHclIbj1xAf0_yICnmGO6wSY0Sox-ly5sBV4TWW_5FZVxhjZhpRjG6XpZ5Vem5t8QEBeZSSLdvWMJmNOE1UQK8__3_IwA26KmJudPA7oTepwjPRWG6X8XDUJPo7eE35W5SZHSw_vWvTTgy188KGaYQLsBBtGwVZtNNatXpLsIK7rMrvD5ZaSKpKDQHE6KASpW8uJ308VIbxD22U5QY-xu5xP-2Cd2CfVQx9iXn8IJNpUmx1CW5d37b0vPh7sGqlGO3GIVX7hLVzK2xunAlANBV-AJ4ci-YA7-lA5Q6XdnUw1wIhS2aNqY2y36_ArlLgdKS5se9Trhl47qTIYvDXIitPBSC0OVJanjGMlSF31IbWb3kTJ_MlOH51YCcdqos2kVkvVOrMmDwGCntejAsaMWJEUF5YIfM7Vl9PLddpf03fr7JRoTuor5eU6aM_IEZYos_NBLfoyAFVFXv-D0MX-nZEsLhOzns74UrYuSsAJVpoInbd6PTjJBGcxhEfZy0OKtbUgjT9QRNTxPHRpXkFNAxbZrPzNM_-tdk9XNmseUB8j-fCLa9kA16IHYwksvrzQ=",
  "id": "rs_0193e155ff9bdfe1016ab44462620087d08858d3a7581916d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_z\":0.1},\"note\":\"With the gripper open and raised, the pear remains centered laterally but still has clear space below it in the wrist view, confirming it lies outward of the fingertips. I am advancing about 3.5 cm while staying above it.\"}",
  "call_id": "call_w6wAtmVuvbX1wvbQatCpkM8J",
  "id": "fc_0193e155ff9bdfe1016ab44462b6cc87d08a603ed21fad561c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w6wAtmVuvbX1wvbQatCpkM8J",
  "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, 0.8124, 0.6132, -0.4236, -0.0216, -0.0334, 0.9989, -0.0151, 1.2205, 0.5205, -0.0456, -0.0242, -0.0566, 0.9986]\nstate[eef_state]: left_x=0.2911 left_y=0.001 left_z=0.1703 left_yaw=0.0082 left_pitch=-0.0537 left_roll=0.0023 left_gripper=0.9989 right_x=0.3368 right_y=0.0028 right_z=0.0808 right_yaw=0.0309 right_pitch=-0.1758 right_roll=-0.0137 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.7436, 7.1726, 1.7509, -0.0806, -0.0122, -0.0122, -0.1026, -4.2735, 8.4991, 1.9853, -0.0464, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd86fcf4d25eb4a2c87940effdddfb7bb2bb66274fea6db3bdfd2cc63cc04d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feffaef768afa695bb0afe9d6289a31c797b6541f97e092d1d1a85812bca314f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27f5fd2fb87f04189774bd8e7d853e11441faf9e7b595b5b38521d5236d5f98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.275 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, 0.8043, 0.6132, -0.4015, -0.0212, -0.0311, 0.9989, -0.0162, 1.322, 0.2424, 0.437, -0.0238, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.1769 left_yaw=0.0066 left_pitch=-0.0236 left_roll=0.0031 left_gripper=0.9989 right_x=0.3212 right_y=0.0026 right_z=0.0325 right_yaw=0.0185 right_pitch=-0.0728 right_roll=-0.0034 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3607, 7.2547, 1.8291, -0.0366, -0.0317, -0.0122, -0.2803, -3.9863, 5.5726, 1.9072, 0.0122, 0.0122, -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, 0.807, 0.6132, -0.4168, -0.0212, -0.0334, 0.9989, -0.0162, 1.0393, 0.4427, -0.0814, -0.0242, -0.0528, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0009 left_z=0.1731 left_yaw=0.0079 left_pitch=-0.0415 left_roll=0.0017 left_gripper=0.9989 right_x=0.3149 right_y=0.0028 right_z=0.097 right_yaw=0.0272 right_pitch=-0.1083 right_roll=-0.0139 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.5111, 7.0085, 1.7753, -0.0269, -0.0073, -0.0073, -0.294, -3.2615, 9.2786, 1.6142, -0.022, 0.0952, -0.1392]\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, 0.8124, 0.6132, -0.4236, -0.0216, -0.0334, 0.9989, -0.0151, 1.2205, 0.5205, -0.0456, -0.0242, -0.0566, 0.9986]\nstate[eef_state]: left_x=0.2911 left_y=0.001 left_z=0.1703 left_yaw=0.0082 left_pitch=-0.0537 left_roll=0.0023 left_gripper=0.9989 right_x=0.3368 right_y=0.0028 right_z=0.0808 right_yaw=0.0309 right_pitch=-0.1758 right_roll=-0.0137 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.7436, 7.1726, 1.7509, -0.0806, -0.0122, -0.0122, -0.1026, -4.2735, 8.4991, 1.9853, -0.0464, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd86fcf4d25eb4a2c87940effdddfb7bb2bb66274fea6db3bdfd2cc63cc04d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feffaef768afa695bb0afe9d6289a31c797b6541f97e092d1d1a85812bca314f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27f5fd2fb87f04189774bd8e7d853e11441faf9e7b595b5b38521d5236d5f98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERnKn3cMXQ1q2pQxe0h5C-KkJ6sSxR7dBcSSR2nPINEqPnGX2cnmc6bSTwWNdUx8Zrrv7hWSk7tU0YNhwv0y_2c4sa8KjmQHguD6rGeclnkNA5Km2_X4qf8bVu2cgVRUfOqzubffm2p9-MyfSIRF7tHRFcTIZfDfLqpEJ5oodsqvAETMx1URWUCeiipjKCn4eDmt16eUoA038F3J6szOEFhgEdSBGw7QwSjvoeFLTTaVKyP-JI4Xf_EuOHdXImp1qJ-6yxts5a3iaGrT8VpgH3KFXRSvwnQA3biySBWZzGtsiCXhi4bWWNMBNnkpzEMGZ3lObXyJtUggwORK-hGb6iw_MHHdrg-crYiFdT4yqv9bEB5f6622OIoQ4Pq4P-ct4Fhu0tcKOHG9Wm74Lqg5e0U_7NbVDZ-0-HB8ONaxeL8ff-hKBZi_Rlx4pzqwEtFPvv22pIEasYP24_GAbYvKJ2AeIfZOO7vafhUqSwB8U50MDsx0HP1nbBst0aiboNIgPH3FEjLLibKqHVDeabBkXcpopbWox2ctNaTDUMO45U2Kd_VkD0F82mQx2xY8bS8FniRoQf7eCsN7650nwzqRVKmhcqodFxEZkkopok3snuSrv2AThTGRpYbLdEE7yFjqhweJG3-GN5Un5584e7jO3yEPJuBoYG7vRyNWv4vppthK0F2W1V43plPHetHo9VIRoJg_z0KquzN749lJG8DYZ2dBktxEq43rdmIsBhNa0_mWvaCkFFuPwQqqxeyBIwJb5LpoMBDyNjWXkMftEUizsbHhVyscQHuTUHAcQa_HPlAlPLBYBmR6rXYsazT_XPIfR_2I0lrWDRJOZIPpLCoLy8Zo5ztKn8lXembcQ6ffTW3JQha4pOvopNB0ypKyBlbwDa9gyTVNi7mE4Z5IIX_k9VdF70aK8jABm9VLgf5q-F-k3hrE3np9xbGqCp52390uSTyeBflEDCx21mxT0xKAZND3cNTGQk-KrZLyKJv-TDAPngHjVov9iBfUCRHgnyE_n3jWSTtbwiqVazsn0U9Wbcc5hh62UjAqvSdfVcX1bHVL-VXN_CLVgVmLXOvo39GET9BGwfUZD6Ab2pylwbUZrCB9AOpvjNR4lM84gYxpoeGH5aZcFTH2TacIXNl5OViOVCN1hh94vYidWNAkYXUbLSnMcj50EhM_D2xaPCcMrVW-yCq5iGhJELlZHZu8zBecbwl5AKgRqDeOtOzzDhPWUrZGCjs53yioiGIBDfCSFti5DegPCPKegAkxGl8Z2n9SBS6_BpVRPYdD4S2DlI7UhBLzhu4fwN_sH1rxO1pmnX899lUCe0x9-JYZjivSv8NmmZYZqSJG0xX8Rr_5QdQopeqK_rKdp7dSx88IfzjQ-pkFw4=",
  "id": "rs_0193e155ff9bdfe1016ab44466a95c87d0b54429599b0dc91e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The outward correction moved the pear down to the fingertip row, while it remains centered between the jaws. I am descending the last few centimetres at this corrected radial position.\"}",
  "call_id": "call_TrLNG0sconkB3qzO74cKWSbA",
  "id": "fc_0193e155ff9bdfe1016ab444672ac087d0b95dda44b11b0334",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TrLNG0sconkB3qzO74cKWSbA",
  "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, 0.8124, 0.6132, -0.4244, -0.0216, -0.0334, 0.9989, -0.0154, 1.356, 0.4129, 0.1619, -0.0246, -0.0635, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.1701 left_yaw=0.0082 left_pitch=-0.0544 left_roll=0.0023 left_gripper=0.9989 right_x=0.3315 right_y=0.0028 right_z=0.0334 right_yaw=0.035 right_pitch=-0.2113 right_roll=-0.0168 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.306, 6.9949, 1.6679, -0.0415, -0.022, -0.0122, -0.253, -4.7795, 5.5453, 1.8388, -0.0806, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cdf672b2f0e59f0cfca35aac590a9ca3b880bb4b12de920106c6196b86d476b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa11a2e83a9b8e236828661374c35a8071b1c9262c684991efe1a82995bc60d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f56601f270f57d329801763b683ad5514098989bcba45dcb22c60b77a643923",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.613 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, 0.8043, 0.6132, -0.4088, -0.0216, -0.0311, 0.9989, -0.0162, 1.322, 0.2424, 0.4259, -0.0235, -0.0414, 0.0094]\nstate[eef_state]: left_x=0.2927 left_y=0.001 left_z=0.1754 left_yaw=0.0069 left_pitch=-0.0308 left_roll=0.0035 left_gripper=0.9989 right_x=0.3195 right_y=0.0026 right_z=0.0303 right_yaw=0.0203 right_pitch=-0.0838 right_roll=-0.0063 right_gripper=0.0094\nstate[joint_eff]: [-0.0752, -1.2923, 7.0085, 1.7851, -0.0415, -0.0464, -0.0122, -0.253, -3.5077, 5.2444, 1.8242, -0.0464, -0.0073, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4236, -0.0216, -0.0334, 0.9989, -0.0151, 1.2205, 0.5205, -0.0456, -0.0242, -0.0566, 0.9986]\nstate[eef_state]: left_x=0.2911 left_y=0.001 left_z=0.1703 left_yaw=0.0082 left_pitch=-0.0537 left_roll=0.0023 left_gripper=0.9989 right_x=0.3368 right_y=0.0028 right_z=0.0808 right_yaw=0.0309 right_pitch=-0.1758 right_roll=-0.0137 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.7436, 7.1726, 1.7509, -0.0806, -0.0122, -0.0122, -0.1026, -4.2735, 8.4991, 1.9853, -0.0464, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0216, -0.0334, 0.9989, -0.0154, 1.356, 0.4129, 0.1619, -0.0246, -0.0635, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.1701 left_yaw=0.0082 left_pitch=-0.0544 left_roll=0.0023 left_gripper=0.9989 right_x=0.3315 right_y=0.0028 right_z=0.0334 right_yaw=0.035 right_pitch=-0.2113 right_roll=-0.0168 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.306, 6.9949, 1.6679, -0.0415, -0.022, -0.0122, -0.253, -4.7795, 5.5453, 1.8388, -0.0806, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cdf672b2f0e59f0cfca35aac590a9ca3b880bb4b12de920106c6196b86d476b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa11a2e83a9b8e236828661374c35a8071b1c9262c684991efe1a82995bc60d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f56601f270f57d329801763b683ad5514098989bcba45dcb22c60b77a643923",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERsc-CXf5GDbzqWR4Ae0RO4pcu7dYH9nbKRqEjB1YUmoWOevne51kSAkhcYxlJLu4JdK1EN-BzQUBYSfe2HhwS2Nr55mfI5pLqMG3k4dHwAkhS_Nhc28VcJ_w--ifzeug81NyDpxpZwXnTzF0ahkfMllDpVYXIAg06gOPesaNKP7AHURJBSziU1s68M641a0vp7y-ETer1jGmVBY4qjVxotozjqjMjkjLI7VpbUaK4KpUsL8FvXG3zjMiIs8TbT896BLKeaiVGSf60EcXD2ipa9A9mOHkHFMnyhBEhR9-5cgcpECco6Ij2eSgdGxtMcF86sU2Vj3yNxIuMOsny-kRnB9AjIbt-ZAsq_gyBoqbv_DPs2lTPP92eTe926XfAaSb_wjZierZLHtJalI9T9s_Drq0TyWfKSy4BjlAVFMwsmQP1ejJ-q-RRrXS8YsOlRNFieQuyF3kvxy4d7IZSbE-Yl1Wmf97FVix_66j436dz6HGbK2G7_KZenPhxpOv093ZroAOm84kZFIYlQsy_fJhobBmJFtL1GNHop0FQ_NAIP2cDKBcRri3s9SAwf3P5mNgFvV-49OKeQVcaDeWCi1UulJtPsxm4qFlqzqdCNtDjonm53_QZB6alwLxe-VKHhk4ZE574174FGFktiekO3IWUWp91YOKUTk2mEuLIDyFG4iiIyCj1mz0tMUNTMLsSUyMhlKegeCH4ndJpVSJLQSn3URb67gZMDm4FOYdMkLzAdyoE30skhuCsFM2pzFFvaNrrnhxeIj4RSg3p5ziFyXRkvFq1gGd95G3lDho7rXD4CG4dgjOvWi6ZHlQEJPTrNMXL34gBucHrMC_OZ6HDkgJr_imjda2W76Lva9PjysEayJ-x40q1r7zHQTyG7b5lFCkEb52y8sEPJIShXwFMZCKYjLzNyR7yAqkLYVZNKYbklUi2FhNPrraVwLqOI7-UWetM-Ex1Ri6OB9QHF0J4Arhr3B-lT2fTdh54P3LQWpOR_oiYVyFjbTseukOneteLBP_f_z04eC-w8vH7lP-q99p5vtw-bQXcMUccYotXJgfHOGyggSLlG_oJ84pPEzSoRGCe_V4OFj80QIPrvN1VhODewRGqj2fXJhcsO3XC2_5Ioq-uIluBNgjzmGD-vwrdJ9wi1jqzSR270esgT7hxFWWjiseRbtzOVg1VvXRSbomiNTlKrk-ansYu4S84HH-bc5c6TYPZS-XziwhG2tLVEnwb68Nq4wLCFvFy14w5cRU3JEJk=",
  "id": "rs_0193e155ff9bdfe1016ab4446bdee487d0a08a4209619a10be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pear now fills the gap at the fingertip row and is centered for the corrected grasp. I am closing around it again.\"}",
  "call_id": "call_a81VMhWOAxFpcPP7inRwUkuQ",
  "id": "fc_0193e155ff9bdfe1016ab4446c06a887d09aadfb6acffc3931",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a81VMhWOAxFpcPP7inRwUkuQ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0216, -0.0334, 0.9989, -0.0154, 1.356, 0.4129, 0.1524, -0.0235, -0.0681, 0.0096]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.1701 left_yaw=0.0082 left_pitch=-0.0544 left_roll=0.0023 left_gripper=0.9989 right_x=0.3298 right_y=0.0026 right_z=0.0317 right_yaw=0.0366 right_pitch=-0.2209 right_roll=-0.0204 right_gripper=0.0096\nstate[joint_eff]: [-0.0889, -1.0462, 7.0085, 1.7216, -0.0269, -0.0415, -0.0122, -0.1846, -4.4103, 5.7641, 1.6142, -0.0269, 0.0073, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6adc0c8e3ba5eb0f7c219dcb82a594c1b88b06f1b84b131ab7a74e8b10853477",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b351e63bc51ac7c1a7e2bea1bb1fb7bde2710834ca91b93a61f9ab12438d3ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fe75c15f6b9f71b2f83cd1195724cca499c486b992a32715b67304a6687b09",
      "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 · 5.001 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, 0.807, 0.6132, -0.4168, -0.0212, -0.0334, 0.9989, -0.0162, 1.0393, 0.4427, -0.0814, -0.0242, -0.0528, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0009 left_z=0.1731 left_yaw=0.0079 left_pitch=-0.0415 left_roll=0.0017 left_gripper=0.9989 right_x=0.3149 right_y=0.0028 right_z=0.097 right_yaw=0.0272 right_pitch=-0.1083 right_roll=-0.0139 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.5111, 7.0085, 1.7753, -0.0269, -0.0073, -0.0073, -0.294, -3.2615, 9.2786, 1.6142, -0.022, 0.0952, -0.1392]\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, 0.8124, 0.6132, -0.4244, -0.0216, -0.0334, 0.9989, -0.0154, 1.356, 0.4129, 0.1619, -0.0246, -0.0635, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.1701 left_yaw=0.0082 left_pitch=-0.0544 left_roll=0.0023 left_gripper=0.9989 right_x=0.3315 right_y=0.0028 right_z=0.0334 right_yaw=0.035 right_pitch=-0.2113 right_roll=-0.0168 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.306, 6.9949, 1.6679, -0.0415, -0.022, -0.0122, -0.253, -4.7795, 5.5453, 1.8388, -0.0806, 0.0659, -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 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, 0.8124, 0.6132, -0.4244, -0.0216, -0.0334, 0.9989, -0.0154, 1.356, 0.4129, 0.1524, -0.0235, -0.0681, 0.0096]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.1701 left_yaw=0.0082 left_pitch=-0.0544 left_roll=0.0023 left_gripper=0.9989 right_x=0.3298 right_y=0.0026 right_z=0.0317 right_yaw=0.0366 right_pitch=-0.2209 right_roll=-0.0204 right_gripper=0.0096\nstate[joint_eff]: [-0.0889, -1.0462, 7.0085, 1.7216, -0.0269, -0.0415, -0.0122, -0.1846, -4.4103, 5.7641, 1.6142, -0.0269, 0.0073, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6adc0c8e3ba5eb0f7c219dcb82a594c1b88b06f1b84b131ab7a74e8b10853477",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b351e63bc51ac7c1a7e2bea1bb1fb7bde2710834ca91b93a61f9ab12438d3ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fe75c15f6b9f71b2f83cd1195724cca499c486b992a32715b67304a6687b09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERyClEjIwbjoDUXg_D-kOrGCbx_6tt7jL3WmW7XezCScNDbnXlvNMskdsNwA2zK9xwgWokv50gm6jTiO2MCeOEmRbX4v_p_yKDRjRY8OGYoTQCITyBSYr1V1LAbM_Icxf5dKGU20trrZRJrlGFUcFY_XV1x3FwOWkrsbwGcCmlJ3msS1QHq3s-Yo6e0JtZxIFZr2yIKI-CJEL-2PGH0jgjO2TCZG75zOrH3WwbAq3xm-xLjiF8YIINxuDZnJNHNPESeacmBPrIfmqM3EVxv0R5Yh1fvhtWAdqFuQ1C6QrJLeBtFyT9qseq_msnxDiRLPWC4TYbAFOXHPfjQRKwIBWEgUeJkqIEoXwTAZBx47tvPoCsd2jT579_fD0CGLXhGFu9SN2PAywhJooBdrytW4DmnZdQflhvwKU069lELxQ0kQS5TTjegulBdMIquxAR4VOMNV8M6XIC0lzEye3mGg8_wKpQ7wyLTEjlivOvkdtewmDCO6fyLgzY3Myw9liQyiWwrV8MJNVBFITB-Y1PqGeLb1PdcF1VE_5s0cZB1qR_sDX97Wi1u6WEBQB6GnRYQ9B73XSH5mChkPWMKHalk5rivVHEAGYmJKeypttJfJclL_wCnKrUh1hTO-5cant6Yu0Rc2gcWSKCU-1xrs7XtGBgA9tpfju_U3uK__LmZOusZytpD6JgVmTsSvWUGqi431llWzHaVhWQ7s2pmxNAQn4iR2TOn4BvgkcyxwqIKK1BBcdPGzzwYM1YoZs4CpyuB1-iqs7LwqvwvMxgfMNBPCSth7yY5PM5QRmrHMiFSnOZY71t8WGiKTFcOOoILVNjMRA5y5IbKn48Guyyb1oBV5M8S8r77RBptMobpLsb6fjw978wxBMwtm_fBzZf2N872Bas5VRvzZhT4VddT8gkC74IWG3gasRQ_fzV4XH2Ga6q5Y3QT3lLIOlaa029W_vSqJkwmLRp7hdPq2liYfwaJyhGOwq5JCWTQLRqpJ4xYa_fnraPNs4C3Wr9NSNSo-_g14VOmqpE7Gshf3HiRKd3Fs_L3IczI-Tn-30EdnY0J4cnvwQap3YpQvkeZwAYV-sOBcA7OfgnhuNt3KTr9cw_9UdAtfl1OzcRIMq9GQcohrfvD3iYcPFUzLFi2CqHEETxTpbICsL1oKPIqMODjt9khZCojiwMLxMrEMmrukl-rzwiJ3GaZwICMVJXsygyNDppeRoasPrGa1rkqR6Y-aYf9foSDlLZ-_okpeOyy3mrCRIdl0pV_pPSV1MBgV1or0Jx-Ft_uwxeSuDOP6ekMxGjzra86uSYWofdUiEH7eVqe-xSPdx-qalh67Ooo8dbzLGShwiGTFPkwSmEiWD2_0Fnh573bsMC3ZlXOMOG2r3OzolObZkdKn5bFcbb9qTErXbB3s71AWibFYScyVpSfJDTQ_XrXOFkpaUdMtwMgNWMCEpQHEcyAN61KS4KgGcsY6chRTdWsCOe9BYC7Z6NW4fD2HtDNGmlodSB_U9PiYf-8OPZWmQJazuq5Ywe-EBsW1EPpLgvrOn_qwe6dUnEgUwpwbwekmkE8PJO_I7aPpde703-vjCY6Af7OOwT2pHuEyFUTVL3ajtkB8ACe01Eboi7oAYBcXHKgWEPMnlULR-jIOhTpoNUs4TNJLBa5B-lQ02aHyl7dwNE2cIIJV9jgNJrVEygR__aLTwNngKuMCYWKJk8pNrti2qM619RNWyMJZ9UaWDYyGAerK6Sbpcv0AHf6f1Y5E6nPj4aipa1bZD2lvmKb4pqtv46zqEjFujb3ifNB-0bJBauIpY4Al-8OTUmITLuvR4ndF_9maglWb4i_s35f11b32MOnCQnx5sQtGVH2aR-s2CWLgOjvRvMHuhXTpWg9hh9hj8eqrSkS-2GsRrvE0idD6_5zDs-Igw1dlsOZCQ55Oz7GWaktb7HCB_LNQK5I5A_QQR4jdyM3fd9Mn5B7ushhqQ08k1Lf0v4HMFvKNIARGQ_zvKB9iV4HbJzGY1InI42bLg-J3PHWQ4uBRRQ9aNUtFcCBvYPH8j8987vAwUyiEnOwVMeSytZFAM8FXixeoDFR5opZhZjWis-HwVN2dnelSXyo_V3h704a3Eb1JlYsU8yDgrbLpDQAZ65k9gZOGhFLDWGwn0C6ra4vJVrTOIZ3lZFibdRZizhtKvUaRoZpTz3RVXHlveRObHX3M4_rA-UtAk_rYeT4nIipqdjAPf573JUB0D5ixgBs7d2DmZxJ",
  "id": "rs_0193e155ff9bdfe1016ab4446ee83887d09e8e0261e5dba800",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The second close was also empty, and the pear is visibly just beyond the closed jaw tips rather than between them; the radial correction was partly lost as the arm descended. I am reopening and moving to a higher, explicitly farther-out approach before remeasuring.\"}",
  "call_id": "call_nihxbq8sysnxiljctYYSSS6l",
  "id": "fc_0193e155ff9bdfe1016ab44471599887d091dadb0e61178319",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nihxbq8sysnxiljctYYSSS6l",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0212, -0.0334, 0.9989, -0.0151, 1.2922, 0.7288, -0.2649, -0.0238, -0.0795, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.0009 left_z=0.1701 left_yaw=0.0079 left_pitch=-0.0544 left_roll=0.0021 left_gripper=0.9989 right_x=0.3535 right_y=0.0025 right_z=0.1041 right_yaw=0.0442 right_pitch=-0.2588 right_roll=-0.0261 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2103, 7.2, 1.7021, -0.022, -0.022, -0.0122, 0.0615, -5.8735, 9.0598, 1.4725, -0.0317, 0.0806, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:083e22cbb6389852391b926441cc6642298f5d3c76e68573731ae972f7ecbdc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb24e79271292c8ab0ab7da2b3a296eb9ece5107a4305cc7d05cc0eb0c60ae64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc6c39b05c07afa9ebcfd5d4629a5de99ea0fe49afd1e6389d27ce9ec5f1fad9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.184 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4236, -0.0216, -0.0334, 0.9989, -0.0151, 1.2205, 0.5205, -0.0456, -0.0242, -0.0566, 0.9986]\nstate[eef_state]: left_x=0.2911 left_y=0.001 left_z=0.1703 left_yaw=0.0082 left_pitch=-0.0537 left_roll=0.0023 left_gripper=0.9989 right_x=0.3368 right_y=0.0028 right_z=0.0808 right_yaw=0.0309 right_pitch=-0.1758 right_roll=-0.0137 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.7436, 7.1726, 1.7509, -0.0806, -0.0122, -0.0122, -0.1026, -4.2735, 8.4991, 1.9853, -0.0464, 0.0024, -0.0122]",
      "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, 0.8124, 0.6132, -0.4244, -0.0216, -0.0334, 0.9989, -0.0154, 1.356, 0.4129, 0.1524, -0.0235, -0.0681, 0.0096]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.1701 left_yaw=0.0082 left_pitch=-0.0544 left_roll=0.0023 left_gripper=0.9989 right_x=0.3298 right_y=0.0026 right_z=0.0317 right_yaw=0.0366 right_pitch=-0.2209 right_roll=-0.0204 right_gripper=0.0096\nstate[joint_eff]: [-0.0889, -1.0462, 7.0085, 1.7216, -0.0269, -0.0415, -0.0122, -0.1846, -4.4103, 5.7641, 1.6142, -0.0269, 0.0073, 0.7106]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0212, -0.0334, 0.9989, -0.0151, 1.2922, 0.7288, -0.2649, -0.0238, -0.0795, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.0009 left_z=0.1701 left_yaw=0.0079 left_pitch=-0.0544 left_roll=0.0021 left_gripper=0.9989 right_x=0.3535 right_y=0.0025 right_z=0.1041 right_yaw=0.0442 right_pitch=-0.2588 right_roll=-0.0261 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2103, 7.2, 1.7021, -0.022, -0.022, -0.0122, 0.0615, -5.8735, 9.0598, 1.4725, -0.0317, 0.0806, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:083e22cbb6389852391b926441cc6642298f5d3c76e68573731ae972f7ecbdc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb24e79271292c8ab0ab7da2b3a296eb9ece5107a4305cc7d05cc0eb0c60ae64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc6c39b05c07afa9ebcfd5d4629a5de99ea0fe49afd1e6389d27ce9ec5f1fad9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtER4npuwVDk4oRhccB507l3MdHe_bJRGddb5pxBDA2UaicFDJmcNyPBeUL-IotPccAOsMgSdX_LHFux47jxNqOo8hdwzpbGXPcUwdfUk11pcfpCsOiFd0jvav4kGQTpIEUtZ9YG5Np8I-xmlNt4vS7n3u535voJ9jWWXsE8KypNiBb12syIl0GTIwfvnWR-MhCh700DKcaq37W4A8gG_iSch_KaHs667ES3ojYqNdjZTRDqn0wqCdXQ7y80S-08VrjDOUtYmcTzC19m_Uauf_8t0QZUy7q-vYtY3H5UxgjF5DUa-ZtDJxoLuvYk8R7vowrEctL0MAUxnciJRFjnEAedDv5W-8JVlGKgKTEq0EbMuABoaOr0ale5kijd31Gk4IffM7vnr-rv1QOX3ZgGz6j7mR7IGvFWgPqI-6UZREV_Z7LdnzBrFV4DfCfwPr72RWevCKRLTcC8AMAyQOP-p-scvoEAENb_SCWlvzj0_muOhk-KvfdPDrU4Aaag9k9r8QB9SX1XIlxjhTs1uOeoES8dYrGtmxjvRUAYbSWU2N8lFLwd6U3EFTY_GvX2w74l0BylUDJojC7oCSfuvRrGwvvifLNHDqyb5FwmvtUGSZOAdoSvwrjpJibvYXt7ed0zSVnf9DQ1E5_J3UPQdajho7Hbm4OTTP6XxFlTzOmbtfPtr9sAXLy3Onh2_VgFSq0HuBc_ajphucRsCn9fJ3VGljQj2P7JGxYy0t0T7yrCmlui6qs-z6tHs_be_e8I2zDORHx4OcVdwMXP-Q1Y5YL2epLBjqsqffBMa6eDNEc_YOJV_2P1WHzi5VWqI0LSJ5h6kCVrqn8dKUxST8GyFCK0uvejCwgI3i397Rj8P7pw2cL_m0KVuYAHbzH0DZq2nIO_uJBPvJwncciaU1LroqUWJLe-OlzG5vuXVMEq31rkaOUBFL6YEfvMkTHINcipCQtIus2AQLHO3DAusJZeMWJN_pSnw3OKaYNAXqdBbHIghKjpUDohXznow-G644r58zi6eoV2j9oRNdQcYSdR31DsIKN3NtZQph2d4RuxUTjgaDMKsbxDeAaHAQ-ccCZzzHZLfqogEH81dWBaNXFkio9QetjrJR9rs5nIWhNCgJ2OG-yKC97p51H4o3lRwLLqamrS3z5cHCojjenmRxdogdKvzGjnSHAyfw0E-oMqtC1ri8Hjo3y2H6xmjNa4NUrU7CAOhMXBaM60B8y-f7L3H1YnHOHGt_MyOR1BGHaEsdaruGUYMkf0hpcle2Yq4pGh_3US39twGKVWjew3o4hFvjB_8U8EJOWT9T_mlSVOkqa_mzSCJvV7F05xQRsN42WGQf7gkT79wkGVe4Ck7AQsNTk7-SCdAWYNsPTPf-oPc2tXo5ZKuXl5P77UolykOPbe_BM85qoYgy81baQogD0mCfDs9HChlRN0YgbroD1QFjSpq7InEcMNwqM-jXQ2J5PPiPuaGrbf03tgz9xK18GfprazkCBl4Ghmc9cG_tjp-cgNKxXa-8Kxz2C18759GDgfBvUnV_nmLD6t4ltm18vv6Lwqrdl1VuiXZQZ3DlunS3xi4bf2DIgZ2dnHsqzTwgzR40tZMUGPhx4aEV_nT7lYmVjpm7CSmUk0-Y1WvLHXNRU0Wt6e8fsLIL9Jp9XUwvmc9r3L98EobappbpjFPKilh5I7HLcbrYb--qrjWxv5R38wgQcJCjjW-6HnIYX0RfJWg63sIwerh60mjBP3AvYuqZKdoxiV4i98zzKxgSsFfEwSbghhyrNY=",
  "id": "rs_0193e155ff9bdfe1016ab4447673dc87d08e9d2c52f012cdcd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_z\":0.055},\"note\":\"At the farther approach, the pear is now genuinely framed between the open jaws in the wrist view rather than beyond their tips. I am descending only to about mid-body height while holding the farther radial target.\"}",
  "call_id": "call_a21wKQ3d6QwbgTEYHU2t3YyY",
  "id": "fc_0193e155ff9bdfe1016ab444782fa487d0bdfa5597f9c4aaab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a21wKQ3d6QwbgTEYHU2t3YyY",
  "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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0338, 0.9989, -0.0154, 1.4261, 0.6102, -0.0463, -0.0238, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0084 left_pitch=-0.0548 left_roll=0.002 left_gripper=0.9989 right_x=0.3541 right_y=0.0023 right_z=0.0487 right_yaw=0.0487 right_pitch=-0.2928 right_roll=-0.0292 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2376, 7.0222, 1.6972, -0.0513, -0.0708, -0.0122, -0.2667, -5.641, 5.9966, 1.79, -0.0464, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175c4117a3f4e0e2f3f0b6e80232a5f7e74ea91586bea3bb3cc9be5a56b72a53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f199a4acd3b48f83e5e526a28773357f0310bc48e55a81f26a2cc324d0954878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c61b362b2ecfe78b77a6e25d23c232faaeca3ebd54c87fcb69efd8b1054e42c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.954 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0216, -0.0334, 0.9989, -0.0154, 1.356, 0.4129, 0.1619, -0.0246, -0.0635, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.1701 left_yaw=0.0082 left_pitch=-0.0544 left_roll=0.0023 left_gripper=0.9989 right_x=0.3315 right_y=0.0028 right_z=0.0334 right_yaw=0.035 right_pitch=-0.2113 right_roll=-0.0168 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.306, 6.9949, 1.6679, -0.0415, -0.022, -0.0122, -0.253, -4.7795, 5.5453, 1.8388, -0.0806, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0212, -0.0334, 0.9989, -0.0151, 1.2922, 0.7288, -0.2649, -0.0238, -0.0795, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.0009 left_z=0.1701 left_yaw=0.0079 left_pitch=-0.0544 left_roll=0.0021 left_gripper=0.9989 right_x=0.3535 right_y=0.0025 right_z=0.1041 right_yaw=0.0442 right_pitch=-0.2588 right_roll=-0.0261 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2103, 7.2, 1.7021, -0.022, -0.022, -0.0122, 0.0615, -5.8735, 9.0598, 1.4725, -0.0317, 0.0806, -0.149]\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 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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0338, 0.9989, -0.0154, 1.4261, 0.6102, -0.0463, -0.0238, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0084 left_pitch=-0.0548 left_roll=0.002 left_gripper=0.9989 right_x=0.3541 right_y=0.0023 right_z=0.0487 right_yaw=0.0487 right_pitch=-0.2928 right_roll=-0.0292 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2376, 7.0222, 1.6972, -0.0513, -0.0708, -0.0122, -0.2667, -5.641, 5.9966, 1.79, -0.0464, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175c4117a3f4e0e2f3f0b6e80232a5f7e74ea91586bea3bb3cc9be5a56b72a53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f199a4acd3b48f83e5e526a28773357f0310bc48e55a81f26a2cc324d0954878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c61b362b2ecfe78b77a6e25d23c232faaeca3ebd54c87fcb69efd8b1054e42c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtER-vuLSchSm0Vb0Ev9w1YJ6XOl7Rr_QkssarEXDoKG9Z3DKdI6RZ9QypAxd6-ttCClCEnhOamg7rRZtOXefHsHCPGymojpZHOYfV_s4AbvL43l5xnFm4mEo7qRuwWHoe1Hc25RxjGC344uWnn24lootr1WJKguhQ8UGFwK79SiieyiZBEk-NC0dx-DwyfWDNXXBZ4UHaKl5juOOVMi8XOKBWY_sW2QfBj-Z6XruxGc_uloB-sKSk0E2T89tx1Q_pci5uNOx-e1vMB0Yi-dErurmZdZHePU99eyepBxS5c2z4OzKeKKBpoygg8BvQZ6TfukB-e4XFxdTyr2aIDkOaDCdiucPtFB2Vc1YTcT80-k__4iqE7UbIGao24zEcLBJOaW1dtr_XJwr176SPLbz7TrK1yCGMCUsoQelFfvhbAkbfbcAGDYopDJ_atkcMfszQwwQ78YXgqzhdFdcKhGtmQnzd3-fiWSIRf5LMZSYqy5RL8eHECloeY9Dh_auI18quqR_rQuJ8gWi2s6_zPsfEvikUff7WKRKG2VqYRucC1dNQ3qRfj9Ri_I1IOWZfckumgGK8T5Hu1WPrAB4e7z5Fd3YFD1J8tnezrhGfdP-BZJxoA4ALsRKor4mrE0MZMrSQCYmadfQGMuSYmGalXjADXxlSZmDQ43GdCXNu0yGyVDuL1kfbwlBLGBDsBsiTD0yv_6X8M7K5P9JKtZReN_wDvYK2aYuJUYuVT8tHfgl3_KYAS-Vy6FvjaAvuvNYx4Ik7LyxTIOmzL83UxdFKPaFBo2K6D_PU8fwcHsuxzniOTwYkwOF_2njw81kQEghw67WYsjBn-wOZ_rPlLGCNnn7sDzsUd0zW2Kafl3b3VCmQ1ZDV-lmjTNSmA8pfWljUwapiL02acuONY33IHZomg_C0QBcd7Q8a5G5LbZmu-Q0iNA_0iCzoY_nC1C0VmbLK9ctpmacikbjRTIZ0I93YKK_FU1BIDEBdiidnEIGVCpCdQExvvB4dzaDshQBkUMn4_uROA8CqyZh96hSOyXaksxf6ZVV5wsV8a_KPb2D9bn3q4hbLsSwOIDD1oGvwqRa22Rh5UKrt14AAH5fW3ruPXksmyDIEVdAEhHvOvdFgyuh5kqvpJe-KZ7JEZpmgqOUIHhfQE3-5D2hL-cZl58uaANqS0A_bRHVremG8Gq837xAKBsl1YCNDmg8Fjcdgfr4zv7OZJ-bRkjwDfL7XdSn7-lyxb5SfBHQUI0U5PcyuBDzKVJSF0hIIGEspsHVo-WteejDp191tN_Axg5XKIrV6LicUIYDM7RJMpDdcvWz0Fvhvlvy-4gjO2GetguZrmw95ejIABF6rI_MYPkR3K976gMjLoxznGVRqOzK_1ZL9kCZPmgzFAQtST7iWVt8GERSSTf0-uc4dDnEHuPzHa66ZdM6a8--iFBTs1N7g43Ql4KZmZf2K4i8Qo8HTpMMUx4QQk7zp8Ll-10rOA3OP1eGCksDY2XiKaxLoFsuH2rdiP9Erjsz3jEqsQCeW8t-EQKSSuPpN66dU6bb2ls9r5Qj_JhVAwhiBNCUOsi4Jpuj3ZQhGEgrVirIU550iPLCZvKnrDATdifiUGSXIKQ9WVJZYfbatcPFA_6nubKY0QhHyjc1YJL37j1jjlt-hE-WQHHICFDmWDmygd-BIX39LpfiiQfoRkjKKnyR4HbiFH0AljMgjTPWcrM=",
  "id": "rs_0193e155ff9bdfe1016ab4447c761887d097890ed30c58a1f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":-0.015},\"note\":\"At grasp height the pear is fully between the fingers but sits slightly to the image-right of the jaw centerline, which could make it eject sideways. I am shifting the gripper about 1.5 cm to its right to center the pear before closing.\"}",
  "call_id": "call_UBzKd5HqEy0Vj199B0jCIdYp",
  "id": "fc_0193e155ff9bdfe1016ab4447db15887d08d73cefd54c77e1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UBzKd5HqEy0Vj199B0jCIdYp",
  "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]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0216, -0.0338, 0.9989, -0.0669, 1.4261, 0.6102, -0.0544, -0.0547, -0.1223, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0084 left_pitch=-0.0548 left_roll=0.002 left_gripper=0.9989 right_x=0.3525 right_y=-0.0104 right_z=0.0476 right_yaw=0.0443 right_pitch=-0.2993 right_roll=-0.0277 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.1966, 6.9949, 1.7363, -0.022, -0.0708, -0.0122, -0.212, -5.1077, 6.2154, 1.5311, -0.0611, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd98d7872d98f24e8310904604a236a11508b427809cfaa68c37557d17ca8834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3e5a67e9ad3aa57e89e355fa1922f7014cc00ea96e9e451030b3bc67025df2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f32eab1de658e33c3c0b6bf8e119271941689316a3c0546cedb1ed35e62fbd5",
      "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 11 attempt 0 · /responses · status 200 · 2.301 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, 0.8124, 0.6132, -0.4244, -0.0216, -0.0334, 0.9989, -0.0154, 1.356, 0.4129, 0.1524, -0.0235, -0.0681, 0.0096]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.1701 left_yaw=0.0082 left_pitch=-0.0544 left_roll=0.0023 left_gripper=0.9989 right_x=0.3298 right_y=0.0026 right_z=0.0317 right_yaw=0.0366 right_pitch=-0.2209 right_roll=-0.0204 right_gripper=0.0096\nstate[joint_eff]: [-0.0889, -1.0462, 7.0085, 1.7216, -0.0269, -0.0415, -0.0122, -0.1846, -4.4103, 5.7641, 1.6142, -0.0269, 0.0073, 0.7106]",
      "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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0338, 0.9989, -0.0154, 1.4261, 0.6102, -0.0463, -0.0238, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0084 left_pitch=-0.0548 left_roll=0.002 left_gripper=0.9989 right_x=0.3541 right_y=0.0023 right_z=0.0487 right_yaw=0.0487 right_pitch=-0.2928 right_roll=-0.0292 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2376, 7.0222, 1.6972, -0.0513, -0.0708, -0.0122, -0.2667, -5.641, 5.9966, 1.79, -0.0464, 0.022, -0.0122]",
      "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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0338, 0.9989, -0.0669, 1.4261, 0.6102, -0.0544, -0.0547, -0.1223, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0084 left_pitch=-0.0548 left_roll=0.002 left_gripper=0.9989 right_x=0.3525 right_y=-0.0104 right_z=0.0476 right_yaw=0.0443 right_pitch=-0.2993 right_roll=-0.0277 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.1966, 6.9949, 1.7363, -0.022, -0.0708, -0.0122, -0.212, -5.1077, 6.2154, 1.5311, -0.0611, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd98d7872d98f24e8310904604a236a11508b427809cfaa68c37557d17ca8834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3e5a67e9ad3aa57e89e355fa1922f7014cc00ea96e9e451030b3bc67025df2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f32eab1de658e33c3c0b6bf8e119271941689316a3c0546cedb1ed35e62fbd5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESBeWigskmMyp7-8sjz8cFEMD7EnnaenVzR4SM7doDkJmNTl3GQESVgefCloaMCzwQf8bZMFSTUOA06-v_6ghQmUJ7mdlJGGo3AfWWTtdEav7KRH2MxCZOv4yPK5waajMvT3PmP090iIEPSQ1yXAXQoqUeo1IW1hLMdnDuQae6XpP9SDilyOUvKC4Q9cUZDaS1PggBZwUme0ifQKpHbcYb9bUWxMWhYlKDxiXQjt4bcozb0UkyMBnf-VSWIfDuOuDGFxjmhX5-wgtm_YR7eRZA3E25tkAeyXTQg7hc0rgDi391vphrTtEiW-1Uzg2YCLNMwGVc2SRWJcDQFRoAmZngBTwD51nArfcTcQCHQvFS0KAsCpKo9THumr0b2sAnu6rfQ4Q0HUHFZgbBbAl5NSm2ziAEeZ60mIKSlvNaBTLqda5xlte64mODwSqm2X6-K8f7aH3xtWumZYvmH93pbV0Qie1xP7m5G2hoz-dAn4wKIQLgChImB4rgPMhpv0ZM5vNPSCLNfI9pFSa7gWsvoYYmd6KCe7S0w5Duz6KOXj0eY7wR2CqSXIYyGZbj_H31-GXNt_2bcegaeOtPTrkZzLbU5YYwLyfgytuW9SAjIzqmN0PVcA4YRqNZFqR7jBEnolRvNoIKofc9FXBjD580zHZitb_28JCdre_yeR87hJ9EvHijEvFuDXoik102vftX-DUAYHFQ3Bcy0ck_cyhYVoBICf61vbQJTdbNa4VSE0HBuDq48N9a6-OP5BAa3hX9fUAFTJBs1tBUMygQyzJ1eKjHMIbZbp7WOgWN5dGEYJ9KmtDz3Bv8fIbPVEd_LLCrMBn3R6mcqUDm0tpGDjVCKC7FlWXyjK_HcCv4yZlsVWG9C7vp8lliNUSq4fHqELwDVUwktm3r_-WnxSG3B2vvBztXCgRc7QmxWcN7LVLF4wWa3mhzCYZzBSv7tEpEb_kpRxeo7Ac4xatFNWYihEK0BXXTGjfUO-PS2G_SN4PGlRwuA0bxr6fbTw6joRBW6sJkoQVja3xdxg9pssELB_51W2824szYBvhoOvbJHQikl4QG4aGlbV3OWUHTKC2lCo_WCnNu7FlSxEw6O3aFIaUtM3pNc5qXNpNweLJymnL5iwMH9PpvhaOetd3HLCMj7OVhoUbvapARNHQZzZM640OBpc_xJl5vaARZ3pzk-2R06unXffaTCIOXaOF5WZQK9NefnLseGNls5t2S4ltbJHMLv0uTqFZ7ly_nfCb4LeygnwReW1uyWtMAFjzWtds98H564R6uq91JJ7pfTStzohjbHVK1SQIWyi5ffIgn1CfWInSZGmez_eBq79GE3T9MmTrqkchD_sequMbYfmzcuD0l8KHmWLNckteKGtj89CCoi2xT7-uoRnq47hWyh5J_hRLqXQEmAfOz4BXkPnWQLyQpQ0WCHHRaKjgZHXTg72_9QL9jHpXtOZ9i79YnTFCGvnVa8DA4cnKHI2txg099jJ104QWjjkKC2eDZ1wvYfVYQtopz94-CNTOVdA_xNLvj1ylsEPiRMaFNWQtm_aD8tDxVv34hamw==",
  "id": "rs_0193e155ff9bdfe1016ab4447fd7c087d0a89c499501a67f3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The small lateral shift brought the pear onto the jaw centerline, though it briefly rolled against the nearby blue bowl. I am closing only to roughly pear width first to capture the rounded fruit without squeezing it out.\"}",
  "call_id": "call_ZS3VK1tKQn7BCZsckdQcLPk7",
  "id": "fc_0193e155ff9bdfe1016ab44480bfac87d0ab1c768b1f1e40e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZS3VK1tKQn7BCZsckdQcLPk7",
  "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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0334, 0.9989, -0.0654, 1.4261, 0.6102, -0.0574, -0.0612, -0.1318, 0.2546]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0082 left_pitch=-0.0548 left_roll=0.0023 left_gripper=0.9989 right_x=0.352 right_y=-0.0086 right_z=0.0472 right_yaw=0.057 right_pitch=-0.3019 right_roll=-0.0286 right_gripper=0.2546\nstate[joint_eff]: [-0.1983, -1.3607, 6.9949, 1.7558, -0.0513, -0.0317, -0.0122, -0.4444, -5.3538, 5.9556, 1.4823, 0.0024, 0.0855, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7bc362a56455a563c9ad4b9ad2e50fd859ac6e14a7551e7b8331b33a7e7f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533a6fe538f7112dd91444781d30756197b4c6ce2cb2184bef49411ba40128ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f51e1be5012c20399d05fd32d681565c35a42042addf038ff1cd2e493ffde56",
      "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 12 attempt 0 · /responses · status 200 · 3.267 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0212, -0.0334, 0.9989, -0.0151, 1.2922, 0.7288, -0.2649, -0.0238, -0.0795, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.0009 left_z=0.1701 left_yaw=0.0079 left_pitch=-0.0544 left_roll=0.0021 left_gripper=0.9989 right_x=0.3535 right_y=0.0025 right_z=0.1041 right_yaw=0.0442 right_pitch=-0.2588 right_roll=-0.0261 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2103, 7.2, 1.7021, -0.022, -0.022, -0.0122, 0.0615, -5.8735, 9.0598, 1.4725, -0.0317, 0.0806, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0338, 0.9989, -0.0669, 1.4261, 0.6102, -0.0544, -0.0547, -0.1223, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0084 left_pitch=-0.0548 left_roll=0.002 left_gripper=0.9989 right_x=0.3525 right_y=-0.0104 right_z=0.0476 right_yaw=0.0443 right_pitch=-0.2993 right_roll=-0.0277 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.1966, 6.9949, 1.7363, -0.022, -0.0708, -0.0122, -0.212, -5.1077, 6.2154, 1.5311, -0.0611, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0216, -0.0334, 0.9989, -0.0654, 1.4261, 0.6102, -0.0574, -0.0612, -0.1318, 0.2546]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0082 left_pitch=-0.0548 left_roll=0.0023 left_gripper=0.9989 right_x=0.352 right_y=-0.0086 right_z=0.0472 right_yaw=0.057 right_pitch=-0.3019 right_roll=-0.0286 right_gripper=0.2546\nstate[joint_eff]: [-0.1983, -1.3607, 6.9949, 1.7558, -0.0513, -0.0317, -0.0122, -0.4444, -5.3538, 5.9556, 1.4823, 0.0024, 0.0855, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7bc362a56455a563c9ad4b9ad2e50fd859ac6e14a7551e7b8331b33a7e7f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533a6fe538f7112dd91444781d30756197b4c6ce2cb2184bef49411ba40128ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f51e1be5012c20399d05fd32d681565c35a42042addf038ff1cd2e493ffde56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESET-o27astShQdcQ4cUGG1ATgy4JvRzxA1whreS4f7d7GZ9tClILcyAVr6pnPwfW7lsjr76dRkCVwuACkcgrZGO4bY1jRvaGsOoeUzPyOJbfVQTpBNkoNQR9PPR-mMTADz-McPi5IzQTtmBxH4j0pvyls8hYrfz2mvKgmrNv4T_7b6VUBV5ltXQoSXtgpeEMoE8to-VYT6k57LhJyPoS4FqaFNjs7qVq4JXgNVy9Gwx6iY_JBt1MqyJM5EYNMBUPfgUX_mWHRm526McMq76Bx0aIZ7xqC7dEJ58Z_W-qz3ckpIB2duGRcLXn0-wxPdRkcovcp-b4O-_2CIh2jQCruo6Fmr9X_iwm0JnCyS_kOMpGMr5tZXQsuZvVXKcNcVpMljUJDur19FaCrhBgHPTZRfx_Mhnf50eNXE0tdrhwncY5XPCdQkzcsdrNcJAh5yZOdzNZUhem309mbrLhyIVGgFAk3rLgdma7LKwHEPxtstRv52SP3So-Bu2phXw4LMM4VwOmzTsSygyG61MFchhUTs1qkPiSnQISyLpyLP30ETlJPBoH0JD3uMnHlDaQFPtTLYBHsHAf1VzgPxx_D1Aa61qhB1OsvtswrcZDiKPCz_m5fES4Eqi8gpAgsgJUCTZZ5mavIE7sRCHCzJVQZlLWr0g2FfX7tCMiArNzhuzqI-BS8uCEaBqkQX6LJs146x3Yc28B2KeJS_ow-1tl9ro7clClhADThuOANzanpUFHXUqyffKMugJrBY0SvY20SjSsNJ3yld5ZO3MKcoh88MFSzubhIVIRWaMVB7wzaa9t90RZyq4gct98abCO0Gk1j_E2kMKbn5_nkRdMYaSgS-ZXBIOtNM2LVCdD7jeosDPalfmXrN2pnYKlc84HRL44ribLEJnABakmMcHYahwDiZqvR_krlEElDj1VVKMa7v1xSsDmbU4bEkKC8yagVXajJACOnp4z-Q1obQjX3MXGrrAn0q7N3daYZaCvgx677608tX7ZKDNXvHwzm4sk5ntDJ7gf7kiV1DNOt_NNNqcy9WKBPKgeGAWg19Dv_9tzyD5yz110uNkYN0G9NHvscI4t7PPBZsienrrfJWa_z7I16V2dWlMnvVq0OqGRqSfsgF2GAPbrgM8rOCGxPB82-riUthktqC9MXhMUMpPiT7EYxAisfqIOWIQ4Y70inR6jzqvLEfjqTiWA6U5k6WRidrja4MrC3rrxK7rUbYrr8_bBQzr1Z23bXYCBtgldqAnstimhTEAO4V3s24V8zehu0cZXCBeDDiqJueQ4rB9YyMGFH5ZNX2LYcSNp5PzbAvBvTrZtgiiDzCo4T_EBcBt-8J8kCZBzF7YkRy_XeqFG3ZlKYUw2YkIQ==",
  "id": "rs_0193e155ff9bdfe1016ab44483b4b487d0a19fbdc1553fd2a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The gripper stopped at a nonzero opening around the pear, and both fingertips visibly contact its sides. I am lifting vertically to verify the pear is secured before transporting it.\"}",
  "call_id": "call_3zx3P8wZVqVAI1LhhbHTqU80",
  "id": "fc_0193e155ff9bdfe1016ab4448414d887d0ae8f2d28f1975fb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3zx3P8wZVqVAI1LhhbHTqU80",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0216, -0.0334, 0.9989, -0.0654, 1.2999, 0.8665, -0.469, -0.0612, -0.1432, 0.2536]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0082 left_pitch=-0.0548 left_roll=0.0023 left_gripper=0.9989 right_x=0.3498 right_y=-0.0085 right_z=0.1247 right_yaw=0.0647 right_pitch=-0.3309 right_roll=-0.0324 right_gripper=0.2536\nstate[joint_eff]: [-0.3624, -0.9778, 7.0359, 1.663, -0.0464, -0.0317, -0.0122, -0.2667, -6.0513, 8.6222, 1.4579, -0.0855, 0.0415, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3cfbf4c1ffaed3c007cc38e39a9ae2eced71366cdb3ed48fa1ce26540c9a25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732c422de4d5ff4ad927d81383a828f19d73bc883b71e60bbd7d7de9d9c8c6cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058adc2d3aa7c9124b451f954b6505ad32cb9ff2ae94f360280ba534cfed2c72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.064 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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0338, 0.9989, -0.0154, 1.4261, 0.6102, -0.0463, -0.0238, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0084 left_pitch=-0.0548 left_roll=0.002 left_gripper=0.9989 right_x=0.3541 right_y=0.0023 right_z=0.0487 right_yaw=0.0487 right_pitch=-0.2928 right_roll=-0.0292 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2376, 7.0222, 1.6972, -0.0513, -0.0708, -0.0122, -0.2667, -5.641, 5.9966, 1.79, -0.0464, 0.022, -0.0122]",
      "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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0334, 0.9989, -0.0654, 1.4261, 0.6102, -0.0574, -0.0612, -0.1318, 0.2546]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0082 left_pitch=-0.0548 left_roll=0.0023 left_gripper=0.9989 right_x=0.352 right_y=-0.0086 right_z=0.0472 right_yaw=0.057 right_pitch=-0.3019 right_roll=-0.0286 right_gripper=0.2546\nstate[joint_eff]: [-0.1983, -1.3607, 6.9949, 1.7558, -0.0513, -0.0317, -0.0122, -0.4444, -5.3538, 5.9556, 1.4823, 0.0024, 0.0855, 0.1587]",
      "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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0334, 0.9989, -0.0654, 1.2999, 0.8665, -0.469, -0.0612, -0.1432, 0.2536]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0082 left_pitch=-0.0548 left_roll=0.0023 left_gripper=0.9989 right_x=0.3498 right_y=-0.0085 right_z=0.1247 right_yaw=0.0647 right_pitch=-0.3309 right_roll=-0.0324 right_gripper=0.2536\nstate[joint_eff]: [-0.3624, -0.9778, 7.0359, 1.663, -0.0464, -0.0317, -0.0122, -0.2667, -6.0513, 8.6222, 1.4579, -0.0855, 0.0415, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3cfbf4c1ffaed3c007cc38e39a9ae2eced71366cdb3ed48fa1ce26540c9a25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732c422de4d5ff4ad927d81383a828f19d73bc883b71e60bbd7d7de9d9c8c6cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058adc2d3aa7c9124b451f954b6505ad32cb9ff2ae94f360280ba534cfed2c72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESJUSCIe0Ely8ChCEJ74vMcpX1cEuwdOOFF4T66tngFEsr_g4NptK7KujGaxKkIIu_3zEMxRne5sLYUsjXWlo8V4hqq0F5arcOV_ul3_rU9Y5ZdFXZRfG2xFOU_05S5_bkWu-REyuO1Fmp90jttgILlP2etF1JkyPa68cUMozGpeSxWjkPm9Z1JYZ5K-mgOP-O2d0P0QUDBLEnWi4i511Gpj6l3Ehbb9-KAI4624tWKZrvq4EYq8FD51YG6l7aXLPaZleA-DwrhYA97gg87sPHrAynrK07DQE-V3oTzuCbFepI5S8WiEuaHgsIg19K1GCwrW6imRxCJvDI2oY2vJm4nzwa-Ka3f0r1gdjjl5g_PM_0vSA8EIUzNjeSEIB-nD2naSoK78INqGHD3a1UG8pf094tboVScMxydUNkeQF5NdwCH4UhdtfzMGCSzoV3MdE2pzLgdy1DEeyvJIAqWnoTI3vHcNzYmgPMoWmNfDvg0lzHbuAbzLPnyBgGIRUuI9DrT5wVV2pHxxbc29T99beghqRMFsQmy9MZyi2iAK6fislqEAset0SM-LRvIuWdPjfjlA4bKMPUWVDDuJFFbWyk-J4nzm5C2xIXVEcDGUzg0gDvJFLxLaA78p51S1WKxgFzmEapjGbUdUUKWU4CY4A8fPl_qvEqSIBBdZuNfb6upaLM041ar6GhmihHMStujMfumS9tpp7p4RsQh3dC5tbXiXhavN44l8PuKtEDoo17yQKoi3riKc4KS-M2KNmJrHagFcKKPLzTJHeOsNOT0vcBx41sIavrv3geqPuumbS_vRK_hMtxtxC3dG9xwmJ3W9hT6mmJisJ8VAX9gHMhh0mpfe1rXZOrqDWeiZOneIEe_MfNIJFdDTQ7xeWlO4EmDgSWhLMOd3p1WocKvhobdeUlhBuuh3w2Pou1qiTNoIF_5BEvG92_9M5R3bwK0n3VnEwNmbFKJzlRgpWYerHLbDwQY055yd4xbSAw6IqwvkhQEHolAmkatjK3toAclRaEj3dipPAGabA1TErrZ9_eHCHTmYct1CP4VAcHG6zjl4SLXH1qhST7ji9ktpOxF-Z-2TqFNvoJ6Jxy-qlI7WeT2lIokxm6l7t6aBp6thqeZxKDblDlcFD30Li0lvoMH7nmYO4W7vvGiKuEP6-jl48X5r8ppN1KQuoEKVb7cUGHJy9J0bAcFqvgYiD6ng_GFVSsfWqOUDN6izGSLLB-dLmnTO6qAV98x9SpJq5hkkgx1WZ2WGXQyKvBYgnyJjxpj3QGRRrpABRowaTkOSFCe5niuTdjC_EQc3H0wZ6xH5nSMTG35jRar1JrBw07Rypmm0Fg3IUDsTghZLG0G4BmipvIJDuuquPGNfx8ae6kq0YrxZoNerefN8gupPbq-d5gSX7d3MBx9RBMyhDQl05Pm6zyUSZOTqui4ZLUfLabMB4C3aw08DTPEZ9tRtucanHBYH0RIttOhSArLtdTkKzEm_sizO-3i_bbf4iekhxwVvLNn4wU9S3NBAO8EJ2Sd6s0fYVtXr0B1sTBysnITnqJplt29MSmI66dK-khmtRbiyVE4gMLtbRwWzHrwabCbwNMHrMQ0E2wNkYmOTzaW5uc6meEAUKox7bA9g70_ZP6_hcSYYRkTOgcnB3qQkUhEj7IqkQa2hgIcONryMotDKQSn-ntikG5i1Lws28LKKH-90XQz5sfQbnubwEiIitgcoZ0hk_wIgf5fCu0vHqqbX_RF7w_rkCSrIjpIxHW3MoNLPYXWiBtiLyiPGIova9riZe0tMNuM8T-qoK-Cro4irAvRaFmfudgsw-SKQlPRnUXSIV5P6haY1BXGvkdVDuqoXfD8Za4j6J2raMrGY7I0Uo6LFW_GPmqH8QUqTOwm59IsqkuPocyngXLTcdOzLi5RCym0fTVDyoDCqILawRoiPnoFpcoot3jQgWDg5PXazmZNgM5JdK5ld40=",
  "id": "rs_0193e155ff9bdfe1016ab44486df6087d09ea4a78f02a98bfa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.11,\"right_z\":0.18},\"note\":\"The pear rose with the gripper, confirming a secure grasp. The blue bowl is ahead and to the arm's left, so I am carrying the pear high over its center.\"}",
  "call_id": "call_jANxFcNFW4RxcLTpyPxVrb7b",
  "id": "fc_0193e155ff9bdfe1016ab44488432c87d09aaaca65ae2531f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jANxFcNFW4RxcLTpyPxVrb7b",
  "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, 0.8143, 0.6132, -0.4313, -0.0216, -0.0334, 0.9989, 0.3412, 1.5497, 1.2774, -0.6861, 0.168, 0.1471, 0.2535]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0082 left_pitch=-0.0632 left_roll=0.0026 left_gripper=0.9989 right_x=0.3922 right_y=0.1117 right_z=0.1681 right_yaw=0.0983 right_pitch=-0.37 right_roll=-0.0443 right_gripper=0.2535\nstate[joint_eff]: [-0.0342, -1.4701, 7.1043, 1.7314, -0.0415, -0.0269, -0.0122, -0.4581, -6.6393, 9.1829, 1.3993, 0.2369, 0.2515, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71efec7569e7f6af78ce1807eead4a7b700369c8dc1905797bda75f6981102b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e83916a1c668314e9f11b9df3722384c2251a312cecb4e553249a572555f41a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b3d4d89e4b808a30c0c61e3c02e1be173ead9384f949649d8fa76f755a28396",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.164 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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0338, 0.9989, -0.0669, 1.4261, 0.6102, -0.0544, -0.0547, -0.1223, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0084 left_pitch=-0.0548 left_roll=0.002 left_gripper=0.9989 right_x=0.3525 right_y=-0.0104 right_z=0.0476 right_yaw=0.0443 right_pitch=-0.2993 right_roll=-0.0277 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.1966, 6.9949, 1.7363, -0.022, -0.0708, -0.0122, -0.212, -5.1077, 6.2154, 1.5311, -0.0611, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4248, -0.0216, -0.0334, 0.9989, -0.0654, 1.2999, 0.8665, -0.469, -0.0612, -0.1432, 0.2536]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0082 left_pitch=-0.0548 left_roll=0.0023 left_gripper=0.9989 right_x=0.3498 right_y=-0.0085 right_z=0.1247 right_yaw=0.0647 right_pitch=-0.3309 right_roll=-0.0324 right_gripper=0.2536\nstate[joint_eff]: [-0.3624, -0.9778, 7.0359, 1.663, -0.0464, -0.0317, -0.0122, -0.2667, -6.0513, 8.6222, 1.4579, -0.0855, 0.0415, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4313, -0.0216, -0.0334, 0.9989, 0.3412, 1.5497, 1.2774, -0.6861, 0.168, 0.1471, 0.2535]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0082 left_pitch=-0.0632 left_roll=0.0026 left_gripper=0.9989 right_x=0.3922 right_y=0.1117 right_z=0.1681 right_yaw=0.0983 right_pitch=-0.37 right_roll=-0.0443 right_gripper=0.2535\nstate[joint_eff]: [-0.0342, -1.4701, 7.1043, 1.7314, -0.0415, -0.0269, -0.0122, -0.4581, -6.6393, 9.1829, 1.3993, 0.2369, 0.2515, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71efec7569e7f6af78ce1807eead4a7b700369c8dc1905797bda75f6981102b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e83916a1c668314e9f11b9df3722384c2251a312cecb4e553249a572555f41a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b3d4d89e4b808a30c0c61e3c02e1be173ead9384f949649d8fa76f755a28396",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESR1h7wfecTmuOHX4T-xCXwngr8xaEoJLtHKrCbhrlhjGC3LFQs-_6ZEBQPhbnutG8ZZWyjikMkwOW3kVKBBK7naQz2lML8BRcLSjEKP7jJ-lOrfcC3qYbaWO8TUA0RG545Q7_IDMyPHiBi97lNHf_sMvz06p_YMB9pE36vKh2wFG4uEg6EnoerGyMvRa3AItlKSh4m7GU-u-Owi1Q3WTi4RRSHAwajJ5tKsU_AnlYy9U-mr6B5U1nohGwzC01bbKLAUkKhXL6YFKRkjqMTv6iYb1fiY7RBcZw8GQJ5_PJNoTqbkBLRy9ekSvzNAQ0KuscU8wLkKLuEhR83_JiAf5JnUheB2A1INnAPj4FYM-4K_Y1tpK_QrRiWh77MfhnlACj46EZGFahinkExVTtACFraEqQ5nfs6MLQwivsWJomLJm6DFzwaFotNulkc8HsBIHIdSwk3gk0-V93dm0_whAM0x7l6fOkQqs7v-QxOAycEyJPJFbMsiXl9MoJKkhC1Pn-nkjlz5itwFRuGoAKTMON04tf2ueS6p16nw9DSKCM8rttcdvSTM3IsYQpGjDGQAT-CKoBIpADjnIr-zkJdsNqH6ZTKsHeisNdWTx65J_vBWys7lhE368CTbkZ0daHvbNaq2Mrhf1AsYJJKe4mznlgUbP6dfm4UzFt5lyhYyA_rSRbP50UHn75V3QxO3CQc88-LoBKYRtr4eLy_HDw_UqOTagQXFZkpf4RRImQbvg3-uoEeqnrK9u0pfEHh0iKnIyDcnUjg1X7vZP-xOlm-9fCvaqjkjZVWchITzbVsZ8eI3DY7rh3QAn2oGRdT20jBp0AYFAn2wIo_7gpUFCtlK2PxTC2j_8mYRHtS_v-ChIqYXuolbp8o_8Z_BRF9_qVzujmdDtwbAsDZpxQlKdpJvcsqMxTzRIgaMUaYXaP2W9H0FEuo-xpP5K1pLecGC9NdjWk0BnXyTcfDF3KpP8W20lAEVk10dH4KXtnkPh92Y6di4hzOPcGz0LF90G-ov6OTqkgGUG84nwPrQGjeOeF-3QDzzuyMlAiujpwnrvZ0UxAtUeXiPUAmqymq64vjfywd1zzI8VheHoP2_dJco-6XGqdKJlNSudjGMs8PkQWgQuJ5woRvaPw0JbVv76UWVrrz5SiwTUBvGoeLXz42Xn11EfRN6NyDxf4MXkkPeF5ruV353M74k5SLNvDZpTZGF7-dj8tNo_DFyuel80Ty6UxeFUEgOEtUzJtaiaav0FHI4Unu8xSJC0IM2dLaTcfq6jIqu_5PprYLbaOQHr27UPbT0DpFCBLvuzlU6Oa97OLbWR_TMuVh9orJc7HKVh1lK0rdxiBRXydcQHUEQoMmk0TtvqFKLfkakl19N5sU3xr3ErCXxVQWu4GSt_LrvOBeTa6C7w11ODu7I6JUCwnTacaUZJqSjWM-XVH7ByZzqBumZkmXkxc3fy9HHD6XerWEa7Xw-wHfWRMk_OKQvWuN57q3VHGxG7XTDqM433YgqYZJk-HnxLoiJGtiDT4u5P41AdwmCujBqcQ8vY5-c9kDytBbQH_xbfd5Pv1cmR7os3F9t9kjtyGKp0t6-mtoXbnIbQdaOZR16OAWvAjkjZX2IQVbcK0axPx8nljEeKu1Z1Eug03YOxCz09tJtj73nFAURZx4c12vDMw9xThrEcgBzkm4CNLAzW5JTfXRFPCNJPchruseIdP9qnNXXfM9QPJlS9KtYBdDP5ApuPRoi0WfprNRRRi3TUjPTrmPEg87cxOjfHIFaQurk7fAZGYj800-woXmL5wRsUovrwee_DDqnXt0mrLrgx01JygqingjJQs2xk1GTCQIIFr-JyVYLF4zPX7HWSXjzht5ZCHK75gJh_ff3tsB0t9Z5G0WLylXxXiz78VKSHnxNgK1aUvDBbFNPqwXLWblLNJq5mEFdGnow97VAolvCV8aM8EgSR1okWYZnpmwpeLia7sV8GlWWfU1locBH_r8If8v6Uz03ZlYtoNlfaQR8_Gb_bVZsKBTFGyu3ky-ZdMEjZoHVkr1H1G-dK40HE-wdZLr0ia4nSdBayQN9HqItMbzxCDcgsWu7ahRDpbnpQCprK-ZMBJmZCfNByx9J5gYr9NXbFN8Iu5-bZsqL-klAF8B2Fsd2_3650rsCVDtvBnJ_-xVjpIziieQdsxMASIH07DGZniwvTYSWAbIUfmKBknd6wyS9fRhL8WMqqjrTh1lpoMPbRc58L6LTWL6srxHtwt5cBw21myvrj4_jvcR9AXX-ClgCKjQn2gavc0CaAvsEKDlwZYqDl-H2Xmg2XGCzyzn2RGwpA-Qhyt6s8IUUR5t__twPdwWbVls_CtyCN7OeWAtiPP3ewEnfCAU2_fSFaPnqcfvUFvod1Nsa_dw61c5LzPD1kBS6wsNEONmRJM3h1ztFXbBu6opQSFrwg6I1qini4eVNoLAwvc49esqV3-x35VR7GwvVbrF0K_Ef8JnT1rLUJKQ2ikJC_t_pe-0ZEQKKcg1AQ9Iw1bd98rn1-F14JxCJsd-JL05T7XbnLWmkR5_0SpBhOiyxmhik_A-r9nlvwUwgLxUYLdYNWLFU_BIpYgqdhscqu8RBtB3eDYhUU7koN4aFj-LHV-gMzz18kJX3nM0KM4jeI7QH-t8I4n7qBcCn0QxkmSTvNQy2UFRUsPu5HMn7b6GyfW0nhaCxFpVarOapA5P2Jz-o5By9tNoSSLZvqd1H1MTc5motkTG13PT6XpayKasuJjvHnz2m_UYGmar3n9qkIrkO0ByxbjTRflbl4YTpbUcEoSn9ikJGlMrFINqrFpysHKWRvq0WH2rMg7YIkEcIoRBcu4mnv8AX8LzrnFvlTv3bgYH4d2MW2im2I_b_Fh-i8XCIB_85Ui7O4UsdY2HdxC4yUde2v0jx9eqd-1S0abBH5zfMXE5W6O2cwNulVTxYT6bCqMTVYfcI3DQcwGcXdV-AX8ofqV0WGeMQykYKzaoHNXNxm7RrJuH84DI4Ro3ahwtHcz0X3kOMQ3NZgOB1n6AiPFYPNOTO2_XWEnx5a1m8AdTOfeynntWE-h1ZL_JsYm6rJi9LGN_UHcZY9qXVK1MIDYA-AHnWwLaPN-WeVH3OYxkuNpux6bIGNS-8RseMfFBzhmz_YAA1KAIp6CXufbuJiqYefRFcQmWulLoWzqtPpGjRlTzJAnuDdM3ki3YA5oD5ZZGfMCzqkMvWBlubhsVEmu4asOsf6QvlLqaQEMHdbYbd8o=",
  "id": "rs_0193e155ff9bdfe1016ab4448c5cc087d0bd072dcee8f822f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.05,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The wrist view shows the pear resting on the table just to the right of the blue bowl, so the prior contact moved it but did not retain it despite the partial gripper reading. I am reopening and repositioning over the pear from above; it is close enough to the bowl for a short controlled placement.\"}",
  "call_id": "call_0mASP5XqOmvsvvoxC7VeI8vS",
  "id": "fc_0193e155ff9bdfe1016ab4448fa11887d0b14cd44f596c5fc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0mASP5XqOmvsvvoxC7VeI8vS",
  "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, 0.8143, 0.6132, -0.4313, -0.0216, -0.0338, 0.9989, 0.152, 1.4845, 1.0405, -0.5495, 0.0685, -0.0013, 0.9985]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0084 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9989 right_x=0.3756 right_y=0.0489 right_z=0.1177 right_yaw=0.0834 right_pitch=-0.4218 right_roll=-0.0534 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -1.347, 6.9949, 1.7167, -0.0562, -0.0366, -0.0122, -0.1709, -8.7043, 6.8991, 1.5556, -0.105, -0.0464, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012aff5bd46c65e17c03f249f29b0d286c05dd456d6c4fb5ae5a8a91111dfe88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12d17676eb8e5a9a6f9d8b2133ec51d34385b49ff0ae11f7bd89c932fd070b91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c24949b4b73a0e6708f3c32d8ad7047c2b0b920e50b1b5d33aacbcf7abbb4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 2.611 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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0334, 0.9989, -0.0654, 1.4261, 0.6102, -0.0574, -0.0612, -0.1318, 0.2546]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0082 left_pitch=-0.0548 left_roll=0.0023 left_gripper=0.9989 right_x=0.352 right_y=-0.0086 right_z=0.0472 right_yaw=0.057 right_pitch=-0.3019 right_roll=-0.0286 right_gripper=0.2546\nstate[joint_eff]: [-0.1983, -1.3607, 6.9949, 1.7558, -0.0513, -0.0317, -0.0122, -0.4444, -5.3538, 5.9556, 1.4823, 0.0024, 0.0855, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4313, -0.0216, -0.0334, 0.9989, 0.3412, 1.5497, 1.2774, -0.6861, 0.168, 0.1471, 0.2535]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0082 left_pitch=-0.0632 left_roll=0.0026 left_gripper=0.9989 right_x=0.3922 right_y=0.1117 right_z=0.1681 right_yaw=0.0983 right_pitch=-0.37 right_roll=-0.0443 right_gripper=0.2535\nstate[joint_eff]: [-0.0342, -1.4701, 7.1043, 1.7314, -0.0415, -0.0269, -0.0122, -0.4581, -6.6393, 9.1829, 1.3993, 0.2369, 0.2515, -0.0269]",
      "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, 0.8143, 0.6132, -0.4313, -0.0216, -0.0338, 0.9989, 0.152, 1.4845, 1.0405, -0.5495, 0.0685, -0.0013, 0.9985]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0084 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9989 right_x=0.3756 right_y=0.0489 right_z=0.1177 right_yaw=0.0834 right_pitch=-0.4218 right_roll=-0.0534 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -1.347, 6.9949, 1.7167, -0.0562, -0.0366, -0.0122, -0.1709, -8.7043, 6.8991, 1.5556, -0.105, -0.0464, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012aff5bd46c65e17c03f249f29b0d286c05dd456d6c4fb5ae5a8a91111dfe88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12d17676eb8e5a9a6f9d8b2133ec51d34385b49ff0ae11f7bd89c932fd070b91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c24949b4b73a0e6708f3c32d8ad7047c2b0b920e50b1b5d33aacbcf7abbb4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESWx2-ovirlu14tOLZ1CPD-7rEMmZyX3Me87i4FzxKMn72Vh0jz_k129Zx4Dvwljb0BVb3EgEkQOJZ0WI4GtBQx_BckGdMWVNsUsbblUwxk_Zh5TBbmOVYsbtxdWtIjbXh34TCrq9NXEwK_07XGsM3xpSfeDD2VyiYu0rpbL2lcwm7Eux0oK16ObowJ--juUInHkNqLGnbWwqpxA9pdhpr_cSj9tU-NpsF-AOGqkgRWKGfhQC0U_puKpqqAOtzyxA6wCsJ11tkiev06IiEE4Oq4uKc0RV76kwOrOCu9sEZCAM9AqNo8U77Gz0XxZ5WdnBAs7_8sCsz33DRRAf_iwPpOGfGEIJiy5GyTvrZd4AYau36i0ROCsmtyUOHUCxToRdRRKRXy35BiFu3NAVrE5bkxJSMbQ1yf_QG_g41G4LDad0dA2GZeAnTfbvxbOP86vBtNB7dHerfpaqGi1_jR-rYpmSWmFu2N_sYMEUC518EdFxLSfJWJz5cj6hqUwo7FfPMgZfzLxXmD5wg5FRIC0fuXDNkLWabEp-MoujS4lThPGvzYcj2t1lNTu3D6g7b9yXwMb8iKq9uf61FKv2p0kWm-s8u7C73NunGKqOrQtBdHMrjmpLyROkjtX7_XGIjTPtWz3Taxmhn8WzGlzEQOwE2TN8KDW8n9YmBTjPAB8jJKSyQrOlHc7gK0OEkT2rdoSc3bgifFv_2aYLLIlGgHM34HqMeWlur3ZhJyEnBzgrAxAPch-WQ37BlbppcDkRWUwG1m36P6DqgCl3QsiFyBJDhqslhRgQXKsVxfmaQ6waQ7MbRS6CH7whUPhRhj-bwcqEzREK_m14WMn0iXDRomM9S6oLLOyuRNgvKqwj5leRvc07TuUIId81DLUQBKUe0y6dD53N5rR2RcCIYiQwKzU2IL-puFS_TLCNC0RHKu6cH4VZ88npuQ7MdP7Q3T60xGuyNyaL0AbeCDVJYn-Sg5cCiSnEh5k-TMjTS1EjYjGNk6tTwYl014i-wMTIYfLZdkZLys_r66LyrTG-Cw4i4GDaigzc0zDTeKlQX8ao48eKzTZOz9WCRS9qUjsQWilXWEqadJWWTfpQvPpH2YTR40yIY4qdekopUeZ4lmqYO_TYxUVwlb-IksR9mrc68mLtT7F4HLK3Qnibu7EUI4qmFTuUwi8K6UmnUvfmeX1F3P2gjqnhee012EK5OAUdE8hfiwOzTe5xOmquOBfiWqaVtWiq3_FW1MagDdCYUa4h0k1pwfM0qIX2TP521hj5isN1rq_wAcTEVhavzN4xyK_owPyBompJq2u191urCU7-4y8zLRngOiHAAglEgrNeutvOytdj6ksbqt520mWpGRcdTkmS7uoQkctYWYRyCFuLhENIBJbOLJ6lkYl5zOtAx-6mlmfnlHDqXKShI4CU8aRTYf5kPYeXPB0FT0lMXBg-CIenYfZm9IWA7v10Y5s2gqb4OKSiiMzd3-Ihf2bCjaTEmtjKbURDmF1S0NRgUocf7Cdk58z-TOTEiArmqkD7-2v0S5p0SxHi_clIqmA6qocmmComaCwXEEXY0e8N13w-vFkNqb1MORYyXGtXYq_mKy9gitwd83PLvHU5IdG15jwFHfnZI3qPq7MnOjML0Gt8bktJnVT66pSh-hy1ib9FuGzsibLSstDNSZWBba7GroPFrxK0JgTorBrOWXIYkJXMYSJbUJ5U4=",
  "id": "rs_0193e155ff9bdfe1016ab444947c3087d0a3df57ade2a9e4ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":-0.02,\"right_z\":0.11},\"note\":\"The pear is now clearly visible beside the bowl, but remains about 4 cm to the image-right of the jaw column and slightly beyond the fingertip row. I am shifting farther right and a few centimetres outward while remaining above the fruit.\"}",
  "call_id": "call_lnuXnc6xSfCKknOYW9i0AWZL",
  "id": "fc_0193e155ff9bdfe1016ab44495c90487d0afe6b40c67edc754",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lnuXnc6xSfCKknOYW9i0AWZL",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4313, -0.0216, -0.0338, 0.9989, -0.0765, 1.5871, 1.0828, -0.543, -0.0479, -0.1898, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0084 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9989 right_x=0.3908 right_y=-0.0179 right_z=0.0967 right_yaw=0.0776 right_pitch=-0.4771 right_roll=-0.0505 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.1829, 7.1453, 1.6874, -0.0708, -0.0513, -0.0122, -0.212, -6.8034, 9.347, 1.3504, -0.1636, 0.0708, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6da236cd3aa80ca387022a0ded001c085f13a7819a1342b1808bfb8f306747",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4dcb2b7ae3e215e4b693f9bf430c0239f7667077ce0a5900a594d7e855b1f75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a4690804b9b8ea88cc29baf51cd5b21dd395df7a4b4c7d6ce323a7ee4cf12c2",
      "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 · 2.862 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, 0.8124, 0.6132, -0.4248, -0.0216, -0.0334, 0.9989, -0.0654, 1.2999, 0.8665, -0.469, -0.0612, -0.1432, 0.2536]\nstate[eef_state]: left_x=0.2909 left_y=0.001 left_z=0.17 left_yaw=0.0082 left_pitch=-0.0548 left_roll=0.0023 left_gripper=0.9989 right_x=0.3498 right_y=-0.0085 right_z=0.1247 right_yaw=0.0647 right_pitch=-0.3309 right_roll=-0.0324 right_gripper=0.2536\nstate[joint_eff]: [-0.3624, -0.9778, 7.0359, 1.663, -0.0464, -0.0317, -0.0122, -0.2667, -6.0513, 8.6222, 1.4579, -0.0855, 0.0415, -0.1197]",
      "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, 0.8143, 0.6132, -0.4313, -0.0216, -0.0338, 0.9989, 0.152, 1.4845, 1.0405, -0.5495, 0.0685, -0.0013, 0.9985]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0084 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9989 right_x=0.3756 right_y=0.0489 right_z=0.1177 right_yaw=0.0834 right_pitch=-0.4218 right_roll=-0.0534 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -1.347, 6.9949, 1.7167, -0.0562, -0.0366, -0.0122, -0.1709, -8.7043, 6.8991, 1.5556, -0.105, -0.0464, -0.0806]",
      "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, 0.8143, 0.6132, -0.4313, -0.0216, -0.0338, 0.9989, -0.0765, 1.5871, 1.0828, -0.543, -0.0479, -0.1898, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0084 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9989 right_x=0.3908 right_y=-0.0179 right_z=0.0967 right_yaw=0.0776 right_pitch=-0.4771 right_roll=-0.0505 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.1829, 7.1453, 1.6874, -0.0708, -0.0513, -0.0122, -0.212, -6.8034, 9.347, 1.3504, -0.1636, 0.0708, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6da236cd3aa80ca387022a0ded001c085f13a7819a1342b1808bfb8f306747",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4dcb2b7ae3e215e4b693f9bf430c0239f7667077ce0a5900a594d7e855b1f75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a4690804b9b8ea88cc29baf51cd5b21dd395df7a4b4c7d6ce323a7ee4cf12c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtESaqj-x2HsRHEssF62ZuRrRlWOL3u8QzjwFykNfA0XXmeejAQzi-F4WC5rY9URGxmRRX8xsdR5gP6zlZTYDK5cYgSnrrZqAlqmhtr_UKlU5hdgkVvRUfYLBe1LzyaQzpNXU0WwSZeWU388XesVmQTsGN-0SpyK6rCuVxDb4rxNhEGJ1d8rZX3Ekt0aMR7o2FaXsJWFw0XWXTE_zEw1Z-iTGXPSAxzzXBkpBkdaIlbHh3KhUOK3OwoK4UHnAayruvFueqVz6CH8ENB0vZIK-QFnZGPYry0pvV1_NFvMirg-qCOoo_p9nXTIYcRBxywSWTbRf3PRpRB5UucY4eljxtkpqDbTI9FQ_Cre15_K6GY97WflK2x9wNO3vddusYYjZmdYSNwEd7mryqjmZCiKjCrn8i5kSv4WcTTOM7ur_tmxDNcDfKEljlJVfr3lrvhP3spTTbaHFezNKXiP6YNY5J4xBolcZw0p3u47WYlsOv2T2vsD3Mo60MnqZw27xXofggSOLRI2fxM6RL8PTYys91v-9isoCmX9FXTdZJRuTaIoDWk5wB2eurg81GmP7extx5fcs84cw2PbHoh9J5AOqaTJVVAyFEzne8_xKpfVbVAUnl2GTYjD_Cp1ntZypW2oBzb1iqNoflhF0a8EHZrzfDVkkW2cZ676xG_nfyextPEqrHITuuSsVwbfesS2XgxMIB-bfg9IoFMhXRpJiQzdLkGV6eG2LodaUhsOIQzpy5_r5xZRDLMDx1LUhLVF_Ix7HvGow3PC4b1ylcbpxEgrdtKgOkuv8yB6r7WF2q0rRPWIjz45it4Zj4QTGPndFJojdmSsDHFMrh2Rx3F8tzxF54kT-X1HMw3I2ShNJ4yQ7Y5WZbc0j_Bc08hTrd9_yplS3iTl3DRG0-okViXc11ONEnpZxIv1rzLjNaJu1f7jILGHUN5jxugyErvLqgWPUaYMVBBZ0GygOmRWLj3yI-oxV-PqtfZiAWoN2wP5CzDADgAz83qMBv4wMpSPtjqYyqJ5ELNCp00mahg-zIxYkfVwlKAfmdx6dvUMW8NUKvaszIwJ2LDnH6_glIM-tH_QdhkaxjTRfkvqikq2e3Cv_tThnuzog-LJcN2h8q8noXJ9TUdF8zmTmZJfbEvNncDmBIPnTxXwXE8c5wlEOl3a7hl3tc2OLHhtwmJUnsZpjh2XmXPLMWhbDZyoAy6QWsYxs8lwW_Qk5TpTAThzmNbtgprTjrU5SCf5XZkfm5FnMo9J6IXFXL05yqE-C3at0AFgP0BXuSF_KoTHlTYpnOQQLthEuV1M62JegFuN7-LkZISR4_cPmJPW3RgHJdLw7xL7l1bI1WqGi0k2PoMuN17vrwnTH7oPIPVpVJnDWUXJ_VzJcryU6Sp0=",
  "id": "rs_0193e155ff9bdfe1016ab44498f63087d08066c69084653028",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_z\":0.05},\"note\":\"The pear is now centered on the jaw column and overlaps the fingertip row, with the bowl immediately to its left. I am descending to mid-body height while maintaining this corrected outward target.\"}",
  "call_id": "call_o5dkllHNTYqcSly5FZxZCPu7",
  "id": "fc_0193e155ff9bdfe1016ab444995fc087d088d9ead7083ac0a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o5dkllHNTYqcSly5FZxZCPu7",
  "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, 0.8188, 0.6128, -0.4423, -0.0216, -0.0338, 0.9989, -0.0738, 1.702, 1.0195, -0.3851, -0.0566, -0.2001, 0.9986]\nstate[eef_state]: left_x=0.2886 left_y=0.0011 left_z=0.1646 left_yaw=0.0085 left_pitch=-0.0792 left_roll=0.0028 left_gripper=0.9989 right_x=0.4012 right_y=-0.016 right_z=0.05 right_yaw=0.0966 right_pitch=-0.4961 right_roll=-0.044 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.7573, 6.9949, 1.7998, -0.0513, -0.0757, -0.0122, -0.1026, -7.8291, 5.4769, 1.4725, 0.0317, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5329a9d65a9b926c2501737e635a6c3ee8d55aa1e67ace4e2cb17f47d90447",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad4b92f19f7ffd02cb05654905772290288bd3d00eaa3c6552dc0de549dad41c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b28a319a58e2b31e49fa42c5f1af447cc566159428f58b46c4b8e8d9950f8d",
      "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 17 attempt 0 · /responses · status 200 · 2.266 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4313, -0.0216, -0.0334, 0.9989, 0.3412, 1.5497, 1.2774, -0.6861, 0.168, 0.1471, 0.2535]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0082 left_pitch=-0.0632 left_roll=0.0026 left_gripper=0.9989 right_x=0.3922 right_y=0.1117 right_z=0.1681 right_yaw=0.0983 right_pitch=-0.37 right_roll=-0.0443 right_gripper=0.2535\nstate[joint_eff]: [-0.0342, -1.4701, 7.1043, 1.7314, -0.0415, -0.0269, -0.0122, -0.4581, -6.6393, 9.1829, 1.3993, 0.2369, 0.2515, -0.0269]",
      "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, 0.8143, 0.6132, -0.4313, -0.0216, -0.0338, 0.9989, -0.0765, 1.5871, 1.0828, -0.543, -0.0479, -0.1898, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0084 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9989 right_x=0.3908 right_y=-0.0179 right_z=0.0967 right_yaw=0.0776 right_pitch=-0.4771 right_roll=-0.0505 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.1829, 7.1453, 1.6874, -0.0708, -0.0513, -0.0122, -0.212, -6.8034, 9.347, 1.3504, -0.1636, 0.0708, -0.0024]",
      "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, 0.8188, 0.6128, -0.4423, -0.0216, -0.0338, 0.9989, -0.0738, 1.702, 1.0195, -0.3851, -0.0566, -0.2001, 0.9986]\nstate[eef_state]: left_x=0.2886 left_y=0.0011 left_z=0.1646 left_yaw=0.0085 left_pitch=-0.0792 left_roll=0.0028 left_gripper=0.9989 right_x=0.4012 right_y=-0.016 right_z=0.05 right_yaw=0.0966 right_pitch=-0.4961 right_roll=-0.044 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.7573, 6.9949, 1.7998, -0.0513, -0.0757, -0.0122, -0.1026, -7.8291, 5.4769, 1.4725, 0.0317, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5329a9d65a9b926c2501737e635a6c3ee8d55aa1e67ace4e2cb17f47d90447",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad4b92f19f7ffd02cb05654905772290288bd3d00eaa3c6552dc0de549dad41c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b28a319a58e2b31e49fa42c5f1af447cc566159428f58b46c4b8e8d9950f8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESfce4Hd5Ci3vlgNqO3D_Wq1T2UA0_8MFhNJQ8AXfUm0UqDPTENUVxjprpiOzCnqFyIEygKVmbHrP9gSpd3jCj8Z-i3m3Gcrqv_F7u0ex59ucOzOIPmEG_mSOC5f4z97Oje4loRXZx_98OgU7-Rgx2UvtW412AeDcF5g_ezx6mXhqK2m9-2s3iji0jKfnLPXX6eWYOOVAAdPeQ4312SyUw1t8VOKe41TTcdVtj2ZHMMOGnVbJbBZcFIGHaYt-xHZziC9XKYsYBNTuIb7b48-aPZz9oFSUAlFK7bHXe-N3_xBQEOsot57kp5QCvJylTzFRrBb8QIeMi_MoQesVEef4CAw--V6qbpuyPqWJweUjStydLlU-BkcuSIBpTDbPGSkHo9voDCK_FuVF28IrnqDkQy_9flMBNXcQ_2WrNdpi_DOHByrYYkdWl6AFIXxa9kUJI9sJjzgu1KzRaRyxYrCwBgytBvZDXxKB-z0VkXLkxW8F679KGGQTzhK1z8xwevWo1RUiXAP-Mqm3J15phy7leYI_uVc4a6sq4DNkE_evOS6hLfsfrAr5HKLJ7EQtGZtnUHqAJtYwpZO7YCYJhdVh-jvHIK3ROIlWl9uYOId1W0hhFp_9-7xfA_K1RbX8z-pWjEcV1Qn9M27IrrnefUZ6Uhea15HDnFTDtNjwLJBrGIZh8Zpm2VxtGNrwZe_KLnYSn_5HLP3PPlnlbwuTCBMCCjMDRbP3F7M6MWKIIVO54CyYPpUN0UFbi-g-ejDqlyfF6nOx2QVexUgWiwWhoUsddfC2URedYsQHTn1Ouey7Gbq6FuL7AWyajGPLDLl7-Ya2bPrva9witogVIIFF9iv2ESOhRECFM7lXXwXT0KKcqWLZrzyc_EdMdhswyZKbMMDKt3NAaoS7jgkm6VX3RJjEELFnzjqlSZOAx4Ggtj4GVQjUccbhIcMR2_LISYtf4Zkm7BJ6qV2HZG23w5vdxdp73RcnnWgPyjMHSKrCRx34F9SVu6JpRPow5Mf4WsIXP3q3E3LCriAlyH_nPoGhAqU7U3PFt0DcbHoaHog5BjgifU7eTvXXJxL76XcemxpbNyY9ERakZI_-_WAdbPIZMgD4r4YeHgkgaFoX2pwrxeFHuXCJWy7d29fy7AwhX9aISJXuGMX7s1kdQzOZCLoxnxeFPAZ3lO68QPjU2HUjvha_ft7VPluy8fAJ_DJgkJhJ0EuHLzS4r4pOwuKb5TXwWf6qaG_erUpJ1ajJpANf2JIHmoUec=",
  "id": "rs_0193e155ff9bdfe1016ab4449da17c87d09ad10b0a117a6209",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.3},\"note\":\"At the lowered pose, the pear is squarely between both fingers and centered, unlike the earlier edge contact. I am closing to a conservative width matched to the pear so it is captured without being squeezed out.\"}",
  "call_id": "call_YsBKlZF0ZJlzMwWGAUT0rpar",
  "id": "fc_0193e155ff9bdfe1016ab4449ddf3487d09a080ebd445420cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YsBKlZF0ZJlzMwWGAUT0rpar",
  "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, 0.8192, 0.6128, -0.4458, -0.0216, -0.0338, 0.9989, -0.0738, 1.7008, 1.0199, -0.3695, -0.0662, -0.21, 0.4056]\nstate[eef_state]: left_x=0.2881 left_y=0.0011 left_z=0.1639 left_yaw=0.0085 left_pitch=-0.083 left_roll=0.0029 left_gripper=0.9989 right_x=0.4048 right_y=-0.0146 right_z=0.0526 right_yaw=0.11 right_pitch=-0.478 right_roll=-0.0437 right_gripper=0.4056\nstate[joint_eff]: [-0.0479, -1.388, 7.2547, 1.6825, -0.0415, -0.0513, -0.0122, -0.2667, -7.9385, 6.2154, 1.0427, 0.0171, 0.0659, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30936730f0929b3113451fcb86201fb6ab5e9e514dce2a826969cd14e9a02d7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:178c7c4056409eb88056df6ba251c9f77c6b53a9b33b51991c0aecbd9d0de52a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e6b003b7ee50edbae2eeb260285c6a56f021a614803ba6ad28d1779a51f7e32",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 7.582 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, 0.8143, 0.6132, -0.4313, -0.0216, -0.0338, 0.9989, 0.152, 1.4845, 1.0405, -0.5495, 0.0685, -0.0013, 0.9985]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0084 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9989 right_x=0.3756 right_y=0.0489 right_z=0.1177 right_yaw=0.0834 right_pitch=-0.4218 right_roll=-0.0534 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -1.347, 6.9949, 1.7167, -0.0562, -0.0366, -0.0122, -0.1709, -8.7043, 6.8991, 1.5556, -0.105, -0.0464, -0.0806]",
      "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, 0.8188, 0.6128, -0.4423, -0.0216, -0.0338, 0.9989, -0.0738, 1.702, 1.0195, -0.3851, -0.0566, -0.2001, 0.9986]\nstate[eef_state]: left_x=0.2886 left_y=0.0011 left_z=0.1646 left_yaw=0.0085 left_pitch=-0.0792 left_roll=0.0028 left_gripper=0.9989 right_x=0.4012 right_y=-0.016 right_z=0.05 right_yaw=0.0966 right_pitch=-0.4961 right_roll=-0.044 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.7573, 6.9949, 1.7998, -0.0513, -0.0757, -0.0122, -0.1026, -7.8291, 5.4769, 1.4725, 0.0317, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4458, -0.0216, -0.0338, 0.9989, -0.0738, 1.7008, 1.0199, -0.3695, -0.0662, -0.21, 0.4056]\nstate[eef_state]: left_x=0.2881 left_y=0.0011 left_z=0.1639 left_yaw=0.0085 left_pitch=-0.083 left_roll=0.0029 left_gripper=0.9989 right_x=0.4048 right_y=-0.0146 right_z=0.0526 right_yaw=0.11 right_pitch=-0.478 right_roll=-0.0437 right_gripper=0.4056\nstate[joint_eff]: [-0.0479, -1.388, 7.2547, 1.6825, -0.0415, -0.0513, -0.0122, -0.2667, -7.9385, 6.2154, 1.0427, 0.0171, 0.0659, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30936730f0929b3113451fcb86201fb6ab5e9e514dce2a826969cd14e9a02d7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:178c7c4056409eb88056df6ba251c9f77c6b53a9b33b51991c0aecbd9d0de52a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e6b003b7ee50edbae2eeb260285c6a56f021a614803ba6ad28d1779a51f7e32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtESitVAtDSH3LahpYH8Ln3X64ZdWRX1--xgdHEtDVCIXs-xXhwuz5R-wESJrGpTNZJ4WatpTc88A68ozWceomSikQnDg5FmHoGvCchgSDDjdCDV1pTT1gkvkZrPTxJaTP6lT0CisfzHKwWct3kisip3PBTxYirDJ8Ft0GX1WC6V0ZP6ggJVEGAa93TzKvyhei3HYaTV-MBHAWavMNIoSfb3arAqiWzejbzIA98cUPCT3OSFqKBvNLISaqCC0AQT7Gg4NlJZ_WAI0_s5TTY5q48-Fx4aBWbB6Ei8CcrpxYEyFC14v2FkjCZ4DgN_wNgtQsb7kK3RzF_xJtwHmkgoolbmbPy9UT4ug2JWqV1rJUL7ESwKKddncAomrXUk3pMg7Y_Nc0zLWKtn5xWSpgPgxCMiaPm0nWiX82pXMrQX4CvdsXwhgYGxpQnrlU6t81fdfaedFHxRvT2WGFXbJAW6HiGDU76bg2pFpEouhPQElaVmzN4QcYvlKWxF59EwWYrHM1-4Rc2RpSwQRVWT9JfNW9Srys2im5rKz1_IyA8kD0ArrPa0_8GlXFXXAl5iUqKebWQqi0yjPVuQ6cio5GlX-r4a5JdUdEgWe3o7JFcdPkDcGywhKbPwDfdYfR52GxoOk1aaKG3YTJplZIz2V5DFSwvXM3apd03sAm4vXdNjXq4xF0EUDANm82GbHSKvjz90BMcOaWgE_3NyDFQ7jnPMb9gm03crJxMfZ_9Ci0XK4_6KTUwnTV-B6ziCEyO_-HEQoDl4TgNJPtRjm4DKHwT12miznSaVMhPSnUOwl3jdTj0w2jvEDW4UJF4ZXf_1P0IBhoPXz9nItCK1SJ7XMQSt-GlmzRwagKR7ZisHjJGVKMDyuI71gdqx_pKPiQ10a3twwiO-0QrTM4-eFmhZDKGJGysSTk94Q7jBkXSTadtrJpphQpeufOQ82fXLhbR00fygXt31L92szlPL6isjnAjWcSRCVU10FpfLe324X_sjlpAjz2253zWM47vYc-KyxqrZ_aktTFhqXvyB-ra9yXq2SxaKcRbIbZF7PZyFI8ZvTR4HrU9gR20D1OnvAHuGSz3DBd4LdGMI11g53VHTfd0pNBjwjXZiM8gNIIe8jmfD4tmeF588VcLB9eZNTZraTuZMMp3EnopbbySDwTTtr6SrJjaMPLbkA4ktbwYxUHIh6WigoQ82UptoTLY1J9YFJ-IKyYHj2m_RkmTc3GJF--OrEwG2Ttw==",
  "id": "rs_0193e155ff9bdfe1016ab444a146f887d08d808ed69e377217",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The gripper stopped around a 3.9 cm opening with both fingers visibly seated on the pear's sides, indicating a real centered grasp. I am lifting straight up to confirm it remains held.\"}",
  "call_id": "call_HyxSxMwFx4zJScIL9Wty1HpD",
  "id": "fc_0193e155ff9bdfe1016ab444a17b3887d0a36bcde3709d33ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HyxSxMwFx4zJScIL9Wty1HpD",
  "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, 0.8192, 0.6128, -0.45, -0.0216, -0.0334, 0.9989, -0.0738, 1.6333, 1.3312, -0.794, -0.0689, -0.2218, 0.406]\nstate[eef_state]: left_x=0.2875 left_y=0.0011 left_z=0.163 left_yaw=0.0083 left_pitch=-0.0872 left_roll=0.0033 left_gripper=0.9989 right_x=0.4008 right_y=-0.0139 right_z=0.1409 right_yaw=0.1246 right_pitch=-0.5228 right_roll=-0.0376 right_gripper=0.406\nstate[joint_eff]: [-0.1846, -1.3607, 7.1453, 1.6972, -0.0317, -0.0415, -0.0122, -0.0889, -9.5248, 8.7179, 1.1013, -0.0757, 0.0415, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56bce12fbf32fef9a636307b99b22fd40eb80f8328812e9c5bed325172ae9e31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05b6a14d83deeb6a7a1924c494ce43ba7d97f92adcbd665c0a5be292246219bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4fa6317e6971b73761e2b53a376edf76e43b1e8e2491642a37445b63d94f30",
      "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 19 attempt 0 · /responses · status 200 · 4.03 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, 0.8143, 0.6132, -0.4313, -0.0216, -0.0338, 0.9989, -0.0765, 1.5871, 1.0828, -0.543, -0.0479, -0.1898, 0.9986]\nstate[eef_state]: left_x=0.2901 left_y=0.001 left_z=0.1682 left_yaw=0.0084 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9989 right_x=0.3908 right_y=-0.0179 right_z=0.0967 right_yaw=0.0776 right_pitch=-0.4771 right_roll=-0.0505 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.1829, 7.1453, 1.6874, -0.0708, -0.0513, -0.0122, -0.212, -6.8034, 9.347, 1.3504, -0.1636, 0.0708, -0.0024]",
      "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, 0.8192, 0.6128, -0.4458, -0.0216, -0.0338, 0.9989, -0.0738, 1.7008, 1.0199, -0.3695, -0.0662, -0.21, 0.4056]\nstate[eef_state]: left_x=0.2881 left_y=0.0011 left_z=0.1639 left_yaw=0.0085 left_pitch=-0.083 left_roll=0.0029 left_gripper=0.9989 right_x=0.4048 right_y=-0.0146 right_z=0.0526 right_yaw=0.11 right_pitch=-0.478 right_roll=-0.0437 right_gripper=0.4056\nstate[joint_eff]: [-0.0479, -1.388, 7.2547, 1.6825, -0.0415, -0.0513, -0.0122, -0.2667, -7.9385, 6.2154, 1.0427, 0.0171, 0.0659, 0.6764]",
      "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, 0.8192, 0.6128, -0.45, -0.0216, -0.0334, 0.9989, -0.0738, 1.6333, 1.3312, -0.794, -0.0689, -0.2218, 0.406]\nstate[eef_state]: left_x=0.2875 left_y=0.0011 left_z=0.163 left_yaw=0.0083 left_pitch=-0.0872 left_roll=0.0033 left_gripper=0.9989 right_x=0.4008 right_y=-0.0139 right_z=0.1409 right_yaw=0.1246 right_pitch=-0.5228 right_roll=-0.0376 right_gripper=0.406\nstate[joint_eff]: [-0.1846, -1.3607, 7.1453, 1.6972, -0.0317, -0.0415, -0.0122, -0.0889, -9.5248, 8.7179, 1.1013, -0.0757, 0.0415, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56bce12fbf32fef9a636307b99b22fd40eb80f8328812e9c5bed325172ae9e31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05b6a14d83deeb6a7a1924c494ce43ba7d97f92adcbd665c0a5be292246219bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4fa6317e6971b73761e2b53a376edf76e43b1e8e2491642a37445b63d94f30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESravjiDSCba7lz84hPrTvmcfmEH7D2nQKHC9AmLkTbS9mBIvfDhmcAxSCV_Q9AWjRzTuVRpBbX2rJmdmsA9ayd9FXhscWEkEQWzvPFjfMC6rYjds8fknDVGgrkadOBSpEzD_H6UUD72Y-8x5tsFO0sKWuwzaofmcucCWTQ-bKzWKISpRpajtrS9Q0uTdujBeddPx7-KAI4M-QAZVIFdMx6pcAwze0XQj4yGrsA_CHgpr83y4xiFqf7M3gazwHL-We83a0AiIoJ8_puzz7uS6X9TmLKo8-3sroInRelDjAViH6XRwLB-uJ8FAszyLn9OjwpQH03ZRmGyUHqRbLvz7VGiTFCHEdJX2wVK4D3gbwirQ07mTvSTGj_7-xqKfakRM8EHJTbzyYHyNq_W8xJ5gD9zDI9JczTNj4adVCD8zTYE-JgRlhQwPXFqHG5e64i5Zg2CxWN4Lg8NNoqAkpidMCNkrX5D9VtDxdheArHEd_kk00tSkmRryenb3d8QeGY-d-9RJB_1E1zw1cg0xMOVMjdtJ3sSIKhZbs3UzCHJXUIviwyPY37KHlgHygQQZMvmcihGuUu4tEONIK-0lIr9GO7MYjXZyrFz5QfFUHAEHyZRo_AjtXtOgiXJ8udybD4Fc_aHu1g8ebhrd5xZzEgpSFcmn1iv-DYziXigrwGUPt1Eevfx3khTM2e_ZHJp7fC167CB8BJ-1PFSv7XNmekQhzPx_DMN87fQvBcFGnyLDg0UYpVfkWFpUNM0x2H-8eNaXcLbpgBN699GQ3j1GHvdAzra4u8uoBbw7vXkXksMNU5LwQNF5FL525QU63SckGedlwkx2XAo43JGIQt03afKHYDwIxxNNYEufhtrO0CCJregV0iFDqvbJq4LXUdWQN0qNxPWnF-SawzmMSxZ0wR0oHUVHfVu_AmHPQ5VmmqILJwLRRtObS2f_v6DErClO1zyEIXKfJMALt2SnZ8-RRtPCYEwXB_7CmHYdff7bLRAtDSK7pGKt4IpHwBiiz9sPXO3L6GG5GV2d-iNpwbVEbk88xFM78X0tZzKU2TCNNTXtoDGXU6w8oish80M79GuTmc7S170M2G4sbAiWcv9tIjq1na1Y5aLecloVKDPnGf9ug_jlSbBrAUuuqrq73o90052w-fQ7tHNm2_RROMddVyPRP9faSRdbnOoBUIJ0voocuiOX0-GC75W3u9T0_VKJeXAklunh2ABP94fgP_mNsQpVYrOikJQpP5EFuKkyhdVPOsPrrPONR5u2EyXVW_os0JXU_of_HTQP-MKjWKxNbz7HYqcjo11RQMuLcTAgifnNRcuVRAWk-QdosS8kfRJ30g3kiCujjc7ZKNIWVkjf4Q4oxh-0PKhg2kHmqn0LBse6nKz6D60lJyXgl-EloNE9fCRRlx7iow1C0WZ_NX0kDd_z0mwTnaDSerD1N5VvjI7GU72hFkd6DDo76Mn1pWlZO7B8v8id6OFyZan0JZ5QBO2sqVow==",
  "id": "rs_0193e155ff9bdfe1016ab444a756f087d08d1050a164e78297",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.075,\"right_z\":0.17},\"note\":\"The pear rose cleanly and remains clamped between the jaws. The blue bowl is a short distance left and slightly forward, so I am carrying the pear high over the bowl center.\"}",
  "call_id": "call_RBEe4tIEisOZNpmjLc6PyLtJ",
  "id": "fc_0193e155ff9bdfe1016ab444a9bd7c87d09e19eec6f4010364",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RBEe4tIEisOZNpmjLc6PyLtJ",
  "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, 0.8192, 0.6128, -0.4503, -0.0216, -0.0338, 0.9989, 0.1936, 1.7294, 1.5269, -0.9249, 0.0372, -0.017, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.163 left_yaw=0.0085 left_pitch=-0.0876 left_roll=0.003 left_gripper=0.9989 right_x=0.4122 right_y=0.0778 right_z=0.1595 right_yaw=0.1608 right_pitch=-0.5573 right_roll=-0.0389 right_gripper=0.406\nstate[joint_eff]: [-0.0479, -1.347, 7.1726, 1.6923, -0.0366, -0.0366, -0.0073, -0.5265, -8.2803, 9.0051, 1.1941, 0.105, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9223b78485ea4d938d996fabf1a404f8d9f5c2cd9dd107e80c976759a25da981",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86786a622389fb39b06bb980794e7f196b7605fd3c6c99c75225ea384269f32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00bd4d9f3c4dd6a8fe66c65713b549d067e9ce9e2011cea1abd4434152e6694",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 2.43 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, 0.8188, 0.6128, -0.4423, -0.0216, -0.0338, 0.9989, -0.0738, 1.702, 1.0195, -0.3851, -0.0566, -0.2001, 0.9986]\nstate[eef_state]: left_x=0.2886 left_y=0.0011 left_z=0.1646 left_yaw=0.0085 left_pitch=-0.0792 left_roll=0.0028 left_gripper=0.9989 right_x=0.4012 right_y=-0.016 right_z=0.05 right_yaw=0.0966 right_pitch=-0.4961 right_roll=-0.044 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.7573, 6.9949, 1.7998, -0.0513, -0.0757, -0.0122, -0.1026, -7.8291, 5.4769, 1.4725, 0.0317, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.45, -0.0216, -0.0334, 0.9989, -0.0738, 1.6333, 1.3312, -0.794, -0.0689, -0.2218, 0.406]\nstate[eef_state]: left_x=0.2875 left_y=0.0011 left_z=0.163 left_yaw=0.0083 left_pitch=-0.0872 left_roll=0.0033 left_gripper=0.9989 right_x=0.4008 right_y=-0.0139 right_z=0.1409 right_yaw=0.1246 right_pitch=-0.5228 right_roll=-0.0376 right_gripper=0.406\nstate[joint_eff]: [-0.1846, -1.3607, 7.1453, 1.6972, -0.0317, -0.0415, -0.0122, -0.0889, -9.5248, 8.7179, 1.1013, -0.0757, 0.0415, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4503, -0.0216, -0.0338, 0.9989, 0.1936, 1.7294, 1.5269, -0.9249, 0.0372, -0.017, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.163 left_yaw=0.0085 left_pitch=-0.0876 left_roll=0.003 left_gripper=0.9989 right_x=0.4122 right_y=0.0778 right_z=0.1595 right_yaw=0.1608 right_pitch=-0.5573 right_roll=-0.0389 right_gripper=0.406\nstate[joint_eff]: [-0.0479, -1.347, 7.1726, 1.6923, -0.0366, -0.0366, -0.0073, -0.5265, -8.2803, 9.0051, 1.1941, 0.105, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9223b78485ea4d938d996fabf1a404f8d9f5c2cd9dd107e80c976759a25da981",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86786a622389fb39b06bb980794e7f196b7605fd3c6c99c75225ea384269f32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00bd4d9f3c4dd6a8fe66c65713b549d067e9ce9e2011cea1abd4434152e6694",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtESxt4Bi0UGUkYEnJxhQOCkUH27iSTMtTavgkDnrgQOv8zMytdGQ3nzY9mXc4Ow5vbnh1ByUoYByWuv5mPP_wHmB250umLDbuGL2IuLDUyjL60aF3-rtzjjgbJ2d0d2exdxqwEEOoJo-8A2XQmSzJwjucW3Bv7g_J0YIVxbgDFR04_TimsscoDE1_N7IHos86P1LQnpYpdDJZAybpAklbYAkaWas2E6oNbhxa7TI-r8THpsrOIxmCOQYECkTwRRcUpogw5KKp3hUsqz5CChZQ68s0mrUQ1WmFES2fAlQ75ClPoOmCJll3DBhOPgN69kv1cS96BTeI87Tw1lZndF8o_k8LqzHLEmusm7-2Mmll7ldFH1MT611ilWRvZe0B8pCaVJVL2fcPtg8PB5mQPwTlaaezMCkQjUnYU_l9wWtdOqBnP1-t_0EnN_POk_nNLzVT54tW-3gGuSnubhpFa-VVflABD3aZuxIAB0LfW92DtetQwOOdXTFPjRfYlBdKTPSAap7hgQ341Ufchqe5DTzMqZx9M1USm4u74eyk9jC_5Dk2TGMa2ZSdHHnkyqlkv8TtHdCkcMsjew68tR2a5RNjcaqrkkPEqJbRFiMsCeM2NEtm7LQWP27nbFuTx3YrbkfynfwkaFV1p1Wv49zfAxpRQor_27euJtpxdDZHMt9tQ7j1nlMLiBhtCCrAgW5C1jAHLeyFPsnUvV63-EVG4W1re-GmYlY6vhS5dX-gzKLbiTmgNgGNXYoHsyx7q4eKZPqGo_1uTAzf25PRonEDNUQm7CxWhdsQeQOxYRAvzjSNjnI06XAjMkph0FuaKIMy_JE-jyM6o4UuY0ncYQSUCOrbwWT_TecjdsogS8Cp8MYvH7pVxp70vc0iElLsLvbflTJDOO07qZ0j_mHrrnoFZ_8vXU9Ve3aUGvwqxweEq-wlhThH769KC42Jd2R7p6VRxN__nCC09C5amodSliszAkdaE7AVWR9vusxUU855yL3ArnakBeUG8J-1IaK5_adl9dDM8sRPagHbwgR-h33cnfwDDbEfJjE6rSGRQ4OfJx_3peSxfFGIemdFCW_UM2_rREkduwfxQqddojapJeH7V2c1j0vM4xbTenLO5kWOkQIXd4isAQC2vtilkxYJZGGU6h3WE74JNWetAOPEN87lD_4hJVzv0G95_lbhjKeTp4yAqWulbMJSzxbT-_qIkJ7Al-BskSUcSbqObJ4J2TSP-_BpP8r3uRMeySThNyjrtyGzMbVRnhmsS3cp1_Qm8XdS1fIBSTgh0LYrABSOaKCGVleB2IJAShEflZ9-fN_XCwEjnCdCzrzPMo687WchSuuM8DZxlFN3A4urqReDPq1XwsGNp-izDHPbbadwyP0jf5ObOj6uyARUxWELhTBVMor0dHX7ehP9Tdyol9joKL4diDKY7odzCiLFPYDqcmILEdhQSf1KqGEhe5rpbWEqOyPhxAWNiBf7bVumOle6JxC0EqOjeUhxcBaxr5z6_otScLnJHFt5JUgOrtBxxqp95dwwvMf-Ou_kFQu4dwp2jUWhApHZgIFB84bs4-22tGEU-O4XpHhgK4tq-621QC5VVql1k753a_pPfecMFEBvhd50df7N8ts-p412uNKs0mzsX5Uw-5KjCQCU-WjrS9PMa_njxFoWRzcR2xk47cVwJotoBwr4YCzaCWIXtpX_Xg_iWvvAuKbD-nNK8sc6vj8c5-TwlD1PtrFKdkCZQutGCeJFqb6qbBzkC7afrlgRzU9PmXJbHP952YgeWyLGcLdRIjYJE1BTCaQ1WnhUpY8DHQ4QQnl-cKj_QrOTCAUmlYbi8b_wlssqJnpGbpedhNFjVVZI8OjSSbXjRhAB891kRHW3nYmjRdldgeujzefZvcFBtr_1CRMaM05dUSde9ClUhe03B-2e4xysgcHL1qwGUeDMQ3p7JtAXA==",
  "id": "rs_0193e155ff9bdfe1016ab444af33b887d09c04888bc7f8e95a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.145,\"right_z\":0.17},\"note\":\"The pear remains secure but is pinched against the outside of the right finger, so it is offset to the right of the commanded grasp point; the bowl is visibly about 6 cm left of the fruit. I am shifting the arm left until the fruit itself—not just the wrist—is over the bowl.\"}",
  "call_id": "call_8ON6NDCp63RLC4xZxxxgnNqP",
  "id": "fc_0193e155ff9bdfe1016ab444b08f8c87d0a820c81d57e8021a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8ON6NDCp63RLC4xZxxxgnNqP",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4503, -0.0216, -0.0334, 0.9989, 0.3775, 1.8111, 1.6402, -1.0035, 0.1009, 0.1246, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.163 left_yaw=0.0083 left_pitch=-0.0876 left_roll=0.0033 left_gripper=0.9989 right_x=0.4043 right_y=0.145 right_z=0.1593 right_yaw=0.1867 right_pitch=-0.5941 right_roll=-0.0444 right_gripper=0.406\nstate[joint_eff]: [-0.1846, -1.1966, 7.2684, 1.6777, -0.0366, -0.0464, -0.0122, -0.3624, -8.841, 8.7453, 1.0672, 0.1343, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a2581efb8e8b3b9cf3b771b6f1b8355f591140da8abc5d3c23775215280322",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eeddfb0e34aef3a1269c3485cab7ef0d9de9f8fdc280149e915ef31a1642c18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9bc9bc921477ffdd0e45e1a4800371a91460f1c5661cedf316669f17684a8b",
      "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 · 3.515 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, 0.8192, 0.6128, -0.4458, -0.0216, -0.0338, 0.9989, -0.0738, 1.7008, 1.0199, -0.3695, -0.0662, -0.21, 0.4056]\nstate[eef_state]: left_x=0.2881 left_y=0.0011 left_z=0.1639 left_yaw=0.0085 left_pitch=-0.083 left_roll=0.0029 left_gripper=0.9989 right_x=0.4048 right_y=-0.0146 right_z=0.0526 right_yaw=0.11 right_pitch=-0.478 right_roll=-0.0437 right_gripper=0.4056\nstate[joint_eff]: [-0.0479, -1.388, 7.2547, 1.6825, -0.0415, -0.0513, -0.0122, -0.2667, -7.9385, 6.2154, 1.0427, 0.0171, 0.0659, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4503, -0.0216, -0.0338, 0.9989, 0.1936, 1.7294, 1.5269, -0.9249, 0.0372, -0.017, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.163 left_yaw=0.0085 left_pitch=-0.0876 left_roll=0.003 left_gripper=0.9989 right_x=0.4122 right_y=0.0778 right_z=0.1595 right_yaw=0.1608 right_pitch=-0.5573 right_roll=-0.0389 right_gripper=0.406\nstate[joint_eff]: [-0.0479, -1.347, 7.1726, 1.6923, -0.0366, -0.0366, -0.0073, -0.5265, -8.2803, 9.0051, 1.1941, 0.105, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4503, -0.0216, -0.0334, 0.9989, 0.3775, 1.8111, 1.6402, -1.0035, 0.1009, 0.1246, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.163 left_yaw=0.0083 left_pitch=-0.0876 left_roll=0.0033 left_gripper=0.9989 right_x=0.4043 right_y=0.145 right_z=0.1593 right_yaw=0.1867 right_pitch=-0.5941 right_roll=-0.0444 right_gripper=0.406\nstate[joint_eff]: [-0.1846, -1.1966, 7.2684, 1.6777, -0.0366, -0.0464, -0.0122, -0.3624, -8.841, 8.7453, 1.0672, 0.1343, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a2581efb8e8b3b9cf3b771b6f1b8355f591140da8abc5d3c23775215280322",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eeddfb0e34aef3a1269c3485cab7ef0d9de9f8fdc280149e915ef31a1642c18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9bc9bc921477ffdd0e45e1a4800371a91460f1c5661cedf316669f17684a8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtES132I7UsQAel8u_23-fUVJa4WNfpMbrvBdtUSIyf2sdRbkRfk6qRX2oPQtzmdnw8dmcI9kdIDcSp2vdrvn6ma3ntjP5PuXx6ayd1caCs17Eb-TwhElbO2OC5VASv8koEnHw8KG3M1oGMnAFi3tLIKzPLPGBGt7LVz07jEn5DhcASUlHYe-zteid4PLKWufHqE7T514qqPicxU310-rWJxZI4z-x1o-lXVmVfcXO6eXGIHYT2UpqiHSAlaAvpoIaONw4zfqzAo6Ak8X_WSkPK3M7YR9MSvPXpgj1SEwLig6fkKzuTbDmd5AyUJPe92Yg7oj55VZJ5-D_04oOS0NjlLNPKsVvepr6adv7Rfd0VtRCChx2F_w-c4OnHT_GMJ3Lh_mBaJr_sVR0q0ZFT_FnLrCt5ZLxPWKGoVfTUQYAQn2kk64FAaHadic-qoprF7u78D3nBOKQXP9iFLwGnah0MifO9Msuhcoxi7HnJq5m2Wynl-Nr2wlZZw-LDlivwm7qczLZEi_q2G_BWj8RQnd6-smGxKwVcxjxdhUqAp0amV7YUMgCxvUTJropgI9-JbqMr8qzyCA-5-r7GAYrz0iLviziCsy5xThlg0npcDLNmuhbRZjCqq_7k0PS6C8041KAmV6hF8ys3B_myMps__QPqpaABm9LQQWRxbrxP4ihr6TFOhzkaRPHvw-IX1nD6ZoTZVz9jhQ8blJzsbaL4Z6DheSrBbHkgKbyU-YjMZZ8JUbF6f4_PjWwRP6AyjdnSoDl7YhCosQfOTcaQzthPPvIuP2GJ-s69PASFaKOK4ncY1F2J6LBjLTffhA4x64nc-dmxgJKa0E4ncKXR76gcKDsJbRW3xazQs3quXCpICERi9bAd_WjY68gTRBLVudRd2hmHDVXwXrYb-obSY6-PEiEWaYA-HQ4oNdfRnWAKMO_h5Kmp6ySx13uO4IMAMG9TF7uOvoN8ZVgLNs_b8zPLeb616_4fBt1SDJnqPkalCA_IKYDFCynAUX09QojNYdSfy-Qt25Hg4kyRi7CSTcYa9puS1aGEku8DJkJQz36MdO0J8YrTBOmGR-I0GFpUDses9tk_mS_7tLqmDKgwGPhs3p7rxg9kH2d3-eYLJ04MwfL4qQLtMKgosi8tMw4DIScUh3uoAGBdbEe3iuQRsLriFUV7f2spftl5ylOe79jtn8h-bYx4uwoDA37CWxKhaiYqtnnXH6qnYdPGbV3K7Js65nKyg_zX5WfbjlT53xLMkoUsVc8yC9GE1bWAJguKGayHKVC5EIxB8EvfAJnQnP9694zCj7i3vGw-NCSkpWDKJjDcNK9VE_eYXY7xcVT9w9QbYNgfc6PffLlxRxLJDYzyni5zYI7g==",
  "id": "rs_0193e155ff9bdfe1016ab444b45acc87d0b3c8656eb82704bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.22,\"right_z\":0.17},\"note\":\"The offset pear has moved closer but its center is still visibly to the right of the blue bowl by roughly one fruit width. I am continuing the leftward correction before lowering.\"}",
  "call_id": "call_EYAcP5aV29Nkp5aUo06x2d2s",
  "id": "fc_0193e155ff9bdfe1016ab444b4f3d487d0ae84ac8711a8eaed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EYAcP5aV29Nkp5aUo06x2d2s",
  "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, 0.8192, 0.6128, -0.4507, -0.0216, -0.0338, 0.9989, 0.5545, 1.9621, 1.8645, -1.1236, 0.1532, 0.2604, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.1629 left_yaw=0.0085 left_pitch=-0.088 left_roll=0.003 left_gripper=0.9989 right_x=0.3983 right_y=0.2192 right_z=0.1621 right_yaw=0.2142 right_pitch=-0.6228 right_roll=-0.0533 right_gripper=0.406\nstate[joint_eff]: [-0.0205, -1.1556, 6.9949, 1.6435, -0.0269, -0.0464, -0.0171, -0.0752, -9.7436, 8.8821, 0.9451, 0.2466, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cb9ce307a2745966327e026a10b36dad9b556d59fe265a79bf9b62c29ea2fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e97129068d9d9d8ee6ebb2744d49cb488ad84c9d6c18e4837458120969e4c16b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2672aeafdd26d47fe8073e662a21cc03cab76f211bc424412756698c37158219",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 3.132 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, 0.8192, 0.6128, -0.45, -0.0216, -0.0334, 0.9989, -0.0738, 1.6333, 1.3312, -0.794, -0.0689, -0.2218, 0.406]\nstate[eef_state]: left_x=0.2875 left_y=0.0011 left_z=0.163 left_yaw=0.0083 left_pitch=-0.0872 left_roll=0.0033 left_gripper=0.9989 right_x=0.4008 right_y=-0.0139 right_z=0.1409 right_yaw=0.1246 right_pitch=-0.5228 right_roll=-0.0376 right_gripper=0.406\nstate[joint_eff]: [-0.1846, -1.3607, 7.1453, 1.6972, -0.0317, -0.0415, -0.0122, -0.0889, -9.5248, 8.7179, 1.1013, -0.0757, 0.0415, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4503, -0.0216, -0.0334, 0.9989, 0.3775, 1.8111, 1.6402, -1.0035, 0.1009, 0.1246, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.163 left_yaw=0.0083 left_pitch=-0.0876 left_roll=0.0033 left_gripper=0.9989 right_x=0.4043 right_y=0.145 right_z=0.1593 right_yaw=0.1867 right_pitch=-0.5941 right_roll=-0.0444 right_gripper=0.406\nstate[joint_eff]: [-0.1846, -1.1966, 7.2684, 1.6777, -0.0366, -0.0464, -0.0122, -0.3624, -8.841, 8.7453, 1.0672, 0.1343, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4507, -0.0216, -0.0338, 0.9989, 0.5545, 1.9621, 1.8645, -1.1236, 0.1532, 0.2604, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.1629 left_yaw=0.0085 left_pitch=-0.088 left_roll=0.003 left_gripper=0.9989 right_x=0.3983 right_y=0.2192 right_z=0.1621 right_yaw=0.2142 right_pitch=-0.6228 right_roll=-0.0533 right_gripper=0.406\nstate[joint_eff]: [-0.0205, -1.1556, 6.9949, 1.6435, -0.0269, -0.0464, -0.0171, -0.0752, -9.7436, 8.8821, 0.9451, 0.2466, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cb9ce307a2745966327e026a10b36dad9b556d59fe265a79bf9b62c29ea2fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e97129068d9d9d8ee6ebb2744d49cb488ad84c9d6c18e4837458120969e4c16b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2672aeafdd26d47fe8073e662a21cc03cab76f211bc424412756698c37158219",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtES6I8pCdKrjoqr6jO6hmsL1BnnXZMrnNm2eCwFOC2YQbX-_lIHN4xE5K9A3d51IPNokhNoqBjmrMziJ3UpEMgk33zJbiVMqyn-GFUn57vfbellhG8fmYMGydKfOP2WSC0XLWb9aa0K8H4GeG6sVGb5Z9e0ZsUBDHCaUAv29w440bQQ8z_EA-FGBXaBIZGG252uAbjC6SrFgPFBzEfAidOeWOoSYKI7YI48vX6B2U5EC8BzI0de1zcWR4x5CvgM3Dd96oSFMeAWzKqBwrrRr9a1XM9VxjsHHRNtcfiVvt1SU5NGHdLOeWoDcCQ7gsE8UMom2a0XOSgPvmiqbj9jJQtLnhOL4EKQoWAmc6RRTGRA3aZ76-MpU_9hupGISZhOtDq1a25KTK3gIzsrTmmJUQQOb1ulDnM-2haHAqMeYSn49j1l5zf1Tb03f4E1asbRDV-1bb_oSh3zpg2uFDewG1CpzWvG-gqQptp_jhx4L_gHWDcBQqAQmAlvo746nw3VU-0gRsW7nCmVoJ-Nw6HwyBlEdxk7bgk-GvFv6rM6TIP__3BEgRsobcdvGPwTQ9Rj7IPhgxEBGub9fK_r7NymYKUaAs0gkWWAWNo5v36BaPb0NRGu8yVBIVhsuhUf2jKv531gpwOYwcIw94pXyIqdEAaRQJ1fYKORKiGxj8iMCFm4s5oOD_s_gNG406Nsh9QebTkFjahhMHjhE6jFtfv7s9hqc1TdAiUL42hNpy4-91MlIr09QV1shzYrfSRkjy7rN1ms-Cq3v8LuPQDNvuVJdIQPsjKll4ad_aolVjD7JbnX5Zj3HqPbuifIUq_qoIC02C0HqHoiQtkfqslBj0Vzz0NzcgzF0gMbrsUlwUmTBUau40dgCanSQzfp8ZcgAxlLZDKMysVWhNSxZrluT8ghMgJVJGyFY5bKaWv7acqyWGA8Z_H5jldsaJkldEPQNIeb94ZWjBToFdQTD6LZ-Eez6hwAQNOd9RrQsY_vdzlBebWOvS2aZFgwy_IU_LRzbCC_vUGBu8pWglswKhkRcoIn2pWNFrGB1HMRLTuepIRPRa-B0HTMNZQADzyHH9PaCEU7RP9-C00jVKqRPaRtGzjktZgloOVaw6uKV3rtZarnm6dbZE03F_bERDNCsXaQnAsLuu77Bc4DsRwWjronJfkgnSwcA4ULojzvChIzz51fuugJNENI3qsON5YnanzeMzOCB5yPbW7ZG-6OmJSq64ELMjJG5piPbtAuygRjDxDcLCefLjreN38aGZS4THtqWvukuMh49TzruZy1h-E_bKEArE0e7QNlUC3VbBbNz2s01vo5J60es3vn_IxfAmbFSUPiqV67qqwGsk6e1aJWRix3eId9ILMI0RCVi6CUbuyeo_D9KAkrNu74qo8x-LAmYCtusV-tgF-tCUQXG0yn_3qmGRIwOUz002WN29pnRc1__ZK_Vc2oOCp4dBXx4vzfHDj10-opqK3sjwbLAA1w_hEHEfKwpGTEpmtswUVzGMYn7s2cnuoxlVLTyG42VdOcCCu4OCYQPMCFYQ-cJGpRMbD69ZYJE94b1u8Pxo3fOgv4bkSZFrmGsOLBi1pWTmyryv4gJm7xbJwpPMfs06u4hlOk01J0ciAJM8i4i5bBQlEqfSshYl_8qj4CzcwQBFNbH090k3XKfjTBKYRxPYZJZCARAFB8SON8iSb-ncVUsuixywKW6LqUsYu6jQGl_s2GlA1q7ZL5SI5ENlSQVxEgmWhk0EenRVYQpThzmXFl25-DcRrQ_DKakuTcLW95D4sFDzv6Evd0qqqFhfPYxayXCvg8PybbBRcNT32lASEo23f0Huk8CxNs2lzstHRMJgsbGS8gxNKv6E9zLOHMZuTpr3216YbNRMHT9le6HIH-GnSI_XLavi7z70rZf33lRP110mkXhbzF756vtJK6UTCPn4_ZhnBum4w==",
  "id": "rs_0193e155ff9bdfe1016ab444b7faa887d0a19529a2e13145be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"After the second left shift, the pear is occluded directly over the blue bowl rather than visible beside it, indicating the fruit itself is aligned above the bowl. I am lowering gently until it is inside the bowl.\"}",
  "call_id": "call_JGrTpJ3pU6rQkjtTxH6gXfLw",
  "id": "fc_0193e155ff9bdfe1016ab444b97b0887d0a4f1437d8dfbaa67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JGrTpJ3pU6rQkjtTxH6gXfLw",
  "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, 0.8192, 0.6128, -0.4534, -0.0216, -0.0334, 0.9989, 0.5556, 1.9469, 1.6112, -0.9058, 0.1528, 0.2543, 0.406]\nstate[eef_state]: left_x=0.287 left_y=0.0011 left_z=0.1624 left_yaw=0.0083 left_pitch=-0.0907 left_roll=0.0034 left_gripper=0.9989 right_x=0.3921 right_y=0.216 right_z=0.1021 right_yaw=0.2148 right_pitch=-0.6421 right_roll=-0.064 right_gripper=0.406\nstate[joint_eff]: [-0.0752, -1.1692, 6.9402, 1.7118, -0.0269, -0.0415, -0.0122, -0.0615, -11.3026, 6.3111, 1.1062, 0.1099, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d847ad1727b25dd4c89ba1c147232b90f515d85a274d4d3fc0d2c3d2cd883f57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e5a40a0db3fe99616b6563d7608df92dbdb023d43c4fec4b84817b35f20131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6218845c45c8d7abb6ed75a52d33ba0a32db24485fa4f606a655876bb3061b2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.24 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, 0.8192, 0.6128, -0.4503, -0.0216, -0.0338, 0.9989, 0.1936, 1.7294, 1.5269, -0.9249, 0.0372, -0.017, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.163 left_yaw=0.0085 left_pitch=-0.0876 left_roll=0.003 left_gripper=0.9989 right_x=0.4122 right_y=0.0778 right_z=0.1595 right_yaw=0.1608 right_pitch=-0.5573 right_roll=-0.0389 right_gripper=0.406\nstate[joint_eff]: [-0.0479, -1.347, 7.1726, 1.6923, -0.0366, -0.0366, -0.0073, -0.5265, -8.2803, 9.0051, 1.1941, 0.105, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4507, -0.0216, -0.0338, 0.9989, 0.5545, 1.9621, 1.8645, -1.1236, 0.1532, 0.2604, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.1629 left_yaw=0.0085 left_pitch=-0.088 left_roll=0.003 left_gripper=0.9989 right_x=0.3983 right_y=0.2192 right_z=0.1621 right_yaw=0.2142 right_pitch=-0.6228 right_roll=-0.0533 right_gripper=0.406\nstate[joint_eff]: [-0.0205, -1.1556, 6.9949, 1.6435, -0.0269, -0.0464, -0.0171, -0.0752, -9.7436, 8.8821, 0.9451, 0.2466, 0.0904, -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]: [-0.0219, 0.8192, 0.6128, -0.4534, -0.0216, -0.0334, 0.9989, 0.5556, 1.9469, 1.6112, -0.9058, 0.1528, 0.2543, 0.406]\nstate[eef_state]: left_x=0.287 left_y=0.0011 left_z=0.1624 left_yaw=0.0083 left_pitch=-0.0907 left_roll=0.0034 left_gripper=0.9989 right_x=0.3921 right_y=0.216 right_z=0.1021 right_yaw=0.2148 right_pitch=-0.6421 right_roll=-0.064 right_gripper=0.406\nstate[joint_eff]: [-0.0752, -1.1692, 6.9402, 1.7118, -0.0269, -0.0415, -0.0122, -0.0615, -11.3026, 6.3111, 1.1062, 0.1099, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d847ad1727b25dd4c89ba1c147232b90f515d85a274d4d3fc0d2c3d2cd883f57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e5a40a0db3fe99616b6563d7608df92dbdb023d43c4fec4b84817b35f20131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6218845c45c8d7abb6ed75a52d33ba0a32db24485fa4f606a655876bb3061b2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtES-Wi6vjDOnQsh8N9w4CSJC2kSyBn5RlcKiyjLiXGHyOVa-uij52BUeZqGgE1SFW8dc8mXJLULYE-ebDZR4Bp_pui2rjBnSWUy_qP9LTbbrbXta0aH4BKH3Kg82Wk3rGS5uA9GTBgOhJ5_UtDaTcvidQpPCzh1adGYywJ7jhnTKZrSGR5jvUtWCi1wjdWR1YJijdF0xycTMvMFxBwplpnhx3aewBrRp5ez1kwA0ujGNcsYvGZxQHCpIyx9Z9CCfZZsnnIWDVTVeq7M2-IeFFy5npJud0Z2u2Qfy12abe0pkO364Z4cQ94zsuSg9vmWHZTeyZ9PwqmFzS_Rm3h3cTd6qGa8DBs9YicurK99wP5bcNgkBoT6En2qRDSngcGwgzbDt653ZH6bzOAilWoiqP_PdnYf-jipkDcnyeFtNcDhlb7ALeV_XEzbCzwWuxn0pQYhVNyPdKIDS8gtgBM5nwnnnhjRFDltOLuZ0HHQyRd3CR9YvhG2Fl28IBiIlpPUHokZhOKw9RngVoYt8F56L8B5piXKuZbJu76-_UGjfaTj8cUsSHbBLlXUCfsTfZ-OAuVHjCUqlz_2GjQI77gzBuo9YB12mRiTfT_5PMrQa2WXLpvkvxVu4yo20Tbfn2ln7RxpVqY-ObZw5pC6N7MwoGWXLVpsTzEwPzlU2Vef7ZqneNmf3wHn40fq_iM8n5C2CKH99nm--I1S9NcbMBQ7jC7hjWycotbJysQMLFTdrbSmLc-FMD0XYURBCJi2hfYBMJkDq4iOb5XCCbZVlQz96xaSdHVzE0lr4EaQMpsHykWFK9Z39jG_fH_xgun8mjBbQ144zsL104bMsdfePCu48B9pBeHGJEMeqtdfiYtkTVNIp431U4boQP_AosU-OoC0Ehty7dUG5wHEusLWoEWNlZT5htDg4LjVmO7dV1NTFVJJMZ3XR2bzSJGs3bLVACS2_ppR3C1t4MyZUlk4gwiV4i0001UWK5TGXWLfTHTo677o6Y-moWNaTzDIF-SHhFQ9_Ipoj7t3AjSdBFhXwN6Qd8GZJ3aVIus3tAaja32XY0W9XXzrsHF9NMsJbrWmbl-VLS9aTy2yvMPIiRq1OCf-5myXkF9-d-vtxEqwThlvrfjbv_Aqbypp57S_BxNymQP8D9yI0RA5evmXRCEkY1-W-gP_G6Jue4gL8RlUNBF8IU4wsdGa3_tV2j37HgfElqTNwuvj0NAImS-Vnh2XCG6XqXYAVm3K4qKnV5iD1Wa-O251cavDww0fCwbtDc8qodSx0zTR97ezvVKvtZp9AqcLoJgTcfsI0Ke2M3pOsKMTfe_8dKxXNPXqoJlDmQ5vvC_-Ow5t330Cd21NnUEqj8ElGxV6-Qexa34S5J9j_XXwB7mVlUMoeUlLb6yT4bVGx2D9_zlgD1xmKYSYw0npg-47F0DrmriNKKd8qvypwYX7CBp_n2ktvt2qAmM0RyzXFCgFv4TzV7abBX8GmtN0RvpU6OnkCBITfF0fYg6vjDxjKlyBZoVnimw4yeFk6xS3Qe0pj1XIaVu2SgG0Wxv1nmF0-r0kHrpjPvlxYCkZF_ynpwrMa87sxLGF2GajRekyo9e2q_NJO0xN0fhjIN6wKU0mATGXeWne-aTJFAVpABrKLRAcCkzeYZ6_LSNmeKKH2GKx9Vrs_2BKgn_qo_irIp9swRPMsHK8D5vgE1shoKFvtszvJA78hBC20jkKH7W9Ihu5wNiss1SIPM78ezbhgMBWMNd2siEoSEyGG9BX9jr2iHjBrJw_slVSJYRrcX7mplGdFURGg164IJrwmFBOuFkPd7wFhXg==",
  "id": "rs_0193e155ff9bdfe1016ab444bd2f1087d08e32be4abd65b4a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"At the lowered pose, the wrist view reveals the held fruit is the yellow fruit and it is positioned over the blue bowl's interior. I am opening the gripper to release it into the bowl.\"}",
  "call_id": "call_BArQG9OgcwYP3FcjIl2WQsez",
  "id": "fc_0193e155ff9bdfe1016ab444bdfa6887d0a2b97862e47c1194",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BArQG9OgcwYP3FcjIl2WQsez",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4541, -0.0216, -0.0338, 0.9989, 0.5602, 1.9388, 1.5471, -0.8597, 0.157, 0.2474, 0.9955]\nstate[eef_state]: left_x=0.2869 left_y=0.0011 left_z=0.1622 left_yaw=0.0085 left_pitch=-0.0914 left_roll=0.0032 left_gripper=0.9989 right_x=0.3864 right_y=0.214 right_z=0.0882 right_yaw=0.2173 right_pitch=-0.6504 right_roll=-0.0758 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.347, 7.2, 1.6386, -0.0464, -0.0562, -0.0122, -0.2256, -12.3009, 6.4479, 1.0476, 0.1392, 0.0659, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a0a17fec73e91f5de8089213d241407450486857eadc24952c70f202de566b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acea3ee095241707f9add1b0f6986d92b61cbe769378560660b9a7feb852f08b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9edb9da02c50e1e5adb8b929891be3c29311d25a85a2ffd369beed9f08818687",
      "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 · 2.319 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]: [-0.0219, 0.8192, 0.6128, -0.4503, -0.0216, -0.0334, 0.9989, 0.3775, 1.8111, 1.6402, -1.0035, 0.1009, 0.1246, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.163 left_yaw=0.0083 left_pitch=-0.0876 left_roll=0.0033 left_gripper=0.9989 right_x=0.4043 right_y=0.145 right_z=0.1593 right_yaw=0.1867 right_pitch=-0.5941 right_roll=-0.0444 right_gripper=0.406\nstate[joint_eff]: [-0.1846, -1.1966, 7.2684, 1.6777, -0.0366, -0.0464, -0.0122, -0.3624, -8.841, 8.7453, 1.0672, 0.1343, 0.2125, -0.0122]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.4534, -0.0216, -0.0334, 0.9989, 0.5556, 1.9469, 1.6112, -0.9058, 0.1528, 0.2543, 0.406]\nstate[eef_state]: left_x=0.287 left_y=0.0011 left_z=0.1624 left_yaw=0.0083 left_pitch=-0.0907 left_roll=0.0034 left_gripper=0.9989 right_x=0.3921 right_y=0.216 right_z=0.1021 right_yaw=0.2148 right_pitch=-0.6421 right_roll=-0.064 right_gripper=0.406\nstate[joint_eff]: [-0.0752, -1.1692, 6.9402, 1.7118, -0.0269, -0.0415, -0.0122, -0.0615, -11.3026, 6.3111, 1.1062, 0.1099, -0.0024, -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]: [-0.0219, 0.8192, 0.6128, -0.4541, -0.0216, -0.0338, 0.9989, 0.5602, 1.9388, 1.5471, -0.8597, 0.157, 0.2474, 0.9955]\nstate[eef_state]: left_x=0.2869 left_y=0.0011 left_z=0.1622 left_yaw=0.0085 left_pitch=-0.0914 left_roll=0.0032 left_gripper=0.9989 right_x=0.3864 right_y=0.214 right_z=0.0882 right_yaw=0.2173 right_pitch=-0.6504 right_roll=-0.0758 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.347, 7.2, 1.6386, -0.0464, -0.0562, -0.0122, -0.2256, -12.3009, 6.4479, 1.0476, 0.1392, 0.0659, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a0a17fec73e91f5de8089213d241407450486857eadc24952c70f202de566b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acea3ee095241707f9add1b0f6986d92b61cbe769378560660b9a7feb852f08b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9edb9da02c50e1e5adb8b929891be3c29311d25a85a2ffd369beed9f08818687",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0193e155ff9bdfe1016ab444c0766887d09cbaa665fb437883",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The yellow fruit landed on the table beside the bowl rather than inside it, but it is now centered cleanly between the open jaws. I am lowering at this exact position for a direct grasp.\"}",
  "call_id": "call_36svOx38ESXvk7varCDUkM85",
  "id": "fc_0193e155ff9bdfe1016ab444c1fba487d09c7925d7c51d6d53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_36svOx38ESXvk7varCDUkM85",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.466, -0.0216, -0.0334, 0.9989, 0.5667, 1.9377, 1.3617, -0.6491, 0.1608, 0.244, 0.9965]\nstate[eef_state]: left_x=0.285 left_y=0.0011 left_z=0.1599 left_yaw=0.0083 left_pitch=-0.1032 left_roll=0.0038 left_gripper=0.9989 right_x=0.3808 right_y=0.213 right_z=0.0455 right_yaw=0.2289 right_pitch=-0.6246 right_roll=-0.0706 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3197, 6.9538, 1.7509, -0.0366, -0.0317, -0.0122, -0.0205, -9.2513, 5.9282, 1.1893, 0.1832, 0.0073, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e731d4a693bfccdaaaf26d6d392ffe74a36df7c7d877afa24c5cc4db0e8509f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fc954320e079fe0514e37a4084fdb95b97a438c8329df03698e4beb655e92a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34bdf6033dcea5620815d4b979b9b61b330e7edd6b27c3897aa7b52374519555",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.738 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]: [-0.0219, 0.8192, 0.6128, -0.4507, -0.0216, -0.0338, 0.9989, 0.5545, 1.9621, 1.8645, -1.1236, 0.1532, 0.2604, 0.406]\nstate[eef_state]: left_x=0.2874 left_y=0.0011 left_z=0.1629 left_yaw=0.0085 left_pitch=-0.088 left_roll=0.003 left_gripper=0.9989 right_x=0.3983 right_y=0.2192 right_z=0.1621 right_yaw=0.2142 right_pitch=-0.6228 right_roll=-0.0533 right_gripper=0.406\nstate[joint_eff]: [-0.0205, -1.1556, 6.9949, 1.6435, -0.0269, -0.0464, -0.0171, -0.0752, -9.7436, 8.8821, 0.9451, 0.2466, 0.0904, -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]: [-0.0219, 0.8192, 0.6128, -0.4541, -0.0216, -0.0338, 0.9989, 0.5602, 1.9388, 1.5471, -0.8597, 0.157, 0.2474, 0.9955]\nstate[eef_state]: left_x=0.2869 left_y=0.0011 left_z=0.1622 left_yaw=0.0085 left_pitch=-0.0914 left_roll=0.0032 left_gripper=0.9989 right_x=0.3864 right_y=0.214 right_z=0.0882 right_yaw=0.2173 right_pitch=-0.6504 right_roll=-0.0758 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.347, 7.2, 1.6386, -0.0464, -0.0562, -0.0122, -0.2256, -12.3009, 6.4479, 1.0476, 0.1392, 0.0659, -0.1538]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.466, -0.0216, -0.0334, 0.9989, 0.5667, 1.9377, 1.3617, -0.6491, 0.1608, 0.244, 0.9965]\nstate[eef_state]: left_x=0.285 left_y=0.0011 left_z=0.1599 left_yaw=0.0083 left_pitch=-0.1032 left_roll=0.0038 left_gripper=0.9989 right_x=0.3808 right_y=0.213 right_z=0.0455 right_yaw=0.2289 right_pitch=-0.6246 right_roll=-0.0706 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3197, 6.9538, 1.7509, -0.0366, -0.0317, -0.0122, -0.0205, -9.2513, 5.9282, 1.1893, 0.1832, 0.0073, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e731d4a693bfccdaaaf26d6d392ffe74a36df7c7d877afa24c5cc4db0e8509f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fc954320e079fe0514e37a4084fdb95b97a438c8329df03698e4beb655e92a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34bdf6033dcea5620815d4b979b9b61b330e7edd6b27c3897aa7b52374519555",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETFtisJYYP5lqUnFVKnQJWq60Egyug3AMlANoGhCl2Kg1dqN2rKX25c4nv8fNN2MpbGohfDQvFqfqqbDYyXIWa0stioLrhjBtIGiKJA0w8rJnUR9hbzVoFCOmjiSfm-xub_AwlNLtB6EB-G7av_uC-HwbwRcu3tTw6yvHb7LDUN8CqZSuiNil_pcYcyAaq5qjrWbd3FnI8fl2ks09_QAzuuPY1YbXsUzJ1X_cpvz4Ew7c2xI-X2RfEtwHN25tRHnnbPXsd0TFMm0OEoii_liBkoYnVPjnyGDFy4ZSsHZsJldQujuCYg10jDpbkeap5j6f_QD2oX4qXuklgiMswJZxvYCkjnckddSFnsxXmZpZsQ1p9o7rwNUd2M7V2M1xlE0CYQVwyEzg0_ZZmdKKX8SpNqNtxA9SkRJoIshEicKn8TQk2dOenO6cW5hd2twCUPSPPCYfuXmLREPLzmWTXeimX_ZFLcxFgLS0evxO1MjQFOT2N322SXTp5Bejafq6Ppkfu2NRBqD0Kb3g69Zb2nNOF1U70mnG1Qz88iHwjoOZGH8u1lKYEKcPiE0f5BKgYK-1NHHU2PrJmA9DaVxnswVt9CTFPZ1r0H0kehsESK6x1glu_tP6URo-kHMY4taGqFTrjdjX_ov4KyqxFEKMW2FRUQHYlOLT2aEUrqmYd2OX0G-2K5zkfFzp-CYTMLbzHWToddYWBB8yGvy7tcOVXLJbwWXsRNFdGPKQMi8f2VPY0JXAhPFYlaLnTzKHYDRwxo9cVGGM3m8XWjnyV0S8VRg_nES_Gu2V-Zjl2ZVjjsIwLMlPpCgIIHCrp5Grp53pxpXEsDXJJ3_csznpW8htQshl1rb8gTEwm1_2BD_s0bGY4lcaH0-f31mFU8ODjqe8BPMW-_qAtDeBdzy2xxmh0V9AsDbrTL3jOGlLsbL2bMnQBaClPB-eechxbhxKk4lde21Q4FZ4bWGLM8rZ68LelGq6nNOiWGGq2Jj6g-6fcpULN10mKj-HeYU9b2KQyuPdRewUWu0pHgJgj51_pzy_rIa6F5jNLhCBitq0iiFmxsg_mAKGWB6pxv-iuj0jCzw3fKfx6CMeDu3as4orvrxrRClVB2sJPPPDo5ymzfOqK1Jb-x7ln0pcNqNxGJ5BkX2Z9YZeE-qzeKcScWRMG1dvSTALzqISB3WICBzAjwp25ZOzgXtvs=",
  "id": "rs_0193e155ff9bdfe1016ab444c50a7087d09bb27442fc83198f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The yellow fruit now fills the gap symmetrically at grasp height. I am closing to a moderate width to hold it securely.\"}",
  "call_id": "call_NyXuec6aqchk9SA5H3iMAsRD",
  "id": "fc_0193e155ff9bdfe1016ab444c51aec87d0a0adcda6a2648331",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NyXuec6aqchk9SA5H3iMAsRD",
  "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, 0.8192, 0.6128, -0.4686, -0.0216, -0.0334, 0.9989, 0.5667, 1.9388, 1.3338, -0.6273, 0.1604, 0.2432, 0.2546]\nstate[eef_state]: left_x=0.2846 left_y=0.0012 left_z=0.1594 left_yaw=0.0083 left_pitch=-0.1059 left_roll=0.0039 left_gripper=0.9989 right_x=0.3774 right_y=0.211 right_z=0.0379 right_yaw=0.228 right_pitch=-0.6315 right_roll=-0.0735 right_gripper=0.2546\nstate[joint_eff]: [-0.0889, -1.347, 6.9402, 1.6874, -0.0415, -0.0171, -0.0122, 0.1709, -11.412, 5.6821, 1.0916, 0.1978, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e466116c4f9926849a305a0980ad7fae3bd9a38265bd865dce72d66a0474fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d807b75ba7b99bdd599bacefc1b9d81b29ff7b37bec10e391f1afd8ff00e4cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09003cc6e9bded2205ca3cb093cf19476d18ed57d395f3004cc47d67241f318c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 4.212 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]: [-0.0219, 0.8192, 0.6128, -0.4534, -0.0216, -0.0334, 0.9989, 0.5556, 1.9469, 1.6112, -0.9058, 0.1528, 0.2543, 0.406]\nstate[eef_state]: left_x=0.287 left_y=0.0011 left_z=0.1624 left_yaw=0.0083 left_pitch=-0.0907 left_roll=0.0034 left_gripper=0.9989 right_x=0.3921 right_y=0.216 right_z=0.1021 right_yaw=0.2148 right_pitch=-0.6421 right_roll=-0.064 right_gripper=0.406\nstate[joint_eff]: [-0.0752, -1.1692, 6.9402, 1.7118, -0.0269, -0.0415, -0.0122, -0.0615, -11.3026, 6.3111, 1.1062, 0.1099, -0.0024, -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]: [-0.0219, 0.8192, 0.6128, -0.466, -0.0216, -0.0334, 0.9989, 0.5667, 1.9377, 1.3617, -0.6491, 0.1608, 0.244, 0.9965]\nstate[eef_state]: left_x=0.285 left_y=0.0011 left_z=0.1599 left_yaw=0.0083 left_pitch=-0.1032 left_roll=0.0038 left_gripper=0.9989 right_x=0.3808 right_y=0.213 right_z=0.0455 right_yaw=0.2289 right_pitch=-0.6246 right_roll=-0.0706 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3197, 6.9538, 1.7509, -0.0366, -0.0317, -0.0122, -0.0205, -9.2513, 5.9282, 1.1893, 0.1832, 0.0073, 0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4686, -0.0216, -0.0334, 0.9989, 0.5667, 1.9388, 1.3338, -0.6273, 0.1604, 0.2432, 0.2546]\nstate[eef_state]: left_x=0.2846 left_y=0.0012 left_z=0.1594 left_yaw=0.0083 left_pitch=-0.1059 left_roll=0.0039 left_gripper=0.9989 right_x=0.3774 right_y=0.211 right_z=0.0379 right_yaw=0.228 right_pitch=-0.6315 right_roll=-0.0735 right_gripper=0.2546\nstate[joint_eff]: [-0.0889, -1.347, 6.9402, 1.6874, -0.0415, -0.0171, -0.0122, 0.1709, -11.412, 5.6821, 1.0916, 0.1978, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e466116c4f9926849a305a0980ad7fae3bd9a38265bd865dce72d66a0474fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d807b75ba7b99bdd599bacefc1b9d81b29ff7b37bec10e391f1afd8ff00e4cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09003cc6e9bded2205ca3cb093cf19476d18ed57d395f3004cc47d67241f318c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETKqIyI9PJ7WDEaW8gdwnr-tyB5kmtOyoweU9gOkV0KpOcPXrqFvWV4lZj5u2G5BtJU8U3A9chPf9eZJ12feCj-JlqAZUP_AyaSQbVrx-9MKnKEHv55EMZedG2m-9WCCQ4mp1IuzLb42RPK2yPKhVD5HZYkP0i4uJSiC294OOqwiLqnicNuLyRgv5Znkr7Okos3q0Gq1IG6UvWZ2V52NcjjUwpJzW9pO9uM0ilPNDhVR5oy1PXehsJm0ecaneG3lVY4gOrlFp_1JwS1NsWq7NINcjR29jujLpA00hdT-eCr-Pi-gX7FAf9QeIEA8MjisSyvdEr_VXLdx0eniZq9yoQDCYuufwqHDq9FgG7fd_Is6Msa11qwwnK0Z7IBlim-pCedEfBaDUkNg6HnjCD6zyoDzfW1q8rhgPey0i0vgrnkMrNPkNASPjyZb7-9AXn2p5n0Vb7_MveqVqX3F4uBo5lWiuDNQCNRg0wgWVC3NCxu5AonzWk3qBqnpx5CeKqTws9ZL4ErNISoxK743iYsjW3IWGwa_3P99elQO0QHJoRg1lfrcloW-VKyQORw95RnGfmLRAvp5_aVz5Bpw67cWwSptYNkSjH5ifMu3LG0HNgrg8yoVCEeYz4lG8GxrzWsFxKfKAxOP0bvYU47t0iRWZ66QT0DEWULUZ2CswKXq3jFihsmFfY5FF6rYp6zMgnDneldiy7bIvVtFLLJXTxgFMcKV6Ji_ZRg2r0j1IA_Te0aCtApwGZBCXZBTErDq4lMNp2WDipjbVcZ7OSJYuHHqqbpxHBmfRRmrcl97vCnYWjA9GZeq_cAhW2kB77oo7kn674oJe3fKW5_hDmUNDxIHFNke_HoumOvMD41TFubSo-mU6k_nMKx9bqwfk2TcPYdf0zgIiM7ru2W4lzfjgTX6rCzGSpr5tdQ1ovGBgBlOCfeGs73WeZDJnhQLUdK49YjAcBZ4YJCossQjgsqLmCfkj3xjJV0wdD0Gi0R_Cubb3oBdEFpzLYBZNdrJwWRzWZdwjrP0_YVGkz0KOJnQHIKyvjmelCmd7f1Zp8hVxHYDssHW_F5F0tTraE27rapEPmF8y9ciyhCpt8kKkwRTg4uYte2-ZPF9Gwsu-aOv7j6S8ljefaWyctKRsCWx4PgSmeOYzfPlMnTc30UwTGaPHljDAZ6vnclnQD_3VFA5sElxPDWe6j8MamsB8LpFt1I3rMcqE01ug-eSitJq8vA29XEOHe5sSINJ6HOv7eMp8AW9acPKHgx6DygS-R3qgEEN8o1L2lWjkE5_1p1urA8gTpVu5rrffUQA6nO3mOlHwz5qzxn_eLat_0q1kcrGBKKg9WOVcXAke4Vw1QW_if_f4whgHdhUAPzwk8Wum7BdoLc6Hifjl5LYncXOUI29qhrDdQrD77T1gd461_1Dv69yVAF3SyWFvztLY3bYeWgUPweNVMi25qTq7ugcs-IAPPSWAmI4VdGKairsMjwRkBMSTAxDbggp5X46-x9YfXKiJoY71P6OBFm3FNbw22t7ohtUe4awy5MwzDaMdbEr1NNXD6uKUymjvetl8f_7U1u-_R20rKrjXaqwDmJpN8spgkpHeRiZwAUTEpiDH895xZwLsqsT_rNFiOix45iKhHU7BvdJOpLZKGbtUy01NwetnRODaeoU7-ZivqfAUxX2rB6M6FeDRQu7A6etXv0kv-phQ9ECobZBNuu4_YM7JQRWatX_E4TLNsapsi8p8peS7eO0ySFXEcmLrExEhqISfJCrpzb_HCdUbrg6A05EP6W6pZIamNPSYo-Gz1oOUeUQBPppyzDUBZz0SH5WLVfL799GDeij5BGRDE=",
  "id": "rs_0193e155ff9bdfe1016ab444c8343487d09b3e3fc15afe7179",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.14,\"right_z\":0.15},\"note\":\"The yellow fruit is now visibly captured between the two fingers. In the overhead view the blue bowl is about 7 cm to the arm's right and farther forward, so I am lifting and carrying directly above its center.\"}",
  "call_id": "call_FUnP6qNrzSg93QDytzaq7Q7F",
  "id": "fc_0193e155ff9bdfe1016ab444c98cc487d0bd9573827d4b5a46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FUnP6qNrzSg93QDytzaq7Q7F",
  "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, 0.8192, 0.6128, -0.4732, -0.0216, -0.0338, 0.9989, 0.3233, 2.0083, 1.8587, -1.0195, 0.0811, 0.0086, 0.2536]\nstate[eef_state]: left_x=0.2839 left_y=0.0012 left_z=0.1585 left_yaw=0.0086 left_pitch=-0.1105 left_roll=0.0037 left_gripper=0.9989 right_x=0.4578 right_y=0.1421 right_z=0.1476 right_yaw=0.2284 right_pitch=-0.5954 right_roll=-0.0771 right_gripper=0.2536\nstate[joint_eff]: [-0.1299, -0.7726, 7.1316, 1.7021, -0.0464, -0.0562, -0.0122, -0.4171, -9.8803, 8.0752, 0.823, 0.0562, 0.0269, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d892edbc266ad110aa45ed454cf4cd396901a13f0bc318e6e3f1ecc6e0b27964",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:496746de312c06f22acd5ea3543e792f3a1174c5f58921a0c0ff041555eef01d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e53d8d1f5f0fe24bcf8daed96af8d1c016679a41641cfd5003c85e6320c0ee9",
      "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 · 2.071 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]: [-0.0219, 0.8192, 0.6128, -0.4541, -0.0216, -0.0338, 0.9989, 0.5602, 1.9388, 1.5471, -0.8597, 0.157, 0.2474, 0.9955]\nstate[eef_state]: left_x=0.2869 left_y=0.0011 left_z=0.1622 left_yaw=0.0085 left_pitch=-0.0914 left_roll=0.0032 left_gripper=0.9989 right_x=0.3864 right_y=0.214 right_z=0.0882 right_yaw=0.2173 right_pitch=-0.6504 right_roll=-0.0758 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.347, 7.2, 1.6386, -0.0464, -0.0562, -0.0122, -0.2256, -12.3009, 6.4479, 1.0476, 0.1392, 0.0659, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4686, -0.0216, -0.0334, 0.9989, 0.5667, 1.9388, 1.3338, -0.6273, 0.1604, 0.2432, 0.2546]\nstate[eef_state]: left_x=0.2846 left_y=0.0012 left_z=0.1594 left_yaw=0.0083 left_pitch=-0.1059 left_roll=0.0039 left_gripper=0.9989 right_x=0.3774 right_y=0.211 right_z=0.0379 right_yaw=0.228 right_pitch=-0.6315 right_roll=-0.0735 right_gripper=0.2546\nstate[joint_eff]: [-0.0889, -1.347, 6.9402, 1.6874, -0.0415, -0.0171, -0.0122, 0.1709, -11.412, 5.6821, 1.0916, 0.1978, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4732, -0.0216, -0.0338, 0.9989, 0.3233, 2.0083, 1.8587, -1.0195, 0.0811, 0.0086, 0.2536]\nstate[eef_state]: left_x=0.2839 left_y=0.0012 left_z=0.1585 left_yaw=0.0086 left_pitch=-0.1105 left_roll=0.0037 left_gripper=0.9989 right_x=0.4578 right_y=0.1421 right_z=0.1476 right_yaw=0.2284 right_pitch=-0.5954 right_roll=-0.0771 right_gripper=0.2536\nstate[joint_eff]: [-0.1299, -0.7726, 7.1316, 1.7021, -0.0464, -0.0562, -0.0122, -0.4171, -9.8803, 8.0752, 0.823, 0.0562, 0.0269, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d892edbc266ad110aa45ed454cf4cd396901a13f0bc318e6e3f1ecc6e0b27964",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:496746de312c06f22acd5ea3543e792f3a1174c5f58921a0c0ff041555eef01d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e53d8d1f5f0fe24bcf8daed96af8d1c016679a41641cfd5003c85e6320c0ee9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETPvllT-3gypXYQInMIcOuIZ61ghiLlecJfiVZixje_aRZO5K2vjeW3z2drW1obXamm_ARB1Pr68dMTYw15ZH98lYrIhZndWLYSpUY19HjBKSibI2YQDQ3UUiWvWGKIa0EXOurxQtLmhiaXIVu3MdyAQC68-cO1LNCyc6SwXlGmQ-pb-GdYCVNugeMBLvtdCGR205_lcpM3H0Tww1pBkFgku_pP5dUcp4Z1fSwJfQ0MxMXdMQxMKbSsI1hIoDoI4-c-z81jmmIISEpes48jbj6-XVU3z0pFFeD1qHFbsf6NseSVnZI2QV8BFm_NmwQmrNoUbfwp0BN5b4Fxi-N7qfIei_vMCOrmXhhd5sUg4OdMwkfilUt5wJ1MPN0LAsiQui_Pf9XGzx9b8AU1L-QdiISdCAWgu4xFec91SUFdEKZQiU5ZpxZP-EJ9b4ejDLUpjmyBR-j3LLoT4gcNvJijV7zOxrBVhUYnrwA-lJq6lxjCza1aEzb5wcbjmcdI3lYDzXLtD4ptZ5TQAWE8T4DH66SM2Jj3PH2KbnFp4zs_yNkkZbxEzgpxPW5tO9QdUKuftshuV-hCqHJ2P-cmWiiIY9K2ZWkXHyDlLtkJKAcz2IDigJqN7JvrkQeKVkbz1fAb4ZgQ6MSHtLHSwDs1Gx0Ey1jFzFisiWrfNFId84ERz7IS93CHaUENH42SiQELV_IaI4ChOvztTKv2a8PIP4DNuwwHlhM8iDlMGBC3eaXNDKU8sa_J4KFwbNr_0p0Utt9-AY-cZ0swiKlAk9dc9Zcv-lXsW69HC5dnG7aTmFasRVvvH0nMWeNmrWw0XBuTQW8i1EL5qkQJeSP5Lb0hBt1OFkZOALykuIhPZY74POSUReldnzBt_I6BxC21V0RIVpIgisTEeLtvY9v1tOifhHYFDm1c2ZFR_qE5Bp_mqlsw2fxIVFYSzbcjGzk7HkfIADgq3KAMQL9BYXjtAQBjfMZWO5jP9NUiS-3S60OwQzbJQ9FK9Q2CI4MFsvLFZSn9wEz2XOYlSAHY8Egdnv2vMn61LDRQhZnVZAyBaZh3FCKAl4skJuO7i4DPAweuEcFYX6ZlQ3XYPgBCaSsxNmGyyRyiHQcDxKRjlXHSv-PngE3ku9MBtjl1HkELnkFZznviGUAL7XxTRHIM-m61q0vhnPPW4nFt9j-BQcbizrzVzcqGHew1OTOdK13oxVN6MAdmzTSiTM6cr5QUyYHHyT9R2gf78k54RMA4Gs-WJUkPBd8DYs53RuLgLLpuPVEX5B2DFxlIOh5UoychMpsFHFH5uX1LFtjrVvHZn89c79kDygi0Z5Qq9r_M15LDHZiql-7VCKLIW18F98vHF4yFy2MrggKJyRMtfH47VLHUQ71axXPeYlJR6Y_HC0In9M5r8WdkyJrExaMBydSZe5xE37JnXZ6Yl4-AVv48BpNPGeceGdBf9fahHHWRHn0f9aArr_1L_b-_N-Nr4Dq5ok8AUZSW44TfLE8fb5cJcuiZgZad62i8eEopwvDnw0-X5pjUzv5DdGJBltDuobassDBQIMgVQ6ElziM1yH1hZPQO90XxL0Pvl9atYmA_XQH_CCeVrLalV-mUkUvz_ZNKlgFp88ls9yrZICWHBniWay9SGH1a3xOocGWgyYpUuh6_0TCYLYds7DUxZMS7DNnaGaXbENPaNls84gEur2-GAFc5TLyi-hj-RmE9n01WKjX8o5h39HiZueDACZAWl52DOYaI7x3GRvFDllXqBxvP71CP9EAIgCJSyPuRWkTx2UAJ3AAwjaOl3evRfAL8dt3ToCxV31zmhHNodkdXIl0A5nS5A2v1R6JmkuwxciObYgWGqS5FgSc6l3JolsFzwmhLOLnHAdxJu6ir-T_55UJQHmmaOAqGQ3Nnm66DrbN8NTmzwdPEbOqrK13B91lGw2-6EJXolsi3kWC5tsWSrAQM6lXKsEa_HxhTgnQEM7xf9n8d5un0XbYLqo7_lZrCII-C2Zn1mizlDU2hF-Qz1-0h0mlS_-FBvTC2vElUcscoqVzKyEs3GQIBNuW6ajTxDgPcy0zOnDi7qKsT7Vsopgo_Ch9JdzKWEE9Wl1JxoBnJ9c_oT-9IVjwEqAwxqMAThRR1DVH5IjI7DTbkFcL4E5COU7-y_Go1J6xdZS05LBvxuHXaq7jd5lvO471BjNL7Gq8jKDVNrWCa-HKWg4iL_aY0SLPToiYi-bKolH7rxzoAmRaV85gd93pGkutZr04_AQErzq3wI1kYTdWP_SiA_TEm50CR-LlN6Xg62UV23JwwrvopYhYMjOv1khGIAhUx",
  "id": "rs_0193e155ff9bdfe1016ab444ccabc887d0b7f2fb16f951b521",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.21,\"right_z\":0.11,\"right_gripper\":1.0},\"note\":\"The yellow fruit slipped during the lift because I stopped the close at a commanded width instead of applying full closure; it remains beside the bowl. I am returning to the known centered approach and will use a full close once aligned.\"}",
  "call_id": "call_Zq8dFmSKUVxufcur22jGCNcR",
  "id": "fc_0193e155ff9bdfe1016ab444ced4d087d0ac25c819605473ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zq8dFmSKUVxufcur22jGCNcR",
  "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, 0.8192, 0.6128, -0.4755, -0.0216, -0.0338, 0.9989, 0.556, 1.8977, 1.5135, -0.8753, 0.1516, 0.189, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=0.0012 left_z=0.1581 left_yaw=0.0086 left_pitch=-0.1128 left_roll=0.0038 left_gripper=0.9989 right_x=0.3768 right_y=0.2069 right_z=0.093 right_yaw=0.2561 right_pitch=-0.6625 right_roll=-0.0979 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.265, 7.0906, 1.7118, -0.0562, -0.0708, -0.0122, 0.212, -13.1077, 6.5573, 1.1795, 0.1685, 0.1636, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f15cd256ce07927911c5f4264d450b8e0c9a888b7d82ebc17eed583ade908aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217d63d722e743e7292399669171f6e015255826d36a6059562208ca8b67612c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc5447434ccd6fbd20f6ec4dc15be7fa337e6535eb9ef1c3c0a80cbaa0438430",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.059 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]: [-0.0219, 0.8192, 0.6128, -0.466, -0.0216, -0.0334, 0.9989, 0.5667, 1.9377, 1.3617, -0.6491, 0.1608, 0.244, 0.9965]\nstate[eef_state]: left_x=0.285 left_y=0.0011 left_z=0.1599 left_yaw=0.0083 left_pitch=-0.1032 left_roll=0.0038 left_gripper=0.9989 right_x=0.3808 right_y=0.213 right_z=0.0455 right_yaw=0.2289 right_pitch=-0.6246 right_roll=-0.0706 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3197, 6.9538, 1.7509, -0.0366, -0.0317, -0.0122, -0.0205, -9.2513, 5.9282, 1.1893, 0.1832, 0.0073, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4732, -0.0216, -0.0338, 0.9989, 0.3233, 2.0083, 1.8587, -1.0195, 0.0811, 0.0086, 0.2536]\nstate[eef_state]: left_x=0.2839 left_y=0.0012 left_z=0.1585 left_yaw=0.0086 left_pitch=-0.1105 left_roll=0.0037 left_gripper=0.9989 right_x=0.4578 right_y=0.1421 right_z=0.1476 right_yaw=0.2284 right_pitch=-0.5954 right_roll=-0.0771 right_gripper=0.2536\nstate[joint_eff]: [-0.1299, -0.7726, 7.1316, 1.7021, -0.0464, -0.0562, -0.0122, -0.4171, -9.8803, 8.0752, 0.823, 0.0562, 0.0269, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4755, -0.0216, -0.0338, 0.9989, 0.556, 1.8977, 1.5135, -0.8753, 0.1516, 0.189, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=0.0012 left_z=0.1581 left_yaw=0.0086 left_pitch=-0.1128 left_roll=0.0038 left_gripper=0.9989 right_x=0.3768 right_y=0.2069 right_z=0.093 right_yaw=0.2561 right_pitch=-0.6625 right_roll=-0.0979 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.265, 7.0906, 1.7118, -0.0562, -0.0708, -0.0122, 0.212, -13.1077, 6.5573, 1.1795, 0.1685, 0.1636, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f15cd256ce07927911c5f4264d450b8e0c9a888b7d82ebc17eed583ade908aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217d63d722e743e7292399669171f6e015255826d36a6059562208ca8b67612c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc5447434ccd6fbd20f6ec4dc15be7fa337e6535eb9ef1c3c0a80cbaa0438430",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETUXAO-M4UxnRUH3IeI6YQaIPjiyyu6SMMhKH0yQhSgFzlv8uNaQ4oaJYPLc65NUszciCGf6i4wMPb0Px77w-8Q8GLAy3b-0u3Wblhs0on887pj2Z0ES6AZsV2TKD2YSshisnUVvwcLJYCm34lYSEVjy50Q-EM84_Fggf_fzG1lnF4bi0yEDih6URFwzZHVu5v17_utXYsYh3WEE_h9niwK0_aXX1R4J0Ap7cYK-q745lMjgNDWHVU6RIA1yOWBtnbO_dHdnRLb-NiD5qJUUCKMkIFF4IBALgWEyH8VMnIqVmY_WDbHNHrPIVtio02jWC_E6UuZdQIB30K7fBI1FxSGJp8J5dPd0zW_TCdVFs6bh7e6XzcbJJesKHOWv8TgwB3wJs34Ho1fcAA5-VQ6RfvMaMp7wDK17BwrJaAwQChQFswshUu8og3ZdtOiCVktHxt4Bxo97tZnBIUnx1AmZK51E4qkQ813_2UnUiahiaJPjWYp8yz_TP2zSidtk9ZrYFH3RpGotNPu4z4GqOZFBuCCpSK7G_c1UhWLw7DHz-1LipppKkdM3hwrawFCzbOi7DLMvkXiY9PPU8MmdVGX99pgWxJhzB2XdM_7CbvCyTez4-8uefPpPGap35ohFJLx7NX-_Ek5FlZ_Mak4J_A6q334AXHxCfrZZgkLkZDQQrtznTeTUAndbHwHajtsxEmL1GWoeHlkj8R0DdAL5t__VUhjJn6L0gKsSr4w6oVLZPW3hiCzvefCFnfvIL6q1r8HS8kWWD3WZITBFi6BhubBQ6NB1t5-XEEflN5yUAISY-LYZM8ltOq3_gzFMzEXHGb0KxRxS9MIFBMNgQ7dhYXltQIBKuZLNmrPcrMiI7XGuGMAy3H-93z4IcUbLFu_gDCkXJjJjfj-cpVbfgmv3_Jvycww5w6giAVNdrVyPOoKgO3vkrjlwQ7SGnTyT7wHacaYgesQXbIZXipntcJCxn16dU-bqicjG4G3HcowV83GesVlxWivqTfubfCzngvBISTNMtQ0e3BI2QHbplxkkOnwVNF_AkPsxoshUlHT_CW-EiY2EaMMsZrNbLZpssump04cZxebDMYnRl5LirehKJm7ukUjITRE7Gk7LF43UpP_99o2SSKd7ncauaKPyEsjBbFab0KNVw7xcSGP1HwvM1enF7Xt6kWeRlVrfI-SrbZaLWObIi_I2JoavAzofHXCGvvtUKFLTNaFgixYBRpMytAIXnIybg==",
  "id": "rs_0193e155ff9bdfe1016ab444d399e887d09294a802d623d6ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The returned approach places the yellow fruit exactly on the jaw centerline, with the bowl immediately to its right. I am descending to mid-height without changing lateral alignment.\"}",
  "call_id": "call_z6R6cRop56i4DZpMi6WHlCq3",
  "id": "fc_0193e155ff9bdfe1016ab444d3cca887d0bcf31297300823a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z6R6cRop56i4DZpMi6WHlCq3",
  "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, 0.8192, 0.6128, -0.4763, -0.0216, -0.0334, 0.9989, 0.5667, 1.895, 1.2991, -0.68, 0.1635, 0.1982, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1135 left_roll=0.0041 left_gripper=0.9989 right_x=0.3607 right_y=0.1997 right_z=0.0407 right_yaw=0.2446 right_pitch=-0.6741 right_roll=-0.1142 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.3333, 6.9265, 1.6239, -0.0513, -0.022, -0.0122, -0.4308, -8.9641, 6.6256, 1.0965, 0.1538, -0.1148, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047a0e2e484421c82cbac86790213ef5d960f04ec0314d1afd8f7da9034bc289",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0db5af4b806fcdbe993ff9f26f4ef9eaa64654e3f36120ad6fb1b1f13dd178",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a17e2a9e423d166425f0375ad82fa8a4eeca480ef2b26017d6ae226150f56767",
      "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 · 7.857 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4686, -0.0216, -0.0334, 0.9989, 0.5667, 1.9388, 1.3338, -0.6273, 0.1604, 0.2432, 0.2546]\nstate[eef_state]: left_x=0.2846 left_y=0.0012 left_z=0.1594 left_yaw=0.0083 left_pitch=-0.1059 left_roll=0.0039 left_gripper=0.9989 right_x=0.3774 right_y=0.211 right_z=0.0379 right_yaw=0.228 right_pitch=-0.6315 right_roll=-0.0735 right_gripper=0.2546\nstate[joint_eff]: [-0.0889, -1.347, 6.9402, 1.6874, -0.0415, -0.0171, -0.0122, 0.1709, -11.412, 5.6821, 1.0916, 0.1978, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4755, -0.0216, -0.0338, 0.9989, 0.556, 1.8977, 1.5135, -0.8753, 0.1516, 0.189, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=0.0012 left_z=0.1581 left_yaw=0.0086 left_pitch=-0.1128 left_roll=0.0038 left_gripper=0.9989 right_x=0.3768 right_y=0.2069 right_z=0.093 right_yaw=0.2561 right_pitch=-0.6625 right_roll=-0.0979 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.265, 7.0906, 1.7118, -0.0562, -0.0708, -0.0122, 0.212, -13.1077, 6.5573, 1.1795, 0.1685, 0.1636, -0.1294]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0334, 0.9989, 0.5667, 1.895, 1.2991, -0.68, 0.1635, 0.1982, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1135 left_roll=0.0041 left_gripper=0.9989 right_x=0.3607 right_y=0.1997 right_z=0.0407 right_yaw=0.2446 right_pitch=-0.6741 right_roll=-0.1142 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.3333, 6.9265, 1.6239, -0.0513, -0.022, -0.0122, -0.4308, -8.9641, 6.6256, 1.0965, 0.1538, -0.1148, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047a0e2e484421c82cbac86790213ef5d960f04ec0314d1afd8f7da9034bc289",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0db5af4b806fcdbe993ff9f26f4ef9eaa64654e3f36120ad6fb1b1f13dd178",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a17e2a9e423d166425f0375ad82fa8a4eeca480ef2b26017d6ae226150f56767",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETX-K6geZRIw1tE7KfUwbIBx4EmqxE4c2XxmQ64KObqJ3xkDmBveSTH_FGw0aayVlrtsawETLtvFx3bGIi-mLIV25vG91iYV7GAjKVovwXhE2tOz4eBTTxGkGjKumnVKFQJzvM7V2icDHzIeSWJo60Ydd43AMpOwJCdLNqrNmfrkiam9wqniHW0cY-q50VZlQAPiWoe1IzJ7viN6_Y0-Av9ZMQIn60KlvRaMKiurUtnTBjSpoTHQpVWjaucW8ZzLahY7veXBvRxw9zFnQev0SpZYfAgeWuCRQXr_k1KXZTJuT7KenrWh1VWK_igykdwm2zjXlBSlbk1PTwyOU00nkGtwjdK6su3pLV5qLVnKn1Mgf0jvlJo93g_kTIdiCs1t93Q21KSzfOWof7cjkewqA293Ld7BvhzeoxQiOboycqcDLaQm0ZGSdV7YP8ZcCxtWMm5GAPrOUn_4F6AwN0wyl78w5Q8kQvRrDWkS6ns6MvgOKwvRJ-AljSgvXkWqUmnYgq1_DUfDWrljJjv26t8H8UhuFrt5GspMozqCH64yifZ7WEmxuyGibHWDsKPJ67xhI1Lu74VdNDhI_HJl6_TrBYfJtHkhSsAUt_7pqZvieMoDHa6BRjjc_1T_NiirdSHsMsxW8HGk5PsjB3-q9K-bqFNsPxyRm1YK9uY7rae7mDxquxHf7WJNsS8EjCPnY4gvCsTBFhxtiqzd_TiiBI2ZPvWRE37mVHOIGck3OZnJs7q6GlAcQCyDu__6ltTilGAtFQuj1liFAn90xQdKaFCe0OEn8Deu-2IwRR5KspPJnK34bqxmJNoHzpgs72vOdRVdJSEKbopgxAu2xy82rcZL9yDROXyV2qEbMb0wkCHn7XNtQ5S6Cg2cnU8lLzzXsH8YwkH606VltUASJ6D1Kcst3a9gQY0lZ4f_HG8LC6HbpI0u4HUcZJlznnVbjYXhskr8XsHsIYjSA-TM9OyGqIMLm_J8PbjuIRwix160fWT1SOckJLByaecWtXcLUrOpgSMZh_vNhSfi3VjLmX0tOe1JVhVb4wNUN3p4wGZ11FWYdpVYjx5925RyngPfW0AGRnCMqOvRYPVrQ5OBOeyCuAGpM-f0eRqE6iC45GImySrD7C6-InQIbVJidmc-MPaCAXcGeWVrTcG6mEHBfY2v81ZlGUTYRWfbCryxSlNGqGTkFGXkflHAcQhHSP3Qghtsw5l6rGS9H5YRttfr1NVFY3xN7MclmPFyBG3mPON9yqwaMvNN6cfIeLWISf19QK7Lkpm6ENdmv14OnZ-NWk5l7jMs4XsYQ==",
  "id": "rs_0193e155ff9bdfe1016ab444d6dedc87d09d55f1bec07bd901",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the yellow fruit is centered symmetrically between both jaws. I am now commanding a full close so the fingers continue until they actually seat on the fruit.\"}",
  "call_id": "call_h3scERxvalGQmyMbQLX2iP7i",
  "id": "fc_0193e155ff9bdfe1016ab444d71a1887d08ca2465e16987def",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h3scERxvalGQmyMbQLX2iP7i",
  "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, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.5724, 1.8664, 1.2053, -0.5774, 0.1944, 0.1917, 0.0206]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.3582 right_y=0.1945 right_z=0.0315 right_yaw=0.2332 right_pitch=-0.6297 right_roll=-0.1367 right_gripper=0.0206\nstate[joint_eff]: [-0.1026, -1.347, 7.1453, 1.6337, -0.0317, -0.0611, -0.0122, 0.0615, -10.4821, 6.1333, 0.9499, -0.1001, 0.0513, 0.823]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33582951234f882dae67c0797fc646b4b538b8e0d0c6095f7c097c00daf6f1df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b4a77134f94b7770991705c3a21a1780940c516c39b18a24f0ad2809156cdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6db516c31d547c67aa81418ba391a6768d4fdcf6cf0bb37fe2c45071e0096ce2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 6.232 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4732, -0.0216, -0.0338, 0.9989, 0.3233, 2.0083, 1.8587, -1.0195, 0.0811, 0.0086, 0.2536]\nstate[eef_state]: left_x=0.2839 left_y=0.0012 left_z=0.1585 left_yaw=0.0086 left_pitch=-0.1105 left_roll=0.0037 left_gripper=0.9989 right_x=0.4578 right_y=0.1421 right_z=0.1476 right_yaw=0.2284 right_pitch=-0.5954 right_roll=-0.0771 right_gripper=0.2536\nstate[joint_eff]: [-0.1299, -0.7726, 7.1316, 1.7021, -0.0464, -0.0562, -0.0122, -0.4171, -9.8803, 8.0752, 0.823, 0.0562, 0.0269, -0.1197]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0334, 0.9989, 0.5667, 1.895, 1.2991, -0.68, 0.1635, 0.1982, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1135 left_roll=0.0041 left_gripper=0.9989 right_x=0.3607 right_y=0.1997 right_z=0.0407 right_yaw=0.2446 right_pitch=-0.6741 right_roll=-0.1142 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.3333, 6.9265, 1.6239, -0.0513, -0.022, -0.0122, -0.4308, -8.9641, 6.6256, 1.0965, 0.1538, -0.1148, 0.0708]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.5724, 1.8664, 1.2053, -0.5774, 0.1944, 0.1917, 0.0206]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.3582 right_y=0.1945 right_z=0.0315 right_yaw=0.2332 right_pitch=-0.6297 right_roll=-0.1367 right_gripper=0.0206\nstate[joint_eff]: [-0.1026, -1.347, 7.1453, 1.6337, -0.0317, -0.0611, -0.0122, 0.0615, -10.4821, 6.1333, 0.9499, -0.1001, 0.0513, 0.823]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33582951234f882dae67c0797fc646b4b538b8e0d0c6095f7c097c00daf6f1df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b4a77134f94b7770991705c3a21a1780940c516c39b18a24f0ad2809156cdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6db516c31d547c67aa81418ba391a6768d4fdcf6cf0bb37fe2c45071e0096ce2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0193e155ff9bdfe1016ab444d9fbb087d087ab06aff7322c99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.25,\"right_z\":0.05,\"right_gripper\":0.0},\"note\":\"The smooth yellow fruit again squeezed out to the left and the gripper closed empty. Since it is immediately beside the bowl, I am placing the closed gripper just behind it to use a controlled diagonal sweep toward the bowl instead of another pinch.\"}",
  "call_id": "call_ofZPiSjWf6c7b9uu1zvuISA4",
  "id": "fc_0193e155ff9bdfe1016ab444dfd70887d0b66e15a12f8a5a93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ofZPiSjWf6c7b9uu1zvuISA4",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.7238, 1.8874, 1.2881, -0.6384, 0.2352, 0.2955, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.3376 right_y=0.2482 right_z=0.0458 right_yaw=0.2781 right_pitch=-0.6065 right_roll=-0.1321 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.1282, 7.2274, 1.6044, -0.0611, -0.0513, -0.0122, -0.0479, -8.6769, 7.6239, 0.7009, 0.3492, 0.1001, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d38ebdc1b7786dfd03e5cce9d54da629613bcf1a4c2b98129df657af68c6b9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b73dfb5834084839890dbae22aebfd350381c364e865e1f9264ddb14e47d539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479b922c7690d364399348d27f06d8c317d5f7f501c1b67211582611c3656687",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.635 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4755, -0.0216, -0.0338, 0.9989, 0.556, 1.8977, 1.5135, -0.8753, 0.1516, 0.189, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=0.0012 left_z=0.1581 left_yaw=0.0086 left_pitch=-0.1128 left_roll=0.0038 left_gripper=0.9989 right_x=0.3768 right_y=0.2069 right_z=0.093 right_yaw=0.2561 right_pitch=-0.6625 right_roll=-0.0979 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.265, 7.0906, 1.7118, -0.0562, -0.0708, -0.0122, 0.212, -13.1077, 6.5573, 1.1795, 0.1685, 0.1636, -0.1294]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.5724, 1.8664, 1.2053, -0.5774, 0.1944, 0.1917, 0.0206]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.3582 right_y=0.1945 right_z=0.0315 right_yaw=0.2332 right_pitch=-0.6297 right_roll=-0.1367 right_gripper=0.0206\nstate[joint_eff]: [-0.1026, -1.347, 7.1453, 1.6337, -0.0317, -0.0611, -0.0122, 0.0615, -10.4821, 6.1333, 0.9499, -0.1001, 0.0513, 0.823]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.7238, 1.8874, 1.2881, -0.6384, 0.2352, 0.2955, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.3376 right_y=0.2482 right_z=0.0458 right_yaw=0.2781 right_pitch=-0.6065 right_roll=-0.1321 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.1282, 7.2274, 1.6044, -0.0611, -0.0513, -0.0122, -0.0479, -8.6769, 7.6239, 0.7009, 0.3492, 0.1001, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d38ebdc1b7786dfd03e5cce9d54da629613bcf1a4c2b98129df657af68c6b9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b73dfb5834084839890dbae22aebfd350381c364e865e1f9264ddb14e47d539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479b922c7690d364399348d27f06d8c317d5f7f501c1b67211582611c3656687",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETnPrdm7xHHSbHaU8jKvw7mvScTEYTwSDfrAr0cFlcSircM5awrIiZdrqI3QPTITYDPt-iiJ5izRjnazrqIuMW9vZdvFC0O9bourgErDJjGrd6LDRDa1XSW-N8USUasyfbKVNxQtA_cbzcQX1p7l2hrFGsGgCMt7VZWYCqhRK_7EKV9LeaS6XW_En7snEaTT1eeCA9cQLhp_cYYpflduvGi-QciOa-BeXomLWo_MtQB0GP5yjpXZkKw-ajSNG0fyLWU7CyanKq0f4IhJ_CFHny7rd4IzXz-XrgPU0uluFlZYEwWmeRR_BJ0sePbRo7EY8BaQ01vr_7WPq8znlVHjhWpEbB8SAbABkXg5Zc7Ch2Nl_MZKOrAUxqsNMLTvPPXhYV17_JC1K2t9WwxMHP-PvUISqX_iRMXNSUVLCOB3T0-zUqn7KeGq21nL1xe4aWyR1yoZoWzpICaPG4svS0FDHHRhIrg7UdSWzBe0xM1kFKpFHYB9zvoiMrUmxP6meBVEvPNR2v04hCNivUtDCk2PvXm-KxdylDXvthpIA31In0lF3rfGwj-CtGxgv6JdvH1juT03G1I8zHAIupEDYP6BMOD_MXEe4L8Ja-uBa8agdpXsecZ-27zxAebGslyqRNRVsiHisl6K3D0YkKOC5fJRLR7vsaSbNPybEK3OfFXibFNE2Sc9vtotWcQ_G7UyI3dVwnmYPkZN6-iVU6D5F2wQsjBrr4hoGiGM2yScgOFdtW9wtWSDzjTveiKQIV-Lf2gGg1zFPW7xD6zGBffgE1vEw8dkolKpLEITJGNb_jpnYw99fHAxJpu13e-qWeConuolDDc2wJEuX25XR4flE0cOS6ksIj15p2DyHUmtB8D1e_AhI2T1Bx3NZSB9JfBhhot9OpeUhbsVZQyFOzDPI06VyTIzi24BhBGjG1qNzMX3eD5mT97p3z6X5sEuZWVwy7Dhy6IDpbVuTkPOWGx2_-1M8s-SZ0yiNnIwT3ng10aE51Abs4BlzDfBULsoA8YTJqemC-E8iz21xRd8bUMm6ietL33ueuMTi9tobnTm90Z-tgjFPMbR6XZxh3gnol8gg53iLziS_3Nfr1tr1IMT0SII1S3IS9hPLeuP_ir2gJQ-WlQDxjWRUZOWjndn78kR3-yIUw5Su72D-RanzA5aBGROJf1dBw0j0ePx2W1Wdr4qGSAFCoSyQK_FDlk5jeLqiwgd_4k7qsYYbLhlnNO7z2Zv9VjqBP8fscIXvJMLrXNWUh6628RD6E__KuS9ZSCFOAQmZZlE-BUYZkMzXArmdFpLzJbAWYoFX_6nPlMhKyDj1ecKzpI1f_qIvKtIcSSo_jUw1i3wNrLTlqafC2Mav6EoCCibPlWRskBqhCs2MBa13V8vJPD14R7Lj7F3rGQCqAEdtpl2k769zlYKk83F4cqkb4GHkv3suCeW3GGHRVfcH_qDpN3o96jirLXRLb1hJwR8qfDWcQk0H5ol4Bei_aS7BzK-6kyN9SbNZQe6WcR-toNePMOFcOSzQUlWU2lQ82JhO6e5xbrH6Cr3OghDgFwqcol9aYqbInNiegdAl7ytb7Di6wFTMn6XpswIi2azEIwE4LMO7_IMrKlLCVRRjUqAvVhfMxZmbMyp74XsZPwR0pzwT0Nchbj5UdYVNVQkvEcVc_aoOWQ5NbJHv18TXYk7uBNLzjCm1Wi7iEXG0rrZQETQeZy8AoXZqYwsspUkEDSdlBLC3BmHh7vz10RbHgvXsEiFy2iiVPuEalx8k7lfzaUHlgQPpfBQAEyTBUsc-AEHQPI",
  "id": "rs_0193e155ff9bdfe1016ab444e45dec87d082369c843ee879fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.13,\"right_z\":0.045},\"note\":\"The closed gripper is now on the near-left side of the yellow fruit, while the blue bowl lies diagonally forward-right. I am sweeping along that line at fruit height to roll it over the bowl rim.\"}",
  "call_id": "call_GGigu6kKqvq8lWAQ6BJx6UFk",
  "id": "fc_0193e155ff9bdfe1016ab444e6c99487d0bcd12b84b328e954",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GGigu6kKqvq8lWAQ6BJx6UFk",
  "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, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.3283, 1.9617, 1.3705, -0.6071, 0.1089, -0.062, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.4279 right_y=0.1293 right_z=0.0406 right_yaw=0.2492 right_pitch=-0.6268 right_roll=-0.1445 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.3333, 6.9402, 1.6484, -0.0415, -0.0269, -0.0122, -0.2803, -9.265, 7.9385, 1.0134, -0.1441, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0575688fda8ac968c1e50b0da2ae1544f1c5e9176b649837884dbd9000c370a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8093725ccd67d3b3d350f1d8551de69b299af7578520bbb441a1bcbf0d9bb283",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0a65e141a9dbd0a10bad7cf69ec0cc7fe7b27725611d0288a0a5e54897b508",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 2.249 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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0334, 0.9989, 0.5667, 1.895, 1.2991, -0.68, 0.1635, 0.1982, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1135 left_roll=0.0041 left_gripper=0.9989 right_x=0.3607 right_y=0.1997 right_z=0.0407 right_yaw=0.2446 right_pitch=-0.6741 right_roll=-0.1142 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.3333, 6.9265, 1.6239, -0.0513, -0.022, -0.0122, -0.4308, -8.9641, 6.6256, 1.0965, 0.1538, -0.1148, 0.0708]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.7238, 1.8874, 1.2881, -0.6384, 0.2352, 0.2955, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.3376 right_y=0.2482 right_z=0.0458 right_yaw=0.2781 right_pitch=-0.6065 right_roll=-0.1321 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.1282, 7.2274, 1.6044, -0.0611, -0.0513, -0.0122, -0.0479, -8.6769, 7.6239, 0.7009, 0.3492, 0.1001, 1.0281]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.3283, 1.9617, 1.3705, -0.6071, 0.1089, -0.062, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.4279 right_y=0.1293 right_z=0.0406 right_yaw=0.2492 right_pitch=-0.6268 right_roll=-0.1445 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.3333, 6.9402, 1.6484, -0.0415, -0.0269, -0.0122, -0.2803, -9.265, 7.9385, 1.0134, -0.1441, 0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0575688fda8ac968c1e50b0da2ae1544f1c5e9176b649837884dbd9000c370a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8093725ccd67d3b3d350f1d8551de69b299af7578520bbb441a1bcbf0d9bb283",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0a65e141a9dbd0a10bad7cf69ec0cc7fe7b27725611d0288a0a5e54897b508",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETrmwmgg7fiG1rDL4WPfAhzXI-FwGlihElClmfK17UgWgcGNMEMYfJwnOtgMImmnHZhiDDuDuXWBcN-KRMmLrnN3X6jsUjE6wSwUNJDq0gZC5XMjYWQ1NUbKHfBI_bPYHlgMYh2C4GYPlKBGNEwkQ_5RdDi-38B_6xL_cHHDCeWDDhCMNARu82p6v0YEqBHTjJm_KzPprx7Zx39W6-5JorEJQROXYDvVPvG7bqEvTTvw6R3ytVJsEtXBP0IJcyD158F1wzpNv9FWXx3cvJWap91ZrKfbAcB1yu88N2dojOSUQSk4yEodhFm784LzvS64zdCWey3qwQrQwOvBHGpomc01bPwrHcj2a2YkvDhegXQQitcSSg9aECwFghnwhfMLocY5KDoLaPuCe-go_w4F7ZmyPhiVq77jQ3hVTBvU_VeBTJUJSAZdawKuMrq-6y_eEbFDzUffBzv1ofGriSkPtoA0QuOXjUet-9TzIdMDVI3-KY8OuJd9nQOyEhq_J0gwIYCFVyAVPsBAajwfIgZdTIouzeT4GR44YEtdwm2vq4puYj7EPdOB9mKU9ODSw1cE2_zMxAhfGVti6vT8pzNKROynjSC9PTEk5chV47CqLN4GWhV2TeDhRD_ZskJJDdYzTwyR1ioIlI06Pgegot4gknVWdaQMdAg6zCdUr8l8Rb1i8Jqca7sxK790v1L7ywgge1xXKdsg_EfAxurNE4W0b7CqZd_QyuyY-9U8Zm2g5amw5huD_Vlf0iBp2aqMdHXeqaus3i5R-MW8t4k-qrToz2w1-iJbFIEBqIckE1Ux26411hl-xzMTjH2uf8Vdfp9lTv3He8mv9sH5JYkfhYoWUzFI3anI274a62h6UV58EXKA1NYYv-77rnCtTvJCtfPyG09EYZ68wxg9os0t9DSzp_qWcrRxAgkd77SmM8zyvrrSzf7eBZ5yqHybHJYX9W_3WF1Fh-EwHuIP2P9Qo8WEgkR_fxZkOaYdpLq5H50CNkDlmT1x1XCQkGRy5zCsVI8lDK7TBrstiyIaJRHrnp31lKleUTfjW2wjspPiNONLPQek1DBmLjDDWf-XyK0kww6BpaqP9r5rM17rDi9vWe22MfVhLx4mL9AZ-SEyTE_C6s9ULEwZsBc22tZXGM2qMQhYkn4FL5dfF1XIKoxLo6MxRnhCnUxUfvZU6rGwxudPQot5Ezb5pn2nkc599rp4h5dToPStp6tczvGYHECFkm0jl0o_HCZYuGeBj4ELtBD8iPXeqJ39tZkTqG4zE9KfJayvEu5zHWhg1RcjrF28EO7mXWFj1wkMgPyYDXedoE0D6NVAWclxCZpEvNJoSleLYzxU9tmIHmAYnk9ye7PRcs-hPz7Qizkito_VxB6ikYmEb4-mCmo5wy_oqBJMr1XruIsGZSu8SnCZTt-Ve0YS0TKmXIuX_A5UxAg1BlBmunA84EhOEbHP9z-u0WW6Dw8cdDwYn6dZOPNf4TG7miRbNuAgB_DJ4cQ_yTsDCyzHr8M5g81yqmKG_spxJgKIdrcL4Dal_tjTzN5rAP2qCS2o4qA8frp-p9S9GCefmYeCswz_wIMhpBwFX1g5mXrq4IDaf0Yw2rOUNlBEGpFjTcWiPjlHHbDu9oszinUESqSXb5hfMIBAXzJie2DR4GzfrtRqcRao8s_VprrArgXhQ1yHqWW5YqYIukldeS_54UvVZuV6RrATA5q8d6G-M2vkynae9zHtQGoy1f8Sma2NELNPC3VO4zCCoAlno_9f5duwnnnZO-9RsQRCZhnfr0Xy64M250JxFWt4BirkDva255ySNY6QTjmh_5RB84jeNflpqb2PBa0L2y-NHJ36BuascNXsOV7-QZBxx0Y1tCkftiEJ3dce-EZEEIOLS2d2FHtB2l4ou4yzJVxvTdFF3obDU_XaKFA5btPAA3J5-bMfc_jrxPAzo1eHlNOWWaJtC2rPUX4qz9zNKgY2gvVTvzJsna_yW5-QhZHmE-oBcQPMwommScTkFAeI_HE-_l5rryRE6JyGOucNyrB9k5ddVNtT8p_Qz3M5Hj-GqhWLT2fNqJo0oMfsw0kfVgIulcj52QoWz2PYFykPQUFJL2Z8fIZtOItw3w5TnyJ4h7OvhIROP8-zhRDziQeNqeB308MjonmyQT6Vmm6mfayLGXf44SaiokN2VSE0pLDI0oAJ34oANNsSmRxp119fw==",
  "id": "rs_0193e155ff9bdfe1016ab444e95e3487d0803440378ba3af60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.28,\"right_z\":0.045},\"note\":\"The sweep missed behind the yellow fruit: overhead shows the gripper reached the bowl while the fruit remained nearer and left. I am moving to a clearly nearer-left position behind the fruit before one more sweep.\"}",
  "call_id": "call_2VfUs03jz0riPWua1AoLSGNf",
  "id": "fc_0193e155ff9bdfe1016ab444eb09d487d0a0e5f04c7edd50a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2VfUs03jz0riPWua1AoLSGNf",
  "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, 0.8192, 0.6128, -0.4763, -0.0216, -0.0334, 0.9989, 0.8913, 1.8622, 1.2137, -0.6548, 0.2951, 0.4297, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1135 left_roll=0.0041 left_gripper=0.9989 right_x=0.2825 right_y=0.2737 right_z=0.0343 right_yaw=0.2819 right_pitch=-0.6232 right_roll=-0.1706 right_gripper=0.0249\nstate[joint_eff]: [-0.1573, -1.265, 6.9265, 1.6142, -0.0171, -0.0269, -0.0122, 0.253, -9.9897, 8.1846, 0.7057, 0.2271, 0.1392, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f93e81b796349225eadc3eb6f22a672b371f5c07d6e02ed847bee8b8fae14d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd9497e38487509f44bc9ac1e5914332ab7403156673785ca8d45d9ea0f3a90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96c16f7b700d97da43c2cc12064d278be4539d2eb680a10b7108367202caca65",
      "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 · 5.343 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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.5724, 1.8664, 1.2053, -0.5774, 0.1944, 0.1917, 0.0206]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.3582 right_y=0.1945 right_z=0.0315 right_yaw=0.2332 right_pitch=-0.6297 right_roll=-0.1367 right_gripper=0.0206\nstate[joint_eff]: [-0.1026, -1.347, 7.1453, 1.6337, -0.0317, -0.0611, -0.0122, 0.0615, -10.4821, 6.1333, 0.9499, -0.1001, 0.0513, 0.823]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.3283, 1.9617, 1.3705, -0.6071, 0.1089, -0.062, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.4279 right_y=0.1293 right_z=0.0406 right_yaw=0.2492 right_pitch=-0.6268 right_roll=-0.1445 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.3333, 6.9402, 1.6484, -0.0415, -0.0269, -0.0122, -0.2803, -9.265, 7.9385, 1.0134, -0.1441, 0.0122, 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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0334, 0.9989, 0.8913, 1.8622, 1.2137, -0.6548, 0.2951, 0.4297, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1135 left_roll=0.0041 left_gripper=0.9989 right_x=0.2825 right_y=0.2737 right_z=0.0343 right_yaw=0.2819 right_pitch=-0.6232 right_roll=-0.1706 right_gripper=0.0249\nstate[joint_eff]: [-0.1573, -1.265, 6.9265, 1.6142, -0.0171, -0.0269, -0.0122, 0.253, -9.9897, 8.1846, 0.7057, 0.2271, 0.1392, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f93e81b796349225eadc3eb6f22a672b371f5c07d6e02ed847bee8b8fae14d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd9497e38487509f44bc9ac1e5914332ab7403156673785ca8d45d9ea0f3a90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96c16f7b700d97da43c2cc12064d278be4539d2eb680a10b7108367202caca65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETv2yTmP6LM7vYpI0GpUC5P_F2p_S8UIV-kk0AVemq7tYo-wZF8IMas1Q0MIBNBGSTb321vH_gtiBGs31ppsW9qhg-a2V9Pg3BJCSqndaeBFWdjMbhQeTdf0EVxLwE3YR75bjqjtQOJn86uCPEkrxTRtZ91GeSzGMgK5XOAebbYcHtgLZhVdDYfX3lfWIZAdHaKgoMhxxtJ8ocXezAtWekoTJk92kIR7dC3BcXUBESCCaJxDwa582h97sp03kjpI5RTBTpyBCBOCp7eficaDbYfyYv3DHNv4nuWUJ1oKQDpJLXQJM6-WXBL13F9AfVcmyjH7NEe4eFyJWkEiO-2ulpH1vQjuBtffbiTItcgW3tzR1R7f4j-HiFs-cNuwB94_q8f5s4PeOh11-ArLuMnyruH1g-ZB6kkUAVrh6IvqOpZ8kTPfY8saAvG7xxbp66xJnAOGz2kgOIzVJsqIzovcYL0kNzl2PymZxpvK97wgAT-R_vhfVREmX0PMEhcNYkVT0i3i90OMMRF4sflDrDOxC5pYOme26W31IPP13-QKR7hFe5ADxGfAsu9ET-NMxyqyABIKNNfMhYuZtjULhLVvEN2w4KPbIUqqqxkS1UWzlq0cZUqYl8BJvKTpCeEjeC4_MjtTrW2LiYrHVRstFPe5X6sAAR-zZwcqnY7FX0WlvvwTNA5H___TTDYo8vP1A9W8xNwVP2u-ztflPrGPoa080J0OiMBe9DC8wf51DxaSJt6Guvf4EziUnrw-BBUffjpirogXkvk9whwf8kAgpMvZL2wWOPmHZjq09KClP1FtUkfSuz-O0n8nlm-RDGT9j731CeSvcvZOrFusEmcO_UY_jLz4mly9exqmu_VLguKKDLbg8bgPlCZqQnaRugKhrtMDw69JcBMRSvbpL6nmyVr6Kwoaq9DWJSffjTxgFseBWVeJS5HZWRaEc9emWZ4k9x1XlM_c4EpnGF0BLhHRhu2jzPjRF_S9P2noEjcIS0TlWgWyupTBiKdJu8zTQLgiqHOI0g6aaxfLO_oeCzJ2AmYYEwypmlshpjTqiTwkzMwsOqugZpgONNbltP47Tt47vZGgPW_kwl1TvH5jEYd-ll_GmBJK_5sfvItqvY5OACQXWC6Zc1If0hY-VqgfgmP224HtY6bRWO8WzFBpZBB5jJIHErpKfp7-GoBl4eBwOg_v60RNwEdfuaP2IUb8kBVgkLn6IVNXdOfInKR7_sI1W_2hUfXYuqBmHG0y8BHjmlbklx2U30vvL2AnkNkcRDRO1R3zwmKI9OGQB6MjpeZ2FpLT-K9kotYy6czkG488mA4uexbNWc=",
  "id": "rs_0193e155ff9bdfe1016ab444ee6a0c87d0a83ad0c9c769a279",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.13,\"right_z\":0.045},\"note\":\"The gripper is now visibly on the near-left side of the yellow fruit, and the bowl is ahead-right along the intended line. I am executing the corrected diagonal push through the bowl center.\"}",
  "call_id": "call_F81zm0yAXXU5JZLiKLIMQsDa",
  "id": "fc_0193e155ff9bdfe1016ab444ee980c87d0970f5a977dffc1c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F81zm0yAXXU5JZLiKLIMQsDa",
  "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, 0.8192, 0.6128, -0.4767, -0.0216, -0.0334, 0.9989, 0.3397, 1.9606, 1.3613, -0.5995, 0.1249, -0.0875, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1139 left_roll=0.0041 left_gripper=0.9989 right_x=0.4263 right_y=0.1311 right_z=0.0391 right_yaw=0.2608 right_pitch=-0.6283 right_roll=-0.1746 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.306, 6.9538, 1.6044, -0.0366, -0.0464, -0.0171, -0.212, -9.4701, 7.8427, 1.0672, -0.0611, 0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73dc5b9a87fb344fc56ca9c482109531bfc7dc3b62a32ebb6317aa9918792c8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7836903d11f49ba6123307e0b91efaca10cb8f11108ebb6542931ee23d3436b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e0249bb00f21199daa5e2eb3aad63df8eac31ee900b3604ca1ea1080d0d8aca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.493 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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.7238, 1.8874, 1.2881, -0.6384, 0.2352, 0.2955, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.3376 right_y=0.2482 right_z=0.0458 right_yaw=0.2781 right_pitch=-0.6065 right_roll=-0.1321 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.1282, 7.2274, 1.6044, -0.0611, -0.0513, -0.0122, -0.0479, -8.6769, 7.6239, 0.7009, 0.3492, 0.1001, 1.0281]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0334, 0.9989, 0.8913, 1.8622, 1.2137, -0.6548, 0.2951, 0.4297, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1135 left_roll=0.0041 left_gripper=0.9989 right_x=0.2825 right_y=0.2737 right_z=0.0343 right_yaw=0.2819 right_pitch=-0.6232 right_roll=-0.1706 right_gripper=0.0249\nstate[joint_eff]: [-0.1573, -1.265, 6.9265, 1.6142, -0.0171, -0.0269, -0.0122, 0.253, -9.9897, 8.1846, 0.7057, 0.2271, 0.1392, 1.0281]",
      "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]: [-0.0219, 0.8192, 0.6128, -0.4767, -0.0216, -0.0334, 0.9989, 0.3397, 1.9606, 1.3613, -0.5995, 0.1249, -0.0875, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1139 left_roll=0.0041 left_gripper=0.9989 right_x=0.4263 right_y=0.1311 right_z=0.0391 right_yaw=0.2608 right_pitch=-0.6283 right_roll=-0.1746 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.306, 6.9538, 1.6044, -0.0366, -0.0464, -0.0171, -0.212, -9.4701, 7.8427, 1.0672, -0.0611, 0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73dc5b9a87fb344fc56ca9c482109531bfc7dc3b62a32ebb6317aa9918792c8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7836903d11f49ba6123307e0b91efaca10cb8f11108ebb6542931ee23d3436b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e0249bb00f21199daa5e2eb3aad63df8eac31ee900b3604ca1ea1080d0d8aca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0193e155ff9bdfe1016ab444f20c1887d0883bd4a686d8e758",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.28,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The push rolled the yellow fruit away from the bowl into open space, where it is now easier to approach without rim interference. I am reopening and moving above its new isolated position for a clean top-down grasp.\"}",
  "call_id": "call_JJlrgxCE6v392DjyamMNsLYH",
  "id": "fc_0193e155ff9bdfe1016ab444f5086087d0aed019aec3dd1307",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JJlrgxCE6v392DjyamMNsLYH",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "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, 0.8249, 0.6128, -0.4881, -0.0216, -0.0334, 0.9989, 0.9691, 1.7485, 1.3632, -0.9405, 0.3161, 0.4721, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=0.0012 left_z=0.1542 left_yaw=0.0084 left_pitch=-0.1311 left_roll=0.0047 left_gripper=0.9989 right_x=0.2539 right_y=0.2792 right_z=0.1046 right_yaw=0.3053 right_pitch=-0.6251 right_roll=-0.1878 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.6342, 6.9265, 1.7509, -0.0415, -0.0415, -0.0073, 0.212, -9.5932, 7.9385, 0.7155, 0.3004, 0.1929, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afffc7798d809c4354992a731c77c710d1c5613502abbfb49b37538aadcdf7ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:300af9f7553391584d32a0a1476893f949bfa6cf16836a31628da4de23120fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e31acb64312ca3ede0420014a3b6a2cc5c042cf48819a64193cfb049defc4a5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 1.879 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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0338, 0.9989, 0.3283, 1.9617, 1.3705, -0.6071, 0.1089, -0.062, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0086 left_pitch=-0.1135 left_roll=0.0038 left_gripper=0.9989 right_x=0.4279 right_y=0.1293 right_z=0.0406 right_yaw=0.2492 right_pitch=-0.6268 right_roll=-0.1445 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.3333, 6.9402, 1.6484, -0.0415, -0.0269, -0.0122, -0.2803, -9.265, 7.9385, 1.0134, -0.1441, 0.0122, 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]: [-0.0219, 0.8192, 0.6128, -0.4767, -0.0216, -0.0334, 0.9989, 0.3397, 1.9606, 1.3613, -0.5995, 0.1249, -0.0875, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1139 left_roll=0.0041 left_gripper=0.9989 right_x=0.4263 right_y=0.1311 right_z=0.0391 right_yaw=0.2608 right_pitch=-0.6283 right_roll=-0.1746 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.306, 6.9538, 1.6044, -0.0366, -0.0464, -0.0171, -0.212, -9.4701, 7.8427, 1.0672, -0.0611, 0.0464, 1.0281]",
      "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]: [-0.0219, 0.8249, 0.6128, -0.4881, -0.0216, -0.0334, 0.9989, 0.9691, 1.7485, 1.3632, -0.9405, 0.3161, 0.4721, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=0.0012 left_z=0.1542 left_yaw=0.0084 left_pitch=-0.1311 left_roll=0.0047 left_gripper=0.9989 right_x=0.2539 right_y=0.2792 right_z=0.1046 right_yaw=0.3053 right_pitch=-0.6251 right_roll=-0.1878 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.6342, 6.9265, 1.7509, -0.0415, -0.0415, -0.0073, 0.212, -9.5932, 7.9385, 0.7155, 0.3004, 0.1929, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afffc7798d809c4354992a731c77c710d1c5613502abbfb49b37538aadcdf7ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:300af9f7553391584d32a0a1476893f949bfa6cf16836a31628da4de23120fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e31acb64312ca3ede0420014a3b6a2cc5c042cf48819a64193cfb049defc4a5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtET5_51Iz8rN65hFSMCx5pw94zwOTTjfr0w8i_TThihsdqjegUwwh518-ralCTRbn_oC78c6QTnZl7j7NWR-nJ4gQpbChPul5QJAj8JYH4vavd3_HpBD92M6XwyEGvj1LOFtx0KSmj1_z0knZdpSidYrx05ri6ZGDSE_5PVArkNHn4J_YpjSlEJnsW9EVZqu9SMNn5uxDeF3LmPf3cvZ3jaxg8sdGglmxTQZlVvlsFaTaMIAxEAuS3Nia428ecI3a1Gg6Me8yn3KWKcHVzErSKXtEjkzIjKhKNP6NAVNMww_y-KDLNHZQoDB4u4TpRu6aMA7QnF0_jS_8Uz_ozwxNTuytR_kXuuzMHW80lpkAUvimA7vtIYGj045QCNCXFWp8m6Jev2HCWVLdpB5YJkqm8DqAqBseZxnpBkxp9LCSCSllYyivRKRBaDw1Ts31pytRoqca6UfGPl8sqK7WkMQtR6jtmD-k3pbFL5KJsSwy97RD6ayMy9J77HvnMhy12NZn8TQwKVtvUm92ge8pt3tzXmP0qcab9kYnkR8J9yLFbh8agamCpF74ZG6VoPkNGgiUKNYaYWQxbfDFGsdx3eIdfUCZKYFQcRUFj_1hWTep3otYOg_r6bfL2EvFkj7LBvOwBBdYuQ1Idn5CupDa709s1YVe52xNwNliatacvwzRBPe0ZHOwil_2AtlcRYISUMuRzPWHZsJQqPzLs29tXIuMVhxvvKAFaPmvJLkLlyhseKSsZivwbZiIRAwjS3yPCt05Y4bNBzTCLq2myrBpG0TxGq65OYGbKKiUNJUHoxkyYtAo6SAIz_nQqC-KzQqWQxpMWmJIOf_aT0f_wCG9ENPxr7q3_x68uperSDlgGTd6nG8yXRu-aghwN7TvFfy5jFgBQDRRsxn7TYWMJ3-Nz1JTD9MUeyphri834giPQO2_9oE38oMzFFRRBtrXnReLK0dY-1XkbAS95_kG750_qJAJex_2SBFt_-zCe6l4ZUmq_XQFRvNTMfaIBCLAh2oV2Jc4L2C-59cDfmGybuVPf-A2aB8gVygu_0-fLMyqS7D_izcEisCX60LRmXAu_QnjPKXGNpmPA_may19JoIT1MMuIN-gm3QiM0otjbhANPsRGr6ETJE-U0NG6R5rYo5VvqwtEhDvoTXZ2DcetXNEMMoeKuB9gHbRS0pue5F5csKTkZau0HaWHAGJLjpc6qKN9_JCkKF2S42wuWGT5i4AdkEw7U2YUInBMupqRXhLotiQlavNu1MV0lewJRmOgctwQDJ0CJIjiPX_-xFGVVp2unD6wp5tJXYSZeIWYwXrCZjW7xX2yJIHJiEnQd5djszqfzhrnv-S2n0VvGOWygaaz0d8BkcqG3mEVTQzYhLM4qkcfVdu3F4T6OWC1GZUrx-ySCzsSGldTEBckt4nBhCeP6nqzx-o_IdQ0L_tHunA8YRdmnLGP2DFZBMNi4bfw4sdhzizpJ0NhZ9UWwfxx0NJyyYyoeh22ZFZHGbo8-Kz0WxWHTxy-usBNjyccKEaM3kMAWeO08MWYLKB_Jxt5TpV0Hw2pddfgg==",
  "id": "rs_0193e155ff9bdfe1016ab444f87aa087d08e1ac31d039a186b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.305,\"right_z\":0.05},\"note\":\"The isolated yellow fruit is now directly between the open jaws, slightly left of the jaw centerline. I am making a small leftward centering correction while descending to grasp height.\"}",
  "call_id": "call_saJM6SOHLVu3c9tDpgQiw0su",
  "id": "fc_0193e155ff9bdfe1016ab444f91e8487d0b58d29bb694450e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_saJM6SOHLVu3c9tDpgQiw0su",
  "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, 0.8257, 0.6128, -0.4908, -0.0216, -0.0338, 0.9989, 1.0077, 1.8584, 1.2877, -0.8024, 0.3286, 0.5087, 0.9972]\nstate[eef_state]: left_x=0.2814 left_y=0.0012 left_z=0.1535 left_yaw=0.0086 left_pitch=-0.1345 left_roll=0.0045 left_gripper=0.9989 right_x=0.248 right_y=0.2927 right_z=0.0508 right_yaw=0.2877 right_pitch=-0.6496 right_roll=-0.2206 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -1.4154, 6.9265, 1.6728, -0.0513, -0.0659, -0.0122, 0.5675, -9.6889, 5.9145, 0.8083, 0.2662, 0.022, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e23d8a133e2ba5f0eb88c3353d5ef378d0ff1f77ed8a363b235ba63f55e4656",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ad09c517dda21ea7c24048c453f424cfb15394052c4d8e761a8e643699a1a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60fbf469a150ea3f710f00ae06e18c7be3e925d452d13994243c65235679705",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 4.04 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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0216, -0.0334, 0.9989, 0.8913, 1.8622, 1.2137, -0.6548, 0.2951, 0.4297, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1135 left_roll=0.0041 left_gripper=0.9989 right_x=0.2825 right_y=0.2737 right_z=0.0343 right_yaw=0.2819 right_pitch=-0.6232 right_roll=-0.1706 right_gripper=0.0249\nstate[joint_eff]: [-0.1573, -1.265, 6.9265, 1.6142, -0.0171, -0.0269, -0.0122, 0.253, -9.9897, 8.1846, 0.7057, 0.2271, 0.1392, 1.0281]",
      "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]: [-0.0219, 0.8249, 0.6128, -0.4881, -0.0216, -0.0334, 0.9989, 0.9691, 1.7485, 1.3632, -0.9405, 0.3161, 0.4721, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=0.0012 left_z=0.1542 left_yaw=0.0084 left_pitch=-0.1311 left_roll=0.0047 left_gripper=0.9989 right_x=0.2539 right_y=0.2792 right_z=0.1046 right_yaw=0.3053 right_pitch=-0.6251 right_roll=-0.1878 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.6342, 6.9265, 1.7509, -0.0415, -0.0415, -0.0073, 0.212, -9.5932, 7.9385, 0.7155, 0.3004, 0.1929, 0.0269]\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 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]: [-0.0219, 0.8257, 0.6128, -0.4908, -0.0216, -0.0338, 0.9989, 1.0077, 1.8584, 1.2877, -0.8024, 0.3286, 0.5087, 0.9972]\nstate[eef_state]: left_x=0.2814 left_y=0.0012 left_z=0.1535 left_yaw=0.0086 left_pitch=-0.1345 left_roll=0.0045 left_gripper=0.9989 right_x=0.248 right_y=0.2927 right_z=0.0508 right_yaw=0.2877 right_pitch=-0.6496 right_roll=-0.2206 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -1.4154, 6.9265, 1.6728, -0.0513, -0.0659, -0.0122, 0.5675, -9.6889, 5.9145, 0.8083, 0.2662, 0.022, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e23d8a133e2ba5f0eb88c3353d5ef378d0ff1f77ed8a363b235ba63f55e4656",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ad09c517dda21ea7c24048c453f424cfb15394052c4d8e761a8e643699a1a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60fbf469a150ea3f710f00ae06e18c7be3e925d452d13994243c65235679705",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtET83Yv783u65sHdzXVME4MQN51tDYurWXJDxxA8W1OfKYGRBM6A3Knqu89UvwTCPrrfiy1lYjyrpC_3qrmYfby6m_1ZhI5gcmdrpPoMpYVGRgqK6z4NIWdOBZw-XNvAp0OJQ06Zl1osUDPdF3v2zk-3BwxL3_yERbr7IoCNExt2A0-f23pMRQUn_S1okP6FW7ojTonJx37HJFqFT4jRBYbO2U1RLxo4di1A_BbcmRIAP_RcB7C1bCcpoZ0zJqyZ5Pp-kvDI0RFZlAXzAK3dx_OW9ErTJzvKK2gCRPThIfRXfTvucYiHtS1Tdoxj53PIN54vIQaLyo9p70gIykH2WMRblhw7JbXxXFekfIvQmmoNy65jSfzgwApYyoXsbKUhsKUBLMwIOnHLkdJqb1JyPDO4H--mWtk0-b-o5xLkNQoIsW_ivhDB97B-bQXK5yMmm4hI8LjyqZ32CDgm04WSxjeq6LSXDPBPoXvDpYQZnawBlHUt5OTKMottfwo5ZCDHwjU1OAZy8QZ7PvQCP5dp6K9ThH9zgl6eblpqsJL7muFFcjbQS8yrTmfvD7ZHzk3Z1fXEiFJUzpdPknKWj5bO-C5ZXszOW1JbRo7yP_jELCVl_kWkq9ZDkUqz4d0MNQLJXDsxipUeHH4OVrGb-1c1j2GysiYWQuEziUBVSHwbUjL5U8crVdeQNTuDMh335gwMcOnNQvbQqYlXpg4TQg1SahJODlFLXkMTbt-ORiGJhilloxL10n0Y8kaKSAZQTFzzghHUxW99yLklgCPUFUpF_mNWOKk6GLqacyGgjpptZWMwWCPsahGihP5tOoAZCGkZ9oDrf6QDp9SYPOQNJv5VoKE95D2jP_b1pnE1mR8o05yp9qQ_cfDHWyQRtdFAXvuxGep3d6ChCCm5EI86H3i9UV5X3jh-p-kWncT6GdSmlWov6AA8uXnMV9DL2-Emlmu8wTPqGid2Yf8mxNMpmu7D7H6Has7A6kuURVGICYgcOy_s6T8ngD1VnnHE1vOEUvxN9KRizHqxCbasE_BgYOLEURsfVLRc3z894Qmx3U7MPE5eXjhai7p15jWQgsqH1z5-tC3SF_XV4AuyqX8gFQDeBS125FmgP8BP7Ot6t0bCzBWsIa71MmgKeomh31NmhWN5QzShJ01PZmJphtFZgEFMavhEpe1WTeBkNFE7a8DVWfHJ-eWIUvEcM4RhAMn2J-_EmZf_Br9oHrAqnHSt7ySty5_MINCY_rs0Eq4d8z42m4kkUVI=",
  "id": "rs_0193e155ff9bdfe1016ab444fb46f487d0ae28dd2cba520991",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow fruit is now centered exactly between both fingers at mid-height in open space. I am fully closing on this centered pose.\"}",
  "call_id": "call_mLqKM9Fn5UMVsq2KcV2Q5Eqm",
  "id": "fc_0193e155ff9bdfe1016ab444fb6f9487d08e4cde99feefcb33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mLqKM9Fn5UMVsq2KcV2Q5Eqm",
  "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, 0.8257, 0.6128, -0.4911, -0.0216, -0.0338, 0.9989, 1.0176, 1.8641, 1.2442, -0.7517, 0.345, 0.5087, 0.0088]\nstate[eef_state]: left_x=0.2814 left_y=0.0012 left_z=0.1534 left_yaw=0.0086 left_pitch=-0.1349 left_roll=0.0045 left_gripper=0.9989 right_x=0.246 right_y=0.2914 right_z=0.0397 right_yaw=0.2861 right_pitch=-0.6378 right_roll=-0.2343 right_gripper=0.0088\nstate[joint_eff]: [-0.0068, -1.3744, 7.0632, 1.619, -0.0317, -0.0464, -0.0122, 0.1026, -11.5761, 5.4496, 0.7643, 0.3443, 0.0708, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4814c6568a7037d74d7ef3e5df8148bd9d8024607d0d0ce51c8df40093eb64b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3bfa50d2e19b674fbf9353921948e2f37f4451044da79e629826cb544d470e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4daeb507eca980e41a1a549f67a042e0a3c3cab670449db8f3f5417b9647d93",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 3.093 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]: [-0.0219, 0.8192, 0.6128, -0.4767, -0.0216, -0.0334, 0.9989, 0.3397, 1.9606, 1.3613, -0.5995, 0.1249, -0.0875, 0.0249]\nstate[eef_state]: left_x=0.2834 left_y=0.0012 left_z=0.1579 left_yaw=0.0084 left_pitch=-0.1139 left_roll=0.0041 left_gripper=0.9989 right_x=0.4263 right_y=0.1311 right_z=0.0391 right_yaw=0.2608 right_pitch=-0.6283 right_roll=-0.1746 right_gripper=0.0249\nstate[joint_eff]: [-0.1983, -1.306, 6.9538, 1.6044, -0.0366, -0.0464, -0.0171, -0.212, -9.4701, 7.8427, 1.0672, -0.0611, 0.0464, 1.0281]",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4908, -0.0216, -0.0338, 0.9989, 1.0077, 1.8584, 1.2877, -0.8024, 0.3286, 0.5087, 0.9972]\nstate[eef_state]: left_x=0.2814 left_y=0.0012 left_z=0.1535 left_yaw=0.0086 left_pitch=-0.1345 left_roll=0.0045 left_gripper=0.9989 right_x=0.248 right_y=0.2927 right_z=0.0508 right_yaw=0.2877 right_pitch=-0.6496 right_roll=-0.2206 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -1.4154, 6.9265, 1.6728, -0.0513, -0.0659, -0.0122, 0.5675, -9.6889, 5.9145, 0.8083, 0.2662, 0.022, 0.0464]",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4911, -0.0216, -0.0338, 0.9989, 1.0176, 1.8641, 1.2442, -0.7517, 0.345, 0.5087, 0.0088]\nstate[eef_state]: left_x=0.2814 left_y=0.0012 left_z=0.1534 left_yaw=0.0086 left_pitch=-0.1349 left_roll=0.0045 left_gripper=0.9989 right_x=0.246 right_y=0.2914 right_z=0.0397 right_yaw=0.2861 right_pitch=-0.6378 right_roll=-0.2343 right_gripper=0.0088\nstate[joint_eff]: [-0.0068, -1.3744, 7.0632, 1.619, -0.0317, -0.0464, -0.0122, 0.1026, -11.5761, 5.4496, 0.7643, 0.3443, 0.0708, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4814c6568a7037d74d7ef3e5df8148bd9d8024607d0d0ce51c8df40093eb64b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3bfa50d2e19b674fbf9353921948e2f37f4451044da79e629826cb544d470e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4daeb507eca980e41a1a549f67a042e0a3c3cab670449db8f3f5417b9647d93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUA_4lGjxg9RJRtH58ctYJMhKaB4F8j2hJqKDszGDpFJbS1UcI-YsgavgLIUu0ReYrQMEEMbiwBcZYvZKMoNWhFS0xG2dSfLVpPFlbAxllmmBQnFUEZGzibYTvO3d29cToejiigPPeCWi9yQ8ghCkE729Unex8-XwD7h4V2iejoa06G7VkT-vQruZkjCYp7HnDJKErpmtuT4Be-pvWwbjitxzPFInLEj69T-fimmkwjEpgiSIc5OtmJhvBeSQ8RjFS-viHYG3fy2JGZOWCJLi-oFTSoiH6Rj6p2kCS9tKCv-Fd8aoOEjhQAUM5je_g1ST4PSloLl1aEzirjDo29-x-7gM77BLq422wMC_aXvCSJPERZg2RslQjvsy6hhVBKRoDBRjJyybXcMIwapRHiDcXoVRgq-rVtgI6ltZmCWMyzR2s3Wb1ctpCnoR6ry-gSeTeai_grHhHAV6dkJcpeT-TyrmZLYyUcg3_keWSmKWfkwN9RgKED-KWjyKaug1q9QtRIKdlMynbSuypwKj9KOra4XafckfsFbPfROFmbXIxjL1i7xAX_6wSx0WltpijmDQoqFTmRUKlIOoqG_RZWPCDET7uvsdVFi2v8sY4IEPLbPNdoRCXnD3IfwI6VE0PPNc_JGxsvTX1LQblbPgDwJJgcNy3BNfoHvKsUbyXgmLjZIKX2TNAwo_xh1tp00RWYRe0MYf997QCXmWvH2HuV6NdCbqIGH6ICxxpdnkdDN71oDiJpOQgZ8b_s59VN4mSiMZj2-_3wNng3RGWMOPxLS7_uzyi__6xv509xPbwQwakaJos6QOqMKNvM6MUFdYRLuJte1qUmwn3Y1kl7NUb2z3-f-M2uJfS1-K6cg7OuGmSqfdikZ1Tl6kKpV3lEX2u1PU5rOoUnH3OP9cSAhslAS7QiwDfysuOL-OQJ5faa0ifm1ki2oQZHIxIaz5dEthsHBvQqr3W2alhGgp9kZtRmUyOm4K7cQwOhXIPPODWFOdTwMjSvH9GyAOrMh7MrvvLH0S_FeAKNyzkmnJolvW2lhY2n2ph_q0ZZUUtATTldzAcPi8xxOmAtGz-hQnnsRuNZVOcRrCoGQ9KWMgbEzzsSWyfpMnJ5pTLrL8GoyaKDG6oSIEtoYo_aHc53cwMd15NstRzYNuvFDP_T7Q2vJDLEqoTuaEY4rTYTxfRLWJBtXzfI-DioRz3E_RpvkuG9a25NRc0LAazkpaf2tgQReYi8Gr785jZvO1AHWR7o5YiigYKOe85XYs7ac3QRc1r1Vm9gTHc218SB3QAxfK6SoFzxwEMwon0PDjhJJOPPOo89nOCU_m7c7J9pKx9Rdayq0gMmNLHI7ZUDwrakNp14sHr2LDWNuh0BJlb8mtv_ZuPYCbsTC1aOJEU9dpN8hfSrax0mT0w-BvmlSfhWur8PwlQuJue8OUoBuQQcrf52omYnzDUpwj09ZSIBe4nLPYszddMsIt9aQICKU7rwNK6vND97SsTM5JamcecOHgc92bA46aZY0luMIIV7okYkZWr1hT6oWjM4TSUHajc1w2k37L6-HRFR423uCWyG0bJPUTa_Lt9ed8X2BhxCcwvF2zAkPKBxAWczm1XuzlHdgr7zQPQyEiHq7k4gkDfddTV26D0fjjX5tbBn1NkklZixm2WEZ6pVBajxBIYu5HTkx8zviCC4il4XRZv86ejABN2A0fsPdxVvSDqO4pQEHWZb6YEvAlJf7r_Ny88Op-jLu9UmHUjqvR9aOGjvrmnbww33v-2_IuahMI9EqiseEVYPju_YIagnGRz7NC8R6ZnqK38gf7684zdwvygnsIOh-bPCqhUnX1uM-uWMAyDstIhUdMCRa_UuMw2uN_wF_x4D-hXGOwQ5hVBDkFSpzZsSJbLgngtEN3_OvhKXWZeYlDdv862I_CY4GcEPLklt1_H6c9DTznJeHs-Kjcm04wehTluXxA4azpIJ7igONdPMG1n4f5bafbDC5J34",
  "id": "rs_0193e155ff9bdfe1016ab444fe849087d087bb141fd4cc88af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"Even perfectly centered, the fruit squeezed sideways along its irregular seam, so the current jaw direction is unsuitable. I am lifting, reopening, and rotating the gripper 90 degrees to close across the fruit's other axis.\"}",
  "call_id": "call_uODepwKngBlFoMysxpNEBw4Z",
  "id": "fc_0193e155ff9bdfe1016ab444ffe0fc87d09f8da812c1709a52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uODepwKngBlFoMysxpNEBw4Z",
  "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, 0.8257, 0.6128, -0.4915, -0.0216, -0.0338, 0.9989, 0.7795, 1.6386, 1.235, -0.7662, -0.1123, -0.7647, 0.9952]\nstate[eef_state]: left_x=0.2813 left_y=0.0012 left_z=0.1533 left_yaw=0.0086 left_pitch=-0.1353 left_roll=0.0045 left_gripper=0.9989 right_x=0.2557 right_y=0.2856 right_z=0.1084 right_yaw=1.3809 right_pitch=-0.6173 right_roll=-0.2337 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -1.3744, 7.1179, 1.6239, -0.0366, -0.0659, -0.0122, -0.2256, -7.2137, 8.212, 0.7399, -0.3883, -0.0562, 0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a574f153147e9701684e2073b253d497bb62fcd34acab06e1e3a68391c4f52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2756d3a7291d79aeda4247a545a24d90e0a175410b64e426927e9df8903a91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e94ef3e8a2d5dc08c031d181ab88dee258787055d71554ece750b8565a8f19",
      "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 38 attempt 0 · /responses · status 200 · 2.745 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4881, -0.0216, -0.0334, 0.9989, 0.9691, 1.7485, 1.3632, -0.9405, 0.3161, 0.4721, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=0.0012 left_z=0.1542 left_yaw=0.0084 left_pitch=-0.1311 left_roll=0.0047 left_gripper=0.9989 right_x=0.2539 right_y=0.2792 right_z=0.1046 right_yaw=0.3053 right_pitch=-0.6251 right_roll=-0.1878 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.6342, 6.9265, 1.7509, -0.0415, -0.0415, -0.0073, 0.212, -9.5932, 7.9385, 0.7155, 0.3004, 0.1929, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4911, -0.0216, -0.0338, 0.9989, 1.0176, 1.8641, 1.2442, -0.7517, 0.345, 0.5087, 0.0088]\nstate[eef_state]: left_x=0.2814 left_y=0.0012 left_z=0.1534 left_yaw=0.0086 left_pitch=-0.1349 left_roll=0.0045 left_gripper=0.9989 right_x=0.246 right_y=0.2914 right_z=0.0397 right_yaw=0.2861 right_pitch=-0.6378 right_roll=-0.2343 right_gripper=0.0088\nstate[joint_eff]: [-0.0068, -1.3744, 7.0632, 1.619, -0.0317, -0.0464, -0.0122, 0.1026, -11.5761, 5.4496, 0.7643, 0.3443, 0.0708, 0.6911]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4915, -0.0216, -0.0338, 0.9989, 0.7795, 1.6386, 1.235, -0.7662, -0.1123, -0.7647, 0.9952]\nstate[eef_state]: left_x=0.2813 left_y=0.0012 left_z=0.1533 left_yaw=0.0086 left_pitch=-0.1353 left_roll=0.0045 left_gripper=0.9989 right_x=0.2557 right_y=0.2856 right_z=0.1084 right_yaw=1.3809 right_pitch=-0.6173 right_roll=-0.2337 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -1.3744, 7.1179, 1.6239, -0.0366, -0.0659, -0.0122, -0.2256, -7.2137, 8.212, 0.7399, -0.3883, -0.0562, 0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a574f153147e9701684e2073b253d497bb62fcd34acab06e1e3a68391c4f52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2756d3a7291d79aeda4247a545a24d90e0a175410b64e426927e9df8903a91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e94ef3e8a2d5dc08c031d181ab88dee258787055d71554ece750b8565a8f19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUEuX19Md3ut49mmO6C9MXCpWn4wpHhFC8G21vK53XBIGO9FT1T931DyiXhrfMDhgXchXi4RRq5MxMrunSCH8Njc1SfCvG0gKCkxlmEMIt2rk2QeLxWPDWPWNWc9arB00_yoMa8Rnav2TiNKhkpM6unLiJP23LsIss4Q_TfBaRiiJ6I0HgrtDv948aVRJ6nj70L4hbdyEuqz2me4NEdbgDpzm8ULnk01irIUxWd5A1iGEJXQRKqFwB9p8PpSsw6RH-bvqktYYSgV4DefOL1j_fU_oou7JuK7k7apWenqBHzU_e3bAEdtpczknm8BA_-c1sBKv6mY01bC5vPmAWn1Hb7d9bTZk8nuPcUYO8swRU2y8kcoXmIk0fH8CWAXtkoAFWOpofbeoO9O1BFqjMYow9cMajyp31M_lGoUdICrKWAfP7KSdo2JMH59AvOfcFiAap1cdPt8pU2wYOsU9MY0T0fqRQhun9idrKJlW7r4nODGDqOm-d1Mpjxh5P7IWTd7Avm8748ERSRIwaEwJ3aeco2s8nxTNR11ThKCfugskoC_XTzgXUTPaIG1L6CROqL0ZsMh8Ux_WefkwjEiqmiT2aCq4Y9ADlw9ptrpTJylcNg-76O5tI64F_BFqNlQhXySjKgtH2qtT-rbq9tGJYFz12gLX4nFs3gSGpDuM0DuFSIBgCLoseCP7a5WCrfTwQkm4rodSthL9DSm5ePTnnvIlO54ks9Yah8ITM9KDvv4XvjSB6-4LN6URM4SZTTqFXFK4rF_udsJn-jCDuD55FJnhXF0B6CYO8-321uw2dYdQfpjtOPu3IEtO-cVlPeO5hn0ughnI-gQWpQQrzCedtwHFynyHCkBTIOHlOyFgPp9hGUoCK3ei7rymRS2rp4l_kkYBsqE-5skouRASLZuPWFrbIDRHPG7fRDCZuprlb8Qcyiit2PEH8Pj4JDFjMSmt8VmmRRA8ak7c4BObxNVDHJs5HDLpkid_XSL03OPEdPicc-wUBEmZlyrwbecioRG9ZSrt6JJ7yOlu877BDJ4JsApGY-zPmv2vI59WX8rQDXiMVTEwlw5mibYc62NCcrTyhz4hDyGXtpXp-eEqFreDBLuioRnCimZRuuWTZ_3vbYbdyz5sb5S0HAEr86AcgINdcdVIxsG1S-0D-t3BUK0a8GHgw4ceeTCjYP6QsmHAny2yQ37nMXpy57pEHudCziI87j00KMkpZJR_yhA--j1qvmuj6ub-1t4Vf1EBmn4BNQ2std2q7s4UsENhwHwjE1VRmfmCnViMsiHI1whLRiU2Y3orS8tlq4PNCWx_mmU__--Zh23fdRM0CjPQX5FSyWaDlkAYhI-dJcdAl5ocSss50PqtkAxHHEwK0Jj-XGegWsazvU8YA_IvrvaFfsglbJFS6sGrSfeSuuvoANz1DmWnHZWeIWnuYDp8A9kH6aLpMcXelyjajSXbtmGo3z8ZsvJpzEQg_6acXZtkcVgy0Bp-TEBOGAOIUN_AwKpt5gwQrsUf_d9MM9Ds2T3zR9XQdK09z7Qdj1pQvPMuzKbVgv0apKXNCJAQ==",
  "id": "rs_0193e155ff9bdfe1016ab4450306d887d08a8473e756f30e5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.19,\"right_y\":0.285,\"right_z\":0.11,\"right_yaw\":1.57},\"note\":\"With the jaw axis rotated, the overhead view shows the yellow fruit directly nearer the base than the gripper by about 6 cm, with lateral alignment already good. I am moving inward over it while keeping the new jaw orientation.\"}",
  "call_id": "call_3wkxLrMNCs4hpMlGtkEcYbhH",
  "id": "fc_0193e155ff9bdfe1016ab44503f59887d083490b4939d9849c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3wkxLrMNCs4hpMlGtkEcYbhH",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8276, 0.6128, -0.4938, -0.0219, -0.0338, 0.9989, 0.8803, 1.504, 1.0912, -0.7609, -0.1436, -0.8299, 0.9963]\nstate[eef_state]: left_x=0.281 left_y=0.0013 left_z=0.1524 left_yaw=0.009 left_pitch=-0.1395 left_roll=0.0049 left_gripper=0.9989 right_x=0.1978 right_y=0.2848 right_z=0.1064 right_yaw=1.5535 right_pitch=-0.6115 right_roll=-0.2334 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -0.9641, 6.8991, 1.6142, -0.0659, -0.0464, -0.0122, 0.5265, -7.5556, 5.9282, 1.0183, -0.1685, -0.0317, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88271cfc273f1e92a3efef55b3c1654f363deb32e95b56f81ebbee4635dde7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8cac1849080c013b64396abded5247c9babd8dfa4e34edf4971e3e145d5de7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07fd27d9831a86aceb546a4194cd6260de28028efb3675440e849527a36bfd24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 2.681 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4908, -0.0216, -0.0338, 0.9989, 1.0077, 1.8584, 1.2877, -0.8024, 0.3286, 0.5087, 0.9972]\nstate[eef_state]: left_x=0.2814 left_y=0.0012 left_z=0.1535 left_yaw=0.0086 left_pitch=-0.1345 left_roll=0.0045 left_gripper=0.9989 right_x=0.248 right_y=0.2927 right_z=0.0508 right_yaw=0.2877 right_pitch=-0.6496 right_roll=-0.2206 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -1.4154, 6.9265, 1.6728, -0.0513, -0.0659, -0.0122, 0.5675, -9.6889, 5.9145, 0.8083, 0.2662, 0.022, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4915, -0.0216, -0.0338, 0.9989, 0.7795, 1.6386, 1.235, -0.7662, -0.1123, -0.7647, 0.9952]\nstate[eef_state]: left_x=0.2813 left_y=0.0012 left_z=0.1533 left_yaw=0.0086 left_pitch=-0.1353 left_roll=0.0045 left_gripper=0.9989 right_x=0.2557 right_y=0.2856 right_z=0.1084 right_yaw=1.3809 right_pitch=-0.6173 right_roll=-0.2337 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -1.3744, 7.1179, 1.6239, -0.0366, -0.0659, -0.0122, -0.2256, -7.2137, 8.212, 0.7399, -0.3883, -0.0562, 0.1148]\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 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8276, 0.6128, -0.4938, -0.0219, -0.0338, 0.9989, 0.8803, 1.504, 1.0912, -0.7609, -0.1436, -0.8299, 0.9963]\nstate[eef_state]: left_x=0.281 left_y=0.0013 left_z=0.1524 left_yaw=0.009 left_pitch=-0.1395 left_roll=0.0049 left_gripper=0.9989 right_x=0.1978 right_y=0.2848 right_z=0.1064 right_yaw=1.5535 right_pitch=-0.6115 right_roll=-0.2334 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -0.9641, 6.8991, 1.6142, -0.0659, -0.0464, -0.0122, 0.5265, -7.5556, 5.9282, 1.0183, -0.1685, -0.0317, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88271cfc273f1e92a3efef55b3c1654f363deb32e95b56f81ebbee4635dde7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8cac1849080c013b64396abded5247c9babd8dfa4e34edf4971e3e145d5de7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07fd27d9831a86aceb546a4194cd6260de28028efb3675440e849527a36bfd24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUI8HT8zVDLzHnrVLtzFSIW6v41RC6etWXF053zfSmv67x9gQy_uNOQML79TpSZez-7bfWsdpGw5_lCPKZnCzctN4aMlFo2lf4bxBNWrrBC9cIUhMXD-tNWXHpCrf1M6rCZJU5hKalb4VpqIpPXLWEcIw6Nmo8wl9TcH6oyrFXyrO5wtfxGsu_yv1_o7gr34_H7WNAd8b7uGR2KUefEyG0wGwVkrgyO6yPjC7wbodVw2hXwFEhPcZI5IYNzTZm7JsluVnRUZDxaZjWVB4M6bLXCf6KL7cRW98vfDFpTcI7vxdTRM-9NAEQcRbRp3m_DtNqY8E7_P4e_mDiLRGnwVRHgtT62Cn-XeA_hG0cTCw-mzUaHrwZtfuB53pW1LC7qlS1cN7shqKin1h8gCYmT2hciie8y1n8CBwipwyuHyZmQK9Vdn19CiRp6KyJdz9DPmX5x-zrhLCEQjbfB52vKutC7xIhEXtbd6p-pxnQgMIJwS0pt_eSxMBgWgg_uMCvVfqFqnj1_j8mDK9N7-2pmYWOLXYKbZikNPYYl8VNtIftUp95XIr7cfuyMIze_A5CP8y5r0ZrqnqusT7Vavfg1EERguUomRiYTKlbomDM0SwjhUxgZpgByY0ZXSE0Uuzd_UUQvNW-XqmBU0_lnl-lKC6r8FdS7HF5BdcHBb-SjSQHDVGdfXtc11ekvxKUSaQsZXQjfX_yG8K-caqDX2gsra9Kev8qa3Ddj4XF6rOIYWzacfGH88EfVmoWW51i4JxAkScvdeFTUgWDZdWbq5bxklhW9xw7SaP9aGMtxHxHPeC0xCsPp3rosvJS3HMzhJR6hYGhBUYxchmCThwUvScWT0JgnoAr-12N9hxc2iBwyV2P-AAHLCgtiWmxWZpsSzdF89E5h-dsgdx96hqFsZXFWK0CQ7J2bKNv8uny38vRCNgKzXwPkAyzhdGtwM0FquHl__KOGxwZB9w12IjIBJL4xmu37kb-dmyR5qsJczgW3EMVnKZA3y_Mco5_OImyhBWSf-bKM8d_d6maucje_uHjrF7x8VurNUmiHKmaxhUg0W5TJKMO9xPZQC9UoUJgSuJTwHQy4GntO2Ws7T-CZYQnIRlxuSlCu2dDndJ5mCn0i8Wn15eVvr4BCPSCDvR5O_yu1vA1nCyeEbxQCGYcvvgpoUZq8k-vL0ExcFJBbgodRJhR7e9-6WEc20en5Ac7yXX98m2mMt_wldiFvmmOGwauoZcJXHN3Bfkz3MYBxwyJKFqCKw-U9I330FGJ3ntouKsRiu3w-jEfRR7sMnE2oFOH4lKlKVjpsnEJM_9twTN0_zHx9FmrZ71TUdmRChwLUKbtBiqg2PY9-6gZy3o3NKf-Jl0961Tp5z1yh8hwG2Z6VhT-MrygtDF5UwTcuL0v825Amt3yu1S8dWahAiQ8yMe9szdUdNQnsE7tHRov9yKGGHGnvMgRj6mDtUDNyL9gRukt1uSWbtk3ZEgybVcz5D6dszHmve3woJm6x8T-9UVjgZ07_GNExLZ72wYYbiJ1h8NBwQvuY4f4JCcl5dsOLZvLqGUvw0CikZMsZSSbmEtTUzZLBvplVDfla0Z3zhCMJCDy85oA3DBQXHirj3aN896TLPIeS565rmZSJe9f95DP9s-XMDNu6ajGN895i9kTBEDfam7fucyqw2McXuWK8Aw_kdUMsOGW4fbCCgj0jpP1HklOzXvuVAEw7KACtNtdx0SSunpKEC0NLtZ-tzGU6HIMx8lzfvUf0GTW6WWn29EkU_CbEliI=",
  "id": "rs_0193e155ff9bdfe1016ab445069f6487d0b0ef2f2bdbd49c31",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.05,\"right_yaw\":1.57},\"note\":\"The rotated wrist is now laterally centered over the fruit and the overhead view shows it under the gripper. I am descending to mid-height while preserving the 90-degree jaw orientation.\"}",
  "call_id": "call_cNaZUIrZlFIT3lr4xBWWGozo",
  "id": "fc_0193e155ff9bdfe1016ab445079a5087d0872046995cd8cbe8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cNaZUIrZlFIT3lr4xBWWGozo",
  "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, 0.8284, 0.6128, -0.4942, -0.0216, -0.0338, 0.9989, 0.8711, 1.5578, 0.9226, -0.593, -0.1516, -0.8375, 0.9965]\nstate[eef_state]: left_x=0.281 left_y=0.0012 left_z=0.1521 left_yaw=0.0087 left_pitch=-0.1406 left_roll=0.0047 left_gripper=0.9989 right_x=0.1903 right_y=0.2731 right_z=0.0486 right_yaw=1.5819 right_pitch=-0.6496 right_roll=-0.1867 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.3744, 6.9402, 1.5849, -0.0464, -0.0366, -0.0122, -0.1573, -6.3385, 6.6256, 1.1209, -0.1929, -0.0464, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7632bdc37faafc3e3c3acc073af03185679d39f33cd369861a76e57cb8e098f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d63daba6e50bb4d0ea14d4ac7a4f3ce6af227a3567ef259ee0c5e0779acbfa5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33412af9659a85b41c6bf51fc9fbaf50bc5be17e692f49bc3a994ce1715aa9cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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