adhoc

completed
2026-09-23T22:09:32.283642+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
220.3 s
total steps
313
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see a large green fruit near the right gripper, a yellow fruit just left of it, a blue bowl farther forward, and a possible small dark fruit beside the white bowl. I’ll first hover the right gripper over the green fruit, which is closest and well within this arm’s workspace.
move_to
right_x0.3300right_y0.0400right_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]: [-0.0204, 0.8001, 0.6136, -0.3859, -0.0139, -0.0299, 0.9954, -0.0227, 0.7998, 0.6182, -0.3908, -0.0227, -0.0334, 0.9994] state[eef_state]: left_x=0.2956 left_y=0.0 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9954 right_x=0.2954 right_y=0.0009 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5128, -1.7846, 9.6752, 1.8388, -0.0904, 0.1343, -0.4957, -0.4718, -1.5248, 9.1966, 1.917, -0.0513, 0.188, -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":0.04,"right_z":0.15,"right_gripper":1.0},"note":"I see a large green fruit near the right gripper, a yellow fruit just left of it, a blue bowl farther forward, and a possible small dark fruit beside the white bowl. I’ll first hover the right gripper over the green fruit, which is closest and well within this arm’s workspace."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteThe green fruit is now centered on the right gripper’s jaw column and sits at the near edge of the wrist view, indicating the fingertips are over it. I’ll descend to roughly mid-height of the fruit before closing.
move_to
right_x0.3300right_y0.0400right_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]: [-0.02, 0.8021, 0.6132, -0.4007, -0.0139, -0.0307, 0.9948, 0.1944, 1.0229, 0.5762, -0.1757, 0.1421, 0.0643, 0.9993] state[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9948 right_x=0.3265 right_y=0.0424 right_z=0.143 right_yaw=0.0256 right_pitch=-0.0429 right_roll=-0.0151 right_gripper=0.9993 state[joint_eff]: [-0.1846, -1.2513, 7.0769, 1.8779, -0.0366, -0.0562, -0.0757, -0.3624, -3.6444, 6.2017, 2.1026, 0.1832, 0.1392, -0.0757] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.04,"right_z":0.04},"note":"The green fruit is now centered on the right gripper’s jaw column and sits at the near edge of the wrist view, indicating the fingertips are over it. I’ll descend to roughly mid-height of the fruit before closing."})
tool
executing move_to over 7 steps (0.7s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteAt the lowered pose, the green pear fills the gap symmetrically between the two jaws. I’ll close the gripper around its midsection.
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]: [-0.02, 0.8059, 0.6132, -0.4088, -0.0139, -0.0311, 0.9947, 0.1795, 1.3598, 0.2764, 0.4229, 0.1257, 0.0597, 0.9993] state[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.175 left_yaw=0.001 left_pitch=-0.029 left_roll=-0.0004 left_gripper=0.9947 right_x=0.3244 right_y=0.04 right_z=0.0314 right_yaw=0.0266 right_pitch=-0.0822 right_roll=-0.0152 right_gripper=0.9993 state[joint_eff]: [-0.3214, -1.4154, 7.0085, 1.7998, -0.0611, -0.0317, -0.022, -0.253, -4.3829, 5.5043, 1.9609, 0.0366, -0.1197, -0.0122] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the lowered pose, the green pear fills the gap symmetrically between the two jaws. I’ll close the gripper around its midsection."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe gripper closed to 0.009, confirming it missed; the pear remains visible in the wrist camera and shifted slightly during closure. I’ll reopen, lift, and move 2 cm farther forward for the prescribed single retry on this rounded fruit.
move_to
right_x0.3450right_y0.0400right_z0.1400right_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]: [-0.02, 0.8059, 0.6132, -0.4171, -0.0139, -0.0311, 0.9947, 0.1795, 1.3598, 0.276, 0.4202, 0.1188, 0.0528, 0.009] state[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1733 left_yaw=0.001 left_pitch=-0.0374 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3238 right_y=0.0411 right_z=0.0307 right_yaw=0.0361 right_pitch=-0.0859 right_roll=-0.0169 right_gripper=0.009 state[joint_eff]: [-0.2256, -1.306, 7.0085, 1.8144, -0.0269, -0.0415, -0.0171, -0.1709, -3.9726, 5.2308, 1.6532, 0.0464, 0.0415, 0.6813] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.04,"right_z":0.14,"right_gripper":1.0},"note":"The gripper closed to 0.009, confirming it missed; the pear remains visible in the wrist camera and shifted slightly during closure. I’ll reopen, lift, and move 2 cm farther forward for the prescribed single retry on this rounded fruit."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteFrom the corrected hover, the pear is now centered almost exactly between the jaw columns. I’ll descend vertically again, keeping this improved radial alignment.
move_to
right_x0.3450right_y0.0400right_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]: [-0.02, 0.8124, 0.6132, -0.4244, -0.0139, -0.0334, 0.9947, 0.1596, 1.1515, 0.6231, -0.1669, 0.0994, 0.0299, 0.9986] state[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1701 left_yaw=0.0023 left_pitch=-0.0511 left_roll=-0.0017 left_gripper=0.9947 right_x=0.3411 right_y=0.0408 right_z=0.1241 right_yaw=0.0447 right_pitch=-0.119 right_roll=-0.0268 right_gripper=0.9986 state[joint_eff]: [0.0205, -1.853, 7.0085, 1.7411, -0.0171, -0.0317, -0.0171, -0.6359, -5.135, 8.7726, 1.5653, 0.0171, 0.0415, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.04,"right_z":0.04},"note":"From the corrected hover, the pear is now centered almost exactly between the jaw columns. I’ll descend vertically again, keeping this improved radial alignment."})
tool
executing move_to over 6 steps (0.6s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe pear remains centered at grasp height, with its broad sides evenly spaced from both jaws. Because it is rounded and was squeezed out by a full close, I’ll close only to about 5.2 cm jaw spacing to capture it without over-squeezing.
move_to
right_gripper0.5500
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]: [-0.02, 0.8135, 0.6132, -0.4271, -0.0139, -0.0338, 0.9947, 0.1547, 1.4082, 0.3985, 0.2813, 0.0921, 0.0223, 0.9986] state[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1693 left_yaw=0.0025 left_pitch=-0.0549 left_roll=-0.002 left_gripper=0.9947 right_x=0.3399 right_y=0.0402 right_z=0.0334 right_yaw=0.0495 right_pitch=-0.1526 right_roll=-0.0316 right_gripper=0.9986 state[joint_eff]: [-0.1846, -1.1692, 7.0085, 1.6874, -0.0611, -0.0464, -0.0073, -0.2393, -4.9436, 5.3949, 1.9023, -0.0122, -0.0171, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.55},"note":"The pear remains centered at grasp height, with its broad sides evenly spaced from both jaws. Because it is rounded and was squeezed out by a full close, I’ll close only to about 5.2 cm jaw spacing to capture it without over-squeezing."})
tool
executing move_to over 5 steps (0.5s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe jaws now appear to contact both sides of the pear at a moderate 0.55 opening. I’ll lift 5 cm to verify that it moves with the gripper before transporting it.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4271, -0.0139, -0.0338, 0.9947, 0.1551, 1.4082, 0.3985, 0.2741, 0.0925, 0.0181, 0.554] state[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1693 left_yaw=0.0025 left_pitch=-0.0549 left_roll=-0.002 left_gripper=0.9947 right_x=0.3388 right_y=0.0401 right_z=0.0321 right_yaw=0.0518 right_pitch=-0.1599 right_roll=-0.0358 right_gripper=0.554 state[joint_eff]: [-0.1709, -1.1419, 6.9949, 1.6581, -0.0757, -0.0611, -0.0122, -0.0342, -4.6427, 5.6137, 1.7118, 0.0073, 0.0024, 0.0904] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The jaws now appear to contact both sides of the pear at a moderate 0.55 opening. I’ll lift 5 cm to verify that it moves with the gripper before transporting it."})
tool
executing move_to over 4 steps (0.4s)
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 pear stayed on the table during the lift, so 0.55 did not clamp its narrower upper section. The overhead view confirms the position is still aligned; I’ll lower again and then use a somewhat tighter, but still partial, closure.
move_to
right_x0.3400right_y0.0400right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4313, -0.0139, -0.0338, 0.9947, 0.1551, 1.2362, 0.522, -0.0368, 0.0921, 0.0151, 0.5535] state[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.0591 left_roll=-0.0019 left_gripper=0.9947 right_x=0.3355 right_y=0.0396 right_z=0.0785 right_yaw=0.0535 right_pitch=-0.1751 right_roll=-0.0394 right_gripper=0.5535 state[joint_eff]: [-0.335, -1.3333, 7.0769, 1.7314, -0.0317, -0.0366, -0.0122, -0.2803, -4.7385, 8.4581, 1.5702, 0.0171, 0.0024, -0.0708] 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":0.34,"right_y":0.04,"right_z":0.035},"note":"The pear stayed on the table during the lift, so 0.55 did not clamp its narrower upper section. The overhead view confirms the position is still aligned; I’ll lower again and then use a somewhat tighter, but still partial, closure."})
tool
executing move_to over 3 steps (0.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteAt table height the pear is again centered, and its narrower grasp section is visibly between the fingertips. I’ll tighten to about 3.3 cm spacing, enough to secure this section without a full crushing close.
move_to
right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8146, 0.6132, -0.4355, -0.0139, -0.0338, 0.9947, 0.1547, 1.4048, 0.4255, 0.1913, 0.0887, 0.0151, 0.5534] state[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.0645 left_roll=-0.0018 left_gripper=0.9947 right_x=0.3342 right_y=0.0399 right_z=0.0282 right_yaw=0.0553 right_pitch=-0.2122 right_roll=-0.0407 right_gripper=0.5534 state[joint_eff]: [-0.1709, -1.388, 6.9949, 1.7167, -0.0513, -0.0611, -0.0122, -0.1573, -4.9573, 5.5179, 1.8388, -0.0171, -0.0513, -0.0171] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.35},"note":"At table height the pear is again centered, and its narrower grasp section is visibly between the fingertips. I’ll tighten to about 3.3 cm spacing, enough to secure this section without a full crushing close."})
tool
executing move_to over 3 steps (0.3s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteBoth fingertips now visibly press into opposite sides of the pear, unlike the earlier loose closure. I’ll lift it 7 cm to verify this tighter grasp.
move_to
right_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]: [-0.02, 0.8146, 0.6132, -0.4419, -0.0135, -0.0334, 0.9947, 0.1547, 1.4048, 0.4255, 0.1898, 0.0887, 0.0151, 0.3536] state[eef_state]: left_x=0.2885 left_y=0.0002 left_z=0.166 left_yaw=0.002 left_pitch=-0.071 left_roll=-0.0015 left_gripper=0.9947 right_x=0.334 right_y=0.0399 right_z=0.0279 right_yaw=0.0553 right_pitch=-0.2137 right_roll=-0.0409 right_gripper=0.3536 state[joint_eff]: [-0.3077, -1.1145, 7.1863, 1.7314, -0.022, -0.022, -0.0122, -0.1162, -4.6564, 5.5043, 1.536, 0.0317, -0.0269, 0.0024] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.10},"note":"Both fingertips now visibly press into opposite sides of the pear, unlike the earlier loose closure. I’ll lift it 7 cm to verify this tighter grasp."})
tool
executing move_to over 5 steps (0.5s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe pear again remained on the table and the gripper reached its commanded width, so it was still just behind the actual fingertip grasp point despite looking bracketed in perspective. I’ll reopen, lift, and advance another 3 cm forward to put the fingertips—not just the wrist camera—over the fruit.
move_to
right_x0.3700right_y0.0400right_z0.1400right_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]: [-0.02, 0.8143, 0.6132, -0.4492, -0.0139, -0.0338, 0.9947, 0.1551, 1.219, 0.5953, -0.1871, 0.0883, 0.0143, 0.3529] state[eef_state]: left_x=0.2874 left_y=0.0003 left_z=0.1647 left_yaw=0.0025 left_pitch=-0.0778 left_roll=-0.0015 left_gripper=0.9947 right_x=0.3304 right_y=0.0395 right_z=0.0872 right_yaw=0.0559 right_pitch=-0.235 right_roll=-0.0433 right_gripper=0.3529 state[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7167, -0.0659, -0.0659, -0.0122, 0.1026, -4.8342, 8.7726, 1.4579, -0.0269, -0.0415, -0.0904] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.04,"right_z":0.14,"right_gripper":1.0},"note":"The pear again remained on the table and the gripper reached its commanded width, so it was still just behind the actual fingertip grasp point despite looking bracketed in perspective. I’ll reopen, lift, and advance another 3 cm forward to put the fingertips—not just the wrist camera—over the fruit."})
tool
executing move_to over 7 steps (0.7s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe farther hover puts the pear near the jaw convergence line, though its base still sits just above the bottom edge, suggesting about 2 cm remaining radial offset. I’ll combine that final forward correction with the descent to grasp height.
move_to
right_x0.3850right_y0.0400right_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]: [-0.02, 0.8146, 0.6128, -0.4503, -0.0135, -0.0338, 0.9947, 0.139, 1.319, 0.8528, -0.3725, 0.0731, -0.0116, 0.9986] state[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.1642 left_yaw=0.0022 left_pitch=-0.0797 left_roll=-0.0016 left_gripper=0.9947 right_x=0.3625 right_y=0.0413 right_z=0.1281 right_yaw=0.067 right_pitch=-0.2643 right_roll=-0.0525 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.1419, 6.9949, 1.6777, -0.0366, -0.0366, -0.0122, -0.8137, -4.7111, 8.759, 1.4725, -0.022, 0.0464, -0.105] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.04,"right_z":0.04},"note":"The farther hover puts the pear near the jaw convergence line, though its base still sits just above the bottom edge, suggesting about 2 cm remaining radial offset. I’ll combine that final forward correction with the descent to grasp height."})
tool
executing move_to over 6 steps (0.6s)
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 noteAfter the extra forward correction, the pear now fills the space directly between the fingertip ends rather than sitting beyond them. I’ll close to a moderate 0.45 target; contact with the broad fruit should stop the jaws well before that if alignment is correct.
move_to
right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4679, -0.0139, -0.0338, 0.9947, 0.1268, 1.5803, 0.6876, 0.0242, 0.0616, -0.0273, 0.9986] state[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1607 left_yaw=0.0014 left_pitch=-0.0976 left_roll=-0.001 left_gripper=0.9947 right_x=0.38 right_y=0.0411 right_z=0.0349 right_yaw=0.073 right_pitch=-0.2949 right_roll=-0.0562 right_gripper=0.9986 state[joint_eff]: [0.0342, -1.3744, 7.0496, 1.8242, -0.0562, -0.0464, -0.0073, -0.4718, -6.7624, 5.4906, 1.7363, -0.0366, -0.0122, -0.022] 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_gripper":0.45},"note":"After the extra forward correction, the pear now fills the space directly between the fingertip ends rather than sitting beyond them. I’ll close to a moderate 0.45 target; contact with the broad fruit should stop the jaws well before that if alignment is correct."})
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 gripper stopped at 0.491 instead of reaching the 0.45 command, and both fingertip ends are visibly contacting the pear; this is a real grasp. I’ll lift it clear of the table to confirm before moving to the blue bowl.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4698, -0.0139, -0.0338, 0.9947, 0.1272, 1.5803, 0.6876, 0.0284, 0.0547, -0.0341, 0.4912] state[eef_state]: left_x=0.2843 left_y=0.0 left_z=0.1603 left_yaw=0.0014 left_pitch=-0.0996 left_roll=-0.001 left_gripper=0.9947 right_x=0.3807 right_y=0.0426 right_z=0.0355 right_yaw=0.0834 right_pitch=-0.2912 right_roll=-0.0552 right_gripper=0.4912 state[joint_eff]: [-0.0342, -1.2923, 7.1453, 1.6825, -0.0513, -0.0415, -0.0122, -0.1299, -6.5436, 5.7094, 1.3993, 0.0611, 0.0513, 3.8217] 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_z":0.13},"note":"The gripper stopped at 0.491 instead of reaching the 0.45 command, and both fingertip ends are visibly contacting the pear; this is a real grasp. I’ll lift it clear of the table to confirm before moving to the blue bowl."})
tool
executing move_to over 7 steps (0.7s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe green pear has left its table position in the overhead view and remains secured between the jaws. I’ll carry it high to the center of the blue bowl, which is forward and to this arm’s left.
move_to
right_x0.4300right_y0.1000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4759, -0.0139, -0.0338, 0.9947, 0.128, 1.433, 0.9176, -0.4183, 0.0513, -0.0383, 0.5851] state[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1592 left_yaw=0.0014 left_pitch=-0.1057 left_roll=-0.0008 left_gripper=0.9947 right_x=0.3708 right_y=0.0422 right_z=0.107 right_yaw=0.0886 right_pitch=-0.3608 right_roll=-0.0582 right_gripper=0.5851 state[joint_eff]: [-0.0752, -0.9368, 7.0632, 1.7314, -0.0269, -0.0757, -0.0122, -0.2667, -7.7197, 9.1282, 1.4969, 0.0269, -0.0024, 1.033] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.1,"right_z":0.2},"note":"The green pear has left its table position in the overhead view and remains secured between the jaws. I’ll carry it high to the center of the blue bowl, which is forward and to this arm’s left."})
tool
executing move_to over 7 steps (0.7s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe blue bowl is clearly visible just forward-left of the carried pear; its center is about 2 cm left and 3 cm farther forward than the gripper. I’ll make that small centering correction while staying above the rim.
move_to
right_x0.4500right_y0.1200right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8169, 0.6132, -0.4767, -0.0139, -0.0338, 0.9947, 0.2699, 1.6604, 1.4559, -0.8139, 0.123, 0.0456, 0.5851] state[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.1586 left_yaw=0.0014 left_pitch=-0.1079 left_roll=-0.0008 left_gripper=0.9947 right_x=0.4139 right_y=0.0957 right_z=0.1752 right_yaw=0.1126 right_pitch=-0.4364 right_roll=-0.0799 right_gripper=0.5851 state[joint_eff]: [-0.1162, -1.4564, 6.9538, 1.6142, -0.0317, -0.0366, -0.0073, 0.4034, -8.253, 9.4701, 1.5849, 0.1245, 0.2711, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.12,"right_z":0.18},"note":"The blue bowl is clearly visible just forward-left of the carried pear; its center is about 2 cm left and 3 cm farther forward than the gripper. I’ll make that small centering correction while staying above the rim."})
tool
executing move_to over 3 steps (0.3s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe blue bowl is now centered directly behind and beneath the pear, with the fruit already below the rim height. I’ll 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]: [-0.0212, 0.8192, 0.6132, -0.4778, -0.0139, -0.0338, 0.9947, 0.2996, 1.8069, 1.6211, -0.8791, 0.1303, 0.0608, 0.5851] state[eef_state]: left_x=0.2833 left_y=0.0001 left_z=0.1578 left_yaw=0.0014 left_pitch=-0.1114 left_roll=-0.0007 left_gripper=0.9947 right_x=0.438 right_y=0.115 right_z=0.168 right_yaw=0.1226 right_pitch=-0.4806 right_roll=-0.0866 right_gripper=0.5851 state[joint_eff]: [-0.335, -1.4291, 6.9538, 1.6777, -0.0317, -0.022, -0.0073, 0.335, -10.5094, 8.5675, 1.2186, 0.1832, 0.1343, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The blue bowl is now centered directly behind and beneath the pear, with the fruit already below the rim height. I’ll release it into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe pear is visibly resting inside the blue bowl. I’ll move the right gripper back and left to hover over the yellow fruit, keeping clear of the bowl rim.
move_to
right_x0.3500right_y0.1700right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4839, -0.0139, -0.0338, 0.9947, 0.3103, 1.8481, 1.6356, -0.8875, 0.1303, 0.0639, 0.9958] state[eef_state]: left_x=0.2823 left_y=0.0001 left_z=0.1566 left_yaw=0.0015 left_pitch=-0.1175 left_roll=-0.0006 left_gripper=0.9947 right_x=0.4398 right_y=0.1207 right_z=0.1545 right_yaw=0.128 right_pitch=-0.515 right_roll=-0.0921 right_gripper=0.9958 state[joint_eff]: [-0.1983, -1.3197, 6.9402, 1.663, -0.0171, -0.0269, -0.0122, -0.5402, -11.3983, 9.6068, 1.3162, 0.1343, 0.0904, -0.022] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.17,"right_z":0.15,"right_gripper":1.0},"note":"The pear is visibly resting inside the blue bowl. I’ll move the right gripper back and left to hover over the yellow fruit, keeping clear of the bowl rim."})
tool
executing move_to over 7 steps (0.7s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe arm only moved partway from the bowl and is still at x=0.412 rather than the requested yellow-fruit hover, likely because the low, pitched pose is awkward. I’ll first raise and retract it to a freer pose while continuing toward the fruit.
move_to
right_x0.3600right_y0.1800right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8219, 0.6132, -0.487, -0.0139, -0.0338, 0.9947, 0.3855, 1.7588, 1.5169, -0.8562, 0.186, 0.1493, 0.9986] state[eef_state]: left_x=0.2819 left_y=0.0001 left_z=0.1554 left_yaw=0.0015 left_pitch=-0.1232 left_roll=-0.0004 left_gripper=0.9947 right_x=0.4117 right_y=0.1357 right_z=0.1541 right_yaw=0.0986 right_pitch=-0.4975 right_roll=-0.1005 right_gripper=0.9986 state[joint_eff]: [0.0479, -1.5248, 6.9675, 1.6972, -0.0708, -0.0122, -0.0122, 4.9709, -14.8718, 8.7316, 1.7118, 0.1343, 0.0855, -0.1538] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.18,"right_z":0.22},"note":"The arm only moved partway from the bowl and is still at x=0.412 rather than the requested yellow-fruit hover, likely because the low, pitched pose is awkward. I’ll first raise and retract it to a freer pose while continuing toward the fruit."})
tool
executing move_to over 5 steps (0.5s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe arm is now free, and the yellow fruit appears just left of the jaw column near the bottom of the wrist view. I’ll move about 2 cm left and 2 cm forward while lowering to a closer hover, placing the fingertips over it rather than merely the camera.
move_to
right_x0.3900right_y0.2000right_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]: [-0.0212, 0.8265, 0.6132, -0.4915, -0.0139, -0.0338, 0.9947, 0.5533, 1.7271, 1.6829, -1.0935, 0.2455, 0.2749, 0.9986] state[eef_state]: left_x=0.2814 left_y=0.0001 left_z=0.1533 left_yaw=0.0015 left_pitch=-0.1324 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3693 right_y=0.1819 right_z=0.2029 right_yaw=0.1279 right_pitch=-0.5095 right_roll=-0.1053 right_gripper=0.9986 state[joint_eff]: [-0.1436, -1.7436, 7.159, 1.7021, -0.0562, -0.0415, -0.0122, 0.0342, -9.7436, 7.4735, 0.9499, 0.1783, 0.2173, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.2,"right_z":0.14},"note":"The arm is now free, and the yellow fruit appears just left of the jaw column near the bottom of the wrist view. I’ll move about 2 cm left and 2 cm forward while lowering to a closer hover, placing the fingertips over it rather than merely the camera."})
tool
executing move_to over 5 steps (0.5s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe yellow fruit remains about 2–3 cm left of the jaw center and still slightly short of the fingertip line. I’ll make one more small left-and-forward alignment correction before descending.
move_to
right_x0.4100right_y0.2250right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8284, 0.6132, -0.4931, -0.0135, -0.0338, 0.9947, 0.561, 1.8153, 1.544, -0.9379, 0.2493, 0.2878, 0.9986] state[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1525 left_yaw=0.0012 left_pitch=-0.1358 left_roll=-0.0004 left_gripper=0.9947 right_x=0.378 right_y=0.1903 right_z=0.1348 right_yaw=0.1057 right_pitch=-0.5717 right_roll=-0.1378 right_gripper=0.9986 state[joint_eff]: [-0.1299, -1.5385, 6.9402, 1.6044, -0.0317, -0.0317, -0.0122, 0.1846, -9.306, 6.5983, 1.116, 0.1392, -0.0317, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.225,"right_z":0.13},"note":"The yellow fruit remains about 2–3 cm left of the jaw center and still slightly short of the fingertip line. I’ll make one more small left-and-forward alignment correction before descending."})
tool
executing move_to over 3 steps (0.3s)
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 yellow fruit is now near the fingertip depth but still a little left of center. I’ll add the final 2 cm lateral correction and descend to its mid-height.
move_to
right_x0.4100right_y0.2450right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8314, 0.6132, -0.4953, -0.0139, -0.0338, 0.9947, 0.5838, 1.9778, 1.7355, -0.9646, 0.2535, 0.289, 0.9986] state[eef_state]: left_x=0.281 left_y=0.0001 left_z=0.1513 left_yaw=0.0015 left_pitch=-0.1411 left_roll=-0.0 left_gripper=0.9947 right_x=0.4083 right_y=0.221 right_z=0.1288 right_yaw=0.1248 right_pitch=-0.5679 right_roll=-0.1402 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.2513, 6.9538, 1.6435, -0.0513, -0.0464, -0.0122, 0.3077, -11.2889, 7.0632, 0.6667, 0.1294, 0.149, -0.0122] 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":0.41,"right_y":0.245,"right_z":0.025},"note":"The yellow fruit is now near the fingertip depth but still a little left of center. I’ll add the final 2 cm lateral correction and descend to its mid-height."})
tool
executing move_to over 7 steps (0.7s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteAt grasp height the yellow fruit is at the correct fingertip depth but sits about 1 cm to the right of center. I’ll nudge the gripper rightward to center it before closing, important because this fruit is also rounded.
move_to
right_y0.2300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8322, 0.6128, -0.4984, -0.0135, -0.0338, 0.9947, 0.6254, 2.0937, 1.5318, -0.6888, 0.2577, 0.3088, 0.9986] state[eef_state]: left_x=0.2805 left_y=0.0 left_z=0.1503 left_yaw=0.0012 left_pitch=-0.1453 left_roll=-0.0002 left_gripper=0.9947 right_x=0.4027 right_y=0.2397 right_z=0.0324 right_yaw=0.1366 right_pitch=-0.6036 right_roll=-0.1588 right_gripper=0.9986 state[joint_eff]: [-0.0205, -1.4564, 6.9949, 1.6093, -0.0317, -0.0415, -0.0122, 0.4444, -10.4137, 5.7094, 0.9011, 0.2564, 0.2173, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.23},"note":"At grasp height the yellow fruit is at the correct fingertip depth but sits about 1 cm to the right of center. I’ll nudge the gripper rightward to center it before closing, important because this fruit is also rounded."})
tool
executing move_to over 1 steps (0.1s)
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 small lateral command was distorted by the low-contact pose, but the fruit’s body remains between the fingertip ends. I’ll close to a moderate target so contact, rather than excessive squeezing, secures it.
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]: [-0.0212, 0.8322, 0.6132, -0.4984, -0.0139, -0.0338, 0.9947, 0.6266, 2.1197, 1.5188, -0.6472, 0.2577, 0.3149, 0.9986] state[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1505 left_yaw=0.0015 left_pitch=-0.1449 left_roll=0.0001 left_gripper=0.9947 right_x=0.4051 right_y=0.2421 right_z=0.0199 right_yaw=0.1346 right_pitch=-0.6007 right_roll=-0.1544 right_gripper=0.9986 state[joint_eff]: [-0.0615, -1.2923, 6.9265, 1.6435, -0.0366, -0.0366, -0.0122, 0.0205, -12.0547, 6.0923, 1.1111, 0.2466, 0.149, -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_gripper":0.25},"note":"The small lateral command was distorted by the low-contact pose, but the fruit’s body remains between the fingertip ends. I’ll close to a moderate target so contact, rather than excessive squeezing, secures it."})
tool
executing move_to over 8 steps (0.8s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe jaws reached the requested width, so contact is uncertain, but the yellow fruit is visually enclosed at the fingertip base. I’ll perform a short lift test before deciding whether to retry.
move_to
right_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]: [-0.0212, 0.8322, 0.6132, -0.4988, -0.0139, -0.0338, 0.9947, 0.6262, 2.1075, 1.4994, -0.6548, 0.2539, 0.3069, 0.2545] state[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1504 left_yaw=0.0015 left_pitch=-0.1453 left_roll=0.0001 left_gripper=0.9947 right_x=0.3993 right_y=0.2385 right_z=0.0186 right_yaw=0.138 right_pitch=-0.6162 right_roll=-0.1628 right_gripper=0.2545 state[joint_eff]: [-0.335, -1.2239, 6.9675, 1.5751, -0.0806, -0.0659, -0.0073, -0.3077, -10.441, 7.6786, 0.9206, 0.1929, 0.0415, 0.149] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The jaws reached the requested width, so contact is uncertain, but the yellow fruit is visually enclosed at the fingertip base. I’ll perform a short lift test before deciding whether to retry."})
tool
executing move_to over 6 steps (0.6s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
assistant
agent noteThe yellow fruit rose with the gripper and remains enclosed between the fingertips, confirming the grasp. I’ll carry it high to the blue bowl, which is forward and to the arm’s right from this pickup.
move_to
right_x0.4400right_y0.1200right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8322, 0.6132, -0.4984, -0.0135, -0.0338, 0.9947, 0.6281, 2.072, 1.6619, -0.8768, 0.2543, 0.3035, 0.2537] state[eef_state]: left_x=0.2805 left_y=0.0 left_z=0.1505 left_yaw=0.0012 left_pitch=-0.1449 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3985 right_y=0.2389 right_z=0.0696 right_yaw=0.1336 right_pitch=-0.6375 right_roll=-0.1788 right_gripper=0.2537 state[joint_eff]: [-0.0889, -1.1692, 7.0769, 1.5751, -0.0513, -0.0415, -0.0122, -0.1162, -14.8581, 8.0479, 0.8278, 0.1929, 0.0122, -0.1001] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.12,"right_z":0.19},"note":"The yellow fruit rose with the gripper and remains enclosed between the fingertips, confirming the grasp. I’ll carry it high to the blue bowl, which is forward and to the arm’s right from this pickup."})
tool
executing move_to over 10 steps (1.0s)
step 150
assistant
agent noteThe overhead view shows the yellow fruit slipped from the partial grasp during transport and is back at its pickup area. I’ll return directly to the now-calibrated hover pose, reopen, and retry with a firmer closure.
move_to
right_x0.4000right_y0.2400right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8333, 0.6132, -0.5022, -0.0139, -0.0338, 0.9947, 0.3382, 1.982, 1.9095, -1.1587, 0.178, 0.0265, 0.2535] state[eef_state]: left_x=0.2799 left_y=0.0001 left_z=0.1495 left_yaw=0.0016 left_pitch=-0.1499 left_roll=0.0002 left_gripper=0.9947 right_x=0.4388 right_y=0.125 right_z=0.1662 right_yaw=0.1159 right_pitch=-0.6375 right_roll=-0.1931 right_gripper=0.2535 state[joint_eff]: [-0.0615, -1.388, 6.9538, 1.6239, -0.0513, -0.022, -0.0122, -0.3077, -12.6291, 8.1983, 0.9255, -0.0464, 0.0562, -0.0269] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.24,"right_z":0.16,"right_gripper":1.0},"note":"The overhead view shows the yellow fruit slipped from the partial grasp during transport and is back at its pickup area. I’ll return directly to the now-calibrated hover pose, reopen, and retry with a firmer closure."})
tool
executing move_to over 10 steps (1.0s)
step 160
assistant
agent noteFrom the calibrated hover, the yellow fruit is about 3 cm left of the jaw column and just short of the fingertips. I’ll move left and slightly forward while descending to its center height.
move_to
right_x0.4200right_y0.2700right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8333, 0.6128, -0.5087, -0.0139, -0.0338, 0.9947, 0.6296, 2.0438, 1.9545, -1.1793, 0.2646, 0.2691, 0.9965] state[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1481 left_yaw=0.0016 left_pitch=-0.1568 left_roll=0.0003 left_gripper=0.9947 right_x=0.3978 right_y=0.2371 right_z=0.1554 right_yaw=0.1546 right_pitch=-0.6201 right_roll=-0.1946 right_gripper=0.9965 state[joint_eff]: [-0.335, -1.388, 7.1863, 1.6728, -0.0366, -0.0415, -0.0122, 0.1983, -10.2906, 8.5265, 0.6569, 0.2808, 0.1538, -0.1099] 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":0.42,"right_y":0.27,"right_z":0.025},"note":"From the calibrated hover, the yellow fruit is about 3 cm left of the jaw column and just short of the fingertips. I’ll move left and slightly forward while descending to its center height."})
tool
executing move_to over 9 steps (0.9s)
step 169
assistant
agent noteThe yellow fruit is now centered at the very bottom between the fingertip ends, a better alignment than the previous loose grasp. I’ll close fully so the gripper settles on the fruit’s true thickness.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8394, 0.6132, -0.5163, -0.0135, -0.0338, 0.9947, 0.6586, 2.2078, 1.7214, -0.8047, 0.2764, 0.2813, 0.9971] state[eef_state]: left_x=0.2778 left_y=0.0001 left_z=0.1453 left_yaw=0.0013 left_pitch=-0.1701 left_roll=0.0004 left_gripper=0.9947 right_x=0.4131 right_y=0.2633 right_z=0.0322 right_yaw=0.1573 right_pitch=-0.6333 right_roll=-0.2144 right_gripper=0.9971 state[joint_eff]: [-0.1709, -1.6752, 6.8718, 1.6386, -0.022, -0.022, -0.0122, 0.4718, -11.5897, 5.4222, 1.0476, 0.2027, 0.1197, 0.0611] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The yellow fruit is now centered at the very bottom between the fingertip ends, a better alignment than the previous loose grasp. I’ll close fully so the gripper settles on the fruit’s true thickness."})
tool
executing move_to over 10 steps (1.0s)
step 179
assistant
agent noteThe full close was empty and the yellow fruit rolled sideways again, showing that the current jaw direction is unstable on its oval shape. I’ll lift, reopen, and rotate the jaws 90 degrees so they clamp along the fruit’s long axis instead of ejecting it laterally.
move_to
right_x0.4000right_y0.2800right_z0.1500right_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]: [-0.0212, 0.8398, 0.6132, -0.5201, -0.0135, -0.0338, 0.9947, 0.6594, 2.2253, 1.6737, -0.7593, 0.2806, 0.2771, 0.0085] state[eef_state]: left_x=0.2772 left_y=0.0001 left_z=0.1445 left_yaw=0.0013 left_pitch=-0.1743 left_roll=0.0005 left_gripper=0.9947 right_x=0.409 right_y=0.2597 right_z=0.0125 right_yaw=0.1499 right_pitch=-0.6492 right_roll=-0.2327 right_gripper=0.0085 state[joint_eff]: [-0.1299, -1.2923, 6.9128, 1.6728, -0.0317, -0.0708, -0.0122, 0.335, -15.5556, 5.7778, 0.8327, 0.2955, 0.0415, 0.6667] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.28,"right_z":0.15,"right_yaw":1.57,"right_gripper":1.0},"note":"The full close was empty and the yellow fruit rolled sideways again, showing that the current jaw direction is unstable on its oval shape. I’ll lift, reopen, and rotate the jaws 90 degrees so they clamp along the fruit’s long axis instead of ejecting it laterally."})
tool
executing move_to over 10 steps (1.0s)
step 189
assistant
agent noteWith the arm raised, the overhead view clearly shows the yellow fruit closer to the bases than the gripper; the prior wrist perspective had overestimated its radial distance. I’ll descend at x≈0.35 with the jaws rotated, directly over the fruit’s overhead position.
move_to
right_x0.3500right_y0.2500right_z0.0300right_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]: [-0.0212, 0.8452, 0.6132, -0.5224, -0.0139, -0.0338, 0.9947, 0.5045, 2.1075, 2.0167, -1.0565, -0.2165, -1.0309, 0.9952] state[eef_state]: left_x=0.277 left_y=0.0002 left_z=0.1428 left_yaw=0.0017 left_pitch=-0.1819 left_roll=0.0009 left_gripper=0.9947 right_x=0.4212 right_y=0.28 right_z=0.1554 right_yaw=1.3443 right_pitch=-0.57 right_roll=-0.2978 right_gripper=0.9952 state[joint_eff]: [0.0068, -1.8803, 7.0906, 1.6093, -0.0513, -0.022, -0.0122, -0.3487, -9.5795, 6.2427, 0.3541, -0.2662, -0.1197, 0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.25,"right_z":0.03,"right_yaw":1.57},"note":"With the arm raised, the overhead view clearly shows the yellow fruit closer to the bases than the gripper; the prior wrist perspective had overestimated its radial distance. I’ll descend at x≈0.35 with the jaws rotated, directly over the fruit’s overhead position."})
tool
executing move_to over 9 steps (0.9s)
step 198
assistant
agent noteThe corrected overhead position places the yellow fruit squarely between the fingertip ends, and the rotated jaws straddle it along the more stable axis. I’ll close fully to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8474, 0.6132, -0.5358, -0.0135, -0.0338, 0.9947, 0.4892, 1.9606, 1.2797, -0.5972, -0.2874, -1.2251, 0.9956] state[eef_state]: left_x=0.2748 left_y=0.0002 left_z=0.1398 left_yaw=0.0014 left_pitch=-0.1976 left_roll=0.001 left_gripper=0.9947 right_x=0.3432 right_y=0.2435 right_z=0.0194 right_yaw=1.5756 right_pitch=-0.6165 right_roll=-0.2165 right_gripper=0.9956 state[joint_eff]: [-0.1846, -1.306, 7.0085, 1.6777, -0.0269, -0.0171, -0.0122, -0.5265, -12.3419, 6.3248, 1.033, -0.4176, -0.3004, 0.0171] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The corrected overhead position places the yellow fruit squarely between the fingertip ends, and the rotated jaws straddle it along the more stable axis. I’ll close fully to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 208
assistant
agent noteThe gripper stopped at 0.419 with the fruit firmly contacting both rotated jaws, confirming a secure grasp. I’ll carry it directly to the center of the blue bowl at a safe height.
move_to
right_x0.4400right_y0.1200right_z0.1800right_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]: [-0.0212, 0.8471, 0.6132, -0.5362, -0.0139, -0.0334, 0.9947, 0.4858, 1.9602, 1.2518, -0.5735, -0.2932, -1.2308, 0.4189] state[eef_state]: left_x=0.2747 left_y=0.0002 left_z=0.1398 left_yaw=0.0015 left_pitch=-0.1976 left_roll=0.0016 left_gripper=0.9947 right_x=0.34 right_y=0.2413 right_z=0.0133 right_yaw=1.5817 right_pitch=-0.614 right_roll=-0.2119 right_gripper=0.4189 state[joint_eff]: [-0.0615, -1.2103, 7.0906, 1.536, -0.0464, -0.0122, -0.0122, -0.2803, -10.1949, 7.0769, 0.7204, -0.3297, -0.0073, 1.0183] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.12,"right_z":0.18,"right_yaw":1.57},"note":"The gripper stopped at 0.419 with the fruit firmly contacting both rotated jaws, confirming a secure grasp. I’ll carry it directly to the center of the blue bowl at a safe height."})
tool
executing move_to over 11 steps (1.1s)
step 219
assistant
agent noteThe yellow fruit is held directly above the blue bowl, where the green pear is already visible inside. I’ll release the yellow fruit into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8513, 0.6132, -0.5415, -0.0135, -0.0338, 0.9947, 0.123, 2.17, 2.223, -1.3727, -0.3687, -1.5654, 0.4225] state[eef_state]: left_x=0.2739 left_y=0.0002 left_z=0.1378 left_yaw=0.0015 left_pitch=-0.2071 left_roll=0.0012 left_gripper=0.9947 right_x=0.4568 right_y=0.1242 right_z=0.1756 right_yaw=1.4945 right_pitch=-0.602 right_roll=-0.2985 right_gripper=0.4225 state[joint_eff]: [-0.1983, -1.7983, 6.8991, 1.5995, -0.0317, -0.0464, -0.0122, -0.2667, -11.535, 6.2427, 0.0269, -0.2906, -0.1197, 0.696] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The yellow fruit is held directly above the blue bowl, where the green pear is already visible inside. I’ll release the yellow fruit into the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 225
assistant
agent noteThe yellow and green fruits are now together in the blue bowl; one small dark fruit remains beside the white bowl. I’ll move directly to its overhead position at table height, rotating the jaws back to their normal orientation.
move_to
right_x0.3300right_y0.3400right_z0.0150right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.852, 0.6128, -0.543, -0.0139, -0.0338, 0.9947, 0.1223, 2.1807, 2.2211, -1.38, -0.3679, -1.5715, 0.9955] state[eef_state]: left_x=0.2736 left_y=0.0003 left_z=0.1372 left_yaw=0.0018 left_pitch=-0.2098 left_roll=0.0016 left_gripper=0.9947 right_x=0.4556 right_y=0.1236 right_z=0.1698 right_yaw=1.5108 right_pitch=-0.6075 right_roll=-0.2779 right_gripper=0.9955 state[joint_eff]: [-0.212, -1.5248, 7.0085, 1.5653, -0.0659, -0.0464, -0.0122, -0.2803, -12.7521, 5.9692, 0.7595, -0.2271, 0.0464, 0.0171] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.34,"right_z":0.015,"right_yaw":0.0,"right_gripper":1.0},"note":"The yellow and green fruits are now together in the blue bowl; one small dark fruit remains beside the white bowl. I’ll move directly to its overhead position at table height, rotating the jaws back to their normal orientation."})
tool
executing move_to over 19 steps (1.9s)
step 244
assistant
agent noteAt table height the dark fruit appears at the far left edge of the wrist view, so the gripper is about 4–5 cm to its right. I’ll shift left to center the fruit between the jaws.
move_to
right_y0.3900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8581, 0.6132, -0.5491, -0.0139, -0.0338, 0.9947, 0.9333, 2.2726, 1.7615, -0.8871, 0.3786, 0.5278, 0.9986] state[eef_state]: left_x=0.2727 left_y=0.0003 left_z=0.1347 left_yaw=0.0019 left_pitch=-0.2216 left_roll=0.0019 left_gripper=0.9947 right_x=0.3314 right_y=0.3438 right_z=0.0155 right_yaw=0.1425 right_pitch=-0.627 right_roll=-0.2808 right_gripper=0.9986 state[joint_eff]: [-0.1709, -1.9487, 6.8444, 1.5653, -0.0659, -0.0366, -0.0122, 0.1436, -12.2872, 6.653, 0.2418, 0.4274, 0.188, -0.1538] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.39},"note":"At table height the dark fruit appears at the far left edge of the wrist view, so the gripper is about 4–5 cm to its right. I’ll shift left to center the fruit between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 248
assistant
agent noteAfter the lateral shift, the gripper is directly beside the white bowl where the dark fruit was, but the arm occludes it from overhead and the bowl rim blocks the wrist view. I’ll close at this table-level position to test whether it is between the fingertips.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8585, 0.6132, -0.5526, -0.0139, -0.0338, 0.9947, 0.9886, 2.41, 1.9934, -0.9848, 0.392, 0.5903, 0.9986] state[eef_state]: left_x=0.2721 left_y=0.0003 left_z=0.1341 left_yaw=0.0019 left_pitch=-0.2254 left_roll=0.0019 left_gripper=0.9947 right_x=0.3305 right_y=0.3858 right_z=0.0143 right_yaw=0.1475 right_pitch=-0.6106 right_roll=-0.2653 right_gripper=0.9986 state[joint_eff]: [-0.1846, -1.5248, 7.0359, 1.5311, -0.0611, -0.0269, -0.0073, 0.3077, -13.2034, 6.7487, 0.3736, 0.3053, -0.0366, -0.0171] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"After the lateral shift, the gripper is directly beside the white bowl where the dark fruit was, but the arm occludes it from overhead and the bowl rim blocks the wrist view. I’ll close at this table-level position to test whether it is between the fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteThe close beside the white bowl was empty, suggesting the apparent dark spot was bowl/arm shadow rather than a graspable fruit; the blue bowl visibly contains the two actual fruits. I’ll now move to grasp the blue bowl around its lower sides for pouring.
move_to
right_x0.4550right_y0.1200right_z0.0400right_yaw0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8585, 0.6132, -0.5552, -0.0139, -0.0338, 0.9947, 0.9985, 2.4241, 2.0109, -1.0084, 0.3923, 0.5835, 0.009] state[eef_state]: left_x=0.2716 left_y=0.0003 left_z=0.1336 left_yaw=0.0019 left_pitch=-0.2281 left_roll=0.002 left_gripper=0.9947 right_x=0.3256 right_y=0.3873 right_z=0.0116 right_yaw=0.1508 right_pitch=-0.6247 right_roll=-0.2874 right_gripper=0.009 state[joint_eff]: [-0.0615, -1.4291, 6.8444, 1.5409, -0.0464, -0.0415, -0.0122, -0.2256, -12.8479, 7.5966, 0.5885, 0.359, 0.0757, 0.6471] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.12,"right_z":0.04,"right_yaw":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The close beside the white bowl was empty, suggesting the apparent dark spot was bowl/arm shadow rather than a graspable fruit; the blue bowl visibly contains the two actual fruits. I’ll now move to grasp the blue bowl around its lower sides for pouring."})
tool
executing move_to over 23 steps (2.3s)
step 281
assistant
agent noteThe open gripper is lowered around the blue bowl at table level; the overhead view shows the wrist centered over it and both fruits remain inside. I’ll close on the bowl’s outer walls.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8593, 0.6132, -0.5579, -0.0139, -0.0338, 0.9947, 0.3115, 2.0785, 1.4601, -0.6582, 0.1169, 0.2554, 0.9978] state[eef_state]: left_x=0.2712 left_y=0.0003 left_z=0.1329 left_yaw=0.0019 left_pitch=-0.2315 left_roll=0.0021 left_gripper=0.9947 right_x=0.4372 right_y=0.1229 right_z=0.0147 right_yaw=-0.0138 right_pitch=-0.6834 right_roll=-0.0409 right_gripper=0.9978 state[joint_eff]: [-0.1846, -1.5795, 6.8581, 1.5311, -0.0415, -0.0269, -0.0122, -0.5128, -14.0923, 7.1863, 1.1941, 0.0269, 0.0806, -0.0024] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The open gripper is lowered around the blue bowl at table level; the overhead view shows the wrist centered over it and both fruits remain inside. I’ll close on the bowl’s outer walls."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteThe jaws closed empty inside the bowl rather than around its exterior. I’ll use an internal expanding grasp: open the jaws against the bowl’s inner walls while lifting toward the white bowl, then roll fully to tip the blue bowl’s contents into it.
move_to
right_x0.4300right_y0.3500right_z0.1800right_roll1.5700right_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]: [-0.0212, 0.8604, 0.6132, -0.5587, -0.0135, -0.0338, 0.9947, 0.3244, 2.0491, 1.3521, -0.5423, 0.1295, 0.2497, 0.0088] state[eef_state]: left_x=0.2711 left_y=0.0002 left_z=0.1325 left_yaw=0.0016 left_pitch=-0.2334 left_roll=0.0019 left_gripper=0.9947 right_x=0.4304 right_y=0.1245 right_z=0.0034 right_yaw=-0.0003 right_pitch=-0.6442 right_roll=-0.0425 right_gripper=0.0088 state[joint_eff]: [-0.1026, -1.5932, 6.8718, 1.5311, -0.0513, -0.0513, -0.0122, -0.4581, -12.6017, 5.559, 1.1258, 0.2466, 0.0611, 0.6227] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.35,"right_z":0.18,"right_roll":1.57,"right_gripper":1.0},"note":"The jaws closed empty inside the bowl rather than around its exterior. I’ll use an internal expanding grasp: open the jaws against the bowl’s inner walls while lifting toward the white bowl, then roll fully to tip the blue bowl’s contents into it."})
tool
executing move_to over 21 steps (2.1s)
step 312
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8639, 0.6132, -0.5648, -0.0139, -0.0338, 0.9947, 0.6773, 1.8801, 1.3289, -0.0704, -0.0414, 1.7996, 0.997] state[eef_state]: left_x=0.27 left_y=0.0003 left_z=0.1306 left_yaw=0.002 left_pitch=-0.243 left_roll=0.0024 left_gripper=0.9947 right_x=0.4148 right_y=0.3476 right_z=0.1428 right_yaw=0.0104 right_pitch=-0.6599 right_roll=1.4081 right_gripper=0.997 state[joint_eff]: [-0.294, -1.6615, 6.8308, 1.5556, -0.0464, -0.0073, -0.0122, -0.1709, -12.3282, 7.6923, 2.1319, 0.315, 0.1587, -0.105] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.55 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
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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]: [-0.0204, 0.8001, 0.6136, -0.3859, -0.0139, -0.0299, 0.9954, -0.0227, 0.7998, 0.6182, -0.3908, -0.0227, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9954 right_x=0.2954 right_y=0.0009 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.7846, 9.6752, 1.8388, -0.0904, 0.1343, -0.4957, -0.4718, -1.5248, 9.1966, 1.917, -0.0513, 0.188, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:644c7491838d6ededc925bfaac8ca232b465f00ba521d42ec88119e28fcce06c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6811017c870d04f58ba58ea6773af7f4fe1eb23ea212c7d469ef574a905486",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baab584399d85dd8ca11e07783a9b78b4af7da2cf1897a5e30633747865d650a",
      "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 · 3.795 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE40Ca4Bj72F4S0Rn4StEfBQbgwisKuq6ZRX_rOBmbxJwbcmm9NvjKuj9iUHFAoylLX4nyzWAph8_HpmvCcOuj8o7xlcvF66V7kxLbw9SgniOmUBqd2NNlvibxAgzGinoUTW0ZasyebNCG1H4XDrZm29uGGFa2QCNsvkJ5iTDtNK_Coh2XG5WC1s2Liwfg3736O3M8umzVixwKfAaz7HzhcUyt3e4WRsBAXQ3-yh5ogCA7UWfrLXCKv3AUynCPym0uYsFfFQgS1UH-jupxvaGYSGRQCd4k7BaZZOBFYdmqte1Jg_5D0IKVjRjzGrinCJf57gTn_u7IOXXTLJJ9UxaXnmmjB5I4NP1MbHlLbn1ozomcXl1N_pASAgWIUY4v2djsuU6hfp6Z75rzbJqx8_180GXCRnucNSbtXt_cJUjWIt76k96MAP3AC7j6tg73ioJkDW_wXlPjDAeGfh2U3oPSNyl5g6iXH22RAYbrb0VxNW5_qhK5fMCHbo8_kkBxQAMW28Bm66s0-hKk00syQfjHzN8eGCm1jQ1XXU-qlUVXfynu10TP6B3Mb-G3mSYe2sdw47vWB_e_bmBFVhbPgzjzZyPscsZfV3DtJuMk_BdBjGHq8j3FRmjN1j09N6vwSvRJwGdkme93liAHqMPQlYWYF_I1t7gxPp0K2QumLaXYuB3_eM1t4viPQCNv8IwE70C2l2FmXwYorIGw1rUpsrk5Z8MfLS_JK1nj0OrR1FPkG6vlpUxO4dZpe4lKiuOESJnMtgf_zrvx7HzL8GvffciItUMYlMpvA87mo0uyS1SWMlTvqdrqpG5fLhiBTvxiTcKyRxXvqVz4GWy30NB_c3ByL57OBFkeDQU-Pc4t6IXPHrw92PlAomP5FKFAIO0vPMJdKhq6dkKDGE7zh8q4FOo6StcLSaSKrt5pmlzv8yfkIL21y5TiRNc4d0OA6bqhqLVl3ZBcJRf3BG21g7PqfDUfAIROx09R5xxGulwRf0kbBm2VRdIOSBWeRoCs98ZQ9cxv4z2Jfssea9tvjwXwm5JKkbPRE6F6PxED5bT5IgbeEdMkLTg_1k_8IaDQJnfjzaOpKfz2kCUGEFjcRMD3x-Wv7KHG5KB3u4ycnAzrIZ1X6h9s_Pug9Q6nsyBm6-7xN_N8RRn-NaG37W1433WDMcb4iuomJ0bceBnafKJjSxyW5rJFGVlMcwB_z8L8Z294cobQXCXp-XN269oBnXa4Unrdro1YGe0NHCnHxz-J9tcd71Wh9k8s-YRVQomhFd4d8k5LA8hxijtzF0_bQ3jc3EQhbDEWOiWPwV4ZuAj9yB6sW9yKpxlmdjwumrJLntvxIYUJZKiHMM0MpNgQpOc-0nbS2YtXj4YoiCITBpNBKfyohr99jmoaj0cgzhhvMIpRt0xEiOnLFcm51khcfWp8yBpED7tr89QbUbpN31Olt6vgrRf9e5dVkUCDfLcOj-9zfp0vjVhQy1fcGHV_WV3KfdwlordoGHUfXa4rr1aPCyNx2CL-SHQFSCbTW5MwlMnnFM15ieMYBAiFr4C5BiEpqrMMGIDljBFsbPrZ82g13R_nV1AWp-PL8yYFLK2b90l3h3tTHktbuoxvFZ6RFx86DjbZ424bhVQi7RKzPkjcRWtH6J0vC93ZjxDmUF9iPAZFvBrgKN9Kwhumbjrw986iMxGdtrFbshWKShbcfGmelNeYdUhWXOy4Q8QczIU1crqpPCMtejqiqwf4IhxpMJVxSHGcPr03Qz4NETjKUOoTRzUigx39GgfWGoFmUZdt3oB9rEGj1fePjyuoXT7A8EEcEorpCynaQUayQGZlS4vfzkXwSSL5W26E4CnBYUSDhcRKoKsSqWWn2jEspWKak75dDPkAmacD6q17Nnm16AuHVdLn1DmsK9VCSuKQFdUEnD5KnMbUqsO7VSiYyBVYtqtwgbpa9-H9Anjm0owVE5b-4h00Zdmbb4JCrHFNDY33L0CfliM6wzYbCnaxPSPHtVQ_jM2Ebi9qxBFJv2ukQRz21qVOUJ3ns206Joxk1HPi4ER_LufGqvkhwtCmCoHarwi51b6_TmNs76Il0CrRTjk16eQBEIrW68oLcuvrkv7XBbxQ6L7ylus0-PO_ekuz3zoqbf_nIGKJUq0gst2_LI2QCKHcWwbQ8CuWh0dSQvYnAGVFbxzuqye4_jFX6DwsYZsRkLG4R95GQEo63uwW1WmfpYeO0BhEAm6FUTvihtIgX8orY_0EHikoTristcFamiZqW4bZuMbGnu3IfCpCcdjnIE7YvV6XnDxtRaO5RCKGO-BWwh--3YY7UaB-hQxgzRuEAwtV5sGCZv4XqCAn9qO7nNpXt6oxM0fBjl-PlQ1qCKI6izCTdrlUK6rt5p6RKHKA7v5fbshBfuSdNSgghYFXXsOJ-_4bgdPVQa6BQ2Plvn36RsXHQ0AX7tZZklQ9LucD6f8IBLZHfJ-IQyld_CixdIXOCo_BljFo4GgxILHFwuVHlOu-JneInttvbyTT2tezuwxvc2ZQ==",
  "id": "rs_0a80943a61ca1c9c016ab44e3105a887d09c616c62e0cb95f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.04,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"I see a large green fruit near the right gripper, a yellow fruit just left of it, a blue bowl farther forward, and a possible small dark fruit beside the white bowl. I’ll first hover the right gripper over the green fruit, which is closest and well within this arm’s workspace.\"}",
  "call_id": "call_TNGJpZii0a42xgKfLkVniEOX",
  "id": "fc_0a80943a61ca1c9c016ab44e33aea887d08204994b60fc045b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TNGJpZii0a42xgKfLkVniEOX",
  "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]: [-0.02, 0.8021, 0.6132, -0.4007, -0.0139, -0.0307, 0.9948, 0.1944, 1.0229, 0.5762, -0.1757, 0.1421, 0.0643, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9948 right_x=0.3265 right_y=0.0424 right_z=0.143 right_yaw=0.0256 right_pitch=-0.0429 right_roll=-0.0151 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2513, 7.0769, 1.8779, -0.0366, -0.0562, -0.0757, -0.3624, -3.6444, 6.2017, 2.1026, 0.1832, 0.1392, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adedb58e072b60c510378112d6409b7f38070530c7a3d0d4dae61d78bf70e423",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38bea1d6e1fc94f2b5b42da0bd8b5e01cb00b25eed072c6f3c2202733239ac6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13d339121e0c165c89d6c39c78a7bf82b87f14c50be7d8fdea3f3e456cc79a9",
      "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 · 1.883 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]: [-0.0204, 0.8001, 0.6136, -0.3859, -0.0139, -0.0299, 0.9954, -0.0227, 0.7998, 0.6182, -0.3908, -0.0227, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9954 right_x=0.2954 right_y=0.0009 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.7846, 9.6752, 1.8388, -0.0904, 0.1343, -0.4957, -0.4718, -1.5248, 9.1966, 1.917, -0.0513, 0.188, -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]: [-0.02, 0.8021, 0.6132, -0.4007, -0.0139, -0.0307, 0.9948, 0.1944, 1.0229, 0.5762, -0.1757, 0.1421, 0.0643, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9948 right_x=0.3265 right_y=0.0424 right_z=0.143 right_yaw=0.0256 right_pitch=-0.0429 right_roll=-0.0151 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2513, 7.0769, 1.8779, -0.0366, -0.0562, -0.0757, -0.3624, -3.6444, 6.2017, 2.1026, 0.1832, 0.1392, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adedb58e072b60c510378112d6409b7f38070530c7a3d0d4dae61d78bf70e423",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38bea1d6e1fc94f2b5b42da0bd8b5e01cb00b25eed072c6f3c2202733239ac6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13d339121e0c165c89d6c39c78a7bf82b87f14c50be7d8fdea3f3e456cc79a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE48Uo0D-ssFGwB8btROe4HfMC9JfgY5VrwZ3O9IWBO9VfM5jDc4VjLbyS-uWrAcfAkfxPC5IExt6ETFsrj2E_C3AMPlT6DbcRKZ4eQUF1Ty5DneoVEXXTqfMOu-avLhOpDpTGh2wmBZ5U-vaF9OC52Ua6_oiIxaQZlf7f8Gipajnz5k4IXncPFDWBA5Ecb0aSubS6z_TzIxe7ZOd_cTSwP-rV1b03xB2LiJdatvcsDQ-5FZ9iJGu7p4XX8FrZAGG7y7M8zmd0XGaxoB845SNXT3ohv7h3ZZqYwMa4_lq0vobIBt5qLME3wAW6Y-_mFSg3wCTOOuoldduCnVhd3eEJX1tdeB9nUGxzhjqgyoDqo7ZQcvGmcgZF_hY1tnwlrClHn5LryNEkTpZlXzUR7D5673SQZSygV6A1M5rQxlxSEnciW6m4I1rFvCUwKnZSvv1TkoaXcGyo1d-5XG7PWZ_wUlVXGnQmeqYq1uXUB1NnGBUqmSJ45qQ8sH-oj9eeGCpweRCH3OcHRRY99RA4pYapR7oP8jhm2oGDqdGQ-WtDoBU01u8TQ1yC3xAknfWFccLjmTa_l-MScR_3mNdqj2lAVVUelxtkPkX95o2utUS0vnHzROgnUyxP4vpXL-ULn9A4cQWB_4PlbdbtfzEl8pnxNgBo4Y3hk1wXhIwLuQtxJrkqgHN7mz2XfF1ujT5mHEYjP--vQwuBoEOF6zwrS5MxSV-Pch9ql70aN9aESzqgMoe5sSzR_Id6THxKJgT2J133tPkKZLzPQ3iIJuIVEWJBJKyV3VODpf8BJlOmzLk6_w3sdjIwd1RNJ4ml4hHWBeKDeFawkHWQnhQ03JElAyaE6xjGl9RzpCMipPg6n8nIHxWHvF0rWkKm8bshCzXD2ZIBA71uU77h0a3E00wAXRaJae8DkRvZrHeHRXVYFxY_S6jCjFIwogbpZnjklZC9fQ-BitYl-3BfnXCi8cXy4m3L9FHu9jQPswpnwajQNBKn9nnwTjvXHubRSILEGvqsIVZSmsTNKwWRqD_4m-2AXLz8P8CBM6KPfR2r3jql1Ojf2U5DA1-QW8xBfEDon8hE0NJb_BKwvmCB1GXkjCO8FGLOc7uhmDysUUP0O0nSK2emvetkcSUs9pP0asRA1sZ5eAeUnGxKil3P7zfqqDSgK1TRz7dO1TACN9jBseirBdYfmhU7i2TWM6CkcmCM3qALfCrdTYrWG_fPt1kQ04s4S_syPhpOZWNVLgW8L2R0VxtXQ4IWhdYQ-D3uIyt3-2FKI-HVpeCMhMXcg3_W110vorYHUmiVWS7f24O_13ONstYERlrEban7kLQ5IQO5N5t_P_6dnC-Llv7qIHosLhxQkqK27lCTo0-OKYMFgTOD2b7DjiCSmPXudgKnyxqeLs_KPP71rYg7A17p9NHq1O2LZbD9cGaq36QbXtVtrLYWEsJjnHdyHq0wxvDT9ISGcI2GA8GzOIvADi0TeNKqn6355-1uIfo8NvOE3k-Ub99d7_aIZYFzaUbjs3dzIJiaAwykUd3S7AwfIQqbiOSvydmLW1zvTT0MgGNdzaObX4I94OEN_0M5zfLuXZFYIWrZX-vff5D8vpTmjwjTcBPRy2YC0dw5ZWWGI8BN0x6VJsbhUJ8aolhuyELwHNieRA1dO5cxAHUscM0YLhS198vDTRQ7BSVCbJTQ4OpwE0-N4B7ghtNUH9LaJYp33s8oI8BssFUSESpCEZQ7x6I1LpSrm4Vaes43DrCcO4bLXrT2EO-sicD72kcPM=",
  "id": "rs_0a80943a61ca1c9c016ab44e3a57dc87d098618d3bd4623334",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.04,\"right_z\":0.04},\"note\":\"The green fruit is now centered on the right gripper’s jaw column and sits at the near edge of the wrist view, indicating the fingertips are over it. I’ll descend to roughly mid-height of the fruit before closing.\"}",
  "call_id": "call_emppmieVbCe3IJZIZPslIDPj",
  "id": "fc_0a80943a61ca1c9c016ab44e3bb11c87d0a919d329ba716fdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_emppmieVbCe3IJZIZPslIDPj",
  "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]: [-0.02, 0.8059, 0.6132, -0.4088, -0.0139, -0.0311, 0.9947, 0.1795, 1.3598, 0.2764, 0.4229, 0.1257, 0.0597, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.175 left_yaw=0.001 left_pitch=-0.029 left_roll=-0.0004 left_gripper=0.9947 right_x=0.3244 right_y=0.04 right_z=0.0314 right_yaw=0.0266 right_pitch=-0.0822 right_roll=-0.0152 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4154, 7.0085, 1.7998, -0.0611, -0.0317, -0.022, -0.253, -4.3829, 5.5043, 1.9609, 0.0366, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65f5552a1e74a2f6c3b21a88db8b13bdd31f672dcaf97d1ab23f622f3326755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6fc7c491945da5e6793c93147e07c28065eb260ac570db0ac81059c78236022",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c42dc0a7462ece524fe2e5992d0dc7c37d813e1a6d0374826d467670f5d027",
      "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 · 4.274 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]: [-0.02, 0.8021, 0.6132, -0.4007, -0.0139, -0.0307, 0.9948, 0.1944, 1.0229, 0.5762, -0.1757, 0.1421, 0.0643, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9948 right_x=0.3265 right_y=0.0424 right_z=0.143 right_yaw=0.0256 right_pitch=-0.0429 right_roll=-0.0151 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2513, 7.0769, 1.8779, -0.0366, -0.0562, -0.0757, -0.3624, -3.6444, 6.2017, 2.1026, 0.1832, 0.1392, -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]: [-0.02, 0.8059, 0.6132, -0.4088, -0.0139, -0.0311, 0.9947, 0.1795, 1.3598, 0.2764, 0.4229, 0.1257, 0.0597, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.175 left_yaw=0.001 left_pitch=-0.029 left_roll=-0.0004 left_gripper=0.9947 right_x=0.3244 right_y=0.04 right_z=0.0314 right_yaw=0.0266 right_pitch=-0.0822 right_roll=-0.0152 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4154, 7.0085, 1.7998, -0.0611, -0.0317, -0.022, -0.253, -4.3829, 5.5043, 1.9609, 0.0366, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65f5552a1e74a2f6c3b21a88db8b13bdd31f672dcaf97d1ab23f622f3326755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6fc7c491945da5e6793c93147e07c28065eb260ac570db0ac81059c78236022",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c42dc0a7462ece524fe2e5992d0dc7c37d813e1a6d0374826d467670f5d027",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE5Ds2pqGreEOJy0JeNQ87ZwftJ1SE8u09ZtszDSXV9BUtRz1uUI5so1x8mXJdee2mJ-jRpoKmCGe_bFVqzUNBqaOxY7cyfkm0iu0UuTxoUmlphfni7rKWzNgYTXtJeCC7jTS21s5xQ0yCEjaylOXj0f_dLl7_GbHSLhexNVQLogtJe3rtzwAtBk02p9Y6z9qPkXYzF2vqEd7TuhbZlQtDizKP6EeTABLYT44IMvNPOj6yo1pBBUdJyXbSIhsg0HwXm5OzevVWw65OG7ie1yDR0zILgLZDeGSCtthltNT9M0O3AUb7jHtO_iXllsiPqrfbZkurojUEYH5DQZd9N8AHqo1kRPaIQS6G7qZwMtJnHXGZrHmAnkg3YQuwqNkJ0ULDzq9rcgwO7Lf085TaA05-gORyJAdXjRm0juCryQp59Nxa6fUYbHMrJpn9CDxdJq7xCAXxkhA0NkM5MRVk6kjf57BqtGBE3Ka2bzrl5zcoZvaMDp5UBCpx8KOAf7sTLPxIYkKbaWKvXXtbaD6mYd_Vko2OF2o4EHiAjVTRpbzVvuQ-9iCp3CRPhOpHmtoRr7nT5gOZc5tpVhHDFw3B39NmEA30osOjLJK4ypPJXkGVKm1mIC_rs03c_eYPicLGfenRdMZ1LP1ks5YY3bO2_3rdWHtxMljT4Gd2KgLLm3AjLc1VSoOVaBMwf42roIjnEDXkYBnmozMx9bFhUr98M-X2KBBbRjF3SzIFVrq29sfeWTH_v5P_Ui6iK8McqN5RXG-0s7AKPH7xkmn0rwfAsHx3QjHOEEpPfCVwLMliidpKfvuIJKUByyoBKlh5MldoQx7Bx5dV3hLQ2VNZmGULhLDwQF2WY6T7JTu-d1_aGBaReByF8_Ibd8IV-oNKXp2mTZW0yD0g2bo3FBwPZjGUp8kVnNTQk5gRdIm-R-ICAOgcecowV2MkTKe0wxH5SowbP-N_Er6jlFKnKMycc1Rd6C7gjDURmMCM37VUJXCLbToMyYQQ85sPCrh-uqoTJiDuShc2O9eNNbHvr3QGhJwaSM4zLkvELGM8qxCUfL6ZFALn17PRjMuOLTB-eEkCtho4lmT1ufkTKWppynBplW1NBe6QqKa_Km1H89KmBrpTChrBwh3joqhi5W6DdZSCm5u6YwO4LhPGQ7mUJS9m02WWjyPo99zDrhVXS2t2TUVvU6VHtIURMhSWfh71xyUJdMzzt_rmf3WftF6syCpvhc4Nb_vRuQgC-I8wN56A5g-zqR16X5BLI=",
  "id": "rs_0a80943a61ca1c9c016ab44e42b2a087d0ad7d51c3e47f8ff9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lowered pose, the green pear fills the gap symmetrically between the two jaws. I’ll close the gripper around its midsection.\"}",
  "call_id": "call_eeZAskhvPLMfJllsc4iaKQiW",
  "id": "fc_0a80943a61ca1c9c016ab44e42fd0c87d0a60b790c29df6719",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eeZAskhvPLMfJllsc4iaKQiW",
  "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]: [-0.02, 0.8059, 0.6132, -0.4171, -0.0139, -0.0311, 0.9947, 0.1795, 1.3598, 0.276, 0.4202, 0.1188, 0.0528, 0.009]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1733 left_yaw=0.001 left_pitch=-0.0374 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3238 right_y=0.0411 right_z=0.0307 right_yaw=0.0361 right_pitch=-0.0859 right_roll=-0.0169 right_gripper=0.009\nstate[joint_eff]: [-0.2256, -1.306, 7.0085, 1.8144, -0.0269, -0.0415, -0.0171, -0.1709, -3.9726, 5.2308, 1.6532, 0.0464, 0.0415, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1646767583c82153fe9d77194b30737efb13bfbea8a523d9c2be71f63523adb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0824e1b239cbef55d502a62adb6592aff0316d6c3fb9d4a94a21519a0ff2ddb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f54023149791a7513c3cbba04d06e79dfba946a335f4b5f66ea0162ab196123",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.729 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]: [-0.0204, 0.8001, 0.6136, -0.3859, -0.0139, -0.0299, 0.9954, -0.0227, 0.7998, 0.6182, -0.3908, -0.0227, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9954 right_x=0.2954 right_y=0.0009 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.7846, 9.6752, 1.8388, -0.0904, 0.1343, -0.4957, -0.4718, -1.5248, 9.1966, 1.917, -0.0513, 0.188, -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]: [-0.02, 0.8059, 0.6132, -0.4088, -0.0139, -0.0311, 0.9947, 0.1795, 1.3598, 0.2764, 0.4229, 0.1257, 0.0597, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.175 left_yaw=0.001 left_pitch=-0.029 left_roll=-0.0004 left_gripper=0.9947 right_x=0.3244 right_y=0.04 right_z=0.0314 right_yaw=0.0266 right_pitch=-0.0822 right_roll=-0.0152 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4154, 7.0085, 1.7998, -0.0611, -0.0317, -0.022, -0.253, -4.3829, 5.5043, 1.9609, 0.0366, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4171, -0.0139, -0.0311, 0.9947, 0.1795, 1.3598, 0.276, 0.4202, 0.1188, 0.0528, 0.009]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1733 left_yaw=0.001 left_pitch=-0.0374 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3238 right_y=0.0411 right_z=0.0307 right_yaw=0.0361 right_pitch=-0.0859 right_roll=-0.0169 right_gripper=0.009\nstate[joint_eff]: [-0.2256, -1.306, 7.0085, 1.8144, -0.0269, -0.0415, -0.0171, -0.1709, -3.9726, 5.2308, 1.6532, 0.0464, 0.0415, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1646767583c82153fe9d77194b30737efb13bfbea8a523d9c2be71f63523adb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0824e1b239cbef55d502a62adb6592aff0316d6c3fb9d4a94a21519a0ff2ddb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f54023149791a7513c3cbba04d06e79dfba946a335f4b5f66ea0162ab196123",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE5Io87RgYI52GGR-wWn5IaEd3gK_EwuTFht2Wv_pHu6btEaNGPoP8Saqw5BuWS1giqBidk_nJDNK62f77WYgfNWhxmQf1CwkGHjKXmYAbZQdwvsk8bRLvmQYwANukSoBJa2GFR_UlJobUJuETfBPXXFlPUqQ-ls0cGa8_VakLPksmRlujaihAnHyqLd9QfHU3x3ck8Ez4tgs56ivQbO_9MT57ZN0XDjlA1oTPv6aGDDFWu0-zJqE-aMEoi1hLozZWxMx3dJbEqSt7_lH_fvsDica6N7F9WedPNyMFXka3jFH_mz5Yu-tsUiBAU8-KAa10Ubf_0U_urDL_DHpFoL3rcyktgcIFwjq-XwIZSud1ojHbTeqx4B63gRT2Dm7F2plvwo55mBdMFjMuPiLPecgZJPRFVZQ8noAZokCPUXbfSF9MPIGNPqZD2kDivDZ2IRy9mxhqUlhZaFixTEnBRKM4Hb5sLtUPu_9i4Dk_BjGxuIACHKmR9zmWyPKBAOw5bzI3y1iGZJZYJxjyxznfLytNLL00evPivHbLNBE1ZoueL4pQUqrnOieK13XimEPhrUllyj3G5uPRiuPoB7Najb0Y-zoXSj6Qd5sqdnWy4jYWeehyu1VEs5V2Mk03s0AJEntgSifK4k_gYFsPELTZDBsaPV3KtOvfXDpzcImIQ7sxqdyX5LhSCehWgETSc1kw6x68c7HKMvN0jIcWThMxJfrOAsxdRezVDueH12wKPeyGJd0qh5EXzXNGEjM3taT7YXS7awHg7LcocH6aNt4nLcgw8MYO1l-4i4In-Bf02Sa-JIFy8LgmNkNf2sITwxfRP6bhaC5B4IH2_p7YHpL26xRK3rduHH6pQn8nJjR8ijNk1Jz779kRhSKlK1pqJTkEoUa-0SSuOXhKGJcxYwLr6inyPhAqNusk-mJ4J9Eib8hz-wgR8CCQ5aVY9RRTm2VKDRV8hmsyJr9cCJDdVpMKeGtgY3IQod6ZAd4b_PjbPhVoLaH7Y4ytfwQZ5pduyBNPztkL0b5Vgtt8OaZ3q0UjfaLl9eHFgwTkWjPaufIZKdGJ2Oq97uZHFpB7MkSDfbBvCwbv7gpAFfmXVNmkGRoiNrPAVBPP4o5q1X4mxUIUQlVSl6_K_WJuFc0hBQIInFGIUv42d_wdsauvMWa0x5fh2KcfRwpMWpeCDQxVANp18y9lGywkUFp9lcpz1J-dXe_snebRA7w2tdvzkcsFEPa1Xue931gtuBWyZdpecz4xU1VWG1yS5nDt5856xx0kvaztKPmHY-N8Y8WdRGThVnmcM8w5D9OcG9v5dIscSACb-2IGRiERbqWzzrqCzhQwMupGL_zoNKTb-HvVM-_H7YCE4JfNJL_7alL9ET9PI2hW3pggysfvXNNxXoP_DHEKrviz9vqNOSxpUSG0hspKuE_GLY0yMSiNRCNONtYMq4hCnBQfqvZSeZeLljj4HfvFhXex1RTru_Tozg8VOwHK3LAO-hdbAH4urNt76WCUhNCeSOOWBXe7G1J-nVY1wNJdOB473gtJCyOyXcCs6QMXmOWeO_hqdel12gO_j6-5nflK7P3UoyeAwpVAyuLpkntk8c16CpH1c30ea2QLcoqyEmjq2q6wHGqlzbHFw2h8hZphurNPBVTmznZinltOVQfx6ehmONbumcOzWc0kygLnmuXCvgaBi07mXnxcL7eSQQzZXbQnlTlCOVC3VB0Kx5d966AawJxHpcdDVBrHZfXkTtjHp6mRLvp_R2ANXNRjEZvrQDGh9uVoQue5KuHVkbj3aFunSLz_2-0nuW85KL7KzAPaKP1S-Gubylcr-FO_RnITtirHmm_EymQcZ8C6_2kHbzBxE33LCo6258d_aiJPINRQhRfHL-pKk9LNwovOegFflZu1x4i7ZhYfuNZs9o0tSFf3pHQSUJVRO5xBGwOtC-ZqPf5idbBo7xZN_oh0gvIv_qeY1Ch0lprQcnUhPPMIA7eWw7lxaFdck5BZXf0SJO7oXwJg25wPVNZDMbK4ngVgbJ89miMw89f8ZawblEgBTzDVME4E1wGJmTp1U67Gr4mCgIiRR8Ko1QzD5oW1_8F9HrFLqJOL1OcDdGc0sy4zq7ru0PAF6BNr7rONGIg8nnapAj8OT68FRTGV6bSB_uuOQmgLn2ZFCXjaEcWn8rRyv9pw-UKZZ4KzmYpHKGePUD0vk9Ag9mxctnHgpUqjY11krWibdz8FdbVbdFePY0N9XntBI56qxj8xyCdjs3DtfVZdl2_03cT1WzGzM0O_PnTtnr71Us8wx4Hk6QAi0p3qaThR330N4as-BuxP8MUjsjZ59l5AzfXeQqv4A-GASZu41G-HsCbsi84N8-N8uS6zwNZUcvrPQh0fPmQbWgNxLJ0pq2FmHhHJJAryWn0nbiwVRAksIY0104rzyVNfz7MCHcf3eo_56E6wDK_EzSISeJCog6Y4T7aESqsStaSAj7btorf6O_491g711KMUIiabj4DhCHG3n7",
  "id": "rs_0a80943a61ca1c9c016ab44e4573dc87d0abd58596723a5dc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.04,\"right_z\":0.14,\"right_gripper\":1.0},\"note\":\"The gripper closed to 0.009, confirming it missed; the pear remains visible in the wrist camera and shifted slightly during closure. I’ll reopen, lift, and move 2 cm farther forward for the prescribed single retry on this rounded fruit.\"}",
  "call_id": "call_aycJvYyqx7OWCmaxz36f4iq5",
  "id": "fc_0a80943a61ca1c9c016ab44e47ce6c87d09b7e8e6d626c6698",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aycJvYyqx7OWCmaxz36f4iq5",
  "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]: [-0.02, 0.8124, 0.6132, -0.4244, -0.0139, -0.0334, 0.9947, 0.1596, 1.1515, 0.6231, -0.1669, 0.0994, 0.0299, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1701 left_yaw=0.0023 left_pitch=-0.0511 left_roll=-0.0017 left_gripper=0.9947 right_x=0.3411 right_y=0.0408 right_z=0.1241 right_yaw=0.0447 right_pitch=-0.119 right_roll=-0.0268 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -1.853, 7.0085, 1.7411, -0.0171, -0.0317, -0.0171, -0.6359, -5.135, 8.7726, 1.5653, 0.0171, 0.0415, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a562d41cb80eb0b33eba916314dacde4c9f7ef91e3aab6ffd4bbd6bca8d2231d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160c514dfcd4ea16c0054a863880c9fdcd6d8af67e710d245a7220f9562bea50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27bfd2e5f0b80c25b92cbb19b176dcfdf8e9138eb018c2b7746f0505e80bd7fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 2.19 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]: [-0.02, 0.8021, 0.6132, -0.4007, -0.0139, -0.0307, 0.9948, 0.1944, 1.0229, 0.5762, -0.1757, 0.1421, 0.0643, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9948 right_x=0.3265 right_y=0.0424 right_z=0.143 right_yaw=0.0256 right_pitch=-0.0429 right_roll=-0.0151 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2513, 7.0769, 1.8779, -0.0366, -0.0562, -0.0757, -0.3624, -3.6444, 6.2017, 2.1026, 0.1832, 0.1392, -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]: [-0.02, 0.8059, 0.6132, -0.4171, -0.0139, -0.0311, 0.9947, 0.1795, 1.3598, 0.276, 0.4202, 0.1188, 0.0528, 0.009]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1733 left_yaw=0.001 left_pitch=-0.0374 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3238 right_y=0.0411 right_z=0.0307 right_yaw=0.0361 right_pitch=-0.0859 right_roll=-0.0169 right_gripper=0.009\nstate[joint_eff]: [-0.2256, -1.306, 7.0085, 1.8144, -0.0269, -0.0415, -0.0171, -0.1709, -3.9726, 5.2308, 1.6532, 0.0464, 0.0415, 0.6813]",
      "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]: [-0.02, 0.8124, 0.6132, -0.4244, -0.0139, -0.0334, 0.9947, 0.1596, 1.1515, 0.6231, -0.1669, 0.0994, 0.0299, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1701 left_yaw=0.0023 left_pitch=-0.0511 left_roll=-0.0017 left_gripper=0.9947 right_x=0.3411 right_y=0.0408 right_z=0.1241 right_yaw=0.0447 right_pitch=-0.119 right_roll=-0.0268 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -1.853, 7.0085, 1.7411, -0.0171, -0.0317, -0.0171, -0.6359, -5.135, 8.7726, 1.5653, 0.0171, 0.0415, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a562d41cb80eb0b33eba916314dacde4c9f7ef91e3aab6ffd4bbd6bca8d2231d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160c514dfcd4ea16c0054a863880c9fdcd6d8af67e710d245a7220f9562bea50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27bfd2e5f0b80c25b92cbb19b176dcfdf8e9138eb018c2b7746f0505e80bd7fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE5NmuCeC2zL51-Yg7Udy8neRhG2aqCkXMgZB_1zKd2kRFgHLU2tk0jua8m8pwL_llFiyXjOwsv9BrEPjGx-U4UAY4E-LtpI_kCo9ULD_bvtPdeoRA2KoBwqm7JY16L1vSriDISiBFtJ4e7sNRBY-EV1dRSpZxup0lDAMfGIevYjDwB5MiP8dG5WibDyyv4t9V6bv_LyFko_Z4lrEbXMzUqjrCBezHRtx8BfoYJo7V1YsbUeiVNisfLeEvJ0qqF8Fy7dAkgUUxQIaTa2L6CaGXgZX-kL6URYmki0mfTYmGSLBTwwRBNuv1-ejG3yj_F4Z_uAA_nj2nQvb0JDj_a-wXheIn_VKI6YFwTmKYPHbmVnQpDyk9oBTrvCKOP8ry3bBJC6w4A7F9i1is3MaUViVDP5Mw2Hd_J7JqEtP1yKguHvtqRREd8Mt1F-_q6RdcuVW9USeBcfNFVmJ5_PL_pUNfL7VJzCXjyRlPpOVQM1BCL6NcQsrp4HPeVW6Xy5rIzEn_e5kSwok8uBahpdJacrhm6cLurRXJxW3dpg2wjea7qO6QUjlg-ESN7OLKAdbsg_OheCM8JvncuCm6X8ImwOC9XxuSlEm3maHmth7JsyR1FpVn_gtU4AWkCwk8pggDypLTGyoGLc2xJAK_dbORQAyukfa0-pzNHZVRzctFWDHGLjZdvcUZ_E1PnRmz7Qb_E3rg4pXsQGY6FVEj6jgRFRW6W-kIJNlz67satCXmS2FsUaGlGX0p0ehu1ygE4yHgafFmHiTIFC6SXCADcpKfSdMhtJ378DrjS02MXrIKxU-dYQAcz9klcG7kKfYW3_vbLDL4UNmygtXO7HOf9DZYvougxw6AV3b1jWRP9z035CiUNqimxT_0f4x8eo1IbPx1UAyCrxDHZfdUyK8uFronphX-fDZ1kYds9tD05b9i9sjZzLkLJfZlRDiObzyqsf6x3v5fVkcV-JdoCURaDsHbwx5MWa3Jz_juVbTJEIkqs0Awtf4eKblUimQPZQxAX4ggOJo6N1tJNax8Zfyl1hEKIQfcSoW8KENxlat-rX1cHf3O5sYAcExeARElGEGgcbhAskBZNS1vWXD2wIJhONOwxrRD_SOBDEsc3AG08dipbmFs8LVGP3LogCgAakgdLbCbupZR5tltRYihJHOgHkomZhQw8brE43pVLzsZQRgsH7iXKG06upTXXqCFN46Hea972Khim_JhQM90n0dzcEw8v1VOd8hQRv1MUWf-awMreJzTeQeIPOdSYHaSYzj56-bI5py15HL08u1DNQM4KhxuMV9UknaJow4bALI7EcJtSGlT_j2Tv5EXxzlc4jNcVQagNdmq_b4JZ_o0fPMLAFHr7or04e-l38ZG60kzxty8b6W4IUUxij2mDcqGogfeo0w2fuCl9YN3BGBfZFxhtHl0pyC466rRf8iRg4GMLYwYGQ12AvjznW4x9cn_TwIszlg8tOAMAvvWKVKxkBVwsCfTZ4eEti-eAsfnlkQeGQImVgPJRtFlgEtNAkJTXGhn1utPMfrpjeVHCu625RBt3qXuU-qypELVRzbGqer4dovW4GADJbTlezRF7jWrhwlfgYiOq7DWkFk1jTVnwvuhYbmkhPwEOeDu6pIJVnS7WF1bAWYR7l_xmdVT8KVuPyZbp0U9I5T3BHyoTalN1X37RTEVGkCy1VumVu5Lsnbh5HdO8kGYxHmGPcc9ePNvdauY1f8S6SovdCGuj5Ac5B_gajX0PH65CHj91sPy_ko8kWa5sGUiur64Y952CK5t-0jHJFzHP-w_As",
  "id": "rs_0a80943a61ca1c9c016ab44e4b59e087d0995fc64408af4829",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.04,\"right_z\":0.04},\"note\":\"From the corrected hover, the pear is now centered almost exactly between the jaw columns. I’ll descend vertically again, keeping this improved radial alignment.\"}",
  "call_id": "call_QO7RU7AKjMLdQS1pOV5loEJi",
  "id": "fc_0a80943a61ca1c9c016ab44e4c593887d0aa5fcc96b0c5316a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QO7RU7AKjMLdQS1pOV5loEJi",
  "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]: [-0.02, 0.8135, 0.6132, -0.4271, -0.0139, -0.0338, 0.9947, 0.1547, 1.4082, 0.3985, 0.2813, 0.0921, 0.0223, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1693 left_yaw=0.0025 left_pitch=-0.0549 left_roll=-0.002 left_gripper=0.9947 right_x=0.3399 right_y=0.0402 right_z=0.0334 right_yaw=0.0495 right_pitch=-0.1526 right_roll=-0.0316 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.1692, 7.0085, 1.6874, -0.0611, -0.0464, -0.0073, -0.2393, -4.9436, 5.3949, 1.9023, -0.0122, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9abd201a3fa0f34554b3a33f0bf1e0763ebbe145b7c824ecc84dcf3d82ac02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23fa68eb21ec8fe69c2f3d3f1b914f8515b3d2fa213b04411766726ab3be92d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbfd47584b96601314e0f030d7f5caef47016ad262662f9d57eab99b864ff966",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.919 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]: [-0.02, 0.8059, 0.6132, -0.4088, -0.0139, -0.0311, 0.9947, 0.1795, 1.3598, 0.2764, 0.4229, 0.1257, 0.0597, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.175 left_yaw=0.001 left_pitch=-0.029 left_roll=-0.0004 left_gripper=0.9947 right_x=0.3244 right_y=0.04 right_z=0.0314 right_yaw=0.0266 right_pitch=-0.0822 right_roll=-0.0152 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4154, 7.0085, 1.7998, -0.0611, -0.0317, -0.022, -0.253, -4.3829, 5.5043, 1.9609, 0.0366, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4244, -0.0139, -0.0334, 0.9947, 0.1596, 1.1515, 0.6231, -0.1669, 0.0994, 0.0299, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1701 left_yaw=0.0023 left_pitch=-0.0511 left_roll=-0.0017 left_gripper=0.9947 right_x=0.3411 right_y=0.0408 right_z=0.1241 right_yaw=0.0447 right_pitch=-0.119 right_roll=-0.0268 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -1.853, 7.0085, 1.7411, -0.0171, -0.0317, -0.0171, -0.6359, -5.135, 8.7726, 1.5653, 0.0171, 0.0415, -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 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]: [-0.02, 0.8135, 0.6132, -0.4271, -0.0139, -0.0338, 0.9947, 0.1547, 1.4082, 0.3985, 0.2813, 0.0921, 0.0223, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1693 left_yaw=0.0025 left_pitch=-0.0549 left_roll=-0.002 left_gripper=0.9947 right_x=0.3399 right_y=0.0402 right_z=0.0334 right_yaw=0.0495 right_pitch=-0.1526 right_roll=-0.0316 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.1692, 7.0085, 1.6874, -0.0611, -0.0464, -0.0073, -0.2393, -4.9436, 5.3949, 1.9023, -0.0122, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9abd201a3fa0f34554b3a33f0bf1e0763ebbe145b7c824ecc84dcf3d82ac02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23fa68eb21ec8fe69c2f3d3f1b914f8515b3d2fa213b04411766726ab3be92d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbfd47584b96601314e0f030d7f5caef47016ad262662f9d57eab99b864ff966",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE5U0XeXnW14wnIrEYIdR9UC1zam5W1a7Ezu3tJZRnfq-l5jDJdvxpQ-kolSAFCVC7mMCGUV3NoNRcP-8kUIxp_gwS6f8payse-usiTQYEtQdoYZ3R8n4jxP59BSeoSXmrKgbWgMCzVuEbdb4sANpBGa-XqkpPMZLu3H4sf4ezhwWSzlHyttCXYe4p8hCzvy2-q9QxCL66YRzttagFHxACFfnKTsJK2fJr3e-6jeluzKM6NmKYWZHeWT_z7ynL9a1VMfNT0cWEzuIOYK9ZR5J6Qra9vj0ZXOuyFCSZhKe_fC8XlfSUIA5UqkpGB8zg_vsyP730fqjsX_jajbGi_7PCpxEPbi5ms2AaCa3xYquLYzZQRJrCZ_uaopAPEicmDN8Sa4tWvb3bP8Z0mqLJ-i-2jXL38OWTWpHJTkjeiZP5xjp_dUtyy9-CLdYRQEZqFpG9qU-vh-K0TN8-CGjmz9o8ktXGF01DXgcMg2uzFi3ybqnEwjKldn7XxYAZGWx009QzyB7opvGfU7EbOliH0pm0QmIFrGUDpYTsx4EdrN0qQ1d9rXF6HnBaRo4RADaBkheAExTH6HBkafXzuMgjfokkYiRRBLQu1SQIjQK3EMmi5cd_RmdMWIbS-XC8KCsR0u1TnmdXiNZ3hXB_pULFsKCiTb8agIh2GI0U4728ctmjtImEsN2K-nKSDuoUgej4vZW5VuJiwOoJlzBMFOTGudL4teg4wzR5xuBTBhmb0nakH_CwPJLaVq8S6tWeiq_6C-UkrEXURAX_DPOIFT65yw5sQJjpt9p51Gs820hXGbsExpJjRWFGpnn9kZMckF527Tri2baToPvrmE9e1Jui5fcMmVxMuZMgtCoJamj8l1jHHrfn7lJns9lcPiJ4LGY-uXUkRob7zzoer5BSIQEpJ1vyWQZJr01bsEJ1Qn79B5jABMUJx-00htMVAqEWXWT25u3It0KWjPfC0mTuLkrCwJXT3ug2SajhGLhntdDTlze7T3Nh6zgismQ9JRRdXtxw9Q9iXFxUbBKsWQs5jdtQK7O_eE9plKEalIYpoxTW9P4W1lT50SIPcnBnZalHOWZwVHOxENFRVcW_LIZxU4KHHDugyvZEswzsA2HHlAFIZciFcz8cPFCg_z17Xz2K7uW-BxdGTdxqqJLbI0VshduI-AccArjFRNgYMGSC_OB00ctlNjx8PguDJlGLKluXmtBxL3q6tpt8Nhb2LcqJnPxWoIcpHrYg==",
  "id": "rs_0a80943a61ca1c9c016ab44e532b8887d0bd0bdb5702390c77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.55},\"note\":\"The pear remains centered at grasp height, with its broad sides evenly spaced from both jaws. Because it is rounded and was squeezed out by a full close, I’ll close only to about 5.2 cm jaw spacing to capture it without over-squeezing.\"}",
  "call_id": "call_rtzzjl29D9Mqbu3e9GigBMj9",
  "id": "fc_0a80943a61ca1c9c016ab44e53548487d09901407c934983ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rtzzjl29D9Mqbu3e9GigBMj9",
  "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]: [-0.02, 0.8135, 0.6132, -0.4271, -0.0139, -0.0338, 0.9947, 0.1551, 1.4082, 0.3985, 0.2741, 0.0925, 0.0181, 0.554]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1693 left_yaw=0.0025 left_pitch=-0.0549 left_roll=-0.002 left_gripper=0.9947 right_x=0.3388 right_y=0.0401 right_z=0.0321 right_yaw=0.0518 right_pitch=-0.1599 right_roll=-0.0358 right_gripper=0.554\nstate[joint_eff]: [-0.1709, -1.1419, 6.9949, 1.6581, -0.0757, -0.0611, -0.0122, -0.0342, -4.6427, 5.6137, 1.7118, 0.0073, 0.0024, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a92d704deaf8f8dfeede9f18ef55e3c6b95855d090d2641d16574cca238bac4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf11801b2e020cc782c966bcaa1ee67a1b19d840282600d4488112fcdf45885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa4989faa90175f70700bb8398cd573a2a9a57739f014c9b874ad8b3dffe430",
      "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 · 4.21 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]: [-0.02, 0.8059, 0.6132, -0.4171, -0.0139, -0.0311, 0.9947, 0.1795, 1.3598, 0.276, 0.4202, 0.1188, 0.0528, 0.009]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1733 left_yaw=0.001 left_pitch=-0.0374 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3238 right_y=0.0411 right_z=0.0307 right_yaw=0.0361 right_pitch=-0.0859 right_roll=-0.0169 right_gripper=0.009\nstate[joint_eff]: [-0.2256, -1.306, 7.0085, 1.8144, -0.0269, -0.0415, -0.0171, -0.1709, -3.9726, 5.2308, 1.6532, 0.0464, 0.0415, 0.6813]",
      "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]: [-0.02, 0.8135, 0.6132, -0.4271, -0.0139, -0.0338, 0.9947, 0.1547, 1.4082, 0.3985, 0.2813, 0.0921, 0.0223, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1693 left_yaw=0.0025 left_pitch=-0.0549 left_roll=-0.002 left_gripper=0.9947 right_x=0.3399 right_y=0.0402 right_z=0.0334 right_yaw=0.0495 right_pitch=-0.1526 right_roll=-0.0316 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.1692, 7.0085, 1.6874, -0.0611, -0.0464, -0.0073, -0.2393, -4.9436, 5.3949, 1.9023, -0.0122, -0.0171, -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]: [-0.02, 0.8135, 0.6132, -0.4271, -0.0139, -0.0338, 0.9947, 0.1551, 1.4082, 0.3985, 0.2741, 0.0925, 0.0181, 0.554]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1693 left_yaw=0.0025 left_pitch=-0.0549 left_roll=-0.002 left_gripper=0.9947 right_x=0.3388 right_y=0.0401 right_z=0.0321 right_yaw=0.0518 right_pitch=-0.1599 right_roll=-0.0358 right_gripper=0.554\nstate[joint_eff]: [-0.1709, -1.1419, 6.9949, 1.6581, -0.0757, -0.0611, -0.0122, -0.0342, -4.6427, 5.6137, 1.7118, 0.0073, 0.0024, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a92d704deaf8f8dfeede9f18ef55e3c6b95855d090d2641d16574cca238bac4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf11801b2e020cc782c966bcaa1ee67a1b19d840282600d4488112fcdf45885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa4989faa90175f70700bb8398cd573a2a9a57739f014c9b874ad8b3dffe430",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE5Xt_TzMvqA2WU6KMzlcklhg3Xj4Rr_pojRt81ICtIaL9Y5cBwtjILRPnKA9B4WgZxz2nL9qfowrOs1IBGaIVhhVPemmFHucYYh9w1ygahP4bDRq4cwLGsMURs555X8a1bBrE4TRSTtw61iPBXHW26FuGy_lhNKcdpSoiT5qTAai8DW2BEneaB48pnWxvQ9O0X7X6gBjCMUNYgCD6HZ37CcxJvLmlzDU5kfIDnSPq7bDbZHcKrnCyaNhPA94Npx39z9EtEcup3vKCFdRIPaRONdruosKT9nfVi-x3d_MKgJJr3NFyp5_Nj2udmMvzHye2FrmD9J4_edeu0QuvlD3BRSRLk4uQSfp4zhoW4vOAyWqBgdbpGujdMeU1Uz7yvpxhAh4NwEk0YO_c2vrKQd5PznmiPgyvIEE9HnfO2n7J_hM7PGLIpVXhkynvblhNB2NARnaIwyNnYnK4uAu8IHauIFzJ0lR7nFPBQC8ltJtLGIVtJB5wXeVBjT1XfUp3B8nZ4sZad9SS6aewCk4LS1N9V3ONdeT3W6OXF9JebaFyQJibi5Az9nPL9Z2D8FkoTZcibbaNzsMWYbp6s948oZc39zmusZDs9udnw2p4uRwBfVCBJpPn-3uyw5leZdR4lHSMBTXH-znVTya2KKUHGGRRbO1FQUuEg1oUPA945Yaevll-wHFm3Baeq0FTxZqSWXQRo2Xc9XYLFqXKMbZ6uivEPIYSDNMn00vwgeEEqBGx1nHObcrOn4b8QFRKrVSIOir1oqYRC5wPH4-AvVFvRO6m_rGqiwsiXIF2yb5kfeU7ld4k9tnIuxOuBn13uEtqLJRU0NT-44qiFQ4Y_FZ6wKbtX0hrfiEHj0gjCn6tf9IQ_xPldXeq6Sbv8fTwOUeXdKbxMD_InSmXR1arJYZYLR6tUfbFvGM84UfpKJm83mI1BB9jUwpNqtxToFcupA2F6lJ7oOWmK-nJ35OJdRdDFI6vDa2RAHux-vGItVjUsQ8RpCBg0F46s0HaoGpknELJSOlvVz_eVqf29kjWuqxldZIg8d8Viiw8IC-reideIATOugC2FlPD4757ZsBPCDNH1BYtwzV9fE4o2ZJifDeJmkqMNOyLoPT1f-b-y-nDnjWp37NXGw5lUGa19AOTS-yES3hoVwq3As8GvtKdbNuBvUfeZ0GiIfkhP6u03P01EWlFSRQ1D_d6ILHU1xQh_0U_e0o0dagdpXuIl9jIZyWMqoqcj0MW8onUhtuSsksI2074Lj_62jj6s03XWd6LCDQDWH8HOWm3TYAoJMiWvKfgL8IKynQowlcx2B2aHn1ZJzK40bsElRh6V7imu-UO267f7UXUkxZQ7X2bbDAJ-x0Pi_JLNA44_R3b-I6XICxdXcnJ-gXsRqWWvX_EtgC5j1BsT1zVfhGY8MGEncgyUMIL8kf7gmWg0aRiJVmx1QCdNwKkDmK0VokAzI9sxwQLyuMo_TOQgqpgKbkcSjfbdvY-8sNq_STMtdqnuzSBH2ZhQgHYLVLm8vSpWW0MYN4cstrtuAPDSRBjI3bzY5F0SmtU7QQgCnIqb4VPDFdh3zMQz45vmNULDyM7_RN34TRXk-dImbdhR7Z-38uexZZ1dz5hXqKU45eov0rIgCQDsHvQo2p9FL1gTDgnGxTvWZj-5UftBy12LPOCVPHvKnKkmQV0deYsBiYA==",
  "id": "rs_0a80943a61ca1c9c016ab44e55d8ec87d0976ad1f878ba0c27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The jaws now appear to contact both sides of the pear at a moderate 0.55 opening. I’ll lift 5 cm to verify that it moves with the gripper before transporting it.\"}",
  "call_id": "call_H27WMdSKYVeSSREiEGR0F6SE",
  "id": "fc_0a80943a61ca1c9c016ab44e56dab087d09435702d05edcfc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H27WMdSKYVeSSREiEGR0F6SE",
  "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]: [-0.02, 0.8135, 0.6132, -0.4313, -0.0139, -0.0338, 0.9947, 0.1551, 1.2362, 0.522, -0.0368, 0.0921, 0.0151, 0.5535]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.0591 left_roll=-0.0019 left_gripper=0.9947 right_x=0.3355 right_y=0.0396 right_z=0.0785 right_yaw=0.0535 right_pitch=-0.1751 right_roll=-0.0394 right_gripper=0.5535\nstate[joint_eff]: [-0.335, -1.3333, 7.0769, 1.7314, -0.0317, -0.0366, -0.0122, -0.2803, -4.7385, 8.4581, 1.5702, 0.0171, 0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:360990bdc2804bfe8d96d809eeb41a6c34f1f0ac2f9c4607c4d77ba05a801f42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54dee81588dc87973f817da10a54f3144f692ae2f8432c516246a0a83cf1d776",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d7e32df323ef32056d2049325a861468080678ebc2654acadf928dc6c460da8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 2.467 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]: [-0.02, 0.8124, 0.6132, -0.4244, -0.0139, -0.0334, 0.9947, 0.1596, 1.1515, 0.6231, -0.1669, 0.0994, 0.0299, 0.9986]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1701 left_yaw=0.0023 left_pitch=-0.0511 left_roll=-0.0017 left_gripper=0.9947 right_x=0.3411 right_y=0.0408 right_z=0.1241 right_yaw=0.0447 right_pitch=-0.119 right_roll=-0.0268 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -1.853, 7.0085, 1.7411, -0.0171, -0.0317, -0.0171, -0.6359, -5.135, 8.7726, 1.5653, 0.0171, 0.0415, -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 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]: [-0.02, 0.8135, 0.6132, -0.4271, -0.0139, -0.0338, 0.9947, 0.1551, 1.4082, 0.3985, 0.2741, 0.0925, 0.0181, 0.554]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1693 left_yaw=0.0025 left_pitch=-0.0549 left_roll=-0.002 left_gripper=0.9947 right_x=0.3388 right_y=0.0401 right_z=0.0321 right_yaw=0.0518 right_pitch=-0.1599 right_roll=-0.0358 right_gripper=0.554\nstate[joint_eff]: [-0.1709, -1.1419, 6.9949, 1.6581, -0.0757, -0.0611, -0.0122, -0.0342, -4.6427, 5.6137, 1.7118, 0.0073, 0.0024, 0.0904]",
      "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]: [-0.02, 0.8135, 0.6132, -0.4313, -0.0139, -0.0338, 0.9947, 0.1551, 1.2362, 0.522, -0.0368, 0.0921, 0.0151, 0.5535]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.0591 left_roll=-0.0019 left_gripper=0.9947 right_x=0.3355 right_y=0.0396 right_z=0.0785 right_yaw=0.0535 right_pitch=-0.1751 right_roll=-0.0394 right_gripper=0.5535\nstate[joint_eff]: [-0.335, -1.3333, 7.0769, 1.7314, -0.0317, -0.0366, -0.0122, -0.2803, -4.7385, 8.4581, 1.5702, 0.0171, 0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:360990bdc2804bfe8d96d809eeb41a6c34f1f0ac2f9c4607c4d77ba05a801f42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54dee81588dc87973f817da10a54f3144f692ae2f8432c516246a0a83cf1d776",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d7e32df323ef32056d2049325a861468080678ebc2654acadf928dc6c460da8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE5cdRyLr8v7lrR4cDp-Ix18Q_93TGY7vtx81b3UDt1JgjT6vMxz-SdiQ574_nNaiWoe3eOTyjwFBOsdf40jKcQS5K2QvthP6VP44a1xNrWyuoK1UmSZrQZCylON7Q9POu21maTSRcBQI8jx0iPv9iQ4uAfU8r_cKnMgx0lxkhF0BYoTjomqWTEibZNmFXCLOQPrZHplAFUiwKswWh16Q8Mo76wvyaja_M-uYOf1p-UyQOREApSNNT7_zMWpSfwqNsW4rPs4oQ5dT7zUPQ5Fy3WguNFRi4SVi0WelIehWIgTm-TwPw8Lo_CbJuDTK4326PU9wdxLGjyt7JWwnXniVK68uwfhEFQVDateOm_zgCHgdBtf5m9aXZHW9gWSIxbKBkq5nGLY2uoZADnmZTi_cUFOs46m5jsbyBkGpoVXs6NelOZ7nG508J_qKupglVLIRJSenjzEivvOiIe6NG9wtM7y2uOkgDUKrid3rNA-KHHGKWrAX9KNgcsG8Cq1hKeK_0XNei-59Qst2QGwIOK4lWj6W1XpkflqtwU0IzFhOukCrgs4sP06_-N_ZytaD92SZ9DgfmINRVyaq-KSd9iaFKhEg3REMDR_LgjGq4PRbk4LXpzk4laFqYezDawoGOu3Es_MLQAW3gOBJX0ONIQ1stutsRHL6xUM2-GAFiCdxGqbhgi7eRRwFoDHas1wdP3TUeiOGO_J3s8_LZVm4nOAfTMfOHrhVvhRnbRKclIrHZ46tmGvOwefbJluy800IkYDNot7qTb6YKj1xTSHhnEqj-NCEFGdtvUd35Jluve8YH04wunaQVbMfFcrzZ_BAidGCvkm6_YAOQVqSlSprPIs2n7UyD-i2XFAwwkGF1kBp7EM-i2ILVQ5EOLEL9xLOgkVGQiS2rZCk7O3iAlpfPzWbxF2OwsNSInkMNP1sGj1oz0AqnQdEu52OXeHTxkF_bBhdNdGIh1hkLAo9ZcH5RjGxTvzNqXDGJ5cTGH4LxtdsH0szynog7BpCmYxx_qG0-5TjhwtJU3GHNINKTlf_DhTLsln4QHIgkEf7Ww_fiL0ifyDitadf99leztMWIBZfZ-vVIGtDY9KhE8K9DKWYnfd1cvpqehwyeZpWLnhRltdj9EVjXNd-Zd-FW2YlL5d9yeNeQx5iY61Im9JMA175Oz5qwu_hNXiS11XifYnruRVYUKHsCCODiJ4LWVPlpwjKOqD1qF5Ez5TtDmdSE5wZWPfZ0ehTq2E8cpUssyF1awSKL1g6-6xyfsYN-b_rsJZZNzL1zZOwysCBl09RLGi70_zCV6HhH60Y8A4wjNmOGiaZiLwDo4YtX9HWSmve6zIGndQxaymIVyKa0JMufwZbV2gsKYyVYl3jYU-YuVUbMasD_GNao_iNgeFyhxHU0uVmIrml301uFSd0FI_3VSy3T621HNRZxsWj5XZatZjpkmATNBPFSfGgA_jYi2J31JUEz7YB_xAcXF67pgJcVeLrbhfjkYmS-62BLdcJJWmynBFaxt6tdBfM3z_uJWO0XeM2zuytL2EU-ZfXoiB0i2YBi5JwUG5BG3qvK-kqsoGtX4pi4xMVR-YwMxCZBCVfj8_tfeLEjON46ZNNfP6K99xR-wgmT5Ap0W2X90-4IA6qKGktYENoHBU0XzWYKpFZ_1ivnTn_4nBxxEUvValTGmqVtl6wNFkGFwqljLYi7iz2n0kZvTw5nFQ6B2kinpSVheiWr3om1DeuHR8P74rGx_qhqC2WTwqzuce18yXe2D7fRb21Y1cvmLJ7kIt3KLBTUbqwt4IuKWtD2KDLDscYKV9VPnSzvzVnnJD4tpNGQ2Rwpinm_xw1THNY_S1tug4u0mFAFRCsqfOL77WFhlEynWWRvljTNIHOboNcHitq3PKEvYRYPe9db0Gy3bhl-k7JY5Z7KTRwyB7-hcUu6MF22QK89wcL0zJ2LJ1qxWTTrjXvpoODRZk_gaV3royXUv5ZsnD5gXh5uosifZbhJ6taY68-wpMcTT96bUzZLpjMf6WcEKLF_ILNS2W5XqO2T4ZPBYeaj43ugHHJYvdTYO2ZalzYaZtnFzSfIZRYM2oqDfLfQxl0iVSeIx2O4TbKXtO8YmWzyDjj682RAqHrIAzMrYkQjiikweOcOjmo08i_trHZcSd3df3UcGcuJ1PXRWl2vdC81ig8mHwu4cWe1bQ59e8U2wI4HI6ESC7MFFWCo7Y9bcS0i0EoJUt7k6oaTKrozgM21q1x0dUdeaPiK_mofjKr8OCA3w8tg9pot8u9M6EOA6ZEmTZS6WkB15YusJgXy5ZjBeL1ZBDV4XjMrU-w3HP6wozUCHbAptQpKDq6ERhntNn0G6dMUboJsOLZtrs2Vu23sp2Q4HhpCnU_b5HQTlhuoYvFnNwXw==",
  "id": "rs_0a80943a61ca1c9c016ab44e598dd487d0a5948362e468039d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.04,\"right_z\":0.035},\"note\":\"The pear stayed on the table during the lift, so 0.55 did not clamp its narrower upper section. The overhead view confirms the position is still aligned; I’ll lower again and then use a somewhat tighter, but still partial, closure.\"}",
  "call_id": "call_A3koUaWHqIJSVRHHcEHrLylf",
  "id": "fc_0a80943a61ca1c9c016ab44e5bafb087d0941e407f8cda98e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A3koUaWHqIJSVRHHcEHrLylf",
  "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]: [-0.02, 0.8146, 0.6132, -0.4355, -0.0139, -0.0338, 0.9947, 0.1547, 1.4048, 0.4255, 0.1913, 0.0887, 0.0151, 0.5534]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.0645 left_roll=-0.0018 left_gripper=0.9947 right_x=0.3342 right_y=0.0399 right_z=0.0282 right_yaw=0.0553 right_pitch=-0.2122 right_roll=-0.0407 right_gripper=0.5534\nstate[joint_eff]: [-0.1709, -1.388, 6.9949, 1.7167, -0.0513, -0.0611, -0.0122, -0.1573, -4.9573, 5.5179, 1.8388, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b3b68bad1f69bae93bfba1ec707ba82c796af319afc8e14678f2708819fe91a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a909e6116f3d7cf6d661c9eebe4c1d08400945352ddd8b404242db61729140cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26135ac2c64cf345414527a3a00fc18b13dc1050e851465db0283ce7b6e9b429",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 1.937 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]: [-0.02, 0.8135, 0.6132, -0.4271, -0.0139, -0.0338, 0.9947, 0.1547, 1.4082, 0.3985, 0.2813, 0.0921, 0.0223, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1693 left_yaw=0.0025 left_pitch=-0.0549 left_roll=-0.002 left_gripper=0.9947 right_x=0.3399 right_y=0.0402 right_z=0.0334 right_yaw=0.0495 right_pitch=-0.1526 right_roll=-0.0316 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.1692, 7.0085, 1.6874, -0.0611, -0.0464, -0.0073, -0.2393, -4.9436, 5.3949, 1.9023, -0.0122, -0.0171, -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]: [-0.02, 0.8135, 0.6132, -0.4313, -0.0139, -0.0338, 0.9947, 0.1551, 1.2362, 0.522, -0.0368, 0.0921, 0.0151, 0.5535]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.0591 left_roll=-0.0019 left_gripper=0.9947 right_x=0.3355 right_y=0.0396 right_z=0.0785 right_yaw=0.0535 right_pitch=-0.1751 right_roll=-0.0394 right_gripper=0.5535\nstate[joint_eff]: [-0.335, -1.3333, 7.0769, 1.7314, -0.0317, -0.0366, -0.0122, -0.2803, -4.7385, 8.4581, 1.5702, 0.0171, 0.0024, -0.0708]",
      "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]: [-0.02, 0.8146, 0.6132, -0.4355, -0.0139, -0.0338, 0.9947, 0.1547, 1.4048, 0.4255, 0.1913, 0.0887, 0.0151, 0.5534]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.0645 left_roll=-0.0018 left_gripper=0.9947 right_x=0.3342 right_y=0.0399 right_z=0.0282 right_yaw=0.0553 right_pitch=-0.2122 right_roll=-0.0407 right_gripper=0.5534\nstate[joint_eff]: [-0.1709, -1.388, 6.9949, 1.7167, -0.0513, -0.0611, -0.0122, -0.1573, -4.9573, 5.5179, 1.8388, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b3b68bad1f69bae93bfba1ec707ba82c796af319afc8e14678f2708819fe91a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a909e6116f3d7cf6d661c9eebe4c1d08400945352ddd8b404242db61729140cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26135ac2c64cf345414527a3a00fc18b13dc1050e851465db0283ce7b6e9b429",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE5hW8jLxgUFYvxCTuI7DWq9NvcijJyBZyvhgXwWBQ7Hr9uUMEaRbTArrfH0KGES6k7Wc4LtQTKHN44t7Su79WuG8-jfZTIzKILYTI4UUjDAAgYv5YT1BUBM_2eO3_Sz4vCbVD-phaGu_uZyWdVKnzbZZk24nXvoMOwIKbp1lGe8-9ErTUk7UqmBcL2uxKrSBEWcfBJBfH7eAdLjiJnlUnrjGrgBXXo_kYa8TwYt4DSdgaloCRq25Rou3klITH_LpWmvYh1wQCVq2Wi9Fn4E6EO0e-8bEoLahz5MvlG2jm11HNvMl1q4-HGt09bwDtFQcyGGflXf7KEI2NZncqGRoLD0EBGCKopuUIDFrJs922Yu-IoEQj3FD9lzqzdqdlOe75dH7mam08C-fwQ-7FGaepU3e6TUj3UXahr8BPpVh4qxlW0hCd9Yo8Z368dolG-wWFPi90MzkPwBYTIBK0jY_X3SK_vVWhaWq94i5hsMlaVSA-Ynqihogmz8bSybeUJ3tQzWbVoQHrL9UYDebcNE1Pun70TefQSuIMckvLvJlnMqOImFrYJ7LlGGwsDgcM5bhDe3i3nCw5kQvvx6nC6N1ESAxtkTdqb_DhoU1cqYjr1AMSpGqzwPYxiS17iOGumwsoncojUiwrgb7eVGKF52aAsM-TpqoBOEPhdgIP_lIzPmXXwMPnQFo2f0OIZRVvUe39IKohkyolCGCvT4Ggy3U_zp0XgkharQxeCEvqd65Htto2AKGlyEaWQ6vZzfgih1-HRUhTqhEalrAExs628hK_DvZ9L_S2yGoOenVW1nwwbZKW7q4hlab-tAKMoQ8DUgGi6P9JPBnBo0vl8nclsfNBsCNm_BhL_oNR5wzqVlWm07-JQLv8sBM5YIHYPPhGj4Fg9HrGVU51DECOFX41kydTN1Z_OzFArdmz0vTflHiuylmrEhY-B4vLUOxm0iH7aD0HCHnuuAd6EfvUXgqtjO_Poa9XK8FmUrT5h_Gmf-2lArhZSjYL-Z4XaT91cSDmDrQzm4h56Mtnv1hyELY7HpiQ9i3M6MXzwvQXBr7qIgGD_zK_OuvOQ4N5jkwE2GLShyjke4pDzyFNcuzs3w0qrgz8OmfQhsOxSBG4IR2wawoaZLfn9EW_NAZnWvKm9SgZ2nYF3CvS-c7oSFny71Cub59vAR3j1BOzszvt_SXAatahEaOuirI-Shp8LNYUUhjQVGZMHj",
  "id": "rs_0a80943a61ca1c9c016ab44e6055b887d0b1109ce2eb54c0d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"At table height the pear is again centered, and its narrower grasp section is visibly between the fingertips. I’ll tighten to about 3.3 cm spacing, enough to secure this section without a full crushing close.\"}",
  "call_id": "call_xa9OzcXXKmSlVDfSwGjuuxei",
  "id": "fc_0a80943a61ca1c9c016ab44e60781487d0bf90207070bd907b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xa9OzcXXKmSlVDfSwGjuuxei",
  "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]: [-0.02, 0.8146, 0.6132, -0.4419, -0.0135, -0.0334, 0.9947, 0.1547, 1.4048, 0.4255, 0.1898, 0.0887, 0.0151, 0.3536]\nstate[eef_state]: left_x=0.2885 left_y=0.0002 left_z=0.166 left_yaw=0.002 left_pitch=-0.071 left_roll=-0.0015 left_gripper=0.9947 right_x=0.334 right_y=0.0399 right_z=0.0279 right_yaw=0.0553 right_pitch=-0.2137 right_roll=-0.0409 right_gripper=0.3536\nstate[joint_eff]: [-0.3077, -1.1145, 7.1863, 1.7314, -0.022, -0.022, -0.0122, -0.1162, -4.6564, 5.5043, 1.536, 0.0317, -0.0269, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6da7448abee7264a9ee13bd9b87fcb02be429efcefb26be9995dd3fc3ae716ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387d9814f3a646c31631d4733b2ed78ba516d45feff20eb450e9fb61fb6a03e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9880108b81402df1f4a4dc1b6faf8ee793d87e7cf1b3632a2d96239ca264ec5",
      "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 · 5.621 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]: [-0.02, 0.8135, 0.6132, -0.4271, -0.0139, -0.0338, 0.9947, 0.1551, 1.4082, 0.3985, 0.2741, 0.0925, 0.0181, 0.554]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1693 left_yaw=0.0025 left_pitch=-0.0549 left_roll=-0.002 left_gripper=0.9947 right_x=0.3388 right_y=0.0401 right_z=0.0321 right_yaw=0.0518 right_pitch=-0.1599 right_roll=-0.0358 right_gripper=0.554\nstate[joint_eff]: [-0.1709, -1.1419, 6.9949, 1.6581, -0.0757, -0.0611, -0.0122, -0.0342, -4.6427, 5.6137, 1.7118, 0.0073, 0.0024, 0.0904]",
      "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]: [-0.02, 0.8146, 0.6132, -0.4355, -0.0139, -0.0338, 0.9947, 0.1547, 1.4048, 0.4255, 0.1913, 0.0887, 0.0151, 0.5534]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.0645 left_roll=-0.0018 left_gripper=0.9947 right_x=0.3342 right_y=0.0399 right_z=0.0282 right_yaw=0.0553 right_pitch=-0.2122 right_roll=-0.0407 right_gripper=0.5534\nstate[joint_eff]: [-0.1709, -1.388, 6.9949, 1.7167, -0.0513, -0.0611, -0.0122, -0.1573, -4.9573, 5.5179, 1.8388, -0.0171, -0.0513, -0.0171]",
      "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]: [-0.02, 0.8146, 0.6132, -0.4419, -0.0135, -0.0334, 0.9947, 0.1547, 1.4048, 0.4255, 0.1898, 0.0887, 0.0151, 0.3536]\nstate[eef_state]: left_x=0.2885 left_y=0.0002 left_z=0.166 left_yaw=0.002 left_pitch=-0.071 left_roll=-0.0015 left_gripper=0.9947 right_x=0.334 right_y=0.0399 right_z=0.0279 right_yaw=0.0553 right_pitch=-0.2137 right_roll=-0.0409 right_gripper=0.3536\nstate[joint_eff]: [-0.3077, -1.1145, 7.1863, 1.7314, -0.022, -0.022, -0.0122, -0.1162, -4.6564, 5.5043, 1.536, 0.0317, -0.0269, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6da7448abee7264a9ee13bd9b87fcb02be429efcefb26be9995dd3fc3ae716ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387d9814f3a646c31631d4733b2ed78ba516d45feff20eb450e9fb61fb6a03e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9880108b81402df1f4a4dc1b6faf8ee793d87e7cf1b3632a2d96239ca264ec5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE5jSXHTEFXopcJ2-LI-jGwtb3FFFDoKM8dv7iwGqGMQimPi9oTJYlsUitTYLGCCtK1lLE7g8LwJrtzYT_9eukcts0gEEgS_XTT43qI9SFd8mHQZmzQdwejKDlGrLZrxrhXnOt3G_UQJaAMJBRYktfFMhqx4xgngDJzguU8oBLjCXM-oy8llJMNWRoT6vMtonvzaOckuMsllKHqXYeLmLxvvcw2Xw4qAPlJ98W6M47Qhh5XhVBZwUDcXxx1MYTsF68iHMFG2ykv_xv_KKcdVlqfqceCtDiI_H-upiOGeWxsjidTS5Gu_BFcg5dLqgjLYvQgzQnVqSbNdhkMh98_3WtagRJzwkrI-hikFauFEV90RZrWLuG3ozPLACY5BtnXti3RA4AB-7Llh3TFM-Ox8_kstPI8EC7_0WpDdXLkDxsCQX-l3zdSFboYuVEI0sSC8g8cVkoec7ePOZrrWm4Ug-Jistk9A4dQYl9ikCRxcfjkVGw8m9H8eCAzopaW_ME89Rd4nane_ZjKQbkymbJYjR8E0NRTTLzCNm3flRsB6NoC2BEnXyW4Gq2pTy6kF8iAOntucI5iys1ifZX1Xy05hNHnRqZjPXTxN2o3Cwaw1SlAeAwSBKDJuFCt7x_m2C-PBkUKnvEN9feXgyMB5qP9_5GiTmTyQiISPEtqq1DAI14oMDdeuJa51yGJGpvj-oawexliUnTf5dLIjwkXsTY3X9OYsC5uCf3kt76csya2_JtP2v85rYb-fiQzXfyn43yxTBtDzn1_Mg2rf0GEKdB91f3k9AfAjH0pOiUqHfuaP8sKIhhDYGiZ0_-R2aKuBp0ZRhNq3fXCO2gHd5Azgtl2mp8NM75XuHFMToIJRRQhQC5ygr1nNYuTzUj1_W1ezLOnnMvyoniSiykxOUorE66tMh5wLZCbq0ZH6Xbyasu0Vj4RemIxjsQ9ltdDeYTzy8io876cyTQL8CEJcfsWRoV2Y79WeN8rG-A86QpY9Fv1Lv580a9EClNY6pjbKhj7eP6_L06M_PhGx9O_TakeKdOU_Dg0Ihqke7KL59BEOTMs8FUCcWqLwvGR_ZGKz7dCxAxaV8v0TJ6rpZtv-9UHOz_vXS6-Lm4Dzq5PDssxXQP505aMJY5iy7zFz6Hjs-bA0Qa200C2k8q2CEw6JwUhsWP_gIHogMBAuWIakAZ_tvyrNMwUv0JZmNQ2vxXcTii40T6X6aj78A6mrXccF5CfN9nNADOzrOQ==",
  "id": "rs_0a80943a61ca1c9c016ab44e62bdf087d0be01cfa5a0aa0144",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.10},\"note\":\"Both fingertips now visibly press into opposite sides of the pear, unlike the earlier loose closure. I’ll lift it 7 cm to verify this tighter grasp.\"}",
  "call_id": "call_kjlM12mPsIusfThvRdaCCS3d",
  "id": "fc_0a80943a61ca1c9c016ab44e62e5ec87d0a03696eb65f0f203",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kjlM12mPsIusfThvRdaCCS3d",
  "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]: [-0.02, 0.8143, 0.6132, -0.4492, -0.0139, -0.0338, 0.9947, 0.1551, 1.219, 0.5953, -0.1871, 0.0883, 0.0143, 0.3529]\nstate[eef_state]: left_x=0.2874 left_y=0.0003 left_z=0.1647 left_yaw=0.0025 left_pitch=-0.0778 left_roll=-0.0015 left_gripper=0.9947 right_x=0.3304 right_y=0.0395 right_z=0.0872 right_yaw=0.0559 right_pitch=-0.235 right_roll=-0.0433 right_gripper=0.3529\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7167, -0.0659, -0.0659, -0.0122, 0.1026, -4.8342, 8.7726, 1.4579, -0.0269, -0.0415, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590551c277db33d63ccee62a5ed7577101ecc6737267b2bc1ac280312e201414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f108ce2892677d2ea50bd7ce19c08db2d898b511c80ff62423a7aae18271d7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d1e2da3ef964e73ae0484e36737043e0541533ac57aa747d1fe602cbe85ffe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.578 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]: [-0.02, 0.8135, 0.6132, -0.4313, -0.0139, -0.0338, 0.9947, 0.1551, 1.2362, 0.522, -0.0368, 0.0921, 0.0151, 0.5535]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.0591 left_roll=-0.0019 left_gripper=0.9947 right_x=0.3355 right_y=0.0396 right_z=0.0785 right_yaw=0.0535 right_pitch=-0.1751 right_roll=-0.0394 right_gripper=0.5535\nstate[joint_eff]: [-0.335, -1.3333, 7.0769, 1.7314, -0.0317, -0.0366, -0.0122, -0.2803, -4.7385, 8.4581, 1.5702, 0.0171, 0.0024, -0.0708]",
      "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]: [-0.02, 0.8146, 0.6132, -0.4419, -0.0135, -0.0334, 0.9947, 0.1547, 1.4048, 0.4255, 0.1898, 0.0887, 0.0151, 0.3536]\nstate[eef_state]: left_x=0.2885 left_y=0.0002 left_z=0.166 left_yaw=0.002 left_pitch=-0.071 left_roll=-0.0015 left_gripper=0.9947 right_x=0.334 right_y=0.0399 right_z=0.0279 right_yaw=0.0553 right_pitch=-0.2137 right_roll=-0.0409 right_gripper=0.3536\nstate[joint_eff]: [-0.3077, -1.1145, 7.1863, 1.7314, -0.022, -0.022, -0.0122, -0.1162, -4.6564, 5.5043, 1.536, 0.0317, -0.0269, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4492, -0.0139, -0.0338, 0.9947, 0.1551, 1.219, 0.5953, -0.1871, 0.0883, 0.0143, 0.3529]\nstate[eef_state]: left_x=0.2874 left_y=0.0003 left_z=0.1647 left_yaw=0.0025 left_pitch=-0.0778 left_roll=-0.0015 left_gripper=0.9947 right_x=0.3304 right_y=0.0395 right_z=0.0872 right_yaw=0.0559 right_pitch=-0.235 right_roll=-0.0433 right_gripper=0.3529\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7167, -0.0659, -0.0659, -0.0122, 0.1026, -4.8342, 8.7726, 1.4579, -0.0269, -0.0415, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590551c277db33d63ccee62a5ed7577101ecc6737267b2bc1ac280312e201414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f108ce2892677d2ea50bd7ce19c08db2d898b511c80ff62423a7aae18271d7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d1e2da3ef964e73ae0484e36737043e0541533ac57aa747d1fe602cbe85ffe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE5rBuIx1WnWh9H-GM0pvfVE0tQFsjqbZR1BAQ5XyK2hJ5FYMGQ9WyJjt7g1ofm0uChHZmd-Yfy9eoWKRWg8vh59LC2E_APuAm8CYTufYSabgh8MCmOHxbDOnvX_DMwMZgTvKYWB7zv03elcChRVi9sq1U3M92GH_MVPLecyCD7-bgeVzzYXr7tgL6NgyxlsWCyRFBWeAFXykqIS5lDNn4rl9t6fRzvU2CKjrZ63e5JfHlM82-tLl_uQW3_uknZA7bOqTzTZyGA8bbn5f87sOLxacze94_cTwz5jbrkqer2HMn7WXvj7KVWGSRyNjzZ-c332DiVYU0YI6c91W6Vx9z-7QD7cAMUlHZM-c1l2uQjongbzo2XAx3I1YZOhw0NJ2BlESYWaqqH9ceGQsdbBxXieM0w0PEmBiGFELZY3g3qIL8wkI819SXA818ejHBCeTTCmzRTxc4cdpR6oDGmxDZzZt3DI9hPyC8x6b_L0vuGLZokNAne0F16KmscSoQ4YY5I09xFbxb9J6apUSTnRx36KaVs1hXGKWEu42WTY4JTZHAd4koFVpmhzxsBjLCdFrCfr2SrAAIGlPnFcif4Lniyjf0GMdv5xLpR7O3weDQuJd96DteAk1hD2z459o_OW2XnWP_iKW5OVDnSONY4weCvyy9Jj37_y7Hh47cGleSaVkTJjITY3rK0kB5hXjRxT68CCX0XnwO7eNRRdOl8Iarey09kFL5_p5ypBYXGTyWGbybtis34_jDLu0izhc3l5NZSV2yqv8MAY4-9LpeLrednSqnefZmSk0E7dXXVEluKCOTMNiKn1FKjMutXfl8q1K8eQO7r2g2gJ8FtHkvA7SjYvuOpsVF3cUeymp_JYa5ZGTOE1a_erk6R51ajaRrE6wFCdnd4MZ1VZRUBmBhelA1TCnJ5UCGm-iBjMOxQ2Lkm8s1uIP6BEUbUpEFS8A3oS6mtGKn6N27vY7r6wZXLSFk2Ngm-0RlmxuFpY_Fn4hzmk6ZJ6tzhzVdeesaz2qU1eTf6eFTomccoLkBScrbjnzQZjYGCOW4XxcO00dm5ET6WvFSa0arAMdSDr3ctmg-74cAy37ImI1aFa18c8A22zr7Fso0SnSnexRgXfxOG3obl0fI_9YYNNUt7Kus8xG8UI6vipN9zGClXu7hNPyVprCbX2GLSpk5H2TZP3fhXnRJzY0RX-ZeNED2OCXHBFAlRHO2yliJH6BgFLKCvQWnlK3DcmzCWfWLT0CunB4haX7vEgMRHWRRdrz52nBXr4lfxB1mQkJPCVKUdFkK7AybMAG5yGRsfzv2nV-fo8rNZbKAyBPVf-hYsa2ql-KXU6AKxsvGmyVuAeG6jmj0ksyfR_-havIP9OZTtbH3shh0FLf5X-R4gNGIGf95KqCt9z1C85Vnleb-BwmuK0LE_Yr2MSGQPTyk8QCOIE_-7ePiLqQ00iEGFktEYntvFfhLy91yJJ0-MqCOgmnYHmFc8HSnTwn-ZRva8bzQZOYCPonHvJ7lz9M7BoB0gvNNjp5-v9qB5E5-zhgfDf-jOkoeMuPZd_hwG3FXp8e3Ecgkk7ZaypjK0nNsEtEMIG3RhDlb4ATG6hIHL8t0xwA-D1vB6UyDNUKwn65AVBuxAcJP-Dd_1KpHh1BNbyOB8wiasm9CO9QyxvaN60n2YcRyql-9fnf1-pc5sIOw7tdFkwVOXMqqmT2lYuogydk9Tw9iWqn5AlvELxam6paR9POJ4msP6WtjEov0EHlh2MaVsn1a2swn4Yd3ZuAakBZzOOtF0XlZbMkSz5rxF3yjDX_LpSCUI9WliT1uEZIr30hRx2yU-RZ9pOFH-Rtjfsn1SRYwDbscSEsbBJ_W0ly7hIJtnG56LhI5vCDEsLNFvJ2PhdgxTRTG4Ib1zpTObkRgvVs-ZIpJnMUTz7uOZtuiHAoSpQO37ExZhJp9Lo99eWjY_JKhOUod_lwjRfLeqx1XkBJ1zk14jIkCmjxM_VyXybvFNEjy8_EwrtKC9ilHEa1W1LozwNYc0yrYmfXonxQQUcwzzbM9z1ktfUGrH7DkqNrPVis9cTZ-1M58GnamMLHaJvDJDWaCP26c7a92b0aGGeTAzcgz2xFWJ9_zXxveKVZUsJssBBF7DWUnQdBO0-Jx5RnzzF-OBC9XJ_hRVIjHbJuAyHfoovWhXnopBbHJRx6zbnGuPmiQSsDaCAZc3MtoSivURiPJ_WRYuhJQuKUTalRZBhC-dlcABFpEHT0x_AOoeUeONUjJjVLpQeCjgp3yeiKXjWSDfSIL6Jmq-lrxjSDZ2VsAhb7X-ELfM1y_97W4ulMZjCQeEcLQujISYzKrV_-ojzpxK29P8loH3V9SPwr68VaxX5gwF5s9931IVatZsS6CMujxUjIJNC7YGGsj6Y3Pm8JxfryqKUYEo62o0A1sk0sliapJHo8nyC6LLLCslkoWpHyiB6twj7vU0X7XTfFQB6pNMOOFy1jMFQvM__dhE_hnPRqd4T_1jwWAFbV4ec1KhkXJ1QbwuzRq4VvbihoWarxooO4UowlY-_I_6jE5uoCNaFFOwkAUZyl_dji09_iRHnyUd2I1v8iWvdYqU1FTBK8KzsQFByd6QZDeeL9vIBCZe13Ss77cfGEaC7ImmeqamHQXpnKkJ_2nCSoZLYmagDO2A0Wrd78naM70nJn8r5PcmP7dJGvVbWzPhq0MBVPCCddfM-iPdVAgcbHU_1uPsN95ujGFMoXFrYJLs2BvYr6qqW2cNSKqMGFUoLMLwELemTprGdPSSbuAle3pndW0JTlCdTlieBflIHucjCqu0hbs8kfjvHI7b7hN2xckc5A9OaoSSC70oSvLJBMICkn0nbJfozR187OVCkdqKLre8NHAfQ8oAluBOXExgkKkPJ1Ht_vNcLng5Biyw1S2WKbNENn60jK90654Ecvo43vYG6ChSQYq_4G1Y2ClVNmxxN68asLlowUwrPY9GcjzzWycGmx3p6sa6NaS8b8V1KxzY7VabWprrUsThIok8ZDS-LGmC3ogDQuNWWLVfkUH9EUV7LDSn2NLakT3Yko6iZXVWQyYaoTQJRyRGDIpHSlupkI2ImFEdbSb3K9DGNHDksyq0m3fKBd6JTmjCIzEGEEfzDE43n-e7mDz6xeGCsXCkXkeV4v2QM5EJy33a_u38XnUMURjkKLS0Kt7AXCQGnG4lsGUFzqPAKt7f2MA1UraHEKtCB-g61lEEmJ0IOBA10YsRIMOICwVpuR2bUakE_Y_88_mxrL2ztCQpTb5nfVWWe7mtr4Y-cGLrnXy1FXIZZlS_OzdsLORm4kXaDkxJ3E2ycBL-2uYV1AmqqUvV7hDq0LMQOU6lqurfO1Q==",
  "id": "rs_0a80943a61ca1c9c016ab44e667f1087d0897a50634ac0ec3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.04,\"right_z\":0.14,\"right_gripper\":1.0},\"note\":\"The pear again remained on the table and the gripper reached its commanded width, so it was still just behind the actual fingertip grasp point despite looking bracketed in perspective. I’ll reopen, lift, and advance another 3 cm forward to put the fingertips—not just the wrist camera—over the fruit.\"}",
  "call_id": "call_oLiaTnIC3PJL2zvc5Gurio0P",
  "id": "fc_0a80943a61ca1c9c016ab44e69edf887d08a11677dc6ce9906",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oLiaTnIC3PJL2zvc5Gurio0P",
  "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]: [-0.02, 0.8146, 0.6128, -0.4503, -0.0135, -0.0338, 0.9947, 0.139, 1.319, 0.8528, -0.3725, 0.0731, -0.0116, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.1642 left_yaw=0.0022 left_pitch=-0.0797 left_roll=-0.0016 left_gripper=0.9947 right_x=0.3625 right_y=0.0413 right_z=0.1281 right_yaw=0.067 right_pitch=-0.2643 right_roll=-0.0525 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.1419, 6.9949, 1.6777, -0.0366, -0.0366, -0.0122, -0.8137, -4.7111, 8.759, 1.4725, -0.022, 0.0464, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe924aff777eeb3dc5657520eaf01d17ba601cc6b78854f9418dd96972c7eb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d582b6a9376e4005156a3b23d6db9a2a83ff50c3520051c9417d8cd062d9381f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446d78a9c2d6b1b74cf931d71ea4b587b662ccfbda9d3a87c2840cad2f59137e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.949 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]: [-0.02, 0.8146, 0.6132, -0.4355, -0.0139, -0.0338, 0.9947, 0.1547, 1.4048, 0.4255, 0.1913, 0.0887, 0.0151, 0.5534]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.0645 left_roll=-0.0018 left_gripper=0.9947 right_x=0.3342 right_y=0.0399 right_z=0.0282 right_yaw=0.0553 right_pitch=-0.2122 right_roll=-0.0407 right_gripper=0.5534\nstate[joint_eff]: [-0.1709, -1.388, 6.9949, 1.7167, -0.0513, -0.0611, -0.0122, -0.1573, -4.9573, 5.5179, 1.8388, -0.0171, -0.0513, -0.0171]",
      "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]: [-0.02, 0.8143, 0.6132, -0.4492, -0.0139, -0.0338, 0.9947, 0.1551, 1.219, 0.5953, -0.1871, 0.0883, 0.0143, 0.3529]\nstate[eef_state]: left_x=0.2874 left_y=0.0003 left_z=0.1647 left_yaw=0.0025 left_pitch=-0.0778 left_roll=-0.0015 left_gripper=0.9947 right_x=0.3304 right_y=0.0395 right_z=0.0872 right_yaw=0.0559 right_pitch=-0.235 right_roll=-0.0433 right_gripper=0.3529\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7167, -0.0659, -0.0659, -0.0122, 0.1026, -4.8342, 8.7726, 1.4579, -0.0269, -0.0415, -0.0904]",
      "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]: [-0.02, 0.8146, 0.6128, -0.4503, -0.0135, -0.0338, 0.9947, 0.139, 1.319, 0.8528, -0.3725, 0.0731, -0.0116, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.1642 left_yaw=0.0022 left_pitch=-0.0797 left_roll=-0.0016 left_gripper=0.9947 right_x=0.3625 right_y=0.0413 right_z=0.1281 right_yaw=0.067 right_pitch=-0.2643 right_roll=-0.0525 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.1419, 6.9949, 1.6777, -0.0366, -0.0366, -0.0122, -0.8137, -4.7111, 8.759, 1.4725, -0.022, 0.0464, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe924aff777eeb3dc5657520eaf01d17ba601cc6b78854f9418dd96972c7eb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d582b6a9376e4005156a3b23d6db9a2a83ff50c3520051c9417d8cd062d9381f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446d78a9c2d6b1b74cf931d71ea4b587b662ccfbda9d3a87c2840cad2f59137e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE5vcyhAS1MtVEDvQPFMENuX9YE_MBdFBB1eyPPdcUxwjv7V7jcGQlwaPTfbGPIwK0rGJW2BIDljDVwvH8mxzkVagrTjaVcrAm6pCMIyLIYxfRqkvafpQe1m-e6in615Rrci4-FuUN4bPZXoJfeMJf_Tc_54nHiemvHoL8BasVRv764QNYsKHuHvAOniylw2iOYwiu54AT6FqN6zaQcs5ebZB6eSQ6exJvl2d_s1473uxxxJKFfsxHel5paY9Qvp67YLqQscGiunmASPA9eh0NxnvsZwKDBntvJ7lXim4vwmYt_sa3fN9Zj8wK5oA-C5ze8ASDgDLSzbCrwROCainxysmNiOpGR7lkF7_6zw-Olhaxniv-nU7F25NlZ267H_WPrvnFQEanW1S1mXqRdFkZ23zlGDop8WCvSLIC0l2k4kVgdPu7CFfGFpkEtFNwZW8qShHWffu6MUR5iVr301Its1oMlwGyBUfw5CitpUyOKJLv4sr2hpLbKU7W8buJ9ncbUu22LB7kiQbzbhX7uMvgUPfvW4WfEZBMnBQfbAsAXBoZ9N3Szv1eRRSXW1Xe-Gw-X6PwOUe7MIjtL526jrOj_uCktGbjs8aSDuAtBHnOI_Rbt6Ql8OBiTGVGltHd56fJHIIbCx3F4aUmButP3ymD4DB9tKbnPMgPxnC2S-zCtmlk_BdwAL7tck7-lXecm-xS2fWJPj5sGJMto-qlie1Ren3TJECRBIX7rkUfti5VliFC2V677hYe5J_pm_qm7B23DmbsScJ0GLR3ekrlBvcufHmXec6PCZH7Be3cOhFM-toOPewYBPoacLmTCqXz8vJlrOehdspOVX9Yy2DF-kTi1axdHGQnA7eeLhNKWiJG3SPqiDIOnvzsp5oPrPEKSXipmJiliiwSizh3g4887HYuYSCSTv-29OtgO9iEqrZxaHEtHwoD54Ny9ODg1_dqgepMhkC_nuVw02uJziXIcSWB7NiaXKBF5fTTfW50vLYTKG8f0Kpv71BXbqxO2eR-Nc5JsQTuIQQDPFtFhqNK9rviMioGXxuq2zzu7voYyrYf1FCclEWr0Gu3K37V2MV8uxyMw3SKvzleYy9D3k6MOT-3icbotiHRg93wUL-5Xyy-mHWc_pj3po8xyzgx0glYP7zmRcMwAJV2PCBwXw-XkMqOy3kBsVRuGClnxYTgr0Y-CIovEd5hePWeQSIiAjMBwdCxS0NjWF_l9tSAB0nrKnqiwVTbp8rIMGR_OEpZttOIxtsjYZ6sn0GFD7HSgqnDGzigb07kAJGmvo5XNxxEAmTRRFEIyCx-PFEoTUNHcDxnxdLQsgIYNuy59TIaZZvgfuHshRB7cR5gXJrGS8xPlIYDv5anmIMsrHcMvjw13jkY2KUuZ_Y6Q1omdxBAt2M16forWLHzLEBwIUd8LPo-K5ZnaIkAmj9KlUJarLXWatLZpY8KO6laW4KSv-2oSh0tSVhrCgNrcxk8s9BZhFnpaWrK8alrsbaywjFP78dcdSOec3HF4oDC82Cf0TmrNBEd9cxUtvlhrzJAIqbVnoJIDMFXOFxVp9G0FhIScc05ogrcErXhQ5vSSt-Mav1062KFnPEIy59piL7BbybSm4qEZxkIp_8oq7p0pB5wEEWyrb5dzN96dOvi6pv4ADPAUeLfZzucTwbr1trmdF-97WdAGDsyHdQ-Ik9QarOGAUHdqShap1N7BdILz6b_7PsU6CxcloaBqxzw8qn2cwo1G7bUzOQTxW14767cWlihkQKebmBxpRm_0n0KSB53ZqMPpKpIu2nXPk3TpTsYzhwLOulcv3nJwysfPm1MSKqsXou9-BYq1KRjOerPCT8mMeDf3q4qNbgYbKjdvyACefo93466vQlK9g8TH102Ev6e8vbUPXN_WmJoMqZamzQQhpF3X9WTu9WTS-Fbv26gk6yuJBm5gaFVPZT9nT1RsRMvggOw2brGnEQ7GssBVJp3Bj-dyxrZjXWxST",
  "id": "rs_0a80943a61ca1c9c016ab44e6d1bb087d0a7081bf71d0993c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.04,\"right_z\":0.04},\"note\":\"The farther hover puts the pear near the jaw convergence line, though its base still sits just above the bottom edge, suggesting about 2 cm remaining radial offset. I’ll combine that final forward correction with the descent to grasp height.\"}",
  "call_id": "call_MekKtgMmmCKAc3WADADvPg8P",
  "id": "fc_0a80943a61ca1c9c016ab44e6e94b887d0962f8d8224e5ce79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MekKtgMmmCKAc3WADADvPg8P",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4679, -0.0139, -0.0338, 0.9947, 0.1268, 1.5803, 0.6876, 0.0242, 0.0616, -0.0273, 0.9986]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1607 left_yaw=0.0014 left_pitch=-0.0976 left_roll=-0.001 left_gripper=0.9947 right_x=0.38 right_y=0.0411 right_z=0.0349 right_yaw=0.073 right_pitch=-0.2949 right_roll=-0.0562 right_gripper=0.9986\nstate[joint_eff]: [0.0342, -1.3744, 7.0496, 1.8242, -0.0562, -0.0464, -0.0073, -0.4718, -6.7624, 5.4906, 1.7363, -0.0366, -0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeee83826760481d5f359871810d7abea1ab475efa30043e88e206f771bd3695",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f0d5ae953b7d4d75e2ae1bc1158c838110445847783499702c96c9fc074639",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a9e264b026810f673c75afc92fcaf4390ef58e961aca2c9d79e0cf7d935585",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 2.131 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]: [-0.02, 0.8146, 0.6132, -0.4419, -0.0135, -0.0334, 0.9947, 0.1547, 1.4048, 0.4255, 0.1898, 0.0887, 0.0151, 0.3536]\nstate[eef_state]: left_x=0.2885 left_y=0.0002 left_z=0.166 left_yaw=0.002 left_pitch=-0.071 left_roll=-0.0015 left_gripper=0.9947 right_x=0.334 right_y=0.0399 right_z=0.0279 right_yaw=0.0553 right_pitch=-0.2137 right_roll=-0.0409 right_gripper=0.3536\nstate[joint_eff]: [-0.3077, -1.1145, 7.1863, 1.7314, -0.022, -0.022, -0.0122, -0.1162, -4.6564, 5.5043, 1.536, 0.0317, -0.0269, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8146, 0.6128, -0.4503, -0.0135, -0.0338, 0.9947, 0.139, 1.319, 0.8528, -0.3725, 0.0731, -0.0116, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.1642 left_yaw=0.0022 left_pitch=-0.0797 left_roll=-0.0016 left_gripper=0.9947 right_x=0.3625 right_y=0.0413 right_z=0.1281 right_yaw=0.067 right_pitch=-0.2643 right_roll=-0.0525 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.1419, 6.9949, 1.6777, -0.0366, -0.0366, -0.0122, -0.8137, -4.7111, 8.759, 1.4725, -0.022, 0.0464, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4679, -0.0139, -0.0338, 0.9947, 0.1268, 1.5803, 0.6876, 0.0242, 0.0616, -0.0273, 0.9986]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1607 left_yaw=0.0014 left_pitch=-0.0976 left_roll=-0.001 left_gripper=0.9947 right_x=0.38 right_y=0.0411 right_z=0.0349 right_yaw=0.073 right_pitch=-0.2949 right_roll=-0.0562 right_gripper=0.9986\nstate[joint_eff]: [0.0342, -1.3744, 7.0496, 1.8242, -0.0562, -0.0464, -0.0073, -0.4718, -6.7624, 5.4906, 1.7363, -0.0366, -0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeee83826760481d5f359871810d7abea1ab475efa30043e88e206f771bd3695",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f0d5ae953b7d4d75e2ae1bc1158c838110445847783499702c96c9fc074639",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a9e264b026810f673c75afc92fcaf4390ef58e961aca2c9d79e0cf7d935585",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE53cHnOCyFdqcM-SuJeA1Hpr_5MKG_wJbS7fEyJCNXNoIfjb5Tupq3f2Jy2PpPa39Kt7nSIeG85ii2_vTS_tUB5ZRFuT0DwQENZ0nQ8hdwxz-Q_v6GtYs28FiIKyDvt4x4TxAeMzAejYaWg9dflH2xIV-QPddr8CufgqEhnEVuXZbI7w3_iw6oU46UhGYjF1DXfUobYxQ_iaaYD3qv3DnZ6CKiOdF8k3EcAMUZV9rOQywcUEMrcf1pvjQ_LltZINyNW_xYDWajs1xg9ZXyY0aQ4b6yt1o7bB993OY0q3Q4Gdr7a7QtJzDhjYQu8Own-JuN0EpNyH0TAJ-JFDQJD7JopWHEEapS4ArCe8MDCASqGDwP7dqxlMg3jumA7BKnEWec1qdScVGAA89XPztgQ-7xqGfDYos44NCoaUEc6eW9ROoF63L9HypB04-0dKB3GKYvUYJZ1EONYoAZRgfL86DyxO-iixTodtmv_IPOxBOXtNreeyCn_OwWd2yCsMYjeVuE4gB-uzViEWAC_F5rL2HmygxMR7r7TwUDPr_-o_bzPIs6IR31L00Mhsuxvm55kofTxJsWqpZp2bh3dSMYvgTsrkmIUpOBJiqqJSoIP0mpxKnyLvumi3ovr6xvxauBFDc3iYeSfCKNd2GjChSKW5SPFp5q2pg_43lgHinJc7Te_5Ac1vl3CbyygN6n2dfFHjZJ4C_-1uNZwavEi7CtJ-1gKSG_onF4CwFHAOonUdBFnFhcxmIwgzT2GvZoL2FlbvhNVqjGlORHLTaL_Vz_EVb60mZZTueKZ5uBDNxigY0uNwXqOKWKkBCNJPuUVa8wXrJb2gVY4x68OmtBAn-7cexLZsI1_xTZBPOLbKe7WPTDOXEzHfgZsdGoVMXmZ8DzJv4tWlYW8BgQc4xetLXvJliK9SoQXFC03R8BRfH3n6UO0zT1oGm-B49zi5sX8OLqU5HoRCfQz35IDqpmBTuVUs-WOEWes12-hztvRc06eUt3lnuD6IFTcn8xq5M5Oi8vy8vuBeDfwxvMgujzwvYefVlyzVXYEeY8NXOo1DLjwC4Pyd8-z5aY64pOTko_nym3UiCPw_A9YrgR9y0RxLfhgVQ2SSwPCR2v5EdRo3Gm9KLF-_-K22WjwYNgAxF6A-5ER-tazEdJwU8ucx-Mg6JnJDoLfz9KRLeSD575K5xgj5d2Cz7MZGv4pA-O7dZkOCOuwb4zBA7bgmd_0f3dlsjNq8gc7mqAflrE3ERT_pom8O1FxQ-D9JQTLCyySkMPNE6f_XC1M2WHYsVlvHG11418ZRLiaj56fbi2Dxb_mOHQDABeBptYFB10i3VRlz2afGHQft3808Wt7Hp4qspPkRUZCuonQhp2UQjPROIc651P66fOgzeUxz7zOt9nZV55bSzyDTNkFdIWVz_RnqPVKXVwGgcVwSgMDnERv9jhkKJjG6dU6vAUioBOvoBJCwFRO3h9qn8zIOfxbzOaEmWx_RfmbamlI8WBfWXveubZke6wSsCT3DoQFY-ZDWKGZe2xXXwrcdNYX9QMBldXZcEBsfAQYiChwjqsMo8L0eNE-ZVeEROlJXylHv-g60_Tp3p2TQCRSYN5mG_-OUABQBgAyDtRTTGKU3rW8mjIDmEicoN-qFEbBUsSB92sBQu0EPDhmQQfrDBh0",
  "id": "rs_0a80943a61ca1c9c016ab44e75856887d08454c2e3572d804e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.45},\"note\":\"After the extra forward correction, the pear now fills the space directly between the fingertip ends rather than sitting beyond them. I’ll close to a moderate 0.45 target; contact with the broad fruit should stop the jaws well before that if alignment is correct.\"}",
  "call_id": "call_rzROtKtF2Co2pgRblbiqwdrb",
  "id": "fc_0a80943a61ca1c9c016ab44e76858887d0bb1556d1ad9b7d38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rzROtKtF2Co2pgRblbiqwdrb",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4698, -0.0139, -0.0338, 0.9947, 0.1272, 1.5803, 0.6876, 0.0284, 0.0547, -0.0341, 0.4912]\nstate[eef_state]: left_x=0.2843 left_y=0.0 left_z=0.1603 left_yaw=0.0014 left_pitch=-0.0996 left_roll=-0.001 left_gripper=0.9947 right_x=0.3807 right_y=0.0426 right_z=0.0355 right_yaw=0.0834 right_pitch=-0.2912 right_roll=-0.0552 right_gripper=0.4912\nstate[joint_eff]: [-0.0342, -1.2923, 7.1453, 1.6825, -0.0513, -0.0415, -0.0122, -0.1299, -6.5436, 5.7094, 1.3993, 0.0611, 0.0513, 3.8217]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfcea8093b06d74c70c8978846943524781de197a48aaabead69c67aca095e32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98eae7b70bb992cae592003924ab9e24e328b8df136455072c3a5902367bfc91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07944315feae978f8ca81d14d53e1d632274580c17d537399f550656c0b385c5",
      "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 · 3.818 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]: [-0.02, 0.8143, 0.6132, -0.4492, -0.0139, -0.0338, 0.9947, 0.1551, 1.219, 0.5953, -0.1871, 0.0883, 0.0143, 0.3529]\nstate[eef_state]: left_x=0.2874 left_y=0.0003 left_z=0.1647 left_yaw=0.0025 left_pitch=-0.0778 left_roll=-0.0015 left_gripper=0.9947 right_x=0.3304 right_y=0.0395 right_z=0.0872 right_yaw=0.0559 right_pitch=-0.235 right_roll=-0.0433 right_gripper=0.3529\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7167, -0.0659, -0.0659, -0.0122, 0.1026, -4.8342, 8.7726, 1.4579, -0.0269, -0.0415, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6132, -0.4679, -0.0139, -0.0338, 0.9947, 0.1268, 1.5803, 0.6876, 0.0242, 0.0616, -0.0273, 0.9986]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1607 left_yaw=0.0014 left_pitch=-0.0976 left_roll=-0.001 left_gripper=0.9947 right_x=0.38 right_y=0.0411 right_z=0.0349 right_yaw=0.073 right_pitch=-0.2949 right_roll=-0.0562 right_gripper=0.9986\nstate[joint_eff]: [0.0342, -1.3744, 7.0496, 1.8242, -0.0562, -0.0464, -0.0073, -0.4718, -6.7624, 5.4906, 1.7363, -0.0366, -0.0122, -0.022]",
      "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]: [-0.0212, 0.8154, 0.6132, -0.4698, -0.0139, -0.0338, 0.9947, 0.1272, 1.5803, 0.6876, 0.0284, 0.0547, -0.0341, 0.4912]\nstate[eef_state]: left_x=0.2843 left_y=0.0 left_z=0.1603 left_yaw=0.0014 left_pitch=-0.0996 left_roll=-0.001 left_gripper=0.9947 right_x=0.3807 right_y=0.0426 right_z=0.0355 right_yaw=0.0834 right_pitch=-0.2912 right_roll=-0.0552 right_gripper=0.4912\nstate[joint_eff]: [-0.0342, -1.2923, 7.1453, 1.6825, -0.0513, -0.0415, -0.0122, -0.1299, -6.5436, 5.7094, 1.3993, 0.0611, 0.0513, 3.8217]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfcea8093b06d74c70c8978846943524781de197a48aaabead69c67aca095e32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98eae7b70bb992cae592003924ab9e24e328b8df136455072c3a5902367bfc91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07944315feae978f8ca81d14d53e1d632274580c17d537399f550656c0b385c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE56FNfFRV6twwHDchf7K_BjCTNQD5KIRWOfOwnoUjNojFRPH_xfR6TJ7ugKhx1v-ZlTyfReHyf-m7wTgRa4AzUChzL_7a7214O7Cky0NEUS3C1HtrmcTAtIaeTfnN9AfQHvmZ-Efr8ihnn04HfS_jAjIrr93N4QewN6ZKUtBXStnLoIJ79mkpA6ORu5cAeFWY0Gga4yL8djxMuMY9WQEIP1NoZDDWvV46mN6yYxWDss1H0FLmiLyyoU335pnt-qoIvSY1qL-5J7VM0jcL30jEDHn_fb03_XNirESWbAd5QP_-MALHzzAyRrEOvVJ6hhTRLXdZYfaKRayCfXBuBz_7tJpDLq7aYwY-K8e3PWlC5DF3SZDQz2ighxH7KC3d53FbK5aoMmepQI1kPFfQj9N0MQHto34odZ7jTKPa1grOneeNpcWKgyVdx0Jijm5-ZMf95jx4kaqSCsdEFR_dy6iczQYfCzUKSAEfk8wpu2QVxQBQPphXAlZ5Rq28OOV0mQpcPAgvc8Py-GbnR9qhamdOFXJzEJDxLK07qi3ctiFyCanTjvR29aAZQ_giK6DFjNC2wcV1kzmPV0P_gkrHOMf8-qf0erxxZB1jIIP1_RnCT4zmpQjFynUISQdplS9_yT-LfGtWdIencOEOLTikjcdnwQgFt8leog84GR7Co247sLA3HwEl_onUbOyhBIBkCt9YmEyohsgpZd93FxNXp46trnnn_S4d-5wl6z-T7L-xa7wsBHautt9sioCoSbOXa9GtDW9yVqY8YSw2kaEJCqBGf_mAYJqowERDA5OjSKRznC1MAzcOrTinJSiPfys9k1fF5SxZWrpbNaap7XaiBavhqjqEdCuuusydD_uUii18cf4UV-xzDkqZ2fUX3AYw4fmcwYL1uzxbeE_Ej6hzG46_6eaqJfAQtH0iDmDQ9ftrVraGH_CqGl1irhWCGgLAbuVVe-_TENjO18pfeq1oxxVRDZhr0JVAG4s7j6WYLULnVEMOnmEAaMGXA9FokvFS98_xB_sMhc2BSzoueXs23RVDctvknnQRw_IKbrp5P1VvBcgueFI64aIeNq0ZmiCX_zYnRSMjnlxni4XPtXLoAB79WQzDDYlxsbvChSFkd5WdeQGvui962S7MSk-lnilsLEx2A8EaNoOdyYTmrWZbcNJVd4nvpg-e-Gbn-9XnoKc_CFvZ0X6F8K8-r9JEnmJyt_E9LIPVUJT7KRUPOQo7h_s7Xk7wArEKsDBRLZFRkmuUrC6Zg=",
  "id": "rs_0a80943a61ca1c9c016ab44e78fde887d0a7d76a69b0346423",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The gripper stopped at 0.491 instead of reaching the 0.45 command, and both fingertip ends are visibly contacting the pear; this is a real grasp. I’ll lift it clear of the table to confirm before moving to the blue bowl.\"}",
  "call_id": "call_8rqGPI3GK4il8sJWeJWips4w",
  "id": "fc_0a80943a61ca1c9c016ab44e79344c87d0b8ff334f7eb19abc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8rqGPI3GK4il8sJWeJWips4w",
  "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]: [-0.0212, 0.8154, 0.6132, -0.4759, -0.0139, -0.0338, 0.9947, 0.128, 1.433, 0.9176, -0.4183, 0.0513, -0.0383, 0.5851]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1592 left_yaw=0.0014 left_pitch=-0.1057 left_roll=-0.0008 left_gripper=0.9947 right_x=0.3708 right_y=0.0422 right_z=0.107 right_yaw=0.0886 right_pitch=-0.3608 right_roll=-0.0582 right_gripper=0.5851\nstate[joint_eff]: [-0.0752, -0.9368, 7.0632, 1.7314, -0.0269, -0.0757, -0.0122, -0.2667, -7.7197, 9.1282, 1.4969, 0.0269, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ccf70b75dcd8222a3f821b9bd4d6de8d6c2c6f25740e8f4217f8d134ab30033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:211e570d4fe13ac3a6b8306d7d31d7905927c006dd5262a739c19f824749aae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29cfc3b6c6f33c007b99770194cc00c6b1ac64800738b74f9c977495e9c9206",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.919 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]: [-0.02, 0.8146, 0.6128, -0.4503, -0.0135, -0.0338, 0.9947, 0.139, 1.319, 0.8528, -0.3725, 0.0731, -0.0116, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.1642 left_yaw=0.0022 left_pitch=-0.0797 left_roll=-0.0016 left_gripper=0.9947 right_x=0.3625 right_y=0.0413 right_z=0.1281 right_yaw=0.067 right_pitch=-0.2643 right_roll=-0.0525 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.1419, 6.9949, 1.6777, -0.0366, -0.0366, -0.0122, -0.8137, -4.7111, 8.759, 1.4725, -0.022, 0.0464, -0.105]",
      "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]: [-0.0212, 0.8154, 0.6132, -0.4698, -0.0139, -0.0338, 0.9947, 0.1272, 1.5803, 0.6876, 0.0284, 0.0547, -0.0341, 0.4912]\nstate[eef_state]: left_x=0.2843 left_y=0.0 left_z=0.1603 left_yaw=0.0014 left_pitch=-0.0996 left_roll=-0.001 left_gripper=0.9947 right_x=0.3807 right_y=0.0426 right_z=0.0355 right_yaw=0.0834 right_pitch=-0.2912 right_roll=-0.0552 right_gripper=0.4912\nstate[joint_eff]: [-0.0342, -1.2923, 7.1453, 1.6825, -0.0513, -0.0415, -0.0122, -0.1299, -6.5436, 5.7094, 1.3993, 0.0611, 0.0513, 3.8217]",
      "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]: [-0.0212, 0.8154, 0.6132, -0.4759, -0.0139, -0.0338, 0.9947, 0.128, 1.433, 0.9176, -0.4183, 0.0513, -0.0383, 0.5851]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1592 left_yaw=0.0014 left_pitch=-0.1057 left_roll=-0.0008 left_gripper=0.9947 right_x=0.3708 right_y=0.0422 right_z=0.107 right_yaw=0.0886 right_pitch=-0.3608 right_roll=-0.0582 right_gripper=0.5851\nstate[joint_eff]: [-0.0752, -0.9368, 7.0632, 1.7314, -0.0269, -0.0757, -0.0122, -0.2667, -7.7197, 9.1282, 1.4969, 0.0269, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ccf70b75dcd8222a3f821b9bd4d6de8d6c2c6f25740e8f4217f8d134ab30033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:211e570d4fe13ac3a6b8306d7d31d7905927c006dd5262a739c19f824749aae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29cfc3b6c6f33c007b99770194cc00c6b1ac64800738b74f9c977495e9c9206",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE6A5ZsuVJOROwi-Y1IqpKJDjbBYekVqozu2frlGYIahCnUyeLDojwO3wKSd4IJZBrhbo-6WWXxPnuUqjZWvUigT4czIYny_9b9A7Za8UcQ2RXPnwCd6prHdEqJgabPQ4fpfLxrvET5tzvXK4rqnDX9zb-_QYE4gT7m3nmbCa222a-AUcS_BdP8tVGwofzQu2YIGUfqWF-_UCrkHAs5oVZGhuQZ52F64ZgilqqOf0Th2q6xOBIT2aTNl1388KfDkSSty2YoAqQVOKt87BAXVMohuGgHM507uUX09j530ftB0fDfQEL9kELZuDcY2IDQ6g9vbEERGPz8JoHOreleFn--9cooeXLihMf7TGNWaH9Evh-_xnyoSGm93maa8neGZliEhtlXFvEJT4MuZ0B0Ly_ubG91EWBjjkAXQ9vhdmddAQrYa7GQhyTWSseNkOj8joonwOo7FpxZwTswOWgKa1ZrqjWThtIBYYSf7RF4mF9i0lNMjy6k6-d5gmdkbAEKfES5Q_Hu-_hJNlSjWqFw_2_rBd_6cneeaw3kVmk2hRzU4r6rGr_CreGJgWoRZxRswnbyTiIYimPDGpZiIodVk9Tf2cm_-kVjp2z_Y-2NvBi5czNABXQRE963-9OxGCQ_innFGUza0g1C0vgL7Q49uXQoRT9iAb-bQEIcZRXY2EnEcztbakI7WrDgLwWDv9G6pZBkdPwaEHwHXyLNXS8XZxNEbYXsZEK0QzJf6SA3FU58vmGSSvjpD9tjiu6l6MGW6tqGX5uD2b8e3BWrSTsEbGMlu0TCY6DaFyqzjiTVU8VqFZDCQzi7RI7CrdUfXuC90BTIwGDGZZvnz3T5oVFgYc36cnrW44jtoQhXRBkbU1COHxngAr8yMnKJU8yzEq-QRL0t2qPAnLzCfoI59tae0w-7gbajPSgYy_8atMkECELnjs2_rYc4l6LHW6qYuxIkP_GRvNkPudLN4xgMjjSto0K0QmDOPVE_Zg4MoTR58GvXM1qahxColjRaBYLXnrSgGVmpOCyOaTbdVPl8BppKMj-B5X-UcCu9LDxpclqMxp3bPGK_gb-Lm_6j4bxlc5DjoucjXaOtU9GstG5IJlLGiISQQ2vobJEtjStTDB7LwStZ3Qg86BrHvyrCG8suerTAvOeARVmP2vSP4sRXDULY3nrhJuL17qScqu1gDg8XHby-9ySTSy4tmNxoiCvL81pWMFK-_yVU9fM6SZ-Dookm_SJs0j4ZXZUHPgRXAShSEPPZILIJ35IPT-o3hTek5vcuqdATqt6PTwqurGAZCGKb0ZiUBLHbv-o8IUtEf8OWs9Qa211oqyBl_9zd5CbU4AbpVUP5-JgJ8fc2XADSadrrNQoPrOBM7lWAKIMbP4n5uRtlm5ZgPoubCZ8xfwwu9zXaXgViEJPinG4GgEGvygAnJDqJxfyzoKs7Qo9UjubnB4OPaIwKfBp61TS-TUy5ALLKNfyXIfZAKyOtn8K1WvntdYGVbD53gd_K52Sy4XL8r701fhZ6TqgNnn7Arvph6WNFAqWJZxtQI-ufEpuxA8mdF8fvkbtDvrC8WCp6-Ni44Y2FEuurXVGZy0kQSR8Lojg_v5djt1v6_XV41fXbkRx4cbNXhUcyR8GMLubYCI9vXu_mcYwvGEDAm8l5q8Q094dYVc4TXpcqnDYMFDQpI_ZVHkJdcASXlPx934lTWKMwESbTMNjSVWmJjT9Y600k51dHYREeIJuvjPLJL8959ju1DVMP9as8iPycdAz5mDVQzz3bPgqUyBVbymRpq9grPfFxvHLgS3cnZH28HTPajvodOfxIC_mu4rOAGvl-yfMw0ih2gctMKl25SdsYjHi5kvAOC_BVUhR5GvtP0Bq-syOmWjMkLmoBgmV8s16MbJjHHdS7zqEh-tcCW5BWyu8kZbtVzoWlTTt48S6_w8t61p9wxfV5_sVnJGcu8F3jUwNbeBb1FFnXyoEnnjodQhrQO-3gLOypMBNEutNxGAF4kCxhzvZZXRt_qqX75Bkrc-O4g8RmEJAWSN_gwPmVgOstfDqtr_Qpa7v_NNi7rorT-XF4ZID34yQ==",
  "id": "rs_0a80943a61ca1c9c016ab44e7d8cc087d0be342ec1da35b02c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.1,\"right_z\":0.2},\"note\":\"The green pear has left its table position in the overhead view and remains secured between the jaws. I’ll carry it high to the center of the blue bowl, which is forward and to this arm’s left.\"}",
  "call_id": "call_PRnZ74JwDxWxLSVmpO3rlL6a",
  "id": "fc_0a80943a61ca1c9c016ab44e7f650087d0b8c8da0e991caad1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PRnZ74JwDxWxLSVmpO3rlL6a",
  "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]: [-0.0212, 0.8169, 0.6132, -0.4767, -0.0139, -0.0338, 0.9947, 0.2699, 1.6604, 1.4559, -0.8139, 0.123, 0.0456, 0.5851]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.1586 left_yaw=0.0014 left_pitch=-0.1079 left_roll=-0.0008 left_gripper=0.9947 right_x=0.4139 right_y=0.0957 right_z=0.1752 right_yaw=0.1126 right_pitch=-0.4364 right_roll=-0.0799 right_gripper=0.5851\nstate[joint_eff]: [-0.1162, -1.4564, 6.9538, 1.6142, -0.0317, -0.0366, -0.0073, 0.4034, -8.253, 9.4701, 1.5849, 0.1245, 0.2711, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7bf38cbf7047c0bfb3fbb01afa1d713878d2acc09617c47e500fd522b743d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d57c624700a63555b0a6b9a29339e65c50c9e298c0e839cf7c7e49db418707b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d912f5c78a90b710a799a151b74039646778fa23092159fd9218df7602b1ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.524 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]: [-0.0212, 0.8154, 0.6132, -0.4679, -0.0139, -0.0338, 0.9947, 0.1268, 1.5803, 0.6876, 0.0242, 0.0616, -0.0273, 0.9986]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1607 left_yaw=0.0014 left_pitch=-0.0976 left_roll=-0.001 left_gripper=0.9947 right_x=0.38 right_y=0.0411 right_z=0.0349 right_yaw=0.073 right_pitch=-0.2949 right_roll=-0.0562 right_gripper=0.9986\nstate[joint_eff]: [0.0342, -1.3744, 7.0496, 1.8242, -0.0562, -0.0464, -0.0073, -0.4718, -6.7624, 5.4906, 1.7363, -0.0366, -0.0122, -0.022]",
      "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]: [-0.0212, 0.8154, 0.6132, -0.4759, -0.0139, -0.0338, 0.9947, 0.128, 1.433, 0.9176, -0.4183, 0.0513, -0.0383, 0.5851]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1592 left_yaw=0.0014 left_pitch=-0.1057 left_roll=-0.0008 left_gripper=0.9947 right_x=0.3708 right_y=0.0422 right_z=0.107 right_yaw=0.0886 right_pitch=-0.3608 right_roll=-0.0582 right_gripper=0.5851\nstate[joint_eff]: [-0.0752, -0.9368, 7.0632, 1.7314, -0.0269, -0.0757, -0.0122, -0.2667, -7.7197, 9.1282, 1.4969, 0.0269, -0.0024, 1.033]",
      "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]: [-0.0212, 0.8169, 0.6132, -0.4767, -0.0139, -0.0338, 0.9947, 0.2699, 1.6604, 1.4559, -0.8139, 0.123, 0.0456, 0.5851]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.1586 left_yaw=0.0014 left_pitch=-0.1079 left_roll=-0.0008 left_gripper=0.9947 right_x=0.4139 right_y=0.0957 right_z=0.1752 right_yaw=0.1126 right_pitch=-0.4364 right_roll=-0.0799 right_gripper=0.5851\nstate[joint_eff]: [-0.1162, -1.4564, 6.9538, 1.6142, -0.0317, -0.0366, -0.0073, 0.4034, -8.253, 9.4701, 1.5849, 0.1245, 0.2711, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7bf38cbf7047c0bfb3fbb01afa1d713878d2acc09617c47e500fd522b743d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d57c624700a63555b0a6b9a29339e65c50c9e298c0e839cf7c7e49db418707b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d912f5c78a90b710a799a151b74039646778fa23092159fd9218df7602b1ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE6H2MKHu0khZHvqio-lciAj1mVX--8EhALmvJIJ38YhaYASvsRO9nb5CNTayENLEPlim549abeYVsCBOP27auriZ-Ea1vfMcCb8tEmAfP1600PJ7jTj-DLZRuCJ_mQ2Qt4lhdhsejf5RnNo1_25I5TCiwwl2BfoeNwoKzDeNHrypXvpFhfXUS2iVAa9ExrxmOwEZx9kJN1tT395iUIb0ZJOZor4lrUSp4TtVv1RGBAJW78TmA5-y_Wu_QJCF-8N7yGDrX4Cmm8M-rq1zPU3BeMsFD350h4ZocPomDckPW3f525j_opBIXTFIH0Z_H-g8rf9YTOdRmNBJ_U_pH18hAo8uzEGOWWXjzOtczfreyoUcc6PSIn8YIwBnZ1KQ6btX0V4ief6j07XsLBASy5hMG56iixrmTODEyCYbEfGZ4XItcACGjLg5rzUCgwz5IyHByQ9dC7faWfcbXgn2yZyHRlHdEcN2zk6UXUEVUcFqetSfzez5aGJto3Z-UZzQpkWxVab0sl-UI5c3LG3wjvYdglg61LKNKtkk1p7bYsB154ai1trhoHibgEFJgbjQZMmePPwFRN6ROMU0pyHo6pE5F3CsYyMkVOtdfvzAMyK_s5-0XaNNNLp1IXZ8WGZwARwuKX4nPb3HcxQ4VTHhm5rAIcNBhlok1S2w29x3b7tIp0Yop-EIluj4Wzjo6lT1e66AEzERFGKwhmAVINI_7f1lyi4HmIIIHVnSFI9hsgYSTV5EpVb5XPWTa64P0Gq7QnFZkutJ4Jd3c30GFDe4HamcqrSsHznUfLu7Akdm-pr0W4n60Qb-4_YO0-u6DMcjTC8oIwBHd9uFPgngLqo7mVbftF9-k-yPFY8gYR5YfSFmImuxBm14z6l0UA7s2vwsrO-PrdC2uyT3yOcKh8kdbE6z7qz0FtDdah2qPpyv8E9i3kuAtzy2QtnBuisE7cKhteT4zK3bwGi_WWXlCsqDiEXb3rNxJIV-3yzjafiz_Z752G7i-LTyzHjdTJK_m4z1z9Gcz1f6s2My67IqyurVRSQ53f2uexllCSpoKQWI5JHFuP0pm07lGebD7w5c6xfUC4YZjTS9uu1v5zh52LhFyV45nEm7C3clz0X4Ry31wqzIME1Ge-K8-uBpE27ywwJmYUBby8vBPBQ1pdmkhru1TP4xeSQkOiF-gKLQAZKU-CxQxZmk5AZJOyMcmndw3S8Q_DHnp4EGCLapf_JO726HTNRLjKxn8JizqVdRaXyqDlGNG3vKEWlm-tP_iHqUYkrWRSBg9Wpn5kWHkvleOql5CmvARmrU0zNkbbgb9IguJ7QVIda9hxz8BQNc3SAMCLtfw2_snokZKVtnH3ZDQbjeeIXjBr2A-YlLx-nlRUOuoZ2_3CaQI6SdjdjBmjC817zFYzAaI320ME1ZYBVR-s4TwMuxqbRvWrUelPU-0xgQOfQsopNNxyUXGfR5UvVa_GJa8bv6pjT47bQrYrkCG9wdpbvk_zM6d8MiMV9eR5w5wYi9yczzygPnK-RCl6CnRLRouWo5F1Ryrn81UuiIu0R7Oj8JGYd7JgJtH4Si4yjEyjArTugpx0xAAijwVbaQFJxYLv9ZhZfv7WkyVJhaT8JCnD6lD-CQ0PrvKWixgMqjjK_GdV8TeVK_b2ffFKO_sKIFZrTnZSafLqjLkfg9B7Pa3IGtD6BRNMPjCBT1EqSkUEiHqa9KvhZw6lMyxyysDFocrzgXSH7Z8kycPJEtHszgUa1q_EKvTjxZvwiwrF7cbuoGeY4uuVfRSIfShJn59uVTqUkBiob91FRPIjKsEq1_B8fi4MlCyxSDQ3Hc3FRikEeeYDMWBhyBUTVIdpLL0YKuIkjZlQ9",
  "id": "rs_0a80943a61ca1c9c016ab44e84c0b487d0afe716d658b9b11d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.12,\"right_z\":0.18},\"note\":\"The blue bowl is clearly visible just forward-left of the carried pear; its center is about 2 cm left and 3 cm farther forward than the gripper. I’ll make that small centering correction while staying above the rim.\"}",
  "call_id": "call_Kg9GezotW184ziraH3WS2CTU",
  "id": "fc_0a80943a61ca1c9c016ab44e8645f487d08abc564536c00c8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kg9GezotW184ziraH3WS2CTU",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4778, -0.0139, -0.0338, 0.9947, 0.2996, 1.8069, 1.6211, -0.8791, 0.1303, 0.0608, 0.5851]\nstate[eef_state]: left_x=0.2833 left_y=0.0001 left_z=0.1578 left_yaw=0.0014 left_pitch=-0.1114 left_roll=-0.0007 left_gripper=0.9947 right_x=0.438 right_y=0.115 right_z=0.168 right_yaw=0.1226 right_pitch=-0.4806 right_roll=-0.0866 right_gripper=0.5851\nstate[joint_eff]: [-0.335, -1.4291, 6.9538, 1.6777, -0.0317, -0.022, -0.0073, 0.335, -10.5094, 8.5675, 1.2186, 0.1832, 0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dab1625c0e720cda860121d2325860dbb3c234787a9227ca6594df38a37647a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee857853039b5e3ad0a4f294e46c3ea59b0e6b6cf97ac1095c59f309f36e36b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99f3be368823cb9e51d6a6faf1022f373efcd090e9d536d0438b638ff216cd70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 3.713 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]: [-0.0212, 0.8154, 0.6132, -0.4698, -0.0139, -0.0338, 0.9947, 0.1272, 1.5803, 0.6876, 0.0284, 0.0547, -0.0341, 0.4912]\nstate[eef_state]: left_x=0.2843 left_y=0.0 left_z=0.1603 left_yaw=0.0014 left_pitch=-0.0996 left_roll=-0.001 left_gripper=0.9947 right_x=0.3807 right_y=0.0426 right_z=0.0355 right_yaw=0.0834 right_pitch=-0.2912 right_roll=-0.0552 right_gripper=0.4912\nstate[joint_eff]: [-0.0342, -1.2923, 7.1453, 1.6825, -0.0513, -0.0415, -0.0122, -0.1299, -6.5436, 5.7094, 1.3993, 0.0611, 0.0513, 3.8217]",
      "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]: [-0.0212, 0.8169, 0.6132, -0.4767, -0.0139, -0.0338, 0.9947, 0.2699, 1.6604, 1.4559, -0.8139, 0.123, 0.0456, 0.5851]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.1586 left_yaw=0.0014 left_pitch=-0.1079 left_roll=-0.0008 left_gripper=0.9947 right_x=0.4139 right_y=0.0957 right_z=0.1752 right_yaw=0.1126 right_pitch=-0.4364 right_roll=-0.0799 right_gripper=0.5851\nstate[joint_eff]: [-0.1162, -1.4564, 6.9538, 1.6142, -0.0317, -0.0366, -0.0073, 0.4034, -8.253, 9.4701, 1.5849, 0.1245, 0.2711, 1.033]\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 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]: [-0.0212, 0.8192, 0.6132, -0.4778, -0.0139, -0.0338, 0.9947, 0.2996, 1.8069, 1.6211, -0.8791, 0.1303, 0.0608, 0.5851]\nstate[eef_state]: left_x=0.2833 left_y=0.0001 left_z=0.1578 left_yaw=0.0014 left_pitch=-0.1114 left_roll=-0.0007 left_gripper=0.9947 right_x=0.438 right_y=0.115 right_z=0.168 right_yaw=0.1226 right_pitch=-0.4806 right_roll=-0.0866 right_gripper=0.5851\nstate[joint_eff]: [-0.335, -1.4291, 6.9538, 1.6777, -0.0317, -0.022, -0.0073, 0.335, -10.5094, 8.5675, 1.2186, 0.1832, 0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dab1625c0e720cda860121d2325860dbb3c234787a9227ca6594df38a37647a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee857853039b5e3ad0a4f294e46c3ea59b0e6b6cf97ac1095c59f309f36e36b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99f3be368823cb9e51d6a6faf1022f373efcd090e9d536d0438b638ff216cd70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6KmjPlqAcOHYj6wC4QLp338H-j6lJqlRWNCTcNus69JfEhFZFlfHzVGQQMiayo7rf2aSI8VNjoqTfSXyFYFRsli6-CwyUzmjDbFxlw2ENv50d3L3vAu2CEPctDtlQzWnsHoZdo2W4hFPsEi0DBqSl315Cpa523otNecik2PIdKwXs7Rn8sLxSTOLpXsgZZkxuMOxu0BDZZ0q-0Oe2B1AOiQvmK2NZQEPBwj9hwm86KiA76QQoM6JXKDlU5QvYhMG7Di8wIO84PeVZ8IH0_v2varSWQQkAgwJHBUeQojbdv2Dp8tv69QciAiJzyRC9JeFC0_YZYn8Sf6AQfylnzlC9cKP_TJf2KAjLQppjJQJ2nQhlr1NmzLzVFKscn2gBf-do0w36zt2oYBmKSASYigeR6mgij2MBbob13P92KhRqXAwYKwQYVFMLrioUxYkhc8lgYLwQ3z3diN_vlmT73UDGCyOwZz_uufrBR96T8huaeo21wuPq3rNe3xSmtmbtsnZZx6dAKAQMrZZ7HyuOddMBjZuVV5JaQSUpVpmpqjnXRDsSUHDwfn1nd4XjWXi0b_bQySE3n6bVU88c2bHZt14aGAM_OjeLBFjSle2ZjwpgRZKWoq3JTzAS6Cw2kmYlAI3aVSqjcuXUNRSJJh5nHZ_wq2YfmQnSLeOzgfDu-vKeVOyzx8MD81GK6jXiCXAbp839UCQz2Z_WgqfAEUyrM30ddHoNZoqu2mHbcRlxoktBOO2S7oE2TQ0ZI1QXEhu7gihJx1AoqzGM6kiInZNvPwUhQh7_JJhnj-oUQZ0MI6EAymW2SNouaX4Org0iGZdyBcV2tU3y1-4-uB_YUqTEIiVk4BmS5iCHk12aBCuTqWoB_4Yqejm7W89fVMRc5f3U6-oSTDgBUpDnXj3WsdGrA2kWRm34dms49QxUyr1ctoyuu2v_QPdpyNmXTA8vxyTFqRHeGWlVugJ2B2G5xMMFwIV71Swnv32d9Vg4XL92EJiD9jHSbxAJfo-nwafzNfafGe4p8arX28W7iE9xZ69ogNFsNXxVpMYeNTVYgjPMs1iabFHqw9Cqbo0FiwwUHu6lxKU0O3oFUihNrPytAwC5UXhASOgADvNPwU_vM4SdzDj2t9ZICyTJoYZV6YY5qtodDGz9hEvKG6jYo1b9SV4jnqorsWR7ksBtBJjiOHQYD2qjdEaV3T9Uau77duOwP7lYaDjzg8Xa8D-U-G1GxvScDi4lvM3I7QRKE6zPleEhHyR6Y2jL_dfkimUjP8t633w3oZzaE6e64y6Hjs1P1UDyVnk_SXQ==",
  "id": "rs_0a80943a61ca1c9c016ab44e89107487d0a6107d607dab7fc6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The blue bowl is now centered directly behind and beneath the pear, with the fruit already below the rim height. I’ll release it into the bowl.\"}",
  "call_id": "call_JQBmr8JSOTgsUwsKZ8ZvoqQt",
  "id": "fc_0a80943a61ca1c9c016ab44e896a0c87d0998ec6dde63f7417",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JQBmr8JSOTgsUwsKZ8ZvoqQt",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4839, -0.0139, -0.0338, 0.9947, 0.3103, 1.8481, 1.6356, -0.8875, 0.1303, 0.0639, 0.9958]\nstate[eef_state]: left_x=0.2823 left_y=0.0001 left_z=0.1566 left_yaw=0.0015 left_pitch=-0.1175 left_roll=-0.0006 left_gripper=0.9947 right_x=0.4398 right_y=0.1207 right_z=0.1545 right_yaw=0.128 right_pitch=-0.515 right_roll=-0.0921 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.3197, 6.9402, 1.663, -0.0171, -0.0269, -0.0122, -0.5402, -11.3983, 9.6068, 1.3162, 0.1343, 0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca210c3ef8a19a25923bbe76665f3972338bfec25042d737d560eb565077844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b782a091a72fc390f6b9adfeb1fd7f5c8a5a9bd546a4274a915a90f3216218",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0c36b3d4b5d7c9abfde73a9be55ccd3fd6fc87d6e7d426b35ba733d3ceb192",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.712 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]: [-0.0212, 0.8154, 0.6132, -0.4759, -0.0139, -0.0338, 0.9947, 0.128, 1.433, 0.9176, -0.4183, 0.0513, -0.0383, 0.5851]\nstate[eef_state]: left_x=0.2834 left_y=0.0 left_z=0.1592 left_yaw=0.0014 left_pitch=-0.1057 left_roll=-0.0008 left_gripper=0.9947 right_x=0.3708 right_y=0.0422 right_z=0.107 right_yaw=0.0886 right_pitch=-0.3608 right_roll=-0.0582 right_gripper=0.5851\nstate[joint_eff]: [-0.0752, -0.9368, 7.0632, 1.7314, -0.0269, -0.0757, -0.0122, -0.2667, -7.7197, 9.1282, 1.4969, 0.0269, -0.0024, 1.033]",
      "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]: [-0.0212, 0.8192, 0.6132, -0.4778, -0.0139, -0.0338, 0.9947, 0.2996, 1.8069, 1.6211, -0.8791, 0.1303, 0.0608, 0.5851]\nstate[eef_state]: left_x=0.2833 left_y=0.0001 left_z=0.1578 left_yaw=0.0014 left_pitch=-0.1114 left_roll=-0.0007 left_gripper=0.9947 right_x=0.438 right_y=0.115 right_z=0.168 right_yaw=0.1226 right_pitch=-0.4806 right_roll=-0.0866 right_gripper=0.5851\nstate[joint_eff]: [-0.335, -1.4291, 6.9538, 1.6777, -0.0317, -0.022, -0.0073, 0.335, -10.5094, 8.5675, 1.2186, 0.1832, 0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6132, -0.4839, -0.0139, -0.0338, 0.9947, 0.3103, 1.8481, 1.6356, -0.8875, 0.1303, 0.0639, 0.9958]\nstate[eef_state]: left_x=0.2823 left_y=0.0001 left_z=0.1566 left_yaw=0.0015 left_pitch=-0.1175 left_roll=-0.0006 left_gripper=0.9947 right_x=0.4398 right_y=0.1207 right_z=0.1545 right_yaw=0.128 right_pitch=-0.515 right_roll=-0.0921 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.3197, 6.9402, 1.663, -0.0171, -0.0269, -0.0122, -0.5402, -11.3983, 9.6068, 1.3162, 0.1343, 0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca210c3ef8a19a25923bbe76665f3972338bfec25042d737d560eb565077844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b782a091a72fc390f6b9adfeb1fd7f5c8a5a9bd546a4274a915a90f3216218",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0c36b3d4b5d7c9abfde73a9be55ccd3fd6fc87d6e7d426b35ba733d3ceb192",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE6OgZftWHVApn8klUNLTov8dcAaJBeo72aDnKtbJY8sBakKDOFy9Pf7AlLnR_AtEjnwGSuSYweRIULMxCetFaO6oeh0-9tWtqM6aXhE5aQn7SkVnSy6Iy48Q3lKnq8VwxEx09Gy0Rtn9DH9r2pirM33Uig-byH1vdxini2TJ-qVNqoQ2A0b6odoN1aJu6I7pIQWQtFjbemX9BawQw0GYxNgTUXOUZXxf6TpNU5O8zTyXY8YtR9XEHrf2oDkdxIHFUU9m75mFGI3CtQoET8LnfhlCguziBIqgzcAidWf9ge1nbMadwf3-dqEswU9P6Unu0zANhJrluYjPdWhrnmeshhwCPZkN2XzAsiaW9z9VQPuaiyklfAWjPJKSC6C7rR5meqdLwvzgrOQvnLdtTLQG6T9DFZjRksxdhW1qxPw3cU7X-l4fMVTadtBD7C-Vv445pvStRf7NbQFKKyO3L-xvEqZTGWyL3maRi7RVxKm6DkL4OTWn1gneGUN-sdZPD0ofoGzKY94cUGWudWaLnsVoSG_X3nt-b2GSRkqqUtl7pxcsqXTMvqha3_ks44Vkmel46VN2Y6qMNZ_e1e5n83yhe--FmlB3HAdg6q9t9a-lfRm9u73wGw1ot0NLVVWrtVw8ziHsDEtMVwxtZIgqRSCwpup1eML324_amAuBVujL2DV0P4XtDCJJhu42f538-jmJCTWiDuw_8JH9Gt9VQ8t5umsjD7g4nxRe_MSYHVg-tH4kxUlqKiOxPK2sFTlQAmEXOZuLjqSRZI0cqdqSz4qjlu8rzmrt7jPnJmnChQD8SWxJ9K4xBUkfndcGDQqKdWJokbSTBRjf_UeTSptKveFIH8p4cGOIM78G21vN10g1cA_yvSdEoYZrfV5WfWJz2eDxMHzX_Oq1ooTaUju8kASC_ZmQ8SmU9HfIG0Yuh84nF_I7egKw170u-WCamFgObgceEF7VBsKeKTVhU1hnr5h5L9IPQLRsaH440GrcDb6tjET6Gxyb_R3pwI-QmkZ0whf93mq-ONmAwQHw9k0j0_tbd3aoAkRKQvyp2BBgRO-QKt8pHDss3wAgVTdTMRSaHr7x3uVTIIKgYTOy_X6mu861UwN6WMAhAGypiteR762lAOCMHfS5NLPbUoZRNCIINX3d2OFnlvgPuJFn1A0fRTqURWqGrBaFhrI-WDW7GWJpLM4XZez0QCHXP3IosLKmYxII0wrrOCS-JqeV7cX8CowL8QWWhBEy8n1nhB94NHYmZ8XmDt6wOmsbNlBTGOI0xSdGRXq-gu1_tchfYil7aXL9_5yfqTQHrlZYyvW_-HfPQcZeioN7VUJZIHXueV6AzGFbROn9UaVru1gcwNxy__mbJMiPInJl36pb2oAxzUufSK2NNIUNBAXhBpzYF5a0iiBrvlaI1dnCVRM0mfefiaEAR_k0aYDXwg9_WYgL7p78Yq8I1LRVPx00RQOlrY3r7p6GjACGdMuHH4DLus1rwFj1p_r6B0QGUGu2svfE1Ycy4lsi6DgybyCdKHkPK9EzI9pCwCU3gqansjSBDWa0IdgvbLnkQ1rzo443vBaQHsJ712axuNqX3v2anFz-uenQdDlx4t9FvSaaDSUfiygDjYIvwVDpQ==",
  "id": "rs_0a80943a61ca1c9c016ab44e8be70487d09cecc798136f18fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.17,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The pear is visibly resting inside the blue bowl. I’ll move the right gripper back and left to hover over the yellow fruit, keeping clear of the bowl rim.\"}",
  "call_id": "call_Zi0GWtU41vmo6jSNKv3MRxK2",
  "id": "fc_0a80943a61ca1c9c016ab44e8ce50c87d089f334ccdaad29d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zi0GWtU41vmo6jSNKv3MRxK2",
  "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]: [-0.0212, 0.8219, 0.6132, -0.487, -0.0139, -0.0338, 0.9947, 0.3855, 1.7588, 1.5169, -0.8562, 0.186, 0.1493, 0.9986]\nstate[eef_state]: left_x=0.2819 left_y=0.0001 left_z=0.1554 left_yaw=0.0015 left_pitch=-0.1232 left_roll=-0.0004 left_gripper=0.9947 right_x=0.4117 right_y=0.1357 right_z=0.1541 right_yaw=0.0986 right_pitch=-0.4975 right_roll=-0.1005 right_gripper=0.9986\nstate[joint_eff]: [0.0479, -1.5248, 6.9675, 1.6972, -0.0708, -0.0122, -0.0122, 4.9709, -14.8718, 8.7316, 1.7118, 0.1343, 0.0855, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd71230e54ca970972049d0b05769d9134baf78cc9de152294ff2e5fef562df5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b636443319032da109a1d9e28cdd5dae5d253a1deb76113ebd4dc2a2e7d200",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f769e4c662370ccbd9e628fec02d386a16d9a1f261b219b30de4d1f991ad922",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.186 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]: [-0.0212, 0.8169, 0.6132, -0.4767, -0.0139, -0.0338, 0.9947, 0.2699, 1.6604, 1.4559, -0.8139, 0.123, 0.0456, 0.5851]\nstate[eef_state]: left_x=0.2833 left_y=0.0 left_z=0.1586 left_yaw=0.0014 left_pitch=-0.1079 left_roll=-0.0008 left_gripper=0.9947 right_x=0.4139 right_y=0.0957 right_z=0.1752 right_yaw=0.1126 right_pitch=-0.4364 right_roll=-0.0799 right_gripper=0.5851\nstate[joint_eff]: [-0.1162, -1.4564, 6.9538, 1.6142, -0.0317, -0.0366, -0.0073, 0.4034, -8.253, 9.4701, 1.5849, 0.1245, 0.2711, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0212, 0.8192, 0.6132, -0.4839, -0.0139, -0.0338, 0.9947, 0.3103, 1.8481, 1.6356, -0.8875, 0.1303, 0.0639, 0.9958]\nstate[eef_state]: left_x=0.2823 left_y=0.0001 left_z=0.1566 left_yaw=0.0015 left_pitch=-0.1175 left_roll=-0.0006 left_gripper=0.9947 right_x=0.4398 right_y=0.1207 right_z=0.1545 right_yaw=0.128 right_pitch=-0.515 right_roll=-0.0921 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.3197, 6.9402, 1.663, -0.0171, -0.0269, -0.0122, -0.5402, -11.3983, 9.6068, 1.3162, 0.1343, 0.0904, -0.022]",
      "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]: [-0.0212, 0.8219, 0.6132, -0.487, -0.0139, -0.0338, 0.9947, 0.3855, 1.7588, 1.5169, -0.8562, 0.186, 0.1493, 0.9986]\nstate[eef_state]: left_x=0.2819 left_y=0.0001 left_z=0.1554 left_yaw=0.0015 left_pitch=-0.1232 left_roll=-0.0004 left_gripper=0.9947 right_x=0.4117 right_y=0.1357 right_z=0.1541 right_yaw=0.0986 right_pitch=-0.4975 right_roll=-0.1005 right_gripper=0.9986\nstate[joint_eff]: [0.0479, -1.5248, 6.9675, 1.6972, -0.0708, -0.0122, -0.0122, 4.9709, -14.8718, 8.7316, 1.7118, 0.1343, 0.0855, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd71230e54ca970972049d0b05769d9134baf78cc9de152294ff2e5fef562df5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b636443319032da109a1d9e28cdd5dae5d253a1deb76113ebd4dc2a2e7d200",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f769e4c662370ccbd9e628fec02d386a16d9a1f261b219b30de4d1f991ad922",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6S7VbbQBMG0JpD2Sw4-isDehm2ooaHmGPRMcT-iQN3FHxEJz4OuQI0qpp8R92YOgllq6OcL7JZ7Ee9CKNlwtpVZqoeCieyTIwFBSfYZMv_ywQeylXl_h77f_m6_M88R2e7MM1Yjbjzx5Rzo3Q8E2ODknh4WZetbp-LaYV07nMkf3GdcOoFiL4jAMW_iayn2OU5g5NayV2JQZ7dWZL6thatFJoRs20SjP9gsciDNa4WdMFLB3PZJxSAbETh7CtYRC7lCAizBOGINwJbtze_CusxU0HjHWdOz1N8our_V79QA3IDRNORJmoJO2WLvZ0yxEe8P_vRqh3euBAtPhEo9nlDAjH816t-3o0cOoj-XHyYb6oBS5sJr-9L6aOcSk4VwImST4ScixPrfFbZW4BcXm2Nh5fRZau0p1TSEiZIenpDEf2CQMXbtFRd5whNRtKzxwIlS1SACNtPCVuWdeBv9dxYmhysSTQh5MYlV6vcrlQnkTjAxLJS_EXUxEL8oWfzbxebFMLr1_UA1px2yKYIUQGSPsfTXgm0Sp3cMQpNmdwvm58H3iycNo42xOPdFMlJ33zJl22biP59Mq7xC0YjdT59s9MFeZeOExrPke_OFjFGR65HBX7Dep1txtibchI6-0rpls1FttTb-29WzGWH0Q3RteGUe6S5M4K1nWEOmeg2CJalCj_KqREtZ1_ulKXT9Vj8jgjmb68qZNRuMZ-PIOqq3WFJb4_W-Cx2KR2gWVgOdNmr7aYRpi5pUzqC58d5y4d-dzTIjawTu-UqBtyEhGh3Z7C4FZaBPXMchOwCKahDsQ5XVJaBQVIND0W-5rkHaolZ_ShaMuWxCs1nM0KzVmDrcgHnSujP_UvS2e21jrdkZjwVZulgSB1sxFLBAmyQY6aM9x9_SsyWyin__GW48D40a3tutKrS558QGDN-yLLzjJsSx41NkOSgFJZkzrlIfBLxvhj-og4r6tykG6doS96K3GMwp4QGZe64zEy_MNVaNSAAXVgb6v_9BZzhPxnKuj7v0oMq65XJhqxoaxITAlYlFeUnDP8z3VykeGHFvfHnm3zfjMRUha_p5AE-0PwKEildePSbXlJLYRJEYhOJGOUk13V8SIg5XgtdbBqAfP0Eh1V1K7RMcR6k4hVBBV23IxYpmCVPgJ0xri87Uus9wgoOEg9MdBpt_sGO-eITWSgbfaAN2NH65ps1Phw6i5MPZJ5cxv70xepj32dISJp5oJWvuf7cc4Mry2QiK5DCiy5R8iuWVH1z62iU3-SpTSfWdObk6hy9a1sgfg78WUosjpmZk2BVcUkGouKM-istmuN8VEvs8qvQVodnTg7aERq_sH9EgOLXiQGauSa_5DFv2FX9o-tenI-IYxxR9tqhh5U8RzxwREeaTbB_lzd1kUAbWhAnnMoeOa6bt5knml_lgpdT1nTHjCJsisAjJBEO2mYfbYnRU2J6HXmTdYo3_X1_0e7Bdbqrm1_dNbMyrxz-u3NKOI47IllcuEnVNLh-jVqPBABbYVotiYgwxdIwemEI3lEkVLM8AAGiU5Jg6G41uS4joRp4d_5pgIpW_uy8hcl3-ShUw_hDRAWOrnbs1UO7ITLeapkZQqaGGECFMfoHZzrUr3bUTP_p7W-hNieVCyq_xi7KoJNvxUS9SraPYXzL6kxEyCldGS8iMO7KmYHnAdEhmMJY6BLyHy9rBNGL0eBSWws11VL0riVv_R5KL4k1Cp8KOM1PkcYc2Y-jEe3YQvYBZFNlnyJ7guN-R89aQlusEA8DQRN2wa3CZJJjff3hgiOpW0NiVaF9BaLGTFcJrO9YKLxsXpa3ajTU61miHPGSf_n0ea4YlLODgQG7SP-QvtRs",
  "id": "rs_0a80943a61ca1c9c016ab44e90372887d0afc9fd3013afc914",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.18,\"right_z\":0.22},\"note\":\"The arm only moved partway from the bowl and is still at x=0.412 rather than the requested yellow-fruit hover, likely because the low, pitched pose is awkward. I’ll first raise and retract it to a freer pose while continuing toward the fruit.\"}",
  "call_id": "call_RJLZ0FmO4ACxyIppHBRFxB42",
  "id": "fc_0a80943a61ca1c9c016ab44e91a1ac87d09629eb1c5368eae3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RJLZ0FmO4ACxyIppHBRFxB42",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8265, 0.6132, -0.4915, -0.0139, -0.0338, 0.9947, 0.5533, 1.7271, 1.6829, -1.0935, 0.2455, 0.2749, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=0.0001 left_z=0.1533 left_yaw=0.0015 left_pitch=-0.1324 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3693 right_y=0.1819 right_z=0.2029 right_yaw=0.1279 right_pitch=-0.5095 right_roll=-0.1053 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.7436, 7.159, 1.7021, -0.0562, -0.0415, -0.0122, 0.0342, -9.7436, 7.4735, 0.9499, 0.1783, 0.2173, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03a6901455ee3745632c866a3d57532fce2584eaa9ead2453dce433b27f2c62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366429eb5efbb10036b2bc82f15e4880f800910bc53df61bcf1d8029837b7b19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e69db5c8179d18bf373a6cf704b5dbfeda2f71c2b59c2cce7eb4c23bc90f378",
      "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 · 2.582 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]: [-0.0212, 0.8192, 0.6132, -0.4778, -0.0139, -0.0338, 0.9947, 0.2996, 1.8069, 1.6211, -0.8791, 0.1303, 0.0608, 0.5851]\nstate[eef_state]: left_x=0.2833 left_y=0.0001 left_z=0.1578 left_yaw=0.0014 left_pitch=-0.1114 left_roll=-0.0007 left_gripper=0.9947 right_x=0.438 right_y=0.115 right_z=0.168 right_yaw=0.1226 right_pitch=-0.4806 right_roll=-0.0866 right_gripper=0.5851\nstate[joint_eff]: [-0.335, -1.4291, 6.9538, 1.6777, -0.0317, -0.022, -0.0073, 0.335, -10.5094, 8.5675, 1.2186, 0.1832, 0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8219, 0.6132, -0.487, -0.0139, -0.0338, 0.9947, 0.3855, 1.7588, 1.5169, -0.8562, 0.186, 0.1493, 0.9986]\nstate[eef_state]: left_x=0.2819 left_y=0.0001 left_z=0.1554 left_yaw=0.0015 left_pitch=-0.1232 left_roll=-0.0004 left_gripper=0.9947 right_x=0.4117 right_y=0.1357 right_z=0.1541 right_yaw=0.0986 right_pitch=-0.4975 right_roll=-0.1005 right_gripper=0.9986\nstate[joint_eff]: [0.0479, -1.5248, 6.9675, 1.6972, -0.0708, -0.0122, -0.0122, 4.9709, -14.8718, 8.7316, 1.7118, 0.1343, 0.0855, -0.1538]",
      "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]: [-0.0212, 0.8265, 0.6132, -0.4915, -0.0139, -0.0338, 0.9947, 0.5533, 1.7271, 1.6829, -1.0935, 0.2455, 0.2749, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=0.0001 left_z=0.1533 left_yaw=0.0015 left_pitch=-0.1324 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3693 right_y=0.1819 right_z=0.2029 right_yaw=0.1279 right_pitch=-0.5095 right_roll=-0.1053 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.7436, 7.159, 1.7021, -0.0562, -0.0415, -0.0122, 0.0342, -9.7436, 7.4735, 0.9499, 0.1783, 0.2173, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03a6901455ee3745632c866a3d57532fce2584eaa9ead2453dce433b27f2c62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366429eb5efbb10036b2bc82f15e4880f800910bc53df61bcf1d8029837b7b19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e69db5c8179d18bf373a6cf704b5dbfeda2f71c2b59c2cce7eb4c23bc90f378",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6Wf01Uu7lMA67a8Rs392iQURlNKEfQDgSI22B0ydIp-jzwwhGwtUlakr22djW_qIC7KDThg0nuv9jeFzzmqhcaoosI8BDfo-ZG8Kqy936WFuU1b57P-DgsY2M6D4_oFSvyA0_SuxbE9L5rjU4V_Araa8iO6KpATitLHImAYQPFq83yRH9TWrnoJmDrP8C4z90t5VLVejgrcbJ_9_91cc3qB5E-aSICGWk2iOcvM45aQVGBweFOXIvuMRTlD7pcajUZB5GFsF1wb60-SilUi2Qih60XRGhyUvDvowBtFobfO6-HigfjwckVbknSd2euPEK_uPZ45S08--brWE3ke5sRvMK_pDmdxPkwxTLJA8rxQaBhe1fcrmXm9D5o6JLxydCKJUzeaMSz1z1pLoZGCQcJ1FmevYdqPAFeiBDdecZvM0HHXKnExbgxWd3lu6gNdAcMVECd-c1GUixxz1gIhkkvwNE41Ndm-1GJRVkhBbUIgnsHD2jUfvLre6YdaQjRyrt-LbJh_OvRwrQVav1XriEjNjdKcxUYsS8ysKwYOqm_nbUtCPeKcuZTVLhbNB1Lm5i1QSA-8aR_xv3DhueTwoTqRtT5UVtDnVV00-CVadhOZidE0wRnJDn2zb95e9vP6ow0oh1qisgv_u3mx2iEbTnhMCjylck5v3y9rqiWiMg_00zLyZsh7sTdaTdHNEDpNY2oy1xF8FqkfQbax7sIiTiNb_nxf58iMZrCwcE70nTp9jTg2-kNjkyYUsUX1BoFGSJr2HBIu6N1E7V4oz92G_l8Jz1aamz7lD_t8U0NHWvZvtupC5jPz53xnQWQdDXv1e5_ikkpa4J0DrFCPrrFLeTrqCQ7RocE0A1xLvrC9sBMIUedwMp9S5j9y9rqnE7jNy-xNDE42ra5B168yPwQhYGv9ZbfCxxwoAhud_UwqsGlW4W61GihulF6d_7dd-9pnaVGP-iaiaXO-Ij9-GIFwWQvkkuQY4ubLzcsPejFpRjgMbgiIoxjyEcF3ZS0goSNGdXQBBIIo6vHg0L5EtOkVyDmbJNSjKiSJAcGbB02fsYlDR_BfrCupFqMyRtcjzx353cK59uhNPYhUsBZap9x-YHIGRTdwcGF6CD0t5KW158AzU53SJCpvBg_8vFsOjqMnd7APSZX8OIzAGvLsh3sYydROAGpaA6xyRYto8xJFCbfEttBwyUEMhZkC9I9xStsWV1Xy_4pKvonJh_7ENpblYx_f3VVPaG3UrNJ2662h0LJ-7F5ELNXtjp8N20Ed4akPnFkkdW4_hcJsKhRkjPsHhaPdk7fm0akDYxKWZ6tg9f055lGt8tpgxQ_0qhVR3mPJ1qr052pUKbfyNGSiYGV56xQkFhu1YvYpwt1zS3LuE2zyDkhfjSrYpNi5qATXpECVyixxD_RP9zDo96icr39qtnoTB-Kyvld134flsiGuSRzuk9qav_jMYCw7yu5zuJK10_kvIFLVCjLyaJcijHXAuHHz_UBrd4YXLI9lh5nxRdfIsXcPOkjpoqZLvTBCuA-LwfhQ3iXzzzhU__7BpEDxx5T7AC81XKKRs7W0kf_nlBNzbOskt28UNT5MKXvVHhlcX2boqmLBTHbtq9YlvO0C1Xwkjb0uZIYRrpBYyRFi8xJ6i_sLxg62PJK609YHy49SPOMOWHF-3BMwXo4Yz_iPIl5KUfU740A2YuqWQ3Hsx0GX7npwf5SFgj7TQsrlHr7l3WSOdCY698x-BaM5L4it3hWeuWDzKpfXO8mKo8YDizUwzH7EH2BKFh1wWjJHfKz9EhZ",
  "id": "rs_0a80943a61ca1c9c016ab44e94192087d081e3a8ad1b1c1a02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.2,\"right_z\":0.14},\"note\":\"The arm is now free, and the yellow fruit appears just left of the jaw column near the bottom of the wrist view. I’ll move about 2 cm left and 2 cm forward while lowering to a closer hover, placing the fingertips over it rather than merely the camera.\"}",
  "call_id": "call_0veEBefYysrWbV9p1ITmBCFY",
  "id": "fc_0a80943a61ca1c9c016ab44e95174c87d080b43552fe75c441",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0veEBefYysrWbV9p1ITmBCFY",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8284, 0.6132, -0.4931, -0.0135, -0.0338, 0.9947, 0.561, 1.8153, 1.544, -0.9379, 0.2493, 0.2878, 0.9986]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1525 left_yaw=0.0012 left_pitch=-0.1358 left_roll=-0.0004 left_gripper=0.9947 right_x=0.378 right_y=0.1903 right_z=0.1348 right_yaw=0.1057 right_pitch=-0.5717 right_roll=-0.1378 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.5385, 6.9402, 1.6044, -0.0317, -0.0317, -0.0122, 0.1846, -9.306, 6.5983, 1.116, 0.1392, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75ddac22466a2af0ee64b1f61cb8ff608fde2adec3928396ec73621f37203bd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b810fde1c1de2308ff3400bd56ffd2ecbf8175e740ccf6653c97edc7ea8f17c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f3fee20e2e533ac097538ab709a2aa595cb26ad7ac63273052e0ac2c06ed1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.6 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]: [-0.0212, 0.8192, 0.6132, -0.4839, -0.0139, -0.0338, 0.9947, 0.3103, 1.8481, 1.6356, -0.8875, 0.1303, 0.0639, 0.9958]\nstate[eef_state]: left_x=0.2823 left_y=0.0001 left_z=0.1566 left_yaw=0.0015 left_pitch=-0.1175 left_roll=-0.0006 left_gripper=0.9947 right_x=0.4398 right_y=0.1207 right_z=0.1545 right_yaw=0.128 right_pitch=-0.515 right_roll=-0.0921 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.3197, 6.9402, 1.663, -0.0171, -0.0269, -0.0122, -0.5402, -11.3983, 9.6068, 1.3162, 0.1343, 0.0904, -0.022]",
      "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]: [-0.0212, 0.8265, 0.6132, -0.4915, -0.0139, -0.0338, 0.9947, 0.5533, 1.7271, 1.6829, -1.0935, 0.2455, 0.2749, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=0.0001 left_z=0.1533 left_yaw=0.0015 left_pitch=-0.1324 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3693 right_y=0.1819 right_z=0.2029 right_yaw=0.1279 right_pitch=-0.5095 right_roll=-0.1053 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.7436, 7.159, 1.7021, -0.0562, -0.0415, -0.0122, 0.0342, -9.7436, 7.4735, 0.9499, 0.1783, 0.2173, -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 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]: [-0.0212, 0.8284, 0.6132, -0.4931, -0.0135, -0.0338, 0.9947, 0.561, 1.8153, 1.544, -0.9379, 0.2493, 0.2878, 0.9986]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1525 left_yaw=0.0012 left_pitch=-0.1358 left_roll=-0.0004 left_gripper=0.9947 right_x=0.378 right_y=0.1903 right_z=0.1348 right_yaw=0.1057 right_pitch=-0.5717 right_roll=-0.1378 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.5385, 6.9402, 1.6044, -0.0317, -0.0317, -0.0122, 0.1846, -9.306, 6.5983, 1.116, 0.1392, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75ddac22466a2af0ee64b1f61cb8ff608fde2adec3928396ec73621f37203bd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b810fde1c1de2308ff3400bd56ffd2ecbf8175e740ccf6653c97edc7ea8f17c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f3fee20e2e533ac097538ab709a2aa595cb26ad7ac63273052e0ac2c06ed1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6ZzAnZ2Q0HJKv2Nz7izVOdsrPCyPt4obHt4qOe5WXydajxcVfYm-haVp_yTs3m6dcFXVXdduaZYYiSdB3bhMxukupwHcjm3vuqv6ttqmVhbqfyNHB1I5N2KGjaKh4DT-FEnCl8w_8BsGPjc-K9mLj_ZlsNikFMIAHeiM7linJe56R5Xr2kC6QvydOr8nGluwgb925cMrcGGCF2en5R866yH303bIbcOZsA8KXHHmUmIVRFY33TT6AYjEBnFk1380U8JUbnDSW_MwvbO7vvHjjgrxDyKu3iYtT00HNXmmB5lgYfiBVrs3ztV4rOjnX_eH85DARZ-NzSU0zg_TtGlC1ZWLwFtngaN9m7xaSAHMkefUj5dCi84maLH7sXQVJ0tHSTl8KQxCLAlMWsUrWy68LW-kPAFG8ymz56t9pq5TPJDX0ztUVrN5mRl-6WzubCce0Z9KL2TSd23FnTgKplE2Xt3V5x8zksKWf9wwC4EWt0WP3N4gXgo8NtdIs20xlj3sVRCmHyCenBvEa6OIjtq9HIDGAisQYS13Vd6-cmke_ynCbQUgYBx25vSueOtn5mWzZz3v3_3-2d2bOqCaW0fGgsxUQhFV9b4UXHvVA8QZJ_eqf0jypZoaZ2VhqsTbiHu6B_HXPtCJMDhtEqJ2UFjvTorwMBiV_km8Sqh_lAq_gjW2U0dw1-JlPwI8aVUC68oJHXXB4nXU5p8m-p3wAaqVAn8pZtyLJIturmVBon4FIy_wYM3Lf2DpsqYyKqlbptjSvnT5wUs8RKrF6TNm7XVuiqfB0qG8Ic1HwQf7rlRSQG-_Z5xfsK_Vx9C89PoQij5pWRGJAXaOFQqmbhhZL1VSXUgmv-IbQ6LNv-n8vdxof7h4nqSJL8bQ-hWgji6XMPdMIJkx4ktoOEOtxeP5QB6ptmKhn2MbWKUlNx_oFfFXoGO5asqifD6abvtdeaRiSFKuXE6o87I3YW9lZUYOLAV22Zy77iCSGWVl166CI5PqS2GgHnteZ-WMzCecZVtVIER7hGKDzmNBuhLlgcBQpTD3eTAuzdzXC58wGNJt_dH8b9LMpfFWDWZPT_2hpHoBHIoVwlgHsOZIEtvrsreY3rVu_TuN6ZKMUDxvOrvFuudGF1OvgQQWUxmIXk-Fmqa1u0uIdbidjuoVAbFzMqsbi5VTkmLuBhZspA_DhX4fnYFbAKecE_zkVSrja1L5Y3zmRjolWIKRJ9YZ_IVEuBSVEB4XV_jtXQi_XplNWvSdO9iypEiLgMU84zRjSAQL2oPyvmeYiapmXrYx_Cotd0oivhDbXukUC7POoLNj-yhY_ShOsEjO4V5xVpYPCEXzk8gd0TnIsnBbKHt7k3CnXhETFEqrrwORwlsyxUUNhz71wWEBp_wX9eXSFE3n73W5m4G5oeOyY7W28stA382gmAvuA8Tj3lkg==",
  "id": "rs_0a80943a61ca1c9c016ab44e97c45c87d0bd69a0a376dd5f1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.225,\"right_z\":0.13},\"note\":\"The yellow fruit remains about 2–3 cm left of the jaw center and still slightly short of the fingertip line. I’ll make one more small left-and-forward alignment correction before descending.\"}",
  "call_id": "call_PrN5iOZXZ6CR9EwipOq4BqHX",
  "id": "fc_0a80943a61ca1c9c016ab44e98508887d08e250e1ed39d8514",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PrN5iOZXZ6CR9EwipOq4BqHX",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8314, 0.6132, -0.4953, -0.0139, -0.0338, 0.9947, 0.5838, 1.9778, 1.7355, -0.9646, 0.2535, 0.289, 0.9986]\nstate[eef_state]: left_x=0.281 left_y=0.0001 left_z=0.1513 left_yaw=0.0015 left_pitch=-0.1411 left_roll=-0.0 left_gripper=0.9947 right_x=0.4083 right_y=0.221 right_z=0.1288 right_yaw=0.1248 right_pitch=-0.5679 right_roll=-0.1402 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.2513, 6.9538, 1.6435, -0.0513, -0.0464, -0.0122, 0.3077, -11.2889, 7.0632, 0.6667, 0.1294, 0.149, -0.0122]\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:8d60398f5e780f2a4e2a571ca541f80355a06e389ed681eaf03599d5c7debf50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7a03204dbdd4cf1b0b5fc8ca84c38acc1e04d16c2c128a3b813dd17d5aa8dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9a9bd294bb9d4686cffd5ee2ba4ad08a6ae7e859fb6a3472b67c26d124f005",
      "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 · 4.242 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]: [-0.0212, 0.8219, 0.6132, -0.487, -0.0139, -0.0338, 0.9947, 0.3855, 1.7588, 1.5169, -0.8562, 0.186, 0.1493, 0.9986]\nstate[eef_state]: left_x=0.2819 left_y=0.0001 left_z=0.1554 left_yaw=0.0015 left_pitch=-0.1232 left_roll=-0.0004 left_gripper=0.9947 right_x=0.4117 right_y=0.1357 right_z=0.1541 right_yaw=0.0986 right_pitch=-0.4975 right_roll=-0.1005 right_gripper=0.9986\nstate[joint_eff]: [0.0479, -1.5248, 6.9675, 1.6972, -0.0708, -0.0122, -0.0122, 4.9709, -14.8718, 8.7316, 1.7118, 0.1343, 0.0855, -0.1538]",
      "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]: [-0.0212, 0.8284, 0.6132, -0.4931, -0.0135, -0.0338, 0.9947, 0.561, 1.8153, 1.544, -0.9379, 0.2493, 0.2878, 0.9986]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1525 left_yaw=0.0012 left_pitch=-0.1358 left_roll=-0.0004 left_gripper=0.9947 right_x=0.378 right_y=0.1903 right_z=0.1348 right_yaw=0.1057 right_pitch=-0.5717 right_roll=-0.1378 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.5385, 6.9402, 1.6044, -0.0317, -0.0317, -0.0122, 0.1846, -9.306, 6.5983, 1.116, 0.1392, -0.0317, -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]: [-0.0212, 0.8314, 0.6132, -0.4953, -0.0139, -0.0338, 0.9947, 0.5838, 1.9778, 1.7355, -0.9646, 0.2535, 0.289, 0.9986]\nstate[eef_state]: left_x=0.281 left_y=0.0001 left_z=0.1513 left_yaw=0.0015 left_pitch=-0.1411 left_roll=-0.0 left_gripper=0.9947 right_x=0.4083 right_y=0.221 right_z=0.1288 right_yaw=0.1248 right_pitch=-0.5679 right_roll=-0.1402 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.2513, 6.9538, 1.6435, -0.0513, -0.0464, -0.0122, 0.3077, -11.2889, 7.0632, 0.6667, 0.1294, 0.149, -0.0122]\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,$blob:8d60398f5e780f2a4e2a571ca541f80355a06e389ed681eaf03599d5c7debf50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7a03204dbdd4cf1b0b5fc8ca84c38acc1e04d16c2c128a3b813dd17d5aa8dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9a9bd294bb9d4686cffd5ee2ba4ad08a6ae7e859fb6a3472b67c26d124f005",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6db5zs1-NuK3pO3C5f9JZn3WqTBnB_QuzBhCP6SlD8_NrZGP3H5ANAClEod9yqJrur41Y4bLByzylBu68_FPxnIUy8zZQj2sIdXAVznNAaGsq7K-AOQP6SLZ3H-mQW9URy59Oc4pkuC8KL7QJi9r5tNyvoDHaIIHXEZATBsJkm8EI-eQq3FMuSteeB2YCvjbB7YypqExSb_l5KNcHW--l18IINY_DRVS1pjpHFh6Yx2PR5H2m2VNQZnVYffrFLeoQkWtm8SEcaFazTq9bo4CBTPMZzliAyEekyBV-Hd7n-hB8vkIldyM5eQl-gCdmONs9Dska-nRbAHM3A0YKUfdomNrdu1Yt-HJgbI6vcJKsNDITyCiN9QN2GzQbvTT1O-Gjhsd6j3qQzE2-Ji1VmFffnPgNcNeTFiwHKxhFl95M9EL6DzEWFKbrJ1_BT2n_RtL2TGPlODr6FtsnG3BDW7n8k7qu5urI-uBzE31f7Wh3Lh_WyV-XTz7C_eBcfmFGO0WdJDHTFVCsM-jt8isbrA-frY49w4ioC9-JGtiuZ06CjH_Ka1-y-jrok8fBCjfE0mX06ZXglKH36bc7IEFty7MocB4BWJqRuhuSk1BwiBGAe2K6BJgnrKBBoiAZcstKBOprkl6Ep9R2BnKXLayuzdb5M6Q7bjZsODVjCV86I13SgCDMTSQJq5IHk9zIQYuO4kHdvBrVxy5Ozdkzk9urqcTtvzqxyYU0v2S-m4_E0JwOq4nr2oq18Xm7-tqhkV5HPH9WoXltc4wp53YQbuJK5G-zVQf84b55mvyiSi8DxoAB1m6shGPARZwW2_H1hM_6e4R73KX3jzaflgLb-jTKYxTYm2CEv1yrQKw_l2ojzBIWP2VpxphIeMQYrMpK3tt-3WMGOsZk_yVkkwOUW66w7FCPvdrW2xmaGwlZLdD8HlSODQOsaDvO11c5HOhDB8bYmonyjvfJBb6zdTXYKihtvJat6FBWGmIsHBkv2ug0xFvEUi0ldSI9nI1h7AyBnZA-vJFWsPf0Zv9cXVYEDyEhKGT_z6eLcuDwCTPqKe5gN0dd_lqL_OCM81gVwnylMvhAwwx7Pl0qttXl6bKaUgZPfcQ2pPPBhCad0OXeeSbZYXLRWm72RSBZe_DEA4fBDEmEfWdp8DsjG9VFX1seUh_jWi3gafl2Ve9twibtrjDsqlT5ne9iGqmR6vis7yCCV30Z3TM9PEymju-i3HXKHDNIoa8EEnLrKB8PuZdMbNu7pF8oI_cS_h2H1CdQHuy0ZsjBRvTE9eCevPxg3oJeYFaPMT6ZshENBM6IJXbRZY_VPjvnHvcptzcftFNOINHilQbjMQJaBZ0j5Kcce8n4U3WDdEMypucZ_f4ErI4Y7WMCFIGiUoRf1ITejblc2JXUuQqCFfzwBr6n04sUUjxTBbZ-MteX9cyaqCKUKf7gvcWGIdLLjDTuCHraCgIWUGgda6eL1PFCZRfPTOSYJ2vl19X-82FVFSmuJv3JR8cGof7QRBZcj-6u2UQlfCGwu--n2AV5j8iWSjfVQ9dMKBAdFVCKdPW_BzmBShB332daYqmwcNHVhZw2q6R4q8GTpk9MlPAuT5nwn3aAhGEVmUPhuYVxyBwLnrmFk3qK52NxzXd3oPfFkuhXruxecnj9t2bKiptBAHSW2wSSPnZLlcjyisckgJpFbNv1zhPAxsdefQ3zqroAs487E-p4jf0JEcCpz_Or7BHEHAD_TFwsgpUqnwqMKRWR8f2_5rMXlPpkdo4r7ZTJlUdc5rWibuupJ6xa01Rgd8DWcLNE3lO5pseDG3HAzm-pWcPFAjq4u1fUyi8baNXl-saYBSnJPA5ZN09Q5lCcDamLvvFYLdgAf0m89m5Cct4a8Dv023M3q12nUXlaMbcfJ9lrKkfqz_KhAZp88_WW9JVJlpLo4SlkzjNt5bVFOvHOfi71hvJcoEq0Lg6IN3Er6CipdqLshbYvZZfD3VWtFDKJScCd5Oc6wUcOBxuowxUTFQQiwdjSniXiL9Fkn7p7LKt7yJV3In2l1eUYJ6MVmwBjJ7evl0a6kX8NKRFkofyA6-KhTmCVGIha6sdYp7nIsRHxFBJQgzYhxnZ_PofModOFqq92EE8cEDmJDrRgMacvEkq601OHlevDp25aALJ40JdQ3E2oZxOVMmQNfP8j1SsFXWQ4PIPXB-y0tduTHUJ0IKXAM-d-xM-kMYIheuhJ6t5mJqokAoYPNs7FagGXEpCvf",
  "id": "rs_0a80943a61ca1c9c016ab44e9a72a087d0806070872ebf3669",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.245,\"right_z\":0.025},\"note\":\"The yellow fruit is now near the fingertip depth but still a little left of center. I’ll add the final 2 cm lateral correction and descend to its mid-height.\"}",
  "call_id": "call_ZhwpA8GPuXuUg4ExSjzzBJag",
  "id": "fc_0a80943a61ca1c9c016ab44e9c645c87d0b7dd74cef0e3d2d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZhwpA8GPuXuUg4ExSjzzBJag",
  "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]: [-0.0212, 0.8322, 0.6128, -0.4984, -0.0135, -0.0338, 0.9947, 0.6254, 2.0937, 1.5318, -0.6888, 0.2577, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=0.0 left_z=0.1503 left_yaw=0.0012 left_pitch=-0.1453 left_roll=-0.0002 left_gripper=0.9947 right_x=0.4027 right_y=0.2397 right_z=0.0324 right_yaw=0.1366 right_pitch=-0.6036 right_roll=-0.1588 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.4564, 6.9949, 1.6093, -0.0317, -0.0415, -0.0122, 0.4444, -10.4137, 5.7094, 0.9011, 0.2564, 0.2173, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bccf3cee51bae082ce2602c3b0bca8d3ffedb863f03c2afa04d141377c270b12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021277ef21e59bf83149ab44cb813d0f21eae67e1673b8c2e6b9fedddb7e598b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0bf8cc6b1b7b1e5a742b7f4e72ac7545ca291b8bfd27ddb9481f5f51fe24107",
      "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 23 attempt 0 · /responses · status 200 · 3.844 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]: [-0.0212, 0.8265, 0.6132, -0.4915, -0.0139, -0.0338, 0.9947, 0.5533, 1.7271, 1.6829, -1.0935, 0.2455, 0.2749, 0.9986]\nstate[eef_state]: left_x=0.2814 left_y=0.0001 left_z=0.1533 left_yaw=0.0015 left_pitch=-0.1324 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3693 right_y=0.1819 right_z=0.2029 right_yaw=0.1279 right_pitch=-0.5095 right_roll=-0.1053 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.7436, 7.159, 1.7021, -0.0562, -0.0415, -0.0122, 0.0342, -9.7436, 7.4735, 0.9499, 0.1783, 0.2173, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0212, 0.8314, 0.6132, -0.4953, -0.0139, -0.0338, 0.9947, 0.5838, 1.9778, 1.7355, -0.9646, 0.2535, 0.289, 0.9986]\nstate[eef_state]: left_x=0.281 left_y=0.0001 left_z=0.1513 left_yaw=0.0015 left_pitch=-0.1411 left_roll=-0.0 left_gripper=0.9947 right_x=0.4083 right_y=0.221 right_z=0.1288 right_yaw=0.1248 right_pitch=-0.5679 right_roll=-0.1402 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.2513, 6.9538, 1.6435, -0.0513, -0.0464, -0.0122, 0.3077, -11.2889, 7.0632, 0.6667, 0.1294, 0.149, -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 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]: [-0.0212, 0.8322, 0.6128, -0.4984, -0.0135, -0.0338, 0.9947, 0.6254, 2.0937, 1.5318, -0.6888, 0.2577, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=0.0 left_z=0.1503 left_yaw=0.0012 left_pitch=-0.1453 left_roll=-0.0002 left_gripper=0.9947 right_x=0.4027 right_y=0.2397 right_z=0.0324 right_yaw=0.1366 right_pitch=-0.6036 right_roll=-0.1588 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.4564, 6.9949, 1.6093, -0.0317, -0.0415, -0.0122, 0.4444, -10.4137, 5.7094, 0.9011, 0.2564, 0.2173, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bccf3cee51bae082ce2602c3b0bca8d3ffedb863f03c2afa04d141377c270b12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021277ef21e59bf83149ab44cb813d0f21eae67e1673b8c2e6b9fedddb7e598b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0bf8cc6b1b7b1e5a742b7f4e72ac7545ca291b8bfd27ddb9481f5f51fe24107",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6hxa0tQWD57VfR8RpDactULV21Hd5K4shQ33nYGGG7DbGp7_-CDAzNH4puDdTTNRaEQnKg8QK6mIL7OYfWg6A6X4mihro7LAl-jJp1-9efZ3C5SEtAQJprcNfWgzCUSUUY00mUWgCo_njemkEU74SNmGAdWJRTCTy4saBG_e3delu92LGrdzveZtP3hiwF9e0EXMqZTLoQTgxxCJFOY-QMtdopvC4k4Mdqu1ZiFYgFwHMMOZTXj7nIt1agxPVzdSFGjLrzjS1Ovg0PcE4aBqlJcEFVaxGFYLR7n5DoF-fi2-IjEF7rv9xC7cDY3PFLArTsKzkh6BWVUkCWaeusUNDIOD6wwlY_cvlM6dfbnVWLZ408QUM1j9dtVYTzi_sczdbZKcYAQv9F-x4eDSGq98iYbRKrOAX4VSdvrLpm_OOlAazDrxTj0A7bwqVG2FhRuD0GgFZ6swArAlUOZ6Agb5OhKNNeeKYuEnZQBYAU6pUYIrVV5ZYpEF_CCAGyj5ej7xvGSI-QpntQxAwooSVvqI6Ahc3_tB36hisbxWJFlyNFSIF6dK8yBnY3TiaeYSH8aIT9p4qjbiOQ4K-U9std3WIJLI163truu3zVDwAeT-neJeY70S43fsBhoGOuK306m4Duu-7ZwgUyPN8KDJK_25NtLDfwwiAcOPwid0TnrBz1KchNgHcIvC8tytWNmSGaJPPbGNaTzvmrXUsTF7CrD9NuAoI0zMbT3thuDMi2ZwHyrTFh8Hr35SDLeYYbgbsF7UT3lu1DGb3P8phgp5EAbg1_-DZKgemIypKGnVLaLbSaw4rHS4cuVpmrn4fyvqwaRykJkBV4QIdQposUjRJZk8iN0fb1nO60F2Sn0W64ntUHGnm6eoOtZfQFu3skIMwTCD99CuXapEjZli0E_L9SLGCKMbCr0RO-vRmUumzMlpj5H6QKKjUrTyCw09dUbrGSSTDjY5dl-kf-mvi-KUjhGlwJSwfFS-Zru4FhFj_R5kV2MqvfEDCRMaf5eGj8NtNt-x9-hTnftM4NZ4QPaoLUDStFZKCp4Ik4kr24XIr4i7EyE7ma5IX7m15VnssraAN3nREsyOSuJHJEbzu2hDpUoAepl1NXKL-OKdCnG2yMuK_MMsIvthuU-k5Yq0JbOMlrmuLBc15IU5NxBH79Knvj038rcr-g5-wGXvdb9kOw7Ruy3q9JGV4CYGxtANdOy3cGTyFwJlDUyu_Dx4E-wc83Rog9_-E04n80apf2rHJb7NRYNo-oVbERVmyP6K94P5_I6a2R9SKwih-ZgcFngM_6ANZUHtH3G8qlJN93w1xCPan8zoE4eMtu5zZS7Hyhl8KpV7oS5pPWLO18OoimAQOPTBp41v0R_cdDwzAN_AQ6Rh_RgjfMWQlAyOUU2Z21AnPA0EVp_Hc0nq0mPauENiZySnKeWqUsO3G-k96TRGWTWj1sQXRxWjfG8gOFerPReBiWqikDmVpWEcn6b6dIxW0osfzjXj8rh-_YJP3oDpDC163YmVNDa7GwTEbuZBV7GO1jq4v2vtK3Px7lXDTug7H6LEQ5eS6-bnYM5imT1ifsFKx7PF60B7lwpkbs66HLN6zg9O02ARzPaFsGZkutgZwZRiIiCbWQAmlwPHZyIynDVKRbdC0QcRz6C5UJYIYDeXqCSe9qLcUtNL-U1t24F6gBrYTXhFlXFefGUmJgAsDAK7QnQ9F7WTuaRKDruqa0mRJvaThjBOrDp2On2-vi34GWhNW0EYp3CU17h2RwNLBavolhLBXH8Puk9_8Yve_GGs9kK-KpqI4XdrveOaM4Pjo4ea8sFk7TLD_oZqLYRdScKnzT24yJeRU35ni7Ste47yms94xeKHQBxhVcFPftFG9jOjPQKBWSom5HHjLh7FFIC08N9IbBLPx6ZhSBohnlXqWIT8605SCR75Kb26-Z85x8KVyQY3Aadhezqszfn3X_e1bBZQxW-KP6bNG_XxZ1-iwM12CGS6uvYR8BnUfZwAdCPWCZcQ==",
  "id": "rs_0a80943a61ca1c9c016ab44e9ef42087d0bab22bb82c6a9a0f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.23},\"note\":\"At grasp height the yellow fruit is at the correct fingertip depth but sits about 1 cm to the right of center. I’ll nudge the gripper rightward to center it before closing, important because this fruit is also rounded.\"}",
  "call_id": "call_hNUaxuzivNjnnNoM5tn2mXrP",
  "id": "fc_0a80943a61ca1c9c016ab44ea0ed6887d0b78e27bb899be2a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hNUaxuzivNjnnNoM5tn2mXrP",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6132, -0.4984, -0.0139, -0.0338, 0.9947, 0.6266, 2.1197, 1.5188, -0.6472, 0.2577, 0.3149, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1505 left_yaw=0.0015 left_pitch=-0.1449 left_roll=0.0001 left_gripper=0.9947 right_x=0.4051 right_y=0.2421 right_z=0.0199 right_yaw=0.1346 right_pitch=-0.6007 right_roll=-0.1544 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.2923, 6.9265, 1.6435, -0.0366, -0.0366, -0.0122, 0.0205, -12.0547, 6.0923, 1.1111, 0.2466, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e4cbc00dc2aca436d5d0915aae71f6ca7e9eae8e79cf6370ee51802e6755e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a37c7f2142c8d8786436018e8e1caa102674a3c171828357d523ec849ac65f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b0dee53050383c611e0eae7f203ae377960ad0eedcf2d400e63ceb05827b1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 2.391 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]: [-0.0212, 0.8284, 0.6132, -0.4931, -0.0135, -0.0338, 0.9947, 0.561, 1.8153, 1.544, -0.9379, 0.2493, 0.2878, 0.9986]\nstate[eef_state]: left_x=0.2812 left_y=0.0 left_z=0.1525 left_yaw=0.0012 left_pitch=-0.1358 left_roll=-0.0004 left_gripper=0.9947 right_x=0.378 right_y=0.1903 right_z=0.1348 right_yaw=0.1057 right_pitch=-0.5717 right_roll=-0.1378 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.5385, 6.9402, 1.6044, -0.0317, -0.0317, -0.0122, 0.1846, -9.306, 6.5983, 1.116, 0.1392, -0.0317, -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]: [-0.0212, 0.8322, 0.6128, -0.4984, -0.0135, -0.0338, 0.9947, 0.6254, 2.0937, 1.5318, -0.6888, 0.2577, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=0.0 left_z=0.1503 left_yaw=0.0012 left_pitch=-0.1453 left_roll=-0.0002 left_gripper=0.9947 right_x=0.4027 right_y=0.2397 right_z=0.0324 right_yaw=0.1366 right_pitch=-0.6036 right_roll=-0.1588 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.4564, 6.9949, 1.6093, -0.0317, -0.0415, -0.0122, 0.4444, -10.4137, 5.7094, 0.9011, 0.2564, 0.2173, -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]: [-0.0212, 0.8322, 0.6132, -0.4984, -0.0139, -0.0338, 0.9947, 0.6266, 2.1197, 1.5188, -0.6472, 0.2577, 0.3149, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1505 left_yaw=0.0015 left_pitch=-0.1449 left_roll=0.0001 left_gripper=0.9947 right_x=0.4051 right_y=0.2421 right_z=0.0199 right_yaw=0.1346 right_pitch=-0.6007 right_roll=-0.1544 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.2923, 6.9265, 1.6435, -0.0366, -0.0366, -0.0122, 0.0205, -12.0547, 6.0923, 1.1111, 0.2466, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e4cbc00dc2aca436d5d0915aae71f6ca7e9eae8e79cf6370ee51802e6755e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a37c7f2142c8d8786436018e8e1caa102674a3c171828357d523ec849ac65f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b0dee53050383c611e0eae7f203ae377960ad0eedcf2d400e63ceb05827b1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6lT2Jno3mARjyAOGLdTJFFvenZvktT4WT85TeSSM_vyCZwBxeeGV4Tabsspdv_UbPUPRTobdcjybOJ8YsuE-HsHO8pjmV1x8KQt8BzPRfK09AqMFsL-3XptkQHq_YDR_yVutSP2LPQWkrSi75SSGa9Jrv2WNtRZhmEMQTUf9CS9rvUzHOq8UvAxIv4pbSdBxbJdHfIUihwkxDMeTD9sx_DpvIvbUUOiR6G1k8JFICOuKkF4VxHPaR4Ny64ff4LyMg4TjaiOI2Azaq2grcRvzbJuuxhmQa2e8Xf7CZYYz83xNQeADL5m0bRKx4dRN3-YpMoobdKgHDop-v7zENsos--MLxJdLwBUxSoln39y2lNBG6UOec6tK3Vw7L6IEusnM34ek0u5I2oEIg2dvntihGyQdLHhaMqyyxBvIF7mVcH9KLV5XLZiwO5f2ZUFbVtMSPA46UxVDTyMQO9rGUgUhTaOBNFGszIL3y_82fwAepHc6pIWq0WqSNZpd8wZGYLlRo0NobXpa6TinoQkSzd34bEhis6Jpq6N-seabB0h4xERbRt2ycC5MYnRAXvJNI5yhpdXB06eqI4b-pF5I9RmERtP7wFDKz0RzNhDUl2U95BoXprxjFG2nIcFex_f_lNC56mIBCCx9izd9E-CR1xZPkUT5XY81c5TQBQeUZe1Nnqmpg0MbqDFeICPO8uV6_Dl93A7-jy9MLkCKCrkoi9CSczWsqGkLj9SJBs37Lp0JI2PZRdHrrSzjaYF2Q2x-zWIZnfltG7N05iTz6kzA6pEnoNQ86KuLyATvzNth1JsU_eYzOWwZN2pm7wS-ov5or317jV0tinRrksovlwbae7V8_seC90VYK5RK3BP8z2cBO5ofWeUDRkck9TpJlsxl6TaAfMVit4OAA7hM4nFEDUn2YHOyOkfF8hxciD--GSWeUd8ZOPMhjz_vYmcjcfi1L4zVL8pKU1VuFIofWeJKCjEOZjrxnFdwPscNQ0uxG4i0nDI0eyTf9XY_ThNqDKirCE1dqfotgZpb2KWcX4QLJ6Nr4lpoE_3ojbe2ALWRdMTy7xifTRwctry6EL2inl46IDa-LGrGJpW-6g0ZYOhojKp0GGvrylc44wqjwUWkRLseIzgH0OleVS2rB4cNWG5k9i69VDPP0QHSTohF2rDhxx8X0d3Kl3sotVgact1eYgmg1DY9UvYhpIbojFjhn_AEoYDEHOgt2aRdUi8edBpSuzWpqGMD1KMs6HGxyOlp1tskQAsgDxSnWogBJBIk08nCo3dnDP1TTbWFErblYVM8kV7WTb9ekuCuUVbMnHu36qOZFc3SfcT3yJRXDCeDqD9Cbx2pibHCIwSdUJh8Pn9PMUQ-G52hmS9yxqUvtZRJcjm7wqPS2DwLG1EJoZaSAjmg41zNScmx7X7j5mihvDpqwtXUKzppK7HdYHAVz5j_tr-wzLxoT0qzXIOMaHtxkIqFipZmMeD4Os6mKFFH1Z1nfU-3a0CRPAap3fXwU2pEyxqD-yUoleBg5uy6P7GsYJq9eRjI16jMkTXfa2vi_K2ceXtfhYMt25MowFqDc4auaZDJt8GyzWzzXpQjxibNhYXhAg2qrnA7ys_lDiRM2_aAoIgU8KXTzuqvcldqm64nx7aRvRlrlMT-CQuOg_mRMYAxoHazEVX2Ee1j_9_IoyU7BX3SPiAg==",
  "id": "rs_0a80943a61ca1c9c016ab44ea3420887d09589295e24d2b666",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The small lateral command was distorted by the low-contact pose, but the fruit’s body remains between the fingertip ends. I’ll close to a moderate target so contact, rather than excessive squeezing, secures it.\"}",
  "call_id": "call_HjTjgGdPm2HnEBbUmY4iOjxA",
  "id": "fc_0a80943a61ca1c9c016ab44ea4743c87d08e41632c9cd9f0c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HjTjgGdPm2HnEBbUmY4iOjxA",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6132, -0.4988, -0.0139, -0.0338, 0.9947, 0.6262, 2.1075, 1.4994, -0.6548, 0.2539, 0.3069, 0.2545]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1504 left_yaw=0.0015 left_pitch=-0.1453 left_roll=0.0001 left_gripper=0.9947 right_x=0.3993 right_y=0.2385 right_z=0.0186 right_yaw=0.138 right_pitch=-0.6162 right_roll=-0.1628 right_gripper=0.2545\nstate[joint_eff]: [-0.335, -1.2239, 6.9675, 1.5751, -0.0806, -0.0659, -0.0073, -0.3077, -10.441, 7.6786, 0.9206, 0.1929, 0.0415, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2078c10781b2d3f860d47a557f1f9336418bb6d31a720c21a7344df1022337f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:090f44caaef4067eff546753489d46281025d2b4c5d7aacee8c5e2fefa871e60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f02259c52b169f7cd21113e1fd95b0772b90a88cdaade6cb05ec6735620f8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.339 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]: [-0.0212, 0.8314, 0.6132, -0.4953, -0.0139, -0.0338, 0.9947, 0.5838, 1.9778, 1.7355, -0.9646, 0.2535, 0.289, 0.9986]\nstate[eef_state]: left_x=0.281 left_y=0.0001 left_z=0.1513 left_yaw=0.0015 left_pitch=-0.1411 left_roll=-0.0 left_gripper=0.9947 right_x=0.4083 right_y=0.221 right_z=0.1288 right_yaw=0.1248 right_pitch=-0.5679 right_roll=-0.1402 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.2513, 6.9538, 1.6435, -0.0513, -0.0464, -0.0122, 0.3077, -11.2889, 7.0632, 0.6667, 0.1294, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0212, 0.8322, 0.6132, -0.4984, -0.0139, -0.0338, 0.9947, 0.6266, 2.1197, 1.5188, -0.6472, 0.2577, 0.3149, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1505 left_yaw=0.0015 left_pitch=-0.1449 left_roll=0.0001 left_gripper=0.9947 right_x=0.4051 right_y=0.2421 right_z=0.0199 right_yaw=0.1346 right_pitch=-0.6007 right_roll=-0.1544 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.2923, 6.9265, 1.6435, -0.0366, -0.0366, -0.0122, 0.0205, -12.0547, 6.0923, 1.1111, 0.2466, 0.149, -0.0122]",
      "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]: [-0.0212, 0.8322, 0.6132, -0.4988, -0.0139, -0.0338, 0.9947, 0.6262, 2.1075, 1.4994, -0.6548, 0.2539, 0.3069, 0.2545]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1504 left_yaw=0.0015 left_pitch=-0.1453 left_roll=0.0001 left_gripper=0.9947 right_x=0.3993 right_y=0.2385 right_z=0.0186 right_yaw=0.138 right_pitch=-0.6162 right_roll=-0.1628 right_gripper=0.2545\nstate[joint_eff]: [-0.335, -1.2239, 6.9675, 1.5751, -0.0806, -0.0659, -0.0073, -0.3077, -10.441, 7.6786, 0.9206, 0.1929, 0.0415, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2078c10781b2d3f860d47a557f1f9336418bb6d31a720c21a7344df1022337f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:090f44caaef4067eff546753489d46281025d2b4c5d7aacee8c5e2fefa871e60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f02259c52b169f7cd21113e1fd95b0772b90a88cdaade6cb05ec6735620f8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE6ozOVLs8S73HKQDwM8aUdahUC36ChuyO_16LKW3MoaTZBYnNGE4e-8AIRkZMOObuDrHGemyN5uHmvf_NweF2xZuMbsXRWb10IQhY018wLviHfPQRtpTOd5LSsUcGydriWah4YpCDySrDzJFOguyD_z5cm5AZ9zUtex9_0nXS92doPi6P_uSpU2wt-z7Lj29B8_jd3qw3ppgWLbAw7buTXRctW3utXfb7NATEFtHpcHsYMJc3tjYkvrnpjw5UoYiY-vhlUdvwZKsDZqb_gXqNqgzaHY14XXf5fHj-SsxW1OEgrHqdDDJ-XgA-x4LaMoWxPN5Onf2PE2RkD9vtJQAxCCGSyVlsVn33HMUEz6GG59vz5y_dBVBCTVf5S7NTZklA29nwHjDvfPZqwk6OAt3xjvr5Jl-SXbgDKyUtCvKylN7FysYTd-LilhefYhuxcHaLtEx-9ggv4zXY3VCg4CyTKW4xPYnMm2ARWLd1-X3yGqIX31JDlpIXib5Dkf_zdE8cGZYtHnpagMl0JGraFoxrD8OvCxfq0hhIl7mmLHFKrf5bupzkWXBYoiLresRDlVwrOR-w_SdCSyqVhktlHy0213zuT4FTh0JsLaLIV_jQ4RJS3irT0QaDe9mTuHbEO1TR1KmLpsN76rvt8DBr6oxibt5sRTBZTZd1m8Z7gUTfHxEtWDEuGJy_4r_JQXcQRLAXtp9Hdkf5CaliJQQk3yPXb8KeOA8uqwFdvf-mftKuWtml_lhu0Gbr-wQjBAFe5x-9tSK5xP5zIxESrA-Y-QoLeD5X6IgceDq0t_pcMS0wH2wXNmj0Xi-4ZYQiSHOBjYFNSkf9aCAaYRvQylBhxcye8PiwzyjXj7CIQVonceybF813eB1iPXKI4R8ve8NfYgWRZgrKjCB7DXWqeQiefhgFE90XedwxTyzjfV5kNItL-ScjDwcUx4lN_U-HIwSDpC3BIApsCFrO103rLvgjw3HIsodfK_06gxDuTNpHcQ_AhC3l3TNUHrKl9OCJTp0vrHVbFyavQRrfI0xsEb_2NMt6u2EJTwH4R1ljIsEta4fzyD4jd_PxF7t1Y_Noj-icoO0kYOAxsRu0qCsNdBXetLFUPgcVPJ5JEZFKZrl30LSNrjB0q3ve0Cr4RHVyAH_KoiIiG02xluI3nelJLfJNYmIBfqNFvg76GodMZ2eO6cBBfA7jLLTXWcTQ2laAhkuT_KdBL5lM0NzMg7DjdMTDvZ9r_CGup04YQduao-8xyBBvcMF7_tr70hDDSl0ye_W01NSWnq9gJ6bnQ2GdVE0bUrdGv1xXb9j0XoPxVHTzeacjbisIddmiWsc918k_8ZB2gZimkw907xjxVSASwx-AKtzdaDWwP9U1imkosCjwEEBzIcS-Y=",
  "id": "rs_0a80943a61ca1c9c016ab44ea799a087d0acc0c29426dc7496",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The jaws reached the requested width, so contact is uncertain, but the yellow fruit is visually enclosed at the fingertip base. I’ll perform a short lift test before deciding whether to retry.\"}",
  "call_id": "call_7Qvepo4tdyVTOdRVbgxRIpfK",
  "id": "fc_0a80943a61ca1c9c016ab44ea8272c87d0901e5d17adaea741",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Qvepo4tdyVTOdRVbgxRIpfK",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6132, -0.4984, -0.0135, -0.0338, 0.9947, 0.6281, 2.072, 1.6619, -0.8768, 0.2543, 0.3035, 0.2537]\nstate[eef_state]: left_x=0.2805 left_y=0.0 left_z=0.1505 left_yaw=0.0012 left_pitch=-0.1449 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3985 right_y=0.2389 right_z=0.0696 right_yaw=0.1336 right_pitch=-0.6375 right_roll=-0.1788 right_gripper=0.2537\nstate[joint_eff]: [-0.0889, -1.1692, 7.0769, 1.5751, -0.0513, -0.0415, -0.0122, -0.1162, -14.8581, 8.0479, 0.8278, 0.1929, 0.0122, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33bbe15e08bc53abced14884829403237bd4ab58aebf7e2c08a20ed2e0f788dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07f4ea4c0b9bdc1d137d73b2ffa942fa4907ab20fd72b5f452f5decc93e399c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f818624cd4805470a7a4498e56132d8ff4dd4766907fdf509ec2b57e595195fb",
      "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 26 attempt 0 · /responses · status 200 · 3.392 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]: [-0.0212, 0.8322, 0.6128, -0.4984, -0.0135, -0.0338, 0.9947, 0.6254, 2.0937, 1.5318, -0.6888, 0.2577, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=0.0 left_z=0.1503 left_yaw=0.0012 left_pitch=-0.1453 left_roll=-0.0002 left_gripper=0.9947 right_x=0.4027 right_y=0.2397 right_z=0.0324 right_yaw=0.1366 right_pitch=-0.6036 right_roll=-0.1588 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.4564, 6.9949, 1.6093, -0.0317, -0.0415, -0.0122, 0.4444, -10.4137, 5.7094, 0.9011, 0.2564, 0.2173, -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]: [-0.0212, 0.8322, 0.6132, -0.4988, -0.0139, -0.0338, 0.9947, 0.6262, 2.1075, 1.4994, -0.6548, 0.2539, 0.3069, 0.2545]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1504 left_yaw=0.0015 left_pitch=-0.1453 left_roll=0.0001 left_gripper=0.9947 right_x=0.3993 right_y=0.2385 right_z=0.0186 right_yaw=0.138 right_pitch=-0.6162 right_roll=-0.1628 right_gripper=0.2545\nstate[joint_eff]: [-0.335, -1.2239, 6.9675, 1.5751, -0.0806, -0.0659, -0.0073, -0.3077, -10.441, 7.6786, 0.9206, 0.1929, 0.0415, 0.149]",
      "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]: [-0.0212, 0.8322, 0.6132, -0.4984, -0.0135, -0.0338, 0.9947, 0.6281, 2.072, 1.6619, -0.8768, 0.2543, 0.3035, 0.2537]\nstate[eef_state]: left_x=0.2805 left_y=0.0 left_z=0.1505 left_yaw=0.0012 left_pitch=-0.1449 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3985 right_y=0.2389 right_z=0.0696 right_yaw=0.1336 right_pitch=-0.6375 right_roll=-0.1788 right_gripper=0.2537\nstate[joint_eff]: [-0.0889, -1.1692, 7.0769, 1.5751, -0.0513, -0.0415, -0.0122, -0.1162, -14.8581, 8.0479, 0.8278, 0.1929, 0.0122, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33bbe15e08bc53abced14884829403237bd4ab58aebf7e2c08a20ed2e0f788dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07f4ea4c0b9bdc1d137d73b2ffa942fa4907ab20fd72b5f452f5decc93e399c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f818624cd4805470a7a4498e56132d8ff4dd4766907fdf509ec2b57e595195fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6sfk1I837bw7f7l2cC4q2DJhowXJfwaLFHNiThSLBHD7kmITHWO6dEzqOfjmtQiykxLBM1k4w1QzU_CiGQg8VutEaK20dmRERxKiMub2Ap8fji1VwvbDE_BnpXHvKOANMGNMcZrH7eOjP6uKeBcm9SP9tAWw_QVo3qXB4mp_FpayNfleETWZguRQ11gwZ40vTk5W262WshBe3Dp7JkJdUDMsuHrAwXt8cSXVHG4qR0_0dQh4RenGPfIxB9OqRHRMuHp3_1ESJ1l1MVhBa2tF-qsRJw_58pO47F4MMVWu1AcV1nwPXyLdm-mDE0wVxhgk_y989iRhlvmD44QACXGAux93pEIQxB8R9o5zjgE7xgV411mFzZF5LDtlUZEsGhjqThCk5K8Vpv3Mv23cQkMgvVGY5Vy06U9N8-2NdZtXZU-_5f4PwNqEAcfwZmKx0_ZvR3s0CE2FcgLzfWpP2cXrbB0rohkSgVZE9jkOTWX2fvFxCo2AjnlRHl7B4Mxhk0ec0MK6zGOTxL-SMz89oX86ZAa4JTSGmDXZzmZNgb-Jyw4EqZjhsIGc3beVTLwKlzW-IqHFWrODMyWAHq4Llr97FPQMqv62oKAMhZ-mSigBZmjPLLBlbIgdwsE-KV-POUyl8xCgpGeiJ9-sM7xpLJcynu2TEosac1erTnxk68CsDcniuCtifSUp2NPqV0bZsudEQKJ2VX02de_Lcbwt75zPO8WsWrycNN3C_OTYzyrhLVdkPTG1l2Og9cTLE0R1CB9RQIOpJojAdua3OB45V3Mi5F6SqWzwQjr4GJFK3k8XQdyXAfUTEaa6dPGAg0x6MpIEkKXohEh5zYX3_lAnKGOlvqaNyPWK4Qh_o1F1WWt3gC8Gvi9cIM3P6O1KjZvgnfNxI-ChWl96SBjXzvPKbawByFGJ7tVFHf9ikfnXxficMTDtE-Xk2_6R8pB7Qq8tmWrLJy5xYcD1QZ9Eq3Quptyd6tN08UbGQMDZUJhO9ye4NzhTYD4fvGxrDml6UO2uwU-tX0ohsyXYYmy00d3d3lI20vtFvH4sNiFXUZErnnBqugq7EUgyBGrCwiCx8MDvnfKeXiHezFL1nz7aixC4pOS-_s5yRT15r5ya6c1_FYdqyfgsQgVWd_Auy7hsNN4LxQfhM3OzvIxfpEv66J6aeBt-IBupud2sl_fYyE-6B7AS__9afDMy5ogi7wgJ9AeXJYrBdDEzOZz_WKppVNUWWq5t2FNi60TPyRZHjM_shRm4J1tEChVHyf4_sQdALlSH7YEYJGLse56DFASDxQIHyMAIHjNjcEuIeG-JIPcJZra3xHaf_wN8Y10vhoXUNUQlhP_S5yoUwpIX4rWxuxVys1DVhJN9C2Gpcfx2K9HtDMAT4uGGQwX_AM82S1BrwIB7fLsgLyYGy4paDHqkNZOgJAvnxr15KrVOdL51b1GMmkGvfD-hpThnL1F8wwp4ba1H6Ga2X-DR9O83SejXmuFCHp216ntFbDl_cc2AnWjx6049IG6qSllnIKdU5Eue5ypo-qSah5KX1IWK_WI0z2xPpydW7h_KBX9WP5SRK2VkRLZ6jXpSAIeOsZMrGtnnuwe5eI1iP6lzvC15nmVb-4Pk_ccxBRS61_HJtDDZDe_jPW_U60NjuRdHnyb3coGAmc87FcvZ9DhS6TRO4ZDTu_jQx8VA4P1lpFgT9bjr9P9tiKjJ8QwgaLw2V64EsnMjZjSMrko5gm7G26WHR2hvQc2F-I5mc27a162uZVDD0QC38uS1su_TI0PTSNd84EdyayUE77EZGjBeye00MFaRrvWzNntPFKCQirxQvS83Ig099f0nsWGh8x0E2XDE4eyQHEXZwUZ2efQ5TWKPl7bOHj_IdUeSj9IhMgFc-EpwfyVQ1Z9JNOKKo=",
  "id": "rs_0a80943a61ca1c9c016ab44eaabf9487d093d23894bc0c655a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.12,\"right_z\":0.19},\"note\":\"The yellow fruit rose with the gripper and remains enclosed between the fingertips, confirming the grasp. I’ll carry it high to the blue bowl, which is forward and to the arm’s right from this pickup.\"}",
  "call_id": "call_OJs08ahrXGJBHYUo61Zt7ky0",
  "id": "fc_0a80943a61ca1c9c016ab44eabfbb887d0aa85beb138bcff83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OJs08ahrXGJBHYUo61Zt7ky0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8333, 0.6132, -0.5022, -0.0139, -0.0338, 0.9947, 0.3382, 1.982, 1.9095, -1.1587, 0.178, 0.0265, 0.2535]\nstate[eef_state]: left_x=0.2799 left_y=0.0001 left_z=0.1495 left_yaw=0.0016 left_pitch=-0.1499 left_roll=0.0002 left_gripper=0.9947 right_x=0.4388 right_y=0.125 right_z=0.1662 right_yaw=0.1159 right_pitch=-0.6375 right_roll=-0.1931 right_gripper=0.2535\nstate[joint_eff]: [-0.0615, -1.388, 6.9538, 1.6239, -0.0513, -0.022, -0.0122, -0.3077, -12.6291, 8.1983, 0.9255, -0.0464, 0.0562, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1567fd83d14e55374d545d249da5cde8dc691de4bfd2c8bfcd6c7c06ec7ac3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e0ead9e39dadbae11d7aa4dcb095740082117b9b4fe853709fc2306476b4f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50186d98d3cf6ad4d64b83d8772f37baf55e23d7f29d211d85067c9f17a64aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.082 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]: [-0.0212, 0.8322, 0.6132, -0.4984, -0.0139, -0.0338, 0.9947, 0.6266, 2.1197, 1.5188, -0.6472, 0.2577, 0.3149, 0.9986]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1505 left_yaw=0.0015 left_pitch=-0.1449 left_roll=0.0001 left_gripper=0.9947 right_x=0.4051 right_y=0.2421 right_z=0.0199 right_yaw=0.1346 right_pitch=-0.6007 right_roll=-0.1544 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.2923, 6.9265, 1.6435, -0.0366, -0.0366, -0.0122, 0.0205, -12.0547, 6.0923, 1.1111, 0.2466, 0.149, -0.0122]",
      "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]: [-0.0212, 0.8322, 0.6132, -0.4984, -0.0135, -0.0338, 0.9947, 0.6281, 2.072, 1.6619, -0.8768, 0.2543, 0.3035, 0.2537]\nstate[eef_state]: left_x=0.2805 left_y=0.0 left_z=0.1505 left_yaw=0.0012 left_pitch=-0.1449 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3985 right_y=0.2389 right_z=0.0696 right_yaw=0.1336 right_pitch=-0.6375 right_roll=-0.1788 right_gripper=0.2537\nstate[joint_eff]: [-0.0889, -1.1692, 7.0769, 1.5751, -0.0513, -0.0415, -0.0122, -0.1162, -14.8581, 8.0479, 0.8278, 0.1929, 0.0122, -0.1001]",
      "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]: [-0.0212, 0.8333, 0.6132, -0.5022, -0.0139, -0.0338, 0.9947, 0.3382, 1.982, 1.9095, -1.1587, 0.178, 0.0265, 0.2535]\nstate[eef_state]: left_x=0.2799 left_y=0.0001 left_z=0.1495 left_yaw=0.0016 left_pitch=-0.1499 left_roll=0.0002 left_gripper=0.9947 right_x=0.4388 right_y=0.125 right_z=0.1662 right_yaw=0.1159 right_pitch=-0.6375 right_roll=-0.1931 right_gripper=0.2535\nstate[joint_eff]: [-0.0615, -1.388, 6.9538, 1.6239, -0.0513, -0.022, -0.0122, -0.3077, -12.6291, 8.1983, 0.9255, -0.0464, 0.0562, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1567fd83d14e55374d545d249da5cde8dc691de4bfd2c8bfcd6c7c06ec7ac3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e0ead9e39dadbae11d7aa4dcb095740082117b9b4fe853709fc2306476b4f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50186d98d3cf6ad4d64b83d8772f37baf55e23d7f29d211d85067c9f17a64aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6xBYJ3tf6RDoFKsldoAhqzZBJ-iW17o7_bka8phRcQV3hkF8v6sg6mrBGTcZuXHttXssj7dGwcHBLRLG0uggb-Xoe9-6CLYB-Vev30Z0szVeEbIvDHRZteab2jTOuSYgiCPtmJq5QgbC-0Hhu2shQcU4sFBuf5MRCsVPJFLbEXzZY0uN9PuIWfY6fwWk_VKcy_bqPMU0mfL2I1p7fswHM6uTTB4z7BiFSR6Ch4Equ7A7VAvC2P_FTM7SlG3JZPYtvFb1jXynPtdjXD0q97TZOKqrMgvB287T84asrboPgGmTRk9pjc_addIy5OeBB2E65ZwCl0m5FbeJxHSsydqjVVMKaifwBnNHxLUlIqdKndWoK4g9pZXQx1ioXOC8Anj6rdPHoneD_noR-LOC-MEC5ODUhkRwnYUxTpcCRH7FrmbyuXlszzZdllZ_JKGKIu13LlLse-zn1OOfO8qdj0tI5Xs6sQw2nBeJZsbuUojMJh7NyeO-rFFkyDtbar5YqO3sKtDG0CmOCILpXdWR7i0b6IsCSP9GP-_5JWIIK4wqi-zTmULJg5Iy6fAUFcB13ewOBGSRaWcSahiSOktwxMgzGdE1WIFbHqR3GYVnt30DlGUjE2pU18lw4EFGg3ALKVsUnTBVttCCX9yI-uZhmD9lN8npGCreYPxk717HK776Dk2ufpjPzwAIaVlvTYNGC3a_CHIS5zjaLM_amZzz_KPT3MRC3EBvWCLcbvuNVCngih3-jLpWXBeTdj3j1FkPtHeGE1wxRFagHp9IS_Svty3rA4-ab4esUBjOvLoEO7cdIb6yxJ_x37ULylFfm_uVyMaRKMa6tcSR8UHyx_z0rsNw7W0j3T5t28lWHAWf2hzSpX4uTG44Dij_ZSExtVmHp54JrMAEtu7n6W4hz0yDZgXZc2pA9QMFojbjE0UnV8CZSLnMKYvjqqIb_ouX5ywP388awO1OxC9g86V41wzh9clGN7wzou5dgZYLacTog4KuQwdpssQc3PAK6WLRLofnobGcJsTzuYhE9hhdVN7BUNnQSFkX_0-8GZDH5B6gobN2sydS8nh6hxF8os2qypH0_dskkYjwv-jKLEWXXPZFxrFh62BdjUGwHzg55iQCz51gKDccPc1tC1suborPoIHuM0gei0r2WCvW1h2T3bJI1b4NmedCkx_r8CBAe3taLnZBs12Oy88mmw-d_79LbRnUZhblOFQnzL2pgxJjWV1cSYX01sZZ6j25kIKGBm2wlAvJKaNXvzD9-RRIE43S6DHctb0QutqHhZVXgCefPAyQ8QzSFM0TlCevMuqZTXmuOvgfXgNchlAk9FAAoEQqUB83MvuxkSiEHF5-8su-liVrFizO_9Ca_n4A7_a04WliNxp3pUvWlMgQyTmskh-_RKcfb_xKgTBjUaAfT0fLV1AnFaNEdYPgRI2MXifcNYGmDYrXnsNDbUZewOVXDyfGI-_8aKUMRvNhb2eiGvLtHhDIQll4Up5nCV2AIC2Q6g6Y9Ha47t3qfGSqPKni83iBpe-JWt4SKi8FsYSYt5SMNNBSn4jGVOyAKR4auKydDN0HWdh8bmqnaK8F4fEC11z2KZdSK-dwNGuNMfM16NbYQncBRRWhqMrDWhUDxWy7RGhTZqVklO1EN3kz_yUDqjqYkhOPKIHTHMFvYqoX_VHNB7iJx71tzHmdnuHsZ-bUPlkx6_JeDGa4VfJbYWdiomPdRbOPHgdsUaXmUOIrvyhpwF5UPlH2dWEgr5kUAj_CR_m88hEQFHyJZw6X8Qily5UR0jRi8l65pWiAXd9lQLzwI8hp4NG2out1fpeQE4RGlki_IkiZGAwjbEMYY5G1BtIrnUmrO93YtALC_-hJi-gyxHvAu4h3H0gIs0v9HU4URpAKOvtYnO_FRGx4Yl19XKmg3OC6eODNRuDoa2J9jJZj3qjSg2IvENjg==",
  "id": "rs_0a80943a61ca1c9c016ab44eaeb95c87d0839da7a7a0c96e1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.24,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The overhead view shows the yellow fruit slipped from the partial grasp during transport and is back at its pickup area. I’ll return directly to the now-calibrated hover pose, reopen, and retry with a firmer closure.\"}",
  "call_id": "call_Q4Lwb2VEirIPuE3VT7EFv7ji",
  "id": "fc_0a80943a61ca1c9c016ab44eb02cfc87d09a9408393bc03ad2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q4Lwb2VEirIPuE3VT7EFv7ji",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8333, 0.6128, -0.5087, -0.0139, -0.0338, 0.9947, 0.6296, 2.0438, 1.9545, -1.1793, 0.2646, 0.2691, 0.9965]\nstate[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1481 left_yaw=0.0016 left_pitch=-0.1568 left_roll=0.0003 left_gripper=0.9947 right_x=0.3978 right_y=0.2371 right_z=0.1554 right_yaw=0.1546 right_pitch=-0.6201 right_roll=-0.1946 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.388, 7.1863, 1.6728, -0.0366, -0.0415, -0.0122, 0.1983, -10.2906, 8.5265, 0.6569, 0.2808, 0.1538, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b519eaafcf35401dafb9a7947d4f917f51c52002abbfa02e7c9d77882a90f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d720995c4d8c0179663f01033f68e00d36b814119152203ba216addd060c69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e38b1da1398024f193c11eb50228ce0acaef859eef84a6d2c2096df46d67dab6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.682 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]: [-0.0212, 0.8322, 0.6132, -0.4988, -0.0139, -0.0338, 0.9947, 0.6262, 2.1075, 1.4994, -0.6548, 0.2539, 0.3069, 0.2545]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1504 left_yaw=0.0015 left_pitch=-0.1453 left_roll=0.0001 left_gripper=0.9947 right_x=0.3993 right_y=0.2385 right_z=0.0186 right_yaw=0.138 right_pitch=-0.6162 right_roll=-0.1628 right_gripper=0.2545\nstate[joint_eff]: [-0.335, -1.2239, 6.9675, 1.5751, -0.0806, -0.0659, -0.0073, -0.3077, -10.441, 7.6786, 0.9206, 0.1929, 0.0415, 0.149]",
      "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]: [-0.0212, 0.8333, 0.6132, -0.5022, -0.0139, -0.0338, 0.9947, 0.3382, 1.982, 1.9095, -1.1587, 0.178, 0.0265, 0.2535]\nstate[eef_state]: left_x=0.2799 left_y=0.0001 left_z=0.1495 left_yaw=0.0016 left_pitch=-0.1499 left_roll=0.0002 left_gripper=0.9947 right_x=0.4388 right_y=0.125 right_z=0.1662 right_yaw=0.1159 right_pitch=-0.6375 right_roll=-0.1931 right_gripper=0.2535\nstate[joint_eff]: [-0.0615, -1.388, 6.9538, 1.6239, -0.0513, -0.022, -0.0122, -0.3077, -12.6291, 8.1983, 0.9255, -0.0464, 0.0562, -0.0269]",
      "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]: [-0.0212, 0.8333, 0.6128, -0.5087, -0.0139, -0.0338, 0.9947, 0.6296, 2.0438, 1.9545, -1.1793, 0.2646, 0.2691, 0.9965]\nstate[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1481 left_yaw=0.0016 left_pitch=-0.1568 left_roll=0.0003 left_gripper=0.9947 right_x=0.3978 right_y=0.2371 right_z=0.1554 right_yaw=0.1546 right_pitch=-0.6201 right_roll=-0.1946 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.388, 7.1863, 1.6728, -0.0366, -0.0415, -0.0122, 0.1983, -10.2906, 8.5265, 0.6569, 0.2808, 0.1538, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b519eaafcf35401dafb9a7947d4f917f51c52002abbfa02e7c9d77882a90f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d720995c4d8c0179663f01033f68e00d36b814119152203ba216addd060c69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e38b1da1398024f193c11eb50228ce0acaef859eef84a6d2c2096df46d67dab6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE61Wh9ZHKWW0P0o7IkAPzuZ4z1LNm9vOpP-fc1-heSDc6Nl7iB4bTZB2X8PYjyG62gC8sEaiIMpb1MzW3cVlsC0Yqv8ozKt0_LUUHM75YS3pn-MGzco7fYb9SOajT2Bf4XoNwgr9v8U5itOfBo26Jzd_ZLarQWniER5-oCJAJZ4Kaw4yzibxqOPEM_qdHISuqs-ImmkUGaxkVcHrsunyT3MiKdQw2vC_I4WMx8K-SnBxOzq6HyE1v7iZqFb9pkTMJ05RlViVLhg777O21GbSOFraEvmwWvVA5-6kjiZocAJ-32JyVqwHiacQ982JqMGL9wJz_PtkKnSTL_lqi8C-cITK-_4yx87TEO6xFw7G03htpbCfdOL0A1qnHra2uAOliPROx9GYn70jLK_6wCs9aAaleMiOYcDYVdiV5I7nFaY_CgsmyQ2qzs6OnkGGPB1uybWO3xuAu3riHlGNxeZhvWDciatdc8POMU74Tf2Qz55CRrHW0VW37oVVsEq8YRagHGbFMu0twLQ5ZVB4R9hce-7X3bqmcVhzefNgb1AhyPSJL9EPmHcp7q2jLRfX8RjrHcfKmy-211RVvTzLcvHhGLKrFguzjpsbOyqKmFblsbsiuh7gcBf0mS-thHHTxCmRuTG1JCVPMBOzpc9mx0s-yVVN6ftm6rLhzoXsMrr5lc5BkdLUd0CeNrYR6CkhzYPpP2BIxbCYcvoSasCGA_cRstRny1xXFd6fz76no9rjkIrj8zQwLJbJQFSXlhcLanRcXhEH6VnFMryNQSZS0v-nB8sVB3QVjOS3q-w_fKMBPGHU928kBcJ8uYVZSKnJKHPzfnkVHLXr1TwKDqpXfuAwnBsRMl5IrZwR0PY0-49xnihkKk45scekRooYfStDtsj6Hjp2Vstk90NepKUpQ5Zs5xy9rsM6VbYGFk8gGv-D0WuiCKSU64WMrk_uTvJECdPEY0MPVzjrPxrX6zH434RdZfBFWc5DYAj_YjNqWk-Sf5bka87hnfrFOy48wREwbIGD2PDfDpbImwMm1rI6EcR3a1_iyUF0lrOblUon96UQg9zZ4jlMVh3TmCxluSWfzabNKg6GZjIas9XcTuhM8iJcQrTfVZFk4zM_zv9lr_g1QSkHxNQdVMLIqtcTArK55BmWWVqVZOGV59qMXecz3uKdHcrqRycul6xq5-e3x9kr-MpH8XIBsdpdicvrkcBVif2X9F4yJXvZOOxy5HaUkzExNNIYhh4qTE_LWSXOGs-dwsY7QEVn12IbDdoYo0sj_0WswbgnuzEylHCHGMhLXDPU9EUYTLGziFcoEHfSpApVKaMK8VOtHcKyOqTXWjrfL5HbGmqrhfbpqi8bH6xSwHy_0O94tS6lpAMuvrwnmv98meoS3c2bZh8PNJFd6Y_p_Jeu7YQjAP3hGMZ88dX_UAtlSxAEeuNwdJEYVdMbkUptrUtw_qkntatEvB8G7TWN2N-d4oEcqAsLcRYBnJ_EMlSf_ufzw==",
  "id": "rs_0a80943a61ca1c9c016ab44eb3a29087d09aed2ebe851f42d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.27,\"right_z\":0.025},\"note\":\"From the calibrated hover, the yellow fruit is about 3 cm left of the jaw column and just short of the fingertips. I’ll move left and slightly forward while descending to its center height.\"}",
  "call_id": "call_UNeSBkwG6CxoRjuFVsfLzBLl",
  "id": "fc_0a80943a61ca1c9c016ab44eb45bc087d094e3258499cb159c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UNeSBkwG6CxoRjuFVsfLzBLl",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8394, 0.6132, -0.5163, -0.0135, -0.0338, 0.9947, 0.6586, 2.2078, 1.7214, -0.8047, 0.2764, 0.2813, 0.9971]\nstate[eef_state]: left_x=0.2778 left_y=0.0001 left_z=0.1453 left_yaw=0.0013 left_pitch=-0.1701 left_roll=0.0004 left_gripper=0.9947 right_x=0.4131 right_y=0.2633 right_z=0.0322 right_yaw=0.1573 right_pitch=-0.6333 right_roll=-0.2144 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.6752, 6.8718, 1.6386, -0.022, -0.022, -0.0122, 0.4718, -11.5897, 5.4222, 1.0476, 0.2027, 0.1197, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2bc230455572602ba6134e96f1e0781acc40d9e53ee1febc9ff504cdffd68dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b8ee29a505c1b037c8b009aa260f7125c8a86090438cdd982051a9587a11df7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14cca9e476b96302b9057177791165a82f967c9225563b25dfaef1520ceff96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 6.151 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]: [-0.0212, 0.8322, 0.6132, -0.4984, -0.0135, -0.0338, 0.9947, 0.6281, 2.072, 1.6619, -0.8768, 0.2543, 0.3035, 0.2537]\nstate[eef_state]: left_x=0.2805 left_y=0.0 left_z=0.1505 left_yaw=0.0012 left_pitch=-0.1449 left_roll=-0.0002 left_gripper=0.9947 right_x=0.3985 right_y=0.2389 right_z=0.0696 right_yaw=0.1336 right_pitch=-0.6375 right_roll=-0.1788 right_gripper=0.2537\nstate[joint_eff]: [-0.0889, -1.1692, 7.0769, 1.5751, -0.0513, -0.0415, -0.0122, -0.1162, -14.8581, 8.0479, 0.8278, 0.1929, 0.0122, -0.1001]",
      "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]: [-0.0212, 0.8333, 0.6128, -0.5087, -0.0139, -0.0338, 0.9947, 0.6296, 2.0438, 1.9545, -1.1793, 0.2646, 0.2691, 0.9965]\nstate[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1481 left_yaw=0.0016 left_pitch=-0.1568 left_roll=0.0003 left_gripper=0.9947 right_x=0.3978 right_y=0.2371 right_z=0.1554 right_yaw=0.1546 right_pitch=-0.6201 right_roll=-0.1946 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.388, 7.1863, 1.6728, -0.0366, -0.0415, -0.0122, 0.1983, -10.2906, 8.5265, 0.6569, 0.2808, 0.1538, -0.1099]",
      "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]: [-0.0212, 0.8394, 0.6132, -0.5163, -0.0135, -0.0338, 0.9947, 0.6586, 2.2078, 1.7214, -0.8047, 0.2764, 0.2813, 0.9971]\nstate[eef_state]: left_x=0.2778 left_y=0.0001 left_z=0.1453 left_yaw=0.0013 left_pitch=-0.1701 left_roll=0.0004 left_gripper=0.9947 right_x=0.4131 right_y=0.2633 right_z=0.0322 right_yaw=0.1573 right_pitch=-0.6333 right_roll=-0.2144 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.6752, 6.8718, 1.6386, -0.022, -0.022, -0.0122, 0.4718, -11.5897, 5.4222, 1.0476, 0.2027, 0.1197, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2bc230455572602ba6134e96f1e0781acc40d9e53ee1febc9ff504cdffd68dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b8ee29a505c1b037c8b009aa260f7125c8a86090438cdd982051a9587a11df7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14cca9e476b96302b9057177791165a82f967c9225563b25dfaef1520ceff96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE64JSgx2K1kREt4j45Ur-JGsSpOW4Hdcvld_16wxdYIdMwyLAwNdwrZFltb1fRfTI_9HKzH98AZjAOxfeNBtEWYYsRuiI-ubydUWen9XdF3tcZRC98THiQHeT3M124Un158OjuqAw2nlne6HpAJwkXwOh3kotRlJUQOPqFlnfMsi2MwM-dbKJ8pWPYcLspZCBv_KQViIok2HV1Fo2Ori8Er97lJAI7Uy5mkUHmPgKotO7p_rFs7fIBGcNulmLHqzMM4paiYhYpdZoYXJtKMrTZ39prQk7N2F8RpD8yZ8HvzCLgHhbWlt67SAp_EZ5Vw1GW78L2gHW1or7HtwCrrHrHxzWm35ZoAdVQIpzizrJ5TPz2yTjXezum1MKoc05BUm2GTm3d4t11WPc7_y5sHIkopb--ts65hKB5UDmABjbWvSkOglaI2YqS2Fzs2AkUPnISvLKgMiwxNKLPYuX67-M45zSH7wGytssMlU9xMdjRiEDmbypaTmD52--Z6WWCN4pXfY-2Bf-jlvfHh_RZKN1U6bLad1P2Rqo2zn_xIMMyJ0oO2qQdRCbB2V9W9Jp0aR_35AeFfUGlmcuWGIw_5-QZWB7nLXs-wCI7WBTDeFLY9LMtLn2Dlzq6GuhPAQSqf0uJx1Id6LspUB0_PXOu4G9rpRMa4yytlA9Bh4GqwTAN2hTETGUbJ1eBh3Ly7jksp6LtlhlKZja17U1jjdI2IepjoWwf8GVXWRMyuYIiWJhgiM73kVrt9op8yuzGSeMlJEwh-xImK6v5QMfKlhJ3ZI-RWVpfN-ZQZiRilxwUt_8XLfjKOjOiSfvN73zFrFTP2cWWHffWnEf3MtIIoFCFBW9HbCZzByJikbQQ1NtzEiCyYq1t7_0rPx-7zABJQK4zhUdAJnRITlpzUY_TVs3Mki5HEiqef4SdFFN-wKXSBTPRbvYl3GKkR2aR7rnenOari8o1GhWWZ7nEbI4Z5_oIQnpzcReh1tJLacemrSbLxKpO-rF3KTsRnC9WkkOch4SMtoCemcZEQihRxIfcFZ3nH0ORDeis01Y6sw09CHzpdTdg95oL0eBr17xBDyjQHakZ-c2w950OuLvmIwZ3lFzX6Uiwbz8CABs0VQBu9qwT9CBwFncKRyswoN3N-eLKKfVBK-vtuAIT9Zr_l22xVreAI3elSFegMeg1ad34YA7vu8eiToNCqNy3ASjNGIHGWi7mD9h6e8COun9xZKBKh-bTHG2YAaokgfjF3kvY8UV3Z5vMiUth6xz2f4_Xy7wv6pwG8A6faTwFulrBeE2ZqnKAEkFf9QQ==",
  "id": "rs_0a80943a61ca1c9c016ab44eb77fe887d0b516cac2920ea717",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow fruit is now centered at the very bottom between the fingertip ends, a better alignment than the previous loose grasp. I’ll close fully so the gripper settles on the fruit’s true thickness.\"}",
  "call_id": "call_EYAJo9DUI3UdVwjLpDwJSi1W",
  "id": "fc_0a80943a61ca1c9c016ab44eb7d1ac87d08a34b32a92c26e59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EYAJo9DUI3UdVwjLpDwJSi1W",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8398, 0.6132, -0.5201, -0.0135, -0.0338, 0.9947, 0.6594, 2.2253, 1.6737, -0.7593, 0.2806, 0.2771, 0.0085]\nstate[eef_state]: left_x=0.2772 left_y=0.0001 left_z=0.1445 left_yaw=0.0013 left_pitch=-0.1743 left_roll=0.0005 left_gripper=0.9947 right_x=0.409 right_y=0.2597 right_z=0.0125 right_yaw=0.1499 right_pitch=-0.6492 right_roll=-0.2327 right_gripper=0.0085\nstate[joint_eff]: [-0.1299, -1.2923, 6.9128, 1.6728, -0.0317, -0.0708, -0.0122, 0.335, -15.5556, 5.7778, 0.8327, 0.2955, 0.0415, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a87f5481a24e49c62e7e2b63616df740cbdf870426c36ed24e22cac68ba0a8c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46341df97faef548a968f2a6853373474ec8dd0c82338399e25c1bac36a157bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57a888927aa547dc3b87a49a73837468c0a6f2ec3774472bf52105fb61ac68bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 5.39 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]: [-0.0212, 0.8333, 0.6132, -0.5022, -0.0139, -0.0338, 0.9947, 0.3382, 1.982, 1.9095, -1.1587, 0.178, 0.0265, 0.2535]\nstate[eef_state]: left_x=0.2799 left_y=0.0001 left_z=0.1495 left_yaw=0.0016 left_pitch=-0.1499 left_roll=0.0002 left_gripper=0.9947 right_x=0.4388 right_y=0.125 right_z=0.1662 right_yaw=0.1159 right_pitch=-0.6375 right_roll=-0.1931 right_gripper=0.2535\nstate[joint_eff]: [-0.0615, -1.388, 6.9538, 1.6239, -0.0513, -0.022, -0.0122, -0.3077, -12.6291, 8.1983, 0.9255, -0.0464, 0.0562, -0.0269]",
      "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]: [-0.0212, 0.8394, 0.6132, -0.5163, -0.0135, -0.0338, 0.9947, 0.6586, 2.2078, 1.7214, -0.8047, 0.2764, 0.2813, 0.9971]\nstate[eef_state]: left_x=0.2778 left_y=0.0001 left_z=0.1453 left_yaw=0.0013 left_pitch=-0.1701 left_roll=0.0004 left_gripper=0.9947 right_x=0.4131 right_y=0.2633 right_z=0.0322 right_yaw=0.1573 right_pitch=-0.6333 right_roll=-0.2144 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.6752, 6.8718, 1.6386, -0.022, -0.022, -0.0122, 0.4718, -11.5897, 5.4222, 1.0476, 0.2027, 0.1197, 0.0611]",
      "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]: [-0.0212, 0.8398, 0.6132, -0.5201, -0.0135, -0.0338, 0.9947, 0.6594, 2.2253, 1.6737, -0.7593, 0.2806, 0.2771, 0.0085]\nstate[eef_state]: left_x=0.2772 left_y=0.0001 left_z=0.1445 left_yaw=0.0013 left_pitch=-0.1743 left_roll=0.0005 left_gripper=0.9947 right_x=0.409 right_y=0.2597 right_z=0.0125 right_yaw=0.1499 right_pitch=-0.6492 right_roll=-0.2327 right_gripper=0.0085\nstate[joint_eff]: [-0.1299, -1.2923, 6.9128, 1.6728, -0.0317, -0.0708, -0.0122, 0.335, -15.5556, 5.7778, 0.8327, 0.2955, 0.0415, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a87f5481a24e49c62e7e2b63616df740cbdf870426c36ed24e22cac68ba0a8c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46341df97faef548a968f2a6853373474ec8dd0c82338399e25c1bac36a157bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57a888927aa547dc3b87a49a73837468c0a6f2ec3774472bf52105fb61ac68bc",
      "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_0a80943a61ca1c9c016ab44ebabe4c87d0b278e509ec50a924",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.28,\"right_z\":0.15,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"The full close was empty and the yellow fruit rolled sideways again, showing that the current jaw direction is unstable on its oval shape. I’ll lift, reopen, and rotate the jaws 90 degrees so they clamp along the fruit’s long axis instead of ejecting it laterally.\"}",
  "call_id": "call_7Kjcu0r7mqNKmTuAkWpqvKLh",
  "id": "fc_0a80943a61ca1c9c016ab44ebdeaa087d089d2ba6dbd73da09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Kjcu0r7mqNKmTuAkWpqvKLh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8452, 0.6132, -0.5224, -0.0139, -0.0338, 0.9947, 0.5045, 2.1075, 2.0167, -1.0565, -0.2165, -1.0309, 0.9952]\nstate[eef_state]: left_x=0.277 left_y=0.0002 left_z=0.1428 left_yaw=0.0017 left_pitch=-0.1819 left_roll=0.0009 left_gripper=0.9947 right_x=0.4212 right_y=0.28 right_z=0.1554 right_yaw=1.3443 right_pitch=-0.57 right_roll=-0.2978 right_gripper=0.9952\nstate[joint_eff]: [0.0068, -1.8803, 7.0906, 1.6093, -0.0513, -0.022, -0.0122, -0.3487, -9.5795, 6.2427, 0.3541, -0.2662, -0.1197, 0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4233fe15698c1773d4e2206157bf0cdba08de45a95032680d03af2366769f4aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:538d336c44231801f1f8e30a0ee0d77c456f62b7cf92f4dbee858d422f3c8a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adc602d6b079025799881417d4126cf1611850ef7e5e11f14563610d9e723f9d",
      "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 · 2.035 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]: [-0.0212, 0.8333, 0.6128, -0.5087, -0.0139, -0.0338, 0.9947, 0.6296, 2.0438, 1.9545, -1.1793, 0.2646, 0.2691, 0.9965]\nstate[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1481 left_yaw=0.0016 left_pitch=-0.1568 left_roll=0.0003 left_gripper=0.9947 right_x=0.3978 right_y=0.2371 right_z=0.1554 right_yaw=0.1546 right_pitch=-0.6201 right_roll=-0.1946 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -1.388, 7.1863, 1.6728, -0.0366, -0.0415, -0.0122, 0.1983, -10.2906, 8.5265, 0.6569, 0.2808, 0.1538, -0.1099]",
      "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]: [-0.0212, 0.8398, 0.6132, -0.5201, -0.0135, -0.0338, 0.9947, 0.6594, 2.2253, 1.6737, -0.7593, 0.2806, 0.2771, 0.0085]\nstate[eef_state]: left_x=0.2772 left_y=0.0001 left_z=0.1445 left_yaw=0.0013 left_pitch=-0.1743 left_roll=0.0005 left_gripper=0.9947 right_x=0.409 right_y=0.2597 right_z=0.0125 right_yaw=0.1499 right_pitch=-0.6492 right_roll=-0.2327 right_gripper=0.0085\nstate[joint_eff]: [-0.1299, -1.2923, 6.9128, 1.6728, -0.0317, -0.0708, -0.0122, 0.335, -15.5556, 5.7778, 0.8327, 0.2955, 0.0415, 0.6667]",
      "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]: [-0.0212, 0.8452, 0.6132, -0.5224, -0.0139, -0.0338, 0.9947, 0.5045, 2.1075, 2.0167, -1.0565, -0.2165, -1.0309, 0.9952]\nstate[eef_state]: left_x=0.277 left_y=0.0002 left_z=0.1428 left_yaw=0.0017 left_pitch=-0.1819 left_roll=0.0009 left_gripper=0.9947 right_x=0.4212 right_y=0.28 right_z=0.1554 right_yaw=1.3443 right_pitch=-0.57 right_roll=-0.2978 right_gripper=0.9952\nstate[joint_eff]: [0.0068, -1.8803, 7.0906, 1.6093, -0.0513, -0.022, -0.0122, -0.3487, -9.5795, 6.2427, 0.3541, -0.2662, -0.1197, 0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4233fe15698c1773d4e2206157bf0cdba08de45a95032680d03af2366769f4aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:538d336c44231801f1f8e30a0ee0d77c456f62b7cf92f4dbee858d422f3c8a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adc602d6b079025799881417d4126cf1611850ef7e5e11f14563610d9e723f9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE7FuosH1uiq-niT_WGOTCP-SjFUT9_8RXxpHhKgXsMIOuQ355O6ADHGVYCKgCe4SfOgHRnIiptB28Aw5BibQmTIkb-SBXLjS0siCeMsFnfTl-Kob6hzbCQJmTtrGLAWy7HdS_6iBJeoysokYJZrCpUjiu0sR8fX_n9R6ROVPrXyzpM76XGkLk8QQnsvrkHgjdEjEQ9JYgce6zYunmpKt6oNI4Vxb_B71JdSdY1z_jXV7Js-aJW0CMepv10PgXofZ9ry3FBMt9-vzYxrx0yCVUc1HTqAN2voPRDo-5OkbbSL6l_G2pP5JTm01gNHXQ_n2q4r0uUG9DzRYEcQapNym_-9_HY8CQ5MN8UZV7Y0BPArJvhQQ8HQq_Eni7lwARDSY9e-esB2mucR9ZZb3_1RPBstgKJwpK5gCN7i5OlACcg7FrV1KzHxwIk3IxgRfnqg3NrIe4S-KiQDz_SuVcOrqyq-Glq4Xy-W89uZG-fJP8xQH0DlS-IeGTFwoMzALHdqjmd6S3Uk9YkcwFV8bOVSWKnV8ZqL7Kutp0oWYvsbbmcs8pUhPtkhYGGtr0QfQl89PkruuagVMhzs3Fs_8amq366-s0gFoFYXx2wg4hcYdHf8HueNtws_ysuulrLOAaVYL1xdHnJlAuwMfOiBt1hhK9oBqeb3kWE7h3qe97KUquK6tPqVAo2L96aHWdZpZa6KnJZ0jmfOHJp5yxY_iEMWImJemoMKetj12aR69Oz8tTvMIOLvuyYyDhci5lFyk9dWaB4HXUL92lZw0a_iFVP7STfQvCZuriYHJ3Hg682w_m0Df6rQVmxWHcnds97H2__gfnVb5_6NkOVZLsenLXlzBgl5nupVP6pnxgxf8Z_2UE21y13QBGOc5ZLUfHb1QJ3xJCK52P9YbFgzcmv8jztjSGxS0NJvcX74FW9Mvv8Sl9DLU-R9o290RWEyCujmWDjK8vgymWou7x-cr9gHtb4cSi1O9pwcAeo2lfzaA2zfITtFJRVvJVnHgxex38CN_L5aBbofdP3ffiy4kg05jMl2M9Q47mAdAqgDkzIFnwSAE3hqVPkxur4o_QnnSO7Ww0pyOv9208fWo2hY4j4OO0Ofav0a9K0Mcu6QPX-rae-gFsOKSpsw-6gMCWmaKSUnv24AQfrTRakKRseeRkPowEe5TDMb1gQBzV6z-EKa1F5TenPJkvt-70MrPih3TQO-wFjCYWm4TUXlhsgjFmRLYecuAqAa9cgbYknXBOT0QRXrMY_h0NL8Tee0neeu7FN-DKUp3krb4glq7XiqpPI1C_e3MqZA9P9gOYbGFYGObFwwdkToJaE6QIVYW4RwCB7IfdRFfnrOXX94StWyzY1ohOxHxg4KWxbYM2Iq2g4Lqln9zBZVQXsiwXxCW_t3UdJ2n919IkyiKBkGHPEl3ajNsCnNTRo-MmzDPc_ePjLAtBjqZ5toQdt3mbqhVbBUH44CFd7_SjtLGqKoZflVqxJUKX8D7GOKa7D7yAwH3-YLgqYTxj57GlJa1BoMnYT_OceyfFiS1glqfiCkhCosw-Fr_N_uNJXPCX0chbQ4HKWgUsY_oDxcRGbfB5jC4vSt1mF3U7S3CLMgORM7AiNJyPil9xzFgi8XTDG_rClxo6MDR1n4kPIAvADQaXlxbau0Nud7SkTFSQJS-Aftw_GwitruNa4C_JFtPUj1RZSrHMO0DQ89Cs1FHWXGVeSdNUuELiBgH3h6PcCvfXDPPqBr5s0vFaLJ6k8bYenBxqTujfIJ9tQVwTdxFdrzpo5tv6ohCINeOAKWyu9xjSL4iW7LT4c7dsD4IAEHiBaX2V4HHy3D_nU0IQqvwBSnyvBy2mYnpOG8W2spRFyZ_nna9PNWcoiYqBclRXNc77qwB_3ERKBBHRf-LSrYh5p9N1dE6TL6rql62-hJjuUBne8gfmdkGEV-Lp6dZP8a9delrrOrW-FMBp-yUoCLNtI8JB2flddLZHskTiy4_Ze2GUc5K-l2v0-RMJmNGwU4oAUed9HU-m4x1GbvwBeOsZ0U-vThpbmuAbkO4PdYz_fzObzTCyKsNJj13ehONnuydv-uFHNBzfZEEslMWWkXsDP-bHCKmFtYOLUvUmYLMIeI",
  "id": "rs_0a80943a61ca1c9c016ab44ec2b29487d0876973eeba630fb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.25,\"right_z\":0.03,\"right_yaw\":1.57},\"note\":\"With the arm raised, the overhead view clearly shows the yellow fruit closer to the bases than the gripper; the prior wrist perspective had overestimated its radial distance. I’ll descend at x≈0.35 with the jaws rotated, directly over the fruit’s overhead position.\"}",
  "call_id": "call_HY8oHRE9E9mBRhm7eBSCN8RX",
  "id": "fc_0a80943a61ca1c9c016ab44ec4938087d084676cb85827510d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HY8oHRE9E9mBRhm7eBSCN8RX",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8474, 0.6132, -0.5358, -0.0135, -0.0338, 0.9947, 0.4892, 1.9606, 1.2797, -0.5972, -0.2874, -1.2251, 0.9956]\nstate[eef_state]: left_x=0.2748 left_y=0.0002 left_z=0.1398 left_yaw=0.0014 left_pitch=-0.1976 left_roll=0.001 left_gripper=0.9947 right_x=0.3432 right_y=0.2435 right_z=0.0194 right_yaw=1.5756 right_pitch=-0.6165 right_roll=-0.2165 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.306, 7.0085, 1.6777, -0.0269, -0.0171, -0.0122, -0.5265, -12.3419, 6.3248, 1.033, -0.4176, -0.3004, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:944803faf57d695812c3c3118108e17fa8a7a86ae6f7181c96ba58d4121b4f44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e85fa8eaa66b5b7cfe4696cd64a7caacdc675accdaa1eda18bbe72cd54f0fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d51e1fb8804e6a97a577f0fd69e45a38189e72c1060013bcc61a9d441a269e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 2.325 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]: [-0.0212, 0.8394, 0.6132, -0.5163, -0.0135, -0.0338, 0.9947, 0.6586, 2.2078, 1.7214, -0.8047, 0.2764, 0.2813, 0.9971]\nstate[eef_state]: left_x=0.2778 left_y=0.0001 left_z=0.1453 left_yaw=0.0013 left_pitch=-0.1701 left_roll=0.0004 left_gripper=0.9947 right_x=0.4131 right_y=0.2633 right_z=0.0322 right_yaw=0.1573 right_pitch=-0.6333 right_roll=-0.2144 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.6752, 6.8718, 1.6386, -0.022, -0.022, -0.0122, 0.4718, -11.5897, 5.4222, 1.0476, 0.2027, 0.1197, 0.0611]",
      "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]: [-0.0212, 0.8452, 0.6132, -0.5224, -0.0139, -0.0338, 0.9947, 0.5045, 2.1075, 2.0167, -1.0565, -0.2165, -1.0309, 0.9952]\nstate[eef_state]: left_x=0.277 left_y=0.0002 left_z=0.1428 left_yaw=0.0017 left_pitch=-0.1819 left_roll=0.0009 left_gripper=0.9947 right_x=0.4212 right_y=0.28 right_z=0.1554 right_yaw=1.3443 right_pitch=-0.57 right_roll=-0.2978 right_gripper=0.9952\nstate[joint_eff]: [0.0068, -1.8803, 7.0906, 1.6093, -0.0513, -0.022, -0.0122, -0.3487, -9.5795, 6.2427, 0.3541, -0.2662, -0.1197, 0.1197]\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 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]: [-0.0212, 0.8474, 0.6132, -0.5358, -0.0135, -0.0338, 0.9947, 0.4892, 1.9606, 1.2797, -0.5972, -0.2874, -1.2251, 0.9956]\nstate[eef_state]: left_x=0.2748 left_y=0.0002 left_z=0.1398 left_yaw=0.0014 left_pitch=-0.1976 left_roll=0.001 left_gripper=0.9947 right_x=0.3432 right_y=0.2435 right_z=0.0194 right_yaw=1.5756 right_pitch=-0.6165 right_roll=-0.2165 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.306, 7.0085, 1.6777, -0.0269, -0.0171, -0.0122, -0.5265, -12.3419, 6.3248, 1.033, -0.4176, -0.3004, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:944803faf57d695812c3c3118108e17fa8a7a86ae6f7181c96ba58d4121b4f44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e85fa8eaa66b5b7cfe4696cd64a7caacdc675accdaa1eda18bbe72cd54f0fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d51e1fb8804e6a97a577f0fd69e45a38189e72c1060013bcc61a9d441a269e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7Ix9vk42E1W5FNhWJuOkWu_Ggf7eCYQUHuPA3GSOhYy0O7MR6l7u731_V5rwmor_J1wHsQQgiOGwm-orem4QrDKcOnB580_vlK17rGOsugab3zkKbn8RVRI7tXhBfjySNKHBWs7hai9eAJjOupfqseuGBMqu5iQSUy_H_gY-Mh7YgSyNOSDENFj4_qmT-Gg6IqxFal4xiiSJSWrZMiMR1D_gu-LlxMy8YGvdKf6x76fc4L3kdmsZ7n44JiZIKfHOaj_ZbK2irEbFUjyFgXONCu0wuh4tRXyH9BfmngOphAWUnCJvR3o2fEC4d7WIj9HtRw9mqt_-9TT7J4N_ITFef8OEzx9G5NNJTda6vFPs_PkVu8SFMBYXONNSbsuorMP9M7iIzjRCrmBvIIt5_0nYsLs-d9CcsshY0Pg8hxfBx6kngky9A0TedmcsE2NT0H5zd79_TOLMQDL0S3MNtO29j8yVdNT0aShY4B2aShUNZaG4vZljUXPvYSYO-shHIWN4q2K5lvx__9dPiNfm4FegWhS8RsK8sP45hPSk_Qz2DLEGsAswOKDmSJK0CqBSS_lDLwb1wYQOWI-VK9Wj20KQ3w3Zn3bNaSCVSXg2D0VeFAUpgmJuIKeRN7Pk_MgQv6RiyLQiitybENKQdo_2u1b36qsmptgAiFlvkksl4vg6-OGEZh4cyiS5srv664J10zrarxxu-xCrLKL2zW_yiLN0ngNU8ulTjZXlXJXwpBcpLNS3lax2PY7cXV-f2Qld6VMnCsIIb5621OYdi9FdVl5pY0HSujZUw1IY1YSTmt7iYazF77McQXEjr7zpywB62CLCBMg35qDFkOuKqG8nUy5hV0EooIewiggKNQcQgFvZ2A5sqywgxC_2-s2t5YyHn75N1pdWRiA3n3auMRBZtDcjUleIfgsPVm4LH3utq_MgNv6cbFxXjH0DRIyLoC8r48tm9FUwvveU6o6WME9rK7e_T6vtM-1uY2pjViQyFDUF-JcjZSSf4-3HbnunqOfee2Z19NJl0TElgSs3-TdedB7tKu-mqA0ddE9sVxG4W7wl0h115ZVyGAHvlo4ePks4baY3hSV_ALaN3Ozs7QTU5QmpqWmqV7zCb6ydkYvA6jNeGJqkVjqSUXNyJaNJpgxez9dbqNbytt9un9TpWAOFukCzZH3La1A4ZG_YDO6V9R_sec_ksbi-daNJs85S75N_cArZaA6toZQmsNxIkUjczWg2EHgLsoEz_VuLajC4zE4Yvnp7sGv3e_Yb6rGQl9hEY8NqlMzz3VxfVX2NZXoI94YDITYw==",
  "id": "rs_0a80943a61ca1c9c016ab44ec7e39487d08bf1b0c536a6b024",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The corrected overhead position places the yellow fruit squarely between the fingertip ends, and the rotated jaws straddle it along the more stable axis. I’ll close fully to secure it.\"}",
  "call_id": "call_Mgl0JUmZkZvId16IncuWPpgx",
  "id": "fc_0a80943a61ca1c9c016ab44ec813c887d0a5e9cba996f91323",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Mgl0JUmZkZvId16IncuWPpgx",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6132, -0.5362, -0.0139, -0.0334, 0.9947, 0.4858, 1.9602, 1.2518, -0.5735, -0.2932, -1.2308, 0.4189]\nstate[eef_state]: left_x=0.2747 left_y=0.0002 left_z=0.1398 left_yaw=0.0015 left_pitch=-0.1976 left_roll=0.0016 left_gripper=0.9947 right_x=0.34 right_y=0.2413 right_z=0.0133 right_yaw=1.5817 right_pitch=-0.614 right_roll=-0.2119 right_gripper=0.4189\nstate[joint_eff]: [-0.0615, -1.2103, 7.0906, 1.536, -0.0464, -0.0122, -0.0122, -0.2803, -10.1949, 7.0769, 0.7204, -0.3297, -0.0073, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad73608a9f71b57e00181d432923a5f292e02d862ed482bf73db1ba67d18987b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19d4af477bbeca04baff75345d163fc775ae7c88e47610726e34c6b761bd3ad7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:301d7e0ae4474e7a02f6ea51fd908f75c27f91e36092d07e3ffdc32c2e4825a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 2.101 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]: [-0.0212, 0.8398, 0.6132, -0.5201, -0.0135, -0.0338, 0.9947, 0.6594, 2.2253, 1.6737, -0.7593, 0.2806, 0.2771, 0.0085]\nstate[eef_state]: left_x=0.2772 left_y=0.0001 left_z=0.1445 left_yaw=0.0013 left_pitch=-0.1743 left_roll=0.0005 left_gripper=0.9947 right_x=0.409 right_y=0.2597 right_z=0.0125 right_yaw=0.1499 right_pitch=-0.6492 right_roll=-0.2327 right_gripper=0.0085\nstate[joint_eff]: [-0.1299, -1.2923, 6.9128, 1.6728, -0.0317, -0.0708, -0.0122, 0.335, -15.5556, 5.7778, 0.8327, 0.2955, 0.0415, 0.6667]",
      "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]: [-0.0212, 0.8474, 0.6132, -0.5358, -0.0135, -0.0338, 0.9947, 0.4892, 1.9606, 1.2797, -0.5972, -0.2874, -1.2251, 0.9956]\nstate[eef_state]: left_x=0.2748 left_y=0.0002 left_z=0.1398 left_yaw=0.0014 left_pitch=-0.1976 left_roll=0.001 left_gripper=0.9947 right_x=0.3432 right_y=0.2435 right_z=0.0194 right_yaw=1.5756 right_pitch=-0.6165 right_roll=-0.2165 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.306, 7.0085, 1.6777, -0.0269, -0.0171, -0.0122, -0.5265, -12.3419, 6.3248, 1.033, -0.4176, -0.3004, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6132, -0.5362, -0.0139, -0.0334, 0.9947, 0.4858, 1.9602, 1.2518, -0.5735, -0.2932, -1.2308, 0.4189]\nstate[eef_state]: left_x=0.2747 left_y=0.0002 left_z=0.1398 left_yaw=0.0015 left_pitch=-0.1976 left_roll=0.0016 left_gripper=0.9947 right_x=0.34 right_y=0.2413 right_z=0.0133 right_yaw=1.5817 right_pitch=-0.614 right_roll=-0.2119 right_gripper=0.4189\nstate[joint_eff]: [-0.0615, -1.2103, 7.0906, 1.536, -0.0464, -0.0122, -0.0122, -0.2803, -10.1949, 7.0769, 0.7204, -0.3297, -0.0073, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad73608a9f71b57e00181d432923a5f292e02d862ed482bf73db1ba67d18987b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19d4af477bbeca04baff75345d163fc775ae7c88e47610726e34c6b761bd3ad7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:301d7e0ae4474e7a02f6ea51fd908f75c27f91e36092d07e3ffdc32c2e4825a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7Mc5ru8jDPKB7XxY9qFUrf_kF_GErc1Kv5mIhzCHHfLnED345iArvopfwVI6_iZVwswShp6JjZHYlMK4sEo66UMlwveaoZlihiSjTXnGit0xa2jdW-_w9q52OVd-KpUzqITEO4uryoLp9k3xvmWkQMWdQfHuEqYhmCssF2QlEAbUixKlGHMXIAY5i5xkIe18SH7DJAZ7mtZjRAt91tJhK0BWk_JFwhhywpm4EPrNuDiZjAimGRIvzWsUusnRoEL9V9QRv9-5RWAXXGv0re8S2MPkDhDqr0tgG5cFHV3vo9AH-XTq2QOj9gVlPUiSfcwBoklEZ7HonWgWIldbZZVr_7RPIPjNZGb7q6uVHaknV6bZyZDqAcgdCq3LVCNL02ZwH3SiMbPup0tIgH3H6pCeHyi2eQkQkPbUNgf6wTMgTbrNbwl0ZD59mA0Avv1RdeESO0YvS-3XYSo1jS52LyzOT87ucITdw46aW9SfhLm6k1qXphzuU0kWKGf3CUV7IroaBK7rQTKSW7Sv_czJVahuOy722bt0LNatEkyJa7BBmzEPycnR8HJ9H8VGyw2qI6yKFX0bnzLCmCnIJnwkuNY6gEcSMJBbMO9RAlH4KFi11kA4KVrmaxvw4qzClsZizMwy2VJguo7Y5mJoWmbSuqNlfm7Fc9cjtB0qpql4nYBMhOj_jEcD6FysPEVPkCu0xu_wqzVulESnNNEQ_ROyVLDyBKis1RbaR7l1p0j4nZzRvXY1NT3o837g2gV29Mw8c0wtil6qvBAFn5GYb9LByZUdYmHAn-fS8weIoHFQxjxW_CPhWgcc7WEaOdCTiDHSs8WDUXNdaXwgtdUQdtPr1P5D0G1mZTxpemuxHe7BlSAFYkoeKt9r4U7Egak3DqcuTmfry_We4jHyAOIDL_IqZGJrRRSaTB6ehDmWbSsuWnU7Mcb3SxpCgofwndhHbe3otNR3T6yOts3KCXQ7_EvYsAkUPbNLTfj3hb1ZHwyMMMkY_TyrCqsbwPSlWUi46W2mpPMNg3OxABQFrLCL9kpHEgFd4g0jaSqJMHlU8ZlnZ0lZcBx5S6DuZZjogk9MiyIFpH3lamFn57UThfr0l4lhKBir137AYsgciEm6My7okI0zU3ZAzzR9yHADCisCO6cW9o2fU-I7lM12mp2Ies9OGhNMvLLd32WsGUwfvqSZyFa7Q-BHGje6dzLeZ_YOVEBEqv6YMSUmOhVYM_IoH5whcYD6Xfa497zImveeKbhJ04rx1iF2FQFJNNgVTMgo7afYkO5HukQJaI0a2YXOpP6nrdG-sl9VGJyM3IFenSLPVjFMdI7HLf5yHCWLI7uI3Ekz1QbzJHnWGpEDOOaFzsZ0Oho61M4g==",
  "id": "rs_0a80943a61ca1c9c016ab44ecaf29c87d08432c9c35041fd5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.12,\"right_z\":0.18,\"right_yaw\":1.57},\"note\":\"The gripper stopped at 0.419 with the fruit firmly contacting both rotated jaws, confirming a secure grasp. I’ll carry it directly to the center of the blue bowl at a safe height.\"}",
  "call_id": "call_UP062GhLMQVhFsTpZeyFkRpJ",
  "id": "fc_0a80943a61ca1c9c016ab44ecb3b1087d086b0096b7468ad72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UP062GhLMQVhFsTpZeyFkRpJ",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8513, 0.6132, -0.5415, -0.0135, -0.0338, 0.9947, 0.123, 2.17, 2.223, -1.3727, -0.3687, -1.5654, 0.4225]\nstate[eef_state]: left_x=0.2739 left_y=0.0002 left_z=0.1378 left_yaw=0.0015 left_pitch=-0.2071 left_roll=0.0012 left_gripper=0.9947 right_x=0.4568 right_y=0.1242 right_z=0.1756 right_yaw=1.4945 right_pitch=-0.602 right_roll=-0.2985 right_gripper=0.4225\nstate[joint_eff]: [-0.1983, -1.7983, 6.8991, 1.5995, -0.0317, -0.0464, -0.0122, -0.2667, -11.535, 6.2427, 0.0269, -0.2906, -0.1197, 0.696]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49447cef8be9650fd35c7f0b6f05862f515447977fce2a4bd8755297534474fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e2c8568b9e105d97c8ff66db1f39029246c1941cf30b527225097a7e015a33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf18f038d3ab17e8230463fbe299412988fb226f0d16f9d72a2308cf3822994",
      "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 · 4.43 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]: [-0.0212, 0.8452, 0.6132, -0.5224, -0.0139, -0.0338, 0.9947, 0.5045, 2.1075, 2.0167, -1.0565, -0.2165, -1.0309, 0.9952]\nstate[eef_state]: left_x=0.277 left_y=0.0002 left_z=0.1428 left_yaw=0.0017 left_pitch=-0.1819 left_roll=0.0009 left_gripper=0.9947 right_x=0.4212 right_y=0.28 right_z=0.1554 right_yaw=1.3443 right_pitch=-0.57 right_roll=-0.2978 right_gripper=0.9952\nstate[joint_eff]: [0.0068, -1.8803, 7.0906, 1.6093, -0.0513, -0.022, -0.0122, -0.3487, -9.5795, 6.2427, 0.3541, -0.2662, -0.1197, 0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0212, 0.8471, 0.6132, -0.5362, -0.0139, -0.0334, 0.9947, 0.4858, 1.9602, 1.2518, -0.5735, -0.2932, -1.2308, 0.4189]\nstate[eef_state]: left_x=0.2747 left_y=0.0002 left_z=0.1398 left_yaw=0.0015 left_pitch=-0.1976 left_roll=0.0016 left_gripper=0.9947 right_x=0.34 right_y=0.2413 right_z=0.0133 right_yaw=1.5817 right_pitch=-0.614 right_roll=-0.2119 right_gripper=0.4189\nstate[joint_eff]: [-0.0615, -1.2103, 7.0906, 1.536, -0.0464, -0.0122, -0.0122, -0.2803, -10.1949, 7.0769, 0.7204, -0.3297, -0.0073, 1.0183]",
      "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]: [-0.0212, 0.8513, 0.6132, -0.5415, -0.0135, -0.0338, 0.9947, 0.123, 2.17, 2.223, -1.3727, -0.3687, -1.5654, 0.4225]\nstate[eef_state]: left_x=0.2739 left_y=0.0002 left_z=0.1378 left_yaw=0.0015 left_pitch=-0.2071 left_roll=0.0012 left_gripper=0.9947 right_x=0.4568 right_y=0.1242 right_z=0.1756 right_yaw=1.4945 right_pitch=-0.602 right_roll=-0.2985 right_gripper=0.4225\nstate[joint_eff]: [-0.1983, -1.7983, 6.8991, 1.5995, -0.0317, -0.0464, -0.0122, -0.2667, -11.535, 6.2427, 0.0269, -0.2906, -0.1197, 0.696]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49447cef8be9650fd35c7f0b6f05862f515447977fce2a4bd8755297534474fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e2c8568b9e105d97c8ff66db1f39029246c1941cf30b527225097a7e015a33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf18f038d3ab17e8230463fbe299412988fb226f0d16f9d72a2308cf3822994",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE7PfiEXKm0UzGWbH_BA8qNI2qvdqz-ypCr8imT-sT2Z994-1q_aute3uTtwIfa5URLwRY9Lv4cAkca2o8t03JF--ReucQjGrsriIHNOhf0uz7UFeSVG2bZiYW5RELSqLS6Id9SMEq7KrOaNEtx3zWngJlFFNOtLSNMUZ5XeDgnhy7_7pGLUHw-PN_a_Y7Bz0Vji0qLi6BK0bQjvW6tkWHvlkm_ZVcWHVxzd4cyftYcwV1oMn8AYYeAVQC92IiV4fFV4nDqsDdkyG_uAZCw4f5YHFrgmC7uI7Vfa0oMO1ay9oK0AMXNk3G7jAKG0yRN7Hj5ca2FVbQ3wZ3bkrsJqAGbSNua6qZs1t5sC6XiMa4r5RZicJvoEWp8ihRR79lU12zQF2pf8GHJV6Mge_T-lYPGNPMiXHUGhahxxZremdW70Ok0hjvGbu8KqECzpx4dNXBjz0DQLVlvmrXUOQtkTUJdgaok0yTJyvDIj1F8IuFEZWuUVXVo4wYiPCbB8nea_4wuZ_YOR2-_MwQ4notyWY3iPygpLA5V9EfgQsECwIsdcqWcvfOPWWPQ847BlLuJDXt72XEaMY84nYUTL9gzwxqEwf32Lq2Eny_KxQouJ5fsEQ7xCIYmWY5vd3EMYoOHBjd4s98v6tZ-3MEYjIdYLZdSTNnvO3dnsFtrIXrzkS_VKflsv1BLIeSEzfbAtYYEDJNMNa304-LQ1bOpjGucgpgKHEIQFZh7a-LpMAuxUXcIOXOIm1xV4cLTGwhrR10OTMfEsZTpHuUbi5kzZMeAfiH4WMY7FVljsAqAeFObRMp0JsosuuDfljjTppHZ5RwGN0Ko-UFRFkyJnJWNjzhToBCaMPPVos3eNPLbVs1N8rhH2hB8LAotkaTJK_YY9hM6QDWG_4WhtducvAF9Hm7GibyunQczs_JqHC0ssZiWWAKOJ7DMYF7aomVaIzlKGxol3jxXNVFvT-h-U85Zme_0u8JVtiUKnqHJcyi7AzOghGQdz3Q6ZDGkxfwPrFa0MyjyjgxK8YpPzsPUDth053jtd5xtGoV5WzZHmvXTPXodNrKh49_zlk4haKTDuhyr9x4ArB5yqehtajmTMLTI59XBUmkCvwqT1HWPexWj4Hj2Y0amGCi0Ooh-5ewxx4m1rr1Pl_IyaaDgMfwal8ZBR3XBqoqn-jlooGQjPt7tGnRQJujVaYqOfvPmBV1fHawPCZYRhGSGb",
  "id": "rs_0a80943a61ca1c9c016ab44ece587887d0940b2e5378416993",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The yellow fruit is held directly above the blue bowl, where the green pear is already visible inside. I’ll release the yellow fruit into the bowl.\"}",
  "call_id": "call_hCwVFFKmCqnGEkG7oyPMOAhG",
  "id": "fc_0a80943a61ca1c9c016ab44ece685087d0b4233455e104de2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hCwVFFKmCqnGEkG7oyPMOAhG",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6128, -0.543, -0.0139, -0.0338, 0.9947, 0.1223, 2.1807, 2.2211, -1.38, -0.3679, -1.5715, 0.9955]\nstate[eef_state]: left_x=0.2736 left_y=0.0003 left_z=0.1372 left_yaw=0.0018 left_pitch=-0.2098 left_roll=0.0016 left_gripper=0.9947 right_x=0.4556 right_y=0.1236 right_z=0.1698 right_yaw=1.5108 right_pitch=-0.6075 right_roll=-0.2779 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.5248, 7.0085, 1.5653, -0.0659, -0.0464, -0.0122, -0.2803, -12.7521, 5.9692, 0.7595, -0.2271, 0.0464, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edbc5b1366cbc8faac95299c9bfbbfe9d47a7e6482f69e06ae3ed232368ef41a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f9076d87962a0b14e5eaa3e0ade4da47fef488264e34107f69be16d91c77eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de7ac4f56401e5534f870b4e03597f5c5390ee21115884afbfc483e7aab201a",
      "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 · 3.228 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]: [-0.0212, 0.8474, 0.6132, -0.5358, -0.0135, -0.0338, 0.9947, 0.4892, 1.9606, 1.2797, -0.5972, -0.2874, -1.2251, 0.9956]\nstate[eef_state]: left_x=0.2748 left_y=0.0002 left_z=0.1398 left_yaw=0.0014 left_pitch=-0.1976 left_roll=0.001 left_gripper=0.9947 right_x=0.3432 right_y=0.2435 right_z=0.0194 right_yaw=1.5756 right_pitch=-0.6165 right_roll=-0.2165 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.306, 7.0085, 1.6777, -0.0269, -0.0171, -0.0122, -0.5265, -12.3419, 6.3248, 1.033, -0.4176, -0.3004, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8513, 0.6132, -0.5415, -0.0135, -0.0338, 0.9947, 0.123, 2.17, 2.223, -1.3727, -0.3687, -1.5654, 0.4225]\nstate[eef_state]: left_x=0.2739 left_y=0.0002 left_z=0.1378 left_yaw=0.0015 left_pitch=-0.2071 left_roll=0.0012 left_gripper=0.9947 right_x=0.4568 right_y=0.1242 right_z=0.1756 right_yaw=1.4945 right_pitch=-0.602 right_roll=-0.2985 right_gripper=0.4225\nstate[joint_eff]: [-0.1983, -1.7983, 6.8991, 1.5995, -0.0317, -0.0464, -0.0122, -0.2667, -11.535, 6.2427, 0.0269, -0.2906, -0.1197, 0.696]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0212, 0.852, 0.6128, -0.543, -0.0139, -0.0338, 0.9947, 0.1223, 2.1807, 2.2211, -1.38, -0.3679, -1.5715, 0.9955]\nstate[eef_state]: left_x=0.2736 left_y=0.0003 left_z=0.1372 left_yaw=0.0018 left_pitch=-0.2098 left_roll=0.0016 left_gripper=0.9947 right_x=0.4556 right_y=0.1236 right_z=0.1698 right_yaw=1.5108 right_pitch=-0.6075 right_roll=-0.2779 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.5248, 7.0085, 1.5653, -0.0659, -0.0464, -0.0122, -0.2803, -12.7521, 5.9692, 0.7595, -0.2271, 0.0464, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edbc5b1366cbc8faac95299c9bfbbfe9d47a7e6482f69e06ae3ed232368ef41a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f9076d87962a0b14e5eaa3e0ade4da47fef488264e34107f69be16d91c77eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de7ac4f56401e5534f870b4e03597f5c5390ee21115884afbfc483e7aab201a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE7Uh5qlpo_xKHU3xZYjVzPK6TE9BihEU-r7iRjKIL9886qBDHb7u6YALusiA1uxvdyvmZMdcOAZj53UE8ev0KkgvOjEwgRgQ95TXRZXpUvSnlhIphuA3lB-4H-Hn8JHsX3pZ8CQdMYOSvmOhk9O3dn0rHwfBwnOIBNy3Gi7dwHT4PsXlS7V64EpX5GwEssHqtxwTJzrucmnGvDMuGPOVNkRJGDY9D5D6939htG9Nt35ni3ng6T1eqyBLAGO00CpK7dDVxiJOsH75qJhhaBrS_ejzbccvs59Ct9UltMgxfcuSXm03nsFp4oqG2RrbyrJbI53iHYA2IilthN_rmJgYWvgROgK8CRHhSGOfOM1MsYR5WVIZYJME2lQ8W4rvvq5X0-aQQGKzAzf4VSvdWe1TY-2elz8x-NNsex0tEyoJW92LVuB6Vih8VCJfrvQ5lG49qwZVFleZWQK5WV2BYGihVYDsPTWyPJjv6fA_3nsFxlwxIiaWDf8Oki02pU6KhFjgyBY7H-gE1kN7Snr0_e3SUhIHEdf8cLv6oRQWK_ji5vfcKGUC6yCgyywEHtByXWu4DKEDJ5JEdQWI3tmn76igpmL8OlxVMiGmviFnT60q0Ok_Wzpsj_dMaQTTBE-OOJonw_xrXOTL7WcZvPjv4_nvpSu5nh2PPOQBVI1KfK1fTyVTOAV6VhjbaB24So-awqaEbPoc8TKR1hSE0a59HMrIrw2__h0tDY-peecNTPEkFWiDZXXkwEMGqB3FO-66PyrSSfDEEFMF86b7UOqX47WfWulUiAI-65MEFK5qrVzGC__OLYQOMku_QLClRI97Uda0Tibtjwa8yYVuogE4v_4CoXPZySc1XZK2PAlCskytRYKAdNAZFcQ6ytbX9RL2sqsjLagnzy46aa-2BiIzuW2sI6LAYSU65RVbVs_pz8-wVNyC8TDKZwIA8JrrGR7YSNQBJnYkLuW6oYuFoJn1v-GR_CdWI4jxXGB9yokPzxKLGqE_VuR4lJSq7jjuinAo88qEjOxIKcQaBOK2990qJPfb_WEBuGMNgodfTpK0hBlArZRM7PL4DcriqNku698eO7CURv7_NjjrBZ__Nx-jJo_IkB0JirG0S2clIVY7HHN8zwTZvHgG2EIT_VHJMr0cYQYSqXWBK8qebqRgEerrjJVhdpyi5006j2Mgq1Jt7YOtPziVzl9mapbNeOCUBE_d4xQq36Mg0YTOigeE3g1SA056ECosA8YrBgJKERr65iHfhEi0BJUUQRYFhfzq-1EuyUZur4Z5SAsHAluGO8-DQyjccq3ShkwHcbxw6yyj6TntA4F7AjuyICOgTdMFx3e_7esPIsweJ82i3QYfVZw0X_SzH5toOr4NnNCNqfwoJYOS__wgIMXbmdPzio9jFOv7RAgKxku-6B22glp9OQdg2zxIN8VdPl0V2VZdhi55_731euD3Cu4dRDVgZDD67phfP9BXlDv27Fzw3Cqx6ZpmBWENhiK0hzE2zLC5V5zgR7C68L5WwnN03ixcAwCRllRE_c5G9BkxNcs3cnShQFWykfxgaGqk_c_Fv-kG8xMYLoqFKOVB2eBN6rIrS2BJFsXqcYhyRwfcmLHFRLbd6THrmU-q6dB3lZ2Px_kmCYtRy02TorgscnGiALfRsEVseHIzF-_52IIzstkh6MLalOE6GYo81yP2-C1PT7oRRb82r90t6tF-bmU1zKJ9dOtZAYsMnaxQT9iMog-UonMDH8YYwSXHUVZUnA5sjt-NTphLKop0r-6xIehq_Hqfx1nPsifWGdAgAa-dyqHgvSHr1SfDxKyi5cAqNtMRzER5PURM3KTr5pWZ-YyY-dYV1MRtJFQGCC4E6gYuslSgWpjj0dAPyTn03aCBrM0BjJJIkIKq4Fq9okUb809WETDlgFdsp34OYesfyn8Iz-u5p4LL8G_--MDcdsZlPOooTdnD4X7k29Dq81AyJsdsU3bUZYVwZpT7_RBlcX-QIJ4rGlMuMTHC8LSYQHmNvncXvB3DPcJuWJ0j55uX2VgKnaidYTWANfulojnq0d85sdKDgtHjMHym1z66mhEhVGvN7Blh4YixBC_yX-eI7c6lBJL_hvn5Ni76g2VMPGTF4JcsRPC2aB5CHYwP9PyzD2VzW51MPtefQCGc0k3mhnWzeEJeBZAC3KVgzeHAgctPbAOOK5U9eqrcMnnYdbzKVcMZPVS9ClvB_MVISaz70yYgYQQWFKp-qLXGV769wnqIGYmn5yt9aXv066NnSggn839bP4Llsi5rPY-jg1fPOJCj0tgKb37LptgpKi1JduaUqr56OGGBve3Ch-E25ChR0YbquNTOUG7T1I7XTXEj7gpBdgQcnKnXWB53gfSW3XSXtZiJS5dWKWoHzvcCr0O7oSMzb6q3RyYSSssFYs0j1iKV5iUGl36vultWt7_zlqq",
  "id": "rs_0a80943a61ca1c9c016ab44ed0d22887d0b8f965d9ca864948",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.34,\"right_z\":0.015,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The yellow and green fruits are now together in the blue bowl; one small dark fruit remains beside the white bowl. I’ll move directly to its overhead position at table height, rotating the jaws back to their normal orientation.\"}",
  "call_id": "call_brTKISjfrB7eaQCKXrgFOIGa",
  "id": "fc_0a80943a61ca1c9c016ab44ed3297c87d09b294985274e4806",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_brTKISjfrB7eaQCKXrgFOIGa",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8581, 0.6132, -0.5491, -0.0139, -0.0338, 0.9947, 0.9333, 2.2726, 1.7615, -0.8871, 0.3786, 0.5278, 0.9986]\nstate[eef_state]: left_x=0.2727 left_y=0.0003 left_z=0.1347 left_yaw=0.0019 left_pitch=-0.2216 left_roll=0.0019 left_gripper=0.9947 right_x=0.3314 right_y=0.3438 right_z=0.0155 right_yaw=0.1425 right_pitch=-0.627 right_roll=-0.2808 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.9487, 6.8444, 1.5653, -0.0659, -0.0366, -0.0122, 0.1436, -12.2872, 6.653, 0.2418, 0.4274, 0.188, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d34674aff9a7cffa843b58ecf0ecbf7678f50b84073e81f672dee69b0918e9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b121014b1d60a5a6ea522edeadb79f90e49b618793d2c7da212c59890346705",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6b353abc008b157ad48934eed3d578d9061865832b42149061db38b4876ff0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 5.446 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]: [-0.0212, 0.8471, 0.6132, -0.5362, -0.0139, -0.0334, 0.9947, 0.4858, 1.9602, 1.2518, -0.5735, -0.2932, -1.2308, 0.4189]\nstate[eef_state]: left_x=0.2747 left_y=0.0002 left_z=0.1398 left_yaw=0.0015 left_pitch=-0.1976 left_roll=0.0016 left_gripper=0.9947 right_x=0.34 right_y=0.2413 right_z=0.0133 right_yaw=1.5817 right_pitch=-0.614 right_roll=-0.2119 right_gripper=0.4189\nstate[joint_eff]: [-0.0615, -1.2103, 7.0906, 1.536, -0.0464, -0.0122, -0.0122, -0.2803, -10.1949, 7.0769, 0.7204, -0.3297, -0.0073, 1.0183]",
      "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]: [-0.0212, 0.852, 0.6128, -0.543, -0.0139, -0.0338, 0.9947, 0.1223, 2.1807, 2.2211, -1.38, -0.3679, -1.5715, 0.9955]\nstate[eef_state]: left_x=0.2736 left_y=0.0003 left_z=0.1372 left_yaw=0.0018 left_pitch=-0.2098 left_roll=0.0016 left_gripper=0.9947 right_x=0.4556 right_y=0.1236 right_z=0.1698 right_yaw=1.5108 right_pitch=-0.6075 right_roll=-0.2779 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.5248, 7.0085, 1.5653, -0.0659, -0.0464, -0.0122, -0.2803, -12.7521, 5.9692, 0.7595, -0.2271, 0.0464, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8581, 0.6132, -0.5491, -0.0139, -0.0338, 0.9947, 0.9333, 2.2726, 1.7615, -0.8871, 0.3786, 0.5278, 0.9986]\nstate[eef_state]: left_x=0.2727 left_y=0.0003 left_z=0.1347 left_yaw=0.0019 left_pitch=-0.2216 left_roll=0.0019 left_gripper=0.9947 right_x=0.3314 right_y=0.3438 right_z=0.0155 right_yaw=0.1425 right_pitch=-0.627 right_roll=-0.2808 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.9487, 6.8444, 1.5653, -0.0659, -0.0366, -0.0122, 0.1436, -12.2872, 6.653, 0.2418, 0.4274, 0.188, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d34674aff9a7cffa843b58ecf0ecbf7678f50b84073e81f672dee69b0918e9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b121014b1d60a5a6ea522edeadb79f90e49b618793d2c7da212c59890346705",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6b353abc008b157ad48934eed3d578d9061865832b42149061db38b4876ff0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7ZXb-aQyGW_SQYH6YMvPGYNrPORNgLknEaNAGxRzVHDVkbtZfwxvt7L_4VoSIWIcZ7Ds_DqbE3h9CkuctSTq9JvI-3D1CDshvYenQv7SQ85-JsD4eEfM2uzbwAiBuYpioZfzHIut1E796Nb-JvS44NzoBk_BcLVfj61mNKBZNAl0U-c-WhUVXFOVCwmFvbtmZ1Z6m3rYDLksJCAsR8hYTNDzkR7zAExD52eBbZD-4kx8N5RueCdDGi7dTcnzBQMMl7LNVWuss15Q7g0M5oCBk7QGWLtsgOMvJ5SgjkgsWUoyc8zzVtjp3N_I6YpJ4ddfdmoqRUr_9-KCPBRuL-aFQXI-QUZO-KIY4loRlXPUVj0k10S0BzGE6QmjAqdqCbrZNgm4iZ4g60QH9Oy3M4SW4taBzi93ZKKFlVpFl6yJ5POFZGArvCOXozBwrAOVGLwQ8MRdMUmj5-fBsrSy09sdJukfAt1XfD7SloM8lt0az5tt4MyryC6efV4V8uex3PAOalZ8JkHsRWaUvaRhzslh8azQCdyH7UeYh86a6OmwrvokmNWDoPakdjEQgqcOg1dQZnA-Q23Z8ji0uDybOZ2XkDUXIQJq9qq0uRY84rhGvRhKmQS1er3Mz-2IkZFVRLe-U2VibMJq8txQ_5Vj8Dxb407vsg4QT6YkkcMYN8My-aq6yDUms7HXTfTM9F3upLNd8mhsbkNDuktQTSusdyAJ1MuaaQgisyBGc2esj50C0siYZRG_ufqI2Bi5j4ncN7hCSyUfk5j4PtAN9IOI8R-5x5iMyOyQoDEQRFyAy8QsH_oUgM8iOtnN9b14-TKU1k4LsTNbcDEJ7pnGi4ZnO_mg75oUOAwfW7BPON7IICZ77j5PIMorSlP6mFK6GT_eQPOUHVvjEO_INSioYVN6hIGupHm_JQJmaZyvc2B8YhFaLdPYT9XfLAe0HFH7PSeVr-y0I8IGarmP_2i9pAyO46hnd_fb_CHYeqkXARFEkS_85tsQ2U__5R-th-DF9RcUwEyrKvrx2STViFymQguMCbj2uf9ib-eJWv5a-cJZArzyazzVsxebFYuNsh1yv4KIiRduxlwSQ0pL2CWrUvuGcasgVF60rujhW0UmZTNG9FQFIlAz0-NObgFOHCY8KWFsfrt6OT_6n-pb7cWtE5VgJC0z0P8_fppnBBn4nF4UlgVI8KmX4hk3VCsPR8y5fMd7_ITvndXnjsmMjP25CRNff8IXiG3WSrOnAnYXJ7e3N-LEx_r1pW6nlCAL_DEw81PmO83xNcUUouvXNBXgauhCY4Y5LLmVBAcYFAIlQ7xd7somfEQKmWTJV0GpWm21E3En0coraYe9S7aCnu_UYnSxj1vqTGrgQK_UOe7eutGe5xKnJzE0IeJ76sI-qEPsGrU15z-EBzdGR1G47loPjUY_NCD6XFUejTjuCu6BvKoP5Bedi2rQz9nyQGvLwHENSjKXzZqXc5nt050gQ75j6jY2Iflkc24qcv6acIH9VkphQJeZr6gWVqNSkNye0KH0fJ2cJgWVjstGdoGeyQY8IzrSpuZVri5Q==",
  "id": "rs_0a80943a61ca1c9c016ab44ed7ab5c87d0a3b4afcb7cbbd0b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.39},\"note\":\"At table height the dark fruit appears at the far left edge of the wrist view, so the gripper is about 4–5 cm to its right. I’ll shift left to center the fruit between the jaws.\"}",
  "call_id": "call_Gxi4AyFJbsYAEOFrjJX3D88C",
  "id": "fc_0a80943a61ca1c9c016ab44ed8519887d0aeb25489c4bc7da8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Gxi4AyFJbsYAEOFrjJX3D88C",
  "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]: [-0.0212, 0.8585, 0.6132, -0.5526, -0.0139, -0.0338, 0.9947, 0.9886, 2.41, 1.9934, -0.9848, 0.392, 0.5903, 0.9986]\nstate[eef_state]: left_x=0.2721 left_y=0.0003 left_z=0.1341 left_yaw=0.0019 left_pitch=-0.2254 left_roll=0.0019 left_gripper=0.9947 right_x=0.3305 right_y=0.3858 right_z=0.0143 right_yaw=0.1475 right_pitch=-0.6106 right_roll=-0.2653 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.5248, 7.0359, 1.5311, -0.0611, -0.0269, -0.0073, 0.3077, -13.2034, 6.7487, 0.3736, 0.3053, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43cbc7c113f91826a4e72981c45812194105f9d38f23c2fa652c03acb5e3d116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31bbcf21ed08917121d7efe08fc0aa1c67f3671af6681568f870b6436666acd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42595580cee0e802a5eb7e0711595f59cd0a2c3b593fc310f1db193535685671",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 6.641 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]: [-0.0212, 0.8513, 0.6132, -0.5415, -0.0135, -0.0338, 0.9947, 0.123, 2.17, 2.223, -1.3727, -0.3687, -1.5654, 0.4225]\nstate[eef_state]: left_x=0.2739 left_y=0.0002 left_z=0.1378 left_yaw=0.0015 left_pitch=-0.2071 left_roll=0.0012 left_gripper=0.9947 right_x=0.4568 right_y=0.1242 right_z=0.1756 right_yaw=1.4945 right_pitch=-0.602 right_roll=-0.2985 right_gripper=0.4225\nstate[joint_eff]: [-0.1983, -1.7983, 6.8991, 1.5995, -0.0317, -0.0464, -0.0122, -0.2667, -11.535, 6.2427, 0.0269, -0.2906, -0.1197, 0.696]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0212, 0.8581, 0.6132, -0.5491, -0.0139, -0.0338, 0.9947, 0.9333, 2.2726, 1.7615, -0.8871, 0.3786, 0.5278, 0.9986]\nstate[eef_state]: left_x=0.2727 left_y=0.0003 left_z=0.1347 left_yaw=0.0019 left_pitch=-0.2216 left_roll=0.0019 left_gripper=0.9947 right_x=0.3314 right_y=0.3438 right_z=0.0155 right_yaw=0.1425 right_pitch=-0.627 right_roll=-0.2808 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.9487, 6.8444, 1.5653, -0.0659, -0.0366, -0.0122, 0.1436, -12.2872, 6.653, 0.2418, 0.4274, 0.188, -0.1538]",
      "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]: [-0.0212, 0.8585, 0.6132, -0.5526, -0.0139, -0.0338, 0.9947, 0.9886, 2.41, 1.9934, -0.9848, 0.392, 0.5903, 0.9986]\nstate[eef_state]: left_x=0.2721 left_y=0.0003 left_z=0.1341 left_yaw=0.0019 left_pitch=-0.2254 left_roll=0.0019 left_gripper=0.9947 right_x=0.3305 right_y=0.3858 right_z=0.0143 right_yaw=0.1475 right_pitch=-0.6106 right_roll=-0.2653 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.5248, 7.0359, 1.5311, -0.0611, -0.0269, -0.0073, 0.3077, -13.2034, 6.7487, 0.3736, 0.3053, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43cbc7c113f91826a4e72981c45812194105f9d38f23c2fa652c03acb5e3d116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31bbcf21ed08917121d7efe08fc0aa1c67f3671af6681568f870b6436666acd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42595580cee0e802a5eb7e0711595f59cd0a2c3b593fc310f1db193535685671",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7eWWsDlQrGNGdumOs3r1uwlx7CHEV6waZvP71rW4HYZfsgT9zChh-ngVJNf_mnwgtd7RWXvr9u0mN2nXsXr-ISSZmL9fd1tuitW9ltqns2ryZ0Z2OP5KsCQU59-pFwnE8gUuw2Qm7Sv_X1Rto9wmLpsJS_Pgz8ml5nDyCok8nQ7uLT0ods4BboIQhrYHjdsq32HVkPyFOy_ozcOG-GeIvLY7brkIs5PqC8bUZrWQyGAgIrEETVHb0qdTvAZQdH0nuOfwqUe4sZGySQ4reHCwCiak3XVGdj3aWVv15by11IHOdvyZLFuShzsOlpzWz8AOL6_qavMxyry5WjbwbypsWzrU1flCpoKR4MNb_Ga8vApS2_eECOS28ankC2dg_NdAhVrqFFARMWv8_-bbuROAtj00gtGnPS2Y_gxCBetoZTz6UkTLT-5YRNFW7mnSoAtPL5Hc5ZR2AAvTCa7dBh_w888irZuRkIeQabLRghnTmpwsTIAtjGHiro-n9-Q1x14CAeYgokKlyy0j6ysWjEuUWH4lA70Y3EUuZTrFRkOEJ4iwwjVPkpJKHywUgRyrm9JKSPaY1fpIeafrOHBYx90vfFSqt8IP2W4UrYANA6j8QojGCfGNmMmovNp2WVHTWBIe9PqFeIY3icjlD-llwV2giVn9AjeIzxxL7EfyD2P-ixVOm8b4C8JuUuBRyGGBfbtB7uDdOWZR1RVc6M17JFm0powpiv63X_hdqMLOCKAJwZ0Ef5xRReW0lVi9TJTNoGPGo-4JuFxancRv3h6bq4PITQX_coCaB2unAG08U4o-qJJaXKbeVkkgd1fwKCyxBRNnUBLxS2QfSPQzBWPMJ5t1o4JAkG1d01NTkAavGbzoOwfKqWR0VRoVI5isdjyGrdCiSXE20_HbCVaTLhosA6P-5snGCc06HPnAmkIAHVFyJXoJqvPjpM22Vg4WGUwudiG0izDQAwGFjXmxzKJ1KEbKU-bAkNxf6YNa8WXHad-X2CWn4ZTDuDX_E40QH_Od2BeELGodL1b3GG6gXpddQjXi-cbr9-g4d5lAxk6BJYvdwOGOJt4mvlID3r_J5WuCXjUrpkWaW4P1G1VDvKuK-0A0FMFgA7T3ALjJPKBMiszwoDfOEl39wpvTzBanYCHO0GbtHtEFIjJrfz9N2pG0BzjCskPJ3aE__V8pGHKNfBRA9_LNDVAI8HJdS0CY7owqRv4WwK9Wl4DvxCqS5bvw6KI07-UwYQfCp1i989vLjkD3uSJsAZbG5inMJbAHkvKgZF7FRcWOcqw9VyErdHAL2EvpmZ8i3tmXomk3jiUBydE0MjoeWvYKxGVZlV0dCCgHjNzB6mvpSXBzqmx1I9DaBpTJCBXgxyA2YqWAtjeYbdf5a2e2o9Nv0Vot-PxfuIf8ivuV3i8JaXV8sF-CAjUbEWtlo-HhnjOgVeqI6TF4neBkIH05dErLCfehv_vC4QGRNfRtG8iqPeHDlTMO-pzcnH45Xat7KvsWGNwqUJ3FDIY2rfOBodehJOSo8Mx1vcpcmWtLP9aiKSUebz0-ZHx0l1AvhcbFdKIEilOJE8aBU69xAClTXX19hL2hcsoBbAoTrJdTyQLUulRTBCyLQQOD0NobnSsw==",
  "id": "rs_0a80943a61ca1c9c016ab44edae1f087d083e1301f9df33c5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the lateral shift, the gripper is directly beside the white bowl where the dark fruit was, but the arm occludes it from overhead and the bowl rim blocks the wrist view. I’ll close at this table-level position to test whether it is between the fingertips.\"}",
  "call_id": "call_Rnn6ZL5hmVf139FMIolzdUnb",
  "id": "fc_0a80943a61ca1c9c016ab44ede51f487d0b93f990bc22d7e8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rnn6ZL5hmVf139FMIolzdUnb",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8585, 0.6132, -0.5552, -0.0139, -0.0338, 0.9947, 0.9985, 2.4241, 2.0109, -1.0084, 0.3923, 0.5835, 0.009]\nstate[eef_state]: left_x=0.2716 left_y=0.0003 left_z=0.1336 left_yaw=0.0019 left_pitch=-0.2281 left_roll=0.002 left_gripper=0.9947 right_x=0.3256 right_y=0.3873 right_z=0.0116 right_yaw=0.1508 right_pitch=-0.6247 right_roll=-0.2874 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.4291, 6.8444, 1.5409, -0.0464, -0.0415, -0.0122, -0.2256, -12.8479, 7.5966, 0.5885, 0.359, 0.0757, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e911668da26f66edf49fd63b02f61c53457636828cc4cff6a7a7312b8de8677",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f376f502dcf90edbc2f29024d88b9c78a80a1c0bde227908ccc512cd82691835",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4acd0d8179bc062f440f4149e226b21ff78c3f2b1a64ac06df37a680f529709e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 3.861 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]: [-0.0212, 0.852, 0.6128, -0.543, -0.0139, -0.0338, 0.9947, 0.1223, 2.1807, 2.2211, -1.38, -0.3679, -1.5715, 0.9955]\nstate[eef_state]: left_x=0.2736 left_y=0.0003 left_z=0.1372 left_yaw=0.0018 left_pitch=-0.2098 left_roll=0.0016 left_gripper=0.9947 right_x=0.4556 right_y=0.1236 right_z=0.1698 right_yaw=1.5108 right_pitch=-0.6075 right_roll=-0.2779 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.5248, 7.0085, 1.5653, -0.0659, -0.0464, -0.0122, -0.2803, -12.7521, 5.9692, 0.7595, -0.2271, 0.0464, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8585, 0.6132, -0.5526, -0.0139, -0.0338, 0.9947, 0.9886, 2.41, 1.9934, -0.9848, 0.392, 0.5903, 0.9986]\nstate[eef_state]: left_x=0.2721 left_y=0.0003 left_z=0.1341 left_yaw=0.0019 left_pitch=-0.2254 left_roll=0.0019 left_gripper=0.9947 right_x=0.3305 right_y=0.3858 right_z=0.0143 right_yaw=0.1475 right_pitch=-0.6106 right_roll=-0.2653 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.5248, 7.0359, 1.5311, -0.0611, -0.0269, -0.0073, 0.3077, -13.2034, 6.7487, 0.3736, 0.3053, -0.0366, -0.0171]",
      "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]: [-0.0212, 0.8585, 0.6132, -0.5552, -0.0139, -0.0338, 0.9947, 0.9985, 2.4241, 2.0109, -1.0084, 0.3923, 0.5835, 0.009]\nstate[eef_state]: left_x=0.2716 left_y=0.0003 left_z=0.1336 left_yaw=0.0019 left_pitch=-0.2281 left_roll=0.002 left_gripper=0.9947 right_x=0.3256 right_y=0.3873 right_z=0.0116 right_yaw=0.1508 right_pitch=-0.6247 right_roll=-0.2874 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.4291, 6.8444, 1.5409, -0.0464, -0.0415, -0.0122, -0.2256, -12.8479, 7.5966, 0.5885, 0.359, 0.0757, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e911668da26f66edf49fd63b02f61c53457636828cc4cff6a7a7312b8de8677",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f376f502dcf90edbc2f29024d88b9c78a80a1c0bde227908ccc512cd82691835",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4acd0d8179bc062f440f4149e226b21ff78c3f2b1a64ac06df37a680f529709e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7m3IQiOwXni0iZMZl96QhR1YzYqQmQeANtRRL0_PzPz9Wjk3PEgz6j8qvAyvY_hMFzSacfmPfCEV-90XOrDMsKO5YlZIfOe8Vq-7I1GKu0bEzenUZjZ4gu4LZCYDDlUzyaZ4No2ZG9HKoCpuaz3Nkrbrb7llsFiqh5caffwqYqU61GFfT2rzdP2yHHYx83yA22MOhCBf1G6aXV3_VfvvKOmJ-26UXQsf7Tz0bqmD20vGUw_g98uWrBZFUR_klkHuhkG0ANnUJ4e4iWIQOCFFn-x9_TNvBbaVg1PMZw6wy4xL-R_5P_FIZeJJ5M2KbcU4Av6DDGakMef1KRR4EXwxKZOAAKbn4cP8Yqt0N9wfguKorOJAw08ypFibOysITWUFL9qTOQnT0mO9YTy7SetZsbaSQQCBn_mEf08-BQy_jUEUrStzIEFN7eZdbbROotoiOtg5iEnt3zgaWs9co5LGr_bwCrx5_iwpkveas8QRBnDjNqVdzntuasnaMe0fEOFT0kbgXKMAAEzTkM8JJ6d90OJJslnqWrnBGznSEoMQn9imi3kf73ti2W9T5GSdqUn1Sgj1uZyXgxsp9d4Hs9N6KHiJTo5nTd899km6Jb28Nro1DRcLnBzuPZ3vgbFFK9vDgt1KAEQGQMrkS730ryT1XCo3dYfl6YzIsoBhaq11iaxS8lI98_JSf5Ln7gngWyKcjomX0zbuU4MyjhUO4bL0ieIi4PqGaKzHXp2Idb0-OsY8drJeO7v7_nqGo7F2OxRtlz-PGMBugEx95MB10PirlkRnSrGErumpFfVv7nplrhFshc8J2YR4wQ-1AEl5yw2aZr1JTgnNbLy7PjTqwp1bkYqTX4Svf9rRK7rQ3-pyXrEcDKM1fsOr4sVJfRxM5ib0LCA8mH2-dk7LgZBYLI9kDEMxKpce7LjNq8cgmjV5FRTrH5hcSnwYKNHRnK3qf8wvNKwM05guG65548luukbI58oqUsZcJ0e6rtLN7zt-JjD0WiN9LqtnlX8igAYq5SbA8YlADbJ0jOarePX-QH5x7VGUF94uFUgtxjcSiJv28wLxKl8p-Fbp3CU-EEELeA5YDsB96X0exU_ckiATykNSQpOvlpomZg6X38nBfokUakQXHVFdMKG7DnfKqe5TAOpRno2KoghDJeN0qeUlAd2JFx969vPqaK_nb5imbrQVGsmQxa_vsbobkEVcArV3sCjvWT5Qs6piABDjya6vZadYOn-GftVCMjp2OHCH6hKZCvu16be2wxbqbijjD6XVIFzePVOAiiI1Y0cVkPfUkiplLZvf37VJLV0zI2tGZDuowxuGX-s92CZ8lJ-75gNS-mKYSSenwXwg0e2eoHfTavCbp1HZYB7mVyQ1bJqLczFpYDR0sIsM9qo5UnuK-E9hrhqDxLNrstOGoHI-q_DnRBR3dKEh2NGJv9rdMebuWrcz9OPUEs4vAIt4MuAskJBG4V4SBWHcdsNKFE0j1ValEwA3JrfoArggF_TXxXA_ZvKG5SNHqpcscXGkU4R04FpVDIbltO3XcX445lTqfWy88absYfGycg3LkX7M-MJZY3h_4mxdrHtQsXR9seJggWpNlltHG6eEPyLDrm2Dy48m8kwbfaXkv4rc1ibRySAIn9tuS1dWpQkvSSzXUlc2f1z7C1_mgw17kmsD-7g4fC65IW2LOSP5xhLcLxA7WRXMP1_WXWKlIUfvUvSfBkQUfH2h6Ye0TgWBPevsK6mm76bOiH8JnFy5xm3HpFM10mGIz31vu_wDTHfRuKgGJ_y6zaFBpUJcB_2H1PBx8sR7DMd4ndNFBbWnNNtlc30JKqRSZc85BYgfRDtDfdA_JV3JuF0UfiW6RjCU39X5dfRNZqxa8MXtODQ7bnWu_WH974YGAiQFLR8Cew6oXoGlVEFMO1xyq3NeVX8QbN9zSBki6RhMCZvAca4PxZoGvKpVvpB7qLH-VyQvodSYuYIa6QtlFZ79_yuh6ZTgjpOyUX1B89Jf5alIPbusNJuIExJtJZ5N8SdmRlbZhS6z2sUtXD9ntvp1WSGvUpRm18Voxym37aIYbFeifCfCCLgvsa9oVD5DWvKsz1YoxT5YF1fED8FHeO3vdLH1uFoiy2z6PDnNPHJRhI3bYU1Us8H-wuKWcgZEiaQLDaZ5gMnkdaXaywCLddI1CHMNXEdopYRz2xjIeNlBnkAaJ2ti7qx2DYpCk68XCgbIj2B1BldA3-ReBCFANmWpOJRoBwtzTcjHHLtk3JC1MntdIhm4F_bWKywwyh0fUEBfWPFe560zwYJP0AdhVBfQkJH6qecnSciSZOk38d4zTYFK72VNIie88kFb2i5izj-MrDgaLzZX0ybZlWmuI4HA6ds2GuzX9SSlC9Qkn41aQ58Ns9rMqEDrf7AZOA8v3P6e6t6iePtCss6jmkUz9fBeAd8T2yqIEO66nRKk5LZT8jxmgpSNgfUn6JVPndbCoA4DxcZ3oF72IdPXQpRB6E2k_VGgWIHIQaHe5vkgotqnLcpMl-kfZdqdko40O6QKgiySKT9gYqr4FilHMa1oNmzI2dy0npeaEYcRLTtbZHXNp0CfsHKiUBlUQMoVEq01TtBTpSVqxbw1FL-9TV-_mJsRFQ1sY2oaG8EMrOhY61wtCOT-SO_CerOWfnaG7G-BnM59w8DoGRkikYGJEPfdKBXIBThsnhmpJiiXR8zTrsaKWreop0WE2oQP3dfGuQleoF_SUWvXzMo8cgcDEapenMHBVvvmI70BZfLEj-DM2m4pdiDT6CtJh-Uaezy_b2Z0oafxBzdI3s_jyTmM508PUBL2Tn7EwVSxjqwFsz4NkiHUP0CirxBdcCBw9eKiddI5FCHkioRYzsVIX9Hr6Gx-5l-gntnyNU9Zf5JOgDc114EpApYC2WB3-UI7nzZwEMGmGW3g-CAHTuOeczHMZfJn-CAgTMp3yAji-jwBg1jgMGSCOOHGnsoCJRQJL3NQOJzW98VHKsqVhwp58iiBcUsWL9Jm-nfoKxHV9Tg0Rm7v3W2dF_lteJ_fKck-VCl4o1x9JJj-DsAx-BpBkVYcAxeoUHyWPPSJEbU-K2SgMFzx8xsjMjBj9TGk9Aj01iWzdVrfRBteNjsMf2fWfl7nyasuffYOOzHix1-4fHgmSXathGbPJZSMKz-MAiwC5I8iPFlvG16_HG6-pyZcWII5ETpGZVyAO5YWDnb8DXQQX7xw_wchpnNuRvZK0jpPvlmXMCOeFH7XWqPWxvR0TEok6RpU86oVTKodfHxUmpBnWSAcuTFTr2xwt2T-6umgwsD7PanejrLRctpd8vLiJCL2a0VPNDdSgNSjCrwLbneqJdHONtFIEnZtsqTrWw4OlBiUvq-dHIHh0uvBI=",
  "id": "rs_0a80943a61ca1c9c016ab44ee1593887d0bf51db7e52f14ed8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.12,\"right_z\":0.04,\"right_yaw\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The close beside the white bowl was empty, suggesting the apparent dark spot was bowl/arm shadow rather than a graspable fruit; the blue bowl visibly contains the two actual fruits. I’ll now move to grasp the blue bowl around its lower sides for pouring.\"}",
  "call_id": "call_qkYZto2wNdsrOe5i4MrafPo0",
  "id": "fc_0a80943a61ca1c9c016ab44ee504f087d0991c2925984b9fdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qkYZto2wNdsrOe5i4MrafPo0",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8593, 0.6132, -0.5579, -0.0139, -0.0338, 0.9947, 0.3115, 2.0785, 1.4601, -0.6582, 0.1169, 0.2554, 0.9978]\nstate[eef_state]: left_x=0.2712 left_y=0.0003 left_z=0.1329 left_yaw=0.0019 left_pitch=-0.2315 left_roll=0.0021 left_gripper=0.9947 right_x=0.4372 right_y=0.1229 right_z=0.0147 right_yaw=-0.0138 right_pitch=-0.6834 right_roll=-0.0409 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -1.5795, 6.8581, 1.5311, -0.0415, -0.0269, -0.0122, -0.5128, -14.0923, 7.1863, 1.1941, 0.0269, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec8d4027552392dee4868692247de01723a180b6830fcc33dfefbeafdc5204b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0c4db062e31a058ec9a0c9ccf8c010c3b7e79b202ac61eb7a3edda69cb0abc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a26c3d027becdb77d6fee820d94c789460831168526bb8bbe29deeba5f17d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 13.79 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]: [-0.0212, 0.8581, 0.6132, -0.5491, -0.0139, -0.0338, 0.9947, 0.9333, 2.2726, 1.7615, -0.8871, 0.3786, 0.5278, 0.9986]\nstate[eef_state]: left_x=0.2727 left_y=0.0003 left_z=0.1347 left_yaw=0.0019 left_pitch=-0.2216 left_roll=0.0019 left_gripper=0.9947 right_x=0.3314 right_y=0.3438 right_z=0.0155 right_yaw=0.1425 right_pitch=-0.627 right_roll=-0.2808 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.9487, 6.8444, 1.5653, -0.0659, -0.0366, -0.0122, 0.1436, -12.2872, 6.653, 0.2418, 0.4274, 0.188, -0.1538]",
      "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]: [-0.0212, 0.8585, 0.6132, -0.5552, -0.0139, -0.0338, 0.9947, 0.9985, 2.4241, 2.0109, -1.0084, 0.3923, 0.5835, 0.009]\nstate[eef_state]: left_x=0.2716 left_y=0.0003 left_z=0.1336 left_yaw=0.0019 left_pitch=-0.2281 left_roll=0.002 left_gripper=0.9947 right_x=0.3256 right_y=0.3873 right_z=0.0116 right_yaw=0.1508 right_pitch=-0.6247 right_roll=-0.2874 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.4291, 6.8444, 1.5409, -0.0464, -0.0415, -0.0122, -0.2256, -12.8479, 7.5966, 0.5885, 0.359, 0.0757, 0.6471]",
      "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]: [-0.0212, 0.8593, 0.6132, -0.5579, -0.0139, -0.0338, 0.9947, 0.3115, 2.0785, 1.4601, -0.6582, 0.1169, 0.2554, 0.9978]\nstate[eef_state]: left_x=0.2712 left_y=0.0003 left_z=0.1329 left_yaw=0.0019 left_pitch=-0.2315 left_roll=0.0021 left_gripper=0.9947 right_x=0.4372 right_y=0.1229 right_z=0.0147 right_yaw=-0.0138 right_pitch=-0.6834 right_roll=-0.0409 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -1.5795, 6.8581, 1.5311, -0.0415, -0.0269, -0.0122, -0.5128, -14.0923, 7.1863, 1.1941, 0.0269, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec8d4027552392dee4868692247de01723a180b6830fcc33dfefbeafdc5204b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0c4db062e31a058ec9a0c9ccf8c010c3b7e79b202ac61eb7a3edda69cb0abc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a26c3d027becdb77d6fee820d94c789460831168526bb8bbe29deeba5f17d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE7s5UNAnCNn4L3kdIIIZ7rNbdjcMUfp55JnG-clOJI8JJVQPv5dN8tXLvJSH_-l3s-soZqCJNyRMYUxVRFzs2QBY3dYpmZThwROZ-uOJf1TJRlaYtV39TwBVnNH5NBMDacX_WpoLi47-l1StrfQQLgT4D8ClHfdnFT-5QzdmJA_qYaHCi1WdgmWMaZJ8GREfs_N9XwkZwTkDNsP1mgO3ycraDR8S1Ld8gce0_NPw3P5gtTdIIYdTEIt-xncRc9jn7m0Fw8f2Sqn5Z24_GLU3vvkXKgff8Utqk20v3-8Et1jET8cW8AVK0p35d3nNSjE05Rzx3vZL5LQXWS74Ee6amp7vTmyyIxPd5KUH_0VEk8WgGvoTIq7I2GqG4fwuSTe08keJWQRNCW0IVoe9DWzclfwsJYHmj3K7vwUgrGLKJYWo2U1UmxjpHevWItm7EQrUPQwprMq9MRPWS4x-XakADAP2R2VxLURs5yHgj8DL1GHA14LqqJarkCVEQM-twhydOs38bBh2JwPE2EAKetoPf0pEfS6HXH3eXYVzqNCrUeLDjDrUn69GCaLEP5RPeVCoDCt4_Uu7ly-H68_vHQu1MHlftpLTUg8jemz6aIrhnOzygbJVF1SX2Bg6-WATuvR64mysDOXNvDjzUttZr-mK3AgJB0YGsb11P9zyLnzgUbof_sWYA9EDFXlp9eKoFCtjxXrA8Z_oDN0RcFN4D8QjFzanJb9XCqicpXtVhgq8QzWzlrjEf3TfEfaBkhQvWCrxvddnfPrz7XT2ObwedqcepJc0pNc8RSlf7cwiXuS-5_6ufDAfPcaoOdfpg6B4afzYPvkIPJVe_7H6eLSAJIyzDbWFaFzGsTb1ZYUXlBmnItpSIMjCDu6BnDf8fdQVqfRkVms8V8CTXsu7ZWhttths9RAB2GBEkju06n9UEsZpmt-6ldTm8Wi7OAQSusJ94AE_G1y605F7nIfQvQTdqqf9Ggn7O_QQLGBlQM5cp1Hpd06c3xHtTAFaNWZat9yNO1iQFrFt8CxytVonWX4bvAoQwW01sYMMQfhHtT7k93AAn96031AFo0O2FcBR9dXCJBLOdMEeJ2mkfqDuWEYQviE4qRBHlCflPzCRAy9fxcbrqDoY9zwCfUgCCXsVoxKNV8jD4hT4z1JmDBcQfKHop-8Y5VS7ouo4_iYDq9-32XHd3Ir9xPObZJyzGJX5hACR9iv8b7BGg8gWvNi0z7ghdQOXlEWiyTDuvnLen6A_e4d6PVNB4XemW9apBRSWwzN5BaraUy7fEmQzCAnJenb-YiZb0sJpUaOgdlv-bJogCIoWvRKmNHGYXqqkyX5JMEdziSK1iawBknzWBMSDoiA-E-f3hTGWHnmHsTuHo4P4HjCm_K-mBf7KIh_3n-Gchf8MR3ROwN3WR-9tfz7qgHmH_7VIRtKi7k69jlg1FsFbdIkgimJc1n5fbBpDi0rzdsmNs089ezfCvoJDiR6XXr5SAqGLPhSnklX50F9kmxUr4QpzmYue269DhexhLMM4i8FOQ8Rnuh4fdtxULUFx-tysxks84amg7Q8Hblb7xVjB9sRnOloT5wCb0yTWWJs5Cl5z5IR6GyFrqEUW1vzHtB3-nD61Jr-HMb-xj50iQbS729w9d_bJ1ycGhULz6UcpneUnoWah-12Jp0_brqvEeo7J-OXhypQ2jJi1bE6r4sD8qvHWGMFUjqtwxgWRGvkp9GgcVPyx9v17FHeYYVr1xA13R9toS18ZQaRr_Atqd1jgDBQSAcIeqQ=",
  "id": "rs_0a80943a61ca1c9c016ab44eeade3c87d0b45d0d8bd6416562",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The open gripper is lowered around the blue bowl at table level; the overhead view shows the wrist centered over it and both fruits remain inside. I’ll close on the bowl’s outer walls.\"}",
  "call_id": "call_v08A5ndMfMzZum8Z75eEWIDA",
  "id": "fc_0a80943a61ca1c9c016ab44eebd73c87d08eed77c374ab44e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v08A5ndMfMzZum8Z75eEWIDA",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8604, 0.6132, -0.5587, -0.0135, -0.0338, 0.9947, 0.3244, 2.0491, 1.3521, -0.5423, 0.1295, 0.2497, 0.0088]\nstate[eef_state]: left_x=0.2711 left_y=0.0002 left_z=0.1325 left_yaw=0.0016 left_pitch=-0.2334 left_roll=0.0019 left_gripper=0.9947 right_x=0.4304 right_y=0.1245 right_z=0.0034 right_yaw=-0.0003 right_pitch=-0.6442 right_roll=-0.0425 right_gripper=0.0088\nstate[joint_eff]: [-0.1026, -1.5932, 6.8718, 1.5311, -0.0513, -0.0513, -0.0122, -0.4581, -12.6017, 5.559, 1.1258, 0.2466, 0.0611, 0.6227]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0009dba24357042c6fc2c4682570b2fb16ecf2a4f2e116556d7429411ee2499",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35debe8fa36a4fd82c4e5662451f2c28691b7041f76dadd6dccd3faa5e37bc7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a887cd59ebd6e9865d26d90ca512481acec6bb4c8012a649c52b3ab690fd215",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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