adhoc

completed
2026-09-23T22:18:28.156096+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
192.4 s
total steps
266
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe green pear is centered in the right wrist camera on the jaw column, but it is still just beyond the fingertips. I’ll advance the open right gripper a few centimetres and lower slightly to line up above it.
move_to
right_x0.3250right_y0.0010right_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]: [-0.0219, 0.8001, 0.6132, -0.3817, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0227, -0.0257, 0.9994] state[eef_state]: left_x=0.2961 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0009 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3624, -1.6068, 9.5795, 1.8388, -0.1441, 0.1245, -0.0855, -0.212, -1.7983, 9.1966, 1.8291, -0.0708, 0.1099, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.001,"right_z":0.16,"right_gripper":1},"note":"The green pear is centered in the right wrist camera on the jaw column, but it is still just beyond the fingertips. I’ll advance the open right gripper a few centimetres and lower slightly to line up above it."})
tool
executing move_to over 3 steps (0.3s)
step 3
top_cam
camera top_cam step 3
left_cam
camera left_cam step 3
right_cam
camera right_cam step 3
assistant
agent noteAfter the radial advance, the pear now fills the jaw column and its lower body reaches the fingertip area, indicating good horizontal alignment. I’ll descend to grasp around the lower-middle of the upright fruit.
move_to
right_x0.3250right_y0.0010right_z0.0450right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3862, -0.0139, -0.0307, 0.9992, -0.0216, 0.9611, 0.5781, -0.2283, -0.0227, -0.0299, 0.9994] state[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1807 left_yaw=0.0003 left_pitch=-0.0069 left_roll=-0.001 left_gripper=0.9992 right_x=0.3207 right_y=0.0007 right_z=0.1511 right_yaw=0.0034 right_pitch=-0.0416 right_roll=-0.0025 right_gripper=0.9994 state[joint_eff]: [-0.0068, -1.306, 7.0632, 1.8046, -0.0806, -0.0513, -0.0171, -0.0752, -3.0291, 6.8718, 2.0244, -0.0464, 0.0317, -0.0757] camera 'top_cam' (step 3): [image omitted: streamed camera frame] camera 'left_cam' (step 3): [image omitted: streamed camera frame] camera 'right_cam' (step 3): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.001,"right_z":0.045,"right_gripper":1},"note":"After the radial advance, the pear now fills the jaw column and its lower body reaches the fingertip area, indicating good horizontal alignment. I’ll descend to grasp around the lower-middle of the upright fruit."})
tool
executing move_to over 7 steps (0.7s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe pear is centered between the jaws at table level, with both fingers straddling its widest stable section. I’ll close the right gripper to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3981, -0.0139, -0.0307, 0.9992, -0.0208, 1.2865, 0.2539, 0.3859, -0.0227, -0.0372, 0.9994] state[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1772 left_yaw=0.0003 left_pitch=-0.0225 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3201 right_y=0.0009 right_z=0.0373 right_yaw=0.0082 right_pitch=-0.077 right_roll=-0.0074 right_gripper=0.9994 state[joint_eff]: [-0.3077, -1.6342, 7.0222, 1.8974, -0.0171, -0.0659, -0.0122, -0.2393, -3.8496, 5.5043, 2.0195, -0.0073, -0.0024, -0.0757] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear is centered between the jaws at table level, with both fingers straddling its widest stable section. I’ll close the right gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe gripper settled nearly fully closed and the pear remains visible in the wrist camera, so the first closure pushed the rounded fruit outward rather than grasping it. I’ll reopen and advance about 2 cm to recenter the jaws around the pear’s body for one careful retry.
move_to
right_x0.3400right_y0.0010right_z0.0400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.408, -0.0139, -0.0307, 0.9992, -0.0219, 1.2869, 0.2539, 0.3771, -0.0223, -0.0414, 0.0115] state[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1752 left_yaw=0.0003 left_pitch=-0.0324 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3188 right_y=0.0005 right_z=0.0354 right_yaw=0.009 right_pitch=-0.0862 right_roll=-0.0107 right_gripper=0.0115 state[joint_eff]: [-0.2256, -1.3333, 7.0085, 1.7949, -0.0366, -0.0366, -0.0122, -0.253, -3.2752, 5.7368, 1.7998, -0.0171, 0.0171, 0.9792] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.001,"right_z":0.04,"right_gripper":1},"note":"The gripper settled nearly fully closed and the pear remains visible in the wrist camera, so the first closure pushed the rounded fruit outward rather than grasping it. I’ll reopen and advance about 2 cm to recenter the jaws around the pear’s body for one careful retry."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe reopened jaws now visibly flank the pear’s broad lower body instead of meeting behind it. Because the fruit is rounded, I’ll close only to about a 4.6 cm opening first to avoid squirting it out sideways.
move_to
right_gripper0.4800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4164, -0.0139, -0.0307, 0.9992, -0.0185, 1.3708, 0.3126, 0.3702, -0.0227, -0.0452, 0.9958] state[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1735 left_yaw=0.0003 left_pitch=-0.0408 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3308 right_y=0.0015 right_z=0.0302 right_yaw=0.0149 right_pitch=-0.1182 right_roll=-0.0124 right_gripper=0.9958 state[joint_eff]: [-0.335, -1.1282, 7.0632, 1.7949, -0.0513, -0.022, -0.0122, 0.0342, -3.6308, 7.2, 1.7949, 0.0073, -0.0024, -0.1832] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.48},"note":"The reopened jaws now visibly flank the pear’s broad lower body instead of meeting behind it. Because the fruit is rounded, I’ll close only to about a 4.6 cm opening first to avoid squirting it out sideways."})
tool
executing move_to over 6 steps (0.6s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteAt the partial close the fingertips are touching both sides of the pear, but it is not yet securely clamped. I’ll tighten modestly to a roughly 3 cm opening while keeping the centered alignment.
move_to
right_gripper0.3200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4232, -0.0139, -0.0307, 0.9992, -0.0189, 1.3712, 0.3149, 0.3687, -0.0227, -0.0525, 0.4837] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1721 left_yaw=0.0003 left_pitch=-0.0477 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3313 right_y=0.0013 right_z=0.0306 right_yaw=0.0185 right_pitch=-0.1179 right_roll=-0.0181 right_gripper=0.4837 state[joint_eff]: [-0.0752, -1.1966, 7.1863, 1.7363, -0.0513, -0.0366, -0.0073, -0.1983, -4.1231, 5.2171, 1.6972, 0.022, 0.0415, 0.0659] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.32},"note":"At the partial close the fingertips are touching both sides of the pear, but it is not yet securely clamped. I’ll tighten modestly to a roughly 3 cm opening while keeping the centered alignment."})
tool
executing move_to over 2 steps (0.2s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe jaws now pinch the pear symmetrically at its narrow base and the gripper remains at the commanded nonzero opening. I’ll lift 6 cm to test whether the fruit rises with the gripper.
move_to
right_x0.3310right_y0.0010right_z0.0900right_gripper0.3200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4236, -0.0139, -0.0307, 0.9992, -0.0189, 1.3712, 0.3149, 0.3672, -0.0227, -0.0528, 0.3258] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.172 left_yaw=0.0003 left_pitch=-0.0481 left_roll=-0.0001 left_gripper=0.9992 right_x=0.331 right_y=0.0013 right_z=0.0303 right_yaw=0.0187 right_pitch=-0.1194 right_roll=-0.0183 right_gripper=0.3258 state[joint_eff]: [-0.0889, -1.0872, 7.0085, 1.7411, -0.0171, -0.0171, -0.0122, -0.0889, -4.1641, 5.2855, 1.6777, -0.0415, -0.0366, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.331,"right_y":0.001,"right_z":0.09,"right_gripper":0.32},"note":"The jaws now pinch the pear symmetrically at its narrow base and the gripper remains at the commanded nonzero opening. I’ll lift 6 cm to test whether the fruit rises with the gripper."})
tool
executing move_to over 4 steps (0.4s)
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 lift showed the pear remained on the table, so the low-body pinch did not hold. The fruit is still upright; I’ll reopen, move slightly outward, and align higher around its narrower neck for a more secure grasp.
move_to
right_x0.3500right_y0.0010right_z0.0750right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, -0.0177, 1.1591, 0.4473, 0.0128, -0.0231, -0.0566, 0.321] state[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0488 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3281 right_y=0.0018 right_z=0.0807 right_yaw=0.0223 right_pitch=-0.1293 right_roll=-0.0207 right_gripper=0.321 state[joint_eff]: [-0.294, -1.306, 7.241, 1.7314, -0.0317, -0.0415, -0.0073, -0.4855, -3.9726, 8.5812, 1.4921, -0.0708, -0.0073, 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_x":0.35,"right_y":0.001,"right_z":0.075,"right_gripper":1},"note":"The lift showed the pear remained on the table, so the low-body pinch did not hold. The fruit is still upright; I’ll reopen, move slightly outward, and align higher around its narrower neck for a more secure grasp."})
tool
executing move_to over 7 steps (0.7s)
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 noteThe open jaws now straddle the pear high on its shoulders, just below the narrow stem, which should resist downward slipping. I’ll close to about a 2 cm gap to clamp this narrower section.
move_to
right_gripper0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4728, 0.0555, -0.0231, -0.0639, 0.9986] state[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3371 right_y=0.0019 right_z=0.0587 right_yaw=0.0274 right_pitch=-0.1896 right_roll=-0.0236 right_gripper=0.9986 state[joint_eff]: [-0.335, -1.3197, 6.9812, 1.6972, -0.0806, -0.0464, -0.0122, -0.4034, -4.3009, 7.9658, 1.8828, -0.0659, 0.0366, -0.1587] 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":0.22},"note":"The open jaws now straddle the pear high on its shoulders, just below the narrow stem, which should resist downward slipping. I’ll close to about a 2 cm gap to clamp this narrower section."})
tool
executing move_to over 8 steps (0.8s)
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 fingers are now contacting the pear symmetrically without obvious sideways ejection, but the commanded opening may still be too loose for its tapered shape. I’ll tighten once more while preserving the centered grip.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4725, 0.0467, -0.0227, -0.0681, 0.2246] state[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3354 right_y=0.0019 right_z=0.057 right_yaw=0.0295 right_pitch=-0.1988 right_roll=-0.0265 right_gripper=0.2246 state[joint_eff]: [-0.2667, -1.306, 6.9949, 1.663, -0.0562, -0.0464, -0.0073, -0.0205, -4.2051, 6.106, 1.6679, -0.0464, -0.0122, 0.0806] approver: 1 step(s) modified (delta_clamped). 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_gripper":0.1},"note":"The fingers are now contacting the pear symmetrically without obvious sideways ejection, but the commanded opening may still be too loose for its tapered shape. I’ll tighten once more while preserving the centered grip."})
tool
executing move_to over 2 steps (0.2s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe fruit remains visible ahead of the fingertip ends, confirming the low-reach posture has not advanced far enough around it. I’ll reopen, raise to free the arm from the awkward low configuration, and move farther outward before descending again.
move_to
right_x0.3650right_y0.0020right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4725, 0.0448, -0.0231, -0.0708, 0.1045] state[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3351 right_y=0.002 right_z=0.0567 right_yaw=0.0313 right_pitch=-0.2007 right_roll=-0.0281 right_gripper=0.1045 state[joint_eff]: [-0.335, -1.1282, 7.241, 1.6777, -0.0806, -0.0415, -0.0073, -0.212, -4.1778, 6.0786, 1.58, -0.0366, 0.0122, 0.0024] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.002,"right_z":0.13,"right_gripper":1},"note":"The fruit remains visible ahead of the fingertip ends, confirming the low-reach posture has not advanced far enough around it. I’ll reopen, raise to free the arm from the awkward low configuration, and move farther outward before descending again."})
tool
executing move_to over 9 steps (0.9s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteAt the raised, farther-out pose, the pear is now well inside the open jaw corridor rather than beyond the tips. I’ll descend vertically while holding this improved radial position.
move_to
right_x0.3650right_y0.0020right_z0.0550right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.0151, 1.2812, 0.7551, -0.2779, -0.0227, -0.0872, 0.9986] state[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3579 right_y=0.0022 right_z=0.1164 right_yaw=0.0423 right_pitch=-0.2345 right_roll=-0.0384 right_gripper=0.9986 state[joint_eff]: [0.1709, -1.1556, 6.9949, 1.663, -0.0757, -0.0659, -0.0122, -0.212, -5.053, 9.1145, 1.5556, -0.0366, 0.1245, -0.1587] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.002,"right_z":0.055,"right_gripper":1},"note":"At the raised, farther-out pose, the pear is now well inside the open jaw corridor rather than beyond the tips. I’ll descend vertically while holding this improved radial position."})
tool
executing move_to over 4 steps (0.4s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe vertical descent preserved the better alignment: the pear now fills the space between the fingers and extends beneath the fingertip line. I’ll close to a moderate opening around its broad body, avoiding an aggressive squeeze on the rounded surface.
move_to
right_gripper0.5200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4313, -0.0139, -0.0307, 0.9992, -0.0151, 1.4429, 0.6022, 0.0002, -0.0231, -0.0906, 0.9986] state[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1698 left_yaw=0.0003 left_pitch=-0.0584 left_roll=0.0001 left_gripper=0.9992 right_x=0.3591 right_y=0.0023 right_z=0.0476 right_yaw=0.0451 right_pitch=-0.2711 right_roll=-0.0383 right_gripper=0.9986 state[joint_eff]: [-0.3214, -1.5111, 7.0496, 1.7411, -0.0708, -0.0464, -0.0073, -0.3214, -5.9829, 5.9556, 1.8095, -0.0366, -0.0269, -0.1538] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.52},"note":"The vertical descent preserved the better alignment: the pear now fills the space between the fingers and extends beneath the fingertip line. I’ll close to a moderate opening around its broad body, avoiding an aggressive squeeze on the rounded surface."})
tool
executing move_to over 5 steps (0.5s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe fingers now contact both sides of the pear while it remains centered, showing the radial placement is finally correct. I’ll tighten slightly to establish a firm clamp before lifting.
move_to
right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4316, -0.0135, -0.0307, 0.9992, -0.0151, 1.4414, 0.6025, 0.0021, -0.0231, -0.0978, 0.5254] state[eef_state]: left_x=0.2897 left_y=-0.0004 left_z=0.1697 left_yaw=0.0 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3597 right_y=0.0022 right_z=0.0486 right_yaw=0.0491 right_pitch=-0.2674 right_roll=-0.0436 right_gripper=0.5254 state[joint_eff]: [-0.1026, -1.3333, 7.2, 1.707, -0.0269, -0.022, -0.0122, -0.294, -5.3402, 6.3932, 1.3797, -0.0317, 0.0659, 0.1734] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.4},"note":"The fingers now contact both sides of the pear while it remains centered, showing the radial placement is finally correct. I’ll tighten slightly to establish a firm clamp before lifting."})
tool
executing move_to over 2 steps (0.2s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe pear remains trapped between the tightened fingertips and has not slipped sideways. I’ll lift it well above the tabletop and check that it moves with the gripper.
move_to
right_x0.3620right_y0.0020right_z0.1400right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4351, -0.0139, -0.0307, 0.9992, -0.0151, 1.4361, 0.6029, 0.0151, -0.0227, -0.102, 0.4053] state[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.0003 left_pitch=-0.0622 left_roll=0.0002 left_gripper=0.9992 right_x=0.3625 right_y=0.0021 right_z=0.0528 right_yaw=0.0508 right_pitch=-0.2489 right_roll=-0.0481 right_gripper=0.4053 state[joint_eff]: [-0.1709, -1.306, 6.9949, 1.7167, -0.0562, -0.0855, -0.0073, -0.3487, -4.8889, 6.5436, 1.3993, -0.0122, 0.0366, 0.0952] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.362,"right_y":0.002,"right_z":0.14,"right_gripper":0.4},"note":"The pear remains trapped between the tightened fingertips and has not slipped sideways. I’ll lift it well above the tabletop and check that it moves with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe pear stayed on the table and remains fully visible beyond the fingertips, so each earlier closure had nudged it farther outward. I’ll reopen and deliberately move another 5 cm outward at clearance height to get the grasp point past its current position.
move_to
right_x0.4150right_y0.0030right_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]: [-0.0219, 0.8131, 0.6128, -0.4461, -0.0139, -0.0307, 0.9992, -0.0132, 1.3045, 0.833, -0.382, -0.0231, -0.1131, 0.4004] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1654 left_yaw=0.0004 left_pitch=-0.0782 left_roll=0.0006 left_gripper=0.9992 right_x=0.3583 right_y=0.0029 right_z=0.1231 right_yaw=0.0599 right_pitch=-0.2845 right_roll=-0.0529 right_gripper=0.4004 state[joint_eff]: [-0.253, -1.347, 7.0222, 1.7851, -0.0366, -0.0513, -0.0122, -0.5402, -6.2838, 8.7726, 1.6093, -0.0659, 0.0904, 0.0317] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.003,"right_z":0.14,"right_gripper":1},"note":"The pear stayed on the table and remains fully visible beyond the fingertips, so each earlier closure had nudged it farther outward. I’ll reopen and deliberately move another 5 cm outward at clearance height to get the grasp point past its current position."})
tool
executing move_to over 6 steps (0.6s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe larger outward move places the pear much lower in the wrist view, with the open fingertips clearly extending alongside it. I’ll descend at this radial position so the jaw pads surround the fruit rather than merely touching its near side.
move_to
right_x0.4150right_y0.0040right_z0.0550right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6128, -0.45, -0.0139, -0.0307, 0.9992, -0.009, 1.5177, 1.047, -0.4385, -0.0231, -0.1246, 0.9986] state[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1645 left_yaw=0.0004 left_pitch=-0.0824 left_roll=0.0007 left_gripper=0.9992 right_x=0.4032 right_y=0.004 right_z=0.1235 right_yaw=0.0719 right_pitch=-0.3403 right_roll=-0.056 right_gripper=0.9986 state[joint_eff]: [-0.0615, -1.347, 6.9538, 1.6777, -0.0415, -0.0317, -0.0122, -0.1162, -6.4889, 9.4701, 1.6581, -0.0317, 0.0904, -0.1636] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.004,"right_z":0.055,"right_gripper":1},"note":"The larger outward move places the pear much lower in the wrist view, with the open fingertips clearly extending alongside it. I’ll descend at this radial position so the jaw pads surround the fruit rather than merely touching its near side."})
tool
executing move_to over 5 steps (0.5s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe pear is now partly below the wrist frame and the fingertips extend down both sides of its body, which is the correct grasp geometry. I’ll close to a moderate 4.8 cm opening around its broad section.
move_to
right_gripper0.5000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8196, 0.6128, -0.4652, -0.0139, -0.0307, 0.9992, -0.0093, 1.6684, 0.9043, -0.1787, -0.0227, -0.1249, 0.9986] state[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1599 left_yaw=0.0004 left_pitch=-0.1037 left_roll=0.0011 left_gripper=0.9992 right_x=0.4091 right_y=0.0038 right_z=0.0491 right_yaw=0.0724 right_pitch=-0.3738 right_roll=-0.0537 right_gripper=0.9986 state[joint_eff]: [-0.1846, -1.5385, 7.0085, 1.707, -0.0317, 0.0024, -0.0122, -0.1983, -8.0479, 5.9692, 1.5653, -0.0562, -0.0659, -0.1587] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.5},"note":"The pear is now partly below the wrist frame and the fingertips extend down both sides of its body, which is the correct grasp geometry. I’ll close to a moderate 4.8 cm opening around its broad section."})
tool
executing move_to over 5 steps (0.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteBoth jaw pads now visibly contact the pear deep inside the gripper, and it has stayed centered. I’ll tighten slightly to secure it, then lift.
move_to
right_gripper0.3800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.469, -0.0139, -0.0307, 0.9992, -0.0086, 1.668, 0.9047, -0.1707, -0.0231, -0.1322, 0.5046] state[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1593 left_yaw=0.0004 left_pitch=-0.1072 left_roll=0.0012 left_gripper=0.9992 right_x=0.4109 right_y=0.0041 right_z=0.0505 right_yaw=0.0775 right_pitch=-0.3653 right_roll=-0.0588 right_gripper=0.5046 state[joint_eff]: [-0.2803, -1.1145, 7.0632, 1.6923, -0.0317, -0.0317, -0.0122, -0.1436, -7.6513, 6.4068, 1.3358, -0.0024, 0.0415, 0.0952] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.38},"note":"Both jaw pads now visibly contact the pear deep inside the gripper, and it has stayed centered. I’ll tighten slightly to secure it, then lift."})
tool
executing move_to over 2 steps (0.2s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe tightened jaws remain engaged around the pear’s broad body with a nonzero opening, indicating an actual clamp rather than an empty close. I’ll lift about 10 cm to verify and prepare to carry it.
move_to
right_x0.4130right_y0.0050right_z0.1500right_gripper0.3800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4698, -0.0139, -0.0307, 0.9992, -0.0078, 1.668, 0.9047, -0.1577, -0.0277, -0.1356, 0.3919] state[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1592 left_yaw=0.0004 left_pitch=-0.1079 left_roll=0.0012 left_gripper=0.9992 right_x=0.4134 right_y=0.0052 right_z=0.0525 right_yaw=0.0839 right_pitch=-0.3521 right_roll=-0.0583 right_gripper=0.3919 state[joint_eff]: [-0.1709, -1.306, 6.9402, 1.6435, -0.0562, -0.0269, -0.0073, -0.0205, -7.5145, 6.3932, 1.1258, -0.0122, 0.0122, 0.3101] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.413,"right_y":0.005,"right_z":0.15,"right_gripper":0.38},"note":"The tightened jaws remain engaged around the pear’s broad body with a nonzero opening, indicating an actual clamp rather than an empty close. I’ll lift about 10 cm to verify and prepare to carry it."})
tool
executing move_to over 7 steps (0.7s)
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 overhead view confirms the green pear rose with the right gripper and is now held at the upper-right. I’ll carry it leftward to a high pose over the center of the blue bowl.
move_to
right_x0.3900right_y0.2000right_z0.2000right_gripper0.3800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0135, -0.0307, 0.9992, -0.0074, 1.5715, 1.1576, -0.5755, -0.0307, -0.1436, 0.3823] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=0.0001 left_pitch=-0.114 left_roll=0.0011 left_gripper=0.9992 right_x=0.4041 right_y=0.006 right_z=0.1264 right_yaw=0.0944 right_pitch=-0.42 right_roll=-0.0535 right_gripper=0.3823 state[joint_eff]: [-0.1573, -1.306, 7.1179, 1.663, -0.0415, -0.022, -0.0122, -0.4308, -9.2239, 9.1829, 1.3944, -0.0611, 0.0464, 0.398] 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":0.2,"right_gripper":0.38},"note":"The overhead view confirms the green pear rose with the right gripper and is now held at the upper-right. I’ll carry it leftward to a high pose over the center of the blue bowl."})
tool
executing move_to over 17 steps (1.7s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe blue bowl is centered in the right wrist view but still lies a few centimetres beyond the held pear. I’ll advance slightly and lower to position the fruit directly above the bowl interior.
move_to
right_x0.4150right_y0.2000right_z0.1600right_gripper0.3800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.5686, 1.7493, 1.6184, -0.952, 0.252, 0.3061, 0.3843] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0001 left_pitch=-0.1144 left_roll=0.0011 left_gripper=0.9992 right_x=0.3847 right_y=0.1978 right_z=0.1865 right_yaw=0.1348 right_pitch=-0.4587 right_roll=-0.0723 right_gripper=0.3843 state[joint_eff]: [-0.1983, -1.1282, 6.9538, 1.6093, -0.0317, -0.0415, -0.0073, 0.2256, -8.6085, 9.0188, 1.0623, 0.2759, 0.1587, 0.4322] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.2,"right_z":0.16,"right_gripper":0.38},"note":"The blue bowl is centered in the right wrist view but still lies a few centimetres beyond the held pear. I’ll advance slightly and lower to position the fruit directly above the bowl interior."})
tool
executing move_to over 3 steps (0.3s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe held pear is centered over the blue bowl’s open interior with safe clearance from the rim. I’ll open the gripper to drop it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.5396, 1.8282, 1.6241, -0.9226, 0.2348, 0.2871, 0.3843] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0004 left_pitch=-0.1144 left_roll=0.0014 left_gripper=0.9992 right_x=0.3995 right_y=0.1955 right_z=0.1581 right_yaw=0.123 right_pitch=-0.5058 right_roll=-0.0877 right_gripper=0.3843 state[joint_eff]: [-0.1573, -1.306, 6.9402, 1.6044, -0.0708, -0.0366, -0.0122, -0.212, -9.9761, 7.0906, 1.4481, 0.149, -0.0806, 0.4322] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The held pear is centered over the blue bowl’s open interior with safe clearance from the rim. I’ll open the gripper to drop it into the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe pear is visibly resting inside the blue bowl. The yellow fruit lies closer to the base on nearly the same lateral line, so I’ll retract the open right gripper to a clearance pose above it.
move_to
right_x0.3000right_y0.1950right_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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.5346, 1.8648, 1.6238, -0.9249, 0.2314, 0.2729, 0.9958] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0001 left_pitch=-0.1144 left_roll=0.0011 left_gripper=0.9992 right_x=0.4009 right_y=0.1945 right_z=0.1421 right_yaw=0.1207 right_pitch=-0.5437 right_roll=-0.1102 right_gripper=0.9958 state[joint_eff]: [-0.0479, -1.306, 6.9675, 1.6044, -0.0269, -0.0366, -0.0073, 0.3077, -12.6974, 6.5436, 0.9548, 0.0904, 0.0904, -0.1294] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.195,"right_z":0.16,"right_gripper":1},"note":"The pear is visibly resting inside the blue bowl. The yellow fruit lies closer to the base on nearly the same lateral line, so I’ll retract the open right gripper to a clearance pose above it."})
tool
executing move_to over 8 steps (0.8s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe yellow fruit is centered on the jaw column in the right wrist view, with clear space below it, so it is still just beyond the fingertips. I’ll advance about 3 cm and lower slightly for the grasp approach.
move_to
right_x0.3350right_y0.2000right_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]: [-0.0219, 0.82, 0.6128, -0.4763, -0.0139, -0.0311, 0.9992, 0.6994, 1.597, 1.3659, -0.9836, 0.2771, 0.4026, 0.9986] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1577 left_yaw=0.0006 left_pitch=-0.1152 left_roll=0.0011 left_gripper=0.9992 right_x=0.3064 right_y=0.1993 right_z=0.1534 right_yaw=0.1496 right_pitch=-0.5599 right_roll=-0.1146 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.4154, 7.0359, 1.6825, -0.0806, -0.0757, -0.0122, 0.1846, -8.6085, 6.4752, 1.0183, 0.3346, 0.1148, -0.1538] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.2,"right_z":0.14,"right_gripper":1},"note":"The yellow fruit is centered on the jaw column in the right wrist view, with clear space below it, so it is still just beyond the fingertips. I’ll advance about 3 cm and lower slightly for the grasp approach."})
tool
executing move_to over 3 steps (0.3s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
assistant
agent noteThe advance enlarged the yellow fruit and brought it to the fingertip area while keeping it centered. I’ll descend to table level so the open jaws straddle its sides.
move_to
right_x0.3350right_y0.2000right_z0.0400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6544, 1.6672, 1.3758, -0.9585, 0.2623, 0.374, 0.9986] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.3218 right_y=0.1936 right_z=0.1336 right_yaw=0.1239 right_pitch=-0.5991 right_roll=-0.1359 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.0735, 7.1316, 1.6142, -0.0659, -0.0464, -0.0122, -0.2256, -8.253, 8.841, 0.8718, 0.1099, -0.1001, -0.1538] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.2,"right_z":0.04,"right_gripper":1},"note":"The advance enlarged the yellow fruit and brought it to the fingertip area while keeping it centered. I’ll descend to table level so the open jaws straddle its sides."})
tool
executing move_to over 7 steps (0.7s)
step 155
assistant
agent noteAt table height the yellow fruit has disappeared beneath the wrist camera while the overhead view shows the gripper directly over it, indicating it is between the fingertips. I’ll close fully to grasp this smaller fruit.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0135, -0.0307, 0.9992, 0.6487, 1.784, 1.1652, -0.6662, 0.2565, 0.3584, 0.9986] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1175 left_roll=0.0012 left_gripper=0.9992 right_x=0.3262 right_y=0.1955 right_z=0.0458 right_yaw=0.1209 right_pitch=-0.6333 right_roll=-0.1591 right_gripper=0.9986 state[joint_eff]: [-0.212, -1.3607, 6.9402, 1.6044, -0.0464, -0.0269, -0.0122, -0.4855, -7.8564, 5.4359, 0.906, 0.1685, 0.0122, -0.1587] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At table height the yellow fruit has disappeared beneath the wrist camera while the overhead view shows the gripper directly over it, indicating it is between the fingertips. I’ll close fully to grasp this smaller fruit."})
tool
executing move_to over 10 steps (1.0s)
step 165
assistant
agent noteThe gripper closed nearly empty and the yellow fruit remains on the table in the overhead view, so the first grasp was too near the base. I’ll reopen and advance 3 cm outward for one corrected attempt.
move_to
right_x0.3550right_y0.1950right_z0.0450right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6525, 1.7916, 1.1336, -0.6289, 0.2615, 0.3553, 0.0111] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.324 right_y=0.1947 right_z=0.0363 right_yaw=0.1216 right_pitch=-0.6328 right_roll=-0.1667 right_gripper=0.0111 state[joint_eff]: [-0.1846, -1.347, 6.9675, 1.6044, -0.0464, -0.0317, -0.0122, 0.1846, -10.4547, 5.4769, 0.8816, 0.2759, 0.0269, 0.9988] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.195,"right_z":0.045,"right_gripper":1},"note":"The gripper closed nearly empty and the yellow fruit remains on the table in the overhead view, so the first grasp was too near the base. I’ll reopen and advance 3 cm outward for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 175
assistant
agent noteAfter the outward correction, the overhead view places the yellow fruit directly beneath the finger line while the wrist camera looks past it into the blue bowl. I’ll close again at this corrected position.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0135, -0.0307, 0.9992, 0.6109, 1.8313, 1.1957, -0.6327, 0.2573, 0.3027, 0.9956] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1175 left_roll=0.0012 left_gripper=0.9992 right_x=0.3452 right_y=0.1912 right_z=0.0401 right_yaw=0.125 right_pitch=-0.6231 right_roll=-0.1751 right_gripper=0.9956 state[joint_eff]: [-0.0205, -1.1419, 6.9265, 1.6093, -0.0513, -0.0366, -0.0073, -0.5812, -7.3094, 8.294, 0.8864, 0.1392, -0.0171, -0.1294] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"After the outward correction, the overhead view places the yellow fruit directly beneath the finger line while the wrist camera looks past it into the blue bowl. I’ll close again at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 185
assistant
agent noteThe corrected close was still empty, but the fruit did not shift laterally; the likely issue is that the jaws are riding above this short fruit at z≈3.6 cm. I’ll reopen and descend to tabletop contact at the same horizontal position.
move_to
right_x0.3450right_y0.1900right_z-0.0050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8223, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6132, 1.8309, 1.1786, -0.6209, 0.2646, 0.3027, 0.011] state[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.343 right_y=0.1893 right_z=0.0362 right_yaw=0.1191 right_pitch=-0.6242 right_roll=-0.1856 right_gripper=0.011 state[joint_eff]: [-0.0205, -1.3607, 7.0769, 1.6679, -0.0806, -0.0122, -0.0122, 0.1983, -9.9487, 5.135, 1.0085, 0.188, 0.0073, 1.0232] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.19,"right_z":-0.005,"right_gripper":1},"note":"The corrected close was still empty, but the fruit did not shift laterally; the likely issue is that the jaws are riding above this short fruit at z≈3.6 cm. I’ll reopen and descend to tabletop contact at the same horizontal position."})
tool
executing move_to over 10 steps (1.0s)
step 195
assistant
agent noteAt tabletop height the yellow fruit remains just inward of the fingertip line while the wrist camera sees only the bowl farther out, indicating the prior radial correction overshot. I’ll retract about 2 cm at table level to center the low fruit between the jaws.
move_to
right_x0.3250right_y0.1900right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6132, 1.8832, 1.0943, -0.4557, 0.2657, 0.2958, 0.9954] state[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1563 left_yaw=0.0005 left_pitch=-0.1205 left_roll=0.0015 left_gripper=0.9992 right_x=0.3463 right_y=0.1914 right_z=0.004 right_yaw=0.1319 right_pitch=-0.599 right_roll=-0.1736 right_gripper=0.9954 state[joint_eff]: [-0.0752, -1.306, 6.9812, 1.6142, -0.0562, -0.0122, -0.0073, 0.2803, -7.5145, 4.4103, 0.9109, 0.2271, 0.0513, -0.1294] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.19,"right_z":0.0,"right_gripper":1},"note":"At tabletop height the yellow fruit remains just inward of the fingertip line while the wrist camera sees only the bowl farther out, indicating the prior radial correction overshot. I’ll retract about 2 cm at table level to center the low fruit between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 197
assistant
agent noteThe table-contact posture prevented the intended inward retraction, with the readback staying near x=0.34. I’ll lift just clear of the surface and retract farther inward so the fingers can settle around the yellow fruit rather than press against the table.
move_to
right_x0.3100right_y0.1900right_z0.0250right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.6296, 1.8565, 1.0447, -0.4084, 0.2691, 0.3088, 0.9986] state[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1562 left_yaw=0.0001 left_pitch=-0.1209 left_roll=0.0013 left_gripper=0.9992 right_x=0.34 right_y=0.194 right_z=0.0032 right_yaw=0.1445 right_pitch=-0.5748 right_roll=-0.1571 right_gripper=0.9986 state[joint_eff]: [-0.0615, -0.9641, 6.9402, 1.663, -0.0366, -0.0317, -0.0122, 0.9778, -9.2923, 4.6154, 0.735, 0.2125, 0.0952, -0.1587] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.19,"right_z":0.025,"right_gripper":1},"note":"The table-contact posture prevented the intended inward retraction, with the readback staying near x=0.34. I’ll lift just clear of the surface and retract farther inward so the fingers can settle around the yellow fruit rather than press against the table."})
tool
executing move_to over 3 steps (0.3s)
step 200
assistant
agent noteThe successful inward retraction now places the two fingertips visibly on opposite sides of the yellow fruit in the overhead view. I’ll close at this corrected, low pose.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8261, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6632, 1.7691, 0.9882, -0.4561, 0.2756, 0.3332, 0.9986] state[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1561 left_yaw=0.0005 left_pitch=-0.1213 left_roll=0.0015 left_gripper=0.9992 right_x=0.3165 right_y=0.1908 right_z=0.0143 right_yaw=0.1516 right_pitch=-0.5846 right_roll=-0.161 right_gripper=0.9986 state[joint_eff]: [-0.1436, -0.8957, 7.0359, 1.6484, -0.0513, -0.0708, -0.0122, 0.7316, -9.4427, 5.6137, 0.9646, 0.1832, 0.2173, -0.1587] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The successful inward retraction now places the two fingertips visibly on opposite sides of the yellow fruit in the overhead view. I’ll close at this corrected, low pose."})
tool
executing move_to over 10 steps (1.0s)
step 210
assistant
agent noteThe full close was empty, and the overhead view shows the closed fingertip point still about a fruit-width forward of the yellow fruit. I’ll reopen and retract another 4 cm to bring the grasp point onto it.
move_to
right_x0.2700right_y0.1900right_z0.0200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6781, 1.7386, 0.9859, -0.4915, 0.2764, 0.3492, 0.0112] state[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.309 right_y=0.1916 right_z=0.0214 right_yaw=0.1532 right_pitch=-0.5892 right_roll=-0.1583 right_gripper=0.0112 state[joint_eff]: [-0.1709, -1.2376, 6.9402, 1.6581, -0.0513, -0.0073, -0.0122, -0.0889, -8.9641, 5.1487, 0.9646, 0.1734, 0.0366, 0.9109] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.19,"right_z":0.02,"right_gripper":1},"note":"The full close was empty, and the overhead view shows the closed fingertip point still about a fruit-width forward of the yellow fruit. I’ll reopen and retract another 4 cm to bring the grasp point onto it."})
tool
executing move_to over 10 steps (1.0s)
step 220
assistant
agent noteThe yellow fruit now appears directly between the two jaw rails at the bottom of the wrist image, confirming the retraction finally centered it. I’ll close to a roughly 3.3 cm gap to clamp it without pushing it away.
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]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7567, 1.6665, 0.8761, -0.498, 0.2852, 0.4122, 0.9955] state[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2693 right_y=0.1909 right_z=0.0129 right_yaw=0.1674 right_pitch=-0.6172 right_roll=-0.1654 right_gripper=0.9955 state[joint_eff]: [-0.212, -1.3744, 6.9402, 1.6044, -0.0562, -0.0513, -0.0122, 0.335, -8.5538, 5.2718, 0.8571, 0.3394, 0.149, -0.1294] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.35},"note":"The yellow fruit now appears directly between the two jaw rails at the bottom of the wrist image, confirming the retraction finally centered it. I’ll close to a roughly 3.3 cm gap to clamp it without pushing it away."})
tool
executing move_to over 7 steps (0.7s)
step 227
assistant
agent noteThe partial close has both jaw pads contacting the yellow fruit symmetrically, but the grip is still loose. I’ll tighten modestly around its smaller diameter before lifting.
move_to
right_gripper0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7574, 1.6569, 0.8707, -0.4908, 0.2844, 0.4091, 0.3545] state[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2696 right_y=0.1916 right_z=0.0148 right_yaw=0.1752 right_pitch=-0.6083 right_roll=-0.1584 right_gripper=0.3545 state[joint_eff]: [-0.212, -1.388, 6.9402, 1.619, -0.0366, -0.0366, -0.0073, 0.2256, -6.8855, 4.7111, 1.0037, 0.2613, 0.022, 0.0757] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.22},"note":"The partial close has both jaw pads contacting the yellow fruit symmetrically, but the grip is still loose. I’ll tighten modestly around its smaller diameter before lifting."})
tool
executing move_to over 2 steps (0.2s)
step 229
assistant
agent noteThe jaws now pinch the yellow fruit firmly at a nonzero opening and it remains centered. I’ll lift it to verify the grasp and clear the table.
move_to
right_x0.2700right_y0.1900right_z0.1300right_gripper0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7574, 1.6569, 0.8707, -0.4908, 0.2836, 0.4084, 0.2254] state[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2695 right_y=0.1917 right_z=0.0148 right_yaw=0.1764 right_pitch=-0.6087 right_roll=-0.158 right_gripper=0.2254 state[joint_eff]: [-0.0889, -1.388, 6.9402, 1.6386, -0.0464, -0.0806, -0.0073, 0.1026, -7.241, 5.053, 0.9304, 0.2076, -0.0171, 0.0952] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.19,"right_z":0.13,"right_gripper":0.22},"note":"The jaws now pinch the yellow fruit firmly at a nonzero opening and it remains centered. I’ll lift it to verify the grasp and clear the table."})
tool
executing move_to over 8 steps (0.8s)
step 237
assistant
agent noteThe lift showed the yellow fruit stayed on the table; in the wrist view it sits centered just beyond the elevated fingertips. I’ll reopen, advance about 4 cm, and descend around it in one motion using the same successful deep-grasp strategy as for the pear.
move_to
right_x0.3150right_y0.1940right_z0.0150right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8268, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.7563, 1.5391, 1.1629, -0.8974, 0.2836, 0.4034, 0.2213] state[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1559 left_yaw=0.0001 left_pitch=-0.1221 left_roll=0.0013 left_gripper=0.9992 right_x=0.2727 right_y=0.1942 right_z=0.1127 right_yaw=0.1798 right_pitch=-0.6063 right_roll=-0.158 right_gripper=0.2213 state[joint_eff]: [-0.1026, -1.1282, 6.9402, 1.5995, -0.0415, -0.0269, -0.0122, -0.3761, -8.5402, 7.9932, 0.8034, 0.1832, -0.0317, 0.1197] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.315,"right_y":0.194,"right_z":0.015,"right_gripper":1},"note":"The lift showed the yellow fruit stayed on the table; in the wrist view it sits centered just beyond the elevated fingertips. I’ll reopen, advance about 4 cm, and descend around it in one motion using the same successful deep-grasp strategy as for the pear."})
tool
executing move_to over 8 steps (0.8s)
step 245
assistant
agent noteThe yellow fruit is now hidden directly beneath the open fingertips in both the wrist and overhead views, indicating the jaws have advanced around it rather than stopping short. I’ll close fully and immediately test the grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.828, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6708, 1.7573, 1.013, -0.548, 0.2543, 0.3176, 0.9957] state[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1556 left_yaw=0.0005 left_pitch=-0.1232 left_roll=0.0016 left_gripper=0.9992 right_x=0.3042 right_y=0.1893 right_z=0.018 right_yaw=0.1695 right_pitch=-0.6443 right_roll=-0.1794 right_gripper=0.9957 state[joint_eff]: [-0.3624, -1.4701, 7.0632, 1.6435, -0.0269, -0.0415, -0.0122, -0.4581, -8.1299, 5.0667, 0.9646, 0.1685, 0.0806, -0.1148] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now hidden directly beneath the open fingertips in both the wrist and overhead views, indicating the jaws have advanced around it rather than stopping short. I’ll close fully and immediately test the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 255
assistant
agent noteThe empty close again leaves the fingertip point visibly forward of the yellow fruit in the overhead view. I’ll reopen and retract another 6 cm at table height to place the jaw pads, not just their tips, around it.
move_to
right_x0.2400right_y0.1880right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8284, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.6788, 1.7615, 0.9699, -0.4973, 0.2615, 0.3141, 0.0112] state[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1555 left_yaw=0.0001 left_pitch=-0.1236 left_roll=0.0013 left_gripper=0.9992 right_x=0.3002 right_y=0.1881 right_z=0.008 right_yaw=0.1745 right_pitch=-0.6382 right_roll=-0.1864 right_gripper=0.0112 state[joint_eff]: [-0.0342, -1.3197, 6.9402, 1.5995, -0.0269, -0.0464, -0.0122, 0.253, -10.0991, 5.2855, 0.8913, 0.2711, 0.0708, 0.9597] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.24,"right_y":0.188,"right_z":0.0,"right_gripper":1},"note":"The empty close again leaves the fingertip point visibly forward of the yellow fruit in the overhead view. I’ll reopen and retract another 6 cm at table height to place the jaw pads, not just their tips, around it."})
tool
executing move_to over 10 steps (1.0s)
step 265
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8291, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.8284, 1.6268, 0.7738, -0.4263, 0.3233, 0.4431, 0.9956] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1553 left_yaw=0.0005 left_pitch=-0.1243 left_roll=0.0016 left_gripper=0.9992 right_x=0.2478 right_y=0.1924 right_z=0.0031 right_yaw=0.1914 right_pitch=-0.5858 right_roll=-0.1806 right_gripper=0.9956 state[joint_eff]: [-0.2256, -1.0051, 6.9402, 1.619, -0.0366, -0.0415, -0.0122, 0.2803, -6.8444, 4.3419, 0.6569, 0.2369, 0.1538, -0.1197] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [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 · 10.47 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6132, -0.3817, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0227, -0.0257, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0009 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.6068, 9.5795, 1.8388, -0.1441, 0.1245, -0.0855, -0.212, -1.7983, 9.1966, 1.8291, -0.0708, 0.1099, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9a9df364a451aa03c2c43a692b7fef4b3be42f46833c269a7c4a595f0b2474b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b3b426400dc0e8fd6addb416ea67e123ed8b71ccf172e83683b3d8581326e29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:182a8d2bab844f25312e922d2972c8802fd9f7884cad6b650393e72b64b4a718",
      "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 · 3.184 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_00900f5e9e1a2142016ab45043014087d0885f9ec76180a928",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBMX3oZRz9CzFatQvKOpMpQQulgpBYeWmxqYBjOWfsbFRbD8xiDGMkLzMc5kxQX5iqD1vu_ZJNkRf1e3fPrE8uF3G80lBmk_CKkz2yH3t_4MLgmzmsi63s6ueYvZgn914H9zkI0bffFiUeWZiWExzw4BXxpkjcLfBKOplgszVA0vpZ_jKAQTUbWRKZyU4z3sAdxtFGn1tFwtFwPfDeM-gFGU1cAgB_jYIYv4BfTcu4HDxeGCYBBtIv7hRWgP6q8RVFp51vs38gH3dDTcx8SqYrk0D-GALrE_yPLUrVX0Xh6x2lhOJVVc6PCa1fAmQuOnyxKx4zfTa4Z4BUmT9n2L9Akr67s9GoeZ71M7UAFQ0ra0Oq5TIsdfBePv2XBisIRYIPJuWgal7xpjsrI9MwdPlkI6kdJAbqzNIrbRZBwYbXiUbqkM9mtfbradC8YDoHTksqbausyHaWurGNSeooxiO688ph8M7mjhxE8LwHCHbr7yH5PCUd_uAAUdJ3BuXFOniaJRai_UV59nqEzil5WCjarqHzsDduWGoQ7WYl8pf6OY4EAMPrzPb5YGszGQruGhmSlFr9cPpFxOriTSapcIcIFS5e-TLtqN_cnqol92KhRe_JUmBXu5erLyIn7tVh3bjje-Edt8bLD25dZgnqq5dS_V3GHxUYNPG5NS9w_7omIWInPhZFjbnOUwiwlwB43Lny_lCHYpjmt2cUL7WoWoy_ewznARlgZHX3ae8dELJsf4nieWvgyyxCZWJrtdCcx8_WK4B9LzuS7131nNJOPj5mUGQIyyEpu6jCoVWVCZB0AMKl_qOXVz7FHKty65vnPFLAdCHkbAjnKRJgutXs1HzxXnH5LDtAKhpVL2V1yp_-j-4zSL02T7kzDWjMyqo2yfHEQXpuW-84yr9N8m1HO7d9gjhJmJTRtmdykVuxOSqMtYeCK3uZ7FLaLAFfWNnyjwdFZZE-SCViLw38kmMSNNz_Gf2z8V7FARK59o8pLPoLoKfPzWi4kSYQJ2DGf_OQa6PrUUqjdyyl6F5NoGNNucB3N2__dKAppN5zSs1skNlDzdc_qKwBY3hB4JsuRScfbpYKNbxsEplLhRgpwNrBeDmWVXbfTm-12S9diqPG136_wNSASKp9wjkx652DTkB93Sp6yFtpw11v5_NmB-QY79enE9zDdsvCOcpnA0K2KAczX_riZkTzcwUSjLpuEuAW6USMyQ4U5gQ1O76T8MeyLvOLMCX0gXkp7JCUwqjomGQvJS7El602Va7QcQa1aDJFxltcHbdQgHmdJmVG_sV__DRn_PsGh4nZdSEiVArrafec79GBNULfHuzNomTrHw9Np47gtpnZj_fkPbQmWzJ7mLGakxxzIN7ZQSJk2n5E2Tltdd9_72rKLtjLuTqwX_lDaonqUQUfpPgSnjRsZBBhBcYUMbTkVFO47tloDH_sQ_F6EsJM7vY646h30kBQVImEEgt8v1ensAqDkIH6zTLODdOpqE0QfU5gg8QrIMoI7PtZ2UqkgsuqkY5itwKo2EEd5P0enkTaJf5dhLdGeW4qDn7mQcEFLlF6MQgmT8T7Byv-Dr_ciKw7AwNa-FmN_-Mmt3w6tCLvyTyxJHm0nfED7f16_iy7AimT6MTs30dPpta4Jb0ZlN74r1Xf7ylyC83uPjC6KkZIdQaj4TM9uBGz67kffBnDquk-tW_bGnrJuvI4BhLupxMYrk1OszMUmB7L6jlrdp68KtgbAqszJotb4sKjL9IIO3zR_nIuVTgIYKT3j8cTG1HKrxj71qPtW5G7x1nr1vN-Sp1ARQ33YMsstYDtqL1Uapp6aqMPOrPHx4NACERsH8Rm-lU7og8AuzP6UmZN7Llb-vvm-DSL4QcDlYtizz5H6v0_vH7dk_KSBlPIZGQS12zsI-h5-tVRwzIL9iDWUm5MptuWqfyW8NuvGHDr7nBTGKlF57dcajZEPUPehYDP3lOynraZNOQ0r6viub3rUlgjs_kPerELRN6MiLVgsETvjPLNaG1VPS6c2v19M0vEFUo6y8Z9bhoJM4RGq9-dabTE9skGxNzt59C_B9xJtHQ-LE-y47CTackPGuzb3UWjqtvcl88utCgn5O7xpaEy9D5kTEM-PSOgZzndC3eR-bIXpNVk0s4kR1NJ4n1DcBtJoku-ZUmcakFCUqs4a_SNThr22ckRaPp-OR8H5LFgWuEEutmTcLtbPcQ6NEsqW3xcjbjUJDZsMT_VTDM46ZSeEfjiBMrJkMYaCBRjAVxsiVuJ10N6MwPUZg-EXOla9Me2xQbs4_mLJBLPcpe7VJFt5tpDi8mUF-WnDN656UgGKHaXXTuH2hgZoeZ_AyPW0Ok2phHp93EwsDQTnGAlJDkN0mFJt7HAJ7ceWxpLxXXycRmjYEKRe26RUpIcdS6nUVsrhuioPLlBw7cFzP6ateCgl13Yed6NwWDDCz9Dj9F3kI5NCVOdj-eWgh1RzXXtS_wGsQlVbTU8q25gyuJttmRloeQ6F7hwmkEZJ60ND1yTzLaV2dKnEA_K4K4FWptoQcM1GIuDn9K2cfT6HelJDhhbR-aPyeA6PDPXA9KN3ESbsbbi3i6hqvIt9jqGvmYDv0xlMqMqxv3AmS5j7e-EbQr2Cj4v6_EttAtJocbBqNaUcZVW-TK3roxjMI6D_GIsodW-tNg_vPYnTpGCbRvx-6vnDagtEK_QoPCztN6WIw0Rn8nviwqWdS9EeQt8JfwW9WSJHA2Y5JXBp-_4NGaYwd_qdo1roxcf6z8UPMsGmQ1pskCUbd0vogXDwojzPXOr9f7PbsGAt19sebmjx_KQf5G0WD4aRwXpspBcu5s-Aoy4PMHFbdDs8VeJrHWHJWfsFPQ8AiyFr7pFvKSOP6tDFvWQrOebaIfb4nxdh4LNXXgHoJX-5jmcE8ZoihQ5os900clEGHBEG0MiX5kyGQUTw__4v_KBiSPfqSsEAarhqZghGf08LUj7fdXGPHN_Fu06zvyVakCpz8yTm23uDPi2DmCDfDUanAXLXHqh7ofgSoAsMHJ33EkxLARLO170PWTFICfalzP3kWq2ucknZuiCMwaXcjHWsLECHh9dNpWBBM5uhAC3723qdA2x5cTmnaB0aBR7CVmtHze-8MZBu_IZOfuGHknt7l09bdUahokEFmADgncPKZo2RNpHdmkWd3gVZWormzZo5Q2HZO_zFVBnQ0KZLB5GU9b883R9IHTb1nmkPc5YfW1eh7Gm6j5ZnkYAIWtjW_8aMvIXi0XpPXbT8mmCqwKNy5kYdL18YEaCw5XWtpyAtCK30SNk9-sE5DI3BevXel0JBQ5lKNiWGhIJCmD1vQjCr1lpEQfwhVwKQZwyTm7mjCV2sZ9BsSd6hIBeKKCc=",
  "id": "rs_00900f5e9e1a2142016ab45048135887d0b55bec0f8b5edda5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.001,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The green pear is centered in the right wrist camera on the jaw column, but it is still just beyond the fingertips. I’ll advance the open right gripper a few centimetres and lower slightly to line up above it.\"}",
  "call_id": "call_PwZwgcDqwAjnMr9ILwzflBtQ",
  "id": "fc_00900f5e9e1a2142016ab4504bb91487d0a1d0dd0c2d78c599",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PwZwgcDqwAjnMr9ILwzflBtQ",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3862, -0.0139, -0.0307, 0.9992, -0.0216, 0.9611, 0.5781, -0.2283, -0.0227, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1807 left_yaw=0.0003 left_pitch=-0.0069 left_roll=-0.001 left_gripper=0.9992 right_x=0.3207 right_y=0.0007 right_z=0.1511 right_yaw=0.0034 right_pitch=-0.0416 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.306, 7.0632, 1.8046, -0.0806, -0.0513, -0.0171, -0.0752, -3.0291, 6.8718, 2.0244, -0.0464, 0.0317, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b58d9cf5c84614d5d5413eba81bc1c16a2b75e8aca87e3552aed0f2dfc7733a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd761e4465a1207290aff85a280e831bef2c4be81b993715a6b955405158dbbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7224e97047afb270b74834e87fbeb375fd798477c427eda1d53a4b6f4c539c54",
      "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 2 attempt 0 · /responses · status 200 · 2.891 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6132, -0.3817, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0227, -0.0257, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0009 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.6068, 9.5795, 1.8388, -0.1441, 0.1245, -0.0855, -0.212, -1.7983, 9.1966, 1.8291, -0.0708, 0.1099, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3862, -0.0139, -0.0307, 0.9992, -0.0216, 0.9611, 0.5781, -0.2283, -0.0227, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1807 left_yaw=0.0003 left_pitch=-0.0069 left_roll=-0.001 left_gripper=0.9992 right_x=0.3207 right_y=0.0007 right_z=0.1511 right_yaw=0.0034 right_pitch=-0.0416 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.306, 7.0632, 1.8046, -0.0806, -0.0513, -0.0171, -0.0752, -3.0291, 6.8718, 2.0244, -0.0464, 0.0317, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b58d9cf5c84614d5d5413eba81bc1c16a2b75e8aca87e3552aed0f2dfc7733a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd761e4465a1207290aff85a280e831bef2c4be81b993715a6b955405158dbbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7224e97047afb270b74834e87fbeb375fd798477c427eda1d53a4b6f4c539c54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBSO1qZMBNC9EssNMgrJxABNG6FlmW6DqRgjdJcOW76ygC8tffoIENylaqS4x1lQrHJzXRvWhd2pWg7P8p8KXF9wdWzk1sWsFdBiOJwQRnBSIjMLFKBeCWyLgjAegPf0jf44jk4fVRIAhGHv4pCPk8xI1zvCzXzsACSjFFKvVctHreX_xBU9_nt1mADiY-LCyKyUBjGLV3s4MA-Ubla5HGR5_Y5VJpbB7pQEoTtR7pv97880eLd7H-reNVUkg98PlS5bjj3p6mJNY1RSZHgsLC5_tf56Fhia2GOIKJuRv5QrnEe2htACRlP9ZZl1VKryY4KV7qYDE_tjXUXPFfMhWrDlh1_fn4URxfYXvm5j8ldbbfnFFLDBo2FEaZtx5imi5Ot8CKbL33J2QuYI2sSIsRypkzVLOQkhBwCB0QGN3CRxh6iIft3qmK_8JluXvyArzsFWrJDL4e6UakmrkhlEKd8L4riRh5qQ5gKmlNgLSJEqlCYG9hc-W0PuuTZMcZmGFKuhIosFR4f28dFqMfMPS51WIWNazpy9xwReo-2-r1M7EFhdjb_BzAvvtL3ECga2afJcncuIRb9AMSDk56lvVL4mz0exVZOQMga1U4vXq1CQe9-tqDXAaLqJOKicbS-jnm1e3aTYKe8n0VgeadnxJTNtA5X2-fcjCChYWmPsl6SmstUj6qxPuu4pQgTSEKMKOI4VoIlTNt_PCCtk26gBNAI07lwOshicTfRsxYuIcvUmfLcRthploPoAoVV4YkIVU7KSNtpiVQR1l1znD8TDW9zQlnzaIFpMh6YERj8YisxaM-TXoSLliWIGH8U-6Pdg5lMeHcNgkn9MC7ZYUVJP83skSfrs7yp2t1cEUqLMFTraoATwOizrwxSoedOPURKPUWfBJu5r_JG1GQY3V3XNSWVxNaLoO5yGFfJK73p_-lEQfV4-fVPc3Jx_GYkqecb4Zv00lCghsiA6ESHEu5rqywuePLzUtu11vAbgBWhFlMzdgg0WcZxadJet2FEd4iE68WzuDZUVvQVm35I6RLATkB1wrPbVW_lneOeYCXdh99oq-ktkg6k932_hJ0w-jqo_wxk-ur72Td5C3aim24haVlU6S-cVk5Rp1zDgehmtFlRNS9WmLSPprhdWTfSlWi7eZgqc1e7VQKlLDD6LjCxp_jB3t7y1c8HZG_DiE88tzEsZ5mCn_OG_m-oq7wBKyjX8YAcTM_X-f60oqCmt9tp6ZFtna_30tlFu1ROxcPTbml40YkzymvBRiInuQYu3ocqsVLR2AhvyOPQfyJUzkYNm6YhLJwXiyu0i7e31bHsjufeUoSvjAyyKxDr6cYp1Mo_l5N4NtefWXASAwwaew89X-0hb7hE7MVsljH5ZGmo5JgohGOr6vmbcIymqi0jVy9Ts167S01dqiqsOTo7wfv7vDJTJGYP_7ldI01b979jp62DMrOynHxM9bNbR97w8YrLEK9AqrbReexOdJjshvdaVIkfKUWGIbZLytHp-oLYiOpABs3r3l2nr18MhzzM5a73o7O5TmeU3Wy30cXRL5rkarYRwQ==",
  "id": "rs_00900f5e9e1a2142016ab45051320887d0a2f57a23d30f20f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.001,\"right_z\":0.045,\"right_gripper\":1},\"note\":\"After the radial advance, the pear now fills the jaw column and its lower body reaches the fingertip area, indicating good horizontal alignment. I’ll descend to grasp around the lower-middle of the upright fruit.\"}",
  "call_id": "call_P0aHSNPKB7Le48xBFmzOSCvW",
  "id": "fc_00900f5e9e1a2142016ab45051e2a887d0a5c5262e70db4e90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P0aHSNPKB7Le48xBFmzOSCvW",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3981, -0.0139, -0.0307, 0.9992, -0.0208, 1.2865, 0.2539, 0.3859, -0.0227, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1772 left_yaw=0.0003 left_pitch=-0.0225 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3201 right_y=0.0009 right_z=0.0373 right_yaw=0.0082 right_pitch=-0.077 right_roll=-0.0074 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.6342, 7.0222, 1.8974, -0.0171, -0.0659, -0.0122, -0.2393, -3.8496, 5.5043, 2.0195, -0.0073, -0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43cb82b9eed90d77c121c943e64bed38b7c0a8babc9b9c6ed0ecf63297e41cd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00aed14943fd754124c2d68f5ebc4e150b0c34bc7e2b8f712122a5b6ecbc92bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec111044f1d3473a679739ae592093aa8b1f65c7a1649c0bb092a1b7a7bf282",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.656 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3862, -0.0139, -0.0307, 0.9992, -0.0216, 0.9611, 0.5781, -0.2283, -0.0227, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1807 left_yaw=0.0003 left_pitch=-0.0069 left_roll=-0.001 left_gripper=0.9992 right_x=0.3207 right_y=0.0007 right_z=0.1511 right_yaw=0.0034 right_pitch=-0.0416 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.306, 7.0632, 1.8046, -0.0806, -0.0513, -0.0171, -0.0752, -3.0291, 6.8718, 2.0244, -0.0464, 0.0317, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3981, -0.0139, -0.0307, 0.9992, -0.0208, 1.2865, 0.2539, 0.3859, -0.0227, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1772 left_yaw=0.0003 left_pitch=-0.0225 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3201 right_y=0.0009 right_z=0.0373 right_yaw=0.0082 right_pitch=-0.077 right_roll=-0.0074 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.6342, 7.0222, 1.8974, -0.0171, -0.0659, -0.0122, -0.2393, -3.8496, 5.5043, 2.0195, -0.0073, -0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43cb82b9eed90d77c121c943e64bed38b7c0a8babc9b9c6ed0ecf63297e41cd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00aed14943fd754124c2d68f5ebc4e150b0c34bc7e2b8f712122a5b6ecbc92bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec111044f1d3473a679739ae592093aa8b1f65c7a1649c0bb092a1b7a7bf282",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBaNUyKWJyUMh23mC0-9FTev5d8dXs7VEq5TDbmhzCXWFe6kcfRqJTtLUbPuVQ9Z7eOzlbGXfVdsehhXBmXxCkGapO6HnFFLXZz66-C_Q8nqY1MOvpTXmItrF8nhyPoAvHlILuHJGtNQje1-G7bxllybLeRo-3tXtUk6HlHOArbWHhg8tCnVoYXwJX0I0PH1VPozVGxbUkwnwwqWWvJUQkaPVqcZpEm3Q_b605P45SNmzxFEJhCJW7HfB6s6Jaq1-7Gg-traRaqTOEAnmDaG70O92O_k-idtK5qCGVRwi0IZLTpZki9LTr1tnxy9fOHKvjNidKoh8jxqw_PIUTWz4yGu_N7M1oq-HhrHCVKuGvvjMLwLm98LdLFBcr5ASwlWgwxU-_bEqk5LABypkDbe5-AQZBF-4K_EBieDkNmn2La2sxODuwTnSjYrAoq6aiV1A5k5rdtxJ3LmxLwz4ArOESutbRpIoZ1cCz1OSNl4GPMqxuPVFI7egRtduxixSfcGjVHLeaypsBI9C24c8dpyLrlXMVwhc4a-UBwr786CPXKKlQ18GjkjHB-V8y5OibIw7MlwHaUBMFwe1UOg0d5kjhVQPdAFKlGIPgYUvUcjjxp_gUPfR5Q3NFOtBpmNHlaBo2N_YGhfca4W3BU3E6szW4JEThs4HhNH13x4kOzYRxBf4h8uVQW1vhy6GG53OHtsPxdZTOb2oyCL7ex6wnJnrdKGhYRiCiBgwpTmkdJbfFg0jNcc0Qze7pctkfsPCN3gpqMj2pq1-Uezr8ZKrNQ4_KK401jd3k9aEsDjf2h_CgPOOME70U1hOkLkah75pzmTBsDIZoRBklFbHqeMectlw3CXsBoXQCtEXUhavO9PbPUasmP2lbUtvLjNhKAb5zRh6TVeEPbr8CHZRSL8-IwdzgQ8nxpMiCLdhIohAY45Y0BMuDBXcJ08V1LtInQZtVCC9v0LtvvSXY1eVxANO0DYDHswqjWo_iEHcU-BTU1JFjn8xQjo7_KyEKKKt7P-sKLfBYme3ReWGMSOMHyjIUvbg229O75Kz0g929SdZKr4FYoUcPS-kJWUh1e-su1h7O5D_InwRJnJ4-xLeFBOrwt6XXknuQdoRSHjuZyJo1DGKuYAEUHAUQlj6Sli4_pWzDI7o7DnuuuE2NnZiMwbeviZr1OQtl7as88-C8Wa0NrQrDfWGXNWygDbNv7uBMvdbA0kV0l61iDhbGYXybVdDpQVXEsdcvuxNT48kysZxLTMPPBPKb05bogM_TJtX42pJquKVJDVDRv5QBu-43HExG-58ASBtLPEYnBQgteLUETycXje01L8NjMtObIcdGqC8cNzlRxXW3Hq31Z9zHAtCYS5ypehA==",
  "id": "rs_00900f5e9e1a2142016ab4505924f087d0bef715a9c66fc95a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is centered between the jaws at table level, with both fingers straddling its widest stable section. I’ll close the right gripper to secure it.\"}",
  "call_id": "call_DFpTiLGkb1ZTyobzy2dhgmrY",
  "id": "fc_00900f5e9e1a2142016ab45059aeb087d09e62747b6baf84c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DFpTiLGkb1ZTyobzy2dhgmrY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.408, -0.0139, -0.0307, 0.9992, -0.0219, 1.2869, 0.2539, 0.3771, -0.0223, -0.0414, 0.0115]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1752 left_yaw=0.0003 left_pitch=-0.0324 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3188 right_y=0.0005 right_z=0.0354 right_yaw=0.009 right_pitch=-0.0862 right_roll=-0.0107 right_gripper=0.0115\nstate[joint_eff]: [-0.2256, -1.3333, 7.0085, 1.7949, -0.0366, -0.0366, -0.0122, -0.253, -3.2752, 5.7368, 1.7998, -0.0171, 0.0171, 0.9792]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a56428232fb1b7317b6f1f27289a38f709e3e0822243a83a12b3d4c1d6bc9a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c0d0cdb3214571b54c1e047f51b9bbf61be733e929d8d5dc19e4cf9c2d38fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702fa245b657499e850c0c7b3cdbf55ccb71de5ae0c02a0439c601c56d1160a3",
      "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 · 2.813 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6132, -0.3817, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0227, -0.0257, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0009 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.6068, 9.5795, 1.8388, -0.1441, 0.1245, -0.0855, -0.212, -1.7983, 9.1966, 1.8291, -0.0708, 0.1099, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3981, -0.0139, -0.0307, 0.9992, -0.0208, 1.2865, 0.2539, 0.3859, -0.0227, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1772 left_yaw=0.0003 left_pitch=-0.0225 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3201 right_y=0.0009 right_z=0.0373 right_yaw=0.0082 right_pitch=-0.077 right_roll=-0.0074 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.6342, 7.0222, 1.8974, -0.0171, -0.0659, -0.0122, -0.2393, -3.8496, 5.5043, 2.0195, -0.0073, -0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.408, -0.0139, -0.0307, 0.9992, -0.0219, 1.2869, 0.2539, 0.3771, -0.0223, -0.0414, 0.0115]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1752 left_yaw=0.0003 left_pitch=-0.0324 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3188 right_y=0.0005 right_z=0.0354 right_yaw=0.009 right_pitch=-0.0862 right_roll=-0.0107 right_gripper=0.0115\nstate[joint_eff]: [-0.2256, -1.3333, 7.0085, 1.7949, -0.0366, -0.0366, -0.0122, -0.253, -3.2752, 5.7368, 1.7998, -0.0171, 0.0171, 0.9792]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a56428232fb1b7317b6f1f27289a38f709e3e0822243a83a12b3d4c1d6bc9a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c0d0cdb3214571b54c1e047f51b9bbf61be733e929d8d5dc19e4cf9c2d38fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702fa245b657499e850c0c7b3cdbf55ccb71de5ae0c02a0439c601c56d1160a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBfYyVaNrd1sfs9MwNg8Rs9amVE-XkfZLc3lY0Bu4t6SgMAwY0BJbcccmYJphaQM2MDPRxcdNOoWuwnz1d6LSYR3CszXcpvUkBtmRsEVtskRQJh5ndg0v3T9ti6tDHeJatlJ67Xk53P-gSi1vXK1kUvkUEo1h0hrmtbFKnOFfAaTktQg_V7IcqnABXt1HCZNsatwNrdIerzjPYpBlFtifZOEDICzkSzOEl1VltRa0Rcs9sTAHzFhJRMBh4pJNtGKFTp-yC5nD-g9iQVOkvKTrepSTQkuG4VrpwDqc4Ef_ixOh6x24HGbNbHVci1d_SECTuptPVe3x6SpTVUuLLnziq3uwyPquskf3XO7FSbFtytZvmv9rhedVzicEJf98--Uj1C3HKv-av_6FiMJU5pn5eeXcpQtOzRmhF3gQ48JwkCdp4nAF3Z1dB81IJVgdOoQ6j_9LiKzctpXCOO5Katd3HPZAa6T6AR4QqiiSi2sEJJki6P4nwHUGArlVZqdpF4HJSdHPKyE1bbKVsb02arWeRn6_dIR02JuH8z6QQfsqQ6h9ksKgKhtoP3b8mMSNU47beNYsf8fLYwwpig7ti0XEpTTdOBpZjVe0Rpiz2xttVLeW-i8sM9Zniwrkv3S_FtJqZ9v55dQQfWFf9tCsf8AdGRXcnJBqiJKUxM2STQ-VyfYBoNcVa9E6aI9toaK6wbKYVJIJFBeqSMRPWccety1lFGYA3jRDNwj0RbGHZINhiR3HdmXtOUwL7DftVPZ_2A7qFfGt9vwOD1ZG0GejazzX6RJ_FoP3O75GqGf7k4Z40WEjcBwRhtQvHrJuWVWnDyA-5OkFeO9yHHOiipWdgXEDhlVgPHXUM2t6PR-w48V0RhtNxWeNAw0WQrgRwZp7x6MDb2zGw5ETBG2sRb6WNxgSEzZCkEfNRudzCi-UMRVKZekmtoWQKkgwuNDp2HeNlk6dPwmWIsZ262I9Dzvgq1w9WYwrxhaB9TYCOP8KZMfPDQq1Q4V_H5b6AMydUk_f--GKNKkn2P_c31xZS1olK5lv9BUYoTe4b5Lr9U6dHRqUAxh9t5VndlAoPxYOB5JEPRjIHV_HNyTtlw9hDPkdQUAYKR9wIb8m2CYpFILvY9kZYlzDqDWinBpeDq4JtvVulZh93pwjI-h9dwazZIiNvUovfIUbPQkkBrNK1e12_KLfG9q7nrK84x39DKtrsUPOJKigdaXwlfj6XxF-3DLyxbF2LEgcHNAW-jONqOs9VIPIBcBEMhevREimsKmNZXmVIwO7lhQx_ef9ecD1ZayhU4RW_SmcdDKAZZu-AMQzVbKmxnpGuOnm0ymsRZ-iUxNkDSoOq_AaZckpMdTkIxSX1j5sl4MxGxCRiMb_O61gi9p_xXwRmp5HgG6cRWyifX9275Eqqmu9aLLydoJqUW90Ly9L9a2MFYZubhDct5nU3GFkpNlU2dWCOxBOaAOhRBMjoF7UbCwnueZPaq7T1E-Ytpsc91u82y9ttsIZR9lEIf8F0e60bHpjD2J6JdsbF7VaWLsNxG8J3aX2qVEsINivzyw-EqdHtz0zuJKUe83CKIgsnZhgo24JsQfHOKkqWBOpqUC0xjsuG7OdzUZnEMEoZxdgVK_1zuWrg6nuZ-E5DEFGlCq6-XEv1cBfp7ac8JZTgJ3_r68b0YXtXjkrsEHnK6NXFcBj9gDjq_FA8kH_oKjOEkZ8VqdPAn8c6naQxeeJvtqwImDPOAMgbl4LIoA-9K-HUTl3EedsF5nPwRicpZyHYGSLsTbgcAvxEaefiiOwHvQHDJ-6i_lDEWEKT3WTf0vIJ-dsI0Dvz4ZAFj4-vKGIR6Z1te4Vy_pyO7u8oxxhU6fT_SmAM3eUief2J1Q3AqKC4w3uy4Id0NwSrL0M3tFtmeWRgOxx4ruVZJ_fXKpHsR_C7ZLaMia4SUx7Jlm2wBOu1Gtl0z2usr4Cb_IICSwzwzHyfLzTsZEEslNxkTNoDybjEs5EWUkO3us9_mEWYESxB9iQ==",
  "id": "rs_00900f5e9e1a2142016ab4505c9f9c87d098f64de2f05d899a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.001,\"right_z\":0.04,\"right_gripper\":1},\"note\":\"The gripper settled nearly fully closed and the pear remains visible in the wrist camera, so the first closure pushed the rounded fruit outward rather than grasping it. I’ll reopen and advance about 2 cm to recenter the jaws around the pear’s body for one careful retry.\"}",
  "call_id": "call_1xQZSPSI5l1B6L6JrOeM14rK",
  "id": "fc_00900f5e9e1a2142016ab4505e92c487d0b534c66b595e892d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1xQZSPSI5l1B6L6JrOeM14rK",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4164, -0.0139, -0.0307, 0.9992, -0.0185, 1.3708, 0.3126, 0.3702, -0.0227, -0.0452, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1735 left_yaw=0.0003 left_pitch=-0.0408 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3308 right_y=0.0015 right_z=0.0302 right_yaw=0.0149 right_pitch=-0.1182 right_roll=-0.0124 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -1.1282, 7.0632, 1.7949, -0.0513, -0.022, -0.0122, 0.0342, -3.6308, 7.2, 1.7949, 0.0073, -0.0024, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dca08c96202a35a6d5f4bf19df56db9aa463ba36690d282409dddd43c21cd34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15aeda58ff426fcc2c33a0323f0ebcb5fa8953aee4c89fb2cb2fdb5f6a09d6d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e317b356cfd5e6d000abbfcc4c9b9aeaa885496501d096e24207791ae6918c",
      "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 5 attempt 0 · /responses · status 200 · 3.212 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3862, -0.0139, -0.0307, 0.9992, -0.0216, 0.9611, 0.5781, -0.2283, -0.0227, -0.0299, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0004 left_z=0.1807 left_yaw=0.0003 left_pitch=-0.0069 left_roll=-0.001 left_gripper=0.9992 right_x=0.3207 right_y=0.0007 right_z=0.1511 right_yaw=0.0034 right_pitch=-0.0416 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.306, 7.0632, 1.8046, -0.0806, -0.0513, -0.0171, -0.0752, -3.0291, 6.8718, 2.0244, -0.0464, 0.0317, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.408, -0.0139, -0.0307, 0.9992, -0.0219, 1.2869, 0.2539, 0.3771, -0.0223, -0.0414, 0.0115]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1752 left_yaw=0.0003 left_pitch=-0.0324 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3188 right_y=0.0005 right_z=0.0354 right_yaw=0.009 right_pitch=-0.0862 right_roll=-0.0107 right_gripper=0.0115\nstate[joint_eff]: [-0.2256, -1.3333, 7.0085, 1.7949, -0.0366, -0.0366, -0.0122, -0.253, -3.2752, 5.7368, 1.7998, -0.0171, 0.0171, 0.9792]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4164, -0.0139, -0.0307, 0.9992, -0.0185, 1.3708, 0.3126, 0.3702, -0.0227, -0.0452, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1735 left_yaw=0.0003 left_pitch=-0.0408 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3308 right_y=0.0015 right_z=0.0302 right_yaw=0.0149 right_pitch=-0.1182 right_roll=-0.0124 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -1.1282, 7.0632, 1.7949, -0.0513, -0.022, -0.0122, 0.0342, -3.6308, 7.2, 1.7949, 0.0073, -0.0024, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dca08c96202a35a6d5f4bf19df56db9aa463ba36690d282409dddd43c21cd34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15aeda58ff426fcc2c33a0323f0ebcb5fa8953aee4c89fb2cb2fdb5f6a09d6d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e317b356cfd5e6d000abbfcc4c9b9aeaa885496501d096e24207791ae6918c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBiUF2Iu6sSMeK1BTWkSL0h9ErPZoodHOmyVDyLZ9m2vUTSBY2K_9grwBESa1XA30vAcHkd3OXJW1ERxJxEkbcV0pbVH7G1bxAHfWreiyRMsYNKJ7Enq4DOyrYytuotKOZZ8bY8NVTIaMG40Z_2h8X_QCckbM6fMHxDDYnT6z8-yXRA67DtVTmPGtOZvOrc6b4UtzhwufiBgooQDfEDFkr-0EsyyuVhvnp5IEOlKf3rYk_EPBDJut7Jsmmmn4elcESCmyLFcQ7Vy4ovqzbBQ_8ynhHUV6VVQtpvKoN9cm5OP3rbvGXw2jr7NpHaiMu3A01CR4DZXCl_ipu85_qdHxw6HYK4tmUgsQTHxNeLsz09BPXmMmr98C8DRumDCa_DD5M3ZPIurpcBmuuvP7hRrSoW2wXRRoOkAITQ9VwXFwDxeahFzaDZ6GOeqPc9h1lWGXTkgJoWW8iUZWiiY2b3VTxpUc66dJCyIZpxelvdhg0-X3B4mLeuHwgRMF7JrXtkrPLqBp-YlWruzakSzQdekX7q5juAWHl0CTTK1B56kMLRNhwnLCADotcqAc-nPwvbkPuLmoDhuKQbln6lQScSbAwqH7mnaHzIF9oKpO1J_U_VRmCn4pU9o_FmwhzMm97b2tvrztjL0yR_1nABuj1-oe-NAgmliSywi5u6ADf--bgpIN7cNDmMoJL2d6viXfys_zyh4-97-YXvK5gMyDVKwur3LDA_GX7nOjFyXOB19QeMoPS0jpV7ZN7W8GuE2eG8QtGn5_8BtLWAmB06_Ufninz9ycnI7tKyMmjnj73pTjbo4Edfp5uybMpVGbRtb-mx-__9e2aUL2R8Nv1LWx9q12xZw9eGRtBxpW5Pe0U2evsmMrAbdc21LVpaKLw7kOwjsUMVM1kqaTWWcrgwrLxbW6Z4jS5GjTZC_vZeM3AbwX73j1MpmxfgfJLYSBDD09uC-r0VNZJE_bngwkrnXKPyW5LtSNaBFQGGSHE5BycuUnnv4AJMPXnJmMSO3XZbSFmvtgxP7-wG3Mb3G4uZnAzTp4lY2lJqIXeNc4WFlL79eotslSzyZsz4Az-yIsqvqvtJj5Uyt5Qtoz64VGIVeBv3W2_S9ats74bUKEHtdqx6vLZxWG7pEgPONBrQ5HJn4c1noC52N-UPEaVX5ZwkAYEffiOskjaAShrHpoTQeDhAaU-h7ENj6_MPB4NdlSSs4wPj5Rja9OsQIxz9bK3kuqLxtiKlZrenTSK9g7dHDzk8ShTmr-y_bl4Uqiq25C8p8mWLGo1NzPX497wAoAjbzK8a8QEIZWTUh5iLCBFI8BFrIDAj2oVQfY60KhGxNPbBNLzclZ4G1bS6bJVyhEqMXHQzh8BLAesQQa9IXcjGztXyo3htGGg38j7ZljbiCHfa9nA-jpwJjj6XwJULYdlGZwgr1WW61GdU0b2QLnBFBsWOR0r7VnlGYE28473O7Ui2QlVNOffalerjBRcND1SJWPzwirkjpixfa0DWYurP5PthztxnGrAXk66rvUYP3YrR-4WTUYs8h_ctSNnziFrabiYtRqVCpQ==",
  "id": "rs_00900f5e9e1a2142016ab45061362087d08ed99fffd9128146",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.48},\"note\":\"The reopened jaws now visibly flank the pear’s broad lower body instead of meeting behind it. Because the fruit is rounded, I’ll close only to about a 4.6 cm opening first to avoid squirting it out sideways.\"}",
  "call_id": "call_Z6ABuIgVOzPQR5oEYwaEu81u",
  "id": "fc_00900f5e9e1a2142016ab45061ed3c87d083adcdb2d6a0e060",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z6ABuIgVOzPQR5oEYwaEu81u",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4232, -0.0139, -0.0307, 0.9992, -0.0189, 1.3712, 0.3149, 0.3687, -0.0227, -0.0525, 0.4837]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1721 left_yaw=0.0003 left_pitch=-0.0477 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3313 right_y=0.0013 right_z=0.0306 right_yaw=0.0185 right_pitch=-0.1179 right_roll=-0.0181 right_gripper=0.4837\nstate[joint_eff]: [-0.0752, -1.1966, 7.1863, 1.7363, -0.0513, -0.0366, -0.0073, -0.1983, -4.1231, 5.2171, 1.6972, 0.022, 0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19595e19e50fc5311a440da3fc8031d1d3cd9be16e9a0a6442c48db3699a2534",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa61fee62025f6819d0d3d87030eff1770afae756e33c16f68b4e230d28d75b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf590bf7ee96f57410b44eb9ee8096bdfcce52b408586c6e51f5d6cd77a676dd",
      "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 6 attempt 0 · /responses · status 200 · 2.081 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3981, -0.0139, -0.0307, 0.9992, -0.0208, 1.2865, 0.2539, 0.3859, -0.0227, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1772 left_yaw=0.0003 left_pitch=-0.0225 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3201 right_y=0.0009 right_z=0.0373 right_yaw=0.0082 right_pitch=-0.077 right_roll=-0.0074 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.6342, 7.0222, 1.8974, -0.0171, -0.0659, -0.0122, -0.2393, -3.8496, 5.5043, 2.0195, -0.0073, -0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4164, -0.0139, -0.0307, 0.9992, -0.0185, 1.3708, 0.3126, 0.3702, -0.0227, -0.0452, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1735 left_yaw=0.0003 left_pitch=-0.0408 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3308 right_y=0.0015 right_z=0.0302 right_yaw=0.0149 right_pitch=-0.1182 right_roll=-0.0124 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -1.1282, 7.0632, 1.7949, -0.0513, -0.022, -0.0122, 0.0342, -3.6308, 7.2, 1.7949, 0.0073, -0.0024, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4232, -0.0139, -0.0307, 0.9992, -0.0189, 1.3712, 0.3149, 0.3687, -0.0227, -0.0525, 0.4837]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1721 left_yaw=0.0003 left_pitch=-0.0477 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3313 right_y=0.0013 right_z=0.0306 right_yaw=0.0185 right_pitch=-0.1179 right_roll=-0.0181 right_gripper=0.4837\nstate[joint_eff]: [-0.0752, -1.1966, 7.1863, 1.7363, -0.0513, -0.0366, -0.0073, -0.1983, -4.1231, 5.2171, 1.6972, 0.022, 0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19595e19e50fc5311a440da3fc8031d1d3cd9be16e9a0a6442c48db3699a2534",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa61fee62025f6819d0d3d87030eff1770afae756e33c16f68b4e230d28d75b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf590bf7ee96f57410b44eb9ee8096bdfcce52b408586c6e51f5d6cd77a676dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBmERVYLMa5cyFToDJyJySPJoKm_xFHUiaT1mX3vncQGl86H-Smx1RlqOjTu00Vikl56UnHpPZWKXVsJr4hKAxwVCbeSJKfkg39h2OLHotzkuKg-APAFbFlwTkTnpEl9AX_5MvoKTyawNswf7e0LdOsvcuk5DuI44Dy0GR5W-vq2r5PgeiXtc2n3soAobTit6jTs4Tp4zAZctiKboztITMrLsnR-ZtoJGmIFMR4GfVto5_NW2RAWnWfAvk2qD5pHUTBNfiEV08uh8tGXwo3g63BFe-Eix5LGSytmy4O7hvU8UjwRBrvU6iiZUokA_jJoGTHCItqi-ZlGcIp2-tn5IZ9XXqX-raFoqAcBayDHfrwjJcKeroNRmdm8OrTe7wgNESU74EayvkHOBC3zrAZsv37kdswvDvl2Mb6Omeychvo6eLjMxleP1wITQUycd3-mnM6j3njPYAyVi0kPhxwla3I5gnP_JQepeQfNuHkBCS75wbxoZwv9kva154Yb3qfFi1dnqG3VOyM3LGVf9MxzuuK6-2Kw6_cXO6NhWNwG0aoCj9EVK0dnp8mycKyjaPwQ965NEets4urQlgdCX-jpbI5cXV6rMafCkEDN4knjE_IVuunht8riNATA-HGuou6-_wgcx3LjkM32AVsc4gywu_VqFMJd8EkcGPLg7SbjzqOkMBy7EY0bTONPKRExCuAR_Cu9gJDfHnK_6eZS4eeKOGe8y6IzZmPf1M4EM29UbpOq_j0zqzbDRgGAFM3_UTFSpjPxh_DytdbijTiKTHv4YRjxIJ6Go-nTr8Vlujhjj4f3-f1pQZlHrDeJ-UKFa5iT5_5_jlfm57lzqGW36gFw6Uv-8ydKFB80xejHGR-alSMfxxWYzAoGuhCB7uCrMaDXPq1u81H-8zSQ7LCKgCjHVQyjJeWqnbesyc6WZ7qtc4izXTI-Nv9VNKoZ36PXExgmBArR1MhxLMlxYZuaIsNIt1F3eqc88LIyij1ZdnHB2ey8zL_t-zdVEXt0TKZzmOAo86dQOT83JXp2FLEorHPJGIOM_Zf1uMMe5jpkwk-1PT5wE1nMPYvvCkt6OWgDs65UnuxA73vjhYg1RQE6cxUAcSyhPLyZBXDoVQjJTYagYaof3yJBD3gqmMGbU5OaaP96ZCPLCTUHoBAFC4UH2arwKHuH2z_JilDpPYXoXqACawI4i60Nhcj1loluPqnPPmgvm9gUIWmtDgAGp6-1-63NiTirA1-Qj7JN2BCVxNOW9qvazzfEqVPGnQkqq1RizqvJi6CxlnpeD9OEILwYzOcm-aFS1sY4qGXbwSB7NyxaVAeq5bXpUMmK0sm-3E9DBVbORY9iCjrGCdi9wIOyexrON0e3k5nj8_SrDBM1l86BMO-SWFg7W5DPD6DAjW3EoQ4W19uHEp6cKB4RgFobn-IK5pB5vRJXKAldVBYuKu0pmFuxyCqnrPe73-4IFrfedFS-OmDWdhAxZB-8oby7HvUzZTYEufxN1Jw6KuajQT7m2YU_4K2nza864HBZ19HC8i6cuXtBrpXpYp2S_Q4iuvJvY4TPMxMnehQ8zLSpbKhWXmRnSBA_I-ssdxiyESY5l7URwP2ttklLJyHnLWiT8QeuvJ1OE7l82HEFykgTcBtdR5UXgyORo5vvoTwgRC8i_ftiTzD5WwGkIWW7LFwraxjP9owuGoT_HxwnJKBdpUrf8feqr4=",
  "id": "rs_00900f5e9e1a2142016ab45064b61487d081760ba486f541fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.32},\"note\":\"At the partial close the fingertips are touching both sides of the pear, but it is not yet securely clamped. I’ll tighten modestly to a roughly 3 cm opening while keeping the centered alignment.\"}",
  "call_id": "call_DBpwewiqKgtAsorCLhkAQs2S",
  "id": "fc_00900f5e9e1a2142016ab45065d88087d08b53573a7d06e22e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DBpwewiqKgtAsorCLhkAQs2S",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4236, -0.0139, -0.0307, 0.9992, -0.0189, 1.3712, 0.3149, 0.3672, -0.0227, -0.0528, 0.3258]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.172 left_yaw=0.0003 left_pitch=-0.0481 left_roll=-0.0001 left_gripper=0.9992 right_x=0.331 right_y=0.0013 right_z=0.0303 right_yaw=0.0187 right_pitch=-0.1194 right_roll=-0.0183 right_gripper=0.3258\nstate[joint_eff]: [-0.0889, -1.0872, 7.0085, 1.7411, -0.0171, -0.0171, -0.0122, -0.0889, -4.1641, 5.2855, 1.6777, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e9a6243a25fbc1d7926d6cd54c484635a0e60eb5192d522e04cec1a68624c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a4c59f50ab094ec0b1a3034ffd3460842ee36badc66c8b0386fbe8876cb2df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:968e3a1bd6161125673759e6df0026f973a7801e3b390e4a86d73d41a5bc517a",
      "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 · 3.281 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.408, -0.0139, -0.0307, 0.9992, -0.0219, 1.2869, 0.2539, 0.3771, -0.0223, -0.0414, 0.0115]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1752 left_yaw=0.0003 left_pitch=-0.0324 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3188 right_y=0.0005 right_z=0.0354 right_yaw=0.009 right_pitch=-0.0862 right_roll=-0.0107 right_gripper=0.0115\nstate[joint_eff]: [-0.2256, -1.3333, 7.0085, 1.7949, -0.0366, -0.0366, -0.0122, -0.253, -3.2752, 5.7368, 1.7998, -0.0171, 0.0171, 0.9792]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4232, -0.0139, -0.0307, 0.9992, -0.0189, 1.3712, 0.3149, 0.3687, -0.0227, -0.0525, 0.4837]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1721 left_yaw=0.0003 left_pitch=-0.0477 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3313 right_y=0.0013 right_z=0.0306 right_yaw=0.0185 right_pitch=-0.1179 right_roll=-0.0181 right_gripper=0.4837\nstate[joint_eff]: [-0.0752, -1.1966, 7.1863, 1.7363, -0.0513, -0.0366, -0.0073, -0.1983, -4.1231, 5.2171, 1.6972, 0.022, 0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4236, -0.0139, -0.0307, 0.9992, -0.0189, 1.3712, 0.3149, 0.3672, -0.0227, -0.0528, 0.3258]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.172 left_yaw=0.0003 left_pitch=-0.0481 left_roll=-0.0001 left_gripper=0.9992 right_x=0.331 right_y=0.0013 right_z=0.0303 right_yaw=0.0187 right_pitch=-0.1194 right_roll=-0.0183 right_gripper=0.3258\nstate[joint_eff]: [-0.0889, -1.0872, 7.0085, 1.7411, -0.0171, -0.0171, -0.0122, -0.0889, -4.1641, 5.2855, 1.6777, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e9a6243a25fbc1d7926d6cd54c484635a0e60eb5192d522e04cec1a68624c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a4c59f50ab094ec0b1a3034ffd3460842ee36badc66c8b0386fbe8876cb2df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:968e3a1bd6161125673759e6df0026f973a7801e3b390e4a86d73d41a5bc517a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBosH9oFryA96RjOQayQhdA4zGsYCXPwGLuPcKsKah-dr-riWt2VyHMln2lVW_6fb6PamC6DJOLuxMIvYEPcJ9B98mkIxX4GcUa6nKrGcnHm8e93OvihRwCHADtuxN4NvARXUGH3E2DGIxmxAw70c0Ek3ylWq7IW380g_bg7B1pbv_CBK4F6a521qXi6aiSBLlC9RpDRvS8EbJmSUlEUdzUKCRlM7H5obr7TJv9MFw2XCCgKajdOTJOUw98Vl10JH6sfl5815zj5pzVoeJBQ1pZ94FeC222k2YlYNxL-_s0Au2PPWGAYqczCWcC7dV0ChGo_CXIBNt3VuTSwMKsGWXxULC0_bcAG0FmAGB1OgF85fM4RbXXrSbmYcgz5kdLr04O91r21tZVB9Xv8FGvTj-NpUleZr5ANx3kfmt5B0mjFOZ3d28SNO1AjpfW8tXrncTe-1qOMDWwkyJQZimfCPB0X5ZO5lm9pxrWLFBwYgM2bb7fF1N7sIEQxS1iUWxSwpRFuJL50iFHS429gkYPQOH3NRIhGJp1-1j0Fj5rlnZVH0pSQqw-_pHB7TyGJMtE6xfmAdVRelpJzlJ76mQADGSCsFvf8Sc01XtUOyRx1tOMY7n_yvuBGOqEnxEf-Ac_n9vcRXNs8eqwwYC75qDcy1IxHPydchi4Ef_TOaEgtdInItztq-sRe0WRhQ-aESBav4d_msE4oU8nTS6glcO91AhRQmCHWApnozmEmwIXuP5Fspyv2_EMpYE8KVIjUV6dkIUCD0FHE0_eHX8SmrDxQGJSE1Z-0b7Wtk_ZsmKbG66y_SiDo8id-y5zUEVPp4iZ9E6NpEHP7Ucz8hZb9Qjq-7T7-IZtaBJgEPywOTHaQOl2OiAjHfDf1C7jw0mc85yVgQlORLDY5dD5ZYlCYekFCYxSHq_wZUTSF2MlaowtwQvxI-dKSDIu5cPexqjMcSjXH2QmSW1Er_JmFJcfz7AxEf2AnmobZa19Kjs-CWfxXfu1vKLbGY5M0x61Y8CHJxC3KsoGE7sNsUF9qi1zFUF2ZrgmUqBccX_MSSfZ52Qh5AeiJfDO_j5OHOE88Ofi9qHKfIuGdwA1WK4PHth_6ydsA5Z7Lg9XrlXQJcgM0ZRx3RIKU-rYRbB7qosw5fc7X1X515xWTFjaovjcciVHOQRYWuKrZM6hp8xOvms6LRZE66SVaOFN4g_Cx2ai5Low2BAVX_S5_kUqrsjRv4gICoeQO60NOw==",
  "id": "rs_00900f5e9e1a2142016ab45067e07c87d0861d060cc493730f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.331,\"right_y\":0.001,\"right_z\":0.09,\"right_gripper\":0.32},\"note\":\"The jaws now pinch the pear symmetrically at its narrow base and the gripper remains at the commanded nonzero opening. I’ll lift 6 cm to test whether the fruit rises with the gripper.\"}",
  "call_id": "call_buZ3SYb3pt0WUJurImBX9VlW",
  "id": "fc_00900f5e9e1a2142016ab45067ff9087d0a5d79807406f66cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_buZ3SYb3pt0WUJurImBX9VlW",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, -0.0177, 1.1591, 0.4473, 0.0128, -0.0231, -0.0566, 0.321]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0488 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3281 right_y=0.0018 right_z=0.0807 right_yaw=0.0223 right_pitch=-0.1293 right_roll=-0.0207 right_gripper=0.321\nstate[joint_eff]: [-0.294, -1.306, 7.241, 1.7314, -0.0317, -0.0415, -0.0073, -0.4855, -3.9726, 8.5812, 1.4921, -0.0708, -0.0073, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48be881ec6a0cd3ae0034918cde9e8c77af1452995975ce4d93f6d6f43ee4998",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ee42df8423f518dc986beac30e602a4cae0cc55bceaf695b293bb4c6e9e4a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da58ef874626bb924d3bccd4f7ef34e7888f123091ee91a2071f2cd59c3d4836",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 2.068 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4164, -0.0139, -0.0307, 0.9992, -0.0185, 1.3708, 0.3126, 0.3702, -0.0227, -0.0452, 0.9958]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1735 left_yaw=0.0003 left_pitch=-0.0408 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3308 right_y=0.0015 right_z=0.0302 right_yaw=0.0149 right_pitch=-0.1182 right_roll=-0.0124 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -1.1282, 7.0632, 1.7949, -0.0513, -0.022, -0.0122, 0.0342, -3.6308, 7.2, 1.7949, 0.0073, -0.0024, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4236, -0.0139, -0.0307, 0.9992, -0.0189, 1.3712, 0.3149, 0.3672, -0.0227, -0.0528, 0.3258]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.172 left_yaw=0.0003 left_pitch=-0.0481 left_roll=-0.0001 left_gripper=0.9992 right_x=0.331 right_y=0.0013 right_z=0.0303 right_yaw=0.0187 right_pitch=-0.1194 right_roll=-0.0183 right_gripper=0.3258\nstate[joint_eff]: [-0.0889, -1.0872, 7.0085, 1.7411, -0.0171, -0.0171, -0.0122, -0.0889, -4.1641, 5.2855, 1.6777, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, -0.0177, 1.1591, 0.4473, 0.0128, -0.0231, -0.0566, 0.321]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0488 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3281 right_y=0.0018 right_z=0.0807 right_yaw=0.0223 right_pitch=-0.1293 right_roll=-0.0207 right_gripper=0.321\nstate[joint_eff]: [-0.294, -1.306, 7.241, 1.7314, -0.0317, -0.0415, -0.0073, -0.4855, -3.9726, 8.5812, 1.4921, -0.0708, -0.0073, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48be881ec6a0cd3ae0034918cde9e8c77af1452995975ce4d93f6d6f43ee4998",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ee42df8423f518dc986beac30e602a4cae0cc55bceaf695b293bb4c6e9e4a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da58ef874626bb924d3bccd4f7ef34e7888f123091ee91a2071f2cd59c3d4836",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBtfrpVHSTySH3Em6BPVHgM8ef7QExVeMQpZI4WlHiSRz_6wyANzahAzhv0oEiNWHaKkJ-2o6LcVHSLF4hN1kY3FVqn75uTdHpyBc41_0vVRBmdyFP6HFdHeGJQGvtJsUzz95aHj_P4oSEjeL4aWvlrN7-k0ntYIBHiPx_Y37xR1PJgMe-ynUEwarKAbvPlf6HbOwojZEcepdiXt-okJJT7H8fE1TyAJtzbDmBMJ7VjGIfkMpyvf0cxskXEZPBZhAj9PgVpC-LQkEYcffsxwXkash8ILac_JrX-MLF1SdC_RGkmSLOdm_xQoLwrTWSlmAAgcOdcRFiP7ZN-5zvFTtNS02bFsCPCeboSDWl0sAggcSJICJg8itjH2BSWyqjSrtw7il7JttLSbwBO0GyTV1z3VQ2-JJhzpj9jl04JqW8D5fVNgSkh_rJQ-k0ZUtF5RBIkDTycU0Mj8F9TwHxrDqDWvnJZ_zASL5KICuzIL2yBRJhk9kzcmBskA3JjCQXy6cpZJEDS7465GUU1CoIvgja0Ar-g1J5uoMjsVU38rI1Z8_6zhMx4NkIN_Qkm9s9-LFTm6V0t7nUwF42T4Moex5hDJ_uDghqTs6Wq-uWMqrRFqC6jGk4R9-DNaam1vc0tfNz1BXWTHcLvILBiWmA2i1Ro5zgiU6_RFTiN9ai5dPzprd3sgf1bQKe6oOrIqOUFCZOG4PjifqjkrWACPVm20WWkCEbxWYVFrur2UbvTrR1Dq8ryL-tBJ44mv0eri3D0BpjN4hWmGkuO1AbPDsIYAI8RMKNyALS6MlvHRIHSe6WgkxKN-3Vn6ZDklgLD11vPcm37DWluHzjhNIBD6C4kCHNlnFAT2NXWPrGH6nsSBpQ3OvCxbUcLCH3y_wTKmN4eGxvGhXeZgzzlRbSzvzMaL4flNFqzxa09d0ARsAwGvDAoZng0zGwiH-j5vmuoU5u8riVmxMTQLVpO8lmXJzCsTN5weHmAu81O1BxcioVYz7q3MoFUw45B2ozodsaIq56NXJdLtMGctieiOIfqkLRkaeSJD4sgmXHpPbZ0wk7ycLApTxS74v9pGR4o6M-bCZ3p24nAJt61KviK4atqHteASL2S9H32_X-I6CbJTUWKqCrr53xbLKEu87YN37ogXfqcaPuehQY7oAhg0TTO7zyUZ32ZRirTeClsQZ0-EV_qtvAegyYTa-OrGFeQYflBaLW9CCAazkdn-Yr_vHZt1pdrfttvbI2p_q_lSxMYD23xJe1ms-9N0_WLRSkFCi-do71Brl6xz9lmSlLEwesrPJ44wHbIBflZA0ZZN-RMOeUaFFkDVlYmoJTSf7_i7chRmaKNV-6PC6NU9fiTtf1nMDj47iW87Pss4RsD44F2FwgTP2QhIIlf5URHML_QldL37wrJwHQ7VX3GZcDLy8JsiHoUaobGsP_xXaPKvwwQCDtDFn2nkHEMTIZjXoFg4L9kDtqnwUgARv0HTVX3hbtY4uLmq84zhnGTHyx2ywvNeDbYTNS7y1bjpiYizBoVzaiRHqu0vGxnPsMwxasXNVA--ZgdEeEP066xjvYQug2In7wKUBs9jRnHxgHqfbYznbngIIM0yAVHQxtQJhPKgpgeMJ5epbm7w1snOsJ1Vc05Yq-78pg20cT4JVu_X75vpQaxBBKH0Lh-RVwIkmaRHsH4j6na7-GRMW5CO4nzau1D9Ti9eOKR-1wA0A__ILw8rIHn5QV1KRy5TvN_DrDw1P76eYSbK8y__9xbkT_KpT5-Xp8kXWQV65LxMGGF9WziYmEI65PCf_ZElG5V7ZDAbFL-9yT_wQrdZdJLSAirbEwZdD2UDEylnUUEvGzGSvoYNH5Fv0z4K_LdLPw_9a6X8c3_sAtEyuR7KnFqXNMubr-bLz1XApvVRDn3e3wD4u8BGpPhMJoBk59rlZCXYL2dfUUsqJcB3qcGzUpW3I1Yb-eyoA_CP_zvArIQHIJRtjZ_uorFZ9574SHiSUWR3eU8SFHT7U29ol9gOnLjMmL5ngV0hRDc_zZg22M=",
  "id": "rs_00900f5e9e1a2142016ab4506aacc087d09ea79969267ea8dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.001,\"right_z\":0.075,\"right_gripper\":1},\"note\":\"The lift showed the pear remained on the table, so the low-body pinch did not hold. The fruit is still upright; I’ll reopen, move slightly outward, and align higher around its narrower neck for a more secure grasp.\"}",
  "call_id": "call_R0NPSJqf4RkK0i0RYelRI8pA",
  "id": "fc_00900f5e9e1a2142016ab4506c2fb887d09bb4f5b7e3c9c995",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R0NPSJqf4RkK0i0RYelRI8pA",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4728, 0.0555, -0.0231, -0.0639, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3371 right_y=0.0019 right_z=0.0587 right_yaw=0.0274 right_pitch=-0.1896 right_roll=-0.0236 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.3197, 6.9812, 1.6972, -0.0806, -0.0464, -0.0122, -0.4034, -4.3009, 7.9658, 1.8828, -0.0659, 0.0366, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60aee39bb3cbc2ddd0d5f55f59ca75f08e30fd726040130cf08c9cbdd73f3f80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679bf35d9c505724bf2c6af5aa931a6313cce0220fa85195d478d3cb60e12acd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:322479bb14ea2cd7bd2456de3ef301b3e9038300d1a2daf9301c92b82d131804",
      "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 · 2.677 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4232, -0.0139, -0.0307, 0.9992, -0.0189, 1.3712, 0.3149, 0.3687, -0.0227, -0.0525, 0.4837]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1721 left_yaw=0.0003 left_pitch=-0.0477 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3313 right_y=0.0013 right_z=0.0306 right_yaw=0.0185 right_pitch=-0.1179 right_roll=-0.0181 right_gripper=0.4837\nstate[joint_eff]: [-0.0752, -1.1966, 7.1863, 1.7363, -0.0513, -0.0366, -0.0073, -0.1983, -4.1231, 5.2171, 1.6972, 0.022, 0.0415, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, -0.0177, 1.1591, 0.4473, 0.0128, -0.0231, -0.0566, 0.321]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0488 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3281 right_y=0.0018 right_z=0.0807 right_yaw=0.0223 right_pitch=-0.1293 right_roll=-0.0207 right_gripper=0.321\nstate[joint_eff]: [-0.294, -1.306, 7.241, 1.7314, -0.0317, -0.0415, -0.0073, -0.4855, -3.9726, 8.5812, 1.4921, -0.0708, -0.0073, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4728, 0.0555, -0.0231, -0.0639, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3371 right_y=0.0019 right_z=0.0587 right_yaw=0.0274 right_pitch=-0.1896 right_roll=-0.0236 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.3197, 6.9812, 1.6972, -0.0806, -0.0464, -0.0122, -0.4034, -4.3009, 7.9658, 1.8828, -0.0659, 0.0366, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60aee39bb3cbc2ddd0d5f55f59ca75f08e30fd726040130cf08c9cbdd73f3f80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679bf35d9c505724bf2c6af5aa931a6313cce0220fa85195d478d3cb60e12acd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:322479bb14ea2cd7bd2456de3ef301b3e9038300d1a2daf9301c92b82d131804",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBznCLMI-STm8MPzJ_w0Zh--ciK2azsmH7VHk-E3gY24Kyzsz4LpvCdg5b6Lx3wCBMyMvQJqu3MLfd2_BIaegpB3_BesrqHx8AFiks9m26XFZH7KFcH4UQjAKBdIUQz-EkiQgrma0tHrRJjuf72GGGBeIwgjW7ZxXVAwWFXXTa3qKq_LxZHGumGH_1qnRj1uId30faXTkDpo5twWrxzXiatyD6HrGV8AVGkzhpsnkSQ2zbysp5xsPyrc-_gAM4tAliD2-cbL9mUgOU7flKZ144G0Fuq2pJuMuJLA-T5pxdgp7VNkZn-QyCrRPpsLLao0xMTv4zHOXS8FfSNucQoc_9MU-i-yvpljjrqv1ob15q97gvV9W4ecC_TRsY8l3wyA_FMUQjZQdA-0uSmwgOKot_HQlTlRCQmp9DNsRdp-62v65iCEYdTwvcEWmkHQJE-LYQ2Sq3a51aVVZLKqi57Yfsoh5qCSUum_gAw9fgLq_Ddy697mL8VDoG0GILDuVvY3SqoZKckB5Qzj29XK0EsghMw2Jq-FEYT0Wdzc0MNih5Hy-FwRf7JY7VBUL-dnOHsih7NwQ5eHauQ56UgtspnTp1P7KvnG0u2RInC5928MLd7YcCkojYFb7kIiXNeUciPWOkysnqH43Zef-8ytkmRI4ZlaEfvrHI2WV85ZkY4Nb3BKShBWkkir6I_4vRrK2dOIKWe1j6qspqOufaJNps5yiztAKvU0spMQ2NgY_Yiyt4-wHJJLkjgcLrWS-6X6I_pK0w4bywshBj4Bv880C-WvKwaWNq-pPVymnWoDirdTYfJXN8jMkr-eTjqkfPNT6LW0iOa3k1GWm9LTNnXCDFFucfPKR9XcxUnwyr2T69k-GgrVLYT9Uuw3dl8T_fH5btSQc7HwiTsWx-axzL9A4tQXiHlgvrsXXtv3pZr5kfvYJ6ykUJL6cEGnXAGQ6TPjKCjsNstwDIdv62VlhpFdhsmbLyiwVaaijBkm30p3Ud1Y28vJCGfkgcLIjCY1l7DKZgxiyaHAaI9k_S5HAelcAjEdeAsVQeEKxeyF9LIkr29wbU1EYyrs7PZX7WbwOEWp5INliI807Z4Ynu37hOJ6qd2ezbaFr8JzEKPJbhl4LNhwPH7Qx8d93940xXXonHVkOw5F0-KaPq4XAW_aY488dseE8nd1N-4BWP3NS0VQGoOr18sXkewMKbB9nLuP_QV6BhZbxoRZE54QDbixYBiZ6d0RNHhqUZZnwHkjdSuHn9PlAzsDkoHYnzlUZ_Y9AB50k6YEj2F99jAD4iP63pTxRzg476_RQ==",
  "id": "rs_00900f5e9e1a2142016ab450727c2087d086925a9a5f21b633",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.22},\"note\":\"The open jaws now straddle the pear high on its shoulders, just below the narrow stem, which should resist downward slipping. I’ll close to about a 2 cm gap to clamp this narrower section.\"}",
  "call_id": "call_mZaJUXYnqMuleLmg5shelJ2w",
  "id": "fc_00900f5e9e1a2142016ab45072b6a087d0a7a3852bd010e3c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mZaJUXYnqMuleLmg5shelJ2w",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4725, 0.0467, -0.0227, -0.0681, 0.2246]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3354 right_y=0.0019 right_z=0.057 right_yaw=0.0295 right_pitch=-0.1988 right_roll=-0.0265 right_gripper=0.2246\nstate[joint_eff]: [-0.2667, -1.306, 6.9949, 1.663, -0.0562, -0.0464, -0.0073, -0.0205, -4.2051, 6.106, 1.6679, -0.0464, -0.0122, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ec13dae00cd4e1da2eecbe4927fc3655398d6a5dc2f0a9c7c7b4a7f9416110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f3e3180bf9d31a74fc36c78202c1580b02f0385526c62a64e04fe3dac0addac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff566911de471570af2f2478b2aa2e096db437515c594023d46aad80da03ec37",
      "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 10 attempt 0 · /responses · status 200 · 6.435 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4236, -0.0139, -0.0307, 0.9992, -0.0189, 1.3712, 0.3149, 0.3672, -0.0227, -0.0528, 0.3258]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.172 left_yaw=0.0003 left_pitch=-0.0481 left_roll=-0.0001 left_gripper=0.9992 right_x=0.331 right_y=0.0013 right_z=0.0303 right_yaw=0.0187 right_pitch=-0.1194 right_roll=-0.0183 right_gripper=0.3258\nstate[joint_eff]: [-0.0889, -1.0872, 7.0085, 1.7411, -0.0171, -0.0171, -0.0122, -0.0889, -4.1641, 5.2855, 1.6777, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4728, 0.0555, -0.0231, -0.0639, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3371 right_y=0.0019 right_z=0.0587 right_yaw=0.0274 right_pitch=-0.1896 right_roll=-0.0236 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.3197, 6.9812, 1.6972, -0.0806, -0.0464, -0.0122, -0.4034, -4.3009, 7.9658, 1.8828, -0.0659, 0.0366, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4725, 0.0467, -0.0227, -0.0681, 0.2246]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3354 right_y=0.0019 right_z=0.057 right_yaw=0.0295 right_pitch=-0.1988 right_roll=-0.0265 right_gripper=0.2246\nstate[joint_eff]: [-0.2667, -1.306, 6.9949, 1.663, -0.0562, -0.0464, -0.0073, -0.0205, -4.2051, 6.106, 1.6679, -0.0464, -0.0122, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ec13dae00cd4e1da2eecbe4927fc3655398d6a5dc2f0a9c7c7b4a7f9416110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f3e3180bf9d31a74fc36c78202c1580b02f0385526c62a64e04fe3dac0addac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff566911de471570af2f2478b2aa2e096db437515c594023d46aad80da03ec37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFB2M8Io0jtdBWHF4-Ry7Ujxou0r8SSqHXifsCP9n-LN2x-gkYZu4qrrrjRSnnx95kDpCsE6O-Ft6M7lSRPkxsbTXNIRfzPnHduSQd7YK1VkjaHjRLIJgi4nnbNS7boic5bje81ldqu-Zv-eaNv96ftFEwr7IMSl-uAbOGwR5ShdsXRsls-f2j66HCKZ0X0_BQ3yr9td-BKkHBwlGSlL8TOllHN2j0Thx_dzHWZYf2il9dB0R3W_nKoXggHdiRUIa-bjn1DzDfQlksY-feeqQ4zs4od3mQSRrHZVJw_yedtfrxMCLtFKDgxYvX8HGZ9VdKhhyB5-3UhJbd4-lTwhq4j5pHxyFDWMTcDnDe-4Vg3Yc2X10cgcbnZzulRxSHU3Sh2arY1_TSCWfmmSTAw-5hcE2z00mKZ2o4iLaCeqKXFDbjuKhDvrpMw1E9r54YuFjFHzAWb_H_YdHt7lgFSvjC1RU-3-jLSCDyjAiTIj9VsNHU8ZpuI_Rw_fQ-5CoofnnqgDeTSYXCp7dLadEeRY8nIo4K_Vnd6SDWWiMWZg0vtb4J-qRpqRQJB-1je32PpTrxM8vb6WfvtiMsqqzDcyFIzX914iHnWtojgEoFctigcUn9SDz6QkionD3OmOWSRZG9uuZw3zyTYx7IH_0NFk62DHL1U8xdI2HB7clLl72pfMUXjKeXJBSeKFtD7uxdMCKaNGkYD32EatZsglM15heGFqLqtY5vAJHW_grNyccBBzNP0mWhNRyBJnSyOrd-2EdQ8k7MzPtCnkHZptAR3P8KBrGi8xbMh0aZZuPlATA1KHWJjP5Afkv3JVSm4nyeVOsqD_AhWNitdGrKdd1xKreQXO1cDOSvnEdEVSZmlA3f6RmBWyUyXqfEkj44wVs8-S2vg63Ua86gp3w_w30y-n_Mr5ftY_N8bSxWgt9zstrzc5XOcFjoYSO1WP3LVoW87I7tMupiEKx4g2R5BwvKgAc2l1tr-l6MV9e0Y1G1LaSwwNd7jg8DhEMBeCnSGBfHxkc5FClgtJIJg_T3d08K2aIJsyXANyVphbB5JGHvIUrvMLDlp2x_rFsgK-A2jvFMYxo-xG4MRoZ5pAj0-LHPYQ_EWKvpV7uNxPna1yWEN7OpLIj_cZNPFliOKwniRiWVDRDOrQGo_gAYWXWAvhX7aIusAZ1_NXX20VweC-xKyBoAbhW2aDEfFdtvmCIcycJKYLDbin8mJ0YIgVk-a7zvSbyBJW_DGGARsvWqEf-skLcBMTr0F4uUKVfWm40ddPf5cYHzITbVlpedAontMXF5EF29tcmLcrj9N9nPtTya2SQN3t7cbJXjSsOwrH8uhrQfawAc2g_IyjdjwkYB9nPLpnogpW8OGcdRP99BvMgKLwt1zb6g_HCosrhaPLB7JjBv2FZ7vvAYeW8LQrvEKzzSatx8eyOkGB0qT7JfL18MNJZcCGqEkQnQf52FGXm-q7A9z819zk",
  "id": "rs_00900f5e9e1a2142016ab450757e8087d0be29b43305c50fb3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.1},\"note\":\"The fingers are now contacting the pear symmetrically without obvious sideways ejection, but the commanded opening may still be too loose for its tapered shape. I’ll tighten once more while preserving the centered grip.\"}",
  "call_id": "call_f2n1WlLWH9UN6t5K19zqZg9z",
  "id": "fc_00900f5e9e1a2142016ab450760acc87d086a878dd5a9d256a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f2n1WlLWH9UN6t5K19zqZg9z",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4725, 0.0448, -0.0231, -0.0708, 0.1045]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3351 right_y=0.002 right_z=0.0567 right_yaw=0.0313 right_pitch=-0.2007 right_roll=-0.0281 right_gripper=0.1045\nstate[joint_eff]: [-0.335, -1.1282, 7.241, 1.6777, -0.0806, -0.0415, -0.0073, -0.212, -4.1778, 6.0786, 1.58, -0.0366, 0.0122, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1f1692ef125b89959df1264fa96d98079ed44254e53d21b8782657102bc205",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc83f6a216290af5bd3b387a27a5555f063d1dd64ee3d34f52a8878aa8a51991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5262586bd8c008f06da160e1dd983103b297c4568631d75bceaff3aeb0a11c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 2.661 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, -0.0177, 1.1591, 0.4473, 0.0128, -0.0231, -0.0566, 0.321]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0488 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3281 right_y=0.0018 right_z=0.0807 right_yaw=0.0223 right_pitch=-0.1293 right_roll=-0.0207 right_gripper=0.321\nstate[joint_eff]: [-0.294, -1.306, 7.241, 1.7314, -0.0317, -0.0415, -0.0073, -0.4855, -3.9726, 8.5812, 1.4921, -0.0708, -0.0073, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4725, 0.0467, -0.0227, -0.0681, 0.2246]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3354 right_y=0.0019 right_z=0.057 right_yaw=0.0295 right_pitch=-0.1988 right_roll=-0.0265 right_gripper=0.2246\nstate[joint_eff]: [-0.2667, -1.306, 6.9949, 1.663, -0.0562, -0.0464, -0.0073, -0.0205, -4.2051, 6.106, 1.6679, -0.0464, -0.0122, 0.0806]\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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4725, 0.0448, -0.0231, -0.0708, 0.1045]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3351 right_y=0.002 right_z=0.0567 right_yaw=0.0313 right_pitch=-0.2007 right_roll=-0.0281 right_gripper=0.1045\nstate[joint_eff]: [-0.335, -1.1282, 7.241, 1.6777, -0.0806, -0.0415, -0.0073, -0.212, -4.1778, 6.0786, 1.58, -0.0366, 0.0122, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1f1692ef125b89959df1264fa96d98079ed44254e53d21b8782657102bc205",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc83f6a216290af5bd3b387a27a5555f063d1dd64ee3d34f52a8878aa8a51991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5262586bd8c008f06da160e1dd983103b297c4568631d75bceaff3aeb0a11c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_00900f5e9e1a2142016ab45077fa0487d09bce3c097aa8566c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.002,\"right_z\":0.13,\"right_gripper\":1},\"note\":\"The fruit remains visible ahead of the fingertip ends, confirming the low-reach posture has not advanced far enough around it. I’ll reopen, raise to free the arm from the awkward low configuration, and move farther outward before descending again.\"}",
  "call_id": "call_RDdK8BfEF1yMoSHDakmVBZNC",
  "id": "fc_00900f5e9e1a2142016ab4507c903487d09e277ecbbec316ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RDdK8BfEF1yMoSHDakmVBZNC",
  "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]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.0151, 1.2812, 0.7551, -0.2779, -0.0227, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3579 right_y=0.0022 right_z=0.1164 right_yaw=0.0423 right_pitch=-0.2345 right_roll=-0.0384 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -1.1556, 6.9949, 1.663, -0.0757, -0.0659, -0.0122, -0.212, -5.053, 9.1145, 1.5556, -0.0366, 0.1245, -0.1587]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d8ae80838e1abd420cafa8dc58d45345e529ce8f0f2a0750c6450b404991db0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee14e9cbe3ef82a0df38f1705cc4c3688b19671ff8042d3e6fae46e132d88f81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27653fd708b980a3f42551464171b9c442643706ce775d1fb8c943ce885b2f5e",
      "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 · 2.996 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4728, 0.0555, -0.0231, -0.0639, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3371 right_y=0.0019 right_z=0.0587 right_yaw=0.0274 right_pitch=-0.1896 right_roll=-0.0236 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.3197, 6.9812, 1.6972, -0.0806, -0.0464, -0.0122, -0.4034, -4.3009, 7.9658, 1.8828, -0.0659, 0.0366, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4725, 0.0448, -0.0231, -0.0708, 0.1045]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3351 right_y=0.002 right_z=0.0567 right_yaw=0.0313 right_pitch=-0.2007 right_roll=-0.0281 right_gripper=0.1045\nstate[joint_eff]: [-0.335, -1.1282, 7.241, 1.6777, -0.0806, -0.0415, -0.0073, -0.212, -4.1778, 6.0786, 1.58, -0.0366, 0.0122, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.0151, 1.2812, 0.7551, -0.2779, -0.0227, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3579 right_y=0.0022 right_z=0.1164 right_yaw=0.0423 right_pitch=-0.2345 right_roll=-0.0384 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -1.1556, 6.9949, 1.663, -0.0757, -0.0659, -0.0122, -0.212, -5.053, 9.1145, 1.5556, -0.0366, 0.1245, -0.1587]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d8ae80838e1abd420cafa8dc58d45345e529ce8f0f2a0750c6450b404991db0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee14e9cbe3ef82a0df38f1705cc4c3688b19671ff8042d3e6fae46e132d88f81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27653fd708b980a3f42551464171b9c442643706ce775d1fb8c943ce885b2f5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFCBNc68CkOIn0fMS61O6SBNpdbYTOtjmXF8_48-crWGmopXl6yE3AK1ViZUdkMdkRd9_HcKiF4o3YDOlv-xtMBrM0lCJAWn0N3XMPrbso9-7WfFNspurwDqzqLKs52MwGUztLF_96JkQx6msGzmXEjAC2Qu9PG7zwsWJMt8T6VNytVXXeWr4WlfusjLlGAw1Ezjy7c7q2Kq1k6xG8FfkOdYn6Mk6_ghLAI5HnC5cquKAyRXvTE0i5rswow9YpXMMurtOeY-FGQav-F5o7ok1gBPdV8XfhPLuCeNdQRv8SBFKx2tGNERWcKDmfp4aWiaPqu1PI1yHQ6rtMMXLfxwpD81AA4Z4pJFdbfRObkGLBSIPL4PUPGimwUF8Oo17JRCIFOaqFR1RhDbD938560l8JQ1899BNvdCR8NQP9JdyBKx3QFwE4p7LUam1o3K0QQSd1Lub5xcNg-eI7h1b9f6ACQoqqZGuBWHbbxLj_mO9GgV7yOdmTWx4SwDS1PgV5rTSzGZy1rk2istxwCpfzi10mxmHEJhgxp-RHNnOBtTVGZKk7UxXDMiB2suqfGYuaeY0Z1GqXR0Z1EwreNqZDTVdwUBSuIJcjRidxTvM6_PvFgrd3NP-VCRG8SMAFUda4H-fRhGE_zLfXe9WeSSoSvY4aTG47DotuOnYYbmq-o_3t9wL0qA-mOyy2lgsQd1qQkeZiPU_uv5oG_4AxXH-8CyXc7eUWscCyPJ97aU5NLgm0h7NOfeKFmhvq7yEpZxjvhyf_ex2ABSgaZT7y_tWgbuumY3-jn03WL_JEaGiIePhNlN58R9gAGcYHwG0MjqtuF34e5j30V4SSpMLK-9Pr41mXO1HVAlDiVrldtBxggUF3UpreZDn9a5dmeALYL_0pJwVMZGaAExAGS0H-cpRINpikrtjmm2q1c--a_YAx04tWcJ9ciNhp68nT9d5BZSwl1w35xkkfgr-Td0XLfgNkanAKGRlTS8_9Jd05xdZToUBNrAPHyMBN5ShL-4WEr2SC8QMjdDHc1a_JGSFHsuyi5Cpza86tj0CwD4oo6UhkAIJsqzJ6QAE_a1293NQs-A3oSG9kqRof3cbpA8HCLERP1s0IT_6Cs6KVUn3V_ALiLoOGskpo-jCkiU4AFKtHtqLXqeBq8cDfhkKwk4_C-dtX1o_9aLoeRgoypIv30rkjwlPXLXj5odZEjInRJWvKsgXzb26rKW0_wfmJYCQN98U3nAD4XMKZBAQzPm6rfDONfSDOY1aqh5WA3H-vG_NgmvKUNgmJyGKlRMQZcSalshPx4vOtqrv-ou9KQhCs1Vo_yK9L0ozGg7lzPlntcZK0IJYEayMlw_VlClvaQjfYulY6-UzygUfVdMgyNTYiswyFTjqXi_7eSoaSvQQhai-tv0CfEZcSZlBgcJFJ4cKjKUmRf9BExWdOkT76tIDG44LO1Vbhq6pe4=",
  "id": "rs_00900f5e9e1a2142016ab4507fd13887d0a9b06871a3c2a674",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.002,\"right_z\":0.055,\"right_gripper\":1},\"note\":\"At the raised, farther-out pose, the pear is now well inside the open jaw corridor rather than beyond the tips. I’ll descend vertically while holding this improved radial position.\"}",
  "call_id": "call_P42hv7tnx85JHy2sHyfHZKIB",
  "id": "fc_00900f5e9e1a2142016ab45080885887d0a5b01afe91b269fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P42hv7tnx85JHy2sHyfHZKIB",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4313, -0.0139, -0.0307, 0.9992, -0.0151, 1.4429, 0.6022, 0.0002, -0.0231, -0.0906, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1698 left_yaw=0.0003 left_pitch=-0.0584 left_roll=0.0001 left_gripper=0.9992 right_x=0.3591 right_y=0.0023 right_z=0.0476 right_yaw=0.0451 right_pitch=-0.2711 right_roll=-0.0383 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.5111, 7.0496, 1.7411, -0.0708, -0.0464, -0.0073, -0.3214, -5.9829, 5.9556, 1.8095, -0.0366, -0.0269, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61080185703466c2971757ef1eeb53c161404a37a73d5ac00ea2fe71f0e1a69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf680fd8e5138fb7cf745fd1375d9f6a2aaec79f0997a847169711748590386",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9418a83e83711e3b36919e31faa5e9c826064c5ffe0df844b0f522ca60607a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 1.867 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4725, 0.0467, -0.0227, -0.0681, 0.2246]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3354 right_y=0.0019 right_z=0.057 right_yaw=0.0295 right_pitch=-0.1988 right_roll=-0.0265 right_gripper=0.2246\nstate[joint_eff]: [-0.2667, -1.306, 6.9949, 1.663, -0.0562, -0.0464, -0.0073, -0.0205, -4.2051, 6.106, 1.6679, -0.0464, -0.0122, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.0151, 1.2812, 0.7551, -0.2779, -0.0227, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3579 right_y=0.0022 right_z=0.1164 right_yaw=0.0423 right_pitch=-0.2345 right_roll=-0.0384 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -1.1556, 6.9949, 1.663, -0.0757, -0.0659, -0.0122, -0.212, -5.053, 9.1145, 1.5556, -0.0366, 0.1245, -0.1587]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4313, -0.0139, -0.0307, 0.9992, -0.0151, 1.4429, 0.6022, 0.0002, -0.0231, -0.0906, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1698 left_yaw=0.0003 left_pitch=-0.0584 left_roll=0.0001 left_gripper=0.9992 right_x=0.3591 right_y=0.0023 right_z=0.0476 right_yaw=0.0451 right_pitch=-0.2711 right_roll=-0.0383 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.5111, 7.0496, 1.7411, -0.0708, -0.0464, -0.0073, -0.3214, -5.9829, 5.9556, 1.8095, -0.0366, -0.0269, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61080185703466c2971757ef1eeb53c161404a37a73d5ac00ea2fe71f0e1a69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf680fd8e5138fb7cf745fd1375d9f6a2aaec79f0997a847169711748590386",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9418a83e83711e3b36919e31faa5e9c826064c5ffe0df844b0f522ca60607a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFCG9LU8Gi0rI4xYWi4VplrzBpMi0tJs5SZIwxGBPgIrOmCs45kzJnDtmrdDOUrEVG5j47dNXel-kZfd8JOsETl7lsbpDQDXG70buQGODmg6PcdGUPTpK-PTO4nFxOa8EjELvDtj42FlJO-Vq0XASry1zMQcOIPEaRXGGZyqXkVjzdrrGSEom1NcUFTtZbM7HCMiAgyVc7Jm2u96N4npNOICJJ7_f011FGlvhrnx2yB5Lu4nAa_kuNp5OFsxcwiMKPgNukwDhtA0JePc6njiq_smGcS6WQ6Ai-eC-XgFwayfhoX2eR9C2gsdn0e3EeuRxPl7FgMEJllOERSdaU1T4llWJt3CxWG6XAT9k2zmUdSDXCrZFlIt4x89NgO9PAQZdrD-jLmlKRzKxMf7_oQbyitjRxMkye1HrJuxTUu5zn6XIpW7hMSz7nFrublsBtMAnZDhkFccp-Fq9H1CkUwdbrhmYaEykBLJSyJYo_8bENBQ2IRQ6v005n6P3R-xjBsQIpnmN96RwfeFzJxAplPsosVJZCJfqTlAXmTADVU1r5ujE-Ymw5CS354D3XlPates3PHWtBDHO-kAYN01uBpMlu-zI2JWPtxdn-95Hzzq8Pge3XkqEkFR5BttJCgMceWoQFJIXykgxXXAqn3qJzw17eOrwhzR4xXRD0CCjnwQv_zQfA0RgRHpOBdp2kgWXFgmGxXtnSEpo1b-CHTJYN-g2z56kdxhNBv8c33sCMKzHkBQpLDM-n8kHtLmd_SGOqqdfWE6PKG3ZeJZbDyWK0y1b_vmWfCsAEEUYLe6SX6OH4NO7UmizL2L_3lIt7GrRQDGLviHMRKzxNrnoWt0wZYQOJ8P7NbstAhE3N55bjkFNNP7L7bMDnF6kK7N3Xwdg6DCGkcYypFf-RV2c7gEK-0XJVQDzYyMa7bbZe1tukkMork3FalaIVuaI3caSYUxJOlbRe6lMAyvDVubkWjNRaXjwKW7sWowuQ27J1A3yjqfvYs9xT5mOvlmXB4oC3DeAhmmPc8XXGYn7BeNgOxp0K_vb9oHxOAnv-TxFDWh18BiNfA_79kI1sE_Fa0dLOqSafgvvEe6YAAkWAlh96MQ3A_DhXeeWJxr15FSGSFp4XsBmX6BPHlIYPZeFpZQNDELD3S1YRJ1kKVbp2IGapu15CxlNUSEEmmOU95lKUOSNSd-wvZs8vntbatTRkDz0aUV7JIItBOWOe-h63ka5qzBTycegvYO7msWpfTi0KImDJATCXfvxxGOIkuTpyPMvw0Qdq8b4OwoMWQwN_M1zQsvb6i-Sf0eGMN8zFTiOOEe1-TpGiTNwMbiGvlyloi_DMaz7yW_jCDuabDBSFjs-mQ5GVPEIDKwPwT9aRpuf55CwqpfCN3ejfY5sRPm8jc-2QtRFEF4TdA0CtvgZi5YucSmEOSZaCXU3zyGldCN5rVMBO_WeXimnH7kBhFynoX2ihnWV9SZm96dJpDCdxVAb-qgiv7UTE6KCUfdjAcaFxNb-LWZNZiqv1s=",
  "id": "rs_00900f5e9e1a2142016ab45084ac6087d0b93f1487c5fc5980",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.52},\"note\":\"The vertical descent preserved the better alignment: the pear now fills the space between the fingers and extends beneath the fingertip line. I’ll close to a moderate opening around its broad body, avoiding an aggressive squeeze on the rounded surface.\"}",
  "call_id": "call_X0WfYNpSo7kYLO3UKdFjeIZs",
  "id": "fc_00900f5e9e1a2142016ab4508597cc87d0ae053fdb5889e43b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X0WfYNpSo7kYLO3UKdFjeIZs",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4316, -0.0135, -0.0307, 0.9992, -0.0151, 1.4414, 0.6025, 0.0021, -0.0231, -0.0978, 0.5254]\nstate[eef_state]: left_x=0.2897 left_y=-0.0004 left_z=0.1697 left_yaw=0.0 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3597 right_y=0.0022 right_z=0.0486 right_yaw=0.0491 right_pitch=-0.2674 right_roll=-0.0436 right_gripper=0.5254\nstate[joint_eff]: [-0.1026, -1.3333, 7.2, 1.707, -0.0269, -0.022, -0.0122, -0.294, -5.3402, 6.3932, 1.3797, -0.0317, 0.0659, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a62f98e9be575495a0ddb2b73a3f5acc9b2149a6eea8e2777aefc7544a9d6ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0788c069b2c735a069489391e2687fa85bbadbfd1f0836e0f191b2d323564a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b76454a53d2ae10b7e1efa60091877e822733adf74374387149a266f24317206",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.461 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.017, 1.2877, 0.4725, 0.0448, -0.0231, -0.0708, 0.1045]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3351 right_y=0.002 right_z=0.0567 right_yaw=0.0313 right_pitch=-0.2007 right_roll=-0.0281 right_gripper=0.1045\nstate[joint_eff]: [-0.335, -1.1282, 7.241, 1.6777, -0.0806, -0.0415, -0.0073, -0.212, -4.1778, 6.0786, 1.58, -0.0366, 0.0122, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4313, -0.0139, -0.0307, 0.9992, -0.0151, 1.4429, 0.6022, 0.0002, -0.0231, -0.0906, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1698 left_yaw=0.0003 left_pitch=-0.0584 left_roll=0.0001 left_gripper=0.9992 right_x=0.3591 right_y=0.0023 right_z=0.0476 right_yaw=0.0451 right_pitch=-0.2711 right_roll=-0.0383 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.5111, 7.0496, 1.7411, -0.0708, -0.0464, -0.0073, -0.3214, -5.9829, 5.9556, 1.8095, -0.0366, -0.0269, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4316, -0.0135, -0.0307, 0.9992, -0.0151, 1.4414, 0.6025, 0.0021, -0.0231, -0.0978, 0.5254]\nstate[eef_state]: left_x=0.2897 left_y=-0.0004 left_z=0.1697 left_yaw=0.0 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3597 right_y=0.0022 right_z=0.0486 right_yaw=0.0491 right_pitch=-0.2674 right_roll=-0.0436 right_gripper=0.5254\nstate[joint_eff]: [-0.1026, -1.3333, 7.2, 1.707, -0.0269, -0.022, -0.0122, -0.294, -5.3402, 6.3932, 1.3797, -0.0317, 0.0659, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a62f98e9be575495a0ddb2b73a3f5acc9b2149a6eea8e2777aefc7544a9d6ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0788c069b2c735a069489391e2687fa85bbadbfd1f0836e0f191b2d323564a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b76454a53d2ae10b7e1efa60091877e822733adf74374387149a266f24317206",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFCI16fd453tDqwS7D8vdwFvPcLlvXb_9FDqGstTtPuhS-4DAEadUs1QFWgFgnSn64GEVwTZHVGRTbhZbP41HiHffeN_QnBRtbyn6WKqS-f2BHjtDCzqyTjqfXIPtvrlrcp4ZZw3MR9Tin8MSkCg3PX2IgTUmKI6TSfNNzD0BtDnZf1ZQ_Wf6GtTNI7RoOyv2sBNQqFLy3Lg9BSTrTZXIQcm5FLECgcPuOCOmxICioPfzLB5XBOdK5LU-SiI7kMPxpfBd8xux-BIZT1lMnkpVSmhpWoP5biFKRfRDQdEIuZcv2Sok8X2O6e9q4NZXkQC6J7J8Nhi6fCwCZsEatNMG5weFjKM2S65K9zQGUegqa7VzwYVbmQAZAiqPhpoyGLkaGykIWb3-RspurGa51SZ26wISBaHGByM_2609ZBbzSvEKN93sWXiDTYt6sETpDjsSyS0iFwmk5YGPpgJb91Q2srqW6LZoF1hwfvoZ0J35ZxRsTc0nyemP6UN2tK2cykqUtJSk91iaKuJWmuIKKv7WbWwI0zMHzAXRacCpW3kFxr2rjw7TeAqlsguJ6R4qZhSC-5Xd_wqmiX58Io-KI8FPfJopoPjdZbHgZxsNbJuatK_pd156sGUxAPJE0_p_2-Iqo0e4abjm5MP9NyU_iAHi-AYv7xQVLLEoEKIw5QYoSr9yoH0Vwo2nE0cPgNAPjc_nsXgJ3DrUAv6YUL4z2mhlmZayI-dSgv0GEfbYNpB_sRmb43Yh2k12U9FU7OfqPaT81qauahpFTLoBR4Gnp4kDn4frI2jML7iZLtY327V8NLWGLF6o3W1XQm6PhMHDhGmw4od_xAlXrsivNlTjng7hnP0ZLJv5BnXPQog7Rtzs9L_ahfihSW91fMP012MYC_pHVYB7A95m7tTngVneT3mTstmcykp2zvAilXKI2s5lVDnUrMtJrbTGp303cv2futRXWklh-f09P57C2kDCSe_7fbR0si_AHkYfiQTEEaJ9A5mRkb_ZMTD36IuDC4Y56tF7fpaRnQgKFowk4c4EGCxsVDlVrqM0pwp_y8vaMDEfoDar25AbjfRwP4rbIGUFsKrOSuCoguwL2i_ZiPdg3vpxwGIS2gCni3iDpsdJMpVlFZQknE0b_eDjkbVu4-Mkee0P3E281f5nnq22Cpod5i0HX2mknbDQ2GX-uWMoW3cmSpETr3EjZteEYLNT-GjOqaCMMiN7m2avOX6gcQ1xcsNXwOmCgXJPgV5c-iq65dapQvhZPhlZ02kwDgoOdXMCCU99QQav8K9KIzGoT-Zwan8ffopFQ==",
  "id": "rs_00900f5e9e1a2142016ab450880fb487d0bc8d5135a2924eeb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The fingers now contact both sides of the pear while it remains centered, showing the radial placement is finally correct. I’ll tighten slightly to establish a firm clamp before lifting.\"}",
  "call_id": "call_QcE6dNPlq8ZBku8rNaWh16Iq",
  "id": "fc_00900f5e9e1a2142016ab4508850a887d08c559893254a5d92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QcE6dNPlq8ZBku8rNaWh16Iq",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4351, -0.0139, -0.0307, 0.9992, -0.0151, 1.4361, 0.6029, 0.0151, -0.0227, -0.102, 0.4053]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.0003 left_pitch=-0.0622 left_roll=0.0002 left_gripper=0.9992 right_x=0.3625 right_y=0.0021 right_z=0.0528 right_yaw=0.0508 right_pitch=-0.2489 right_roll=-0.0481 right_gripper=0.4053\nstate[joint_eff]: [-0.1709, -1.306, 6.9949, 1.7167, -0.0562, -0.0855, -0.0073, -0.3487, -4.8889, 6.5436, 1.3993, -0.0122, 0.0366, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86f37b2d89e50aece489f6f7dacd9c5de2ab3e7ccdcb50676305c0fadeaa65c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2310990807773015c559acd2aeb32006c81652296d96cd5745c7aac972518ff7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2659cd2880fe359e4265b508fa3167672fbeafa86fc4749827f66c208cbcf2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.877 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4248, -0.0139, -0.0307, 0.9992, -0.0151, 1.2812, 0.7551, -0.2779, -0.0227, -0.0872, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1718 left_yaw=0.0003 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3579 right_y=0.0022 right_z=0.1164 right_yaw=0.0423 right_pitch=-0.2345 right_roll=-0.0384 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -1.1556, 6.9949, 1.663, -0.0757, -0.0659, -0.0122, -0.212, -5.053, 9.1145, 1.5556, -0.0366, 0.1245, -0.1587]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4316, -0.0135, -0.0307, 0.9992, -0.0151, 1.4414, 0.6025, 0.0021, -0.0231, -0.0978, 0.5254]\nstate[eef_state]: left_x=0.2897 left_y=-0.0004 left_z=0.1697 left_yaw=0.0 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3597 right_y=0.0022 right_z=0.0486 right_yaw=0.0491 right_pitch=-0.2674 right_roll=-0.0436 right_gripper=0.5254\nstate[joint_eff]: [-0.1026, -1.3333, 7.2, 1.707, -0.0269, -0.022, -0.0122, -0.294, -5.3402, 6.3932, 1.3797, -0.0317, 0.0659, 0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4351, -0.0139, -0.0307, 0.9992, -0.0151, 1.4361, 0.6029, 0.0151, -0.0227, -0.102, 0.4053]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.0003 left_pitch=-0.0622 left_roll=0.0002 left_gripper=0.9992 right_x=0.3625 right_y=0.0021 right_z=0.0528 right_yaw=0.0508 right_pitch=-0.2489 right_roll=-0.0481 right_gripper=0.4053\nstate[joint_eff]: [-0.1709, -1.306, 6.9949, 1.7167, -0.0562, -0.0855, -0.0073, -0.3487, -4.8889, 6.5436, 1.3993, -0.0122, 0.0366, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86f37b2d89e50aece489f6f7dacd9c5de2ab3e7ccdcb50676305c0fadeaa65c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2310990807773015c559acd2aeb32006c81652296d96cd5745c7aac972518ff7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2659cd2880fe359e4265b508fa3167672fbeafa86fc4749827f66c208cbcf2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFCLJc0EAxtJqvgxpyagWV0_YewZ0oxIBz9KwmOZUBaxfLLVzGtKqrMEdtP5G5KRXYukMoDp1qAeX2koAp7mO1qOZVhKKE7q1cvloh_fFJ9E4nlJDNDLrpy7FWwdc6AS-AalFZDNFNxofKE8dXo5PfnR0QTWHIlr4gLOqn4C0zuFGyuQdOcAdjKllFRIWNeOzWD673PKXrqOBDtY0oFGDEiiXzoz-1t-rQWlQetu0jdVT_fCsgMfWz7i2imJ-GuN-egsl_k1G5JrAfkDRoPrPdtMxHg22GJGTZ9HCNgN2LL736GHDxHLgIK6zISpG7aVwX2N-ksP2tyDJNOYmbh7iql32YxrMhiVFlh54PYQJQ-SdVqvONGPrujsnh9frWuf0N073PVuHzJ0F08TrYsvv-vhwzqQGL2UGrrw7SMLcXWwgUVCxxACbEzfB4ogRo63SZ5Ut25NP1SonRPEZ-qzMShI9CsEu5wKfj2GNjVLliIPbf4abUoaitaWHVnwGeG9r6Dd_4-IhSqgU8yhS7i6zvrZ4Jh2NftpCVrC92Eypmi2ZW1fkuCKX2f256PQryLEes_fHa5wCXsRuPXcEuxo8YSR7Co5GQZBIzaEd3Dv3MdvrACjfRDNVDXtFwmtlembIyX7NG2uakiH_GW1xQOwTIIBTmhjV129IEzPPe3Mbz41qmFXcBFPSoUR8h26qkLVK-I919wVqP8YuUEJowQNzNbM2NDGgtPXhYGXfqKc1Sjti7ZadUVvaOYg5X7bMn6BaLOTOSxkDa2gOhUq94AuCyxCiGumSgj5ZljCx-qcFAVvcu2i60AcAXKhWbiI4AeMnG6IjpQPlytf_bWPvlBpX_l8lSSm6TNKb7snVF2IfZtAyzXQDauGSwVGqS00Gqr_JEmkNxN9bH91UwxU1Aw1mItBsvWU4nQsJMwgWNEqBYnm18JkjpxPRlFqSXsfWuByg-kM8yRqPkSUZ35AlmtVMdlC6IVb9vDVFPcVEH8kocinRyTwjIYEUYpZDBrJKNteavVBToRhTUfERt9UHbZ4Meq8EBnluB5FVG0ePbXouHrKdebfNqqyddOO_8ilOqbeCp_za-9Np5uGXvINe0-9EJxQEKCnZEzuv6vZAsq9Od92Epkp3wEypyd0DMfTC38MT-o8HeoWJAjTk4u9phaUZWbzWNdTwWAcR6kSMjFlGzsufEY9ogPFxM1_i3vI9RDkwQuiYXtTbiu8ib8alasB3g6Df67TKtX4ByVroNG-cEvNmgU=",
  "id": "rs_00900f5e9e1a2142016ab4508a19f087d0bd99cc31bfa87891",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.362,\"right_y\":0.002,\"right_z\":0.14,\"right_gripper\":0.4},\"note\":\"The pear remains trapped between the tightened fingertips and has not slipped sideways. I’ll lift it well above the tabletop and check that it moves with the gripper.\"}",
  "call_id": "call_nSpWDk9qo5FlXwlnGt5LQnua",
  "id": "fc_00900f5e9e1a2142016ab4508a54a887d0ae2a933d7e97d2f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nSpWDk9qo5FlXwlnGt5LQnua",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8131, 0.6128, -0.4461, -0.0139, -0.0307, 0.9992, -0.0132, 1.3045, 0.833, -0.382, -0.0231, -0.1131, 0.4004]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1654 left_yaw=0.0004 left_pitch=-0.0782 left_roll=0.0006 left_gripper=0.9992 right_x=0.3583 right_y=0.0029 right_z=0.1231 right_yaw=0.0599 right_pitch=-0.2845 right_roll=-0.0529 right_gripper=0.4004\nstate[joint_eff]: [-0.253, -1.347, 7.0222, 1.7851, -0.0366, -0.0513, -0.0122, -0.5402, -6.2838, 8.7726, 1.6093, -0.0659, 0.0904, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0862bacd60fe6ebfe4b5ace55644e335edcf184b70df4f44fdec95b8a49a036c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a53326cc20dd606a3766936315f03c81312e05c6eb80b3f188b48fc277294f75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc08d6bf1504442c6a2986bc217be1a402b8684bb904c069e48870e6774cea9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 2.357 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4313, -0.0139, -0.0307, 0.9992, -0.0151, 1.4429, 0.6022, 0.0002, -0.0231, -0.0906, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1698 left_yaw=0.0003 left_pitch=-0.0584 left_roll=0.0001 left_gripper=0.9992 right_x=0.3591 right_y=0.0023 right_z=0.0476 right_yaw=0.0451 right_pitch=-0.2711 right_roll=-0.0383 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.5111, 7.0496, 1.7411, -0.0708, -0.0464, -0.0073, -0.3214, -5.9829, 5.9556, 1.8095, -0.0366, -0.0269, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4351, -0.0139, -0.0307, 0.9992, -0.0151, 1.4361, 0.6029, 0.0151, -0.0227, -0.102, 0.4053]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.0003 left_pitch=-0.0622 left_roll=0.0002 left_gripper=0.9992 right_x=0.3625 right_y=0.0021 right_z=0.0528 right_yaw=0.0508 right_pitch=-0.2489 right_roll=-0.0481 right_gripper=0.4053\nstate[joint_eff]: [-0.1709, -1.306, 6.9949, 1.7167, -0.0562, -0.0855, -0.0073, -0.3487, -4.8889, 6.5436, 1.3993, -0.0122, 0.0366, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8131, 0.6128, -0.4461, -0.0139, -0.0307, 0.9992, -0.0132, 1.3045, 0.833, -0.382, -0.0231, -0.1131, 0.4004]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1654 left_yaw=0.0004 left_pitch=-0.0782 left_roll=0.0006 left_gripper=0.9992 right_x=0.3583 right_y=0.0029 right_z=0.1231 right_yaw=0.0599 right_pitch=-0.2845 right_roll=-0.0529 right_gripper=0.4004\nstate[joint_eff]: [-0.253, -1.347, 7.0222, 1.7851, -0.0366, -0.0513, -0.0122, -0.5402, -6.2838, 8.7726, 1.6093, -0.0659, 0.0904, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0862bacd60fe6ebfe4b5ace55644e335edcf184b70df4f44fdec95b8a49a036c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a53326cc20dd606a3766936315f03c81312e05c6eb80b3f188b48fc277294f75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc08d6bf1504442c6a2986bc217be1a402b8684bb904c069e48870e6774cea9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFCROwMoNG5XlGGUhon1uB-7aW3PVlXYcNaqcFfK_pnIJSdNPcM24nCvrlrJdkJbTo0z7lcJPaFxjWfzyYxLQ5ARlC1KeOViGLT59LFzATrB3UgW2Q2a7YycJKEfozc9BUDjYjOR7tP1E4mGi_AjQCxuYBEph01ldQPT3-KhtpyCuyEnC8_5wIc9fXoAWDn6ODjB0EybqL9LvqzK5yKwy7IciPAnL1uajk--OS76b-Q-Z-WxDFBwhqumFFHX-Yv1xA9fbEJmXuCUuxQZ4Te09JldVQwiGZhEn89ZywQgWqn4HaxpvSWk1VsZg_5xuXUPhFHjAJMWeZv7BbQIJ3EcDftnUNcDQyTRHTfah1DrT9_gxVFk2X1-n6e4AXRvP81I5JXsUCghDAGIveYZWeUrtuptksY2nNZdTUHELRXcJ8HvtaoceaAZXqqgbX9aWXFxgYX41xVTqMXYysk6eAJA2Q5_Wt9-T3Rm7K6wdYw6dWtHm-6UTS9GA27H_5i8FTuP0iUu9HnOUs4_hoEeeeS2V4IcrZfiylZdp_oBTJeu3BXdQ07wBI2PmC4HrTGyYaLxMs2gjRXHeV3ttXm9dWghpf6mBtG4Tsy2Dp07vjLATW_cKEljwCfp5uvTZGkZVwNx30Jeg34z9PAUN_0DqRsOHKYJXfqqidVWIQyzRkbgYb7QbNwDfoy3bZU8PF4h_HV4vLskXKUwVvxuuF2BYtW5d9bMB6fKVQNk9uWevpaV09_T16ibJcwAmh021GfZCQsWxUT1lS0mQ8PiJJOOZqSWmaqaGIl3LUeONiw1fKQjDmMIJolnukrW0SjxI9xpARsaYylIkK1DWSLxfCd_vvnFkWGBwzgNNr-ZIbOij3mwqlhVqEhlwkjtwFnlyw5D7pIXkx_ov9e3sqmPiFQ14aIYo4NDXuKcOFgfVA9Lk0kqDAUZn1FvyNwFBoCSX7jCIJjz-aQO482vdsTbtRf0QTVK7eKJZ_9doHlclBWvn14As2_Me60O2MaFvvbvWeIeffpKexCWKvIqvVnH_yQ9rogqld3HXu_3ClYZmbhPKY_zZ-McVEv2iMy9nGOAkIXh02Vf5GmHY1tv2VY11GeAOpH-q7pabtT6oOZThcjcTnUa1s74uqhGxvITSZd3M6NO-8eEOW4DeY4ln3k5p6zqq81pHZ5jSoLPUYEDE_KMUjlOCN0aU2RvD0HAq7-KSBn2LA8xa-7Ibaf1wUbsRoK5BdY1v3u66WHjPbM1rnll2RqRrFh8Yj4uYsKXAyciz-PmKdpIJPTlSfTs6SZA0oAs2HwkBvQkRlhS_o8F7aeXxbV2GDlYWV4tt1wLJIIONhbIeHHbnGgig927QUGlOEf_r1C4f8Q9MfWHccF1eAfC_-cLIpp0GcAnlax8o9KWczvGfSJeTB6ho2CTv-87v4sAy94chAo9aFNmfoHoPT6mqtGieB59ypCgSxAHYkV3woWaXBLqJD-kDUTPiwBZokIN-QL3hPb0oLg_75Jjsl4vsPxYYNGf_XQ-c_3rgwUv873HnCQkfRw4JBjTtWPq_O-QqjML4sV4mFGddMZ616DxpIjfPs2QYUaWmQ6TVcJ0tfdye4p0Y1IZIbFIWWAp2NesuTaegIDW52UULM6t8RvujJtkGvVW0e6iwTGecfr6cGk4AW7BPelSF00i5wSHJ5bLgnCG3c9mhksdQOb5nC8_XQ_sT45_guabhY9ffpUGj-PRE--1RIQDP3C86wSVDD20z80KvRQHlMD6emziRMWRii-3JIgTuDM-Kbz32DXslp3v4rQdFSimcr-AkOpr0ufyc0xQCnrEZXEY_3-r0_WtMayVVYi278hULixK7SCt6sKUQlJjH_ODjTt6oy_aJD7wjFWSbOXPmYD-iUdTDxJ2fbT1KGAHNtPW02wb9KnYNdMgA39rrkqe53XbEL1xczH4fRwpW9hz9Q0Tehh20092cIuYNzQOXznocfIN4jjZSoVy3jYJF0HEGbTNo0a7FXEqDuGeZPHoOWijFzFiYHBpaN7Orbry98TrJ95q4HXbQ11Y5J0QTUeJJHY5IfivP2BKEBw2tfHNcM1nV0eRm_GnuT78W8kB7pO1Hx8NGTulzfQv2GVQ2oxP64WmT0OYw9wv-2QMWZeUX2ERoEMg0bYrEoV9Wufb7_v-L-7bM8xTbdr6JfG40RDk4p8Ob3SwXqH5v43JsAiRp9vOFJXz1-TIM0zUsPdguBhUjLb_Fccr2qpT_E16LnJfujKPOj74WMBlEtgC9-DDIYFZ3M28_BG7Kn8ibXcrcXQmxBZ0G2hXeNQOWDniKg5CX-6nepdbkdGL5KE30DXrVjosm8OBvJTA_R17dYwx6dCND_48Bf-vfwIZwocggtiZZeP8NQpoyEm9ZlAmp-NadEx86xbpcei_ZgcX_g3hkLbvd7hmDT8aMsjPUxLMvKNeFd01_G5VUU6sypaJ_PsXYHmYYV4-IiGTo9ZPqQ7GAfmyOfZzn9-R8OFBDgOIqtPCRLSbvsr1MS6iykBCxxQGlQ==",
  "id": "rs_00900f5e9e1a2142016ab4508d93bc87d0987a24ba5bc58c92",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.003,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The pear stayed on the table and remains fully visible beyond the fingertips, so each earlier closure had nudged it farther outward. I’ll reopen and deliberately move another 5 cm outward at clearance height to get the grasp point past its current position.\"}",
  "call_id": "call_tndaH7sARm61DJRJkPeRvm2c",
  "id": "fc_00900f5e9e1a2142016ab45090716087d0ae1b0280eefe1d7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tndaH7sARm61DJRJkPeRvm2c",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6128, -0.45, -0.0139, -0.0307, 0.9992, -0.009, 1.5177, 1.047, -0.4385, -0.0231, -0.1246, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1645 left_yaw=0.0004 left_pitch=-0.0824 left_roll=0.0007 left_gripper=0.9992 right_x=0.4032 right_y=0.004 right_z=0.1235 right_yaw=0.0719 right_pitch=-0.3403 right_roll=-0.056 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.6777, -0.0415, -0.0317, -0.0122, -0.1162, -6.4889, 9.4701, 1.6581, -0.0317, 0.0904, -0.1636]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ad191c4748aa6a446b41f16543b4ae4811cbdadb165538458d78fd0591e63c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680ae6d6886ec342a508af4d39c72617427d66989ceb2c72fff1471eefca57c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5ce8aa506f38ef5cd6ae94dfcc1b10625b0e5ef11d8bab8439d571e831806c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.598 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4316, -0.0135, -0.0307, 0.9992, -0.0151, 1.4414, 0.6025, 0.0021, -0.0231, -0.0978, 0.5254]\nstate[eef_state]: left_x=0.2897 left_y=-0.0004 left_z=0.1697 left_yaw=0.0 left_pitch=-0.0587 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3597 right_y=0.0022 right_z=0.0486 right_yaw=0.0491 right_pitch=-0.2674 right_roll=-0.0436 right_gripper=0.5254\nstate[joint_eff]: [-0.1026, -1.3333, 7.2, 1.707, -0.0269, -0.022, -0.0122, -0.294, -5.3402, 6.3932, 1.3797, -0.0317, 0.0659, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8131, 0.6128, -0.4461, -0.0139, -0.0307, 0.9992, -0.0132, 1.3045, 0.833, -0.382, -0.0231, -0.1131, 0.4004]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1654 left_yaw=0.0004 left_pitch=-0.0782 left_roll=0.0006 left_gripper=0.9992 right_x=0.3583 right_y=0.0029 right_z=0.1231 right_yaw=0.0599 right_pitch=-0.2845 right_roll=-0.0529 right_gripper=0.4004\nstate[joint_eff]: [-0.253, -1.347, 7.0222, 1.7851, -0.0366, -0.0513, -0.0122, -0.5402, -6.2838, 8.7726, 1.6093, -0.0659, 0.0904, 0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6128, -0.45, -0.0139, -0.0307, 0.9992, -0.009, 1.5177, 1.047, -0.4385, -0.0231, -0.1246, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1645 left_yaw=0.0004 left_pitch=-0.0824 left_roll=0.0007 left_gripper=0.9992 right_x=0.4032 right_y=0.004 right_z=0.1235 right_yaw=0.0719 right_pitch=-0.3403 right_roll=-0.056 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.6777, -0.0415, -0.0317, -0.0122, -0.1162, -6.4889, 9.4701, 1.6581, -0.0317, 0.0904, -0.1636]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ad191c4748aa6a446b41f16543b4ae4811cbdadb165538458d78fd0591e63c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680ae6d6886ec342a508af4d39c72617427d66989ceb2c72fff1471eefca57c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5ce8aa506f38ef5cd6ae94dfcc1b10625b0e5ef11d8bab8439d571e831806c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFCVxPQcnjB5AFibne8LpI_cB5BZsiIhrwbo4K4SvlJwnnFdgutz8eXc6m8wn73oyVCTseX4MNxpM9DeVMDIATmum1E-eW00IxUl3gdmbK9K7aOqvS2HHrRpFYFDz_aB_OALMYsauK92fVda-wk4qPJr1_zfFtkv96B9xwylX3bgCBJ-JKcx_0v0ii4Z0uwL2B0gjt5LlC6KQ-NpntGv-d8qQPuqGfVbPi9sCKKt3q7lAbo3dutvYNCZvvgtwdicQxCw8ab3LVW1rNQlKblTz5vhDbBHjYokR08z5Xwi2OtchzuvhiowVgY55PYP6rswk8cjHe3MGYRWby6e_Z54KTrtiOOHZVdtg5AIXHxnkWZeN_h0LqAmwV5kRyUorZLpQQ3r9YW5-mM7HIuvxRWptecWDDmo7ONKoprzsYlfaVm74UKbsOShyfwHOKmfyg3bcqLLCKjLdaO6bFjRXNMe6VV2q3pQiPOloTD2dZRT_w1OsufPk0kmurCLx6qqg5-aq-X0IOITyQkERqpnLvNxh19GpqJcpiW0He6bgHo6j39QfAPQBxBzl6ge8BQM_ICLS8ZufNhe5ricK1h16ZRGjcU9kU-Jq_69oUOm45wY8TaDZGvl8gFo_xXqYKeX1uhaH9Svs8nA_w91C7jwF9WYkh2q-xVc5rcufyAUmi425hmi1KuwHIo4FXQWYoZk6wCCK39ngNWroQWYjoOFFDJdjV9IcN02InSooLxbcA-c0WSUiDb3Sys7-EQ92F3U_QU8ZVFLAidkrEhPdm5IOx1ikJC3rokfypvcJbRtdQBwHRmT6lNPOB_k0YTvyqJVT6bc82fCYMTZt-OtGS6IrZsB7M-SZm0l19iO2H-p59enLw7WfMFbo2GZusC4MzVUB4ix8ZvnAHbPz2auYb_REo2RElmFGXs0q1OFSqs-dfvO1t-Tm0rbUWlA3i2QUs82JC2FLwit4oypEvYpNIitRA044_JMh3Jq11NiY_4rD21HUcFswov--fIM8EIZTMKH0CZh88XI3sqMT_rFFpunpehpxXg5CEHPof18Ke_3ZBpHfc0xV5TWUAGLb3KEV58kLtZJiIYnCILhxcdqkFNCB92nz27afD_7QrxRB7aNzkuicHzIcCs-A1K3SYg4zV5NM0_r2IODb9A4LZM-DDod1ORI9DFQs-U9ktXdryB1SlTTYG6LVsdn8SM91Zxbm5NsQI79yxBCXgLrPrt9jLXV3f6c-RdAmS9FvTLijBGc4CmwdIMDXWxzHcYStHJEtT7Ql95uTgMC9CCQNhgdsBotu2cRhMQKjA==",
  "id": "rs_00900f5e9e1a2142016ab450944a9087d0bd966020df588519",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.004,\"right_z\":0.055,\"right_gripper\":1},\"note\":\"The larger outward move places the pear much lower in the wrist view, with the open fingertips clearly extending alongside it. I’ll descend at this radial position so the jaw pads surround the fruit rather than merely touching its near side.\"}",
  "call_id": "call_ndPIOWsTxXsCBesUVPDVSNMd",
  "id": "fc_00900f5e9e1a2142016ab450947b1487d08ad44c0c4186d320",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ndPIOWsTxXsCBesUVPDVSNMd",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8196, 0.6128, -0.4652, -0.0139, -0.0307, 0.9992, -0.0093, 1.6684, 0.9043, -0.1787, -0.0227, -0.1249, 0.9986]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1599 left_yaw=0.0004 left_pitch=-0.1037 left_roll=0.0011 left_gripper=0.9992 right_x=0.4091 right_y=0.0038 right_z=0.0491 right_yaw=0.0724 right_pitch=-0.3738 right_roll=-0.0537 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.5385, 7.0085, 1.707, -0.0317, 0.0024, -0.0122, -0.1983, -8.0479, 5.9692, 1.5653, -0.0562, -0.0659, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08b3fc8677a31a4e1e5f139659740b110ad88c884f7f78a76e49e067399fb76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e13f8b3bae2e1d679e5cd23cbf9834ff7aaa02a166cd9794dbe4db0ad0fdc8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16bf34a7a10614a007ad940bb89048f17ef774caadab7d23cb561568d8aa3a08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 1.827 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4351, -0.0139, -0.0307, 0.9992, -0.0151, 1.4361, 0.6029, 0.0151, -0.0227, -0.102, 0.4053]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.0003 left_pitch=-0.0622 left_roll=0.0002 left_gripper=0.9992 right_x=0.3625 right_y=0.0021 right_z=0.0528 right_yaw=0.0508 right_pitch=-0.2489 right_roll=-0.0481 right_gripper=0.4053\nstate[joint_eff]: [-0.1709, -1.306, 6.9949, 1.7167, -0.0562, -0.0855, -0.0073, -0.3487, -4.8889, 6.5436, 1.3993, -0.0122, 0.0366, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6128, -0.45, -0.0139, -0.0307, 0.9992, -0.009, 1.5177, 1.047, -0.4385, -0.0231, -0.1246, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1645 left_yaw=0.0004 left_pitch=-0.0824 left_roll=0.0007 left_gripper=0.9992 right_x=0.4032 right_y=0.004 right_z=0.1235 right_yaw=0.0719 right_pitch=-0.3403 right_roll=-0.056 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.6777, -0.0415, -0.0317, -0.0122, -0.1162, -6.4889, 9.4701, 1.6581, -0.0317, 0.0904, -0.1636]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8196, 0.6128, -0.4652, -0.0139, -0.0307, 0.9992, -0.0093, 1.6684, 0.9043, -0.1787, -0.0227, -0.1249, 0.9986]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1599 left_yaw=0.0004 left_pitch=-0.1037 left_roll=0.0011 left_gripper=0.9992 right_x=0.4091 right_y=0.0038 right_z=0.0491 right_yaw=0.0724 right_pitch=-0.3738 right_roll=-0.0537 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.5385, 7.0085, 1.707, -0.0317, 0.0024, -0.0122, -0.1983, -8.0479, 5.9692, 1.5653, -0.0562, -0.0659, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08b3fc8677a31a4e1e5f139659740b110ad88c884f7f78a76e49e067399fb76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e13f8b3bae2e1d679e5cd23cbf9834ff7aaa02a166cd9794dbe4db0ad0fdc8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16bf34a7a10614a007ad940bb89048f17ef774caadab7d23cb561568d8aa3a08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFCZEWm8E8X6x85mCZrYAVh8oYMFMB87xE5lP8CgrHaOTwy0pePaE-WOCYpVlUJHik8CeLHw99DzLBjSNRiUUT1Sj-yEqvMMwkzRH0dmDYeicjenEk6c37LfbyjJppGPI0hJOSwnNPrkVibSm8O5_hj4VeBdAhN6TAJK2rGJpYODGlgzcQ1d2M8knOKULRn_pUNOGi2jEI70q6IL9TQ_MFYQxTLSMKodqWRg-5HZ8rsoQehalOQbsBy1_cZxKDqcvsqNJWjSNUkmUOamTULXCPw-Fz06ClOAlZCEC7lT1Wy1UOKtYbzlKw11dawDbKJ3LMPjHlt-cY8gx-0ZEIQfXoDG-wZzB5apIy4rpLJOI9bcllYNNSsH5UZTtEqn8choeoyFAuQQTD9kiRUiq73maQok-H-Ht8mR0UBq_2c2VOyDHHxqAqYkgweP0FjE2p_eyeqD5l4smyQYqjluQi3YRMxxGt7EKkg5vpLn7bTUgyAPECb3UBG6icGqKCo5vnVdrOQEnptSh-txQlL21R2YeD1qSaUXUAu0UlSB76oPBocXDUr5qhKbo6ZHL3OpwdULuPUYtY3r6U9CKwU2yaGJgSLrLLUbWNX34FZnh4KaYLDwcbI6F2uKqmjHouff5AmE79F0NZLn9H3M-wX7EnXO4Wur36HyZ7qRnwmtpqD0zytxhW_a7K-KNjqduoiolIRpIaJmEziJGeXNBWHV9cw5VLMkz-gvRaFrGHk7SLMqcdGFfBgNr8BdsvHrTFtaPH1zIlwtyzdYdXGTNNBN-PYCHvhbr9KpiVHVQsllOeqG8t0dNqquz89_nZ-zrN8xH6cNof3dzhpHzY6_1PIsnNAOmcdUFuRRV0wQ-sIJkjY4HE6uu0Fj5wP4BVqLwexmv1joi1HOvF3_MthfADFcp1S-u_VExW36oQ-WMSC7OcFoC5W2D1faNYZ_-mbR454OoMc_tFLOsN_DlMiTn5acDidS4mCUI78TnJyMtORy_UjTwfDhy79la_v-ynRu8GN2rk5gn30NjTkZwVa7uaR_7qFEG1zLsmxK-AcJ2KEyjY6yQaPyIUYZCh_P0VPQyOKapvdLZD0P7BLOCRPkuXh7rqucPvDeVkOQBbuu8maKrdGzm_GyhGkBGHO2Zjo_2kBYV7VvqJgIbFaH5LDJ4N_kOK-k2_6nDk52F5m9PnCt5VpeoxBSEPcBdq9jt40BPpSMmR1p9XOJ0_9FsvQiXYcHgAP8V5EHYopRBRuxzAxU0wztDps0ihCbx-YmHXqXgFNhSToNOJ5-82hVH0thWYQRQPuCR2pDXsRl2b7yVQ7NgsQu7L0iugXHx0JDBrZk1GbCRg6rhwjGC8bePODHdlsGgRMa0mWp5nsR05JVxmmK8e1TCMYoxss=",
  "id": "rs_00900f5e9e1a2142016ab450989e4087d0a44034dfcb83f03f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.5},\"note\":\"The pear is now partly below the wrist frame and the fingertips extend down both sides of its body, which is the correct grasp geometry. I’ll close to a moderate 4.8 cm opening around its broad section.\"}",
  "call_id": "call_phbaDxCRORi6G6uoW0vWhYSH",
  "id": "fc_00900f5e9e1a2142016ab45098fdbc87d0a987fe0dd5e3789a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_phbaDxCRORi6G6uoW0vWhYSH",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.469, -0.0139, -0.0307, 0.9992, -0.0086, 1.668, 0.9047, -0.1707, -0.0231, -0.1322, 0.5046]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1593 left_yaw=0.0004 left_pitch=-0.1072 left_roll=0.0012 left_gripper=0.9992 right_x=0.4109 right_y=0.0041 right_z=0.0505 right_yaw=0.0775 right_pitch=-0.3653 right_roll=-0.0588 right_gripper=0.5046\nstate[joint_eff]: [-0.2803, -1.1145, 7.0632, 1.6923, -0.0317, -0.0317, -0.0122, -0.1436, -7.6513, 6.4068, 1.3358, -0.0024, 0.0415, 0.0952]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcbd81d533c03e6e0f1ffdbcab16d405803db67c7ae511f1986170cbe24f02e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3acaede04b3e863884535610ec4ed48d9c212bdc0fe895072cf7921abb4d1fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe1fcd2a79ca3021be958448b75ff634155239a34fcee438cce810ca2e60da38",
      "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 · 2.526 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8131, 0.6128, -0.4461, -0.0139, -0.0307, 0.9992, -0.0132, 1.3045, 0.833, -0.382, -0.0231, -0.1131, 0.4004]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1654 left_yaw=0.0004 left_pitch=-0.0782 left_roll=0.0006 left_gripper=0.9992 right_x=0.3583 right_y=0.0029 right_z=0.1231 right_yaw=0.0599 right_pitch=-0.2845 right_roll=-0.0529 right_gripper=0.4004\nstate[joint_eff]: [-0.253, -1.347, 7.0222, 1.7851, -0.0366, -0.0513, -0.0122, -0.5402, -6.2838, 8.7726, 1.6093, -0.0659, 0.0904, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8196, 0.6128, -0.4652, -0.0139, -0.0307, 0.9992, -0.0093, 1.6684, 0.9043, -0.1787, -0.0227, -0.1249, 0.9986]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1599 left_yaw=0.0004 left_pitch=-0.1037 left_roll=0.0011 left_gripper=0.9992 right_x=0.4091 right_y=0.0038 right_z=0.0491 right_yaw=0.0724 right_pitch=-0.3738 right_roll=-0.0537 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.5385, 7.0085, 1.707, -0.0317, 0.0024, -0.0122, -0.1983, -8.0479, 5.9692, 1.5653, -0.0562, -0.0659, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.469, -0.0139, -0.0307, 0.9992, -0.0086, 1.668, 0.9047, -0.1707, -0.0231, -0.1322, 0.5046]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1593 left_yaw=0.0004 left_pitch=-0.1072 left_roll=0.0012 left_gripper=0.9992 right_x=0.4109 right_y=0.0041 right_z=0.0505 right_yaw=0.0775 right_pitch=-0.3653 right_roll=-0.0588 right_gripper=0.5046\nstate[joint_eff]: [-0.2803, -1.1145, 7.0632, 1.6923, -0.0317, -0.0317, -0.0122, -0.1436, -7.6513, 6.4068, 1.3358, -0.0024, 0.0415, 0.0952]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcbd81d533c03e6e0f1ffdbcab16d405803db67c7ae511f1986170cbe24f02e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3acaede04b3e863884535610ec4ed48d9c212bdc0fe895072cf7921abb4d1fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe1fcd2a79ca3021be958448b75ff634155239a34fcee438cce810ca2e60da38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFCckzj0TNE3PFhyCjap-s4nDxHkm97k1IgDkFHr-udefk7d8jh1MEFFCLlxvqczTYKa9uqgRAB8wpWATeyAcOsOFfwHnRZqi4poxzakbvAnuddpYXn18swFJgtUz1U1NaUwA4izGpJ3nLBduS_N9-VBYXI9NLET5BXacv--dKlBrf9k0eGPPr20EhAVDtX3cZ8m9zCynCQ_XzML8JtMi1MWuRN9Oz_9r2c8huFHwrHgQDa4RvS6m8SgdsibPDG1JXipSJMOCTcMAcf7mHyTPATiD9wwubue4EXaGDFv1CcghVGd4-E0ECpvVVjuQ3UXUdsUHdQgmUiGYH8fT1mKjzYyFW7kPe62miXeavmtGv5niUpr5HpJAqesa4ysr-EWeaEBG8vRrECdUyVhmCk9kIBa0ZuWUPN1nlLd3IS1Uoy1sGKYFk58w4AIBTSCM81RfowHVS0dSR4XrPakKihg0tqpF8vx4COJahXOZHCmPTne-NwXbbi9w3KFRu_UB_0iVsmAm8s3FQzM9S76BvJW9CQ67ahS8Br6HDAq1-RLcEwOQKRWuD_WV8KEYpzec_eeIKXKN7vEqS20Ejz_T9NsQYrkvJ6yNXhgME3dWRwERgS6OGQUl1l3YhqFGK6xFjyF-AAzFYzGW2nX2PCP0pmw0niRANHvRSJgBAEs-UX9_PnY4AXeHHCF-3JRtJRNz7ev-biglOrH21DBKPRou7sL40VLhfsi-5DpKBErKf8KcwTnjC7AQx2dxUcP0dfNipNXIYzWfc9to1yVDknHxjlClK_YWsC2hPqAuuewFTZzDdpBmO3eMlOC_DmUoEfEPuMC6EzVLQ-6ykXHufwPXp8I4YXq881v8i_TT-LDWElEM7zYGnrGGBidfItEANHB706nhFHIOsMYKAEHhiK6x4tEFrPBeI6EW8T6xdTx2ysZRKy_lxFxpB3VeEnoDRJW2MKOdgedqm5nZlbf9b8FEYomvxa4JTsZtBLw47awkjstuJ0x0ca7PDF09yAnsl2iOS7NLvuph8IsJsCqcObuoJ5HEhjMYSVemTYShxhp65xzJUCBU_NpuYcDp6x2axv3AGlGULB9MU5ulFpTJSefmcr3rfE4TnM5K0VpNFCxcJVc23sp87B-rSrdtE0vSkyKzdv9A49lW__YrRFjoHCcFEKig5BXSxkfIUZ0tnASWUIzcMQL5ciqYkTyeRv_POSMMPWWLQVAyi0dbSPzH2DxQ4byt7z6eEhOydyqEUf_HSo_t0wKKyw=",
  "id": "rs_00900f5e9e1a2142016ab4509b6c6887d0a0a80dc398546e52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.38},\"note\":\"Both jaw pads now visibly contact the pear deep inside the gripper, and it has stayed centered. I’ll tighten slightly to secure it, then lift.\"}",
  "call_id": "call_BGR11cJqnyGjeOADkpRXakPB",
  "id": "fc_00900f5e9e1a2142016ab4509b8ec487d0a6ba8b48b206f03b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BGR11cJqnyGjeOADkpRXakPB",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4698, -0.0139, -0.0307, 0.9992, -0.0078, 1.668, 0.9047, -0.1577, -0.0277, -0.1356, 0.3919]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1592 left_yaw=0.0004 left_pitch=-0.1079 left_roll=0.0012 left_gripper=0.9992 right_x=0.4134 right_y=0.0052 right_z=0.0525 right_yaw=0.0839 right_pitch=-0.3521 right_roll=-0.0583 right_gripper=0.3919\nstate[joint_eff]: [-0.1709, -1.306, 6.9402, 1.6435, -0.0562, -0.0269, -0.0073, -0.0205, -7.5145, 6.3932, 1.1258, -0.0122, 0.0122, 0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e0f9f2513d0ceb616c7f0fb3a15ff2027daf248828909d9f4e713d8f42c3f00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:485b6083c004912760e3d296585f69f821fa7631af7de0955a830a093a907887",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97818ca4a3225b93d1255331affd1d8b8f112954a5b012f7871dc3f80e8b362d",
      "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 · 3.927 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6128, -0.45, -0.0139, -0.0307, 0.9992, -0.009, 1.5177, 1.047, -0.4385, -0.0231, -0.1246, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1645 left_yaw=0.0004 left_pitch=-0.0824 left_roll=0.0007 left_gripper=0.9992 right_x=0.4032 right_y=0.004 right_z=0.1235 right_yaw=0.0719 right_pitch=-0.3403 right_roll=-0.056 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.6777, -0.0415, -0.0317, -0.0122, -0.1162, -6.4889, 9.4701, 1.6581, -0.0317, 0.0904, -0.1636]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.469, -0.0139, -0.0307, 0.9992, -0.0086, 1.668, 0.9047, -0.1707, -0.0231, -0.1322, 0.5046]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1593 left_yaw=0.0004 left_pitch=-0.1072 left_roll=0.0012 left_gripper=0.9992 right_x=0.4109 right_y=0.0041 right_z=0.0505 right_yaw=0.0775 right_pitch=-0.3653 right_roll=-0.0588 right_gripper=0.5046\nstate[joint_eff]: [-0.2803, -1.1145, 7.0632, 1.6923, -0.0317, -0.0317, -0.0122, -0.1436, -7.6513, 6.4068, 1.3358, -0.0024, 0.0415, 0.0952]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4698, -0.0139, -0.0307, 0.9992, -0.0078, 1.668, 0.9047, -0.1577, -0.0277, -0.1356, 0.3919]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1592 left_yaw=0.0004 left_pitch=-0.1079 left_roll=0.0012 left_gripper=0.9992 right_x=0.4134 right_y=0.0052 right_z=0.0525 right_yaw=0.0839 right_pitch=-0.3521 right_roll=-0.0583 right_gripper=0.3919\nstate[joint_eff]: [-0.1709, -1.306, 6.9402, 1.6435, -0.0562, -0.0269, -0.0073, -0.0205, -7.5145, 6.3932, 1.1258, -0.0122, 0.0122, 0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e0f9f2513d0ceb616c7f0fb3a15ff2027daf248828909d9f4e713d8f42c3f00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:485b6083c004912760e3d296585f69f821fa7631af7de0955a830a093a907887",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97818ca4a3225b93d1255331affd1d8b8f112954a5b012f7871dc3f80e8b362d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFCeMYvrogqICOJN-wgAcBq0mJUxU2rygJV4iZDIP3mYendPuvWKQ6rCu-WdSdGGOz-3WY6cjgjrTtqQQWgMjoHhro7CNeOwyA_MWQUpRMEbC-tXO_Bjqb7sEiVhItyajOayFiX-AzkMdzJ7we1e-IfWQ9tzTsJjtOYumK91toPTrjPeEQJyZg1YteLxWgUNpRO26-jYP0O9vfwY-_GwaiAvBzzXFs8ooQlzl0BPorqYigvlITppLl7BfGPKs4OwPPeP4yavPOs-7MuZs7lGRL8V0bNUArQZ-cLIV_NGn0oDfwI3inwH4QXRPwQbZu2NkSbkqjjzONWQg9kYLPPoqLBFTT-JS8XlDfdoy8uHoiu4zexYawphYjMnZXQyS64wVAfXAusi0Ot241_lW4IixW1EkL_dFrhuNs8jgNnHKO3n97v-Yd4x4oQvLrAGNA8Mj0uVOZAu913JA7vfNSwTmv_i3lAg0hHf7oPD-kAHf8xF6naVsvayNPd-gfrn4dv_RysX7HF8HTFM7phxN937Ym-lxUFptU-iC0pj-IifxZw3Id5f5Qqpd6kd6BrK00va7jW5sMUQmNG6QjXKu5DMXZRldoUgtt7vD4HAm5G3IWtzlMWFHVWeCxRwZoBTVJebieKsAgiSEBp2cLcN71Yj432LdYHfiBubSjDK3rY6zKcuMq21HDXL6XbYuj0bobm_f5TQLK6Bmw6yTlW5g6F1bkFdzw9cBaIhRBQ5CvH95Bvr9qb5kDQcAlzsFGWfeRd4lZuWGVevQ3pxPri4txfMAE797jAdEOQ-3p6GDeJdS5ecDoPLU1s9SwLBk4aprNtCensc0OObXmSMEzcpWfh-w5c3wtW0GdcugHVL5B0Pb1VblbtB5h0EeUBzCFQTd4S11k8QwJF3d-7MrpzNc_mNlFwoGTvyVx6xUJ0m8ZjUiPcQbWGmuu012pCRLIGguDbSxaKAq4TebdrXlPOn8ImSFHF3b1OLz2ys37cJaH4-tM57XFJTDQOaFeAwtIdKXbAvMFhQCb8h0UqrFei88pl1MX9bpBo2q3QGHkUlmsMIkZGmucbTg8M54Wp32uYGnBUQ9dl4oq4UjUIDsV-Avuth3rU4f8yBsDtUcheYp3X9mO4ByWuqLCNbsiSGgzwTBGhCTKPIGHXbgoi8FaNuS2mioCAYVjaM5JAWSya5AwaaKe2cWTb2Otb67OfJGphmltSte5CS7Yf3Is8mQ2iy9zVhxflzSw==",
  "id": "rs_00900f5e9e1a2142016ab4509db72c87d09b37d854fed66581",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.413,\"right_y\":0.005,\"right_z\":0.15,\"right_gripper\":0.38},\"note\":\"The tightened jaws remain engaged around the pear’s broad body with a nonzero opening, indicating an actual clamp rather than an empty close. I’ll lift about 10 cm to verify and prepare to carry it.\"}",
  "call_id": "call_a4Qpd9TKG9nrdgjK4BNz5AXL",
  "id": "fc_00900f5e9e1a2142016ab4509dd52c87d0805a1f731a25f984",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a4Qpd9TKG9nrdgjK4BNz5AXL",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0135, -0.0307, 0.9992, -0.0074, 1.5715, 1.1576, -0.5755, -0.0307, -0.1436, 0.3823]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=0.0001 left_pitch=-0.114 left_roll=0.0011 left_gripper=0.9992 right_x=0.4041 right_y=0.006 right_z=0.1264 right_yaw=0.0944 right_pitch=-0.42 right_roll=-0.0535 right_gripper=0.3823\nstate[joint_eff]: [-0.1573, -1.306, 7.1179, 1.663, -0.0415, -0.022, -0.0122, -0.4308, -9.2239, 9.1829, 1.3944, -0.0611, 0.0464, 0.398]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8e1b6fc8822fac2377794771b9b82fae81761b84b90d1cfa0a6ea78284ae45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75fdf36fdec91f349fa9765357bf06350eb2cc925d603f04618ac1b3a555db3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc436ce6882386ccef4c3b6b4c954b7c9c3db476c12c484fe9cd8641cddc89e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 3.161 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8196, 0.6128, -0.4652, -0.0139, -0.0307, 0.9992, -0.0093, 1.6684, 0.9043, -0.1787, -0.0227, -0.1249, 0.9986]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1599 left_yaw=0.0004 left_pitch=-0.1037 left_roll=0.0011 left_gripper=0.9992 right_x=0.4091 right_y=0.0038 right_z=0.0491 right_yaw=0.0724 right_pitch=-0.3738 right_roll=-0.0537 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.5385, 7.0085, 1.707, -0.0317, 0.0024, -0.0122, -0.1983, -8.0479, 5.9692, 1.5653, -0.0562, -0.0659, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4698, -0.0139, -0.0307, 0.9992, -0.0078, 1.668, 0.9047, -0.1577, -0.0277, -0.1356, 0.3919]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1592 left_yaw=0.0004 left_pitch=-0.1079 left_roll=0.0012 left_gripper=0.9992 right_x=0.4134 right_y=0.0052 right_z=0.0525 right_yaw=0.0839 right_pitch=-0.3521 right_roll=-0.0583 right_gripper=0.3919\nstate[joint_eff]: [-0.1709, -1.306, 6.9402, 1.6435, -0.0562, -0.0269, -0.0073, -0.0205, -7.5145, 6.3932, 1.1258, -0.0122, 0.0122, 0.3101]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0135, -0.0307, 0.9992, -0.0074, 1.5715, 1.1576, -0.5755, -0.0307, -0.1436, 0.3823]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=0.0001 left_pitch=-0.114 left_roll=0.0011 left_gripper=0.9992 right_x=0.4041 right_y=0.006 right_z=0.1264 right_yaw=0.0944 right_pitch=-0.42 right_roll=-0.0535 right_gripper=0.3823\nstate[joint_eff]: [-0.1573, -1.306, 7.1179, 1.663, -0.0415, -0.022, -0.0122, -0.4308, -9.2239, 9.1829, 1.3944, -0.0611, 0.0464, 0.398]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8e1b6fc8822fac2377794771b9b82fae81761b84b90d1cfa0a6ea78284ae45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75fdf36fdec91f349fa9765357bf06350eb2cc925d603f04618ac1b3a555db3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc436ce6882386ccef4c3b6b4c954b7c9c3db476c12c484fe9cd8641cddc89e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFCmd4LwMe4eTypSdbLrx1_oOP26iYAEGhYoY6kho2iV7SGH_YW-ibjnzpExV50JNsDf0GGsyVXVGiq7FhMqbEHObUYiD7jo_AyquEyIleQFaeymYjsBIqdt5TEcFJJ-d-W3KKWL4Wm4YMrgpyppjtUTyZqz8ehhEmOnQwcinGzY8WmTVHjw3lXpvC6BqWq_9aIJoYSuMD0UFcQmM38MxC-GHoi8KnCQy-SqQa585l5EajnURiUgSQtzyCV2XbDFCKc3iKjg4-vBeqpttB-XL1r68ZuhuVRIT9varB7MkW0r5yOX4gcTA29IpMqxAUe59yen749iK5FJO7UlSliZ1saaFZiroh2_N_rfsef2bpoi4hLCk_67Gvj4ZzHQvWX4EHhqhMR_1AVm8Smuz0yRj-4I_1JmEdtkCQMdnezT1xiJ2kLUWG58x3YA0LyPJTAlNhp9xbinDWM3Edt9GSoNuCphI3x12S4i1J6dpp58LINfqdOtFHB03ohfhgks2YA6GU9N9koCBlptUmE04i8z6PiFhE2_rrfeEyEG2tBA7z5R-K0z4hhFfZpFx_BvloUd1NqoLRzWichSuReAd5i1xa4sCP2IUK0XmoCRRJbslEyoITsFDtE5whynlqHGF_2OEwh2GiR71Z5q2-a1K6yNs7F3YP8Pfp8n3vq-q6iycXiPMAomIq67HQLw2G-ldOtGz7A6evFiFGsYVK3ZtQst2lrfS7vfHrdKI3BBVtwfmbwnGsxWhMDPCywf-g53-oeY0bA_cWMuJSP-IoXy1TqPVdy45HpAu1mlioK4C9KCRTaBlOjLVH2sAmfvNSud8HKHebPo11EDSLo1b--WrO_eQDEGzefofwfxE0NM4NdhqoJVWAYZgCRVH9y8xUKxrZB-jIAbcwqz-ajiuVGYZ6fEeRWcWOj0YzIhg85Tn5rYFsdd74BV3MoSt7OtgTabcw78X2NEPtBbqV8fcTA7WQVoZyuFDvUKhlczWFj6ObEmPr97-6JPtsjKdYQvuPiZb2vTlA-4bTfxZy7q4AGOLuLxDsIEiPE5dqNyxE9ouTXrdANfRLQgoTZDw-Vb8htRE0MDqOT0LJftr3Nkt_h8xFhxBebmiEXdiBk4jeFy7vA2rkSHGN_lgRDqEhwd0mdBQZBZLpO8tU9y4eWCgOBM88C4FXAfgQpI3BBt6UpywcIzNs5nOvojiofx2OM_vsYqpF8kKUchpN0044GJzXMdUhdiGBwBPkWJ1xGAsMgEf9p_F8Hn0FDk5XEz65PH21lwcqj2wIg5WPcOVbUJnitNLzNytWNx3-lup0CixOwZylINp0NOjNseBL1q5xzwXfQBEYrMR4vcAN6yvk0CQoKhu3nSr08UiGmqA2In88prlCRjz22jBsfhCYlXNYDcRtsQofDiNk0B7XV3KdAvosN3UnsiY3mIF-6wMXCM0yzYZ0s5wi31YM_-VI-OUT8gqBgzCal4Y2-Qm16gihi5tv8hmf2V9IdXpFU0xsS6gJbtDyfIdevq-1_In5wuX7_N5cUSbQ_67OAqsB_qKO-wUUnZourSVsg2J6rckXMZgSMp829bcd-9iXiotplRAjZ-PMR40N0Ui77xMTEJsew5W8yC8MJ3EQjDM0L9XCR_4Xs-eYG4NXyhYKy0z5sTi4C2fy9d4X8DV7YBIRYk6jP8abV9tLeIT_BUiyGq0xKwoHIV14cdZvAk36VyRxS7rTqgpcJw0AhUiRNoOLEWGjEtIZlk7Sflu3i3D3co_xq8P5KubNG_IihT8BIhuiTNMdRKsc7YfvHuDftIOmswxvLur7VefkW8ZZ2GdrDNQil9IzXS0Xq1C1WvSquReZXtoonHlW3F8aEdntGsK7TJ8Bqs5k_iKFLPpH9sO8kcwoI_DrdvuizJBjooAAtLzsGZCqaVi9-efoWSOH7y1ckDuJhmWJ0sEuIH__2VOk0hI1I5W7CahJHNqwnmuyM=",
  "id": "rs_00900f5e9e1a2142016ab450a3ddb487d0b266b1601bc0eeb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.2,\"right_z\":0.2,\"right_gripper\":0.38},\"note\":\"The overhead view confirms the green pear rose with the right gripper and is now held at the upper-right. I’ll carry it leftward to a high pose over the center of the blue bowl.\"}",
  "call_id": "call_zDT7zkwLn68w5UI7mKMPJiAf",
  "id": "fc_00900f5e9e1a2142016ab450a586d887d099631cec04bcb53b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zDT7zkwLn68w5UI7mKMPJiAf",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.5686, 1.7493, 1.6184, -0.952, 0.252, 0.3061, 0.3843]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0001 left_pitch=-0.1144 left_roll=0.0011 left_gripper=0.9992 right_x=0.3847 right_y=0.1978 right_z=0.1865 right_yaw=0.1348 right_pitch=-0.4587 right_roll=-0.0723 right_gripper=0.3843\nstate[joint_eff]: [-0.1983, -1.1282, 6.9538, 1.6093, -0.0317, -0.0415, -0.0073, 0.2256, -8.6085, 9.0188, 1.0623, 0.2759, 0.1587, 0.4322]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecea1b29c09509f5ace666aa96b2fd2c947e8ace18b9bbc69c156cb83fd44ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8acfed4bfb6492a19eb112352611467cb232977d361bac203c461bd4da3631",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8a672a0f0172bd15db02296165c06085b121de9bc3a5c55bc82fd74923b61b",
      "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 · 2.305 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.469, -0.0139, -0.0307, 0.9992, -0.0086, 1.668, 0.9047, -0.1707, -0.0231, -0.1322, 0.5046]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1593 left_yaw=0.0004 left_pitch=-0.1072 left_roll=0.0012 left_gripper=0.9992 right_x=0.4109 right_y=0.0041 right_z=0.0505 right_yaw=0.0775 right_pitch=-0.3653 right_roll=-0.0588 right_gripper=0.5046\nstate[joint_eff]: [-0.2803, -1.1145, 7.0632, 1.6923, -0.0317, -0.0317, -0.0122, -0.1436, -7.6513, 6.4068, 1.3358, -0.0024, 0.0415, 0.0952]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0135, -0.0307, 0.9992, -0.0074, 1.5715, 1.1576, -0.5755, -0.0307, -0.1436, 0.3823]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=0.0001 left_pitch=-0.114 left_roll=0.0011 left_gripper=0.9992 right_x=0.4041 right_y=0.006 right_z=0.1264 right_yaw=0.0944 right_pitch=-0.42 right_roll=-0.0535 right_gripper=0.3823\nstate[joint_eff]: [-0.1573, -1.306, 7.1179, 1.663, -0.0415, -0.022, -0.0122, -0.4308, -9.2239, 9.1829, 1.3944, -0.0611, 0.0464, 0.398]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.5686, 1.7493, 1.6184, -0.952, 0.252, 0.3061, 0.3843]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0001 left_pitch=-0.1144 left_roll=0.0011 left_gripper=0.9992 right_x=0.3847 right_y=0.1978 right_z=0.1865 right_yaw=0.1348 right_pitch=-0.4587 right_roll=-0.0723 right_gripper=0.3843\nstate[joint_eff]: [-0.1983, -1.1282, 6.9538, 1.6093, -0.0317, -0.0415, -0.0073, 0.2256, -8.6085, 9.0188, 1.0623, 0.2759, 0.1587, 0.4322]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecea1b29c09509f5ace666aa96b2fd2c947e8ace18b9bbc69c156cb83fd44ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8acfed4bfb6492a19eb112352611467cb232977d361bac203c461bd4da3631",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8a672a0f0172bd15db02296165c06085b121de9bc3a5c55bc82fd74923b61b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFCxJ37AYTStW7qI0F3NBXwQVuv2cFsRkNsuLHol10iL_BwktPpaml8FXkytE-NWQ0TShK8xfkcmMSULNptqRfp7irH4y-VcfothNrJUcATWRTQNBX4GAj-nuKJ85iVyufR_MuHMqr0ZwSlhAyaLHYFiwDvnsxYbnzkTa__wnPu5uFbVLe3P_9inoSDzTQCJvEXYc1Nb18sI4x2IghwgPW9ZkwT8Md2azxe9u_oDf2MJ1Cz35yxpzP-kcugQyHLaKXS7hzuF_W544TVjEeOJCItpqYq9YZWRb5dHxu5jlkD_Ym82pTa0oMTPqMPFIYs0OZF8NNGN6A4ncT54qzr1l7sJv3ad96ufltEc3heYQvJoGUOuamb-H2ikvMFHKbfydpojtujSedfGh74TzU_vNnIH4UcDI953a2WYgACEvifOZAY-OjsNt8mt3HP_9zForPdUFeXCpqCzEcsCQuFFzCNYmhbh0omN0yUl60HJ7joJETfdSrq8EfX1eAqvy3kTyZ84tZ0FlurAjNP_wPuXWVVj5um-HtOVI2nae-hGU8PRgBMyL7iXBzGbg5B_EM4Fn93WWe2akkApf-0VMsOuVvThnZybDoLEwRrpbypQbwhO1eYgNixHAUkVbn-fNNydIKB8zJ5DdPt3_zqlVOTPXR1b6VksGlrisaNfve3X-vssiDFFXF6d9Ym-SDPGOVrVPfeJo7h6W6hAjtnLjmkFuZOrdTPbC3lO4oA-dsV-YdDwbjyd3Mx0RX-xqg-Q4PFa0QkKGfN2_3qufmmMLaOAJGKr52pc1W64wRgBk-LrLv4m9Z7kfgUEt0JHTH1I1S8R2aKS3uwJAu1t9cz1Vpz8hxUpAYOxDtzWXLBFnxPtyz4-oRehvdHqBTwZqQBatb31P1M9u5tS4zq-C4lHhbWey11K9fyxwj67xyiYk9QrWpep7l_Rc3yj56ds2EdxlUteDEEpLnrbf7jyjlx25nVq_jNj0MCnT4UJNUV_hl6UQchCD9mRqly16cB8fh2hGGDTxntGJeN7TcNJAgEtVpkv_G0Ifgq7dEiu_EVTZNqW4sfFQAWF6609skxs07Mzu1HMuLwvJcjZcFBiATuiKR62j4Io7kWNrMvVVaQnY9sCoG2RHgWFMNPYF2bcFOSzNVqPXh1I-ap4QeTKVdwBuwwck5ubd3MJHZTz_LTH78Ik2HLWgmDK9M9PlSDeiQsWyDdvBIybN8IDV1Az-KEKeRBEcjE5lua2b664kcnnm3sjM6dOsHD_VzQlvT0yiurseYkNgh3s2zmxXrfajKDhRiFcXlQL8HSgM8xwE4gRWu7DbLn1jk0sCSUzNwmI3sXMbsr9RdaTzuSsdz5sS75rypQ8BCs4J4ePqmBUVK0G1vtMc502ZGVAtScL1nekPQ__RY6d-XIi85QA6q44zo6mU98_sA6NVw7Acg-CXoarRhlvBERZuZrfa9DGYV0VvsMuD1fnKLGi7P99VeYLzjxFXfFvNmmOQuQHQ7C8zGQi3q_E1rAcw1qNoslmibqQRa99QNlPMy4qGmfErHac0TidXNmmrqGWGQ6FUJRWbscT85aspTvP1Dfg1t7EbzQJd0BAHyWx0Xf4tSuQDfLV8O-Vm_ultXJU-xhvNFK_r2zowl1JyHAxZkkl6TJ_PlWm8RVTxtONirHy3-SnlnAtuohmF0hED_AWJOqN6mI9ZvQWD3Enjz8H9wc=",
  "id": "rs_00900f5e9e1a2142016ab450af650c87d0ae2523d3dab9e8ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.2,\"right_z\":0.16,\"right_gripper\":0.38},\"note\":\"The blue bowl is centered in the right wrist view but still lies a few centimetres beyond the held pear. I’ll advance slightly and lower to position the fruit directly above the bowl interior.\"}",
  "call_id": "call_PUQow4shO9sPrCb83tY8B4vc",
  "id": "fc_00900f5e9e1a2142016ab450b06b0087d0a81b7fcb19a3f0d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PUQow4shO9sPrCb83tY8B4vc",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.5396, 1.8282, 1.6241, -0.9226, 0.2348, 0.2871, 0.3843]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0004 left_pitch=-0.1144 left_roll=0.0014 left_gripper=0.9992 right_x=0.3995 right_y=0.1955 right_z=0.1581 right_yaw=0.123 right_pitch=-0.5058 right_roll=-0.0877 right_gripper=0.3843\nstate[joint_eff]: [-0.1573, -1.306, 6.9402, 1.6044, -0.0708, -0.0366, -0.0122, -0.212, -9.9761, 7.0906, 1.4481, 0.149, -0.0806, 0.4322]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47518c736b45914282dd7c61de9aee6aa4f05546215c1bcef052da43e9c57340",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0888a5e1c1c67b76f9a833e39a99d2a028b02b482a5ceb57686483b72ebe17eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa555e9abbef77ffac9c1eb104358a5f3bcad8ff10e6f6c1a3e50d2978f1b1d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.193 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4698, -0.0139, -0.0307, 0.9992, -0.0078, 1.668, 0.9047, -0.1577, -0.0277, -0.1356, 0.3919]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.1592 left_yaw=0.0004 left_pitch=-0.1079 left_roll=0.0012 left_gripper=0.9992 right_x=0.4134 right_y=0.0052 right_z=0.0525 right_yaw=0.0839 right_pitch=-0.3521 right_roll=-0.0583 right_gripper=0.3919\nstate[joint_eff]: [-0.1709, -1.306, 6.9402, 1.6435, -0.0562, -0.0269, -0.0073, -0.0205, -7.5145, 6.3932, 1.1258, -0.0122, 0.0122, 0.3101]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.5686, 1.7493, 1.6184, -0.952, 0.252, 0.3061, 0.3843]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0001 left_pitch=-0.1144 left_roll=0.0011 left_gripper=0.9992 right_x=0.3847 right_y=0.1978 right_z=0.1865 right_yaw=0.1348 right_pitch=-0.4587 right_roll=-0.0723 right_gripper=0.3843\nstate[joint_eff]: [-0.1983, -1.1282, 6.9538, 1.6093, -0.0317, -0.0415, -0.0073, 0.2256, -8.6085, 9.0188, 1.0623, 0.2759, 0.1587, 0.4322]\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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.5396, 1.8282, 1.6241, -0.9226, 0.2348, 0.2871, 0.3843]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0004 left_pitch=-0.1144 left_roll=0.0014 left_gripper=0.9992 right_x=0.3995 right_y=0.1955 right_z=0.1581 right_yaw=0.123 right_pitch=-0.5058 right_roll=-0.0877 right_gripper=0.3843\nstate[joint_eff]: [-0.1573, -1.306, 6.9402, 1.6044, -0.0708, -0.0366, -0.0122, -0.212, -9.9761, 7.0906, 1.4481, 0.149, -0.0806, 0.4322]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47518c736b45914282dd7c61de9aee6aa4f05546215c1bcef052da43e9c57340",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0888a5e1c1c67b76f9a833e39a99d2a028b02b482a5ceb57686483b72ebe17eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa555e9abbef77ffac9c1eb104358a5f3bcad8ff10e6f6c1a3e50d2978f1b1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFCzebgkpzjAMWKSq58-ar66AHyDw5vrGwv_hEUWfnz-HfYsVliMyDpn218qBhnZQaWtnMZcZMF2Cye_RdkSJh-vWJ1T8vkwC54gfr7R43VeQ4G1qrrK0QcU1a8JPBgK1iP4-cDaToemB-1vUhxZJWq-Qrw2bKnAodpLpp0vo4tgfcNnorZOLvRFE8n1cv44r4hYwPjdp8iisJDDKFH166iKD14MP6C_CLxsU60p8w9yctlmgHBK_GR_j866IwiZalXipEmk75RPesNG9F3IUx0BE_4DxEbgYLbkHrNpk_7G7hmlxgmVzulLf5jLTfkoz51YbCAL_gvoPeAF1DW460y-vbKZN2cILAxwk8pyEISXnIMO6QnxkjU1Ced3cSIx51O17JSu-ZB_IkE77uiN4lwQ8Dg0C8IrPpiRLwSV97aIOeYCVvvcl5OnjmEIbnhiOl_sTDVKDp-T2mQ6VQa3eUmwS87BIkTbbgwaFjZnuPy42EdfC5vPjpGAXWbxkGGkjGYpy-MuU1NtItyoOMQCPHy3YZsc_-BGx2xZldZArLWnAf7dYh33QLI9EsTI28_6g3_thaSfmqVwqnc2lgQu3sJGhn3_bEo6fRmn4-FEQfzEQ8qaD7hH_c8yOU2ZnThzXQta4AmmjeY7Wf5zSJ4y8TAPhsF1U4QchSz0B2OZIXWNQz0fEAtin6aLXmykqvZPceYa5E82wbnRDyDbstmdUSQaf2MXz3SlVETGx4Lmhr1TS5FoUHpfRScTbXeWbMJ-LE_FqMexL52YDheTJz_Iq8fzsINDfYz5gogxz_KWVT3gUZxc149n842RvkqZKvsEiCFT3a9FQCjAAFOqHvhZFCZsvUzgNIyQzovX1tQwoC-1MLlvYK_Y69XlgFltwu2DQYKDTBDO6U-f_65BWk7aPH59DyqOyKZIJIxpoZ9lTjrB4SNG1HZ_2DOEkR6QaTP-E-VrMwi1kOnq8ZLonds0MEsLmzBebZiozyEu6Rs9Cbgeem1muhn0Yes9xB3xgJLWUeuvRcr9Aj-VuEIEHHElcR_INASQ9zaEOEBeArbp8TEmKP4b_COT_O1kwfzayg2yyYtl9fwr8KFik8BxZ3bDDy7DNYkH6XBw-2NkLFrxdjwVGp4ZLF2HldNOimfgk2UT45iUKC1dfPkVYRxnpCe5cjf0bT6994HHnVpI474SoUiFcZaoJGQcddwmKS9K_diP3hGZ2aOOP1aJmstycqn24poJ19dJ4LFmUyEQMi3Frl5HhN88ezUTbKy2O1fu7yDIvlv-",
  "id": "rs_00900f5e9e1a2142016ab450b2c93c87d08adf33c3d81b0603",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The held pear is centered over the blue bowl’s open interior with safe clearance from the rim. I’ll open the gripper to drop it into the bowl.\"}",
  "call_id": "call_BdgVjPUPWI0vpsG0MIAr8ZTU",
  "id": "fc_00900f5e9e1a2142016ab450b31e2087d0a76ba14344fdea41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BdgVjPUPWI0vpsG0MIAr8ZTU",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.5346, 1.8648, 1.6238, -0.9249, 0.2314, 0.2729, 0.9958]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0001 left_pitch=-0.1144 left_roll=0.0011 left_gripper=0.9992 right_x=0.4009 right_y=0.1945 right_z=0.1421 right_yaw=0.1207 right_pitch=-0.5437 right_roll=-0.1102 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -1.306, 6.9675, 1.6044, -0.0269, -0.0366, -0.0073, 0.3077, -12.6974, 6.5436, 0.9548, 0.0904, 0.0904, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a863246d155d91a074d5519cb0c7adeb70c509e2c9c7ab237df5e597d7d5e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e4ab2e9da8296d5b6eeefef06d0ef802f44924679a82dffa6a862841aeca875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d9e77b680f992b2e9c2b6174a1579e1baabd1a66f730e119138f39c5d7b05c5",
      "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 24 attempt 0 · /responses · status 200 · 2.377 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0135, -0.0307, 0.9992, -0.0074, 1.5715, 1.1576, -0.5755, -0.0307, -0.1436, 0.3823]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=0.0001 left_pitch=-0.114 left_roll=0.0011 left_gripper=0.9992 right_x=0.4041 right_y=0.006 right_z=0.1264 right_yaw=0.0944 right_pitch=-0.42 right_roll=-0.0535 right_gripper=0.3823\nstate[joint_eff]: [-0.1573, -1.306, 7.1179, 1.663, -0.0415, -0.022, -0.0122, -0.4308, -9.2239, 9.1829, 1.3944, -0.0611, 0.0464, 0.398]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.5396, 1.8282, 1.6241, -0.9226, 0.2348, 0.2871, 0.3843]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0004 left_pitch=-0.1144 left_roll=0.0014 left_gripper=0.9992 right_x=0.3995 right_y=0.1955 right_z=0.1581 right_yaw=0.123 right_pitch=-0.5058 right_roll=-0.0877 right_gripper=0.3843\nstate[joint_eff]: [-0.1573, -1.306, 6.9402, 1.6044, -0.0708, -0.0366, -0.0122, -0.212, -9.9761, 7.0906, 1.4481, 0.149, -0.0806, 0.4322]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.5346, 1.8648, 1.6238, -0.9249, 0.2314, 0.2729, 0.9958]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0001 left_pitch=-0.1144 left_roll=0.0011 left_gripper=0.9992 right_x=0.4009 right_y=0.1945 right_z=0.1421 right_yaw=0.1207 right_pitch=-0.5437 right_roll=-0.1102 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -1.306, 6.9675, 1.6044, -0.0269, -0.0366, -0.0073, 0.3077, -12.6974, 6.5436, 0.9548, 0.0904, 0.0904, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a863246d155d91a074d5519cb0c7adeb70c509e2c9c7ab237df5e597d7d5e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e4ab2e9da8296d5b6eeefef06d0ef802f44924679a82dffa6a862841aeca875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d9e77b680f992b2e9c2b6174a1579e1baabd1a66f730e119138f39c5d7b05c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFC35-lSdgsyXxJgPtTz3yP6nfHlpnAUQdSjNqF4yOlTIwvfot1dhgKwnLocZvppnhYAZUZanRx5JeGi2AYJ92cSpGSHfyZqtRT0QK9wlXxLdZZwO2b21T4PPFs2NDj4b6Q4LnsvsWETUt0GiRY9bb_bvR5fxxRuMn9cfwDGj5GVwANXM71CKO0kD9eHJU0D-8nZ4jr8IZbJOY8uCoqJFqt_XyKD2ahX9Igt-I28QsFlAEtbUN2nYerAbD2-7tavk7GJIi19CQKJUwwaDSTIIO0VeJwMq2P_WOki-IoWwyzQxO-2WpWskQy7ufajAki_aFGAOLzfDpwcX616Z1vR6F8tguq-_geKppcPLH_gZ8_SNwmusRm_KJpbKS1f3ZUDfdwgPj3t8JbUtXmr5kqyFvMySUR3RCrEFgg799MR6AT3kLt1azX-_l3X3jbQTIUrie2XDVDoPvFJEM8j04HrDhluBYQ1toiOmTA_BEz-w-Wn58-fNXsIuFpnWR8w2lv-R1VUNiK78VonHUe1s2hcFIH4ttfMc67tBg2zvy3Ky5t6aDw6L3xfECWfECeEztfZVLHilTMwXR4z_KtBxvsBtH_fCdyGaC5795inWqJGFe1Xe8U6qOaHK0JwRm94h-lREm11D4-4xs-n-wZVqXUbC2b2JxcxGPOVNLoli8nZ5qh7kwS8gyaot-67SQdCkaNEAuIPkk4afWaJ5lmQFjWQ-tFBmBnVT7cPZBXUUeLKX4jfrbuwlULxDRPmNav9Uibigr3WhruOh5wgdwlWfZF1EezADqb6KDM60U_ph8B2WVXgj7eRQxTqViayxZV6TStwrM1zg-WR2Ksu_8wRO4A1SbTqgTlFfNCil2u2mRAHTdHxqTQMebojNqNXYZ8ox1WBWEj70maT31sJBRFJRVIs_SaHOA3oCOfih8hyd7f2wuPMbhzkJ3T3fGoM2SyrC4uLj0oE0mjHJsjqjV1LqJr0DZvxaJBGYCy9aZUiBq4TmxhkztYOiakN4XQe9pvPfUjHKbDfepx6ErXhUd2RIpjZSXpUF51-0KSl12c8MzpOQF2HyFvL8z3B0q9KlcFXQfU6oql26-jr3MFcZs2fpbM0y_GKJfux-HTszEFHV0Qj_QGlzJkopjFK6FfwI-eX8RLPlqspEdQ-JjDQi8UDP2K8-snG4lX1gspYvrncG7mRMpk_-n9JG1IMyOnKAxz_osEyBKpYlK6pAqnJFlrHu7Ea_Kb73dzIVSyDxq39ZnyUHuqf1a_O8pY18BkZqpdR5GqZxSgcI4spMdlO2voInUGUZ7oAT5d5bivzJPnMjoe-Hv_XNt9lPNNuYe3tJlaZwFCApkxiVn-ucAeYKlttYuNrt4XwlBH1aPHKZt5ZyHECzk0p711Qo2Ef3CP0PIZbNd9q0B1WWUAPtM8O3vXm8dPbwpJlGUOFN8q_gNFiNvnAxVVOyCiTVoHYYbF_RKPdR2vddTMbXXAWsWcBgwB30xxFB25So5o8qcvDh-MFkofrmhK1a6TWGtBRlREgSSXuGtSz8E803ohha9Hv3DoUalzi6A0QpVaVudkjfv6Cz33LlAqHvAUz48q9MQjY2BSa80gNG2-pcatdq1nRxj47gx0dxOjJUSn3iavhvh2hqRiC5G-smjdRFmMOr6Y5BCKZVtbY6iwvIj1AgPxusZrnrdFjBuz0DexnzxAjyCiFZOi1mhfzlxilxoL5hV5ZswS54nmGdtyKynjBG_ZDJhS8d6kbzsy8HMK6sTrsO30LsqZRRV7FceMyPuOqYuXaXRAl5CO3EWpt",
  "id": "rs_00900f5e9e1a2142016ab450b5ba8087d0a9126af98f8eb79e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.195,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The pear is visibly resting inside the blue bowl. The yellow fruit lies closer to the base on nearly the same lateral line, so I’ll retract the open right gripper to a clearance pose above it.\"}",
  "call_id": "call_0udxwRxQivkTMiAznSKRhUCq",
  "id": "fc_00900f5e9e1a2142016ab450b6cb6c87d09c02c2b7ab75f843",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0udxwRxQivkTMiAznSKRhUCq",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6128, -0.4763, -0.0139, -0.0311, 0.9992, 0.6994, 1.597, 1.3659, -0.9836, 0.2771, 0.4026, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1577 left_yaw=0.0006 left_pitch=-0.1152 left_roll=0.0011 left_gripper=0.9992 right_x=0.3064 right_y=0.1993 right_z=0.1534 right_yaw=0.1496 right_pitch=-0.5599 right_roll=-0.1146 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.4154, 7.0359, 1.6825, -0.0806, -0.0757, -0.0122, 0.1846, -8.6085, 6.4752, 1.0183, 0.3346, 0.1148, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:407929be37b00552639012068ab5ff3e63483939adaf34d4bd54ff7acb114d39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28da06f2a8579e72c475913759ebf98f1fe013d662a6d7fb186fde9f295c8727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d71c86b7119cff454696a7e653bc19efaa94894ba31218b3cdb6c1a5c9294e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.677 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.5686, 1.7493, 1.6184, -0.952, 0.252, 0.3061, 0.3843]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0001 left_pitch=-0.1144 left_roll=0.0011 left_gripper=0.9992 right_x=0.3847 right_y=0.1978 right_z=0.1865 right_yaw=0.1348 right_pitch=-0.4587 right_roll=-0.0723 right_gripper=0.3843\nstate[joint_eff]: [-0.1983, -1.1282, 6.9538, 1.6093, -0.0317, -0.0415, -0.0073, 0.2256, -8.6085, 9.0188, 1.0623, 0.2759, 0.1587, 0.4322]\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]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.5346, 1.8648, 1.6238, -0.9249, 0.2314, 0.2729, 0.9958]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0001 left_pitch=-0.1144 left_roll=0.0011 left_gripper=0.9992 right_x=0.4009 right_y=0.1945 right_z=0.1421 right_yaw=0.1207 right_pitch=-0.5437 right_roll=-0.1102 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -1.306, 6.9675, 1.6044, -0.0269, -0.0366, -0.0073, 0.3077, -12.6974, 6.5436, 0.9548, 0.0904, 0.0904, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6128, -0.4763, -0.0139, -0.0311, 0.9992, 0.6994, 1.597, 1.3659, -0.9836, 0.2771, 0.4026, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1577 left_yaw=0.0006 left_pitch=-0.1152 left_roll=0.0011 left_gripper=0.9992 right_x=0.3064 right_y=0.1993 right_z=0.1534 right_yaw=0.1496 right_pitch=-0.5599 right_roll=-0.1146 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.4154, 7.0359, 1.6825, -0.0806, -0.0757, -0.0122, 0.1846, -8.6085, 6.4752, 1.0183, 0.3346, 0.1148, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:407929be37b00552639012068ab5ff3e63483939adaf34d4bd54ff7acb114d39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28da06f2a8579e72c475913759ebf98f1fe013d662a6d7fb186fde9f295c8727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d71c86b7119cff454696a7e653bc19efaa94894ba31218b3cdb6c1a5c9294e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFC6rtbUXxPGWJmKB32khn8m3iS9-rlc656Qv9bOYwKgCTXGrHQqLsK1P6_9ADOLJUHPGR0vtDrVMvhwTxvhpY-l5nglPhlltp6CREfuCSq0HAmDUib0n9b_K4l9XfweM6LjUega4hpv_y6oeLU1rdceHB-E0J-h_BVweRsi_JErQ_9_emz0zmYpfB7T4w6e-25oyLUwoK7fOEi_DbhtuuhtBQux3_107cYpxJnFBW2YIsw5cBP1z7T8qvbRn4hfUPOadP13Lz7tWPgr6A0CppIXcK9IzZGnb7uCmub0sDcQfTD90kMnLTVcpg7tIMITj4BuotXIQ4hzrj6V3B_mNLPHxpmfvpFVkz4nEGxbvmilcmnia7EBeBk-B0uaIfqSR2a01nAsgG7MggNWMHzKsVchAP6-6KfdQbJoZ5cJJOXIUdOr9E9OIKcFXHcjexQdbet_f45_XsZhtHp8QIW7XncxXWwHgf8VGkHJycCakU-p-6kCk_yl1NQVZU5Pc44U9cRgBW8y1aG09Y0GyK6gq6VPrqmPdcy96ng4GtpCJ6i8si_WstYZyB6tUJOAkJMeXLC2KHGpeP328M4BOThlbODDT4fwWvGG7OZcxNClV9NqoiZtCoSsTRTzoa6D_UGl_BRpkFR_Bpr4cUUdEMvyxMbBUqwwCOno33Dg8xgyU2SGqK6_RFRsdQPmTDU01iwovzOLrhFxhfP09OsiWfIubPBCOcXD6d3EFjvxx4jZ5r6tY0O4A2uOH9vw32EEK0l5tlOgjfFjEp3qksxzfivcS0PeCGEIpfqDo-l-ubVxCd5K3baLE9i6DM-2UGXnqmyEFSgGTFDRzDClE4xXmvE1lca2Cf93iAFcO7XZ170oBOx5nc3GCNndganiQLVkNK_cBH0gcIGOrihdjxxiGaE4XexzucrkO4wFf99eFSJpIlzNIhH8Cff8E0NiHnQKPvhSwgCPiU99krOWgXLJsjCCSSI0K52IP_iaNyXIRsyemfJfqsZETE972sBLIVN-SACIBYl4p3r2fwOxJOD1T4J73Tjzis2G4b2uPQtUF3zYhFHtnJigT-G9Q4ixwlcCYK6Hsmh9E1TmpUNiS5bDQUVMSB-UUbmPU1eNA2ZvpAlSvrk2ALTrmnhuQUtk2Uf830KiBfQ2Sn62YcoYFZVznslHB3iv2AGaCnAbhYgCiDr-lA0W-AeP2ScjVWL9wNr44KNaQgPCotweRJXMSBZYETLMOkiZFAUsqnMfQUJ6UmzIQn8GfPBtgJJOex-LcTLt5iXdNWypqopGQrfZJcTLTxJS5JSv4-flhLvEfGuPMFVbkxHV81eWU7v-1Qt01vTLSt3CkZTK",
  "id": "rs_00900f5e9e1a2142016ab450b99e4487d0bc306b714ae1b8e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.2,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The yellow fruit is centered on the jaw column in the right wrist view, with clear space below it, so it is still just beyond the fingertips. I’ll advance about 3 cm and lower slightly for the grasp approach.\"}",
  "call_id": "call_20RgecXLmKo9MNyuuMkYEL29",
  "id": "fc_00900f5e9e1a2142016ab450b9efb487d0bb67471138c3e83f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_20RgecXLmKo9MNyuuMkYEL29",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6544, 1.6672, 1.3758, -0.9585, 0.2623, 0.374, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.3218 right_y=0.1936 right_z=0.1336 right_yaw=0.1239 right_pitch=-0.5991 right_roll=-0.1359 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.0735, 7.1316, 1.6142, -0.0659, -0.0464, -0.0122, -0.2256, -8.253, 8.841, 0.8718, 0.1099, -0.1001, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf4b5a577eff9de49858981446d022acba2f71f6732e73eab7599588d218b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ee7f90cbf265e423042a3a30018e522bab7d0fd3f2189edf2c4ec42c290bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99f5cd5197c6eb41670930c70a12078bc7e6cf24d532f5af709c5d800d33fbe7",
      "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 26 attempt 0 · /responses · status 200 · 2.695 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.5396, 1.8282, 1.6241, -0.9226, 0.2348, 0.2871, 0.3843]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0004 left_pitch=-0.1144 left_roll=0.0014 left_gripper=0.9992 right_x=0.3995 right_y=0.1955 right_z=0.1581 right_yaw=0.123 right_pitch=-0.5058 right_roll=-0.0877 right_gripper=0.3843\nstate[joint_eff]: [-0.1573, -1.306, 6.9402, 1.6044, -0.0708, -0.0366, -0.0122, -0.212, -9.9761, 7.0906, 1.4481, 0.149, -0.0806, 0.4322]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6128, -0.4763, -0.0139, -0.0311, 0.9992, 0.6994, 1.597, 1.3659, -0.9836, 0.2771, 0.4026, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1577 left_yaw=0.0006 left_pitch=-0.1152 left_roll=0.0011 left_gripper=0.9992 right_x=0.3064 right_y=0.1993 right_z=0.1534 right_yaw=0.1496 right_pitch=-0.5599 right_roll=-0.1146 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.4154, 7.0359, 1.6825, -0.0806, -0.0757, -0.0122, 0.1846, -8.6085, 6.4752, 1.0183, 0.3346, 0.1148, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6544, 1.6672, 1.3758, -0.9585, 0.2623, 0.374, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.3218 right_y=0.1936 right_z=0.1336 right_yaw=0.1239 right_pitch=-0.5991 right_roll=-0.1359 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.0735, 7.1316, 1.6142, -0.0659, -0.0464, -0.0122, -0.2256, -8.253, 8.841, 0.8718, 0.1099, -0.1001, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf4b5a577eff9de49858981446d022acba2f71f6732e73eab7599588d218b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ee7f90cbf265e423042a3a30018e522bab7d0fd3f2189edf2c4ec42c290bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99f5cd5197c6eb41670930c70a12078bc7e6cf24d532f5af709c5d800d33fbe7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFC-XyZlrTLECtA-EES6yaxE47d3aBWdeoM3lfrD0vCFYpq_IdvOe-Pe7wC9I_sIy2w7BQ-iSXX7iRKHOTIadYKI9Q7m1A2304EreQoEFbv02izIblNmLiKrKfZGwmco0DXdsdCooDYvpDHxWtN4Ads_v1e67s_rxLGFBFT7ABl4DIjb7y0o56gJANivKmZHthIkWT1tkIa22shYzNX-X7VXQmrjHp-P4MhaILdq8HHN86kikNQEnhDj95rVChU40aXqpzIGfl8yw1ItzGibsGvkHC7VHk5wr8HqI_bUrPa-G6zrPtxD3Fq7Uq1mmuPDqjwBBXrV4d-PU877zlGP15rGncWKPDJuH42dMQupQhpAQWssQOZoqfDhcagQLeBx1nYFsS9BQD1hhGLZOijvVWHfcDkZO2SdXQBvJlstbAp6_IoWaMwlEjo8M5CkpOXH60JPBNZ5_khMpZ0Fy-TTk8_YFCCysya8-HPKJeQuMWECX9hc9gB1qh_1QNbPOp8AuFYg0UJFMsAa-hekapzzTso38SX3T46k-ZdVl1IhphQZiCQz-7gqwWAOmPAnQ63V0zafqNvB-AvtE7FfrgkYsnjQD2jy_oEkOwQjiLL0oIcejJbIVahkMZlM8HrLp2Rfvzd1iDEzjskgGZh6-X5T6FKAxNvhuKeK7b6WUNZty8MwLC0XTbihzFMmjuU_h9RzaaTbzo31op_Ljp8v1iyOFyAIIa2ATSFdFlMleq7XAfgVmmwwCL6XN9pW26yMlze7HYnSNhpoLg4SJUtxibsSCtRB7cZPauXT9H-5fJottwimz1N6P1cG-k_8r_5DiChRzNdBqF_9bilYTwQeMSO4-lWObGZkuQDM9bbgO3szBsgr73W2E4hysQUhpTUM_opvhXq_9TZSAZdJ3iQXrg6bV378lglryrM_hruGttybxE3AmL6Yqg7MJDmTyGm4xM8LiKyIMDdGZHUBo2gJtLLKkDjRTwWVZBE05avFbcV47_vMU9Cw1L1KF7spDy7eg93cRh8Fj4c96Dp31tE4HqBPwTifevHZb78U9xBQIJG9gfppyW-T_39Ai9chzFuNf25JFOCx_ofRAdg3tnWTHbgH9TYBD799MrlUUFqvtinIPB6mU4wmdgY111KDYHqLH0NA-z5YHzxCBERD4_dqTPf_olw1aic_wjNCExY9cjMQX_5pybz2fPOFK3WUuY2RU4ZYkSnT2KAS2x9a7gtpikFO8zNWYfdUvF3tckaGG0X9Sy5WYRBzxj8-FlAbgQl32ORkr67Ed-ojep2dYNtwk7FjYeyC_R4n0MdH46-ee9PG1eeY_35plXdIzukoMIOC06F6GJAD5z1ELimsM1m5fIfX7L78DGsTUHdWQ9Y62yZ-ucx1GVyBeW9xZb8vqfXhUXRJd5htTTp0dDtYl--kpsa5N1XHaeiC-94Iom91W_DCqDlJfm5SvnEn0iAYmJyAIB1voJQKP9XbSHrZdMZS-0jiLDrG6hS7VvRgyMMRTcZQF0QWoeBa3EFWr0tkMOoeig8T-ewF_UmD9F3Rmgpq02YpqzpT1gLyq21bMvcJgUSjcofDQVyW446Hq_qIsvuBszK_G5MYYBp9Ctsidp1IqNxOv13sKCvymy_vdzye23s57ZPBcsbG-cLCr4R1zGAi0DvINYB0GXqD9IfiS6MONU15MKWdBf91oFzgiAJMCpGG5HjaHAZpmqpwcHfHK_kiGaLmSWrm37wT_rW8luGUv_QowkyUg8IfxM6MIicwpNHoJoy42r-PVJfmEid3ANWVmt2KcHjVnhgmbuAPmsLyjlTdetwFEKGafsGqH3KI1qCdsHSDS4teWpPt4nhWT2scedI_OY1ayFnVmo-P6eG7N-SVWU2EdlyDOid1lWopGr1lnybiFWeCgG6-yIVcp4dz8V0eLTga",
  "id": "rs_00900f5e9e1a2142016ab450bcdfa487d0b63810c33fd5eaa5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.2,\"right_z\":0.04,\"right_gripper\":1},\"note\":\"The advance enlarged the yellow fruit and brought it to the fingertip area while keeping it centered. I’ll descend to table level so the open jaws straddle its sides.\"}",
  "call_id": "call_z5pwABm1GSASBbwv2RfMxunk",
  "id": "fc_00900f5e9e1a2142016ab450bdf1fc87d08492705027defaa8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z5pwABm1GSASBbwv2RfMxunk",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0135, -0.0307, 0.9992, 0.6487, 1.784, 1.1652, -0.6662, 0.2565, 0.3584, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1175 left_roll=0.0012 left_gripper=0.9992 right_x=0.3262 right_y=0.1955 right_z=0.0458 right_yaw=0.1209 right_pitch=-0.6333 right_roll=-0.1591 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.3607, 6.9402, 1.6044, -0.0464, -0.0269, -0.0122, -0.4855, -7.8564, 5.4359, 0.906, 0.1685, 0.0122, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e0ca639214df44570a1b0c6778c2b03ebe17fd8652c46cf186866e235ea9f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62904a908050ac335e0676a9ccdf909305e2662342686b93eeb14df9908802cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93f6ac0eadff0715a5acdbe062ba0418a306207bfd96dc3776e5c63179a42e5",
      "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 · 3.307 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.5346, 1.8648, 1.6238, -0.9249, 0.2314, 0.2729, 0.9958]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=0.0001 left_pitch=-0.1144 left_roll=0.0011 left_gripper=0.9992 right_x=0.4009 right_y=0.1945 right_z=0.1421 right_yaw=0.1207 right_pitch=-0.5437 right_roll=-0.1102 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -1.306, 6.9675, 1.6044, -0.0269, -0.0366, -0.0073, 0.3077, -12.6974, 6.5436, 0.9548, 0.0904, 0.0904, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6544, 1.6672, 1.3758, -0.9585, 0.2623, 0.374, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.3218 right_y=0.1936 right_z=0.1336 right_yaw=0.1239 right_pitch=-0.5991 right_roll=-0.1359 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.0735, 7.1316, 1.6142, -0.0659, -0.0464, -0.0122, -0.2256, -8.253, 8.841, 0.8718, 0.1099, -0.1001, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0135, -0.0307, 0.9992, 0.6487, 1.784, 1.1652, -0.6662, 0.2565, 0.3584, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1175 left_roll=0.0012 left_gripper=0.9992 right_x=0.3262 right_y=0.1955 right_z=0.0458 right_yaw=0.1209 right_pitch=-0.6333 right_roll=-0.1591 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.3607, 6.9402, 1.6044, -0.0464, -0.0269, -0.0122, -0.4855, -7.8564, 5.4359, 0.906, 0.1685, 0.0122, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e0ca639214df44570a1b0c6778c2b03ebe17fd8652c46cf186866e235ea9f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62904a908050ac335e0676a9ccdf909305e2662342686b93eeb14df9908802cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93f6ac0eadff0715a5acdbe062ba0418a306207bfd96dc3776e5c63179a42e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFDBdufqlNjlwD46Jttr2jJEqh-O_gGJUedA0WQcQUrDbc66ZX2KDENkZs7QOqsF78LloXSLXMRyJRM9EbzUrW_cJDbDpHRmbSqhCfR8unRCCKakuI8LVfOEt00jJInk2Gq864lRg1CkuTkhPYc9mAHO8_rKGapRhc4f1WGMJNdM-chewLRifsL38fy23l_iripkW00ZpXreilebmgs1gH5PpGpaQVdg0Q_rHjDzHssBSh4inXF1bd7MqsMKBglxiLWG83VI40RiI3SZzB_VC2gDGNhR5dF5ztXO-e9eENoA0rNcOV3IujfpBGnsecbPayNKddBbThFk_TyTaJHkZsljbBxqrmG2jdcTfJmyma3ttgB4wxFbM0abIiMt6UdFrad6Qs7eUqQZLjHFulfD4iWWqz0YDGmOxi41xVYM3K2foZb3EPcrMwZpGgxszN9qTIGl4NLvJ3F5mVi8t2_LTUBdQGF17I53y_8Q40g09DAPm7xUQiWE9EgmDm4OKdev5u1raIG6ppB0_Ym8dKRa4yVyFBc9hnQpay8Bo-fJmZ6rYUltvKTak0XOZKET8QP3hqLbUFD55OaRMFr0RaTx9nYBTCtNxMuWdJxujQSSwukBV_K2NYR_jM2afibc5D4ykRVpRrqsa8KMBF0a3vKB0WNDX03qOFwVpln8Jnh55PbWWu0c5BcrB6Sxy61ERjsqSQYWWmtab9bh4xKItXLJjWelzWV-CvkC5ta7ImvEiID5VKB0MCCr6FJ0pt7WTPLApecUArJa31DQEczF4k45U-B-5eEaa0NE0AG-iAKXUFHd1zXVLzqaQpn8I2ozZRq1I0da3P8QxjiTil9g6KjEtW7i-io1FIrsBi_zKOIHEETdAVKEBTgdReG2OpdHK74vmMMZLW8ybHPsfYxK-kpqd-9Iv8r0qBbm81-TwtTUF3eBaLtJusJyoSJdQ5MSp_CdRpgbaJx5Aw53W83HJ65OsX4aWWm2Fz5dc-Nh5VcE8S_N8fJ4pWPCnYADKb_g_wgdqxMqDQBUtxZk5FKC0kLwHySlxbnCx93HTDZ352zju7W2O7n0U6yPMO7ZhOd2cTL7YEhMisjFo33KpT242AMU9jeaEd9a92plH2Zp2cMBWhhJl4l_FCJKbrbdPlGhOmGGMB5drZk-pQHgN9bbjUlAAeJoAy1SrMGE3WvlwTe3mR_gsDDJWrAEFjK29vOD07vSSW73O6CTcKtoz1y9ZxDRts1X5IppHk7Hj5bL0zWWRv2rdgfnQfsYEycGM3qoZjWM_J4fKAJ-wx6qD5Ai1kIQMixQsAw0W9-2wBasCI3rzoZbFH7Cjm2Q4x9oxOIk50nexp87OdAzLAsEFe_-L3gf3ceTV29_lG_uLRbRVCDY8dJvbE5X_X7_pmBSfK8ePN_yumP3E5zsXpPGxAubfcliKpOc1PHdYyrNo4iIm56Wm5xgPexHFW0myIVv8arw6_o53eft",
  "id": "rs_00900f5e9e1a2142016ab450c0c48c87d0aed0bdd27707edb1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At table height the yellow fruit has disappeared beneath the wrist camera while the overhead view shows the gripper directly over it, indicating it is between the fingertips. I’ll close fully to grasp this smaller fruit.\"}",
  "call_id": "call_qMXoNIOHu08yPQEHGDyJKrR1",
  "id": "fc_00900f5e9e1a2142016ab450c134bc87d090bab6341f58ab83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qMXoNIOHu08yPQEHGDyJKrR1",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6525, 1.7916, 1.1336, -0.6289, 0.2615, 0.3553, 0.0111]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.324 right_y=0.1947 right_z=0.0363 right_yaw=0.1216 right_pitch=-0.6328 right_roll=-0.1667 right_gripper=0.0111\nstate[joint_eff]: [-0.1846, -1.347, 6.9675, 1.6044, -0.0464, -0.0317, -0.0122, 0.1846, -10.4547, 5.4769, 0.8816, 0.2759, 0.0269, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13bd115fd1d9208b28abacbeb6f2a81788a3bb97fe89b7c6c25be292ba40318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f648c98761bd1c28b7a69c2d40656802453df3a371304363684ae23682cbe48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82fabc543507d8629eba2420b6e56099ae69d64c1c3e294c9e1c45ba65744716",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 2.432 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6128, -0.4763, -0.0139, -0.0311, 0.9992, 0.6994, 1.597, 1.3659, -0.9836, 0.2771, 0.4026, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1577 left_yaw=0.0006 left_pitch=-0.1152 left_roll=0.0011 left_gripper=0.9992 right_x=0.3064 right_y=0.1993 right_z=0.1534 right_yaw=0.1496 right_pitch=-0.5599 right_roll=-0.1146 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.4154, 7.0359, 1.6825, -0.0806, -0.0757, -0.0122, 0.1846, -8.6085, 6.4752, 1.0183, 0.3346, 0.1148, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0135, -0.0307, 0.9992, 0.6487, 1.784, 1.1652, -0.6662, 0.2565, 0.3584, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1175 left_roll=0.0012 left_gripper=0.9992 right_x=0.3262 right_y=0.1955 right_z=0.0458 right_yaw=0.1209 right_pitch=-0.6333 right_roll=-0.1591 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.3607, 6.9402, 1.6044, -0.0464, -0.0269, -0.0122, -0.4855, -7.8564, 5.4359, 0.906, 0.1685, 0.0122, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6525, 1.7916, 1.1336, -0.6289, 0.2615, 0.3553, 0.0111]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.324 right_y=0.1947 right_z=0.0363 right_yaw=0.1216 right_pitch=-0.6328 right_roll=-0.1667 right_gripper=0.0111\nstate[joint_eff]: [-0.1846, -1.347, 6.9675, 1.6044, -0.0464, -0.0317, -0.0122, 0.1846, -10.4547, 5.4769, 0.8816, 0.2759, 0.0269, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13bd115fd1d9208b28abacbeb6f2a81788a3bb97fe89b7c6c25be292ba40318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f648c98761bd1c28b7a69c2d40656802453df3a371304363684ae23682cbe48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82fabc543507d8629eba2420b6e56099ae69d64c1c3e294c9e1c45ba65744716",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFDGVaSVTyYedyw9pwId5TSCzXFRlyrsPktBIn4YfXmvPy_5mg7QjUh-x4wqAiYfdFGTm0JoTogEvUQe27xDIZ6UNKtC2pnIOulyeIIdic1SMcC_ik8Cmvq0XfVhOqsRw7aVXqEOVwKiEUh-GowQc_wnamhvDdeA6F6lN1EYdHwDup8q2BuOUad0b7MmK3ItPQXTWn-giadvjMPfpEmnPVkXoS7XwH8gGywOeXN5CezKijlllcqAqSqB0kC45bN5SvZ6yjn2JSWcnFIPJ-I-akGFHkY3h54k7CVn2eF7gDvUZPNv8eFBuYnFcY9NJtFzUESkP6qCN9ZfuwUnjc2GjPZmdzHmK9iP67ZDsd6QddtKtDnNLQ5fNz6kLVUhTGnc2n-jrDbAFdQlg7e-HgA7n9od1VQ3DUkXHmozO5SJdYzkSnOdeLRJaiMuyCM6tlk_0ZWNAYlArLvvscaFJgJzpr1sTVtEkRJDSOqlGvfBUJEL5s7H9cJ-8Ib-gGtQDBYloSJ_Pc6wWq_5HsU24IqcnjoqGZjI4aRXkuKcQraDvdx0pJ2-Dop97D4S0696jkIct1u9sW0hcjEl5FnUZuP0Od3JS6o5aIKILVfQU0I5whlZvBfiHAgsgC57QALAmxrAI1UafsRibmnJEZDxq0mESd8CLB6kulx0XqirXu_JLVGYrnOoggolWhFM5eiWMCU1uN0VWa_9l9-erIVieVjvqVCU9mEfUf1M39wJpiBeyoVie_SY-W3my-SM0CXhn6ZQkeIuQQoDeX1my0CNVypgDyRkfFPQXYFIicLIT_bls4G4COixnn16UEFbo2INPjBiDOJrWf-g17od8whiVe6c4sdQFynkLehOEs9mRvUeTp7SAdiSKfIviWVUorCfUaVO4QSSlUMC5Gsl6s8m5VbxUUnsCFuN206w3QwH42TNm0XBJVNywY-7Q-zhfZ-vI2rUgYweIsmHPyrfkK-VwDADHFC2YWdA-TjwtvoNKVIjBchVG5EKvgNcTX-SFSQ6vV6RHda0fAa_eZrJXYaNnGs3lR7P9vlBjD3hlv6eozAtroTDJCDhjo_jZ1FI67zQ-_3dr9ArE51l1d1_pMfThzql_vS2ASWLMJ_fbn3L3DdIzMmQuG9J1guUI358wAa577HMBEo_WInV37ckmsfL-qX_FbdoEveaJCP-7Qz0ZygYEny0PMQoqH_gN6RpxVs45rvJGTElxboywbsQfe13DkvaiaBbrp4jXnhrBU93kBj2B_YRrqkvTZDehRMkMenL5dDuPYgmI1FEKrBxokFBqW9R9qikOyW1qlNK9azrBjZZIkPkxSsLRjSsed0mE5wrPz1nIVR0fxwp_XrNqjTvq1aQTBsLDAuC5IDy7jKcajLX6gDP1i3wDjknvHblidpgk9DTr1hY4VSsZreFefcbNerMOfPXaifP3kWGEQ3NGacaXE8ryNOQtajgC52pMGhA-H6bN-b7CGlLe37EMCDJF9N18aHZyJP5HLWGjyxzBNiFg4mKL_Ul4P3E-Wt6KW0nSB5M7DK7",
  "id": "rs_00900f5e9e1a2142016ab450c49cd487d0847e5bb93bda53d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.195,\"right_z\":0.045,\"right_gripper\":1},\"note\":\"The gripper closed nearly empty and the yellow fruit remains on the table in the overhead view, so the first grasp was too near the base. I’ll reopen and advance 3 cm outward for one corrected attempt.\"}",
  "call_id": "call_ukOJVNvRSeqwvs8X5zTKPtM0",
  "id": "fc_00900f5e9e1a2142016ab450c5730887d09a709d69d4689290",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ukOJVNvRSeqwvs8X5zTKPtM0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0135, -0.0307, 0.9992, 0.6109, 1.8313, 1.1957, -0.6327, 0.2573, 0.3027, 0.9956]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1175 left_roll=0.0012 left_gripper=0.9992 right_x=0.3452 right_y=0.1912 right_z=0.0401 right_yaw=0.125 right_pitch=-0.6231 right_roll=-0.1751 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.1419, 6.9265, 1.6093, -0.0513, -0.0366, -0.0073, -0.5812, -7.3094, 8.294, 0.8864, 0.1392, -0.0171, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3116671e7ed89149b8b9c1202ebc00b6bdda84d9641b91fdcf46d13b96e3e06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39465c4aad88d76cd8f4acf6e7443ab1270928c09e5dc34148746bc6ce5c63b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe56769c921344ee0d9e525ceb118e57a8922beae98d03f06f0bbab8d398f648",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.689 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6544, 1.6672, 1.3758, -0.9585, 0.2623, 0.374, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.3218 right_y=0.1936 right_z=0.1336 right_yaw=0.1239 right_pitch=-0.5991 right_roll=-0.1359 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.0735, 7.1316, 1.6142, -0.0659, -0.0464, -0.0122, -0.2256, -8.253, 8.841, 0.8718, 0.1099, -0.1001, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6525, 1.7916, 1.1336, -0.6289, 0.2615, 0.3553, 0.0111]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.324 right_y=0.1947 right_z=0.0363 right_yaw=0.1216 right_pitch=-0.6328 right_roll=-0.1667 right_gripper=0.0111\nstate[joint_eff]: [-0.1846, -1.347, 6.9675, 1.6044, -0.0464, -0.0317, -0.0122, 0.1846, -10.4547, 5.4769, 0.8816, 0.2759, 0.0269, 0.9988]\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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0135, -0.0307, 0.9992, 0.6109, 1.8313, 1.1957, -0.6327, 0.2573, 0.3027, 0.9956]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1175 left_roll=0.0012 left_gripper=0.9992 right_x=0.3452 right_y=0.1912 right_z=0.0401 right_yaw=0.125 right_pitch=-0.6231 right_roll=-0.1751 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.1419, 6.9265, 1.6093, -0.0513, -0.0366, -0.0073, -0.5812, -7.3094, 8.294, 0.8864, 0.1392, -0.0171, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3116671e7ed89149b8b9c1202ebc00b6bdda84d9641b91fdcf46d13b96e3e06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39465c4aad88d76cd8f4acf6e7443ab1270928c09e5dc34148746bc6ce5c63b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe56769c921344ee0d9e525ceb118e57a8922beae98d03f06f0bbab8d398f648",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFDJkLAp34O885lfIrKkmwzHCHxCH0UFXn8s9K-JFAaCVmlNARGc3KfQ9brOZDG4HyEWGzT-JUu9JFxADv69CHFjDAttmbQKVX7nsDxS3fuOqFkZjY1zjJOrqR88LPEt2zWezfOnf5qMPNAUQ0ikV239aIySm_2Is9_Zuc_qG8elLYK7ik1F2KnBYoYNmjJBnHiaUBqgOT187FIBUm98XJAn28T_ccKvuqyFFbSrpK6Ir4tgFLmRCHs0qyEUOOoHZ9Y_7keG14Zy14FwowYakQ0zcqAKiYjcCw5gX9IRdqAt6sHTVDSZXKGd68xrgKLt8zK1hJwX_7t4LlpI0l7jqsdA84dpLf04MLA36RTaKPHpuB0ch-IJCxUe5Lov4ONtWe8yukibuQurOgBw51nAdU_pnvAAeAelgcH-DUCXpkz0QZQpuybYpwbrwN0mejO2l-TwvtptGhLnEDzkyGjOnNasRZrGHKAkacI_vcF656BzJ5u2ON2GmKnttApCLfEPQf1ZuQTP98gf7M-0JnISgLK-luPTmR2881nznT-B_u5_YQB62YRq4W-iiT8glbU6qG7mjAPkLwUDSB9IIAmL3XkQ7T2cYejrY9KhxkOQc2CdGLM0QS-uwzf98gykHLgRFQGRKGkgEzvDsAEFrbY6zpStujgY4nC4STl9wt1QG-II0DW_KMwVzSoHHCiVsPJgYmx4WI51VTRrV23a93hQMiZJ7wpBkt8hp5oXdYbFJSL_3bwjW6PLoxdaMtjRJKdFQA4lBX2RZy-wbhBDx4Hp1IZQW88lahOmnC554jLcEC36snRKSj9lts4d1LlgMbGDa3O7mlrCpyFYgRQfHeVwhxbnrbzltZfsed2t1TaPxRocH2XLVjLBoP5eMQaNDlEqbHGBuwcUyhNCk4p0LBivZpejpeTLPzfVNtR-Zrvyhjm3QssUM8aCsnzmIUKK34KLHygnVaJ1o4s6AKPqZoe39a6mDsQU5P6BUDn7vw2PY2RqFWBsQAHeXvZCXhKN-5pqC1TEKbGaYh7B2RAKcL8GpWrj8-qwuPm9sI8yUfDHVsPfwABYxsCy_UhzTqsLQrEHpCXJvYkQNdyu9qEwmEBK4_l59ThkO0fuEFnYKHEhJqCD8k0eTQMwnTXM091J1g9NUYfwPbrG9w-N5VYhYmIA_VMMXyTHxMfqirWqd7h3Nv74iwh73fvE7c97bEK8w46EpWLnH1mgQJXZAdxVVCPcWdb9HLnWRr9nOFgmfq9DVdDZHpkoMMwsbwgLTg2Vkp1pTFqMX24SYyYjL5ykQsrRpSDLB1RpnOHm6xV7XAqrJ7HWnOyBiLb8TQoQ1gtWg77a6sQRRpTPet1sc2FKYcsT2DLQgzDAqrVNaOjsOnLooqdHFs75bqroRBo6DoT4gzOnSPkX60FiVMjEytxwWzW8bUos-vAT-HVjoyGZqIQXILw1aWI=",
  "id": "rs_00900f5e9e1a2142016ab450c84b8c87d099180ba9da2dc9ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After the outward correction, the overhead view places the yellow fruit directly beneath the finger line while the wrist camera looks past it into the blue bowl. I’ll close again at this corrected position.\"}",
  "call_id": "call_UPBYwMJyY18K000JLGUgPQDQ",
  "id": "fc_00900f5e9e1a2142016ab450c8d2d087d0a95c7bb452b05620",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UPBYwMJyY18K000JLGUgPQDQ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8223, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6132, 1.8309, 1.1786, -0.6209, 0.2646, 0.3027, 0.011]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.343 right_y=0.1893 right_z=0.0362 right_yaw=0.1191 right_pitch=-0.6242 right_roll=-0.1856 right_gripper=0.011\nstate[joint_eff]: [-0.0205, -1.3607, 7.0769, 1.6679, -0.0806, -0.0122, -0.0122, 0.1983, -9.9487, 5.135, 1.0085, 0.188, 0.0073, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d8798b66888c27c06cec1e35a4551806b97a8e2654124c4ff7df547a57584c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf8da81a7e51d965e03d288a17b6f524aa832bd3588a27c4a94190761ad37722",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eabfcf39f2e67bd9e9b4240906bccf965951b215bb1e0d310bbb5d901232ce9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 5.91 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0135, -0.0307, 0.9992, 0.6487, 1.784, 1.1652, -0.6662, 0.2565, 0.3584, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1175 left_roll=0.0012 left_gripper=0.9992 right_x=0.3262 right_y=0.1955 right_z=0.0458 right_yaw=0.1209 right_pitch=-0.6333 right_roll=-0.1591 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.3607, 6.9402, 1.6044, -0.0464, -0.0269, -0.0122, -0.4855, -7.8564, 5.4359, 0.906, 0.1685, 0.0122, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0135, -0.0307, 0.9992, 0.6109, 1.8313, 1.1957, -0.6327, 0.2573, 0.3027, 0.9956]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1175 left_roll=0.0012 left_gripper=0.9992 right_x=0.3452 right_y=0.1912 right_z=0.0401 right_yaw=0.125 right_pitch=-0.6231 right_roll=-0.1751 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.1419, 6.9265, 1.6093, -0.0513, -0.0366, -0.0073, -0.5812, -7.3094, 8.294, 0.8864, 0.1392, -0.0171, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8223, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6132, 1.8309, 1.1786, -0.6209, 0.2646, 0.3027, 0.011]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.343 right_y=0.1893 right_z=0.0362 right_yaw=0.1191 right_pitch=-0.6242 right_roll=-0.1856 right_gripper=0.011\nstate[joint_eff]: [-0.0205, -1.3607, 7.0769, 1.6679, -0.0806, -0.0122, -0.0122, 0.1983, -9.9487, 5.135, 1.0085, 0.188, 0.0073, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d8798b66888c27c06cec1e35a4551806b97a8e2654124c4ff7df547a57584c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf8da81a7e51d965e03d288a17b6f524aa832bd3588a27c4a94190761ad37722",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eabfcf39f2e67bd9e9b4240906bccf965951b215bb1e0d310bbb5d901232ce9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFDOvAbZDSrOTUaKTn_IsXij_LWzhfA6pB-H6kACtvVucT2--JypCSo8oJhtE5IFjhfGmzGp49ShZjgQfiqIlbPuFh3ZshtQScOHVVeBe4gDN_xkHGnx-45c-g8G99pmle346loD5HAL2WcVBnClb_SzKjjTrk9xIzRSo-Wp_rjVUBdw2Lk1t0ClgSzUHBq2opdOrTZhmm8frkD63OuIsgmSBVtXc1QMBUvbnu86qcmshjLH47_XllHqIDtlf5oWf0T5GjZANUGtabNKR-Op6_Rsgw1RXMaZIe3T4WeVF23Y0UNuXiK5Kq9pNUY5PBwbGejGxTq66VPKZ98eeLk6RV4H-BQItbYcWpvwthPmGB0ClIISeT_gxo11Sky-I33ObMRy-1fWNVFy0jTiyHpiQp5ZRl7USUvtGFOVZ0AtMsCVJAvIlKA2Jo-kjELCnNrTqgMj0cvxseHFA7rmtkJIvfFE9MbJHkX0CH60IJvLP1tZaXhUrQFZLWnwcvPVYofGkr5WPqhwPGet2GHssqshoxTbnTUiA3FOh6u7ZwGTYiyDb7UpVpP6QK3TYp1-tnjR99ZNANaYU83bzHi2_8mSD1L7hDOAnN2JKtha7vqJKA55o8Mt7s660FY87oS5NNTyap_BXNvBorchWwzuz1qh4z6neNuRp-J64UK-W2qOo-jBDwFhLn4O7E3I4h7YVO8gtiL6QvfBjPxa8tf1A-xLiQTghhhabSQcjxYSWfOkr4Az72nsGBdltnV2FfO1nrcw2j8Ti0ixOz3SSrMwkCMo6ZARsLQ4hDBgg7ICJQxeCOZmDePZHuW4Iwt8Le0e38ZKXd4IrEZz0vqZGpsaxRPtVf87adofKzfvB6ND5RqKv8IQaBy6sSeuvQAvnnIZZGmk7x5fPxOTvWskncDIcYTOoCdoGUwQwNs9OzIi4uHGkZM_FGkCBKIFuZ4pIdbgZHP_man2PijwtVZE4rEI5RFn7-nGzBTHbzhJuXZEQqUueif9-7mzEkLQ3xY6Sc_TQ8lwe81QutnmI0tcAXgcWSXwjb2p_4Rr_ck7nSxJf-RHBIdG6TBJgbd-4WmV-Z7Hg2tR0kVhOnMxOLz8IZWgydLKULLlyLdPoJanbDONx18KmbU2H_Aixr0aPG4h5a-ezFILuQVfyZydH1OXXgbXEybLHlOusScyLkuxzkNeIp5hvzEepG3U9DThxQIL3LjCwvdCGa-wyIA5q2S3blglLmi2F1Xjc8kBV2RqHRuaB4WEHmPe559It9G-2Y3T9YlrN5Y_bsYRyW-w-tsI_rUw_57DTY0bA1y5jG9rAWMJFHkgew537Yera2woEo502nX5ao54x1_NMSOW0hOh3kQVWj2uhM5pmKv_OGLeNRk9IxVqjoY4E6s5bGIvmoDeCuMO5cMcqFzhLFsNMHpsWQmatqFXempaXhDS60Y1MDMYTiZ1uFtCYK1rw6pHDYnjGHWSKTGwv2ZlN64ba_ktAhP9zTl-QdvZAkdB7Z5lmiMoFQeZGq5oA-9S2UxfQKqK4yqygjAq059XA4xpab3m-QgZ600dmuC9gUTFBJCqzAy2LCL1oSncRrlkI6vCD3LBz77QJhPlA7nPTm8mrSY65xbyfNlKFWpZdl1ZVNArx3sNF2Qa5N7iG5LwoigO-WQwDP0FS4t1VNvEYIlTMklctfg0B7q486Fyql1213ch9rc4YOyT7ZmGoPL69GaV4OXry3BHsgf-miOoRuRPxBXSNjaVzDsHXKeR1qlK0nINK9d22Sfc2jB8Mv_Qw1sOBTJ8qRu_kItwcm_Z5utjz07yI0PsUdvP_6c4c8M4V-jT2V30eetmJwXOKv9Hphkm6ZW2V0FHODJkpznWb40nLiMFav4X0q2VLQYYG08jZyMyK9usDri4QziwwyX8ec3IjdnzJiKvHuYFeaxwWeQ8Zs1GZ0phSpACTOdYYa68SWKMvhC7gk47THOZ1l4TTEcgUa8_8RV11E9oQQ99U9XnLUR33WmoaMJ7y2sla3acVs27ZfP7dhpka9615X2O0yk2usWz7jpQydRJ-a0N2wbCAIiIgAcala3Xo7HonxhVCwg18fFwvC-b1zPeeHYJDQONpGVXkbW9naPKJ7IdkooJgJjhPVqFzh3vXFYEMQ==",
  "id": "rs_00900f5e9e1a2142016ab450cb8d1087d0ab931367366d1b93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.19,\"right_z\":-0.005,\"right_gripper\":1},\"note\":\"The corrected close was still empty, but the fruit did not shift laterally; the likely issue is that the jaws are riding above this short fruit at z≈3.6 cm. I’ll reopen and descend to tabletop contact at the same horizontal position.\"}",
  "call_id": "call_ooFCgpq8zndoZHb6YtTHaNAJ",
  "id": "fc_00900f5e9e1a2142016ab450cd450487d0b8255d0b3a08ef9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ooFCgpq8zndoZHb6YtTHaNAJ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6132, 1.8832, 1.0943, -0.4557, 0.2657, 0.2958, 0.9954]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1563 left_yaw=0.0005 left_pitch=-0.1205 left_roll=0.0015 left_gripper=0.9992 right_x=0.3463 right_y=0.1914 right_z=0.004 right_yaw=0.1319 right_pitch=-0.599 right_roll=-0.1736 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9812, 1.6142, -0.0562, -0.0122, -0.0073, 0.2803, -7.5145, 4.4103, 0.9109, 0.2271, 0.0513, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ca618569279fe31531272ec7122d8db8ae545c1c51c683a6feae6c4f3e7750",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1d40db304e12d20bb15eda932a7679b3b3bc3a52971813ed447fbc7406b769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434e2f22463b9c96f4486445dc2462bbdf673d65c4f4bb2276e6f807fca55331",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 3.302 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6525, 1.7916, 1.1336, -0.6289, 0.2615, 0.3553, 0.0111]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.324 right_y=0.1947 right_z=0.0363 right_yaw=0.1216 right_pitch=-0.6328 right_roll=-0.1667 right_gripper=0.0111\nstate[joint_eff]: [-0.1846, -1.347, 6.9675, 1.6044, -0.0464, -0.0317, -0.0122, 0.1846, -10.4547, 5.4769, 0.8816, 0.2759, 0.0269, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8223, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6132, 1.8309, 1.1786, -0.6209, 0.2646, 0.3027, 0.011]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.343 right_y=0.1893 right_z=0.0362 right_yaw=0.1191 right_pitch=-0.6242 right_roll=-0.1856 right_gripper=0.011\nstate[joint_eff]: [-0.0205, -1.3607, 7.0769, 1.6679, -0.0806, -0.0122, -0.0122, 0.1983, -9.9487, 5.135, 1.0085, 0.188, 0.0073, 1.0232]\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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6132, 1.8832, 1.0943, -0.4557, 0.2657, 0.2958, 0.9954]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1563 left_yaw=0.0005 left_pitch=-0.1205 left_roll=0.0015 left_gripper=0.9992 right_x=0.3463 right_y=0.1914 right_z=0.004 right_yaw=0.1319 right_pitch=-0.599 right_roll=-0.1736 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9812, 1.6142, -0.0562, -0.0122, -0.0073, 0.2803, -7.5145, 4.4103, 0.9109, 0.2271, 0.0513, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ca618569279fe31531272ec7122d8db8ae545c1c51c683a6feae6c4f3e7750",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1d40db304e12d20bb15eda932a7679b3b3bc3a52971813ed447fbc7406b769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434e2f22463b9c96f4486445dc2462bbdf673d65c4f4bb2276e6f807fca55331",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFDV8ItRkoWJLQEzJVBW4mMf3o5hAbkmbToiCVa4M8vWkFZq65lqPB7bIE-XOC8gPnfea6H9eyI_twoAhLUtSFucoFbfoQO2WapfRVV0063c5xR4K99IIBZ8aHCr9ieQEpvtH7ZFzXp3foqYNETEvkjJD5abDuG6tN0_pRdSLycEiY_tPpze55ArsLMWqjgZlFJl_hlPWOuldJy4dGgyBOX5wjUmXDm8cXBNOhrayN1rxgBv4maPR7eZm7ybrVbhmzheiX7j2H1A5HGqIzWChO9SY6p96udCtDTmzIcrnLslfpNAPJq09QoJ0EZw79XUw4-Jx11pYySz9raNYGQBBgKFVk0ihGr8fIgA-hXziPf1OkqYPB6gyK5zvGLSnufofhylqSpHqNQjpks-4L1okjyFPK8bFqBy7RJe-26-imIOQW0yCt-TGl8pb6Jml3q2xEPieYlmlA8hC1grWQzF9imMdbzrmsWCK3Y6PuCabqpGc0YIWZYVhCIp3iHLdcpjbI7KVUnoKZuOHwq9tBwBg5MdNu8YECrXkpKhKhPcafTGGlAANWaAJpolrtE5zW5PxletBdO1kLGNhw5k5A5ItTuFhAjvsc48PjSoGjaYAiY9-J9iBX9AwiOSXG5NWKpuBU6WvNm6HV-8aA_96nHD2BGEmXCGkNAxGdaCGmTSwEUGvKIkXXDTUkI39SfK04dtXYQA9HjBiKZ_XOxifb6eOXZCc5OGxZzw7Aod5YcAWYYTHeU-Raz1q90ILfC8X0zbOVYtcfXaYKCasz9F2O0KRlarPmEn1dfakZ-xNVfG91D27CHTeU2L527DfpcnLzXUWQyDX8Uc18le6T6UEs_9JvKppZ3llIDooaQCivLthpi3ouTAe_D_y53CN29nlppkL9zhGCdYlEQmeVmxonDgVTz6LC7-Mwe1TuBQ87Za0LB2evEPl4GIKPst2ihykQbwURZVctLF1zFYxjxc7CMdWuMHB3n8dhF9w2qBYflzJuDxvVagcMESGP1q-JDoTyHJmqomF-M1SaLQF1N80VFcBJgT7ctSO6xAORuuOY_3YT584rMLYimmGO_l2lzrhPaQ9lBa34dIGC1CVM3VweiHujXqzampf19tSSFWvduqOK1RTz5r0hai_JoaIipe2ASXbtx2ZFYE9NAEAZoy-f9MHsUz_jOVxGD1AVAmSAgI_bt0DHblcgv9LgYMd1X-jNfSJPNO8Bmc2L3925rQAOFlhE8WlM_GEXCvhsSNu7VgX2L5uO0GKQNEpOgZzhzXzJjYomx1AM8GgYnuWKBU0SecnKPCGzatC0_ZWhrKdCZfsr5CRqx0_zlJ4wVMYPuUXRUwLQqALOqGhXcGT8jp5gJbKkx3Kp06E4ZAV9nssSXhIf8XUCdihnMJTvmA32BwiwqvKue8Zss08ZpgJUEuOAZvMKTbMuyEW5qVxiLvuJ4DrYH2rGzy_dz13nFZ6W_wl4ZvoCX_w9sM59Dhl8ihiWJE2i_2qGNgJkjYVzSOe9aZ9nzhuXzzWO1HcYyk5KTQG3hvl1wne7FZhfuyFEl3WzC7JcnQiZ8QJcCrFgE3__hZI3RH2BdZuX6x7cZESsEHhCrsbPQ0K485Xd5KVdsaoyb8zghv_x4KCBEZppEsloYabRBraBX5a8rrBSFrRTsSVrSimttv_AUjA3BVX3i54_d2t40ShTujNdfCoyNIj0CoKQWPSEQCIcAwfeGNhphHmlqY5-7bX51M1XUn_4-ptX6X7I6GRN1kNT5ds19UhRA2M4bly4cI-rIknvAuKQfL6jO1BAUbh_Rs6O00-ohYcJl0poro1b_0KWoqLwwRHxGQeU-m4WsQsAlRUyF4flu2-mRqK30mmH2gUhlxlb0axzn5qlRsa9Bni8PaEreqUHRjOVDt00maLxgqXayYH5YoljBFqIPavPoFGTs6oCnsuaAZ-y7XYfGwKZmibnApdBBBjJGlunLKUicMF_aIuqkobMCq06uiQXKDA4-1pIVOvQh67PJxyqYySy8HdQUjP2H-W19NCrULrgTf9d0m0i5Op0fkBiSWOfG0zifbLPIt4RhgvYXJezi6kh5jpILSco1UMaTY-SQqtL-lCjHej0iEYZntKvfGK1K6spCl5KpIVuGVu1Zojkh71qyMm1TEHpyYtgR2x3yTemKilAptC3bcDVn2e_Ish2rTc2gMabzdE_jiuMlqXZvNRqs8sV3HIswjh3nFbAVTvzI0O2It9GcQU1DggVjfEgAMr6hzarQAgmNG2JvEBs0YWh69Yz5es7KTlD4bXEjTZMBAQn4WB8cZQZtTJnWjFg8v-3cNG0OwsU4FopXRzAT45IUOtGMKtpZvBfvIA5NOsVyUs_LADwvxYSJ1cJzvFxd7gSM0FXpwSRJ4CA9i0-EOvzwH_hI_jl0AucqEbpoeClzZOg_Yt0Qc4Bk6dG2UdKRWIDHEEfaIlUV5jE20Bk6enVw4LifutGwmQ0mqcUbmZUfFJ83KP_U2RvuL7thtb1OTGqW0m8ixOBQ1-svoWYBjAjD3IKa84xEnHMUgZA8Fh9vlUWGxkaibWgdDi71rVVq3Ix5MQ0KjHW6dxHygGCsQsqCWA1pduutubbbTXknOTsI_Y6SBSjkWy_oUktF6DWBOpztPCPsxn3C688-ce4BpSBi_t7JaexwAx_Wr_0xLsV61q_BFz5NGKlqUQ6QZ8l0Qqy9d2MzKEwyOzATLWN9RWQ-_SQr7so0m_9ovWmfcqco0yLPMMCCI1vxX5PoKkkoQ4PsDCqLiuKjJzkZKeXyC8y3Qy2qilIxFoFTDA7RcB8cgLhEkLb7NduKieb76nEAjXwgYaf-2RgXHfwB8P7MMvyKRjkJwcpk7GBUBnw5UORTObY-KC_2mwD_5TKW4TVwPExE8GilaQ1xsDwbZdKVijzVUWKldNOIwhZJDxRXLpZ9ywujSgz7rztgwnj5iE1DQVTgqJY19ikGS9zIXHRrO5HaO6k_dAoy4PF_n8CP3WMmitTxN0TNpAn2li_IguAvdKLhkyMJlg7EEGqN6ts25fwhKlULXsJBMjF7A0xYWF0X7r5fK_zto_QLuJMnnsW1NYvv2-P8FK_TbW3k1qlq-pTGTBTlPPI2gbHRT9SsiyYhvuc3OVp83YJheK7zMztGasO-dG_hUYLVQ_uyvgOJ3senDIzKCfx98G4UKcyTvJCWXz1YDGcXqfRXZRA_rnp9GE2ZCvY8V1d6yDwt1ew==",
  "id": "rs_00900f5e9e1a2142016ab450d03e0087d08a8b4332745ed146",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.19,\"right_z\":0.0,\"right_gripper\":1},\"note\":\"At tabletop height the yellow fruit remains just inward of the fingertip line while the wrist camera sees only the bowl farther out, indicating the prior radial correction overshot. I’ll retract about 2 cm at table level to center the low fruit between the jaws.\"}",
  "call_id": "call_lD4SKv1BHffSIxlNcPZy03Gp",
  "id": "fc_00900f5e9e1a2142016ab450d411a487d0996a7e56fc544a22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lD4SKv1BHffSIxlNcPZy03Gp",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.6296, 1.8565, 1.0447, -0.4084, 0.2691, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1562 left_yaw=0.0001 left_pitch=-0.1209 left_roll=0.0013 left_gripper=0.9992 right_x=0.34 right_y=0.194 right_z=0.0032 right_yaw=0.1445 right_pitch=-0.5748 right_roll=-0.1571 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -0.9641, 6.9402, 1.663, -0.0366, -0.0317, -0.0122, 0.9778, -9.2923, 4.6154, 0.735, 0.2125, 0.0952, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a6c4ec8b7ee7b82e7ebf5b79a6571f9e89217d90ce50095740565c9ef91541",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc40c9ac32fd82b47440352c6523d3a5f6b349e7edd1ee32c296bc8575c43fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63dd281497af8dce3d06eb765f6ed5d15ef7b7e8cb2e18059b931a6854f056d",
      "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 · 2.046 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6128, -0.4767, -0.0135, -0.0307, 0.9992, 0.6109, 1.8313, 1.1957, -0.6327, 0.2573, 0.3027, 0.9956]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1175 left_roll=0.0012 left_gripper=0.9992 right_x=0.3452 right_y=0.1912 right_z=0.0401 right_yaw=0.125 right_pitch=-0.6231 right_roll=-0.1751 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.1419, 6.9265, 1.6093, -0.0513, -0.0366, -0.0073, -0.5812, -7.3094, 8.294, 0.8864, 0.1392, -0.0171, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6132, 1.8832, 1.0943, -0.4557, 0.2657, 0.2958, 0.9954]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1563 left_yaw=0.0005 left_pitch=-0.1205 left_roll=0.0015 left_gripper=0.9992 right_x=0.3463 right_y=0.1914 right_z=0.004 right_yaw=0.1319 right_pitch=-0.599 right_roll=-0.1736 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9812, 1.6142, -0.0562, -0.0122, -0.0073, 0.2803, -7.5145, 4.4103, 0.9109, 0.2271, 0.0513, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.6296, 1.8565, 1.0447, -0.4084, 0.2691, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1562 left_yaw=0.0001 left_pitch=-0.1209 left_roll=0.0013 left_gripper=0.9992 right_x=0.34 right_y=0.194 right_z=0.0032 right_yaw=0.1445 right_pitch=-0.5748 right_roll=-0.1571 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -0.9641, 6.9402, 1.663, -0.0366, -0.0317, -0.0122, 0.9778, -9.2923, 4.6154, 0.735, 0.2125, 0.0952, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a6c4ec8b7ee7b82e7ebf5b79a6571f9e89217d90ce50095740565c9ef91541",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc40c9ac32fd82b47440352c6523d3a5f6b349e7edd1ee32c296bc8575c43fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63dd281497af8dce3d06eb765f6ed5d15ef7b7e8cb2e18059b931a6854f056d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFDYNYSDJvL94pf62WIiVurzO57vY0KCU5kLCt8OWD8bvOSxfL7eTk2f1d3bMZ2zLDTb49vIM9C-p8f4Yn6jgPaHSnoyPM6NRS8b0t4uylaDE8FOrFV_80b8WjUbegG48vDuSuIZ9VSA55GBAqLX-8gxZkFdoQLZ384R3L4B2Q30RxmpxhKGg4xBpFDPEtC2fb-GQRf9oXnoHW9wxCnFbWOZQSliftxYAl1QJKaaTO3Vxe6K_uhjgU5sk9khCNdfqYlcMKXMgDI1_sUeoLv9ti4wpN9yYB5sk2LFwLGwCMLMMsPl-EC7jHq3VyUackraAj3xHx3vcwk-jbnDldKDTNT3Xg4drUlBKfhshL6lcoJe6lLxKXy43sFGgZhb5pawCy4bCuoj4FbSQ3fNuYiDStHjw0360hUa2Yljn9sOFkLO-88TLfEeOyni2TVl4ygf1o6SRzLzDZWWtgXM4g_Ct7p68jgen4IhWHx1nf9Pp09VkAuojEgaJHCynI_FOCt84iK6wRzrbUvyI9QEKdQJZoqZSr_5i1nfrRYUmweUMkPJkojNR7k2JDcknwRX2dG1G8J0qa16ff_K0D3_Ua9MiTdQr2b-hN08FcKvx1aN4t76_Lv_asm-9tqQI_RVezUmWX-qvpCVngEOgedgkWoMiuTLJ8M96XMIuRPPBuqJMKCr-Gzo0PuTU_q_ZJyq52Z0vaqicECGKqCZf4QJG15OR4mWxV2eLwG0SWWNo_r48O0xVhM7ttqhL5QCaySO0dcok1qeYfalt4blRYSKAKqTXfWOZAn6KgeOZQhYaLhMekh0T8CcTjGt15MN-sXFib7uoeFGwjLtaGv-NQb6P2v-257OhfzWO0gUjTFHbn3wdUGJxhNrR8IEMw2qR_ePQdBFfjUt9gQ7fiRnSkettSp-GlxsqNyXIy6uR_QltBAHFC-QHvEE1twOUJB5A-YrhGMRFxbC0F1pq4_cwfyxHXwsFhLy2uAAQuhWdjOJ74lD5lY13SKjhB0dtiysfN1rnx_WaCqFW4DmmpvG_dYZtmxLqDjdJhoSfr5kekyO9hlVJePUkJzTMfJNMIY3rlqcMrmr4MsaMKEDJV5cprGQsQyguNhhMCYqQnBrzfkQSemwjNJwk4_YhbbRBFJhCCDIoSqvWL35lJUoTauLM1ZskdE8OvRK1kV9vMjrhCU2PirSrOXD7UNQR79RRimMRolYsChtsklPhEKaKIh-GdPMCuFIXK0MPyX3_yDY_c5tl4LORhjNzaSyxnzVhZnZ0SCJd6jd_AsC647YTgS4jQGPmQWrB4pl__3seJYMwCbOFx0QMXfod-Fwlxm0CxMSpdXNsyXGtp_jQlJWW88Rtk-hU0CjFL5Mbj_xmOBiPtCP37pu3n_kQHw-l4SyQxldaRF-6U1sAFSZdV3yKgFKOjfKWDYzEzIiqwGtoodGNjkqIHo4_x0neUxHVgh85mikfjd4B6TVLSrzkdA3ycVMQUDXS9NHoUxrziWlwH6b0pHqCT5d2jKdozRmmSkipwPHFRRZeHm7-LOK93_b1YZe4DTX_XkEiZvT4mrkmtRAxoYolEKnlhqBtRE6sOTLaiPto3RdFldNYAzZZYhpcn2VYLqOtqYN1rLrcTcraCLYCgG4AsRawx3K1WqGtEc0TaypcDE2GGk4-OwxN4q9ABvmB-x5H-SdC27cpNQBfcikyLhVSZPKcBwkULHlcfnezalui38of4hPAtrh6m_7JZgPE6icnHkSLGJ3U2z-SKXXP4P-JmWVyxbZVWxe4maBYCjTAHxBxQy_lo6_zl3ePekAzfTzGXADnb-YIEL5pMx16EFI1JWqrxMzE1khjI7n6KPgJoeH6pxWfuSb-mOF-Lu-KWLx2IE3Prf5Vg==",
  "id": "rs_00900f5e9e1a2142016ab450d6384c87d098e74de4e42ae367",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.19,\"right_z\":0.025,\"right_gripper\":1},\"note\":\"The table-contact posture prevented the intended inward retraction, with the readback staying near x=0.34. I’ll lift just clear of the surface and retract farther inward so the fingers can settle around the yellow fruit rather than press against the table.\"}",
  "call_id": "call_6BEc2s7vQcCpbA3NJcuJIMQv",
  "id": "fc_00900f5e9e1a2142016ab450d78a0c87d0b87d082e6222602e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6BEc2s7vQcCpbA3NJcuJIMQv",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8261, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6632, 1.7691, 0.9882, -0.4561, 0.2756, 0.3332, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1561 left_yaw=0.0005 left_pitch=-0.1213 left_roll=0.0015 left_gripper=0.9992 right_x=0.3165 right_y=0.1908 right_z=0.0143 right_yaw=0.1516 right_pitch=-0.5846 right_roll=-0.161 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -0.8957, 7.0359, 1.6484, -0.0513, -0.0708, -0.0122, 0.7316, -9.4427, 5.6137, 0.9646, 0.1832, 0.2173, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d927fff26b154587026f749eb2a001c746b2240a247cef544ba5c611a12a075e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1553abe4388e6d959abd4d0a57bd15804fea2f5e922f2cc2d0a03b09feaae7df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f634bd5b026706fe4e5a306a0315857f6194f53e3e380febffbe405c31d895",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 5.761 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8223, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6132, 1.8309, 1.1786, -0.6209, 0.2646, 0.3027, 0.011]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1571 left_yaw=0.0004 left_pitch=-0.1175 left_roll=0.0015 left_gripper=0.9992 right_x=0.343 right_y=0.1893 right_z=0.0362 right_yaw=0.1191 right_pitch=-0.6242 right_roll=-0.1856 right_gripper=0.011\nstate[joint_eff]: [-0.0205, -1.3607, 7.0769, 1.6679, -0.0806, -0.0122, -0.0122, 0.1983, -9.9487, 5.135, 1.0085, 0.188, 0.0073, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.6296, 1.8565, 1.0447, -0.4084, 0.2691, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1562 left_yaw=0.0001 left_pitch=-0.1209 left_roll=0.0013 left_gripper=0.9992 right_x=0.34 right_y=0.194 right_z=0.0032 right_yaw=0.1445 right_pitch=-0.5748 right_roll=-0.1571 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -0.9641, 6.9402, 1.663, -0.0366, -0.0317, -0.0122, 0.9778, -9.2923, 4.6154, 0.735, 0.2125, 0.0952, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8261, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6632, 1.7691, 0.9882, -0.4561, 0.2756, 0.3332, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1561 left_yaw=0.0005 left_pitch=-0.1213 left_roll=0.0015 left_gripper=0.9992 right_x=0.3165 right_y=0.1908 right_z=0.0143 right_yaw=0.1516 right_pitch=-0.5846 right_roll=-0.161 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -0.8957, 7.0359, 1.6484, -0.0513, -0.0708, -0.0122, 0.7316, -9.4427, 5.6137, 0.9646, 0.1832, 0.2173, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d927fff26b154587026f749eb2a001c746b2240a247cef544ba5c611a12a075e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1553abe4388e6d959abd4d0a57bd15804fea2f5e922f2cc2d0a03b09feaae7df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f634bd5b026706fe4e5a306a0315857f6194f53e3e380febffbe405c31d895",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFDaI18JZCkgbIvGMXl9EkeUVCMrc4BR0ulzNQ8A2V5tSwgqSNVbJDj_ahdqF4nhdXolGKAtb1x0ON2xPPQdNjcV3gXOuWibyQH3HX4VhnBWcUrVO_tRP2y39PUdH5b9kWyF2t53nD70f0oJ_003xofwcis-Umg-MUoexVHkW8HsSg8uZhenNe62vplx184Q7YkuYNH1wQRijXR8h2OPGbXXMeljDALcV30dJVy0cIxFQLP6bVAsG_6RuPP4-nhZVz1kH8VAL8_JcxsL1RGOzCQEIdJVM9V8M0QRgiJMA8QmQUVa_MZs0be6p8rfzst-WVme8qkuIZXfPiftFMjWkcjAJl1Rye_dZTNZjJ1KVGmzoNPP7MSlsxS25twWVBMMgweSmnK6qw9-GkxxuKQQdrwaY-TMU5KV4fC4KffQqhsznJkDlG_G5MkJRA4DmidyKBkeBrc-y4q72dj5k6h9pvQMgHhNQbVreK97AmtvjK8cEz-5jcDqFnJDYpFb9K7aG6tieWdgGa4d2DvD3JvmCgUaB_BYKl50L1xItIivoZkGHBjkzOx9-orV2IohXuMaZLLUagCd173KAshBzM-pAc_P3XfrcBMNkGpadFPqLzROdj3IGi2iWPauQudOpM5S_MllsrWnFG6U2oV5hRFwr_kWp-3uKWfKGNPFIcNzTZaa2qPlt_vXH257CpsyRxZkFe7Le3N4XpwIA6Day1ngupk9Rt13aYExy0WeTxx3AEsQvnZTQfTUgTnjz1hSVplw1l_xLbLbcYjC2JuLhcPB7wBTEcXbe1DhYIIpt_l09s8yYZepO5xoLAhBNwbPGJ1_PuZJTIRJhRnawiplEhAOI_NCZfpfREVmKWL-xC4ESyZKlMbNOd4ec9VnUfMTSO7VmWaJlZY7cyctdAsgKTIHTR6_Dzb48zQUzEb2pw_QnSYC5whit-UphLDWtMUGGgKXBhGmoF_PApJQ6q3rdwfdcUOUDES_rRIbKVW-wYL8ZLLkFZMUrHswnIE6YEiNXGW8zFCTQ8hzCC7vPZs9mE6Zxun2UAqzyV5kh1yY5iN1g1AcSmEaYblTtRi5gXcrMNX3edP2umKvuS6lqMOnP5NZrBXM0Nmqnyer9ssnwnf0R6ragn-bzSvscaPwCBw2Dx4MzkmQPKtOZ-7fWtJIUaKuE52-jhQqQRNpwwe3o4rwSnS7BVt-k687tTatj1ft4aDMdS5TssFmLO02ljrKx4iAr8xqmcpr5Jleli0S_eHde7c1xS1RI7VdSMwCD4thpDp3qjqq",
  "id": "rs_00900f5e9e1a2142016ab450d9c79487d0acb4eb564f55583b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The successful inward retraction now places the two fingertips visibly on opposite sides of the yellow fruit in the overhead view. I’ll close at this corrected, low pose.\"}",
  "call_id": "call_PN0lhMnN84ZPXctpA1z7BqvH",
  "id": "fc_00900f5e9e1a2142016ab450da0f6087d0bd1b662e5526b106",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PN0lhMnN84ZPXctpA1z7BqvH",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6781, 1.7386, 0.9859, -0.4915, 0.2764, 0.3492, 0.0112]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.309 right_y=0.1916 right_z=0.0214 right_yaw=0.1532 right_pitch=-0.5892 right_roll=-0.1583 right_gripper=0.0112\nstate[joint_eff]: [-0.1709, -1.2376, 6.9402, 1.6581, -0.0513, -0.0073, -0.0122, -0.0889, -8.9641, 5.1487, 0.9646, 0.1734, 0.0366, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e6f691bc397b5cd35deff64a3e4b56eeffd2249af85962cd893578430bf071",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a11d71b0f7dfb83571252efdb5715d59e23c1d791380d4e5af791d3470141961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678df72c1a663218dc63e08111c991c700230faa49e25ff0cb60f6fcee1854ea",
      "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 34 attempt 0 · /responses · status 200 · 2.83 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4767, -0.0139, -0.0307, 0.9992, 0.6132, 1.8832, 1.0943, -0.4557, 0.2657, 0.2958, 0.9954]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1563 left_yaw=0.0005 left_pitch=-0.1205 left_roll=0.0015 left_gripper=0.9992 right_x=0.3463 right_y=0.1914 right_z=0.004 right_yaw=0.1319 right_pitch=-0.599 right_roll=-0.1736 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9812, 1.6142, -0.0562, -0.0122, -0.0073, 0.2803, -7.5145, 4.4103, 0.9109, 0.2271, 0.0513, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8261, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6632, 1.7691, 0.9882, -0.4561, 0.2756, 0.3332, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1561 left_yaw=0.0005 left_pitch=-0.1213 left_roll=0.0015 left_gripper=0.9992 right_x=0.3165 right_y=0.1908 right_z=0.0143 right_yaw=0.1516 right_pitch=-0.5846 right_roll=-0.161 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -0.8957, 7.0359, 1.6484, -0.0513, -0.0708, -0.0122, 0.7316, -9.4427, 5.6137, 0.9646, 0.1832, 0.2173, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6781, 1.7386, 0.9859, -0.4915, 0.2764, 0.3492, 0.0112]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.309 right_y=0.1916 right_z=0.0214 right_yaw=0.1532 right_pitch=-0.5892 right_roll=-0.1583 right_gripper=0.0112\nstate[joint_eff]: [-0.1709, -1.2376, 6.9402, 1.6581, -0.0513, -0.0073, -0.0122, -0.0889, -8.9641, 5.1487, 0.9646, 0.1734, 0.0366, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e6f691bc397b5cd35deff64a3e4b56eeffd2249af85962cd893578430bf071",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a11d71b0f7dfb83571252efdb5715d59e23c1d791380d4e5af791d3470141961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678df72c1a663218dc63e08111c991c700230faa49e25ff0cb60f6fcee1854ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFDhCbNC27Q2kK-4ErX-vHYkUZBypE9Xhm4ogR8KKEs1IgiYrtZjlK_Z_5hS2felnm7xqwq1fSVmeGr0j_lNovtfWFSv5cEc4fYmu6earEYsd7KMSMt-1fVY3ogXF9yL8_4WE74RLyC4o1lfSO4PfMHM-6M97zpZ-x1YiuqU11pnvU6PodC_ZACZtT7w3lR820bBQbvha7nN1wOqY7MqNgQnXK0AnRY9Mu91froUAO_C0cCGvAzH3orCYBSZdFywWEPaWcDz8ildcTGEnc3uflMrNODeeJLQkYLDR2mGfr7eWYFc0usK6X8IyxMEoMY5syJAFSQgxUjwi_QdridsQu7R2_GlULvYIEmj-OlDbeCZOXdkunybR0AzdZydGp-fvtiktnbfkT8L59SYX7V1JO8g6Dx3ioNivziUFCpBG_ep8FgWB9etsSTyuysC9haC3vua-5LSs-BN4cklHwPlB6uWTwk07fBNpd-9bOsxsTIV1kAN_DQFs1nNUmH837eCCSLKP6pXu82UBPUK5voHtp7dv11vE9129UNGcO2KQZwen_MoMqn8NvlqmRyQrbzZ0aFCkwGuqWFCHiV1u-BfJm6SrxfYE-SApyuuvDh5W2B3Jl1MB5BBpYlK3-lWj95lA3WeSu0WRHvWx-nUZGRCQuIks29ZtolED-3qJoZeVCxvElMosWJ1Q5cvD-XWX7tbxWsEnIpiRupa-0gIrf0mJlVaOF5dupKkbVBy6eVDwGGHhWh5ez4p5zTw0qjo6X8fWjX-jar6kDprngKEL1-Q02Zy8UwoH9ruwugtu8rzVV4HaTGvTusoPx5delHnx0Ep46ehQ01u--snLX2nvQKxY_IQm6nu1hsp4iEKjOXFRM4LLnlUUiMAeqOAVZj54J8LkthY5rUCdRV1hn0dm6W8Zsb6MMmxTl3ufAPBn-dSmbSLL5m9al39Ztl8R2m3434rhdYZn2odppXWQ6wVisQIR76v6fJTYdCZlkabmnN1ZoKxJyq-8qKuuVWOQg8DgbJ-w0-EGxFdWNxC-m2zrHjIxl1vOKb9Uc8zCfmAJh8UEzhX8uFdNr_P4tZ8VKNgvUIx9feurPSq111b6qKqBSsdj7kxr3S_lE4h2NIknYMVfu58wKAnR91B74nHIYJ5U3tI9CybUUxkMbN_gItUmLFwJvIotxJtEJzLH6q0W-ARlt2-WUhQKlRWFgmCvs30oB5Tsr2g4tsJvIG6Fry7KMgHnFhGY187e27f69tEUy6-6xTGAVbvWvxUKO-4zzJMb_q5wBsFAz5DqGBD0-adUPaY8hAFtVyyUMLRUXrse29478nhXpj3iZaK7W2bxdo5u0zOHO81sZh-80JK8Pf-p9M56KXwSrypVm9gUgnXNtOYBjbXsR9vIx6et7aAz15l247oJcLKV_N-K-XbqkQckJjzo9iVDGdxEJ00yoGPw1L9J8peke9MpiyIKXTbe1MOPAM-a8dwLwhFaWrIx6UNqIh0tjE_ZcIzIrGt6f43crBnRlfBzuHMR0FZoqyHjJO4AYGUH5o0qGl6_IoumyTJ_7bDVIXWB3FQlglmeoiLUGea93g4bF893wAmNUfrlwRImx6x0HwKb0yHGIDUIa7BKGVR6SdbXaeyuVAqNNiCIa5ykQm99IXgItlrwfpN2C3jU1r84nGQGkzIVYBQn16DbJLVP3tSUGHlqX3kML2V8g6e1fOhYAGcJUDjJchR72rdnSqGY1ffLk4G4eAd4mjQ5sH2h2CgkqJ0hyIUfmib-sEwDzxo1yee3ai9QXFT-P1uqx641zUDpJaXY-BRzwzvuxDro_XvBPIYZJqmgT_juatAwuBml7aeKGr74BVDv0DbHPyNc3X6OF4OCR3-1m3aKshH8jnKBrwnzTBRcg0OkFLIZh-3zuhJm68vhvHa3AzlZYBLD4NjNoQVxMF5xet0h3svqYWwBe2Xe5Rq592Ed81h_vOYf07wFHgkOefCYEWQxUQdqZ3gyX7WIgCtjTmjLf14q6e6hXTutxAK5w_exm113p9lcleQ7BQPmCorEl_Ac0C3qMN28st1ZzKtcMlcHfCBNgodHJZA3f_RbfJSCKx0Xj_0AvC59sZNkmfQZXcbxbYer2LPuAMQwgFmcpxB6jmvDbqDTGaBATHVHaz1AS9Skt_VsrTpYNmbUi6odXEwMcwjLiVrG7EXYVL7I0rbdi7FhxbINyoSU14VB7NwsAzWnRdxrJNNPvcZdixkHiJLhQjO28lHqWHU1tLOfXAMGAZqfGdRZdtjIm8W00kr18n4Xp5sYArvwb907L4VAcdW57zJ0UNUpQfVTmZqKnbhc07nkjtjqPr6HvyBvTyBi1HT6U6KkW0=",
  "id": "rs_00900f5e9e1a2142016ab450de191487d0b8250f642921c2de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.19,\"right_z\":0.02,\"right_gripper\":1},\"note\":\"The full close was empty, and the overhead view shows the closed fingertip point still about a fruit-width forward of the yellow fruit. I’ll reopen and retract another 4 cm to bring the grasp point onto it.\"}",
  "call_id": "call_F29nIKw0l2ag1mma0Rt0CHP7",
  "id": "fc_00900f5e9e1a2142016ab450e06ba487d087b483af5fa9d30b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F29nIKw0l2ag1mma0Rt0CHP7",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7567, 1.6665, 0.8761, -0.498, 0.2852, 0.4122, 0.9955]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2693 right_y=0.1909 right_z=0.0129 right_yaw=0.1674 right_pitch=-0.6172 right_roll=-0.1654 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.3744, 6.9402, 1.6044, -0.0562, -0.0513, -0.0122, 0.335, -8.5538, 5.2718, 0.8571, 0.3394, 0.149, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e258e2bce822421a0d74b337bb622e8b4111013e675da03a51ed610fc0762143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf1548de587dfcc5eb446aee18a6646922419b0fd68a38942e6ee4eb9c3fbe9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c48f6053e488c8c181b45fe65df381a703c69e50d989232b9cd34900f0f382",
      "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 · 2.352 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.6296, 1.8565, 1.0447, -0.4084, 0.2691, 0.3088, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1562 left_yaw=0.0001 left_pitch=-0.1209 left_roll=0.0013 left_gripper=0.9992 right_x=0.34 right_y=0.194 right_z=0.0032 right_yaw=0.1445 right_pitch=-0.5748 right_roll=-0.1571 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -0.9641, 6.9402, 1.663, -0.0366, -0.0317, -0.0122, 0.9778, -9.2923, 4.6154, 0.735, 0.2125, 0.0952, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6781, 1.7386, 0.9859, -0.4915, 0.2764, 0.3492, 0.0112]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.309 right_y=0.1916 right_z=0.0214 right_yaw=0.1532 right_pitch=-0.5892 right_roll=-0.1583 right_gripper=0.0112\nstate[joint_eff]: [-0.1709, -1.2376, 6.9402, 1.6581, -0.0513, -0.0073, -0.0122, -0.0889, -8.9641, 5.1487, 0.9646, 0.1734, 0.0366, 0.9109]\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 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7567, 1.6665, 0.8761, -0.498, 0.2852, 0.4122, 0.9955]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2693 right_y=0.1909 right_z=0.0129 right_yaw=0.1674 right_pitch=-0.6172 right_roll=-0.1654 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.3744, 6.9402, 1.6044, -0.0562, -0.0513, -0.0122, 0.335, -8.5538, 5.2718, 0.8571, 0.3394, 0.149, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e258e2bce822421a0d74b337bb622e8b4111013e675da03a51ed610fc0762143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf1548de587dfcc5eb446aee18a6646922419b0fd68a38942e6ee4eb9c3fbe9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c48f6053e488c8c181b45fe65df381a703c69e50d989232b9cd34900f0f382",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFDlf9-4_EmplM7TqasoKX0MuoYYNjvMWi_9IvBH4NgnPSIPuK_WGgGQkiSsTCx3eUNkyqIZ5kLvaVFSd099Mnf3brmMCNbTO5IaBvwZo4RSST-o6tyk3MMoOosOq2w4sbzGZgzt5kmdoIYAA8OvdRLaeMpt8wUlQhm7LimTIYiBMQXgAlFfa9Zpl6nGxhifpDeAJA_eVmQF_lXtr9WK4wwLnfwkN5HzelV85DsoKwycTUCJE9tHxigqZBSZERjuKf5BmQFKjj_KfI5V3ygvUMv8U6G_d-jFVYDyXq5D5QVC1GZ9DAqa2REILvoj2iAORZk3oNMA_yvolnlZFnwhqvNlYeI2_iMQHSBWmFPBgp_vg1n0lgz2Viam2-ib65YmSDtdXC-qJ2tndJcwxZlEwLrj-EpCMKUel6pGiT0KsMP9iXJnnC9hFAfVVhkQ83mKHlP-3Ul1kW7Dw_ZpE4nU1dwyp6OuYTVivibJSKyQECYy1StiN56whZSepCVl2fD1UbJsBKCDpLl67euYrm8w3wGsPUXpbY7-6b2OY1kas5xBBBHNLOyvshBS4nCySSp6hSMoc23jpjT_lhVHz-hM3afGeg8Of1WWIEb1pc9sfKvJ_kZDtVRMy29997hIYYS8XHJ4zxI0JSO6qm6wvCBRHZQwt3huV4jnI1-CbwN_Oo4sqxYWDRiERaCHjAIYnRl_XoGWG6WHUaSGpK6o-wQDBvoF3poYmzvaCwV7xVkMu5s49SalKdlN6W5Xx4ivumuGFsRFIG3Zcm0XuYGkcZCfgbs-ZrEsF2ObF_hHkTrOjsaVcd3ttpXGFPPF-Dik3OBrnf3vBtHBjeOWLpA3WeHV59jNw4FdQo4HEThPO46RVGyW-Jpy-7Pnoym2FcfK1ulFzBHgdTJeDth3ZXySd8xkEdk0hO5G7I-fyx3uFnE-Xdth6fzSYp_KCDZoGDBNMinuK5SyYKSeFwFyrJvqDhj57ULstQ9aHbjZ1ulg5Y5kM2lz0QDnN8UMICU-35MOZ0_LNzDqabwl_yj4LVEqg5RmwtDflCxfbDX8_TRxmhlgFoIRFFJOa7_oLa5DL7UB91FtSIFs_QLS2r6lr3hrzrSRRKAvVx-nnf3aTFnZ_bH0mQA9IqrBRmtBJ_8c_Tysdq_7ZCl7fC1etIdoelfo3r470kbzIoCGaWK90xr0p0vnOlYHBGsS6qRdrIloZx7aK4YOSCwkGggHUbLVNeFch7ZKPAkMFl_oRsgJHHTl6aiNmDgjZoUMPNvuYy5xUlzr5jJMnu9bugc8L5OuxfDVphrdzCVeExg3La4XurK8cKK9FOBwvSVgBNLfXkg5FgTgzPJ7upgxmi5zrXELT0IHX1hd31Q7v_XaAxpf3m-a9HPxbby2-qA=",
  "id": "rs_00900f5e9e1a2142016ab450e3f07887d0b0b1ee6d34a83697",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The yellow fruit now appears directly between the two jaw rails at the bottom of the wrist image, confirming the retraction finally centered it. I’ll close to a roughly 3.3 cm gap to clamp it without pushing it away.\"}",
  "call_id": "call_9ucKnIA6XzNGp84gbRGwNinQ",
  "id": "fc_00900f5e9e1a2142016ab450e45da887d097a4ce2643b7abcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9ucKnIA6XzNGp84gbRGwNinQ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7574, 1.6569, 0.8707, -0.4908, 0.2844, 0.4091, 0.3545]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2696 right_y=0.1916 right_z=0.0148 right_yaw=0.1752 right_pitch=-0.6083 right_roll=-0.1584 right_gripper=0.3545\nstate[joint_eff]: [-0.212, -1.388, 6.9402, 1.619, -0.0366, -0.0366, -0.0073, 0.2256, -6.8855, 4.7111, 1.0037, 0.2613, 0.022, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:292dc93614c358c546d027bad27636f43a2dcd62f671a1b465036270c4d891a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073516791d64c1087b17d31c14ab255c85534dc16332e26c702769344cd80206",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9a4aea3826e4fdac4d2ba28ad75089fa6a874f8966b591f49d5147dc6f9e8b",
      "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 · 3.111 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8261, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6632, 1.7691, 0.9882, -0.4561, 0.2756, 0.3332, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1561 left_yaw=0.0005 left_pitch=-0.1213 left_roll=0.0015 left_gripper=0.9992 right_x=0.3165 right_y=0.1908 right_z=0.0143 right_yaw=0.1516 right_pitch=-0.5846 right_roll=-0.161 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -0.8957, 7.0359, 1.6484, -0.0513, -0.0708, -0.0122, 0.7316, -9.4427, 5.6137, 0.9646, 0.1832, 0.2173, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7567, 1.6665, 0.8761, -0.498, 0.2852, 0.4122, 0.9955]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2693 right_y=0.1909 right_z=0.0129 right_yaw=0.1674 right_pitch=-0.6172 right_roll=-0.1654 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.3744, 6.9402, 1.6044, -0.0562, -0.0513, -0.0122, 0.335, -8.5538, 5.2718, 0.8571, 0.3394, 0.149, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7574, 1.6569, 0.8707, -0.4908, 0.2844, 0.4091, 0.3545]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2696 right_y=0.1916 right_z=0.0148 right_yaw=0.1752 right_pitch=-0.6083 right_roll=-0.1584 right_gripper=0.3545\nstate[joint_eff]: [-0.212, -1.388, 6.9402, 1.619, -0.0366, -0.0366, -0.0073, 0.2256, -6.8855, 4.7111, 1.0037, 0.2613, 0.022, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:292dc93614c358c546d027bad27636f43a2dcd62f671a1b465036270c4d891a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073516791d64c1087b17d31c14ab255c85534dc16332e26c702769344cd80206",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9a4aea3826e4fdac4d2ba28ad75089fa6a874f8966b591f49d5147dc6f9e8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFDor4HNsPIjMvYfAnz8Q3iR-zd5ZJWpMJ4Am1ogvJXUSZZe5jNDEwPvPdqydTi1V3KSyLWj-HBscDDCiCpTi2HbLlgEyjclP27s1tmrm-VIYLBcNTHz4xq_L4xWTEg1dlGUqC3Z0VQq-XHzMZBP9yr66e33Mz1YelT2Oys8EE8PFyemfOyqFpHxKy2XcKS1L-yNR590LgS6j_r3gCA6GcH_XO5HJX9bh4ihrQE8ileYLjayidSS7ggKfxUZLYp8ADHFvlkwQixcCPCg6qUD9qTbafkFgtcVcvwxRC9nh2PtUxYzEHWgOt85fHnPtMjgAIt8OlkWMQi3C_uhNUjDrHCS91FkyvGYF4XGn_37eaKc0y0A1QgkS1EqRpVFLBUCtfPj1VogFJQzhPdeoBf8eD75oly_DtJVi1kmdQ6GnAKdpMbpOgJxC8rvnqvphIYso9vrHXxoe25JYB0e004knZc-GhV3cNLlCbDHJXygZkKqSr8CDQxfbkOpBirL4-N1r4txgy4MUUC5HzkNi90yA2p5twXJbR1yad5d3y9faQFYa0GNQEfx-MmdOofwFuymuRmrOA9rscvFgkU3-o2Q_GW0D0xq-sCkIYYpcQv_g2zPMvB7ZwOCQ0I2L-O2Yq3zsA4BwR-gshUemZKdl8aWg7vdl1Tb6_pPL3OfZ6y55PTu2o5yZuz5PP4lfZLeSc56tJP6XmbsP0ASxW0FZbGZEIog4GhFl860xJBqny9pWnbCprDjUXNFabLNB9EeqvLL8oJRgC70jDgJUvTNNUP4b58vRv7EEsdJDkknnc8hGfu-E2wuexeRvQS5EPMkJlTIMZsru9Za2Godwg0ZAUgdwvWXxs1GMRb2qxv4krJToamEvpY3KYYharq2Fw-Wr_Jz9FxJAM6-OAdGSgfq-CprEcZZeG-yZgujxcT4j4IuEryLj9tnJ1UOhzgPEYcfleWYkWG7ZwQ_E7Mtlt6QPK84Zq5EevnxAfeVl2J9CycZYeAUaakf7GT2eFyJD3BeLE9oAxGGmunUZkPJErYrSFX_brOmDkp0S2wyHDlluYHB5WjMnGo3eJgqEGNYGdbnNzhqFhf4EdHJvoB0QVxOlUR3pdYiX9WEGBxCPJOmLrkN-7IpNDRB37h1-Ves-vxbiA0vrbcOqSN2ePAXLGvV3et5mEHr86x_eHBjJGAnj0R1IWVk2D4Etn0yYb8_UF5nlIdUjP0IkDfHEuz82s6W1zCFWOqwuLi_jN8EeTXrdSo-VvDkgVo=",
  "id": "rs_00900f5e9e1a2142016ab450e7296087d0b4831428c590ce95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.22},\"note\":\"The partial close has both jaw pads contacting the yellow fruit symmetrically, but the grip is still loose. I’ll tighten modestly around its smaller diameter before lifting.\"}",
  "call_id": "call_F9qz63J1HZetdGH31lzHYjKV",
  "id": "fc_00900f5e9e1a2142016ab450e763bc87d0820f7a8cb3d79585",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F9qz63J1HZetdGH31lzHYjKV",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7574, 1.6569, 0.8707, -0.4908, 0.2836, 0.4084, 0.2254]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2695 right_y=0.1917 right_z=0.0148 right_yaw=0.1764 right_pitch=-0.6087 right_roll=-0.158 right_gripper=0.2254\nstate[joint_eff]: [-0.0889, -1.388, 6.9402, 1.6386, -0.0464, -0.0806, -0.0073, 0.1026, -7.241, 5.053, 0.9304, 0.2076, -0.0171, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa31c6f91d4291264e034a2808611240578e79823cc8f14fae91a6868fd0343",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99206fcb0741057e98d42905efc423604e8a3794a3375cd3f932240a7705942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1c43bfc1477bf307df629588065cc8e778b82c118ec60d59e1ec699bc0c16d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 4.461 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6781, 1.7386, 0.9859, -0.4915, 0.2764, 0.3492, 0.0112]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.309 right_y=0.1916 right_z=0.0214 right_yaw=0.1532 right_pitch=-0.5892 right_roll=-0.1583 right_gripper=0.0112\nstate[joint_eff]: [-0.1709, -1.2376, 6.9402, 1.6581, -0.0513, -0.0073, -0.0122, -0.0889, -8.9641, 5.1487, 0.9646, 0.1734, 0.0366, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7574, 1.6569, 0.8707, -0.4908, 0.2844, 0.4091, 0.3545]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2696 right_y=0.1916 right_z=0.0148 right_yaw=0.1752 right_pitch=-0.6083 right_roll=-0.1584 right_gripper=0.3545\nstate[joint_eff]: [-0.212, -1.388, 6.9402, 1.619, -0.0366, -0.0366, -0.0073, 0.2256, -6.8855, 4.7111, 1.0037, 0.2613, 0.022, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7574, 1.6569, 0.8707, -0.4908, 0.2836, 0.4084, 0.2254]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2695 right_y=0.1917 right_z=0.0148 right_yaw=0.1764 right_pitch=-0.6087 right_roll=-0.158 right_gripper=0.2254\nstate[joint_eff]: [-0.0889, -1.388, 6.9402, 1.6386, -0.0464, -0.0806, -0.0073, 0.1026, -7.241, 5.053, 0.9304, 0.2076, -0.0171, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa31c6f91d4291264e034a2808611240578e79823cc8f14fae91a6868fd0343",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99206fcb0741057e98d42905efc423604e8a3794a3375cd3f932240a7705942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1c43bfc1477bf307df629588065cc8e778b82c118ec60d59e1ec699bc0c16d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFDrmK1jHVk6FhBeoZwO0_jTJPuTK_LHNdkzbv1DuH1uDUPSWEjmjc8kUxg91QlRo6S0M70HSKYOcDIZGPTURS4GB1b7uXGueCGIFsRoGaJ-CRmETBRNUoGk0pmbbZzA-sgnzY0EVYP_pGRz6s3QtPg8YOG0ojMAmDwE7wzEGNAXjZPk5pqn2sx5ju5EHMfmM6Dj5tio8ZSzVxR0gK66dmLVtH0kMj4I3KEGL3Sw63Js-keyg6r_QuJpbnRA0Iz58K0FZ3KRx2pPaxQw6h-vlxBWm8TUs6UfRAKZwTpx1CWo9Jcz1UfZGgSe3jAQ72DNqb5tmWBoQIIkRwBuTMZpvk-VJY5bvrK0FvQrxSQ_zF0Wx-pYMHVB0xAFrBvK4ZC4gL62PHNJX5wy_kNUl8qzUZUcjm6dQNAhBVFBQyuv9NevVE8Zq5-M17sTcAeQiSgCVjD5EU1lwtWYg_EaJhW1RBOFuRNng_A7Nj-_baON00LsMZ1x7XQKabcQaQW9XAZouBZ4CUlbmO8MIX28Kwtxc5jukB47xdknh_mSQ0sh3GDouvZnb5bSDiaSfNwLMDaj0zYgBsgvM_Sgya-ogYIdtEgvUk9aAk396rN3Wo6fyyYOdmw7mlh9gGPBdygUf7V8Xi2tbl3hxufuiK-HEVQ7mdraZ1MsHHsOwzUILzsPn3FY0xB5eLD_Tqf5CYgQ-buQQmcMw6kxo2JMU79Hd1-_lpM8s_jJS23Xn6Rl3tyhwW7_wfYyHpj1S_JSLspyZJQS3MAOIyl3W_OPgCHNBWpnQ4qU3nTVE_ayd0vUXpII4TT7L169iZhu9Vo6BJkCplxrOmNZg9OiCPonrX7FQi4tppu56iGNVyT5WR1zvPPQL_SPONOFIQyPt1cF9cfscpQTCECEETwCw-sde1bSG4-6BtR0URVJ-y6MQp86O7_AVY2NhUr8EBmlpQt3kdt3ZYeFoon9qNWFD0a21aydgZLB1SgPM22pzqF-7z65f5yhvdyVKlBev7WwKpsNapZ8heSEDX5o-tnrJKZ2BW2ZsNUQaU_u6KoAWuvYBeGTYE5mt3tsf4PbgRiz1i7-dvOS2atwSi61Fft3oxAst_OiiwbEo3PKurC_Sw4gXH6-eNIZhvJlUHpffVbdpe9dxo6rbLBHZ908fhHmGtNgjs-KzWVfbKy2-ZDhlQXE_LW1Lt6CZ_D5TTo=",
  "id": "rs_00900f5e9e1a2142016ab450ea8cb487d096e1c3f3e5b0922a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.19,\"right_z\":0.13,\"right_gripper\":0.22},\"note\":\"The jaws now pinch the yellow fruit firmly at a nonzero opening and it remains centered. I’ll lift it to verify the grasp and clear the table.\"}",
  "call_id": "call_DLzMrARyBxk0GHiixVRpTJZS",
  "id": "fc_00900f5e9e1a2142016ab450ea9e6887d0a2fae8cadc0f739d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DLzMrARyBxk0GHiixVRpTJZS",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8268, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.7563, 1.5391, 1.1629, -0.8974, 0.2836, 0.4034, 0.2213]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1559 left_yaw=0.0001 left_pitch=-0.1221 left_roll=0.0013 left_gripper=0.9992 right_x=0.2727 right_y=0.1942 right_z=0.1127 right_yaw=0.1798 right_pitch=-0.6063 right_roll=-0.158 right_gripper=0.2213\nstate[joint_eff]: [-0.1026, -1.1282, 6.9402, 1.5995, -0.0415, -0.0269, -0.0122, -0.3761, -8.5402, 7.9932, 0.8034, 0.1832, -0.0317, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f2c5be2079f572e0a2f5f8a38610d6786266eed5755104b56b6b68786f55721",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef025284097124a9a208636cd6ca1923173a6703a7833c751be4c187035ccfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7899ea4427a784581700e1cf2b59ecb6111e7069c90b9f50e67142a3cf776575",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.346 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7567, 1.6665, 0.8761, -0.498, 0.2852, 0.4122, 0.9955]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2693 right_y=0.1909 right_z=0.0129 right_yaw=0.1674 right_pitch=-0.6172 right_roll=-0.1654 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.3744, 6.9402, 1.6044, -0.0562, -0.0513, -0.0122, 0.335, -8.5538, 5.2718, 0.8571, 0.3394, 0.149, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7574, 1.6569, 0.8707, -0.4908, 0.2836, 0.4084, 0.2254]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2695 right_y=0.1917 right_z=0.0148 right_yaw=0.1764 right_pitch=-0.6087 right_roll=-0.158 right_gripper=0.2254\nstate[joint_eff]: [-0.0889, -1.388, 6.9402, 1.6386, -0.0464, -0.0806, -0.0073, 0.1026, -7.241, 5.053, 0.9304, 0.2076, -0.0171, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8268, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.7563, 1.5391, 1.1629, -0.8974, 0.2836, 0.4034, 0.2213]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1559 left_yaw=0.0001 left_pitch=-0.1221 left_roll=0.0013 left_gripper=0.9992 right_x=0.2727 right_y=0.1942 right_z=0.1127 right_yaw=0.1798 right_pitch=-0.6063 right_roll=-0.158 right_gripper=0.2213\nstate[joint_eff]: [-0.1026, -1.1282, 6.9402, 1.5995, -0.0415, -0.0269, -0.0122, -0.3761, -8.5402, 7.9932, 0.8034, 0.1832, -0.0317, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f2c5be2079f572e0a2f5f8a38610d6786266eed5755104b56b6b68786f55721",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef025284097124a9a208636cd6ca1923173a6703a7833c751be4c187035ccfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7899ea4427a784581700e1cf2b59ecb6111e7069c90b9f50e67142a3cf776575",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFDwy2AnuY3z_4D9tv4nIwfzM468TKvwi-X5DGT2HZtrDbcWxCMC9wqD_aZB6OJRgxEUbX8bh3aoG8-_34NfNQ5tPEIsqHYLUwF4FT2b_QWV5OzvyslhDhNpP0DREwc5Vl3A4I4kInvyokSW5idLweCIOuMuX0sOBsOKdYorEpTZrK0kwFydZBUbr3ir6as69182zvnX4I34DTUAmhGnwqh9lGZ5L1cKJryBVjvcvZN2JMt9R2-RNXE5uZq1Dibv2UnzxEiJ3lKtrFL9Oxwme8fWwRRV7wF7TPqWYMftplt0chFdYpwwz7IU_RcfJhPNjPne6wkLrgou7G4B-PKcCz_H7vgb1o1_j449hFapyeSPx9ruhkvZBFx8Jhxdu_TzVa9UZP_yAYVZxoQamuWutpb9O72jNSbWg3cTdOLc-SQ0rk3x8XzkdAcTum5QA-nHf9LUT3d4mkmc6blt5C_LSMiXEtMsa_hioV0V_WQi9oDXYeB4DcdZhJAmFucJgy3mGUkcu4IyeozvjQFkrR460T1q2qMqu2Os0kEUDzVhpEitO2ZEYxI-Xr_qWTzGnMilMjT1IlUNr9UnmmkTrEtaORcqSi3Cg_tp54DJT9d3PDsBEqF_3bF26IyzPfxVahQQORrHUYTZlnf9IpqSiystz2LFbgtuOLFixSMc8P_CJtXYmV27qLvvKWnO6lRyVJMu3-pCGvS69VYhx5vlndqSbrEYDwElocFt75nvBXg1YRfIOwj2AyfsOCk8RbugmFJL_JRxe93jzL9_L9osqDIOI_FSwppUoVh_JNntZNuvjaW6FmTP_Dj4_HRTuot1VAMcbLMErWg_8-Bz1MEP44VRgG6xWjojgjLg0iTN3XUSgMOL-ZYpSK67yiLVFPtTRCuCX6Adh16RkNZn2IrEfOzrG86yoCTv02bilhIxoLGedmCVF79mN-psImeorXeZvhmr0PZpuJ2TdgX9TsEQJ77bM4-Xlb_Tg-oRKcDBeBNEy2WfTat2Js4lYeLhCgdlo02h30TzQir0HsYOoiSOFqB4bo_90SMsguAwygyRqyjalpN24BR-jV0KsZzDYBRhcLcJTOfPRoaBb_82UxquR7tVSB9n-M_LQGYbFm0r0gFV4O1zBAjLzPHRIFO4HLMsdDPUXxVxAizeWH55C7F7xuYRxVf3i31XZ_PPf515c4z0-CEZVTY-n1TpkEd4ZreYI1OVXAe2QB3MDZsUu2qopjE5HB9khSec7X6oZ4xzWOf1Nr-lB_4JwjdNDlhe_dAmhQvik6k0bZNaF62NekrH-Je6rL_X1c_V_vEs9OYmDz2FUWI1XrIMLd9cBgHFKVRKdE_IIWSlvdltFuNOwKFQTpo-WvOSukIUAMKc0iz3J8-VmR39QxPhwBegoowuYcIYHUJl71Jp1B6O2doPfUtHN0EOt9iS_No2cIHQdRN4lJEBx_TXO65ag7yycgdr-GyXNRVlJysczWjnJpuT4klRVq3ByFmVBSF66yMtK9FWl8W2HzkavXPm2T69qVPnBYiFPQow27K6ElfYITmgUSniwVOmfZw7WcgftdIBXliE5ZJEx0JaNHimCNyORf5ShIMMGkLDCG7Zy3mqEtWt44AOxRSMXTp4tDsdAOdPohpUxE-G_CBKkmATRNqneB7H1RspXDRtzMdS-zdY3Nxj9YLwipavDlO9VYz1ncdFsil_Tphy3yvEdJfGVhQhjBWEjAGHNgwSpnTWtkGjXYMTCwk-NpMXcyE1ebIsjfilTiYJud_KSLNP8svhNUdapABgmyJFKccLKPSnUbWxijsX4shUon0j5ELmilkX-KHsmdyYMP8mcxVReAKFs4BvhTkXRN_lTFsRuxN9ivgrGUAAlYq3PxFzwfaEiR_zfN1YD5v9I-B5-Ssm1qZX9rynDbW7Old2u6l8YWpbJta1bhtYcgd98wi_HBq_hySfzdZqiOEXYY6ZtZXHaf6J7fN6lwoAxFYE3Q66eZNjtIKcLfHBAWZaoUqecbsubezKCkng1A1qOvpKUAHncwo=",
  "id": "rs_00900f5e9e1a2142016ab450eda5e487d0ad9c7d5a5ff9922c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.194,\"right_z\":0.015,\"right_gripper\":1},\"note\":\"The lift showed the yellow fruit stayed on the table; in the wrist view it sits centered just beyond the elevated fingertips. I’ll reopen, advance about 4 cm, and descend around it in one motion using the same successful deep-grasp strategy as for the pear.\"}",
  "call_id": "call_9tIc4XkYPUWeY1ssPoIoFjdq",
  "id": "fc_00900f5e9e1a2142016ab450ef4d0087d0b86e6e73fb7ceaad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9tIc4XkYPUWeY1ssPoIoFjdq",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.828, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6708, 1.7573, 1.013, -0.548, 0.2543, 0.3176, 0.9957]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1556 left_yaw=0.0005 left_pitch=-0.1232 left_roll=0.0016 left_gripper=0.9992 right_x=0.3042 right_y=0.1893 right_z=0.018 right_yaw=0.1695 right_pitch=-0.6443 right_roll=-0.1794 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -1.4701, 7.0632, 1.6435, -0.0269, -0.0415, -0.0122, -0.4581, -8.1299, 5.0667, 0.9646, 0.1685, 0.0806, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fea84c01d0acfaea222ebccecafa34ceea4667e157efc6a165c4a003531cfcf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78cc6646992052d265a4ca42683c53ccfac86f68c4e825415a6f82f7caf0d025",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c180e98a84aaa86465828ba3a68a018103a66a40c7b8b79791353252ca7d52a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 3.902 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.7574, 1.6569, 0.8707, -0.4908, 0.2844, 0.4091, 0.3545]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.156 left_yaw=0.0005 left_pitch=-0.1217 left_roll=0.0015 left_gripper=0.9992 right_x=0.2696 right_y=0.1916 right_z=0.0148 right_yaw=0.1752 right_pitch=-0.6083 right_roll=-0.1584 right_gripper=0.3545\nstate[joint_eff]: [-0.212, -1.388, 6.9402, 1.619, -0.0366, -0.0366, -0.0073, 0.2256, -6.8855, 4.7111, 1.0037, 0.2613, 0.022, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8268, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.7563, 1.5391, 1.1629, -0.8974, 0.2836, 0.4034, 0.2213]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1559 left_yaw=0.0001 left_pitch=-0.1221 left_roll=0.0013 left_gripper=0.9992 right_x=0.2727 right_y=0.1942 right_z=0.1127 right_yaw=0.1798 right_pitch=-0.6063 right_roll=-0.158 right_gripper=0.2213\nstate[joint_eff]: [-0.1026, -1.1282, 6.9402, 1.5995, -0.0415, -0.0269, -0.0122, -0.3761, -8.5402, 7.9932, 0.8034, 0.1832, -0.0317, 0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.828, 0.6128, -0.4763, -0.0139, -0.0307, 0.9992, 0.6708, 1.7573, 1.013, -0.548, 0.2543, 0.3176, 0.9957]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1556 left_yaw=0.0005 left_pitch=-0.1232 left_roll=0.0016 left_gripper=0.9992 right_x=0.3042 right_y=0.1893 right_z=0.018 right_yaw=0.1695 right_pitch=-0.6443 right_roll=-0.1794 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -1.4701, 7.0632, 1.6435, -0.0269, -0.0415, -0.0122, -0.4581, -8.1299, 5.0667, 0.9646, 0.1685, 0.0806, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fea84c01d0acfaea222ebccecafa34ceea4667e157efc6a165c4a003531cfcf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78cc6646992052d265a4ca42683c53ccfac86f68c4e825415a6f82f7caf0d025",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c180e98a84aaa86465828ba3a68a018103a66a40c7b8b79791353252ca7d52a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_00900f5e9e1a2142016ab450f299f487d0bff5960d9c7e64de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now hidden directly beneath the open fingertips in both the wrist and overhead views, indicating the jaws have advanced around it rather than stopping short. I’ll close fully and immediately test the grasp.\"}",
  "call_id": "call_SeVD9hSIqLKhusfV7uRZyRyT",
  "id": "fc_00900f5e9e1a2142016ab450f2d54087d08fa420f1e70784b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SeVD9hSIqLKhusfV7uRZyRyT",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8284, 0.6128, -0.4763, -0.0135, -0.0307, 0.9992, 0.6788, 1.7615, 0.9699, -0.4973, 0.2615, 0.3141, 0.0112]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1555 left_yaw=0.0001 left_pitch=-0.1236 left_roll=0.0013 left_gripper=0.9992 right_x=0.3002 right_y=0.1881 right_z=0.008 right_yaw=0.1745 right_pitch=-0.6382 right_roll=-0.1864 right_gripper=0.0112\nstate[joint_eff]: [-0.0342, -1.3197, 6.9402, 1.5995, -0.0269, -0.0464, -0.0122, 0.253, -10.0991, 5.2855, 0.8913, 0.2711, 0.0708, 0.9597]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b70e3a31acf7b56043c96b47936d095b305fc918c06a57503a65fd38b707da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d948cf3917774a8c181a4d1db7f25618f975d0a0679a13268cdf93405e5e74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bec4a10d3a65597c4c75e969c61e1e9af28fdfb986b81d3fb1c2174ff79fb8a5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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