adhoc

completed
2026-09-23T22:14:03.060364+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
220.7 s
total steps
357
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 right wrist view shows the green fruit almost directly between the open jaws, just slightly left of the jaw centerline. I’ll make a small lateral correction and descend to grasp height while keeping the jaws open.
move_to
right_x0.2960right_y0.0120right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0143, -0.0299, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0231, -0.0124, 0.9992] state[eef_state]: left_x=0.2956 left_y=0.0002 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 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=0.9992 state[joint_eff]: [-0.4034, -1.7162, 9.7846, 1.8486, -0.1148, 0.1148, -0.0806, -0.2667, -1.5932, 9.3607, 1.8291, -0.0659, -0.0513, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0.012,"right_z":0.045},"note":"The right wrist view shows the green fruit almost directly between the open jaws, just slightly left of the jaw centerline. I’ll make a small lateral correction and descend to grasp height while keeping the jaws open."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteAt grasp height the green pear is centered squarely between the jaws in the right wrist view. I’ll close the gripper now 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, 0.8021, 0.6132, -0.4007, -0.0139, -0.0311, 0.9993, 0.0505, 1.1145, 0.1253, 0.3828, 0.0265, 0.0177, 0.9991] state[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0016 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.9993 right_x=0.2909 right_y=0.0136 right_z=0.0368 right_yaw=0.0152 right_pitch=-0.0365 right_roll=-0.0027 right_gripper=0.9991 state[joint_eff]: [-0.0068, -1.4154, 7.0769, 1.8779, -0.0562, -0.0659, -0.0171, 0.0342, -2.4957, 5.8325, 1.9853, 0.1245, 0.0366, -0.022] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At grasp height the green pear is centered squarely between the jaws in the right wrist view. I’ll close the gripper now to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe gripper settled nearly fully closed, so the first attempt was empty; the pear remains visible just beyond the fingertips. I’ll reopen before making the single recommended outward correction.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4091, -0.0139, -0.0311, 0.9993, 0.0505, 1.1145, 0.1249, 0.3763, 0.0223, 0.0151, 0.0084] state[eef_state]: left_x=0.2925 left_y=-0.0004 left_z=0.176 left_yaw=-0.0016 left_pitch=-0.0256 left_roll=-0.0006 left_gripper=0.9993 right_x=0.2899 right_y=0.0143 right_z=0.0354 right_yaw=0.0202 right_pitch=-0.0435 right_roll=-0.0027 right_gripper=0.0084 state[joint_eff]: [-0.0068, -1.2923, 7.0085, 1.7656, -0.0415, -0.0513, -0.0122, -0.0615, -2.2632, 5.6547, 1.8144, 0.0171, 0.0317, 0.6618] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The gripper settled nearly fully closed, so the first attempt was empty; the pear remains visible just beyond the fingertips. I’ll reopen before making the single recommended outward correction."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteWith the jaws open, the pear is centered but remains a few centimetres beyond the grasp point. I’ll advance the right grasp point outward by about 2.7 cm at the same grasp height so the fingers straddle its widest section.
move_to
right_x0.3160right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4168, -0.0139, -0.0334, 0.9993, 0.0505, 1.1164, 0.1249, 0.3695, 0.0223, 0.0101, 0.9954] state[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1731 left_yaw=-0.0004 left_pitch=-0.0382 left_roll=-0.0023 left_gripper=0.9993 right_x=0.2887 right_y=0.0143 right_z=0.0335 right_yaw=0.0228 right_pitch=-0.0522 right_roll=-0.007 right_gripper=0.9954 state[joint_eff]: [-0.1709, -1.5658, 7.0085, 1.8046, -0.022, -0.0122, -0.0122, -0.212, -2.3863, 5.6137, 1.7607, -0.0269, 0.0317, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.316,"right_z":0.04},"note":"With the jaws open, the pear is centered but remains a few centimetres beyond the grasp point. I’ll advance the right grasp point outward by about 2.7 cm at the same grasp height so the fingers straddle its widest section."})
tool
executing move_to over 3 steps (0.3s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteAfter the outward correction, the pear now fills the space between the two fingers and extends below the wrist-camera frame, indicating the grasp point is over it. I’ll close for the second grasp attempt.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8108, 0.6132, -0.4236, -0.0139, -0.0338, 0.9993, 0.0486, 1.2564, 0.2016, 0.3805, 0.0208, 0.0063, 0.9962] state[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0001 left_pitch=-0.0488 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3039 right_y=0.0147 right_z=0.0257 right_yaw=0.0242 right_pitch=-0.1045 right_roll=-0.0105 right_gripper=0.9962 state[joint_eff]: [0.0068, -1.1009, 7.3504, 1.8242, -0.0171, -0.0562, -0.0122, -0.5812, -3.0974, 6.8444, 1.8779, -0.0904, -0.0855, 0.0708] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"After the outward correction, the pear now fills the space between the two fingers and extends below the wrist-camera frame, indicating the grasp point is over it. I’ll close for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
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 second close was also empty; the low outward move pushed the pear ahead of the fingers rather than enveloping it, and it is still visible beyond the jaw tips. I’ll reopen and lift clear so I can reposition from above without pushing it again.
move_to
right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8116, 0.6132, -0.4244, -0.0139, -0.0334, 0.9993, 0.0486, 1.2587, 0.2035, 0.3729, 0.0143, 0.0067, 0.0086] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1703 left_yaw=-0.0003 left_pitch=-0.0504 left_roll=-0.002 left_gripper=0.9993 right_x=0.3031 right_y=0.0158 right_z=0.0243 right_yaw=0.0294 right_pitch=-0.1126 right_roll=-0.0063 right_gripper=0.0086 state[joint_eff]: [-0.2803, -1.2103, 7.159, 1.707, -0.0464, -0.0464, -0.0122, -0.294, -3.2889, 5.1761, 1.7411, 0.0269, -0.0562, 0.6569] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15,"right_gripper":1.0},"note":"The second close was also empty; the low outward move pushed the pear ahead of the fingers rather than enveloping it, and it is still visible beyond the jaw tips. I’ll reopen and lift clear so I can reposition from above without pushing it again."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteFrom the raised pose, the pear is centered on the jaw column but fully visible with clear space below it, the known cue that it is still short of the fingertips. I’ll move outward by 2.8 cm while staying high, then re-check before descending.
move_to
right_x0.3300right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4408, -0.0135, -0.0338, 0.9993, 0.0494, 0.9318, 0.5846, -0.3508, 0.0067, -0.0044, 0.9983] state[eef_state]: left_x=0.2886 left_y=-0.0004 left_z=0.1658 left_yaw=-0.0004 left_pitch=-0.071 left_roll=-0.0021 left_gripper=0.9993 right_x=0.302 right_y=0.0173 right_z=0.1386 right_yaw=0.0427 right_pitch=-0.1283 right_roll=-0.0102 right_gripper=0.9983 state[joint_eff]: [-0.1846, -1.0051, 6.9949, 1.9463, -0.0122, -0.0464, -0.0122, -0.335, -2.5641, 9.2923, 1.6142, 0.0611, 0.0904, -0.1734] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_z":0.15},"note":"From the raised pose, the pear is centered on the jaw column but fully visible with clear space below it, the known cue that it is still short of the fingertips. I’ll move outward by 2.8 cm while staying high, then re-check before descending."})
tool
executing move_to over 3 steps (0.3s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe pear shifted downward as expected but still has several centimetres of visible table between it and the jaw tips. I’ll continue outward another 3 cm at clearance height to bring the grasp point directly over it.
move_to
right_x0.3500right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4465, -0.0139, -0.0338, 0.9993, 0.0486, 1.0687, 0.6571, -0.3523, 0.0029, -0.012, 0.9983] state[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1647 left_yaw=-0.0001 left_pitch=-0.0767 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3192 right_y=0.0186 right_z=0.1299 right_yaw=0.0493 right_pitch=-0.1943 right_roll=-0.0135 right_gripper=0.9983 state[joint_eff]: [-0.0205, -1.306, 6.9675, 1.7265, -0.0415, -0.0513, -0.0122, -0.8547, -3.5077, 9.1419, 1.8632, -0.0366, -0.0269, -0.0073] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_z":0.15},"note":"The pear shifted downward as expected but still has several centimetres of visible table between it and the jaw tips. I’ll continue outward another 3 cm at clearance height to bring the grasp point directly over it."})
tool
executing move_to over 3 steps (0.3s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteNow the pear is centered and its lower half reaches into the jaw-tip region, which indicates the grasp point is over it rather than behind it. I’ll descend vertically to mid-fruit height without changing lateral alignment.
move_to
right_x0.3500right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.45, -0.0139, -0.0338, 0.9993, 0.0486, 1.1934, 0.7773, -0.3927, -0.001, -0.02, 0.9983] state[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.164 left_yaw=-0.0001 left_pitch=-0.0801 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3409 right_y=0.0204 right_z=0.1349 right_yaw=0.0571 right_pitch=-0.2394 right_roll=-0.0164 right_gripper=0.9983 state[joint_eff]: [-0.3214, -0.8137, 7.0906, 1.7021, -0.0513, -0.0464, -0.0122, -0.8274, -4.3829, 8.6906, 1.6288, -0.0611, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_z":0.05},"note":"Now the pear is centered and its lower half reaches into the jaw-tip region, which indicates the grasp point is over it rather than behind it. I’ll descend vertically to mid-fruit height without changing lateral alignment."})
tool
executing move_to over 6 steps (0.6s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteAt the lower pose, the pear is centered between both fingers and its widest section lies at the closing line. I’ll close the 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, 0.8154, 0.6128, -0.4534, -0.0139, -0.0338, 0.9993, 0.0486, 1.3933, 0.548, 0.0032, -0.0048, -0.02, 0.9983] state[eef_state]: left_x=0.2868 left_y=-0.0002 left_z=0.1634 left_yaw=-0.0001 left_pitch=-0.0835 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3446 right_y=0.0212 right_z=0.0444 right_yaw=0.0605 right_pitch=-0.2725 right_roll=-0.0131 right_gripper=0.9983 state[joint_eff]: [-0.0615, -1.3333, 6.9538, 1.7314, -0.0269, -0.0513, -0.0073, -0.5265, -4.8479, 5.7778, 1.79, -0.0513, -0.0806, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the lower pose, the pear is centered between both fingers and its widest section lies at the closing line. I’ll close the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe gripper again closed empty; the pear is still visible ahead of the fingertips, so the perspective cue required more outward offset than expected. I’ll reopen and lift clear again, then approach farther from above rather than pushing at table height.
move_to
right_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, 0.8154, 0.6128, -0.4545, -0.0139, -0.0338, 0.9993, 0.0486, 1.3907, 0.5484, -0.0048, -0.0048, -0.0265, 0.009] state[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1631 left_yaw=-0.0001 left_pitch=-0.0847 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3434 right_y=0.0211 right_z=0.0441 right_yaw=0.0641 right_pitch=-0.2775 right_roll=-0.0175 right_gripper=0.009 state[joint_eff]: [-0.1026, -1.1556, 6.9538, 1.7118, -0.0366, -0.0317, -0.0122, -0.1573, -4.547, 5.9419, 1.5702, -0.0464, 0.0659, 0.6569] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16,"right_gripper":1.0},"note":"The gripper again closed empty; the pear is still visible ahead of the fingertips, so the perspective cue required more outward offset than expected. I’ll reopen and lift clear again, then approach farther from above rather than pushing at table height."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteFrom clearance height the pear center is still around row 160, while the point beneath the fingertips projects at or below the bottom edge. I’ll move about 6 cm farther outward so the pear center—not merely its near edge—comes under the grasp point.
move_to
right_x0.4000right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4679, -0.0139, -0.0338, 0.9993, 0.0498, 1.2388, 0.8886, -0.5392, -0.0048, -0.0383, 0.9983] state[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0001 left_pitch=-0.098 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3395 right_y=0.0213 right_z=0.1424 right_yaw=0.0722 right_pitch=-0.3199 right_roll=-0.0247 right_gripper=0.9983 state[joint_eff]: [-0.1846, -1.3333, 6.9402, 1.7949, -0.022, -0.0464, -0.0073, -0.3624, -5.8325, 9.2239, 1.3895, -0.0513, 0.0464, -0.1832] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_z":0.16},"note":"From clearance height the pear center is still around row 160, while the point beneath the fingertips projects at or below the bottom edge. I’ll move about 6 cm farther outward so the pear center—not merely its near edge—comes under the grasp point."})
tool
executing move_to over 5 steps (0.5s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe farther high move produced the desired view: the pear center is now at the bottom edge between the jaw columns, directly under the fingertips. I’ll descend vertically to grasp height while preserving this alignment.
move_to
right_x0.4000right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4759, -0.0139, -0.0338, 0.9993, 0.0486, 1.4742, 1.1099, -0.5804, -0.009, -0.0536, 0.9983] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=-0.0 left_pitch=-0.1095 left_roll=-0.001 left_gripper=0.9993 right_x=0.3887 right_y=0.0241 right_z=0.1437 right_yaw=0.0841 right_pitch=-0.3753 right_roll=-0.0293 right_gripper=0.9983 state[joint_eff]: [-0.0615, -1.5932, 7.0906, 1.6777, -0.0806, -0.0317, -0.0122, -1.0872, -6.2974, 9.5385, 1.6093, -0.0562, 0.0073, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_z":0.05},"note":"The farther high move produced the desired view: the pear center is now at the bottom edge between the jaw columns, directly under the fingertips. I’ll descend vertically to grasp height while preserving this alignment."})
tool
executing move_to over 7 steps (0.7s)
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 noteAt grasp height the pear occupies the full gap between the fingers, with its center beneath the grasp point rather than ahead of it. I’ll close now.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0338, 0.9993, 0.0467, 1.6375, 0.8772, -0.2131, -0.0086, -0.0612, 0.9983] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.0 left_pitch=-0.1099 left_roll=-0.001 left_gripper=0.9993 right_x=0.3946 right_y=0.0236 right_z=0.0462 right_yaw=0.0868 right_pitch=-0.404 right_roll=-0.0332 right_gripper=0.9983 state[joint_eff]: [-0.0068, -1.2923, 7.1179, 1.6825, -0.0464, -0.0415, -0.0122, -0.0752, -7.3504, 5.8188, 1.5507, -0.0952, -0.0073, -0.0122] 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":0.0},"note":"At grasp height the pear occupies the full gap between the fingers, with its center beneath the grasp point rather than ahead of it. I’ll close now."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe gripper settled at 0.34 instead of nearly closed, confirming a roughly 3.2 cm-thick grasp on the pear. I’ll lift it clear of the table and verify it moves with the hand.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9993, 0.0467, 1.6375, 0.8772, -0.1993, -0.0158, -0.0643, 0.3381] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0 left_pitch=-0.1102 left_roll=-0.001 left_gripper=0.9993 right_x=0.3973 right_y=0.025 right_z=0.0481 right_yaw=0.0949 right_pitch=-0.3901 right_roll=-0.0293 right_gripper=0.3381 state[joint_eff]: [-0.253, -1.2239, 7.2274, 1.6288, -0.0317, -0.0611, -0.0122, -0.253, -7.3641, 6.0513, 1.2234, 0.0073, -0.0122, 1.033] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13},"note":"The gripper settled at 0.34 instead of nearly closed, confirming a roughly 3.2 cm-thick grasp on the pear. I’ll lift it clear of the table and verify it moves with the hand."})
tool
executing move_to over 6 steps (0.6s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe pear rose with the hand in the overhead view, confirming the grasp. The blue bowl is about 8 cm to the arm’s left and slightly farther forward, so I’ll carry the pear above its center with generous rim clearance.
move_to
right_x0.4300right_y0.1100right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9993, 0.0467, 1.5555, 1.0813, -0.5529, -0.0154, -0.0719, 0.3384] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0 left_pitch=-0.1102 left_roll=-0.001 left_gripper=0.9993 right_x=0.3882 right_y=0.0245 right_z=0.1065 right_yaw=0.1006 right_pitch=-0.4576 right_roll=-0.0304 right_gripper=0.3384 state[joint_eff]: [0.0205, -1.3333, 6.9675, 1.6728, -0.0269, -0.0415, -0.0122, -0.3624, -9.1829, 8.9094, 1.2772, -0.0122, 0.0415, 0.8767] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.11,"right_z":0.22},"note":"The pear rose with the hand in the overhead view, confirming the grasp. The blue bowl is about 8 cm to the arm’s left and slightly farther forward, so I’ll carry the pear above its center with generous rim clearance."})
tool
executing move_to over 8 steps (0.8s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe blue bowl is centered directly ahead of and beneath the held pear in both overhead and wrist views. I’ll lower the pear into the bowl while keeping the same horizontal alignment.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.82, 0.6128, -0.4767, -0.0139, -0.0338, 0.9993, 0.2905, 1.7794, 1.7531, -1.0466, 0.0933, 0.1028, 0.3387] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0 left_pitch=-0.1114 left_roll=-0.001 left_gripper=0.9993 right_x=0.4239 right_y=0.1133 right_z=0.2078 right_yaw=0.1342 right_pitch=-0.4959 right_roll=-0.0407 right_gripper=0.3387 state[joint_eff]: [-0.335, -0.8821, 6.9402, 1.6337, -0.0513, -0.0708, -0.0122, -0.4034, -9.1966, 8.8274, 1.2186, 0.105, 0.188, 0.862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The blue bowl is centered directly ahead of and beneath the held pear in both overhead and wrist views. I’ll lower the pear into the bowl while keeping the same horizontal alignment."})
tool
executing move_to over 7 steps (0.7s)
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 pear is now lowered inside the blue bowl below the rim, with the bowl still centered around it. I’ll open the gripper to release the first fruit.
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, 0.8257, 0.6128, -0.4915, -0.0139, -0.0338, 0.9993, 0.289, 1.7733, 1.3666, -0.7372, 0.0963, 0.0944, 0.3415] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1533 left_yaw=0.0 left_pitch=-0.132 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4099 right_y=0.1079 right_z=0.1051 right_yaw=0.1284 right_pitch=-0.5658 right_roll=-0.0612 right_gripper=0.3415 state[joint_eff]: [-0.2667, -1.4564, 6.9538, 1.7656, -0.0464, -0.0366, -0.0122, -0.0615, -9.0735, 7.0359, 1.4139, -0.0317, 0.0659, 0.6276] 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_gripper":1.0},"note":"The pear is now lowered inside the blue bowl below the rim, with the bowl still centered around it. I’ll open the gripper to release the first fruit."})
tool
executing move_to over 7 steps (0.7s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe pear is visibly resting inside the blue bowl after release. I’ll lift the right hand straight up to clear the rim before moving toward the yellow fruit.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4919, -0.0139, -0.0338, 0.9993, 0.289, 1.779, 1.3487, -0.7403, 0.0971, 0.0868, 0.9957] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1532 left_yaw=0.0 left_pitch=-0.1324 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4045 right_y=0.1061 right_z=0.0963 right_yaw=0.1297 right_pitch=-0.5923 right_roll=-0.0708 right_gripper=0.9957 state[joint_eff]: [-0.0752, -1.306, 6.9675, 1.6484, -0.022, -0.0269, -0.0122, -0.335, -9.388, 7.7333, 1.0037, 0.0073, 0.0415, -0.2271] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The pear is visibly resting inside the blue bowl after release. I’ll lift the right hand straight up to clear the rim before moving toward the yellow fruit."})
tool
executing move_to over 7 steps (0.7s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteFrom above the bowl, the yellow fruit appears down-left in the right wrist view, meaning it is closer to the base and to the arm’s left. I’ll move the raised hand inward and left to hover over it.
move_to
right_x0.3200right_y0.1800right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8276, 0.6128, -0.4938, -0.0139, -0.0338, 0.9993, 0.289, 1.7817, 1.6718, -1.0683, 0.0967, 0.0784, 0.9967] state[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1524 left_yaw=0.0 left_pitch=-0.1362 left_roll=-0.0004 left_gripper=0.9993 right_x=0.4058 right_y=0.1066 right_z=0.1759 right_yaw=0.1348 right_pitch=-0.6001 right_roll=-0.0759 right_gripper=0.9967 state[joint_eff]: [-0.2803, -1.5385, 6.9128, 1.6532, -0.0269, -0.0659, -0.0122, -0.3487, -8.7043, 8.4171, 1.1013, 0.0513, 0.0122, 0.0952] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.18,"right_z":0.18},"note":"From above the bowl, the yellow fruit appears down-left in the right wrist view, meaning it is closer to the base and to the arm’s left. I’ll move the raised hand inward and left to hover over it."})
tool
executing move_to over 7 steps (0.7s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe yellow fruit is now near the jaw column but still fully visible around row 160, so it remains several centimetres ahead of the fingertips. I’ll move outward by about 5 cm and slightly left at clearance height, using the pear grasp’s successful depth offset.
move_to
right_x0.3800right_y0.1900right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8303, 0.6128, -0.4942, -0.0139, -0.0338, 0.9993, 0.5819, 1.6474, 1.5208, -1.1049, 0.1848, 0.3092, 0.9969] state[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1516 left_yaw=0.0001 left_pitch=-0.1392 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3265 right_y=0.1803 right_z=0.1741 right_yaw=0.1788 right_pitch=-0.62 right_roll=-0.083 right_gripper=0.9969 state[joint_eff]: [-0.0615, -1.4291, 6.9675, 1.6777, -0.0513, -0.0415, -0.0073, 0.1573, -8.9778, 5.6547, 0.8571, 0.2808, 0.149, 0.0024] 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":0.38,"right_y":0.19,"right_z":0.18},"note":"The yellow fruit is now near the jaw column but still fully visible around row 160, so it remains several centimetres ahead of the fingertips. I’ll move outward by about 5 cm and slightly left at clearance height, using the pear grasp’s successful depth offset."})
tool
executing move_to over 5 steps (0.5s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe yellow fruit is close but remains about 2 cm left of the jaw column and its center is still above the fingertip row. I’ll make one more high correction outward and left so its center reaches the bottom-center grasp point.
move_to
right_x0.4150right_y0.2100right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.5285, 1.8191, 1.7073, -1.1328, 0.1783, 0.2634, 0.997] state[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3707 right_y=0.1844 right_z=0.1693 right_yaw=0.1585 right_pitch=-0.6364 right_roll=-0.1027 right_gripper=0.997 state[joint_eff]: [-0.1573, -1.5521, 6.9538, 1.5849, -0.0513, -0.0415, -0.0122, -0.212, -9.1692, 8.2256, 0.8767, -0.022, 0.0562, -0.0073] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.21,"right_z":0.18},"note":"The yellow fruit is close but remains about 2 cm left of the jaw column and its center is still above the fingertip row. I’ll make one more high correction outward and left so its center reaches the bottom-center grasp point."})
tool
executing move_to over 4 steps (0.4s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe arm did not fully reach the last high target, leaving the yellow fruit slightly left of center. I’ll lower to a still-safe intermediate height, which should improve reach, while maintaining the corrected horizontal target.
move_to
right_x0.4000right_y0.2100right_z0.1200
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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.527, 1.8317, 1.7233, -1.1309, 0.1783, 0.2504, 0.997] state[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3748 right_y=0.186 right_z=0.1697 right_yaw=0.167 right_pitch=-0.6321 right_roll=-0.1061 right_gripper=0.997 state[joint_eff]: [-0.1026, -1.347, 6.9265, 1.5751, -0.0366, -0.0708, -0.0122, -0.0342, -9.3197, 8.4581, 0.9451, -0.0269, 0.0073, -0.0122] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.21,"right_z":0.12},"note":"The arm did not fully reach the last high target, leaving the yellow fruit slightly left of center. I’ll lower to a still-safe intermediate height, which should improve reach, while maintaining the corrected horizontal target."})
tool
executing move_to over 4 steps (0.4s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe pose is stalled with the tool tilted backward near a wrist singularity, so the requested translation is not tracking. I’ll explicitly pitch the tool forward at a safe height to restore outward reach before aligning over the fruit.
move_to
right_x0.4000right_y0.2100right_z0.1500right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.527, 1.8317, 1.7233, -1.1305, 0.1783, 0.2501, 0.9969] state[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3748 right_y=0.186 right_z=0.1698 right_yaw=0.1674 right_pitch=-0.6318 right_roll=-0.1061 right_gripper=0.9969 state[joint_eff]: [-0.1162, -1.306, 6.9128, 1.6288, -0.0513, -0.0562, -0.0122, -0.1162, -9.5111, 8.3897, 0.9451, -0.0122, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.21,"right_z":0.15,"right_pitch":0.3},"note":"The pose is stalled with the tool tilted backward near a wrist singularity, so the requested translation is not tracking. I’ll explicitly pitch the tool forward at a safe height to restore outward reach before aligning over the fruit."})
tool
executing move_to over 32 steps (3.2s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent notePitching forward restored tracking, and the overhead view now shows the right gripper directly over the yellow fruit; it has dropped out of the wrist view as expected when under the fingertips. I’ll descend vertically to its mid-height.
move_to
right_x0.4000right_y0.2100right_z0.0400right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8333, 0.6128, -0.495, -0.0139, -0.0334, 0.9993, 0.6746, 1.6169, 0.725, 0.4892, 0.524, 0.0803, 0.997] state[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1507 left_yaw=-0.0001 left_pitch=-0.143 left_roll=0.0 left_gripper=0.9993 right_x=0.3951 right_y=0.2074 right_z=0.1355 right_yaw=0.1819 right_pitch=0.2195 right_roll=-0.1262 right_gripper=0.997 state[joint_eff]: [-0.3487, -1.4838, 6.9812, 1.5751, -0.0659, -0.0464, -0.0122, 0.4171, -6.3111, 5.8598, 2.1905, 0.2564, -0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.21,"right_z":0.04,"right_pitch":0.3},"note":"Pitching forward restored tracking, and the overhead view now shows the right gripper directly over the yellow fruit; it has dropped out of the wrist view as expected when under the fingertips. I’ll descend vertically to its mid-height."})
tool
executing move_to over 7 steps (0.7s)
step 200
top_cam
camera top_cam step 200
assistant
agent noteAt table height the yellow fruit is occluded by the centered gripper in the overhead view, while the blue bowl remains behind it. I’ll close the jaws to grasp the fruit.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8368, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6773, 2.0228, 0.614, 1.0473, 0.5396, 0.0395, 0.9969] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1498 left_yaw=0.0001 left_pitch=-0.1465 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3987 right_y=0.2088 right_z=0.0392 right_yaw=0.189 right_pitch=0.2557 right_roll=-0.1512 right_gripper=0.9969 state[joint_eff]: [-0.2667, -1.7026, 7.1179, 1.5702, -0.0366, -0.0806, -0.0073, -0.0479, -6.5026, 3.7538, 1.2527, -0.0317, 0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":0.0},"note":"At table height the yellow fruit is occluded by the centered gripper in the overhead view, while the blue bowl remains behind it. I’ll close the jaws to grasp the fruit."})
tool
executing move_to over 10 steps (1.0s)
step 210
assistant
agent noteThe gripper closed nearly empty; the overhead view reveals the remaining round fruit just upper-left of the hand, while the pear is already in the bowl. I’ll reopen and lift clear, keeping the forward pitch that gives reliable reach, then correct toward that visible fruit.
move_to
right_z0.1600right_gripper1.0000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6773, 2.0251, 0.6178, 1.0988, 0.5423, 0.0406, 0.009] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1497 left_yaw=0.0001 left_pitch=-0.1469 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4025 right_y=0.2113 right_z=0.0503 right_yaw=0.1789 right_pitch=0.3029 right_roll=-0.1247 right_gripper=0.009 state[joint_eff]: [-0.1162, -1.388, 6.9812, 1.5897, -0.0464, -0.0464, -0.0122, -0.0342, -8.759, 3.494, 1.243, -0.0122, -0.0757, 0.569] 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_z":0.16,"right_gripper":1.0,"right_pitch":0.3},"note":"The gripper closed nearly empty; the overhead view reveals the remaining round fruit just upper-left of the hand, while the pear is already in the bowl. I’ll reopen and lift clear, keeping the forward pitch that gives reliable reach, then correct toward that visible fruit."})
tool
executing move_to over 10 steps (1.0s)
step 220
assistant
agent noteFrom the raised pose, the round white fruit is now clearly centered between the open jaws in the overhead view; the yellow fruit lies separately below-left, and the pear is in the bowl. I’ll descend vertically over the centered white fruit for a cleaner grasp.
move_to
right_x0.4000right_y0.2100right_z0.0400right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8387, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6769, 1.6421, 0.7151, 0.6029, 0.5381, 0.0353, 0.9957] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1493 left_yaw=0.0001 left_pitch=-0.1484 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4008 right_y=0.2105 right_z=0.145 right_yaw=0.1874 right_pitch=0.2881 right_roll=-0.1366 right_gripper=0.9957 state[joint_eff]: [-0.1573, -1.5795, 7.0359, 1.6239, -0.0464, -0.0513, -0.0122, -0.1162, -8.3624, 8.0342, 1.956, 0.0757, 0.0464, -0.1245] approver: 10 step(s) modified (delta_clamped ×10). 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_x":0.4,"right_y":0.21,"right_z":0.04,"right_pitch":0.3},"note":"From the raised pose, the round white fruit is now clearly centered between the open jaws in the overhead view; the yellow fruit lies separately below-left, and the pear is in the bowl. I’ll descend vertically over the centered white fruit for a cleaner grasp."})
tool
executing move_to over 7 steps (0.7s)
step 227
assistant
agent noteAt grasp height the white fruit sits between the two visible finger tips rather than ahead of them. I’ll close the gripper now.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8436, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6769, 2.0293, 0.614, 1.0607, 0.5407, 0.0319, 0.9962] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1479 left_yaw=0.0001 left_pitch=-0.1537 left_roll=-0.0 left_gripper=0.9993 right_x=0.3993 right_y=0.2088 right_z=0.0393 right_yaw=0.191 right_pitch=0.2613 right_roll=-0.1557 right_gripper=0.9962 state[joint_eff]: [-0.2256, -1.853, 6.9128, 1.5653, -0.0611, -0.0366, -0.0122, -0.1436, -6.9265, 3.6034, 1.1893, 0.0855, -0.0513, 0.0464] 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":0.0},"note":"At grasp height the white fruit sits between the two visible finger tips rather than ahead of them. I’ll close the gripper now."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent noteThe jaws again closed empty, and the overhead view shows the white fruit just left of the grasp point rather than between the closed fingertips. I’ll reopen and lift, then apply a measured leftward and slight outward correction from above.
move_to
right_z0.1500right_gripper1.0000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8452, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6769, 2.0361, 0.6117, 1.0847, 0.5407, 0.0261, 0.0082] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1475 left_yaw=0.0001 left_pitch=-0.1552 left_roll=-0.0 left_gripper=0.9993 right_x=0.3998 right_y=0.2092 right_z=0.0407 right_yaw=0.1923 right_pitch=0.274 right_roll=-0.1542 right_gripper=0.0082 state[joint_eff]: [-0.1026, -1.6205, 6.8991, 1.5946, -0.0415, -0.0708, -0.0122, -0.212, -9.1009, 4.0547, 1.6044, 0.1099, 0.0366, 0.652] 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_z":0.15,"right_gripper":1.0,"right_pitch":0.3},"note":"The jaws again closed empty, and the overhead view shows the white fruit just left of the grasp point rather than between the closed fingertips. I’ll reopen and lift, then apply a measured leftward and slight outward correction from above."})
tool
executing move_to over 10 steps (1.0s)
step 247
assistant
agent noteWith the hand raised, the white fruit is about 3 cm to the arm’s left and 2 cm farther forward than the last grasp point. I’ll make that correction at clearance height while maintaining the forward-pitched reachable posture.
move_to
right_x0.4200right_y0.2400right_z0.1500right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8467, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6781, 1.66, 0.6807, 0.651, 0.5381, 0.0078, 0.9953] state[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1471 left_yaw=0.0001 left_pitch=-0.1568 left_roll=0.0 left_gripper=0.9993 right_x=0.3973 right_y=0.2084 right_z=0.1338 right_yaw=0.2044 right_pitch=0.2823 right_roll=-0.1661 right_gripper=0.9953 state[joint_eff]: [-0.1846, -1.5111, 6.9675, 1.5653, -0.0464, -0.0513, -0.0122, -0.0068, -8.5265, 7.8427, 1.8046, 0.149, 0.0757, -0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.24,"right_z":0.15,"right_pitch":0.3},"note":"With the hand raised, the white fruit is about 3 cm to the arm’s left and 2 cm farther forward than the last grasp point. I’ll make that correction at clearance height while maintaining the forward-pitched reachable posture."})
tool
executing move_to over 3 steps (0.3s)
step 250
assistant
agent noteAfter the correction, the white fruit is centered beneath the open jaws in the overhead view, with the fingers symmetrically straddling it. I’ll descend vertically to grasp height.
move_to
right_x0.4200right_y0.2400right_z0.0400right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8497, 0.6128, -0.4969, -0.0139, -0.0338, 0.9993, 0.704, 1.7458, 0.8135, 0.5812, 0.5491, 0.0063, 0.9962] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1461 left_yaw=0.0001 left_pitch=-0.1613 left_roll=0.0001 left_gripper=0.9993 right_x=0.4138 right_y=0.2352 right_z=0.1353 right_yaw=0.2246 right_pitch=0.2635 right_roll=-0.1819 right_gripper=0.9962 state[joint_eff]: [-0.3487, -1.6205, 6.8991, 1.619, -0.0024, -0.0073, -0.0122, 0.1983, -8.8274, 7.2957, 1.8779, 0.315, -0.0024, 0.0806] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.24,"right_z":0.04,"right_pitch":0.3},"note":"After the correction, the white fruit is centered beneath the open jaws in the overhead view, with the fingers symmetrically straddling it. I’ll descend vertically to grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 257
assistant
agent noteThe arm stayed high instead of descending at this far diagonal reach, indicating a reach/pose limit rather than contact. I’ll pitch the tool farther forward, which this rig uses to recover table-level reach, while keeping the fruit-centered horizontal target.
move_to
right_x0.4200right_y0.2400right_z0.0400right_pitch0.5500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8501, 0.6128, -0.498, -0.0139, -0.0338, 0.9993, 0.7116, 1.7527, 0.8341, 0.5697, 0.5495, 0.0063, 0.9962] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1457 left_yaw=0.0001 left_pitch=-0.1629 left_roll=0.0002 left_gripper=0.9993 right_x=0.4152 right_y=0.241 right_z=0.1381 right_yaw=0.2316 right_pitch=0.2656 right_roll=-0.1809 right_gripper=0.9962 state[joint_eff]: [-0.0752, -1.5385, 6.8991, 1.5653, -0.0317, -0.0317, -0.0073, -0.4581, -8.335, 7.4735, 1.8828, 0.2662, -0.0366, -0.0024] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.24,"right_z":0.04,"right_pitch":0.55},"note":"The arm stayed high instead of descending at this far diagonal reach, indicating a reach/pose limit rather than contact. I’ll pitch the tool farther forward, which this rig uses to recover table-level reach, while keeping the fruit-centered horizontal target."})
tool
executing move_to over 10 steps (1.0s)
step 267
assistant
agent noteThe stronger forward pitch allowed the hand to descend to 6.4 cm while staying centered over the white fruit, placing its midline between the jaws. I’ll close to grasp 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, 0.8547, 0.6128, -0.5095, -0.0135, -0.0338, 0.9993, 0.712, 2.3043, 0.7719, 1.5234, 0.5678, -0.1345, 0.9962] state[eef_state]: left_x=0.2794 left_y=-0.0001 left_z=0.1425 left_yaw=-0.0001 left_pitch=-0.1789 left_roll=0.0003 left_gripper=0.9993 right_x=0.4272 right_y=0.2479 right_z=0.0639 right_yaw=0.2285 right_pitch=0.5564 right_roll=-0.1641 right_gripper=0.9962 state[joint_eff]: [-0.0342, -1.8667, 6.8855, 1.7021, -0.0415, -0.0366, -0.0122, 0.0889, -6.4342, 2.2496, 1.0183, 0.0806, 0.0659, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The stronger forward pitch allowed the hand to descend to 6.4 cm while staying centered over the white fruit, placing its midline between the jaws. I’ll close to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 277
assistant
agent noteThe close was empty, and the 6.8 cm readback indicates the fingertips were still above this low round fruit despite good horizontal alignment. I’ll reopen and command a deeper descent in the same pose so the jaws reach its mid-height.
move_to
right_gripper1.0000right_z0.0000right_pitch0.5500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8547, 0.6128, -0.5137, -0.0135, -0.0338, 0.9993, 0.7116, 2.3131, 0.7795, 1.5517, 0.5674, -0.1421, 0.0089] state[eef_state]: left_x=0.2787 left_y=-0.0001 left_z=0.1417 left_yaw=-0.0001 left_pitch=-0.1831 left_roll=0.0004 left_gripper=0.9993 right_x=0.4284 right_y=0.2488 right_z=0.0682 right_yaw=0.2252 right_pitch=0.5797 right_roll=-0.1581 right_gripper=0.0089 state[joint_eff]: [-0.1026, -1.5385, 6.8991, 1.58, -0.0415, -0.0366, -0.0122, -0.3214, -10.6872, 2.5778, 1.4628, -0.022, 0.0464, 0.652] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_z":0.0,"right_pitch":0.55},"note":"The close was empty, and the 6.8 cm readback indicates the fingertips were still above this low round fruit despite good horizontal alignment. I’ll reopen and command a deeper descent in the same pose so the jaws reach its mid-height."})
tool
executing move_to over 10 steps (1.0s)
step 287
assistant
agent noteThe deeper approach moved the open jaws fully around the teal round fruit in the overhead view, and the grasp point is now at 5.2 cm. I’ll close at this lower height.
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, 0.8593, 0.6128, -0.5205, -0.0139, -0.0338, 0.9993, 0.7235, 2.455, 0.9325, 1.5875, 0.564, -0.1333, 0.9954] state[eef_state]: left_x=0.2776 left_y=-0.0 left_z=0.1393 left_yaw=0.0003 left_pitch=-0.1945 left_roll=0.0009 left_gripper=0.9993 right_x=0.4463 right_y=0.2729 right_z=0.0521 right_yaw=0.2196 right_pitch=0.6217 right_roll=-0.1207 right_gripper=0.9954 state[joint_eff]: [-0.0479, -1.894, 6.8718, 1.6142, -0.0366, -0.0366, -0.0122, -1.0051, -8.7453, 2.6598, 1.5653, 0.0122, 0.0904, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The deeper approach moved the open jaws fully around the teal round fruit in the overhead view, and the grasp point is now at 5.2 cm. I’ll close at this lower height."})
tool
executing move_to over 10 steps (1.0s)
step 297
assistant
agent noteThe rounded teal fruit has ejected repeatedly from the right jaws, so I’ll stop repeating that approach and switch to the left arm for the dark fruit near center-left. I’ll simultaneously park the right arm high at home and move the left arm to an estimated hover over the dark fruit.
move_to
right_x0.2960right_y0.0000right_z0.2000right_pitch0.0000right_gripper1.0000left_x0.3000left_y-0.2400left_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8593, 0.6128, -0.5205, -0.0139, -0.0338, 0.9993, 0.7238, 2.4592, 0.9241, 1.5444, 0.5606, -0.1234, 0.0084] state[eef_state]: left_x=0.2776 left_y=-0.0 left_z=0.1393 left_yaw=0.0003 left_pitch=-0.1945 left_roll=0.0009 left_gripper=0.9993 right_x=0.4446 right_y=0.2724 right_z=0.0382 right_yaw=0.2351 right_pitch=0.5735 right_roll=-0.1409 right_gripper=0.0084 state[joint_eff]: [-0.1983, -1.4838, 6.8718, 1.5458, -0.0611, -0.0366, -0.0122, -0.1983, -13.135, 3.1521, 1.7998, 0.0073, 0.0269, 0.652] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0.0,"right_z":0.2,"right_pitch":0.0,"right_gripper":1.0,"left_x":0.3,"left_y":-0.24,"left_z":0.17},"note":"The rounded teal fruit has ejected repeatedly from the right jaws, so I’ll stop repeating that approach and switch to the left arm for the dark fruit near center-left. I’ll simultaneously park the right arm high at home and move the left arm to an estimated hover over the dark fruit."})
tool
executing move_to over 23 steps (2.3s)
step 320
assistant
agent noteThe left wrist view shows the dark fruit precisely on the jaw column, with its center around row 177 and still just ahead of the fingertip point. I’ll move outward about 4.5 cm at clearance height to bring its center under the jaws.
move_to
left_x0.3400left_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9466, 1.5177, 1.1507, -0.691, -0.5957, -0.7799, 0.9993, -0.1452, 0.8337, 0.6518, -0.3584, -0.1997, -0.2966, 0.9977] state[eef_state]: left_x=0.2951 left_y=-0.234 left_z=0.1554 left_yaw=-0.0129 left_pitch=-0.2334 left_roll=0.0181 left_gripper=0.9993 right_x=0.3055 right_y=-0.0056 right_z=0.1972 right_yaw=0.179 right_pitch=0.0342 right_roll=-0.1556 right_gripper=0.9977 state[joint_eff]: [-0.5128, -6.8034, 8.7863, 1.0916, -0.6276, -0.0464, -0.0073, -0.1846, -1.8393, 9.0325, 1.7021, -0.2418, 0.1099, -0.0415] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_z":0.17},"note":"The left wrist view shows the dark fruit precisely on the jaw column, with its center around row 177 and still just ahead of the fingertip point. I’ll move outward about 4.5 cm at clearance height to bring its center under the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 324
assistant
agent noteThe dark fruit has shifted to the bottom-center fingertip region while remaining laterally centered. I’ll descend the left hand vertically to mid-fruit height.
move_to
left_x0.3400left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8394, 1.6035, 1.2453, -0.6964, -0.5514, -0.7155, 0.9993, -0.1459, 0.8383, 0.6571, -0.3988, -0.2138, -0.3222, 0.9983] state[eef_state]: left_x=0.3307 left_y=-0.2245 left_z=0.1545 left_yaw=0.0298 left_pitch=-0.2623 left_roll=0.0361 left_gripper=0.9993 right_x=0.3012 right_y=-0.0028 right_z=0.1903 right_yaw=0.2035 right_pitch=-0.0028 right_roll=-0.1572 right_gripper=0.9983 state[joint_eff]: [0.0479, -7.5692, 9.1419, 1.1795, -0.1978, 0.1978, -0.0122, -0.0205, -1.894, 6.612, 2.1416, 0.0611, 0.2027, 0.0513] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_z":0.04},"note":"The dark fruit has shifted to the bottom-center fingertip region while remaining laterally centered. I’ll descend the left hand vertically to mid-fruit height."})
tool
executing move_to over 8 steps (0.8s)
step 332
assistant
agent noteThe left arm stayed at 15.6 cm instead of descending, showing the same backward-tilt reach limit encountered on the right. I’ll pitch the left tool forward to restore table-level reach while holding the dark fruit’s horizontal alignment.
move_to
left_x0.3400left_z0.0400left_pitch0.4500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8314, 1.6112, 1.2587, -0.6933, -0.5373, -0.6876, 0.9993, -0.1459, 0.8394, 0.6567, -0.3939, -0.2111, -0.3233, 0.9983] state[eef_state]: left_x=0.3339 left_y=-0.2267 left_z=0.1557 left_yaw=0.0112 left_pitch=-0.2663 left_roll=0.0402 left_gripper=0.9993 right_x=0.3019 right_y=-0.0033 right_z=0.1908 right_yaw=0.2019 right_pitch=-0.0001 right_roll=-0.1607 right_gripper=0.9983 state[joint_eff]: [-0.2667, -7.8154, 9.0735, 1.3065, -0.2564, 0.2125, -0.0122, -0.0889, -1.4564, 7.0222, 1.6484, -0.0904, -0.0513, -0.0122] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_z":0.04,"left_pitch":0.45},"note":"The left arm stayed at 15.6 cm instead of descending, showing the same backward-tilt reach limit encountered on the right. I’ll pitch the left tool forward to restore table-level reach while holding the dark fruit’s horizontal alignment."})
tool
executing move_to over 24 steps (2.4s)
step 356
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]: [-0.9604, 2.1731, 0.5522, 1.2602, -0.9619, -0.2226, 0.9993, -0.1459, 0.8413, 0.6571, -0.3939, -0.2111, -0.3256, 0.9983] state[eef_state]: left_x=0.3381 left_y=-0.2242 left_z=0.0217 left_yaw=-0.0213 left_pitch=0.3667 left_roll=0.1019 left_gripper=0.9993 right_x=0.3021 right_y=-0.0034 right_z=0.1904 right_yaw=0.2031 right_pitch=-0.0018 right_roll=-0.1621 right_gripper=0.9983 state[joint_eff]: [-0.7726, -8.4991, 2.5368, 2.1319, -0.3785, 0.0513, -0.0122, -0.1026, -1.6889, 7.0222, 1.7118, -0.1245, 0.0122, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [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 · 7.972 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
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{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0143, -0.0299, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0231, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=0.0002 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 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=0.9992\nstate[joint_eff]: [-0.4034, -1.7162, 9.7846, 1.8486, -0.1148, 0.1148, -0.0806, -0.2667, -1.5932, 9.3607, 1.8291, -0.0659, -0.0513, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2967f6d4b6f2cc58952e13e332ffa995d47960423fed583ea156f51ac0da48fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d17edb01300e8c7cc687cd9631c5be97fbef96a4c1f4edd60a757bff1d417b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29da1c5614d6a1bb6f2e932f0680ac93803027231c3bcb39790b731c5957b8a0",
      "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 · 2.341 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_01023e430eb7bae1016ab44f3a053087d0afe9f98539274870",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE9BBHELa3fD98agk2ceNektdGQMOXj0-oZa8XFo_1SaIdtmPbh0cUM5nGm6r1nCZNFmXTB5LZi0PDnuIbofjyl38y5_roGaiiScqrRCZufvFplE_Bu9KGM-c43Y9mlJ6jBjZhxT2FFtn7V5CI3iK7LRoCUmZ6-G6J6BN8h9V8mu_eirRMBGffOW-ZxQr2QmW9-Zi8gDgRcQRc-z4gZ5pVz40I4imhzAD46HIEPay2yaKMLm2jZJoSfmdhkokYwEwT0Vp9z45Dup6ApUqlT_MSqV1J-7eLSsbvC9c-140neAl-uKPEk4cHt65S14FGlIST28LHWwE-NnpakZbf5AkUBpZ3YDzj0fkd4f4zc54XXKkYJgdnBY-IF9A_lZNEvYZLRSWzXCKZz8sYcfK2IxkxuSWYPr9LHCSYrjzHKN2NodMyu6yVUvtW4vR9rqE-Fo-eF1qFFQw998Ds-pYv9--HOmrw1pAX3ZUJMDa05910_prLRrFbhNiroqYBiLJ27oK_zrkqX0bz6_uDZ-Xt9yZRFp2rlIXzxsxSSgKRAe0OrMeNeIZDp0rhd0rlZ4DsVLcxc1n8QbK-UH4r2zMmLXf9RlCbsGDJpUVB2ynXoBtFMsgDDPwzN60I8eSlaa8Xn6yliNcVb5FQX1RqTP6RAy2Giducr5S8S0tT68f8jRdGVwSKHRC5B7Y_bn8CbyQ6wwHu4Biz8Z1mahj2qoz5WBV8rYwJ25hcVeDM5lpIFsWmbpR25QfMV9Ir8L16ZGPkHXJiS_a4Je2_AfBuWKnv_5kI_qYcOHMrbRmlhcfgJHGSFofkXwPdfkDXurZ_0boImOPkEPzbb1aFZ8jAHCY0pc_RLHPr0epFqYCAesFL__jJT8GuhjdJ40fOZGyRfozt01NFwRGOilu8mF9pRZ4tZUE9AWbuaLB-2HWu_BwrGGPqXYyyIh63kNSrvMzJuR2eih2T7VtOFrCwyjDrGqVTaLOugE87dLIBB6rDPOnPdnQjO5Ik0EN13xFmpcv2C5wJX3_VkUNQZnr5hvuaPQQn0kSt-_Em2iJlIlvA_xSjF4_m_fXuTe3WJSICHwEVVGlMqsotpVK7CBaLGrsLPl-Toy5wcSZApK513d3aJ6NGi21NSwozPzIEo1l3c7x7xwoVhpTM2LNeOpDMJhd_a7NzcFXzVJIHyH0xJgQsk8lNvw_L3lMKIcZ8w3OPEFsWUeRvVJ7BNnkKmFrBs6_RdCbKTmBVR7SsieE9elSAKGphqQG-zbU6450hkWYMZjo9PA_73qQZYN_W2mjxVeuXtB9t0oQwZQR3yvqzo9q7HedaNGMPWEm4JCObCsCSx60a-ziQI06RBQzkNqfJjdhvpC51O_7yZF9CMkOPBV6QzQY-UgxhXa6NsL-hWRbye6FmiHPonwevueg1v3YLO6asYYwf9VWFxCyD22bTbUvYaqHSYAauiSg6Bni7Z9RDv7ARog78TtKax_EtqknRvGF5PI8M8VMnBFL9gwa4ZliFhMguYU7OSSVRdkJcPDJDCq8llg4ijz401gwhq9GFnS5plkx7oD6xfdER1L7hcS8O-l2QqD_0ofQdLwkJrsIC53ahOAPVvvVOZ_411qhYfwV8C9o2CqGwG8sD2D4eK0cM68VEa7dOC4pNuLi7DQMew12ZXB-GXAumW9a6nIfo0vzy0mbLxqLcSo9aEBKEq5qdCRR_AFqEvNiMripbkNnHKCLm8UlaDJv6U_74tqg4wu0pGVKhsnc_uErdLlHwtzQ5LbhmRZAqBXJkb67wWCfrljg_BLgabVEyycgyaIPHejTjawERLArPEmJOuoXLdZ6t2M95iVpvUN0JC2BSSopawA7YQKOVq0ecq7IGei2po06KMBeHJ6sBWWvxOwJU66oNoiqHRAbkqCOwU=",
  "id": "rs_01023e430eb7bae1016ab44f3ecd1887d0bdb937ce0b9bcda1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.012,\"right_z\":0.045},\"note\":\"The right wrist view shows the green fruit almost directly between the open jaws, just slightly left of the jaw centerline. I’ll make a small lateral correction and descend to grasp height while keeping the jaws open.\"}",
  "call_id": "call_zuMh4RdqzjMhsd1LZndcowX6",
  "id": "fc_01023e430eb7bae1016ab44f40328c87d0b6adc4cc410c88f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zuMh4RdqzjMhsd1LZndcowX6",
  "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, 0.8021, 0.6132, -0.4007, -0.0139, -0.0311, 0.9993, 0.0505, 1.1145, 0.1253, 0.3828, 0.0265, 0.0177, 0.9991]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0016 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.9993 right_x=0.2909 right_y=0.0136 right_z=0.0368 right_yaw=0.0152 right_pitch=-0.0365 right_roll=-0.0027 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.4154, 7.0769, 1.8779, -0.0562, -0.0659, -0.0171, 0.0342, -2.4957, 5.8325, 1.9853, 0.1245, 0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:994044015f50e9c4f26345d5e14803066e6151519bfaa96569184ae025fc74d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c0de123e27ec5b2864b67ad2380a82c5e2e5d59aa00cf349c9a25118d61a05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea2bff18eaa4a3f131f806ef2448dd82a7c9513c1028738d9af5ad1028b8390",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 4.538 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]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0143, -0.0299, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0231, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=0.0002 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 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=0.9992\nstate[joint_eff]: [-0.4034, -1.7162, 9.7846, 1.8486, -0.1148, 0.1148, -0.0806, -0.2667, -1.5932, 9.3607, 1.8291, -0.0659, -0.0513, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4007, -0.0139, -0.0311, 0.9993, 0.0505, 1.1145, 0.1253, 0.3828, 0.0265, 0.0177, 0.9991]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0016 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.9993 right_x=0.2909 right_y=0.0136 right_z=0.0368 right_yaw=0.0152 right_pitch=-0.0365 right_roll=-0.0027 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.4154, 7.0769, 1.8779, -0.0562, -0.0659, -0.0171, 0.0342, -2.4957, 5.8325, 1.9853, 0.1245, 0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:994044015f50e9c4f26345d5e14803066e6151519bfaa96569184ae025fc74d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c0de123e27ec5b2864b67ad2380a82c5e2e5d59aa00cf349c9a25118d61a05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea2bff18eaa4a3f131f806ef2448dd82a7c9513c1028738d9af5ad1028b8390",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9LCCM0chgchY4oABqNi2WxQwJjqVPdjRsAnur8x9zdg9a4Nmspue9LStDClijFLzN5k-PfcIvQd-nmOyXjs8bqwwEEFHwXNuPb_OTGhLH2GYlh6sz1o1Txoc4XWqUzDJ1OqndSxqdHTvMTZ1wptnQPCrSRiv5WIAJbMbzQ--r0efQwcciXhypjAX3DxWrtyduSczI17QKfXskrgPMu75yifMbK4FXfa3L8skoPKmQZW49RQUcpEms006sJU60p7nMv0HtJZBQoF-bgWRHfhFZt7qg383B-DKEXOkpLCAfxBc3jY94oJfv0qzsZYpVLINL4Lsj8cqPWr4DB4E1McwvxotjHZ3s3Sa0PnRXp6txUs47bMicRMTfEZ6YsfiltmU5iBKFEsO4qggYdBM2PjLN-JLwxfLK4fUoRYzahvIRm3pnFpxQlhJ4eaOZkgXQ-f6MNGSE0Eg5ldxGeQZVyNfABJOzmbIsmvbe1rTvj8gaxYfl40Jgz7iW2j-RUFqD_m-Y9Gb4nS4rhxcYDis-cOT0Xi-7wLquqgMs3Noj-HWBHF1qsNmgmAW_7jL8r3YQRfj1zpj4dLZY5g2rR9ZFUseYpf8_gKBVvf4TrPrK47mo5Z27hmDB67gYjRs04q2lvrYmPu8soC-ipXIKFeWVZJ1GE8gWQNsuoGBgHVtmJsX-8b_4FcurFaaUbl1YQfg9yhfLoPIpKuClYGpJbNVmGo1g1M3bvRspXN3XGdULotcwCyDXVXkbVX2FSHn4duxxW1kfnk392WXWj5k_Ha5omBj0r0DDPS1Mi9vIT2vh9vcklQ8Plhl4BxA3A5NKPfNYk_Vloy97ds1PtLyXY5RMKo0lOQLf-YLwPLGeu8IuMujZDP7dJ2_8nHjJK-b5_9QgTtqMlcVpdrMsK5A1U-oEjqFFFl1uEDyjaLESoDgv5RMRiRT7qgFIo5jjQQ1iqal3Y9Q8mIBVZlrt491It_W7HtPdqTrEV2VbW9N_1F5X_udMzXfWYFtKx-y1WciF9_fuhOK_s64NeCZFySCtn0RH7YycOeWnhjlxByeThMp6Y9oCGzMNHqBiNT80ULmKa7PKwKbviov5mtzIhFuuK7y1_pMXAAHohDz5MmszJ82K5yEHKQQleAGLj3BdIE0HjORBfMp6zO73Jvv41teQiMwFfNr2qk0iIr0A1RjDjR4i8PnOWg4BsckyGwR2EyEIVjGsE-RT_z9J3vDmWMrLCOuUzmchpj_uhY_VZzScooLySp9_mvSU5bDZUSlzIrgNyPui0SqU7rHVNPk4YPIKLe_9ocCQzF89_Vp2ZZdZm6f6nKoCnkS6qG5LbPzeY9pBaVRSBzBfIM2E6iCoP1hSpbmlYm68_XVMiA7Rogi6ZKIXqgX-yBY54KXkPvGOtCCInZkGM1T7GgmY3Hj9A9sqaj87KBbm1vI25jiQifUjYzhizhzvX2q67MbXATgtN8R6X89vO3XNxSbZwCC_cXsoGoxlGdmceMw==",
  "id": "rs_01023e430eb7bae1016ab44f4a4ec487d0a36d2044f35983bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the green pear is centered squarely between the jaws in the right wrist view. I’ll close the gripper now to secure it.\"}",
  "call_id": "call_lqLVk7VMxQ6sy38KJ8Pp9fsN",
  "id": "fc_01023e430eb7bae1016ab44f4ad30087d09ab84ddafe895c9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lqLVk7VMxQ6sy38KJ8Pp9fsN",
  "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, 0.8021, 0.6132, -0.4091, -0.0139, -0.0311, 0.9993, 0.0505, 1.1145, 0.1249, 0.3763, 0.0223, 0.0151, 0.0084]\nstate[eef_state]: left_x=0.2925 left_y=-0.0004 left_z=0.176 left_yaw=-0.0016 left_pitch=-0.0256 left_roll=-0.0006 left_gripper=0.9993 right_x=0.2899 right_y=0.0143 right_z=0.0354 right_yaw=0.0202 right_pitch=-0.0435 right_roll=-0.0027 right_gripper=0.0084\nstate[joint_eff]: [-0.0068, -1.2923, 7.0085, 1.7656, -0.0415, -0.0513, -0.0122, -0.0615, -2.2632, 5.6547, 1.8144, 0.0171, 0.0317, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e132c81fd15fa40eaf53025ffa0c207cc9ba0f223e87f651a8eb630d40de0ed6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a714a625f1a27929a87029b13cb1770fd38113d6c7a9ddb4487e4d966d7d54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2111266c62d91a7792909a6f66f5bdb9ef14cd07e389065c12155ca64882f88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.113 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, -0.4007, -0.0139, -0.0311, 0.9993, 0.0505, 1.1145, 0.1253, 0.3828, 0.0265, 0.0177, 0.9991]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0016 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.9993 right_x=0.2909 right_y=0.0136 right_z=0.0368 right_yaw=0.0152 right_pitch=-0.0365 right_roll=-0.0027 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.4154, 7.0769, 1.8779, -0.0562, -0.0659, -0.0171, 0.0342, -2.4957, 5.8325, 1.9853, 0.1245, 0.0366, -0.022]",
      "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, 0.8021, 0.6132, -0.4091, -0.0139, -0.0311, 0.9993, 0.0505, 1.1145, 0.1249, 0.3763, 0.0223, 0.0151, 0.0084]\nstate[eef_state]: left_x=0.2925 left_y=-0.0004 left_z=0.176 left_yaw=-0.0016 left_pitch=-0.0256 left_roll=-0.0006 left_gripper=0.9993 right_x=0.2899 right_y=0.0143 right_z=0.0354 right_yaw=0.0202 right_pitch=-0.0435 right_roll=-0.0027 right_gripper=0.0084\nstate[joint_eff]: [-0.0068, -1.2923, 7.0085, 1.7656, -0.0415, -0.0513, -0.0122, -0.0615, -2.2632, 5.6547, 1.8144, 0.0171, 0.0317, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e132c81fd15fa40eaf53025ffa0c207cc9ba0f223e87f651a8eb630d40de0ed6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a714a625f1a27929a87029b13cb1770fd38113d6c7a9ddb4487e4d966d7d54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2111266c62d91a7792909a6f66f5bdb9ef14cd07e389065c12155ca64882f88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9RF81iVMZ3tQPZgB7Sbk4Ohou3vT0JEvlvZ6ZA_2Of0uMuNpYqyT0Mn0teS2Y6fM6ivXlmzt6RCxibiVOMIUXZ5yeKDDt-52YVFfazuhCCktNMQIyp_sGROpoWhozumZtThKtoRaN75yGTNB_QVTpJW94gcuDnkNaMyGMogLDn_qU0_NIbZDWBHmlQf2FFFzORv2sDVM-4UweLDrOxR6M5ldyuKB6zHvEPg1mWSbb4-79pRXkbgsHQLaT1YW65_fcTx8E1t6lNsdHHL_W4dvu2qZf45tq3XczV2-pCm9jBzQpK5OXvT9yJ4ZI4cmFvfwIWydXu0jX07WzuG56nhBp-_KhhffwABnUOhey1_J58AIDgXeN_z4aj-Oy_MR9OizI0LNZnsf13kvpOqaIHIAetjFu9l0bvJk178raKNKDnmjUqmS6aZlhrTm1OIqO8AhfmE9xc57QDo3NJk1H20HUk6WjD8CBq5QNw_aT6O0U2m5NM4-sr7ZVZ6qBvugBpSHQ59jL_f_8oCEE8PVQoCNFAPeWV149wp-PP2QYhke74EUv35Bn6lZ5THjr8Z7jHevcsdCiMwEpKOcg1zNdos3UPYQyZrMWnavCL33qbJA6n2c2a9siuMHi5FWH52FZBQil4FjWQjvvNoylekc3kMwrcsWXCwLWSZTLolo9EIUsUbudF4uy2i8p2nQuwrFqgBGCwFCGQufeEZzNbBvbwTL4uTcRAQtbx9R58lFFnEc0I6VJasqPj5TVIK-qQ8SOmTfID71nHbLjjcQUUI_so2UKwWR7Rh0YPtfiXGLcJAJkqOEnnVMcUCe5rM_-zVhwiRe_XQfOvxQI_MBrwLrPv2dmqavfsqw0bHyZAKYQ9L3kObBnB1W-0LIuuo6Qsbzl3gTHXK4is9WD2pfibxZq7R8xctEOycAoCDYl1aO6IRVl2Eq-52pGLuCjmhVrFZEzZ5ZcfYLZERzF07ACPKoeFJF5pKg6ZKEwCWwwNB7QOjmOGsVdCwmrg_7xOogbYI608drsaE5jcojiuZpyRn54iWfQdf9B9Qowlk7q-aB9-QOX8ICiY_kqFn7nKLbm1323qggMQKvezPnC0uc5MHLAjMjFgQbCOSSnuhDEOZmQeabtV0s_uZ5oGSVIw3SENJfS5brzm_Qn97z9gqS6MQH774-Qxr6ci_pFtlGJCcP82Fq8nqzhw_Izam4RP9iJt_Yg2yq2CS-0e_uONmy9M-1OPEHgY-R33s_geuo8pRCAD1E5KtEfFIU_tu6q0EZVplqQ5W7Okr_3kwjey3VQKM20bXizjzMRnrNfyr92lZZgaBMLYBjmftd6b_2LibpGNGrsWyLt_j-92CePqz4eoJV0m0U45X5kwqKy2kbfdlxDMHDLNsT_PGXCt35ZSD4i5F8s0VZUiPj2y0WCtMrhZdJA3lXtt6KRiTKocDKhXJtqlHtq7a8W1qDG2sepYhir5Bvyq5epJNZkBL-cLPbnxPGeUQpVqRqGdDX0MPRMVkXRVm8VLeTAevZjsQbPNKKt5lEzun0k93v05q9CNIZNOV_lbYNJSno7JgVWn49iwQTKtr_2dS_P9LVS4aqMWtuKZjx1ydd0gwvkLIyqZcTPZYMlt8rQMk_g9TYBuaSA-C5LsaJ0Lsox6aY6x_l5sTVgi8Sp5oQQ8_AOyGPf8woBfsl2_btC8aqrdiiRQ6voYACDUoBWgp2y02uwFHQ_iKWp5HZAkDCPitX6CIdFl0Yz_SlpnU0m4f--FLCqp_4hoPAW_jixv5wqK16qP-suQdreFeoM1bv69x1QrhYg6TxigjHRqEelMAVtAvDz_-naU5pHXY374OCpxnBhiGOFTz0YftxKEhyVY7izFnp2iNljmVEApRqt0CrOVWApKG81JyaGqSIA7J_YTfK4frQSDv3111jGnoxlKjQu7VPCw7YzF-B2YKI6y0kefri5EbgDGYX997iLqA3r7UrFyqoZvXIL-Ooa5HoiHcs-f3B4KHXfrpEpTFtoYudgwKwaAjrwXqrFqBhLnyUNQpZpJC0z617kYNvL9DB8zdj9zyJJJMvc4u4RxXD1wa8z4Tukk-3-g2C-ShyxmR3sjHRKKINaremlVLf1gA0vdTM2pGSNRkaBDVezRkI15Q5s4WcNkXNNYsPPsaaDy53RLowkaupjvdvU5-S-FEjGZLXRhIgAk9FcAttKGq7pF2vuY7W2abKIbLGdtTiDOo5cTlbjsvmehEcHjULOwonlL7f49K74pGzaP4vnm0zovR8-zYBOWFJGcLXAJpCC_0PLfuZIDGBbC0ChqXugpu62QedRaJeChiXgMihAR0KOS_suv26ahAfg1eKIMiwIrMXETcaYx4GVIyjCWzNwLFsBJ5EaS0uN2g3XOyMfFueXFr_pJ01jMJdhePjGIXeGnTNNXhbWdXgABUBBn_YatnyfZUopHWVEolqCdW4SlHR993jFtWFCi13kid0rjHLH0C2yyj3GBfpEBY7jWpqIn1X_cNVvOzWu9etwSxHMjW7ZviYyBg1UOFXPWMMS7gpnBDaVhfUFtqc4wZpwjWBUVAE4ndAxKt0rUQ5wEverCiKPrMLHRleyEDwDlVU-RRVERZO57Go1CKROsZKLjdFco28WoXB5CqSwZhiHBaZuQ7m3AYPy5nA7Tq3D5CjCuYQRNXbjw63CiiBWfs2q0ZUBiDw5Wx66ZEy41f6RTJ3WQ12DORqGrcDmGvuOVUTqVVokgcStq1r-YiJJsROomAG2tUdGwUQULqFKoTxcNtuHzWGYAt1N01g6SSWDAOBU3JskVTHpvaLhzxP_7ZKYPr1pyyLzbZoMspD6BZPlPep9bkO8PLcn4zTiM82f1RAY0SU2HedENx7TykEVEzrR3cvgtPRlRI_N_zob0zGD0oMYiDK9Z73oupZHO1CeSK6HscItm_odTGD27uQtKq8sxoUJrIra9i7dV0iGzNpgeL7AHWvsAy0HfqzRnTh2msXKgi3089U6T0xHPA888X5un39_FsDOT2-YwcTXx7Y1J8g8HtXZYa46cHRBtOzTxu67uEbZG42WLwlyT43uwB0hH_forlLr7",
  "id": "rs_01023e430eb7bae1016ab44f4d73a087d0943a386420ed136d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The gripper settled nearly fully closed, so the first attempt was empty; the pear remains visible just beyond the fingertips. I’ll reopen before making the single recommended outward correction.\"}",
  "call_id": "call_P63fXCQZWSCinSkCFZBxnTrT",
  "id": "fc_01023e430eb7bae1016ab44f503cf887d0b8689ff99231c9dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P63fXCQZWSCinSkCFZBxnTrT",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4168, -0.0139, -0.0334, 0.9993, 0.0505, 1.1164, 0.1249, 0.3695, 0.0223, 0.0101, 0.9954]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1731 left_yaw=-0.0004 left_pitch=-0.0382 left_roll=-0.0023 left_gripper=0.9993 right_x=0.2887 right_y=0.0143 right_z=0.0335 right_yaw=0.0228 right_pitch=-0.0522 right_roll=-0.007 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.5658, 7.0085, 1.8046, -0.022, -0.0122, -0.0122, -0.212, -2.3863, 5.6137, 1.7607, -0.0269, 0.0317, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3286f1861d8a55d18222bbab6890b938295beccff07020d3a9b90d6e49fdac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9af6eac32429a36812ecc335e612e8c2941e70e697bcd87f6d69ca17edc89a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ddfedc558619ba3d2e9bc9b942487edfdd9400fb59490a0b1eec79774e8e1ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.129 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]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0143, -0.0299, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0231, -0.0124, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=0.0002 left_z=0.1815 left_yaw=0.0 left_pitch=-0.0 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=0.9992\nstate[joint_eff]: [-0.4034, -1.7162, 9.7846, 1.8486, -0.1148, 0.1148, -0.0806, -0.2667, -1.5932, 9.3607, 1.8291, -0.0659, -0.0513, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4091, -0.0139, -0.0311, 0.9993, 0.0505, 1.1145, 0.1249, 0.3763, 0.0223, 0.0151, 0.0084]\nstate[eef_state]: left_x=0.2925 left_y=-0.0004 left_z=0.176 left_yaw=-0.0016 left_pitch=-0.0256 left_roll=-0.0006 left_gripper=0.9993 right_x=0.2899 right_y=0.0143 right_z=0.0354 right_yaw=0.0202 right_pitch=-0.0435 right_roll=-0.0027 right_gripper=0.0084\nstate[joint_eff]: [-0.0068, -1.2923, 7.0085, 1.7656, -0.0415, -0.0513, -0.0122, -0.0615, -2.2632, 5.6547, 1.8144, 0.0171, 0.0317, 0.6618]",
      "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, 0.807, 0.6132, -0.4168, -0.0139, -0.0334, 0.9993, 0.0505, 1.1164, 0.1249, 0.3695, 0.0223, 0.0101, 0.9954]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1731 left_yaw=-0.0004 left_pitch=-0.0382 left_roll=-0.0023 left_gripper=0.9993 right_x=0.2887 right_y=0.0143 right_z=0.0335 right_yaw=0.0228 right_pitch=-0.0522 right_roll=-0.007 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.5658, 7.0085, 1.8046, -0.022, -0.0122, -0.0122, -0.212, -2.3863, 5.6137, 1.7607, -0.0269, 0.0317, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3286f1861d8a55d18222bbab6890b938295beccff07020d3a9b90d6e49fdac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9af6eac32429a36812ecc335e612e8c2941e70e697bcd87f6d69ca17edc89a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ddfedc558619ba3d2e9bc9b942487edfdd9400fb59490a0b1eec79774e8e1ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE9VwjQtnUAeO2CLD5fOYr_O84fDMM2xL4BHjm4KTd01gIFL7zPklSrxzfIHawOjLWzkuL5j1T0_KznbPWfepdx1uE0eqcUQFLAkIMskY0uIFYZcRC3nn4ht1MZtOQXmmdWfNDj6NYo0AeDryrrbP29HUKoJ-fNmVi8VC_9_kAi7Uu01nOis1520a-qFf0C92jYcuvxI7OWFDpli_XNd20QOsZi3Tlu7BZWYXKcXVw9TX9utmUd7Ggp7a5I1kETr5XMkujTdKYYaW7lWKn-SjCkz18SmiSrLhDOs2W8HNhDQKn98_oj0wMAj0V9Bv0cahuhD_p-bAHVi2wi9v3EJdlbSD2sAVlD5ZCGvpnVYSefOs92262JFi8UmHz90eh2WK-DaadLeMLTtYFeKq1FPc8AunqUFjkpm57EqWKpGjLnG8PIF3DY42o-H6EIqSTNPkF0-6OjdSPEL5EjacdFLsd5z1awCISSzmd0UbkmTxbvPZm-7wGPMuGMQvLiIJVZYjUw7schWSxYHy44Isr_9FZXnxEpeUIIFS9eRuQFxFOezZ6RLtn3xJ_HSzgfJUbRk311_QSGSJOjwvlj8TCTjWtswReE5rHIfIlsBwmOJZWOYGObz73a-U_uR8tAh_ixMs2Q6yLbm-P7pdpeM0UDQSuYym6iIwuuHWiDDql0n7MOvhiPXR704gAjPVIwA9qJp0q9V17JCMVTrblW3weKXpEW8XBNknvvn_ukA48PN4PqfsgCPm67UY6yegrbxL3MUGAilQMmNa9NFv3I4EH7PzKRoEahKPiSgaSr5WhRzYlWx5SEe3gD-Tbt8oJUQeLCZjmf7rnxw5sFgvnpSp1dBCBlirqKOG9l80l-xCMZ8Qg6cYKAnezBeBPQGQE4s873mn-7fqA1v9uA27p457pnyjIQoEEsf1wbGDkhg4dhnjfqShFWNgreDxiPED-ZKifZwWqXMJon8CxKZhkOUXREtb4pnTi456QxP2dpHUzcdpVQ0fRQoETAxAitaA8b-7g4_h07lAbbd9pbgHpc2W-_Ul19ABoVptNbHIMLMgGoVTw0FlGSm9WVUfCjVEid-0O_g6gB__i4nwwvM0ad18djwlxss3q770UM8PtI0vE98MuDVh6P6oXvvvI5Mkv71T5kvNoEioic35B0ri4FcEtDiCYA4cdAFzLjrfQl_Hs51mPkRITG2iPpk5GRcEeWiybdGSqWyIFxbTcRJx9oVX8Ntd6E6dmvLFnGgc2FjnhhttWcOaioSUhUNY1aZpLIm1BV1_oBZrrqxChhtovOoV5cyZeoGRf7Wswpe0VKU8ydemw1kMl-uE4yNdQ4iiWEnq83Wgs1W2nbKBcZCWUXheeeAo5U56I2L1vpyG_sIT5m8luf1xulUtLZ1jvLGlO9b0FCTvOiogxrezwG0f8QDCa791AKf5vaTkYZBRa1qtlpzaIfhvRoaznDfqDMFoJbkpIRlQ9G49dc6Sxm64tL772C1vjnM0LMTLoTaGMJp098WCX-NZoiZJ9rDEocJM0tGcDNUFl9yEqNZc3HemTE5A0rtn7DZqjr9NJFkgOHYQRdvBuS25YH54cvFS2p2TyB7n5ajUCsVVmHFBzrg4YQmiGu6Ahz0SMeljVp01YAIkdZHSsV0Sdl4JKqJZNl8-QqTrmetF8BUIwGXso2VvCxTwz0x_0bl1UWNczeJ5mxqvQs2p2NqTgE9LNlmIiXik-TqCqm4KZXrnnlD5i9oSQs0Bd3XzEZ9xOJvYxXAQaqVjW5yw8ejIO886AT1UcIQDhJNorVV7y_J",
  "id": "rs_01023e430eb7bae1016ab44f52e41487d0977612b846b396bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.316,\"right_z\":0.04},\"note\":\"With the jaws open, the pear is centered but remains a few centimetres beyond the grasp point. I’ll advance the right grasp point outward by about 2.7 cm at the same grasp height so the fingers straddle its widest section.\"}",
  "call_id": "call_zZ9TWwKuMrGP3xd7qgARK2Qt",
  "id": "fc_01023e430eb7bae1016ab44f542b0487d0b3eeeb326dbeb4e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zZ9TWwKuMrGP3xd7qgARK2Qt",
  "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, 0.8108, 0.6132, -0.4236, -0.0139, -0.0338, 0.9993, 0.0486, 1.2564, 0.2016, 0.3805, 0.0208, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0001 left_pitch=-0.0488 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3039 right_y=0.0147 right_z=0.0257 right_yaw=0.0242 right_pitch=-0.1045 right_roll=-0.0105 right_gripper=0.9962\nstate[joint_eff]: [0.0068, -1.1009, 7.3504, 1.8242, -0.0171, -0.0562, -0.0122, -0.5812, -3.0974, 6.8444, 1.8779, -0.0904, -0.0855, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92eb9ea50997a1c6c56c582e8506a7b17bb25d916e09067e2d1975d9b151d597",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a92b6115ad4ed71692c472d785cfad426900e5816485e809e95de293f7c621",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ad2611d36d9d7fa9cefeb038405fd4a44c0d3b55b2be80dc9eb3274f8820de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.756 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, -0.4007, -0.0139, -0.0311, 0.9993, 0.0505, 1.1145, 0.1253, 0.3828, 0.0265, 0.0177, 0.9991]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0016 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.9993 right_x=0.2909 right_y=0.0136 right_z=0.0368 right_yaw=0.0152 right_pitch=-0.0365 right_roll=-0.0027 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.4154, 7.0769, 1.8779, -0.0562, -0.0659, -0.0171, 0.0342, -2.4957, 5.8325, 1.9853, 0.1245, 0.0366, -0.022]",
      "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, 0.807, 0.6132, -0.4168, -0.0139, -0.0334, 0.9993, 0.0505, 1.1164, 0.1249, 0.3695, 0.0223, 0.0101, 0.9954]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1731 left_yaw=-0.0004 left_pitch=-0.0382 left_roll=-0.0023 left_gripper=0.9993 right_x=0.2887 right_y=0.0143 right_z=0.0335 right_yaw=0.0228 right_pitch=-0.0522 right_roll=-0.007 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.5658, 7.0085, 1.8046, -0.022, -0.0122, -0.0122, -0.212, -2.3863, 5.6137, 1.7607, -0.0269, 0.0317, -0.105]\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, 0.8108, 0.6132, -0.4236, -0.0139, -0.0338, 0.9993, 0.0486, 1.2564, 0.2016, 0.3805, 0.0208, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0001 left_pitch=-0.0488 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3039 right_y=0.0147 right_z=0.0257 right_yaw=0.0242 right_pitch=-0.1045 right_roll=-0.0105 right_gripper=0.9962\nstate[joint_eff]: [0.0068, -1.1009, 7.3504, 1.8242, -0.0171, -0.0562, -0.0122, -0.5812, -3.0974, 6.8444, 1.8779, -0.0904, -0.0855, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92eb9ea50997a1c6c56c582e8506a7b17bb25d916e09067e2d1975d9b151d597",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a92b6115ad4ed71692c472d785cfad426900e5816485e809e95de293f7c621",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ad2611d36d9d7fa9cefeb038405fd4a44c0d3b55b2be80dc9eb3274f8820de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE9XMZLw8Wx70_ZA6IEoy51N8xtJb5vQaainfG6mwyZavjljQuRMxFBYCO9KXXfTEzAIr9PlMSxoid6y7u8vhCNPAJ8jvoEXJJfAFTpW_mK1T_H_zBNcETzO-mdwXam2i4iK1QFkNh-qfhoZt-HHBJNy5Hj4Gc0cylKMxIJQK9IJQBBtSSdm6LzsAmviROQvrm-r5lHaTz8cQu8Bj4cp5fc19553r4dUPJLo5r6g6OMb3IVeMwMstOCoOcWanoFK4SyvvE3AXXSmrP4Nhg_Yj325CEKrtuhWU030STI14WgoMXdXukJOCxBvB-ZEPsYYV0BWMH3k3Hevugw5uURW5wcdR4Hs7JQnsdh5dkR2iBNSPBdx0hGGydxAMkzRvpHwvi51Sz3BsKZxDeKsS256VE61jzLEcGJJxl2lMXNprhlNe8irjjA1RqgPh39lEOt68Nl-ChTUEyIML0N4bGmjb13u0gnawjRorA-dipGd68qrjmMQfhZIHJqFXujYkrArr2dDJ_FIjH3aReZThRes-Ybl3nRIWy68HIah4dg8qCKWlpLwQLRvZ3_V4g2FFxRIs3gvcSDnZzGwhaiKUF0Lg4D58wlmrwp5oF-tMg71fvjjKB3HESi9YX0QPf5PSnfQgG7CiqnNpRVugh9H8jbvNfesCIFBwvT7jZzbZSLm4E-L-32O6f955D4x7jo0rcMqlYiZqR3U2qCRqp1Z-gQkwamJBHbs7NfMjw6QNLtYfejBrMUES8O-9wezug6QpfrF9i8Hv0t8p7SVklnBo_2NYM0F_naAvuISKOynp0aZPcv5j2XrRRdKik53q6ax2lGH_CJwBDw2MbfqSUaH2XA9I36KdeaAPmsA7YDlrnexHnvOTswET3uezfVZalaTUoYQHNIGVbDTaMtY9zDc3ABr2QRwjs1qi0hCms1a25Cl5AOuABXoZXpJF1Bv0Gx1E__reTVa7sKpd8U8DetSnN1_-vIRZfe1xyRB73xp0QvkUX8uPZJu9kPFhAvcDrmo3zS1f2jqHvlXUY0UiI3iCreoPs5ItUOefKlAC2KVzuE3qrDMaud10H-hzYYo_URSoo-FTxgTRtQbS2_kMN836L8LXOUSJEiNkUM7n5QLUVdsIPWocj0hXa12MDd_CQ5rmhtzBhRDOcQHe2cEQp23__7EkaW_sGsNmUuU53suKQKFZ2ua9IUUMpxMnfECJCwIGJAMi2Nx9CwV0ilVkSXOHPwuMtNM3e5rRyVR8qxrqIADsRXFcOk_K7Ui3a_70X1MeJ4dV-s6srvOK7uNVifS6KyXIzpVdc1-6Iro9JELgGBzf2uPZdZSgvbg6LRDgVDLmW9Xmx1hh1iHkgONqGryu3u3mOsTyMlkND3iP09ftolpdggGTNchbZvGr41JSm0SnPDq8axfkjRLOqT_c2fjUjT302_KJw==",
  "id": "rs_01023e430eb7bae1016ab44f56591887d0a2c71b6e48a0105b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the outward correction, the pear now fills the space between the two fingers and extends below the wrist-camera frame, indicating the grasp point is over it. I’ll close for the second grasp attempt.\"}",
  "call_id": "call_zm32qyz7mf0YCVeX68igimAI",
  "id": "fc_01023e430eb7bae1016ab44f56ea6887d0b2330a81bc14d712",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zm32qyz7mf0YCVeX68igimAI",
  "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, 0.8116, 0.6132, -0.4244, -0.0139, -0.0334, 0.9993, 0.0486, 1.2587, 0.2035, 0.3729, 0.0143, 0.0067, 0.0086]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1703 left_yaw=-0.0003 left_pitch=-0.0504 left_roll=-0.002 left_gripper=0.9993 right_x=0.3031 right_y=0.0158 right_z=0.0243 right_yaw=0.0294 right_pitch=-0.1126 right_roll=-0.0063 right_gripper=0.0086\nstate[joint_eff]: [-0.2803, -1.2103, 7.159, 1.707, -0.0464, -0.0464, -0.0122, -0.294, -3.2889, 5.1761, 1.7411, 0.0269, -0.0562, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a939cdd32f85bd21b34e965ddc1af315cbc271b8e7183df6569499b74dd4edf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6bc76c6efaf2eab0e03e06f68bc6a3e4fbb65d319801d1132a46503a6b78a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:311f04dd269f813ca316ed88dbf6e5d11e9ce7c556136bbc2bb847c6f728add3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 3.33 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, 0.8021, 0.6132, -0.4091, -0.0139, -0.0311, 0.9993, 0.0505, 1.1145, 0.1249, 0.3763, 0.0223, 0.0151, 0.0084]\nstate[eef_state]: left_x=0.2925 left_y=-0.0004 left_z=0.176 left_yaw=-0.0016 left_pitch=-0.0256 left_roll=-0.0006 left_gripper=0.9993 right_x=0.2899 right_y=0.0143 right_z=0.0354 right_yaw=0.0202 right_pitch=-0.0435 right_roll=-0.0027 right_gripper=0.0084\nstate[joint_eff]: [-0.0068, -1.2923, 7.0085, 1.7656, -0.0415, -0.0513, -0.0122, -0.0615, -2.2632, 5.6547, 1.8144, 0.0171, 0.0317, 0.6618]",
      "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, 0.8108, 0.6132, -0.4236, -0.0139, -0.0338, 0.9993, 0.0486, 1.2564, 0.2016, 0.3805, 0.0208, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0001 left_pitch=-0.0488 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3039 right_y=0.0147 right_z=0.0257 right_yaw=0.0242 right_pitch=-0.1045 right_roll=-0.0105 right_gripper=0.9962\nstate[joint_eff]: [0.0068, -1.1009, 7.3504, 1.8242, -0.0171, -0.0562, -0.0122, -0.5812, -3.0974, 6.8444, 1.8779, -0.0904, -0.0855, 0.0708]",
      "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, 0.8116, 0.6132, -0.4244, -0.0139, -0.0334, 0.9993, 0.0486, 1.2587, 0.2035, 0.3729, 0.0143, 0.0067, 0.0086]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1703 left_yaw=-0.0003 left_pitch=-0.0504 left_roll=-0.002 left_gripper=0.9993 right_x=0.3031 right_y=0.0158 right_z=0.0243 right_yaw=0.0294 right_pitch=-0.1126 right_roll=-0.0063 right_gripper=0.0086\nstate[joint_eff]: [-0.2803, -1.2103, 7.159, 1.707, -0.0464, -0.0464, -0.0122, -0.294, -3.2889, 5.1761, 1.7411, 0.0269, -0.0562, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a939cdd32f85bd21b34e965ddc1af315cbc271b8e7183df6569499b74dd4edf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6bc76c6efaf2eab0e03e06f68bc6a3e4fbb65d319801d1132a46503a6b78a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:311f04dd269f813ca316ed88dbf6e5d11e9ce7c556136bbc2bb847c6f728add3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE9dD6kTW0JmoraMSKDsk7NitCRm9x6Gt56Z0hp3dJDPFGezKvutlaOF88O5C8LzBUHs3DvKYWeZWuvtROd6nT2SXUO1UtnjMe2eyzugKfgwmqqlbtF09nqguM9egp-JHVgNkOh0hiFwQwb8WaVJDxqfpQD6C1GAl8CSKPQAQc1iJ2YX1H4Qx00Tn82latckpUZfosOYG1dyuFQv0ikMrszGDepenQJ91DHdC74MjMq3Yj19Pkou2S0lIRj3-rPiaW09_wnyekZpdkmSKdKSQdrFXKAIxiRCRmbSGvaexGqwdtEXpB9un6L6I10nrwLFs6YkI70p6hiwd8cKbfpxuGPU3ZLG0g_Z7RJCUMYb3kXxUt2wQP-bUD1UOJav8FgGkq_uAXS0pj_1QKVF7zT0cYu7enaUhJmuUkC8CmV6fLZ-5QzEMf9Fo-LQTMNXRPDa6F3PFweX-jr9ac1KLrE96C87nrriYXMoMcc6fkfLDgGRvvG849oSa1PMLd3YV9uj-96v2cnjfljFAAefecR9k6O5QQydg91stl-L9CnbBnmp95BIcgtW_lrzQDlf4sokIyA_95Qz9eIjU_pjGC7Qru47NfgsoKV_FU4TFiyb8Mx7NJg67FniKm9bwSkRhb1DDpfnAILtMusNrWss53-kMlxULKr9Z9Fj8p-knC9fSb853K6svhdWuhQt_WMN8n5WPp4mPlEvCd2k4jVMPIOcC_daUWbfKRdNYZHy7YN4fYaYa-U2M6joxWhfwwbVZjN-nPCjg389n-LJITIjdZlfkaJ6pvQ24TUDsFzCCR7m8c5amfssW7yyiIsyiZj8CGT5kmwQqfdlNOSdun01sIaXGCOPjtjfj-1JmxWsIRxKG9AyhVinGjAhItBUMNFK97DScOhKAizorzCbzntyX0o1FMhXKfGCHWapaJqkO8lnCa8_DMOjjLi-MYKRi3D-aNnpYBZ1Hg2faL-JmQyszZevWdAWnmuiR0PWkBxDrat97bpwDdl3v8wHAB-IoaVe1D4sOi5sI7V8Q1hxE_obyjZPiKi0PsU1pIfcI4L-DIoOU803y8paYIESJWPwwF5j4tC9XwijjxU6OLkjj5XpdqKNbRVhiaGUqnh-lI1wnPYQzBP5VkhslZL0TAF82E6s8vgaxaLvpa0hREhHuK_AkHqT0x98fggDpTsECLbu9g0JO7hr3pqNsWAw6T58TSeuJceMEXcT3dDjn1qSi6AbC7edEucGXHTvIRMN0XmOK4fw2IcNYXL0CRulSZheM_7g1uZwKtyMdiDKvzXNqPV2iMIlXHdJxJEbjzNUk0Tjbdft4sYCKvkvc8qPCPOLeccjxh5lcz_yWxDyTjsSgL3FjCkxrtgFyu-pW0XrBthTJw3iY5MXdhKpD8rayrnMk_09gXJUcBoC4vs-Ajr0GAZbAAkwBvlr6SFYnDlpzeRuveJ-Wq9q2nET9OVMJd2lxhvMTM8HSqY--Hk-aCLhwPbWa7fCUYn7ZLE0RYidROUjCXoYxVmlJoEzCkykuff0OelVcETrzyGsbb24Ad0mb-_aF4Llpv5NoHD1bPD7DX7ktpSLS1JVPuAdTxbKm7fOoYJ1KnHQbNonFOTOh02lk-P1BDvtdqNbkSUO_gKOlO8F7QQ8phbBb3P8LJOhtnWBcTgzpUqLVHzIC7AOhQpEt1rSMcCWMeJJdxrLLWnPjPCyndfCTh0VxMTAPPPReId0X8GjL6USYNcIhAuIjhVeb3EEAblXOcS5pHf8hdgwxZmgSpMPIyjx-YgT7Ua70ywcdClxjIWewGBix1YytZ9jb2cpg8hwDKGQ15DWt-IbaCXrrKSyLGLGOSABG8R1lb7zwbvmMRvd9D6KCPiGMvS_2BuPcSGewkRRAWTSAYVqJRuhLl-p92-NlnhIQ4TWNs7ATnM75SaDDwWodrRNlBXwx61yNwqFoxgcCev8-M7RyvtULRpAMaSkozeLE9p2GJ7pVwZ3uAfcgpFNR662YGYZHuSkuBgB05kjRUjWe8FDVfrv6w6qBWfObd_-UKFUgqk9SWql3k3BpwKwDopJYv4yo2yT4NND13d7E1CJi7AbfC5tZg_gzB0alh-tUyhN0_Y1_MAC73SU-dpyS8ByOqWwB7L5v1qtgwocAmArKU1HswkrDhZ2I5aBR_8DMlES7AQak9bjkfb7Cwe8NjQJgjPeGRca-uWDK_Xuu9A2pR3FJDD4ErcAMZT_o0Clzu570Vm9rsXpNUb-l_97wZ2f1H6SnR-JJHodjmyQhGymn_J8-m2iaWhX9q2b5--sbY5xG6vzjC0oasTPaKa2e2chgev5Cncuzzhtbzwbev4-JNt3n3N5uT3rxlx2v7aqcctT-wlBB-mL2GfO0ogKYT-Vz1fknGxp9959P_Yfx-9qV5RAtX7Xdntsgk2FTwVM6ODxynsFOliUwKUNZ9Y4y_63Rdthp6JgCixF5ESyjNzCZO6jAJiXZlYsCa9llW_SO9GQrpKE-tFNZT4ICZEYKUg61_dHP7SE3hN-pDpojNFmS1ctMUl7z29t4m5osyQF5MLdy8c7i0QKb6K8T-q-0b7w1pQc_1aS5qloQXpnmByvk0jdlAgl1xrlidhUW_qGlwqE8DfRp2xItwiHsEAYSCHUy01YMUtwJHFyfukQyw==",
  "id": "rs_01023e430eb7bae1016ab44f599a2487d0a5bed8763452bc25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The second close was also empty; the low outward move pushed the pear ahead of the fingers rather than enveloping it, and it is still visible beyond the jaw tips. I’ll reopen and lift clear so I can reposition from above without pushing it again.\"}",
  "call_id": "call_i4lWQPPxyzeStCkBGUTy7uQa",
  "id": "fc_01023e430eb7bae1016ab44f5c4bb487d086c4740a97823cde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i4lWQPPxyzeStCkBGUTy7uQa",
  "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, 0.8154, 0.6128, -0.4408, -0.0135, -0.0338, 0.9993, 0.0494, 0.9318, 0.5846, -0.3508, 0.0067, -0.0044, 0.9983]\nstate[eef_state]: left_x=0.2886 left_y=-0.0004 left_z=0.1658 left_yaw=-0.0004 left_pitch=-0.071 left_roll=-0.0021 left_gripper=0.9993 right_x=0.302 right_y=0.0173 right_z=0.1386 right_yaw=0.0427 right_pitch=-0.1283 right_roll=-0.0102 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.0051, 6.9949, 1.9463, -0.0122, -0.0464, -0.0122, -0.335, -2.5641, 9.2923, 1.6142, 0.0611, 0.0904, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0beb2594d741960359088021e28abcace8d3e46c8f5684a9e3ba2def51783f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83827715fe471fd5024bb3f8058bae9c9dc18f9568ffee7d004929e95203e643",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d1e79fc56e622eb8937e8e599d967f4c526cbd80f4915f3debd92f35fc831d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.939 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, 0.807, 0.6132, -0.4168, -0.0139, -0.0334, 0.9993, 0.0505, 1.1164, 0.1249, 0.3695, 0.0223, 0.0101, 0.9954]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1731 left_yaw=-0.0004 left_pitch=-0.0382 left_roll=-0.0023 left_gripper=0.9993 right_x=0.2887 right_y=0.0143 right_z=0.0335 right_yaw=0.0228 right_pitch=-0.0522 right_roll=-0.007 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.5658, 7.0085, 1.8046, -0.022, -0.0122, -0.0122, -0.212, -2.3863, 5.6137, 1.7607, -0.0269, 0.0317, -0.105]\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, 0.8116, 0.6132, -0.4244, -0.0139, -0.0334, 0.9993, 0.0486, 1.2587, 0.2035, 0.3729, 0.0143, 0.0067, 0.0086]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1703 left_yaw=-0.0003 left_pitch=-0.0504 left_roll=-0.002 left_gripper=0.9993 right_x=0.3031 right_y=0.0158 right_z=0.0243 right_yaw=0.0294 right_pitch=-0.1126 right_roll=-0.0063 right_gripper=0.0086\nstate[joint_eff]: [-0.2803, -1.2103, 7.159, 1.707, -0.0464, -0.0464, -0.0122, -0.294, -3.2889, 5.1761, 1.7411, 0.0269, -0.0562, 0.6569]",
      "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, 0.8154, 0.6128, -0.4408, -0.0135, -0.0338, 0.9993, 0.0494, 0.9318, 0.5846, -0.3508, 0.0067, -0.0044, 0.9983]\nstate[eef_state]: left_x=0.2886 left_y=-0.0004 left_z=0.1658 left_yaw=-0.0004 left_pitch=-0.071 left_roll=-0.0021 left_gripper=0.9993 right_x=0.302 right_y=0.0173 right_z=0.1386 right_yaw=0.0427 right_pitch=-0.1283 right_roll=-0.0102 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.0051, 6.9949, 1.9463, -0.0122, -0.0464, -0.0122, -0.335, -2.5641, 9.2923, 1.6142, 0.0611, 0.0904, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0beb2594d741960359088021e28abcace8d3e46c8f5684a9e3ba2def51783f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83827715fe471fd5024bb3f8058bae9c9dc18f9568ffee7d004929e95203e643",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d1e79fc56e622eb8937e8e599d967f4c526cbd80f4915f3debd92f35fc831d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9iMWKWEB2eLCDXljMqXGoHSK_bZDYf_kitQuE7FQ73Hn75vXgnz0KbeCD6G3lc0PasUbcwTBaNmhbcYfkeMOWNx0-Hg-HvRRFZscYjR1pRqy0ZrrJm9jw2uaxN9uD42ZlZPd00yqbQY0P3tg0C7Esk2JHDD7Xvp1_junqpOWwSPSg-9T9L-yf6BBBy2rdDqFtbCaSixpuKcHToah657MmxFplOASmn-gZy7x-4HA8zVrrLt3xSKbO0N3kxb5U75v3hnoVjP6R9y4PmnVCr9jW9HtK7SG1ub_7JkwluZHtZznkKVxgbGskD5md04Twr8PoWhQzm74JGI_2C7lgp86PMyedMOmtbLEZ9qkbnLJfo2AtagHtkhQfhfrSF3IwwuLFnbP_mIUmC5E5aLTQezf0u3dtAhAPEYlJ_VuOujObw1ldcs_ovfUIMqNqmy3WO-lIkkv4_35UgPKuaj6DYW0Wj7YgIir4cfuxBt0fNuHCMXzcWvwoxT8WBdPmTwA6_knwdtmzsqKHGGNz0L-Cwq0vmeu85GtZwAEyTeibE_c0uaopnZ4aube34_9nl9GTNdI54JpGEM5u0GalApaTRRACIu5LM1G69sIB_-5ZDvy9s02us3dBGEfQTbobfdHlW1YSP5EVBwEPXelg1M-CWOWuSbGx02ZQDdkmh0qmHoagDq27mKtaOEUGjGGldT1uQSLrqNxEdL7jSO77Y_LiXanop2Zq_Z6qSkb_jtfBzRBawzAe2jEIXhsD30oHiJRZG4R-a6i8uubp3qcsHMjMrMVFplCgpIukrTJ-ljqb5DVeEwG7kprt0DVCO6A6qyp_IA8Uq-1B9J0JVVMsx3EgIsuntlkjbrW1pIETsnOe-3p8tkY-lkLh1PzQSp4Sg4rz39S11ACcbxyuFAiXIujE75LS6GXjhreQsBTpe6ZmgPdIfeuM6npMfM6NSHC9CVZyHtp9N0Lbc8zrsj5g58fLJDjyTHmCnfaq0OcBe_l6wJ0trMfGkVnm3anRcybT1W8Gz3vA1tWioR8iXSEvEjcc3-m2CcLTWMmFMQ-_5LEvyHg7MfVrBynJQcvv1_OFD8VloWIp-gd3XyNUfvuHK6hj3qa5lv6XAs3kEBPhadc0OfPPQwLW-EIt_mUMYMdUxhOW-EPSpyK94LwcxpDiZgR6K9dC-W0gI5TcVVn_gtiRIx4vpfqtlo_-sRPViYdrKxZm3F_2xbQ5ptcezjk0_BiuFke-YVMu-00ddZ2ENCa-FLypiQHycdgOwUdWA_tPB2sUzlyzJrh3ZksVVkKOjMkf06XI-23eWVVzB2RQHWGT48ZomSA2Q-52WWcffZOzJgPhrtsHkz_EQoeFYR2k6KpXfNrsH2l4ZQCzLKEmAROAl2KZOyUgYfSI6vuFTPSwyugpZ7J5AlM1DtfPKICK5RvrvcwPNOq29b4i4WIHUtxHQggKXVfSGpQj6e1GYSDo50dp27BhYa-FEo4Vwrjdb_u3Vqlz4Zyp7LsyDSIi_rC8SAFRTWBzPaU_F05nxTyXkkJymWp5lKK4CwsvS9iW2D1xWgJ1LDSvSFl-iEJrJpWZA7We5Emcv14ZroP78Z8nQWy3VzMex5827u7eG2K7ZoLoVPLyyc6UVfXIDsCCr5HQtPXNvS82WCWzt0fS4uaeMntQd0fooys8g8qwrAtn_ijEENe-oZzV0A77nt2kL9HFSyppVyMe9XG7LV4TvSpP5ECGBYB-wtPD4o5CM2u8YM4sd6yJZbGRp9WxrQV8jHtSnUuQaespjqFKIrI68WQZS76HiQvkJuBEM8Ewem31AKzFQZauZbQnjerRjBvKFIUPIZbleG75Z86eUjHz5RfScUr-FRrwpQPsUoJpwGQohmIKzT1ZXUwvaKrsuviQejQHIILkEySdr4c6X9VG-fHVq1suah5iZ",
  "id": "rs_01023e430eb7bae1016ab44f5ff70c87d09a428b5ab617d00a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_z\":0.15},\"note\":\"From the raised pose, the pear is centered on the jaw column but fully visible with clear space below it, the known cue that it is still short of the fingertips. I’ll move outward by 2.8 cm while staying high, then re-check before descending.\"}",
  "call_id": "call_XxLLE04F45Y32YsrxKlXSBFm",
  "id": "fc_01023e430eb7bae1016ab44f61217087d0949277df036a32a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XxLLE04F45Y32YsrxKlXSBFm",
  "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, 0.8154, 0.6128, -0.4465, -0.0139, -0.0338, 0.9993, 0.0486, 1.0687, 0.6571, -0.3523, 0.0029, -0.012, 0.9983]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1647 left_yaw=-0.0001 left_pitch=-0.0767 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3192 right_y=0.0186 right_z=0.1299 right_yaw=0.0493 right_pitch=-0.1943 right_roll=-0.0135 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, -1.306, 6.9675, 1.7265, -0.0415, -0.0513, -0.0122, -0.8547, -3.5077, 9.1419, 1.8632, -0.0366, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b092e5998d6cf985ebb3a4fffe6aaa9b955d22fef99cbc1efb535b379e7086",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a5308e2806a6a9987612de16c200d82d145ea60b286691346a7dbec7a3ed77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308e3fd24346355ca1116f9b4eee816aa6c71095c426d5d7e1e3c47ccf849028",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.926 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, 0.8108, 0.6132, -0.4236, -0.0139, -0.0338, 0.9993, 0.0486, 1.2564, 0.2016, 0.3805, 0.0208, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0001 left_pitch=-0.0488 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3039 right_y=0.0147 right_z=0.0257 right_yaw=0.0242 right_pitch=-0.1045 right_roll=-0.0105 right_gripper=0.9962\nstate[joint_eff]: [0.0068, -1.1009, 7.3504, 1.8242, -0.0171, -0.0562, -0.0122, -0.5812, -3.0974, 6.8444, 1.8779, -0.0904, -0.0855, 0.0708]",
      "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, 0.8154, 0.6128, -0.4408, -0.0135, -0.0338, 0.9993, 0.0494, 0.9318, 0.5846, -0.3508, 0.0067, -0.0044, 0.9983]\nstate[eef_state]: left_x=0.2886 left_y=-0.0004 left_z=0.1658 left_yaw=-0.0004 left_pitch=-0.071 left_roll=-0.0021 left_gripper=0.9993 right_x=0.302 right_y=0.0173 right_z=0.1386 right_yaw=0.0427 right_pitch=-0.1283 right_roll=-0.0102 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.0051, 6.9949, 1.9463, -0.0122, -0.0464, -0.0122, -0.335, -2.5641, 9.2923, 1.6142, 0.0611, 0.0904, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4465, -0.0139, -0.0338, 0.9993, 0.0486, 1.0687, 0.6571, -0.3523, 0.0029, -0.012, 0.9983]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1647 left_yaw=-0.0001 left_pitch=-0.0767 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3192 right_y=0.0186 right_z=0.1299 right_yaw=0.0493 right_pitch=-0.1943 right_roll=-0.0135 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, -1.306, 6.9675, 1.7265, -0.0415, -0.0513, -0.0122, -0.8547, -3.5077, 9.1419, 1.8632, -0.0366, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b092e5998d6cf985ebb3a4fffe6aaa9b955d22fef99cbc1efb535b379e7086",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a5308e2806a6a9987612de16c200d82d145ea60b286691346a7dbec7a3ed77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308e3fd24346355ca1116f9b4eee816aa6c71095c426d5d7e1e3c47ccf849028",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9m_dkZI585KuQCV3Ew-MLyE75r0peLbkOm572DgwAZLXCbBCuiE1koLnnRb34CL9J8YlaLx8_JE2bUIgERF7OatjxzH0NOfZPAWDzRm0lJXWb7mcbkjxM-clOoGajiExKFNF8Bv36wcoCkL1MC6t50NrvdGegngXlmEYXuePNQXpeG59wKwojpZfik0C1uW2WddLAHrzq8Do2khTAVLVNo21iS3TMv43scvROdY6RyV8UjSTNXdsfZ2U3-EMTTKoRwO1MyrJEnhR2TlXCZSjrH6hw62Z_OlJ1Y9V7Do5xJ99DxsX3T78jPBa3phZizNQ34dZ_JuEZAqCmz4K6DwxcgwxXZPHP1Cfnd6xzHqflEjSihCfK0aFqi8b8ir3zOo6qkt-J1p-MC8nNzRp1qbX8MR45PncCuvNSJXoXbQz4pjSYECz5fhH8c_aciSueqdBB0ICxAukI4a3A16DsXljnZG3xqYTwhL9nrwACwXw-l9ww0ndVJKpWDOofcyKIX2txyhZnM06WBk7BnjYdv2CrvjQOkJL_SJOD9ZsQJLLM2eIDJ6d5uNmn7K7MLSidLJUha5VTIABZ1ZWJyVlccm1L8MwgXmHf8iuSaf968rb0s1XoMpYn56pr9o5IvfQLoZTZkiRRMbYV8eLyltTs6NihBAwvy1mCWJYqnBlwrJ69ZVhn_-RPpR6BlDuSkCz-5doSh17K82nNT-aBevScdipB6kiRvdJygfMVJf6tQ-0NyBFSugvScbipysFgoJ03fn99Gvx9Yghv3Mie7XTRw0iCwhslCtzB2fwOO9zTouF6TFQkSCIYMIqfrnk7dxGRj9OQAn7jmFs2w2AXT8ImiB5YQTDme79mnhjUfPA5W6OFP1C_t96DbXHuN9SmeiF3Bapm5INVlTj8nDiTQvkJVbsUfIIljJ5KC8KjhcHqH0VUkYCSw_A0r6eF754nA2bkB2TkalFYCYMfsgrH_q_dNA4KJUDViMHDRC1WbkYTQUWTriEub21dW_cWXFHytVyHed4zy5c1_NXugnLehqSPIpTJIPANv75hVkp17l8fFWyH8ynuEy8VD8OMJHgCW_NT4oL8iTxMJnoXFOVFo0gjXWD6gCtER7u0nCk9kyeOAZljp3fvKZkBCHXnSZd802E19VSZTbNRdPNQiwgLaGPRHw-LXDyeJvC8PJIcmGbHJVdOVrPn-hedq5N3pC8agKpYpZwW4SjlPMrTPnAd-4zg8-gCkcQ7Je9WZJdq00EOCWRzuoq94I9V-vsK-Z1dAr-JGkzAIaWWHRw6Co_cGxMFBLm9QZcOeYIblQitQAFvBHu_c6qExt1_6oMwGa2PYSJz0q1DlhGllAnFAJ2gNbej7r9XSox1-NxQrbPFCpWvgjqm0sKw-cDAMkAfg1IEEQepK0qNEVpekookhoZ9p7tpulPmKHDIey1V_PvkIj6rxgrZOOTE=",
  "id": "rs_01023e430eb7bae1016ab44f653fdc87d0b8156c050b73c96e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_z\":0.15},\"note\":\"The pear shifted downward as expected but still has several centimetres of visible table between it and the jaw tips. I’ll continue outward another 3 cm at clearance height to bring the grasp point directly over it.\"}",
  "call_id": "call_za5L7WP765EV5ZE5H9UoHIR2",
  "id": "fc_01023e430eb7bae1016ab44f66168087d0bf0397352a595bcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_za5L7WP765EV5ZE5H9UoHIR2",
  "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, 0.8154, 0.6128, -0.45, -0.0139, -0.0338, 0.9993, 0.0486, 1.1934, 0.7773, -0.3927, -0.001, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.164 left_yaw=-0.0001 left_pitch=-0.0801 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3409 right_y=0.0204 right_z=0.1349 right_yaw=0.0571 right_pitch=-0.2394 right_roll=-0.0164 right_gripper=0.9983\nstate[joint_eff]: [-0.3214, -0.8137, 7.0906, 1.7021, -0.0513, -0.0464, -0.0122, -0.8274, -4.3829, 8.6906, 1.6288, -0.0611, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1f935cb18560d3750d3d2d1ba29bbc226e929d200e95676508c087ac56abe6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fdff16931f1d63da9ea9418199127e9248a2cc0a3ca77b08983a4fdc6577c69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf1e00f927ebc65d28416ffe7a9493633a7b12551671a7b1a94ed26100dae1c",
      "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 9 attempt 0 · /responses · status 200 · 2.545 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, 0.8116, 0.6132, -0.4244, -0.0139, -0.0334, 0.9993, 0.0486, 1.2587, 0.2035, 0.3729, 0.0143, 0.0067, 0.0086]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1703 left_yaw=-0.0003 left_pitch=-0.0504 left_roll=-0.002 left_gripper=0.9993 right_x=0.3031 right_y=0.0158 right_z=0.0243 right_yaw=0.0294 right_pitch=-0.1126 right_roll=-0.0063 right_gripper=0.0086\nstate[joint_eff]: [-0.2803, -1.2103, 7.159, 1.707, -0.0464, -0.0464, -0.0122, -0.294, -3.2889, 5.1761, 1.7411, 0.0269, -0.0562, 0.6569]",
      "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, 0.8154, 0.6128, -0.4465, -0.0139, -0.0338, 0.9993, 0.0486, 1.0687, 0.6571, -0.3523, 0.0029, -0.012, 0.9983]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1647 left_yaw=-0.0001 left_pitch=-0.0767 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3192 right_y=0.0186 right_z=0.1299 right_yaw=0.0493 right_pitch=-0.1943 right_roll=-0.0135 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, -1.306, 6.9675, 1.7265, -0.0415, -0.0513, -0.0122, -0.8547, -3.5077, 9.1419, 1.8632, -0.0366, -0.0269, -0.0073]",
      "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, 0.8154, 0.6128, -0.45, -0.0139, -0.0338, 0.9993, 0.0486, 1.1934, 0.7773, -0.3927, -0.001, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.164 left_yaw=-0.0001 left_pitch=-0.0801 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3409 right_y=0.0204 right_z=0.1349 right_yaw=0.0571 right_pitch=-0.2394 right_roll=-0.0164 right_gripper=0.9983\nstate[joint_eff]: [-0.3214, -0.8137, 7.0906, 1.7021, -0.0513, -0.0464, -0.0122, -0.8274, -4.3829, 8.6906, 1.6288, -0.0611, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1f935cb18560d3750d3d2d1ba29bbc226e929d200e95676508c087ac56abe6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fdff16931f1d63da9ea9418199127e9248a2cc0a3ca77b08983a4fdc6577c69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf1e00f927ebc65d28416ffe7a9493633a7b12551671a7b1a94ed26100dae1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE9qQCJaJkwK3yJBzPiteVY9xISsgf_7Jb-i9mtmVYbUzjZFIUayAZ-fyygdmSJaHIAS2SpA5pW4WUqra9DYTXoeDn8XKljcXyiwvSueqItbZ2mPZhpawLEOY62xTzegUJTG3dA5knmZeWr10xhHXumc8wdVw-2Std-YpgZukKhQ4hTtjR8Mm8TWz-LgKsngqcIRsGmEA5I6Uhug_qOr4rpyrnzMFDsl1yTSTqeE5e-H0YP-GFyDMAu_HpgMRvSuWIWaqDfeioqAyMH6Ub7r00dh5Vc_1yIHJ-q99mlFhMbRoe7_qOb8Tv4tvfdgjyGxU4JjpzyXd3hL8jnmYYThgheCfRBhljHBJsihABadKexkOBe6hDsuB-a6Wjm8hy7cFL1X3FuK7yp5n3HRdnwuMcEhsRcnGyhvQ8XtG12ng60rMIaT33X_nudxUrZK-n7nqEfo0703f1H8u2zMkM1q8YXIueGIigZPfJm3uP8adl4E7y7qKwH0J1EhBJnvt97MFt-MAH74C6TIm5aNXdrHmhnh6VyVgLuyywJ0r2XHAduSvvIN58ekl698tS-RYospn6Ea7_lSIuwWvG3A0i2zMhQY8yA6gJZ__oGn3n93W7rFtLj_0ZaQa850Gd0WIYQBSLWDxYS-sLrEE8pUovd4NDzYp7puAYbGeHFTomEBfX2RqVkR0S1oP_7eHZi47dnkza3eGdIm-g6Zx5WOhjpZHvssto-MYt-WpGtQRnT6AVOEwnqfUfDlFXYPWHwjViBdRkHYmpkbdTrWiK80Penyt9d0TFFXexIeurwG-2owkq5bNaXh2uaAc5wj6HRNy-bWlQ3Y7GogSWt5VvhmTceOohBtTvyzh8CZWJJQvYMc5xplA3XUmkiLgUzDSjzfuyaYoxYKhB6V8W9_PtXNazCRsRWg3B8XhMZcWP-8KNDz-tE398uu1kYIlgJbn0yqAQdoQ7OpPBlQ3mVUUL9FKDsaJFwkVVCPy0WlRy4l0zAgc-midWMW6yGOpx2lNzL33F2LBv38_oxmdTckyWJvpWVrQjSqJ7l2knuqZ7te_TVr1RVaiQbnTdYlR1_dJ96nkI_eaSKtxX9yzk8ebtKFAc0i8OzqNxP8EZkaEZRBUZCquMUuF8G1PBth8DYwZEU1k-dW7KAl_DmDuO7JsqgpbuGbylRbc1taqlMA2adSDLYrEzpYKyLQ5kEkeONwg5vZFvAekxC2-eB5KhR5O4-xGEOs1ZUL9wld62wQao1gZbIivxmX0rRgiF0_Kg3S_XJI1FwY-v8rj7FEr6aZy13d_rhwPKktq77MjusfpLrkg6delpnTJ22_qB69-YITODTm9GiOT9-dFwtFvDUmzbvdVallxHPXHfyQqucfDsSxUWgk6lsdKmPJX134rfbiqg0_eG2u3iP01hqnFqLE2SePpt-VTCCWbVvPv4P9F6xrMHuEZ9nszBkEIPqSHe-hyXUR7yc03D5N",
  "id": "rs_01023e430eb7bae1016ab44f68818887d0b0932477c88d214c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_z\":0.05},\"note\":\"Now the pear is centered and its lower half reaches into the jaw-tip region, which indicates the grasp point is over it rather than behind it. I’ll descend vertically to mid-fruit height without changing lateral alignment.\"}",
  "call_id": "call_kcyu7rmlEKtkXCLcTpfoA9EK",
  "id": "fc_01023e430eb7bae1016ab44f693d5887d09f0b5c3aac907719",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kcyu7rmlEKtkXCLcTpfoA9EK",
  "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, 0.8154, 0.6128, -0.4534, -0.0139, -0.0338, 0.9993, 0.0486, 1.3933, 0.548, 0.0032, -0.0048, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2868 left_y=-0.0002 left_z=0.1634 left_yaw=-0.0001 left_pitch=-0.0835 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3446 right_y=0.0212 right_z=0.0444 right_yaw=0.0605 right_pitch=-0.2725 right_roll=-0.0131 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.3333, 6.9538, 1.7314, -0.0269, -0.0513, -0.0073, -0.5265, -4.8479, 5.7778, 1.79, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c696b9d14f4cf1fa2f88a39144a08ed7e1033d5160a75cadbfeda7e5fb38e8a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2eb6d092a6fc907b15357e38d8f4a29bf35b2cce33431057198dec220c6ccd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc2a0ca18d149af9a29e753223f0b3b4aed1027cde3b15c9a902bb42def3e4ab",
      "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 10 attempt 0 · /responses · status 200 · 7.115 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, 0.8154, 0.6128, -0.4408, -0.0135, -0.0338, 0.9993, 0.0494, 0.9318, 0.5846, -0.3508, 0.0067, -0.0044, 0.9983]\nstate[eef_state]: left_x=0.2886 left_y=-0.0004 left_z=0.1658 left_yaw=-0.0004 left_pitch=-0.071 left_roll=-0.0021 left_gripper=0.9993 right_x=0.302 right_y=0.0173 right_z=0.1386 right_yaw=0.0427 right_pitch=-0.1283 right_roll=-0.0102 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.0051, 6.9949, 1.9463, -0.0122, -0.0464, -0.0122, -0.335, -2.5641, 9.2923, 1.6142, 0.0611, 0.0904, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.45, -0.0139, -0.0338, 0.9993, 0.0486, 1.1934, 0.7773, -0.3927, -0.001, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.164 left_yaw=-0.0001 left_pitch=-0.0801 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3409 right_y=0.0204 right_z=0.1349 right_yaw=0.0571 right_pitch=-0.2394 right_roll=-0.0164 right_gripper=0.9983\nstate[joint_eff]: [-0.3214, -0.8137, 7.0906, 1.7021, -0.0513, -0.0464, -0.0122, -0.8274, -4.3829, 8.6906, 1.6288, -0.0611, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8154, 0.6128, -0.4534, -0.0139, -0.0338, 0.9993, 0.0486, 1.3933, 0.548, 0.0032, -0.0048, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2868 left_y=-0.0002 left_z=0.1634 left_yaw=-0.0001 left_pitch=-0.0835 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3446 right_y=0.0212 right_z=0.0444 right_yaw=0.0605 right_pitch=-0.2725 right_roll=-0.0131 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.3333, 6.9538, 1.7314, -0.0269, -0.0513, -0.0073, -0.5265, -4.8479, 5.7778, 1.79, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c696b9d14f4cf1fa2f88a39144a08ed7e1033d5160a75cadbfeda7e5fb38e8a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2eb6d092a6fc907b15357e38d8f4a29bf35b2cce33431057198dec220c6ccd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc2a0ca18d149af9a29e753223f0b3b4aed1027cde3b15c9a902bb42def3e4ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9yIJRNy8YUyzDN_UjDjdrD4Mrf_6DoqnVIBjA2WypiFHK7rtHP_bjoOx6T2Ymat0cCwFp0ojSIS13gcfJqMvno9F9mLANRfxwhYgDw6Iatytrbln7mRqTdySups4xJ73nzs1LUgHOAx_yXvpo5SC4nXrPhir3AVBdw3r4tmb-wV9ErJOl9DuoWc1B26-897r-yJeqxpgEVkriQlNuHMt_e2DRqBwwHf8k92Xh9gd9VGC2rmd4PZmJAQsD46uIEnb85iPCZdveAVE2Tthwr3p5E_3M_chX-zARj7s3tse1_ptvqm27tLx2eiohQHdne_Y-c-a4tMR1MPh3msz1cif3pbDinFOIE7P7YsS_5w6KiFZ0RGrJ9Fn2qsSJO0Cbyilb_Y83cn4F6Z93CZ__FbkSmsBj5pIfKPiqE1RizSgvMj9YRyUCFz_CuK5XuOGI4nKwWt3FWZMkLOUU84_ycsmnjfN8L3Y-xlbX_JNgdYX2wkVzNKz8VxFnq9sKF24nQhctjn5X5iFbeAOLLGB6wTac03R6MVpQOFLANzRyPGFoaDjyhzfdt6Mpo9Fg29gM897gjeQepAcQOLWrKhK8J8-3GpCTjXTnVMBz7Nl8DSA8f-PQhQsgXzp54L24O7TFek9jaEyHTnKHn5Yr3HU-a6Cs8VXA0R5tE9TKl5g9w8dwdtO65019hZ6Xh3dZL5hkKVEXdqaXemt4EU7uKWnyyR5ixQSva2xhQoiz25usStAysYOvDch9UJYauRoyI6h6DauVqKKPofem3uK-Y2D7zLidy1-H1xOyidtOefHAJv9ZrjATz1OY9iE5SB6c1yplj3eB88zshUnlqpj0BmIsc6qx5pBaA98uipfzKsBRfFy5VGyGj739dTCSPKGae7BmzZR5cXGZvJEB71gFfK3UIgcFDAH0qmZ3C26KQSmNGqDsjSaUMzIg1acPY-n0mK_sMjjRGKd-V1-cIVlNpfS4a1Y5g-BKrKkdlXXN1mg4u2Cs-zdz4llHIp4WMGYPNHcNE1RTlADzQB1pumjQPAs_AKoxAemywDN8wMC_sb9KkoDr-zScvRkepDEaGLThQ89y_I7aHlQW7kTNf7U9IeV-plY1pIG7stQPcgL8843OQA1Ht5d2x54Q1OXY-AVPVPvTyzD2o-8WXQ8jBgJRXLJTiVhgB9ULo0GU9kRcgpAZwXxsixKeihJnuBMSW-xdcmJCshQwpqgrRqkwW5pvxHhQVMkrvcUIwt0iYG3jkH4Zvccf0H4A=",
  "id": "rs_01023e430eb7bae1016ab44f71068087d099852bcbc3fd3048",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lower pose, the pear is centered between both fingers and its widest section lies at the closing line. I’ll close the gripper to secure it.\"}",
  "call_id": "call_On4VuDlStLlZRU6YMRQ07bex",
  "id": "fc_01023e430eb7bae1016ab44f71338487d080b423850caeccf8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_On4VuDlStLlZRU6YMRQ07bex",
  "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, 0.8154, 0.6128, -0.4545, -0.0139, -0.0338, 0.9993, 0.0486, 1.3907, 0.5484, -0.0048, -0.0048, -0.0265, 0.009]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1631 left_yaw=-0.0001 left_pitch=-0.0847 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3434 right_y=0.0211 right_z=0.0441 right_yaw=0.0641 right_pitch=-0.2775 right_roll=-0.0175 right_gripper=0.009\nstate[joint_eff]: [-0.1026, -1.1556, 6.9538, 1.7118, -0.0366, -0.0317, -0.0122, -0.1573, -4.547, 5.9419, 1.5702, -0.0464, 0.0659, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32e1313b2a295b2f478ca13a2126e43c5502cab0f05b879cd2bf78b3ce14c221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f156549f7abdda90957cf9cca6907a84429ff15a0c76f5ad3eed8b53dd9c585d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cbabbb228a93eeaf722f554709d483108354a1e6992a20c159f27aae7a8ebb9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.075 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, 0.8154, 0.6128, -0.4465, -0.0139, -0.0338, 0.9993, 0.0486, 1.0687, 0.6571, -0.3523, 0.0029, -0.012, 0.9983]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1647 left_yaw=-0.0001 left_pitch=-0.0767 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3192 right_y=0.0186 right_z=0.1299 right_yaw=0.0493 right_pitch=-0.1943 right_roll=-0.0135 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, -1.306, 6.9675, 1.7265, -0.0415, -0.0513, -0.0122, -0.8547, -3.5077, 9.1419, 1.8632, -0.0366, -0.0269, -0.0073]",
      "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, 0.8154, 0.6128, -0.4534, -0.0139, -0.0338, 0.9993, 0.0486, 1.3933, 0.548, 0.0032, -0.0048, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2868 left_y=-0.0002 left_z=0.1634 left_yaw=-0.0001 left_pitch=-0.0835 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3446 right_y=0.0212 right_z=0.0444 right_yaw=0.0605 right_pitch=-0.2725 right_roll=-0.0131 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.3333, 6.9538, 1.7314, -0.0269, -0.0513, -0.0073, -0.5265, -4.8479, 5.7778, 1.79, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4545, -0.0139, -0.0338, 0.9993, 0.0486, 1.3907, 0.5484, -0.0048, -0.0048, -0.0265, 0.009]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1631 left_yaw=-0.0001 left_pitch=-0.0847 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3434 right_y=0.0211 right_z=0.0441 right_yaw=0.0641 right_pitch=-0.2775 right_roll=-0.0175 right_gripper=0.009\nstate[joint_eff]: [-0.1026, -1.1556, 6.9538, 1.7118, -0.0366, -0.0317, -0.0122, -0.1573, -4.547, 5.9419, 1.5702, -0.0464, 0.0659, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32e1313b2a295b2f478ca13a2126e43c5502cab0f05b879cd2bf78b3ce14c221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f156549f7abdda90957cf9cca6907a84429ff15a0c76f5ad3eed8b53dd9c585d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cbabbb228a93eeaf722f554709d483108354a1e6992a20c159f27aae7a8ebb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE96OpF-k1D9PlqvsfGoepEoXm1ogOAvCbb8vHKtu_YYBgfnFZHMdRw-m1XdWevIpdHtAoBYA0jRNjyDeB6NYhhwZs1KA6fiELpaXTqz2IUlGfwBNI9L0j5yVswLIdg3_wBiaX1TAHpenQfFbwPiQtebGQdmakPp1BRzVUYRn0ghPtSmg9gmWUvqRuN7C98PAqAcinmmw37ZSd2QVZfqIv2AWnOOF32p3-FxtxY0dptCdB16ZZGP8yctCtUs27iuH70w2T64syILBV4Zku5SjyLl1K--GclkXKOcJsQnEjO65gUfX4dlI_ckzvUVciswNsxviBOu5J4be_8eoxtJbMCuqCPPLhFEQsMseFzPy0-BlLFtS1hfi5--eymQ4bYKpNVBbbN61iPF2ZQMKpWRMumjpj9QIHuCFOIkXds2EYgHceEcjoucUh6r26qQYwJGYKmSvAcIr3WuKJv1MCdy71hTzQjqtHLMTP8V5qtIjZV01OoujlScbii6ks0tqZ8oQBJXB9Jxx8RSlWLXJQbUni0a_ib3qX2Xy73v5niRFt2rn86VQ0-LjMFFJICaP1VAA4GHLSihhs3oV40CtQ4b3OPSi8CQvb2R68y0OzG3PMbLHUSaZBWqqELMaaBh3QWciQwb0uIbyZy2tQbP04DqgNGd1rg30Cw1X7Z-T7q6D_q2l20NXR1iRY5BXQ9Spneb-fOngw684EAFbCXjU_tkvUXBCDdheAgacYYA7n4lLMbFu9pd5Hhr2z_mhwn_w1FcncAhUFU6yVHowik-XIu4aO5kLPYESkWrBUEsNuN6xAWEXWXH9yawM_C-E2CV-OQa-iy-mudSuMm9X4T8crfAuKn37YVNQ5ruSf7rG-da-JuTnezUMFAE0YRXOLhnDg_OCBQeavT2DlIMmKcOEYRC0RH_ZPevmp8lnFxjIyf-1sa3Z5krheuQPb5aZEtVBQkVc18p-ihkOOnLn61OuP6Vqy6p9lfBQJlm-YTZq5_VITmrGy2xznctU0fnoFlh2fmN86Hkxyy0x4mCWUfESLs1P1DizKjk9jwu8IVSMwRkUY2LlU0pbBwkC5qtkTwYdWMwgSdU1-IJwymNrEHvr4wo-dudowwqFHMoL-Tbk25go5wAU2u4J-uZpjAVh8TYD1s_zkA3FqymVmBVeWm7GlRquLjX0wvpJ-z_ceNC514yU7pCRJNp_Yul87HzDodqR6AAWIWBIzMYUTKU2i_eYiSNah3kvzaraHEHQYiriH7wDYucobpMFmZdae0GC5sUOwerzDrT4X0xh3wIDlE05esVNDOsUwjiisbwwz9XAHpc7ujpDmUXNch0O4p_0Ydvg3Qnd63Lh3t3Odh2LJSLska3atdWbYNC0k1CUemU4WYcdZ1-mW84jkXLsXYIx3nzvYTMqDE5qdowCyGaq8-AX_6w0UZ82BC8ynf06MxVo0zHEW7IEmI1g9xLozyLQm0k9Hhx9P-8gHbZ2dzUjncNrBQLt-I7Ydfvi_P19zfO9VwUQx82XL5tezNj3SVAC0oLg9ru-QIv3gjTejoMkmkPao3E8MDElNo_o91urQviHLrac4XC9quFicuELsw-tc_8mJmwA90zfHf3ikGawxxq84o2OQztiL239MR7ipD-bqRgpCiZz58X-1cL8omfTZVAw5AgPwhPcXI1Kl2ruYSyeEpmq3kxxNw6xnGNfBbPaNn0Dr_NO4Wrr7-JGbrjveFtQZQ_NyWRL3PjXWkfecbm5I3xjRn1dSj208_YGaI7nOUIY_kFZ4ekFbfGVDWH1bQyR0_zN-q3abnD7PXZmFDOnSVlfInUvc1bUpEB8ByVB4kpZNtalnq0vVeL_hzmSzBJAuvHh0zrnCNHE09ispE0A8SuXeQePmD1yKXxuv__tHXwzEsXjwcmJJHFBbWdt4q2XSfNycwNXJMu-JqRG0Dm_hpobPx1owdJXecn5G47_q3wQDUp4T3AWUOY_2EH3K_54SX-iflcpPT8g5kGoqbwyIDwlazO3wWfDATlKEiI-Mga_ARBezvkmRtm2KutoX1qP6dO14uAh_JJf0rSr61lfncaURt26BDO_xzDIMd_vDfPq0Z_Hft_0TITkWDRD6XO0uDAmJn7cj74kVYw8b93-4vA-PyOr-QK9Ths9lVwt3cnXHTy_mnUwi_Cbv6orCQnhiBDupN2jeW2z7HQDe53pBQIXiLMfXYtDLTNEYFk6e-GnKRhixExv-dzcHr87qt0drWq3mmGw6D_98BIreqLhJ30Y0a3nd2JXpA31u80pnbOT1B_KKiysRHRV8-n-s9ASRnIkX13brZyalDcB3iNzoNtHo5w6AaeQMhILE-d7aC89qLOViQsLvLhz_8lga0uqWkBRV28o3LIIfeMnXqiCMXLUhfCnaLevrFG7DxKmt6etCYc9wm9jow4KTQdfAFon5Dfspi5vTAaIXu-bdevdS1AXni-47IwPmVDbO3yzuEJj1FHrIXqzfc8dF7kHNLMIXbFnUmoyoLmKBp3-j35XTSxG2_q0DYWgC_ZnmFIv6dCvi_-4jCJ_9y67UQB1-PyqWpLpcK-gJ13mxXWU5fVllPYGOI3loareSE9CZeFbqDrGlB00XX427Ow2Li6xCUBMYdQwYFpInBoUbAL8pv7extxcN12idtWfAGC5vp0GL1px9Q9FBffdyEUpyOvyrgdXWTOoscwNi3nZFayvhLlsUaTGEP6TlP77xjqr-uySkaS67xs0KM0JWwdhK6K4WptRKM1pNKyhwTTOQIp0lcSEBcy3hQCk4af1ZMKNRjgW0ZRtsPxIP1N_eS_T9X49EE6osKicmzV-8PFsJnIe1bfhRCHfrXughpi9Q_oZezpJcggdrgT5a5TbZOleVKyU37NWS7S6nk7shU_IoHZtmivxQV2ImwPw1rrnFntkJlKumEQ7dkFDzmITVqRouvYlXBzRj6-pG3yJDhB26rCEoURGDMeY148nBOoABZFnRnLnlBQKBDK95-8E3_M-JzJqlyy24oQ5ZX8ATBGuk6wzoE6jNubBMi7H8f5_qlBzIfW6_LQlzGOipilkBD_vbVidboisJGak7lqI2CMiEnWbgrxacUEOUkKQQTotu118cnVjf7ZaMTlSJBNQKwF40oE1GRx3NFeSVS8bpFAmAX8f5dnwp8OzRl0v2BqDqgQKclw86bdwnF0iWfXE9M9htePZ8fyErRkv0tBa58kXA_sdc4GnhalQ93n2aN9JFeWyE279diIe8OILidWmb-UGQ6nP9-UAVB0zsyhgMrmc_prj-V40M4sbP--PRbGBBhzGkVU7aFO3t_wkys3dMayyY0p417JIAJgf52EQnj8XDBCQM1d-yTZPi1Mqu8n7H7qd1o-ThHI9XjYu9gf2DOicWidXIrptioIL1jeFdpHHQobvTtDZxtTV5EiWFE5Wq5cCfBlKwfZyEuDjGrzPPCBpVdvWs7PRMTaKKL_SF0q0I87T9zLXg4U3IT2_5eNeeZsl5v_ATuhlDQrr4iO5ykxDinMnYXfdGGyTXSpuCwg315w2ZinGSWXu7qWpzKVIHMsVMdsFq-XW2fre0TqukPjvOfdDFeeuorOZTr7I3nCP0c6QY0y_Ob9WHCVCDMhNYsb8JjydZId5CKP2D-MMWOA7SnFAnI0Rsph7wdQEzled0UKmhVVvXf3x8X0kmF0zeM_5eGMgo57eHH4lPanlqfrB5FhwQG55Ao3wmbwllWnaXK0dmA7mX8Lbktj-A==",
  "id": "rs_01023e430eb7bae1016ab44f740bd487d0af421ec82781654c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The gripper again closed empty; the pear is still visible ahead of the fingertips, so the perspective cue required more outward offset than expected. I’ll reopen and lift clear again, then approach farther from above rather than pushing at table height.\"}",
  "call_id": "call_oSsFl5NERT2zY1SId0RSobRj",
  "id": "fc_01023e430eb7bae1016ab44f792dc887d08d09b40e880ea3cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oSsFl5NERT2zY1SId0RSobRj",
  "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, 0.8154, 0.6128, -0.4679, -0.0139, -0.0338, 0.9993, 0.0498, 1.2388, 0.8886, -0.5392, -0.0048, -0.0383, 0.9983]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0001 left_pitch=-0.098 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3395 right_y=0.0213 right_z=0.1424 right_yaw=0.0722 right_pitch=-0.3199 right_roll=-0.0247 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.3333, 6.9402, 1.7949, -0.022, -0.0464, -0.0073, -0.3624, -5.8325, 9.2239, 1.3895, -0.0513, 0.0464, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b1e31637d7e3a51eca79d6baa04d7f24a7bfae5cd6b309ec44d6e4fc014b41c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b118a54e7c6b253c97060c75afcc69265857d375fa8a7c26da55d9b691633214",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9df0c035f33a718f842267f5dfb2d0439ebd55f5fc1127e386fc1b116c532cf1",
      "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 · 3.24 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, 0.8154, 0.6128, -0.45, -0.0139, -0.0338, 0.9993, 0.0486, 1.1934, 0.7773, -0.3927, -0.001, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.164 left_yaw=-0.0001 left_pitch=-0.0801 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3409 right_y=0.0204 right_z=0.1349 right_yaw=0.0571 right_pitch=-0.2394 right_roll=-0.0164 right_gripper=0.9983\nstate[joint_eff]: [-0.3214, -0.8137, 7.0906, 1.7021, -0.0513, -0.0464, -0.0122, -0.8274, -4.3829, 8.6906, 1.6288, -0.0611, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8154, 0.6128, -0.4545, -0.0139, -0.0338, 0.9993, 0.0486, 1.3907, 0.5484, -0.0048, -0.0048, -0.0265, 0.009]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1631 left_yaw=-0.0001 left_pitch=-0.0847 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3434 right_y=0.0211 right_z=0.0441 right_yaw=0.0641 right_pitch=-0.2775 right_roll=-0.0175 right_gripper=0.009\nstate[joint_eff]: [-0.1026, -1.1556, 6.9538, 1.7118, -0.0366, -0.0317, -0.0122, -0.1573, -4.547, 5.9419, 1.5702, -0.0464, 0.0659, 0.6569]",
      "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, 0.8154, 0.6128, -0.4679, -0.0139, -0.0338, 0.9993, 0.0498, 1.2388, 0.8886, -0.5392, -0.0048, -0.0383, 0.9983]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0001 left_pitch=-0.098 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3395 right_y=0.0213 right_z=0.1424 right_yaw=0.0722 right_pitch=-0.3199 right_roll=-0.0247 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.3333, 6.9402, 1.7949, -0.022, -0.0464, -0.0073, -0.3624, -5.8325, 9.2239, 1.3895, -0.0513, 0.0464, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b1e31637d7e3a51eca79d6baa04d7f24a7bfae5cd6b309ec44d6e4fc014b41c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b118a54e7c6b253c97060c75afcc69265857d375fa8a7c26da55d9b691633214",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9df0c035f33a718f842267f5dfb2d0439ebd55f5fc1127e386fc1b116c532cf1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE99W9HEqsmcsXbyktBMpWOjrTRxwhhfXWLSNXfSQeWDA_YhXWYuMrqhrnhdl0oWWbCcpwgwFFkLZkOt2O42nYTMivt4sS3cveTSdHP08Huls3i-fKHyehqSHmIla69OiZebnWQVHlWDB-wpOqaugkWMUYQUVQ2QzVNNNq_UdwbyOHSIAzi3wx9jvjFwbBoQpvPxBjvmjYhOQAgZY3Ous6sVKIo3n7dURXMyIo9dxX0gCsQIzbNodd6crLnHauHVI8s6UM9rpbjJhkzWYmQLprR9U9aJbjdacx7ImtOFy2i_m3GUSI42e5nSvx1sTUxUHVoU_owHZPr193xHBszFAUMsnJl4HdsN27bbvtyLPUdV3p5N1Eth9KSG4GhG_z3rHQKFiZebWy7GvY1SsXsogfORgN0_51bf8urm69f6_k6dIhqSRaVUr5AdW7umQXLr_8mudm5tdJFmv-RHpQw5fG-8Pi01m7Yq10sluMU52ZqtHld93m310WnO40SX96q5C2Jwjy_bdnygoeE1l3sE2oByKE6cYShK4s3l0Tm5Ew6Rg465Kz76jr2ngEbatvJzwnyweanqCtKq7OKj-UKzTcU-ZgVF2owoBHcVUQ9o6ykQSbli_Vb0apPn0pSHorufHs4emFLiywSpg5OuSFcvbpupzrc7NJ_ULmfqTMxYcOWhDbob4T4NClTozxntvpPpqvCiaTEGpsjF7Eol5MXGehm95x1w1POVqZZjkaXD7Xbl3aAx2TlcQf5kUxY-KKDHJkikrcQNM9hRNWI3QrtLO6_GWvVZx9-tmvLg6MgOnXjpdJ3O3CparqtyFtBf3LGqQLSNOW0Ty1weVtUMr48nmzWX_8-d_IA44pVUFoTi3ZUrso9vo5InQ8CM1r08VROtpMqdGtfea58jhhvoRxxHYjqc63LEywexKWAr3SDBEXMteJJFqrAFkYiR9m965-9Dwm4SiSKpCQVG6vaTCYefa7S1UuB91dxQDyraVOtJts7YXGfdKfzrcUIDkO0YTzHb33MXOuWPWPi79HVI4l1nTkLgvp2zNOHRaQWZQJ81AB1BcklJO-Fj12aJNSy98HPypr1uq_LVS9GL8tbtWFQpoTxYuRuDF48uKTBtGCHrBSt2lViPWOx2-hRGCuBS34Q4iZVI9mV2hrDqB3qrkf1X3BDvHaL6Y3ctATLAw9HbtZOUMXYUf6F9Y0geozaL0OIHXE05LFhQmsXto7jrkrFavhQjLKO0HSxjBdRND3OyZnKC_4rR_Q34yzHL29AIhDljYT-0N91qdZIcI8K_kUX8Ebo-aHuB-x-kBPfgxWZfBJF4o75Rs4ZBe0vJFc5To2bbrh7a",
  "id": "rs_01023e430eb7bae1016ab44f7d168c87d0be992c23e0a3545f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_z\":0.16},\"note\":\"From clearance height the pear center is still around row 160, while the point beneath the fingertips projects at or below the bottom edge. I’ll move about 6 cm farther outward so the pear center—not merely its near edge—comes under the grasp point.\"}",
  "call_id": "call_J5hmE2sGiirxqc5o58L9XTvm",
  "id": "fc_01023e430eb7bae1016ab44f7d4c4087d0926fa1b82e6639ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J5hmE2sGiirxqc5o58L9XTvm",
  "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, 0.8188, 0.6128, -0.4759, -0.0139, -0.0338, 0.9993, 0.0486, 1.4742, 1.1099, -0.5804, -0.009, -0.0536, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=-0.0 left_pitch=-0.1095 left_roll=-0.001 left_gripper=0.9993 right_x=0.3887 right_y=0.0241 right_z=0.1437 right_yaw=0.0841 right_pitch=-0.3753 right_roll=-0.0293 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.5932, 7.0906, 1.6777, -0.0806, -0.0317, -0.0122, -1.0872, -6.2974, 9.5385, 1.6093, -0.0562, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443759ef438c55d71fd72f7e14a64d54c14e2c054824d2ba31e7fe42fbd40772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3271a36b6348a1dca05b19d0d60612845ca9d091dba103e7179bb4714199b718",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47372f12c7f4b09e7a87a7067f3ba58a3f6f96dd1ed7925963447a1ebbc77c07",
      "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 13 attempt 0 · /responses · status 200 · 1.8 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, 0.8154, 0.6128, -0.4534, -0.0139, -0.0338, 0.9993, 0.0486, 1.3933, 0.548, 0.0032, -0.0048, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2868 left_y=-0.0002 left_z=0.1634 left_yaw=-0.0001 left_pitch=-0.0835 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3446 right_y=0.0212 right_z=0.0444 right_yaw=0.0605 right_pitch=-0.2725 right_roll=-0.0131 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.3333, 6.9538, 1.7314, -0.0269, -0.0513, -0.0073, -0.5265, -4.8479, 5.7778, 1.79, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4679, -0.0139, -0.0338, 0.9993, 0.0498, 1.2388, 0.8886, -0.5392, -0.0048, -0.0383, 0.9983]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0001 left_pitch=-0.098 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3395 right_y=0.0213 right_z=0.1424 right_yaw=0.0722 right_pitch=-0.3199 right_roll=-0.0247 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.3333, 6.9402, 1.7949, -0.022, -0.0464, -0.0073, -0.3624, -5.8325, 9.2239, 1.3895, -0.0513, 0.0464, -0.1832]\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 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, 0.8188, 0.6128, -0.4759, -0.0139, -0.0338, 0.9993, 0.0486, 1.4742, 1.1099, -0.5804, -0.009, -0.0536, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=-0.0 left_pitch=-0.1095 left_roll=-0.001 left_gripper=0.9993 right_x=0.3887 right_y=0.0241 right_z=0.1437 right_yaw=0.0841 right_pitch=-0.3753 right_roll=-0.0293 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.5932, 7.0906, 1.6777, -0.0806, -0.0317, -0.0122, -1.0872, -6.2974, 9.5385, 1.6093, -0.0562, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443759ef438c55d71fd72f7e14a64d54c14e2c054824d2ba31e7fe42fbd40772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3271a36b6348a1dca05b19d0d60612845ca9d091dba103e7179bb4714199b718",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47372f12c7f4b09e7a87a7067f3ba58a3f6f96dd1ed7925963447a1ebbc77c07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-CGaA7NGsHd8m4Z8tWnjE12Yr4_ntiLBE1X-6UYM9GMlrPWu7v29frw94Q_Xpvq6EedCydYSNV2TjSs5HhD5mzQ2tDHHmlZfE3iAtVOuHapJY3VBuIJxAD7wlQpf4KlzMWNLCoJulGUNAut9uX2zV15lPDwMA0Bb0n2WaB-3IhK4xT_9W_CuM2PB_FVX6SB2ROeVH_utXJaK-8tbr1-E2yFNcHkAgphR-Ic6ZFTy3pO6rkKymjKfHEFR1IdgyinuIY9WJFmVyR2Qcdzf0K8z2fn8CwrG7fwSmWCS0KgaA32b_pbpN6bZCn77ssI0d2e7AyQslgREwoFIGT6q4L7VABP8ZcSEgSKLK00ioX-QrN_5R1t1RDQlv9tDkuDlfAKXRU4DKsXScDa9GXsTArucy_LySMlbjUgBjIg-_SxZFKadsSpptNTEhhtaEx9zw-hNAElu34AfrK0m2_XFKmApcCo7P8ahQqOTH3hNybSINQfBrAGPDnolLDh5bZZ8IK47pmkxYRvocVn4ltbTOp2RhaiGE15aUvO_d76U1vFZjQMYcbU0uM1IdtM-e9wHlL0RgGMYM25gCRASWW2dWm6_nFubROUAH29y180UDqNrOv-snH0Poh6B1aM4ETymiP9AjRa8PHIZtLGuZPWYf2Gv8FJ__rkgM7ej3BY7maoCnvUd5ecCISOqjOaKfSA8-C4afhjpZ4Y9P3dhnVfEaX_Y_7byJEIIHdApxhkxcM_IBYgK-yFwnws1FrahtcoQhAFuS7LRMA7vxSd-GiHNjgzNGbCi2SKj9rNKdWgT7CJWObLhWWjLpoSE6M_9mvirPNiP3tF9LHjaEHGhNhwSv80Jy68pj2EC5yQLs5Vqhh36lG33ZOLxyvdUNFKtJ72DDGWjNDIqmN2HJlqrGj6YSGlhzj0UEpDxS7aHSgNfuVQAvxligEqygXpOfKQuBdMH6kPm_tYDGlj1Fzv8ZKw4NRZH2dbFMmBDk3qFZw-A6n4BtO9iLGNm1SIALtRQc0zRmJWFbE57-EwTOmduSLqfTtIDjtoFwGcAlme1sBYtONLyJycru9TXTs-HGkanrPIMSESYIqs5wYOiLISXU_9rlwSXxLk_IyvwUhq1Np2TCBhrx2UGqem1xOESCPxGX8MEyQpM5pfthu3T-LkvSct34c-17KHQSFI9PhbhZ-OSKw4slvkniq4jjnEHDO7NjibzzcjSv1UM15xLMaJPG8J5n3fjZWn885ik4x17ai-DkvvVouaScHJ0yxXqZ2ej8VIlUzgjUPzdQVSq38aSDGs2xLwXlrX9dP4_mYVPCRt-_HhMtpWMsY9D2WV_LNag_t4vByV7fm5ZXF43HDH408CZzGflrv9IelWrQt_0ptTHMg0U75lOJOZMJ-Jr2k7wkXj27NiPhKLVoqZGXrtj9rz34oX6Slb8JTmt69M63MpPlGqWPxst6puydmHsUqJBhlcE5yCtwYFlxC2aSs_xmOM41qSrw5UXOkJqMsW4z5OkAoVrKv2gUCkCAqM31DOWNR93a7iuHH",
  "id": "rs_01023e430eb7bae1016ab44f81483487d0ad356be337a99edc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_z\":0.05},\"note\":\"The farther high move produced the desired view: the pear center is now at the bottom edge between the jaw columns, directly under the fingertips. I’ll descend vertically to grasp height while preserving this alignment.\"}",
  "call_id": "call_4RdLgMIXmhIKDTT2jjZFgueW",
  "id": "fc_01023e430eb7bae1016ab44f81f33087d0982a21730321398c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4RdLgMIXmhIKDTT2jjZFgueW",
  "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, -0.0139, -0.0338, 0.9993, 0.0467, 1.6375, 0.8772, -0.2131, -0.0086, -0.0612, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.0 left_pitch=-0.1099 left_roll=-0.001 left_gripper=0.9993 right_x=0.3946 right_y=0.0236 right_z=0.0462 right_yaw=0.0868 right_pitch=-0.404 right_roll=-0.0332 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.2923, 7.1179, 1.6825, -0.0464, -0.0415, -0.0122, -0.0752, -7.3504, 5.8188, 1.5507, -0.0952, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c059884fba65184b919e6fafbaf05efca00c16f86de92bd72f481632dde1083",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfae4d7681e87c58a1ab8a305675d246dd834d1cf750b396d0ddd29678f9b78e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc19b1bf859fba19691c4fac81e9478d6c2bdda646f4ddb6428cbcfc99822c0",
      "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 · 3.399 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, 0.8154, 0.6128, -0.4545, -0.0139, -0.0338, 0.9993, 0.0486, 1.3907, 0.5484, -0.0048, -0.0048, -0.0265, 0.009]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1631 left_yaw=-0.0001 left_pitch=-0.0847 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3434 right_y=0.0211 right_z=0.0441 right_yaw=0.0641 right_pitch=-0.2775 right_roll=-0.0175 right_gripper=0.009\nstate[joint_eff]: [-0.1026, -1.1556, 6.9538, 1.7118, -0.0366, -0.0317, -0.0122, -0.1573, -4.547, 5.9419, 1.5702, -0.0464, 0.0659, 0.6569]",
      "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, 0.8188, 0.6128, -0.4759, -0.0139, -0.0338, 0.9993, 0.0486, 1.4742, 1.1099, -0.5804, -0.009, -0.0536, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=-0.0 left_pitch=-0.1095 left_roll=-0.001 left_gripper=0.9993 right_x=0.3887 right_y=0.0241 right_z=0.1437 right_yaw=0.0841 right_pitch=-0.3753 right_roll=-0.0293 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.5932, 7.0906, 1.6777, -0.0806, -0.0317, -0.0122, -1.0872, -6.2974, 9.5385, 1.6093, -0.0562, 0.0073, -0.0122]",
      "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, 0.8192, 0.6128, -0.4759, -0.0139, -0.0338, 0.9993, 0.0467, 1.6375, 0.8772, -0.2131, -0.0086, -0.0612, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.0 left_pitch=-0.1099 left_roll=-0.001 left_gripper=0.9993 right_x=0.3946 right_y=0.0236 right_z=0.0462 right_yaw=0.0868 right_pitch=-0.404 right_roll=-0.0332 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.2923, 7.1179, 1.6825, -0.0464, -0.0415, -0.0122, -0.0752, -7.3504, 5.8188, 1.5507, -0.0952, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c059884fba65184b919e6fafbaf05efca00c16f86de92bd72f481632dde1083",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfae4d7681e87c58a1ab8a305675d246dd834d1cf750b396d0ddd29678f9b78e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc19b1bf859fba19691c4fac81e9478d6c2bdda646f4ddb6428cbcfc99822c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-JhQ8xQjr4kedK0U7-GGgpREqVUK5APCyuY5M23c87UuLOwcJqIHT6KXTJoXJDUIHI83bQGd5IcAGh0JCfUCUtggCZzRRjlyUmWWDfIZVYxpFcSca1JeH_v4SHQrF-uMtHinQO8sUmn1bHUYOA7XEh6-hOqSFeMD9XtqIg9il0gcAvuMarRFBs1zLxDTYCLHLEa4UcmyJxl74HHURT9qpyTjNBHCJkFtgZ6_aT-pX6fin3vDOTtL50L3c5EKIbD3VW_pWvkLrGa0kwp0v4gbcL2rbDYSzwCGxrxdVDwbNVcVCcthMicZVxC8Nlm_0i7Asp7ozIBw7vQ4DScGjpnTjGHXiOw-9UnWodDI7Dc9fZI5-Kqp2GDY1yH_5L16dHmE1NHehLu6WQ6TiJUEL9grgiJ05KGK98YDwW1B3kayuSlPHrpk7-4GKhHkpOV7NT2PtTJvAUbJJJpNfs4gQRRv0g-rcA2_MR2Z-X--c7QuDwxSIbNcyeN_UTwsOVcDGTpf1LPefOcc-v_HNml1P_8xb7ZQnqaxv54h_o829gq6Ph7axCQ509iRcVAZrEA4eKXZqBPr5FlKyWC9nexmHtpMG32sdJxVmunKB5u0jShRHiltuwm4CgUZKFdY3Zr7eEHZj7-gGT8NXL9BoI13Y_i0pdMb8Hs4kisSYGvJtJJQqUVN6GEaLELrEBOmyfvEGURFnBQAH4bV0jgzUaaJYsYP1uFxWezIJ4r2TjxXuJpSLrkyxSNdPelNnP2yK443NZXXLZhJuYC-nGIBRKpLiZI0SfhAOKX6skwR8WdxRMRc36u_UJs-u2Oopnc9LzgHf2FWYacGJhQ8JfwVuGLNeS1K6SuFLg_5k34mCQQZdganJvkVprD2kZDZ_CYriWbwqboqYIlKnhPym_ZhSHc46C8GI8Lp9_XST8d034yBqav8gikqHrLcfsSUjbLjuSKl5Xp81g_mouNxYavsCz7Gyr1Yh4zmxgfq-poHpd5HnrhwUFLbYekSPaMUX1Hik6WY2RYFwlDBEeOXFfutlZLcWntve4HRwShi8-ovPT59m1lRqv7NYZ6cIS7RMdJwsY0U7On4llLYJ5aSI0wzUdCfJN_5ioD0uFCCJFqzw_tl2UOVTkiO-QzGmp0TolByE_COBLWRuCubn5CkALRP2_-ZSArm6oULrD6NtpMyFK2EsjNiy-HlidPdKP9JiETQyG-KBnd_PfzRGI53WpIjebRVEh0FhpSF4kzJrCGLNkECf6Hb4z0Lg=",
  "id": "rs_01023e430eb7bae1016ab44f88829487d0aa5667d475a1be71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the pear occupies the full gap between the fingers, with its center beneath the grasp point rather than ahead of it. I’ll close now.\"}",
  "call_id": "call_FNYWVWSLyM6fjfFYXrwXGIcv",
  "id": "fc_01023e430eb7bae1016ab44f88a22c87d0ae97611842b88119",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FNYWVWSLyM6fjfFYXrwXGIcv",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9993, 0.0467, 1.6375, 0.8772, -0.1993, -0.0158, -0.0643, 0.3381]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0 left_pitch=-0.1102 left_roll=-0.001 left_gripper=0.9993 right_x=0.3973 right_y=0.025 right_z=0.0481 right_yaw=0.0949 right_pitch=-0.3901 right_roll=-0.0293 right_gripper=0.3381\nstate[joint_eff]: [-0.253, -1.2239, 7.2274, 1.6288, -0.0317, -0.0611, -0.0122, -0.253, -7.3641, 6.0513, 1.2234, 0.0073, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0753b80460928e520d27ed378794dbe4631576f3c94b53efc4983cb28ac0bf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc9911c3728cf833d488d587c7eca150c8dce2a7ca63d0986332a02fb99f317",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26204224d7b85a9532e3c6b2a4a9ca69a1d82acca4674e047556fd8e7aec01c9",
      "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 · 5.24 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, 0.8154, 0.6128, -0.4679, -0.0139, -0.0338, 0.9993, 0.0498, 1.2388, 0.8886, -0.5392, -0.0048, -0.0383, 0.9983]\nstate[eef_state]: left_x=0.2846 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0001 left_pitch=-0.098 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3395 right_y=0.0213 right_z=0.1424 right_yaw=0.0722 right_pitch=-0.3199 right_roll=-0.0247 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.3333, 6.9402, 1.7949, -0.022, -0.0464, -0.0073, -0.3624, -5.8325, 9.2239, 1.3895, -0.0513, 0.0464, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8192, 0.6128, -0.4759, -0.0139, -0.0338, 0.9993, 0.0467, 1.6375, 0.8772, -0.2131, -0.0086, -0.0612, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.0 left_pitch=-0.1099 left_roll=-0.001 left_gripper=0.9993 right_x=0.3946 right_y=0.0236 right_z=0.0462 right_yaw=0.0868 right_pitch=-0.404 right_roll=-0.0332 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.2923, 7.1179, 1.6825, -0.0464, -0.0415, -0.0122, -0.0752, -7.3504, 5.8188, 1.5507, -0.0952, -0.0073, -0.0122]",
      "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, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9993, 0.0467, 1.6375, 0.8772, -0.1993, -0.0158, -0.0643, 0.3381]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0 left_pitch=-0.1102 left_roll=-0.001 left_gripper=0.9993 right_x=0.3973 right_y=0.025 right_z=0.0481 right_yaw=0.0949 right_pitch=-0.3901 right_roll=-0.0293 right_gripper=0.3381\nstate[joint_eff]: [-0.253, -1.2239, 7.2274, 1.6288, -0.0317, -0.0611, -0.0122, -0.253, -7.3641, 6.0513, 1.2234, 0.0073, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0753b80460928e520d27ed378794dbe4631576f3c94b53efc4983cb28ac0bf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc9911c3728cf833d488d587c7eca150c8dce2a7ca63d0986332a02fb99f317",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26204224d7b85a9532e3c6b2a4a9ca69a1d82acca4674e047556fd8e7aec01c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-NdoM3MNw_J-6T7sjxlNXT2IIZbvF3BpbRj5eEdF5mOnY-tCUaOYYh6UdxlFcYAO3gYt6M9hhihoXP81QbeyD0sA3riLg1xI9aiVM2OLns897Q5NPAjecPOnTa8FmGW9ZOU00jPXk3F2vABD9G76SsjF-Zddg7TIKvPWVZEPccrDpfib6i7a0t54v-e7ddvt3LDytF_T3Zv4rqKGryJxzgNbzoljqiIY3HHVRkKQ0CT9zSub2EMJmBQSNNU-2LuR2OLV-OaSc-7M6dY0WSNxg0p-7JGuS-zzhLhK3L9O8h6edBcytH5ZH2Lsq9GR7NAHdrMkIv2S0VoqNcRBGngFZVDKqdspxuToDb8A752Q0sR0sgsk9euWjf9ozVsW4Mk27EgFMhI5Jca-qtJWwg-lnEIl0vgV2hHdo-Pxjf1rK_rIJxGRh7nIWtUWRDJql1ddnRbl_sfsJxk7bXIi6OJvuNEAILzcoeZ0DmznFb1tFYx8NLRY7enrGlAM-ubva2U_oVh40vTRjCn1XfzbOsAfSBykS9Or5oRvyRpI5nI8fiH-Hj-E5Aki95LnyecFqe1_Au7nWr3eZ4Kj2bkI0IAPSsKmoPkLfXO11-yhlOFrOfpphSYxN_MDPR98eUXs7WcddJIJlWeXd9opCU1Nt4At-PLbgIM3t6u7-C1ePPERW-FqQsFBze90wNch0vK7drGkU8xDemGUGuI6BNasoah-fzQOQEezUdsZEjKuCQJsPQSVVvcPXEZQllZsu6-xR2ZhL2qyywt6Z9si6_2W8oTdgGwlcavdFZQUD0Bcj2iy6bmKXFufKFfw-ag07sX77JevQf7XxXgkH81TeGGCiTusPOUVOCwKWx0xsqYL3I57VMyL0o_1-ABeYCL-BQajlV5K-mHsUToTX8YjKbAtFEpz0plh9qiG5nRyr8Poalz7uiKqZM4Z5fB3ySYcUakGBMP90SoInA0fi9EBdpXv2bSWrv3fXyAdjDuuefdXw8kAtOBch73pZQuDFkOCpG1Oa6mBCAzPq1nGuNbF1eT7BQLSvxBbuI-cyKHF89mJkaJoab7cEQ2Mjhnf4wAkFcGXY_--O2pGmed8pafYRIevotVjv9q6Gl-PycnqTmEfGBtMqEpGtT3hqtJfDvlYlBvmSefk5xSKf_mJzzjTRibv3aAz398HwrK_QvuE_6s0GmxUk0Gjld-hAmEdC70R7wL40UH3JOb408lLV5-WzWNxqoCftmvsiUBcZgEDUxYRIjO2ORDjl2nD9agb_9Nr8yR3YaUoBt0CT-PokXAY3xMk0bz7emyfo81W2d9yKqOmhuz48rp3bB86IIlOEqJr-rjIGn8eF32dCufBytRyNB5KK8lz1bK1qt5y2M2EIai_SDoBTcoMSNgrZTX1_psd7heKjVF1aTBLIEVJSH9-M-iEk-tZQSsgv8j6HErZa56iJtsH7K2mmQypUHD23mfo3ZuK9qEbXyDQlsRirmnUdqFSRDe27fs8Zhp2MtK3h8Fv3Hif89roYkFuEqRK8Dt-zRHx_iKmrR",
  "id": "rs_01023e430eb7bae1016ab44f8bf76487d0953b707ef01ff6c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The gripper settled at 0.34 instead of nearly closed, confirming a roughly 3.2 cm-thick grasp on the pear. I’ll lift it clear of the table and verify it moves with the hand.\"}",
  "call_id": "call_D8vaT62NOnHwY5reribqjn7N",
  "id": "fc_01023e430eb7bae1016ab44f8c894087d09a2b9804fd73bbcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D8vaT62NOnHwY5reribqjn7N",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9993, 0.0467, 1.5555, 1.0813, -0.5529, -0.0154, -0.0719, 0.3384]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0 left_pitch=-0.1102 left_roll=-0.001 left_gripper=0.9993 right_x=0.3882 right_y=0.0245 right_z=0.1065 right_yaw=0.1006 right_pitch=-0.4576 right_roll=-0.0304 right_gripper=0.3384\nstate[joint_eff]: [0.0205, -1.3333, 6.9675, 1.6728, -0.0269, -0.0415, -0.0122, -0.3624, -9.1829, 8.9094, 1.2772, -0.0122, 0.0415, 0.8767]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2db2020523d6cab9747d23744815c434208c805a855732f5d1e564df4f7f605",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ff2f9561650dc68fb5609f735afebdfc8b6ee2d87714af5fde27b14ca9025c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22a03e91b442f36e170f69cae5fbc456c93c638e5e118b5a58ff8fee8e10f33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.927 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, 0.8188, 0.6128, -0.4759, -0.0139, -0.0338, 0.9993, 0.0486, 1.4742, 1.1099, -0.5804, -0.009, -0.0536, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=-0.0 left_pitch=-0.1095 left_roll=-0.001 left_gripper=0.9993 right_x=0.3887 right_y=0.0241 right_z=0.1437 right_yaw=0.0841 right_pitch=-0.3753 right_roll=-0.0293 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.5932, 7.0906, 1.6777, -0.0806, -0.0317, -0.0122, -1.0872, -6.2974, 9.5385, 1.6093, -0.0562, 0.0073, -0.0122]",
      "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, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9993, 0.0467, 1.6375, 0.8772, -0.1993, -0.0158, -0.0643, 0.3381]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0 left_pitch=-0.1102 left_roll=-0.001 left_gripper=0.9993 right_x=0.3973 right_y=0.025 right_z=0.0481 right_yaw=0.0949 right_pitch=-0.3901 right_roll=-0.0293 right_gripper=0.3381\nstate[joint_eff]: [-0.253, -1.2239, 7.2274, 1.6288, -0.0317, -0.0611, -0.0122, -0.253, -7.3641, 6.0513, 1.2234, 0.0073, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9993, 0.0467, 1.5555, 1.0813, -0.5529, -0.0154, -0.0719, 0.3384]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0 left_pitch=-0.1102 left_roll=-0.001 left_gripper=0.9993 right_x=0.3882 right_y=0.0245 right_z=0.1065 right_yaw=0.1006 right_pitch=-0.4576 right_roll=-0.0304 right_gripper=0.3384\nstate[joint_eff]: [0.0205, -1.3333, 6.9675, 1.6728, -0.0269, -0.0415, -0.0122, -0.3624, -9.1829, 8.9094, 1.2772, -0.0122, 0.0415, 0.8767]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2db2020523d6cab9747d23744815c434208c805a855732f5d1e564df4f7f605",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ff2f9561650dc68fb5609f735afebdfc8b6ee2d87714af5fde27b14ca9025c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22a03e91b442f36e170f69cae5fbc456c93c638e5e118b5a58ff8fee8e10f33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-WH_XnETULNUWqT8VxHwB8sWd_mahGK-42jQRny2ZM7AD99oyuI9z_TzifmQaGf2E1c8pwFX-8HSx-2ojlxH0pvi4QH4DH_BXiqD3jAv6dVI0_kqq077upZ9wzT0Wcdh0wZIz3sid_X9jHIO_v7DPBI_Exr0HZsraeEoaqgTQVhhp1dD9kC9DaxhkvoLnjn2spUlZZdb2rGMq4KEhiqWemEJgoYl6A6c_Xp9r3PoMpYkuOQfzv14Zo6ozZ5rUfMK8oPsntdDYAfEvaZ5fko_3c0dxsnKFhQqa53FwRE7Xx4f_CEEBjV5J0wdEZLzTmF9KXQOe3dRLNfWnsYEN47xDaLsOJwRnngWF9-oPsrr1iTYGkaS4UtxwPwIQBhJf2Y40GzkobaeIAYbaj4e2k1m2k07vuMvP9KjqXBQZYJDF4ZGEVcQaQrH4OfORLbvPSa9XA-RWcZ34nStkjnZBK2Uhc-6ukxVFsJXyrjMe71c_GClOeeaDyV44qjC0VXYCdnhO8VVkY-qKapoOiYHBT_6-0f0s9uw6LVYDKDA6KGs9RkHm2g9_xm56pVFa6Mx1f1BkhOgbB_TS4zH9JZFQRQEtncC9qLgpWr963pUiUmzf_s0_lAZtsYr1wDNSEZyftg9Nemldgw0v2Wj2mEXgVjfQ5iiZFVgdWwMb0x8nIQxRVdpZtVaD3f7GOuyIcSbVeIeijXrbjYMoHycYJHXuLhF6fYTJ8E3d19hAoA5K0svwmU-omG2GuflQ-1mwE0EdYUR_10lk2YxOXxnuFaoDS6G0agECbBl8uwxrkUo41sjeTwuWEKF5tugcFGEhsCIO2LeubAE_HyUcDc6SsID75D20HnusOSWgzmvoWe2UdtVTWTNZgH4oMQNIBsRDsCSjUY7lM2ZdToynoHf5_pcKBeL7XGxyIogKGFOmtmlo0C2w9q2ZobOuRede0QQXU_MXrWw-UfLBksS6_8NQ7a_PTv81PixVSPkysrUhtDDJlsO6CEvUO2hnjTlMnFgVaHYZLixcKFDVUghTp3dkZa7kW1Bdslwa3yxK5P1xrcrF4NVXppdRgYgFo68vLVU8stPPel_cqvHKrFnLiLIqC09iP4fE6LsIeg8hv3rxvumMysDhg9gvHxh8qLPMkiwWL7br_vH94NsyxIauO7l7X9gYAJZDcP5rbjnwXjHjST7npJLd1HWapbvqkG72c6TZx3f1OCK9N39RqkmA3TIDRR1Ymsb806yLV3qbB2HSp32Vh_lRUMaW6IfWDMDZ3h443WV4IzFc022hSczTgqTVZYdKF0MunHhvW0ES3Zo241PW4FKj3rJcB4k73mfuinEiRUGWlI-mXSz3L-Zd-tCbQm-rl2ZuDsTSDF0SlWKKzB9EO31A-kcbA9xfn-QG4F-XUTfVmZjzJz87Y7W8K67lb31J1ZiJTOEKhWMqgzoZ7daWgItKySPVdKZn3LRlDoigF2WEQsBQwxSXGdQapFrPOfTsoN_Mz_dxSiCNW12Oqe1fDODi07qHyfo9ZSwWmBI-e-HolyWR0Mx4oG4yPIfibnLDSybddLshjjTYanBo6x9eKDbduAzzfa3URBSovHaRIuve7ngVOvupR6w8beeTNhY5yLda9xyVsjsW9gSSO4E-AzTPHZT5SQSWC_fcsouIHQeZOSyQH9eEz6fj_tBT3fSMHDWHPMp8UX33pEGoPOXJcjA-_fnpQNgjtbYjZzGILsJV1yefBGZHvoCMNO-J9wrTu_S7Sihjmh_aJHwj2CS93lZ8bagH_513e_V1lZJJvqWaFu39T9P-ekyA54slM8Egqrt73fbXB5aUYR0NPGTGxyDi0y-geWoWsavEzSkoRCqF91_r1AmLRIs2VgELZZEuTyJSxmUQzQ2Mo4dUVwcBlLnh9Q0q4BUNqZ52lweWX2ZL4GJM9XICEHikmhWfb7JCQwhj6-euh29XBRXWiLgTRQ83RIaejZKnBKKF_WyrZ5upS9oAE4SxOJM0IkI-BL38Fe4X670WVIYQGCte15TIzePw_hvyWgyUQqnV-_pcNGV8ydiRiie_EwQBHKCGgtLjxMGPdqt2Tig33ohVIwsKP6Lq_2EGj9bBzgf3h9FQka7U-fjTxduaR00Z4gaFEwNcRlKiQq7qxzuysNEOPA4pSZWPKfTaOzFjgEcVfG9A1EXT11BwNg8Ytf_svf0k-lKXcSCAq_pFPqoVJjJXppByKHWI0N3ZnoekfggYd7Ksm3M5gxnEU3tF21anYlfCPpwsMPDMOGR82fhZ7DBFQ3IG3kaNefN_Iv-2xQkKdHWZxq48VJagAQrlRC8ZFc3n5kJrn35O8ILLa7g50d6PBSn5ZXO10eVHCDRLJ9TX-YJXmxL8KknY-ZYzx-KXk0V1783MZNLotIzweRGsPUDtS6Qddu6JgvypSnHQKq59gs0ce_B6ZmhBioXGWu1sn8YHEVqpxZ-t2gQof64QQKOuR8nMnIYcTG6WZDpesCryoYg-WDTXMp1JDyJ66aSqvNS5d7iFt-K2g1dT843nzRRfem9yjfVybByBYob1clzuBOXKK6IYS6LDYWxN5HGUNpv_FtJ13THsEqH90GB28K3T0UA7y3lrORJZiPrPXmGuCYpatbYMgkcgsO75CGGNb-64xXVhPh07etyWvwH3PxYzU2MPdO5Tt0z_xu5_pl1YyhKZS1Wq3hDMG7hlVLDfXJjW6XX7leBANstMnEic2MQmQCOueZc_W1D9m_L8KxPrm4bEOMfCYIg8EIxtEdV_bZPyp48O5821ZyNZiG2Ldyu_wYNkaFm8kdiR4N0l0zy0cnSfS8B3HglQxnpbjvSZW-fYUfkEww2GrHsvqRciidff8PUh9JL0qK1kj_Y7s5H3Fv6ShwxQFaVAuL1UeLm8XVlmxmvmmkV7p0lhjUmZB_JCXvxHt2Xxa_bU=",
  "id": "rs_01023e430eb7bae1016ab44f9253f487d0b9e0218c80854983",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.11,\"right_z\":0.22},\"note\":\"The pear rose with the hand in the overhead view, confirming the grasp. The blue bowl is about 8 cm to the arm’s left and slightly farther forward, so I’ll carry the pear above its center with generous rim clearance.\"}",
  "call_id": "call_Sr9sQgjNLtlYvCx7UbJQsFrC",
  "id": "fc_01023e430eb7bae1016ab44f95cf6887d0b6ff2eb5480bf6cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Sr9sQgjNLtlYvCx7UbJQsFrC",
  "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, -0.4767, -0.0139, -0.0338, 0.9993, 0.2905, 1.7794, 1.7531, -1.0466, 0.0933, 0.1028, 0.3387]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0 left_pitch=-0.1114 left_roll=-0.001 left_gripper=0.9993 right_x=0.4239 right_y=0.1133 right_z=0.2078 right_yaw=0.1342 right_pitch=-0.4959 right_roll=-0.0407 right_gripper=0.3387\nstate[joint_eff]: [-0.335, -0.8821, 6.9402, 1.6337, -0.0513, -0.0708, -0.0122, -0.4034, -9.1966, 8.8274, 1.2186, 0.105, 0.188, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5037cd1314ea8a5f413f6296a80397845caf0e053571a32085e40260aa86ceef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c412cb5dc2ac50f5df3b0814f62cd674347eff8769d49a6daf8938cb0e18f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f54cfdf06c536735f40a071a3255b156589871d7fd40d3918e0f1d785e25b15e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 2.745 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, 0.8192, 0.6128, -0.4759, -0.0139, -0.0338, 0.9993, 0.0467, 1.6375, 0.8772, -0.2131, -0.0086, -0.0612, 0.9983]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.0 left_pitch=-0.1099 left_roll=-0.001 left_gripper=0.9993 right_x=0.3946 right_y=0.0236 right_z=0.0462 right_yaw=0.0868 right_pitch=-0.404 right_roll=-0.0332 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.2923, 7.1179, 1.6825, -0.0464, -0.0415, -0.0122, -0.0752, -7.3504, 5.8188, 1.5507, -0.0952, -0.0073, -0.0122]",
      "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, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9993, 0.0467, 1.5555, 1.0813, -0.5529, -0.0154, -0.0719, 0.3384]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0 left_pitch=-0.1102 left_roll=-0.001 left_gripper=0.9993 right_x=0.3882 right_y=0.0245 right_z=0.1065 right_yaw=0.1006 right_pitch=-0.4576 right_roll=-0.0304 right_gripper=0.3384\nstate[joint_eff]: [0.0205, -1.3333, 6.9675, 1.6728, -0.0269, -0.0415, -0.0122, -0.3624, -9.1829, 8.9094, 1.2772, -0.0122, 0.0415, 0.8767]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.82, 0.6128, -0.4767, -0.0139, -0.0338, 0.9993, 0.2905, 1.7794, 1.7531, -1.0466, 0.0933, 0.1028, 0.3387]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0 left_pitch=-0.1114 left_roll=-0.001 left_gripper=0.9993 right_x=0.4239 right_y=0.1133 right_z=0.2078 right_yaw=0.1342 right_pitch=-0.4959 right_roll=-0.0407 right_gripper=0.3387\nstate[joint_eff]: [-0.335, -0.8821, 6.9402, 1.6337, -0.0513, -0.0708, -0.0122, -0.4034, -9.1966, 8.8274, 1.2186, 0.105, 0.188, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5037cd1314ea8a5f413f6296a80397845caf0e053571a32085e40260aa86ceef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c412cb5dc2ac50f5df3b0814f62cd674347eff8769d49a6daf8938cb0e18f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f54cfdf06c536735f40a071a3255b156589871d7fd40d3918e0f1d785e25b15e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-dJtBxQX0GOJeuGzzROt5KtXJ7bAdXcKRBr6YhujLoDsUTWArs2CeWVkSa6CgX51h8fkCddcIZawNY2HFvO71bHsosE7H7Fx-mU9suXYNWbZiyZMVtF9Cl44VgF-WiteZAHwfE39hfDYkW5lWt25dgfbKDrJGST9Ysu8RREY_WL6wJ9QE-HUvctKdT-P5Ye25VUIoBJjhO_gQiUWpuFn24Wa5gEKfmTiWHvjKQDoRIkt4ddfxAAy22d_VVPazJUetFAlwaXcSTNIdR7iRCvh8qfI34HboqVzQefb58TjNfiQ1Mhwgmb081JLbtgaf7J9KRxV3y1mYQ-X8bHGyYj4pn6W0RP6nkiD474UADaGI0ddUPHvW-_7TX7nGUtgRFL-3oKUQtotn2fivlq5dtZG1qV2awgVI5WoXOzWWJP1zIEGZEQmD-hEPljweG6VGhS-yomxqDG9v9OgJKrbfVd14b08jDFSKveXRBwtNoayt_2SXcGKAISxLc9E-QS34PQPO6WhboCBQ5y-AU6AUISyCKthPJlLyovHB-jZSMjpyg6QobR2Gu9HpGPRxzV5H1_wz6paWXf2fdSqT5lLt2MJW9XXHCm3_RVcJQyoCThMHlnczpIjzlv8y_qbyo9o0GuJsX4dSE_UwIv2t6-T4iXN_-UggoukjnC5Iw4qzeSTfh7xl1qUkZL0ROjlBwafLqCX8k6nk5TM9mv5Fv8lWWqYpXOJ895kkECfgycn3oQ1MAF12zhkQohKoKx61CCZb-4KqG10uHyfOEq9EsH0ne9I5j5T-BELeiPZw93JCMjqpG353wu4LFf6gN8BGsquOerOeiix-aGCX9ETpj3GthEbS_TbhqsTzFsf8v8CjvIj3qvrxG9JPkanL9XqZFoeLxeaYYSGx_9QywdB2IygNVf63mBWHT5O6ftRoNel9rvY6GExQp_9UhuLerBUbAI-P3cPVF29mPbSPAZXVE2-PVjdZxrdRAzHah9Wpt2idEz8yMoIL0dYB6wH7GjK-uQZuPIwqeP2PmJRVpjJg549HFxB913IQYGEFhbGSFif89cooYC7illKUD9NwtQWuG1kuXXHU0hZqas5m3Fjv8Z0ADmQTYMFJiy4v1n5uxn0nRAl_IAJMpnRTFt8KGST9jaBTyoFi-Xt47PpWBpF1sso_d1gEsbTAcGvMVDP7pIDW8ONsM0Uag6rp0jEDbU9b3-WFNjR1ss9Jesv1rVEtXIG6ktGgoASufzE9yW-8XXWnEwhk1Ib6vhnQ0rIf4XyrQSlgiVFgjX681Tj4VuBBTOAmN6UEdjwGa_qjlHyW28IzoCv8COvn18QVagm_gVfCCGAsFx78_XKXP7keXIX9fUhAt_Eo8K_UsJ7q4nD3M6MfFtmVgYTNAm3jvPy8gQLGgPyjqe4H-SWI830_GBcT8rZkFHw8tJvV0gGm3nRldcWylpRKZHo6zgTDo7eEx-OJRXQqjHZRCiUa_dSOhwJ2OmALpB3cKGE5L_4thj4as2Le0twAO9Jlo9xr_2v4Y0GVdAo-r5HdvwkHYk2TqGyxc31R2JEFc-RXZqC_ugrWGP_3U6bEaKRjA9PHouGthP3-oyI16bfYIlCIk6bQiVB72V-n2z3cN-FvclHeIiOU-d42lIHsoxvailo4-SpdR4Dycjtfc0i_VyId7fyAnMWWqQb07rxt-4l-ArhITPHKL9q3gAYW_A7kSGS_dG6UYI0xQkNc9x8Ah7YO-RYIUG03tF4ce2a_5hk_yjCN9Gizyee8DzyC7ipQm6tSYjn6VIilBFjajyRTNvlGuHGmJUufSwDx8bwpg3z5sMDClkZbF6Zfq7LbZJemL9HGVwcpslS6s8wFjMx-L7hCHO6urKVN_ra4PrDDAsdOqLfKiHcqvWzmRd-bdvOnniaix1nsIBmUu30lvNqg7",
  "id": "rs_01023e430eb7bae1016ab44f9b586087d0985ec37fa8a47f57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The blue bowl is centered directly ahead of and beneath the held pear in both overhead and wrist views. I’ll lower the pear into the bowl while keeping the same horizontal alignment.\"}",
  "call_id": "call_ZESTFdNxPKi8cI5m4P54JsLX",
  "id": "fc_01023e430eb7bae1016ab44f9cc48087d0a770f1e878101ade",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZESTFdNxPKi8cI5m4P54JsLX",
  "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, 0.8257, 0.6128, -0.4915, -0.0139, -0.0338, 0.9993, 0.289, 1.7733, 1.3666, -0.7372, 0.0963, 0.0944, 0.3415]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1533 left_yaw=0.0 left_pitch=-0.132 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4099 right_y=0.1079 right_z=0.1051 right_yaw=0.1284 right_pitch=-0.5658 right_roll=-0.0612 right_gripper=0.3415\nstate[joint_eff]: [-0.2667, -1.4564, 6.9538, 1.7656, -0.0464, -0.0366, -0.0122, -0.0615, -9.0735, 7.0359, 1.4139, -0.0317, 0.0659, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a734891ddf6e47c0f503312ef7b43d47cbfc83b5ef69d48aff827e972db84df9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c1f1054f643becdb318c7429d48f0b897f44470da43f38a07f95dd26bc2fbba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922a8cb1f41dce9ac4be1c267029ce3e7ae2d3f22c46f842ed5793f3a29412c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.883 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, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9993, 0.0467, 1.6375, 0.8772, -0.1993, -0.0158, -0.0643, 0.3381]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0 left_pitch=-0.1102 left_roll=-0.001 left_gripper=0.9993 right_x=0.3973 right_y=0.025 right_z=0.0481 right_yaw=0.0949 right_pitch=-0.3901 right_roll=-0.0293 right_gripper=0.3381\nstate[joint_eff]: [-0.253, -1.2239, 7.2274, 1.6288, -0.0317, -0.0611, -0.0122, -0.253, -7.3641, 6.0513, 1.2234, 0.0073, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6128, -0.4767, -0.0139, -0.0338, 0.9993, 0.2905, 1.7794, 1.7531, -1.0466, 0.0933, 0.1028, 0.3387]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0 left_pitch=-0.1114 left_roll=-0.001 left_gripper=0.9993 right_x=0.4239 right_y=0.1133 right_z=0.2078 right_yaw=0.1342 right_pitch=-0.4959 right_roll=-0.0407 right_gripper=0.3387\nstate[joint_eff]: [-0.335, -0.8821, 6.9402, 1.6337, -0.0513, -0.0708, -0.0122, -0.4034, -9.1966, 8.8274, 1.2186, 0.105, 0.188, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4915, -0.0139, -0.0338, 0.9993, 0.289, 1.7733, 1.3666, -0.7372, 0.0963, 0.0944, 0.3415]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1533 left_yaw=0.0 left_pitch=-0.132 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4099 right_y=0.1079 right_z=0.1051 right_yaw=0.1284 right_pitch=-0.5658 right_roll=-0.0612 right_gripper=0.3415\nstate[joint_eff]: [-0.2667, -1.4564, 6.9538, 1.7656, -0.0464, -0.0366, -0.0122, -0.0615, -9.0735, 7.0359, 1.4139, -0.0317, 0.0659, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a734891ddf6e47c0f503312ef7b43d47cbfc83b5ef69d48aff827e972db84df9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c1f1054f643becdb318c7429d48f0b897f44470da43f38a07f95dd26bc2fbba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922a8cb1f41dce9ac4be1c267029ce3e7ae2d3f22c46f842ed5793f3a29412c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-jDknsjHsksglCv5wI-wZfivI843nyfmyHIgEDYKIhARvPP_Q0gpk19iDAl_JBOtiv4zKV4Akeo0rE1d95vzSv2ApfgWk0vXJ-kVO_sLEomgYaDoxkPHkuEdmdjFuToFz8i4Iyat4BWZsTS6MiXlI1NDzSN995OkrZG3R0ARvknY932bkeTYVgoz0LlRyNCzdzrAtkYykC_3V-6DNkhIUjUM04EZgHhaAGmvOHXYkQlCZYTHesY17uDM_2W267urUG_OiibgcNrkfZkcdF8uVmQUInpfu4esEig2395JHn3wmRHc7nTiYlnLUmK5Bc7wabE5SaSSvtHVr869qEJKOepgYmxQ4owU7FHKV-L0O2i5KMe2WyQ-596HBeBHMPp1S4VET8UyqcDcP7eJhvSAoW9XQYiuMj0yyFSvCLZRWi8jK_gBc44-3uy52wWGAUP1C0_DX_wzPi3RF_8-jYEf_FVc2WHgAfy08ni7Sobh_k9fJKh7uNt63rO7n6Yq0zW0idjjtLs9LuJUx7TNKUSa4K96d5WU1K06fk9iaO7cn16eOXENWUyga4epz1nPTbddPFXzyA-9TwATis-v_fSz24rTMJygLLI241qzerv7UAYcBnanacQGFhUe70mjxvm_kIx9_pVw68j2woQJte-5OKGSMqzMUgHZrs_8G0_pzCCEw1qa2EYIPmm97yXRJ05SUV62aqW9FCW9cq6paHIEvYGcfIwrSku0hqSVEKBjguXl5b_En60fgVRb_H7UuWJ3mqTQ8qwbotU8ZzCw-dKlnZOOjGaLke3NHFUKxSSIhmcr4NxIKpf1QlLYXB7il8FBs7XmbvqQdNHH8tkUEwR-DZ-iQcSo8wj5L-uPImbPf7xYHLaKO3hwTOQFbPNiX1fHlvLoDzuO0dSGjuZ7drvw4hIHERqF8T-MxGnNx_ryb7AUaWtXAKbqTg3X8wI8N_PeT9kwle7WmkTCvkZmEro7cMZ5mRq9j6-7qQLHQezvyJRlCgHh_n0-cbeVyhfLcReoWhWoRLv7SbwjZQRDDtyzNWx8mn_ZFFxGvinnKxwP1rrPrvfF2PIKhltg3ddYh3DeBrXG6Zyan7UlYKWwLdBygll3oY0kKoBLXc__33OFxiqn256qqmtD2VN66kknnR5kXnhhz0ynq28sIN33T24IlhaB8QxReCeL_VI-JMhrLTjqKsTjJ_1dpD4vX5AtxsirS_sM74U_yTk9sLPOInu7dq5LS_LHheHWDjnn0HctjDYVK-TaxvfLEul_92w-HkxprYl8l6opNsMP8Mu9MkKxHZrD5-do-ccU-s27HF4CPZBX8=",
  "id": "rs_01023e430eb7bae1016ab44fa1bed487d0862e75f67820e0e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The pear is now lowered inside the blue bowl below the rim, with the bowl still centered around it. I’ll open the gripper to release the first fruit.\"}",
  "call_id": "call_op36JrOjSFo7W0hXF13LQEHp",
  "id": "fc_01023e430eb7bae1016ab44fa204d487d08393a6199c3e26a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_op36JrOjSFo7W0hXF13LQEHp",
  "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, 0.8257, 0.6128, -0.4919, -0.0139, -0.0338, 0.9993, 0.289, 1.779, 1.3487, -0.7403, 0.0971, 0.0868, 0.9957]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1532 left_yaw=0.0 left_pitch=-0.1324 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4045 right_y=0.1061 right_z=0.0963 right_yaw=0.1297 right_pitch=-0.5923 right_roll=-0.0708 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.306, 6.9675, 1.6484, -0.022, -0.0269, -0.0122, -0.335, -9.388, 7.7333, 1.0037, 0.0073, 0.0415, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49baece56875c2526f75e0ef6fd52f765f46e7b7b8148645ddf3deff6feff33b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ee39523b65f575f6636ae0088d92bd2a1e08e3a74b7ff1726f722427852c21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98c7bb6f8551dc4bab8d4ce11dc91e26c9ef92fa75f8924dcfb6646e768f0a14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 3.016 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, 0.8192, 0.6128, -0.4763, -0.0139, -0.0338, 0.9993, 0.0467, 1.5555, 1.0813, -0.5529, -0.0154, -0.0719, 0.3384]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.0 left_pitch=-0.1102 left_roll=-0.001 left_gripper=0.9993 right_x=0.3882 right_y=0.0245 right_z=0.1065 right_yaw=0.1006 right_pitch=-0.4576 right_roll=-0.0304 right_gripper=0.3384\nstate[joint_eff]: [0.0205, -1.3333, 6.9675, 1.6728, -0.0269, -0.0415, -0.0122, -0.3624, -9.1829, 8.9094, 1.2772, -0.0122, 0.0415, 0.8767]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.8257, 0.6128, -0.4915, -0.0139, -0.0338, 0.9993, 0.289, 1.7733, 1.3666, -0.7372, 0.0963, 0.0944, 0.3415]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1533 left_yaw=0.0 left_pitch=-0.132 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4099 right_y=0.1079 right_z=0.1051 right_yaw=0.1284 right_pitch=-0.5658 right_roll=-0.0612 right_gripper=0.3415\nstate[joint_eff]: [-0.2667, -1.4564, 6.9538, 1.7656, -0.0464, -0.0366, -0.0122, -0.0615, -9.0735, 7.0359, 1.4139, -0.0317, 0.0659, 0.6276]",
      "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, 0.8257, 0.6128, -0.4919, -0.0139, -0.0338, 0.9993, 0.289, 1.779, 1.3487, -0.7403, 0.0971, 0.0868, 0.9957]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1532 left_yaw=0.0 left_pitch=-0.1324 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4045 right_y=0.1061 right_z=0.0963 right_yaw=0.1297 right_pitch=-0.5923 right_roll=-0.0708 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.306, 6.9675, 1.6484, -0.022, -0.0269, -0.0122, -0.335, -9.388, 7.7333, 1.0037, 0.0073, 0.0415, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49baece56875c2526f75e0ef6fd52f765f46e7b7b8148645ddf3deff6feff33b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ee39523b65f575f6636ae0088d92bd2a1e08e3a74b7ff1726f722427852c21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98c7bb6f8551dc4bab8d4ce11dc91e26c9ef92fa75f8924dcfb6646e768f0a14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-nZz4L9-l4wUBKLt0P8SbfBwxzuKHgxJetiCvTlrTbfnSJv9kGPassg1G9tKxmAa0W7r3WCSRujZSqosuBu6xWT60o8s7i42yfEfw2OYxGF9KCfbOTS2ol4OT5YqpJuUr1XzZP2UAgxm_zVC_28AWFQBQEzdYT2CtgecS4K86PxUBU0M7Ph656MzNnn8kYZIOqe4M3jOgJLI6cyAIaYDRBA6r_aNKRWCYA29wNnilwH4Rnx60oqcTqsQcntH1SiVO4YNofgb1rij7y5-b-6qcS0kNuQxr4SoWY-dCNiYVvaQ0L1vUkAN1JVMBWOjJ8sDeCXXgXejJcUZfhtZPInaLjhgSucPqQwsrFybzMfcuzpQiUFUdHmWHi2HIp-9LZVurmAHWR_OYRaYlIxskbTEbKaGKuVGwvLvd5P0BzNilwAGw1Qq0_pHCmlc1FSqa7axS8VY_qjIJ4poaysR_JvyMQk2FxLqTzaVixNvytc4J1OjZ6HwTPXL_kfFOtz0NsN0prWP3GV-EeaywTy-vx47245JR7POWJwx9uAsWfynF8kawBw0--YN7P48YFfhA89HmnjPdbnh1j3D_5mXXkGLKfK-6ir6UvorrsGaiDwSEURTQvSAvzkBlLDMloF_QFXW5yBxZ5FH1bLhC-TodxSJh_G6Kr1oaOXwVSlCoN6b5Kb62cZWxuRQk1Mj52MxXqPy-Wp43eyuj8cKvmBi2rOONN45K3W6vzrRdMuqakACrw0GICPW_RsfP_0zS6XKI5cEcjcO6af1rdhJN2-4150XxNgu-_zC0ONCu6oWZQJ9yFqq97Ms2YExgCVG-IPXdJ6ECpyvzHQ4xYV7MQ0w3j0PH9JE8e4gSN-MgzxhP0g6TGS_ubKQnqdrOomQMyjVHCo_Is-G2oDO2mm3SlrFpfU-2JIYnHG2HWxOtNUKcuNuGZ1PcXE-STmBEQGamYXAM4iZXMrpK2pVgODvFg_DunsHw8t2Cp8vJmHtV2Z_yeJ8YYR5qL6gDQFfKH4Hy4VeivVLzQyNuWmbDKwCyxb64q4r62lKzqELlC01j_8irZpi6tniD_U06jbkUVY17m7HIOPkh8zNl0LIqsPccg_rObFKR4Wwa9_ZxovJjScCFdTsWm722XT8bAlzLh7dkuEuPyxFTBdYS51CxDpSJkf8zwrvfSNx5j3jdxQ6xAAj0N6_yurP9fnkD7Y4HHLSwaUbUnHcGX2qcm5OlyuTPAOjIIwWgqu_Ht2n7wq6vjIN52nVhTOiirRceh9Qonu6sBWKT_eRRlS-dkQzu7TIkS5-phjm1X-43yRUiiXEJPEY5WHJ_d8UWmuMpC2GGYJI-qV_E5KPMxuAZ5Pl0JJOewS_gqYfXyXaKVJtQUeb0MN9P0zepcBmP87fIWxz91neeU1Hb-oDl5x7G8-xIMJmIDZDp74jzCNxQ7yXEcCFgT_9hE5wBaWzqZWzx0YdrQVGIBkQl9S8A42XWSACh0_3MBw9JfzflJY21drx-HKwKcZd-nBxpI82Y6Yiz5XboEwO5BcGp6asWbzyUZnextRIoCYD6L6ibq_cbepEaRw7joFOUsFJrDeUqHeREi-aaX-NW_aiqwnM6hjc5Lxvnmifb0JHtHq3qpQ3dSkbToGDCyuk3rYosEszzeWYPz1JrBeRw6pZk1jwc26dUJrvMG17hnqr10JCIW6IH511JEV16ZaxQyK1KeuiQbDWL6YmnhyM-JtYf3JRmChL0rGhqlJA0Kcmg_iw5ABc-HjOLxAN2epbb7-hALwVMOSEKGhhJ31JZGXGcmUK0dFuiVBFTgW5HVLzGgNHUSBJSjzYZ-8To9TEwDPbD6YdyotzARhEltLfS68mlr0cwXCXc9MnN6iVAh9f2Equ5oCoPruvjhNXosA-mGSDMaire_hFMFHXB8m_WcPRo-ZdIIjSJo2nO68__2kYW13h_-PRCpfOR4Fj7Fz23j5_r87lISMEU__08yEEDOiEhF-8E3xhWhyxjp1JowNhIGCTigEk5qLc-HYumRup1tudCcqiPt_wjXQCgiXlsf--dtDQcLz3__2HnmyGwHProeyDTyp20Yp1wrfewDhiZ2PXVyFR-AUFU_7iEnXqRRuO0sr8nP08rlBiJ1WmW1e0Pq7WecVnGFP93g0wBCBbs9BzQoWasox7Ur5T7RVZHAr3j9c809G6eHVKk7NbGWojebGTKh9QznwbJp_vPAAvBitCniXkY=",
  "id": "rs_01023e430eb7bae1016ab44fa54f1c87d09a339a158004f418",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The pear is visibly resting inside the blue bowl after release. I’ll lift the right hand straight up to clear the rim before moving toward the yellow fruit.\"}",
  "call_id": "call_6stIrqffOKsAnRm5Kwg1YxEw",
  "id": "fc_01023e430eb7bae1016ab44fa74c7887d09e03090ecbe94b8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6stIrqffOKsAnRm5Kwg1YxEw",
  "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, 0.8276, 0.6128, -0.4938, -0.0139, -0.0338, 0.9993, 0.289, 1.7817, 1.6718, -1.0683, 0.0967, 0.0784, 0.9967]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1524 left_yaw=0.0 left_pitch=-0.1362 left_roll=-0.0004 left_gripper=0.9993 right_x=0.4058 right_y=0.1066 right_z=0.1759 right_yaw=0.1348 right_pitch=-0.6001 right_roll=-0.0759 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.5385, 6.9128, 1.6532, -0.0269, -0.0659, -0.0122, -0.3487, -8.7043, 8.4171, 1.1013, 0.0513, 0.0122, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623ddfb76f58c01f7ea078a82a28cdd5639d42c421693348fe215701bd497f5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1248ab80cd3d397333fb15b9212e5c376914c873edd7f3f2b3e155ce7a31335e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6dc4330fadf149a059173c71411f93184a8ae0ddc1a4c62aa00f895dc25873",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.157 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, 0.82, 0.6128, -0.4767, -0.0139, -0.0338, 0.9993, 0.2905, 1.7794, 1.7531, -1.0466, 0.0933, 0.1028, 0.3387]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0 left_pitch=-0.1114 left_roll=-0.001 left_gripper=0.9993 right_x=0.4239 right_y=0.1133 right_z=0.2078 right_yaw=0.1342 right_pitch=-0.4959 right_roll=-0.0407 right_gripper=0.3387\nstate[joint_eff]: [-0.335, -0.8821, 6.9402, 1.6337, -0.0513, -0.0708, -0.0122, -0.4034, -9.1966, 8.8274, 1.2186, 0.105, 0.188, 0.862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4919, -0.0139, -0.0338, 0.9993, 0.289, 1.779, 1.3487, -0.7403, 0.0971, 0.0868, 0.9957]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1532 left_yaw=0.0 left_pitch=-0.1324 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4045 right_y=0.1061 right_z=0.0963 right_yaw=0.1297 right_pitch=-0.5923 right_roll=-0.0708 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.306, 6.9675, 1.6484, -0.022, -0.0269, -0.0122, -0.335, -9.388, 7.7333, 1.0037, 0.0073, 0.0415, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8276, 0.6128, -0.4938, -0.0139, -0.0338, 0.9993, 0.289, 1.7817, 1.6718, -1.0683, 0.0967, 0.0784, 0.9967]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1524 left_yaw=0.0 left_pitch=-0.1362 left_roll=-0.0004 left_gripper=0.9993 right_x=0.4058 right_y=0.1066 right_z=0.1759 right_yaw=0.1348 right_pitch=-0.6001 right_roll=-0.0759 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.5385, 6.9128, 1.6532, -0.0269, -0.0659, -0.0122, -0.3487, -8.7043, 8.4171, 1.1013, 0.0513, 0.0122, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623ddfb76f58c01f7ea078a82a28cdd5639d42c421693348fe215701bd497f5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1248ab80cd3d397333fb15b9212e5c376914c873edd7f3f2b3e155ce7a31335e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6dc4330fadf149a059173c71411f93184a8ae0ddc1a4c62aa00f895dc25873",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-rUEwNGe3aEoiM2ea-worY745Jme3W2sjQ61xYj_FMCSheYgIehuWJh8fGoPyeZ_7Pcex51aX7H6hai81tUlgJ3u0-ex1zwS345yPzDkYod_nrzxdW2dmM4Yrc_C9yJ47cOXnKnGU1NMymId-A602d-icy2MuxQM7OensAgX43PoAX4q1wWnQclD12cp1IbGUhYhlpHDtGf0P7-cSoTZKPEfZ--oFNxmVGMg-Ekm76By5RUvCQ65XvglDguy7GlTVNcYb_Ght48wF6M_WllvxsLJ7sPwTagzCeyymFPHMdINE2wnVkf_dzWa_qRxkavMBN01Hs79BE-9XPiqKI1JfkIbaUVnEGuL91_R38qe7qla3gObwpPofhE2BWPV2qv5hW3y3p68z6Ghq4bT0cGxSg2nx5L7-u5yGBhqS7hUcJMNu6jp0AqBrgiXIhaIBFh7LQ5zTACaqtS91Ta-EQ4-VWRTi4qwNFkNO2-MZjlm0hvRwfzmfLgljRgfJ8RCQ2zSRuWHBaBjndhSg_JAhhL6vb3ZsKjP9zYQGBe86n1YPfaT3-gy3Z5C5QFgSpmlPRb_iTDd6Z_Edq4wnAQtoX9KEHt2pPSGQYzPOoBuifd8fooau14gjTeQJ-3S49Q7sbFJJYwGfV60LVbDGVUkG9xLuvrkAT4vkOPXWwl-hM8adSBaVsZQhWmBwvlKN9VJ-5FgzIoW8DjIKjst76hs_l0O1HZmltCNRr2obiDvaeUY3sRgsTHNKrBpL1fcjwv5VQEsfG1GafynQe4G83LlvVRyCOEqw8qcqofJyk42NWqvWsh493yfrOX47N4xnaSCfDEpJFQNLnZKcPFiQxGnP-MKe2o6pzUKgvGJTTYNpt6uA9qOltQvmUUMW_7LYBB4e79-aoRQtxVZkG3zgtXLAmB_YgAEsOA1xZ-YAByILvr_Pt-P-H2Jlj5Qf-VK29reo3wZaQs3Jvw2J2ry1p_i2MmorWqwrSiJ_m6hzRhbDqIzPCtLbUIePLGMpcqq-J7N-97qAbGi4I_0jQpdE96G1glYB_rXpsH6Ktk4RYLbs3Ex1BFyiZxQpvtd8u7XkqaSqchUkM6fO6W69yec95XJJh5NmxWoEhVy0msa_mfT_3cc04-LlK4eLYZfb-NoZAJfm7_Acmtt86G6TLQpe71ezrTa13g0X8AAxUFE1JCtMOU-8ooFvOIyJTa6j4Vs-wMpVL1YtCJjfX_G21NZ2QXDcrp4Tj_wtlGlvVsOgoiES0ezAyEsFimqscjlO2VrxVfz7hQDas2H17TBdIgdWX2YI0dFZDRGR9MCrZ7F6axJ8RkXnCtstzpxGKoeg33_-KOsmxllEKak4SrKIphYERY_V2NUhTP7Zm2gqkTexdb_X8I5AzOpeeKY30qssghPDX6fp_DehwjQFK9qYhPFhtyTFIrAUGh37fQT98ouZxhBBe2EWX5Fp0sljJCdq_BIEdz3GQwAxZsvdrHlCmqPYIR9Fsu4HuBjnn1JkWMxx_H6-VjiPgYEj9tJQgu1uSs8D9L6rSSMP-DP7S35fQOB47xuonYVKJaWG3rbVqzbnfVVodywg-xnJBgG-_Rrgpnm5jbZRgZMw7dFsp__kSUpewafAF5djR75xX9RhtUNLW3ol9RAYSX2w=",
  "id": "rs_01023e430eb7bae1016ab44fa98c6887d0a73b4260161cd290",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.18,\"right_z\":0.18},\"note\":\"From above the bowl, the yellow fruit appears down-left in the right wrist view, meaning it is closer to the base and to the arm’s left. I’ll move the raised hand inward and left to hover over it.\"}",
  "call_id": "call_9FsjAGu1B2A3dAURCJBxdFfT",
  "id": "fc_01023e430eb7bae1016ab44faa7c1887d0949dfec5b388108f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9FsjAGu1B2A3dAURCJBxdFfT",
  "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, 0.8303, 0.6128, -0.4942, -0.0139, -0.0338, 0.9993, 0.5819, 1.6474, 1.5208, -1.1049, 0.1848, 0.3092, 0.9969]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1516 left_yaw=0.0001 left_pitch=-0.1392 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3265 right_y=0.1803 right_z=0.1741 right_yaw=0.1788 right_pitch=-0.62 right_roll=-0.083 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.4291, 6.9675, 1.6777, -0.0513, -0.0415, -0.0073, 0.1573, -8.9778, 5.6547, 0.8571, 0.2808, 0.149, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5386cc9085d00d980ea28cd43cf88f59faa2daaaa9c41f4d69d2be42f69844b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3533153e8e11920f12e029585b543c756ae3b4d1da5612e6dcaba97c465a3de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ad332a0bd857bd410cef22188644598ea835c4a4cf058039a27c06e911689a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.038 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, 0.8257, 0.6128, -0.4915, -0.0139, -0.0338, 0.9993, 0.289, 1.7733, 1.3666, -0.7372, 0.0963, 0.0944, 0.3415]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1533 left_yaw=0.0 left_pitch=-0.132 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4099 right_y=0.1079 right_z=0.1051 right_yaw=0.1284 right_pitch=-0.5658 right_roll=-0.0612 right_gripper=0.3415\nstate[joint_eff]: [-0.2667, -1.4564, 6.9538, 1.7656, -0.0464, -0.0366, -0.0122, -0.0615, -9.0735, 7.0359, 1.4139, -0.0317, 0.0659, 0.6276]",
      "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, 0.8276, 0.6128, -0.4938, -0.0139, -0.0338, 0.9993, 0.289, 1.7817, 1.6718, -1.0683, 0.0967, 0.0784, 0.9967]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1524 left_yaw=0.0 left_pitch=-0.1362 left_roll=-0.0004 left_gripper=0.9993 right_x=0.4058 right_y=0.1066 right_z=0.1759 right_yaw=0.1348 right_pitch=-0.6001 right_roll=-0.0759 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.5385, 6.9128, 1.6532, -0.0269, -0.0659, -0.0122, -0.3487, -8.7043, 8.4171, 1.1013, 0.0513, 0.0122, 0.0952]",
      "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, 0.8303, 0.6128, -0.4942, -0.0139, -0.0338, 0.9993, 0.5819, 1.6474, 1.5208, -1.1049, 0.1848, 0.3092, 0.9969]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1516 left_yaw=0.0001 left_pitch=-0.1392 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3265 right_y=0.1803 right_z=0.1741 right_yaw=0.1788 right_pitch=-0.62 right_roll=-0.083 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.4291, 6.9675, 1.6777, -0.0513, -0.0415, -0.0073, 0.1573, -8.9778, 5.6547, 0.8571, 0.2808, 0.149, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5386cc9085d00d980ea28cd43cf88f59faa2daaaa9c41f4d69d2be42f69844b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3533153e8e11920f12e029585b543c756ae3b4d1da5612e6dcaba97c465a3de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ad332a0bd857bd410cef22188644598ea835c4a4cf058039a27c06e911689a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-v__jnO5SruLzevz0DFsUe16uj6pij2qK2vs_EXH4hlobFdTJpgPqto0jknnoih0pkL_z1GNcQSn3YAknPqxht882rLh0OJJ2ABynmEVjfOJzmA37WrksTBoqtlVu1aoBbVCN2H-VNgh6Ye9rZd99SLi3SCTTfDyiz9KnXLGuS3wNTcXwBGVjwn77Ax-R_vGTMelrDxdEydSQNAD314d3NIkqJLGzM_buoSQR5cz0Lo-0_-t73z3ruEZ-8B9Zn1PJgBvOrxxR7ahS9oEXjIqiYN6IinExy7dLdwd02KksE6h-7I017suOsB8HMObYAN4sX6b12VbbPyi4vUhPb-cceIaKgmp3t5FoRLL03BtjSZI2Hg96gMSJllOZ3cpfWBT9Vlm_daZNiyvYmFt6eJO_bKTLAFlzLBuX9uVLvBs2tIauuQ0ID6KyY8gumIkCGASc5g2Ye-UGPzsGDt5ld9ULnScPcXJHoer4Lp4MYspK4HDzl0iAiiS7b_3DEdx8TmgKbLwSSEJ6AVKiuE2r6QbxrxGltbSVd-VM8jxcuPnzMn_jGo0cdILLeKO9z5vAdoPgt3vKUsoCA6QyjB-6H4aVbJu67-HK0svBN8h1YrXi_UjuQbrk6I4YIYQt-r_Oy5sjxdtIlKImda3Me2h6lfC1iddKiyCDe7Gpd7MTMBFVuKlOo8V0REJo8iWp6KKU5x23FerPij_FO0FNerq4MWAHr0Jktm-oar748digJJTZbXCCn6DFt1jOJCleymWSkKBKFvnuqdBCAV3QCvJwRNQxafKjzcOlC3yGKfjoM7M3JUPiWTlIvljsDFT5DxTx_h8-xJNL1atzeM59meP11tY0aTX0XQ_mWLzdhp6Q1I7Bm_TcgCxDdgkEQsnXlMHDakxjaowh7waRX3zcbbIBlDBaCRekzPzrhP5JzJMJDdwi2hh5dknoaAXR0wmI4PhNJOyb_OCiYnNhKoLjrPyyhjra0810aWKfJqObNZ3y5kEqnyNmdzFk8YmvAHf3CnmZmAtoKnfdbdLUfxjMRbxKdOpcsVDaPGvrErSnwFPt2AB_xs-w7fvEqpsWyzZzxf5p3xbmJgliB71IfuoPKgkuCjtYbmoYtlbmGE7BX-neyR5dExQj0pTxUzJRRfbqTgJlsZbnvItx54yxHTQ5UPgidwoB9EbncVPpefIYSJxgoXQZixcon-AAX8YJ_C5qaPEeZFKYOi0Mz2y-VaO4rm5RPlRMLkzRC9YsXLBpGev8LDz0PpQnBbEKg1LZcqHROa_VyfPIaMDQ2uUKjkVkJgdR7_8XXsb9SX1D6OHD9mRihsMgLvuciRFYRCZeYaw3L05GdginvWG6AfUWJtSwGU83rl2Ac-kcn7jdTZUsl6yuHV8L3-KnGEaw6zR018a2xpNDq0FcXTMwpWUhYhGNhK8FB3XDwyLSPzxrl_j8IP47SJ-DdAmdWVkD7fy1hUyaY_CnXIPLqBCCPkMUGl7wkaqTQaaRP6z9mINst0xb1wRnoXby3pg1Mh9ac4tsXPvw7QS4XSZhul6mYYkwK5S0Jx1_wHHh26YaZJOa1huMu9kzNPfWMSQHoQHhQe_yopAGPFj6mYn1oi1sQOP-xJKbxICEoFSWvcwO_Y2Zb9vQsmwsdp7H_462PbgupM0KGi2kB3ZCMtuV-QZrEZQDsfuh9Zn15ew_tmN5PgFFUwZcMDyDmFnNfYCfhbAqCMzGQ0yPr1zEpFyN-4CrArDeYtSZtmNlmRq250w==",
  "id": "rs_01023e430eb7bae1016ab44fad3dac87d0ae49915975eae978",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.19,\"right_z\":0.18},\"note\":\"The yellow fruit is now near the jaw column but still fully visible around row 160, so it remains several centimetres ahead of the fingertips. I’ll move outward by about 5 cm and slightly left at clearance height, using the pear grasp’s successful depth offset.\"}",
  "call_id": "call_LysZ2F6A7hCJg4X6Qykzxaxc",
  "id": "fc_01023e430eb7bae1016ab44fae38f087d098d6596c8c395c7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LysZ2F6A7hCJg4X6Qykzxaxc",
  "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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.5285, 1.8191, 1.7073, -1.1328, 0.1783, 0.2634, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3707 right_y=0.1844 right_z=0.1693 right_yaw=0.1585 right_pitch=-0.6364 right_roll=-0.1027 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.5521, 6.9538, 1.5849, -0.0513, -0.0415, -0.0122, -0.212, -9.1692, 8.2256, 0.8767, -0.022, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a774bb0cbfe78ef7a122d81ef1384657bd3ae28c985fa778c932443f17fe550",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32bad164d350fd4a54be932068080fd33a98756ce3fcee44c2e025ba5a5a95a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541d56fc161bebd78b8309f74b8f8a67443d535932d2cb1b4d15cf658f728315",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.967 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, 0.8257, 0.6128, -0.4919, -0.0139, -0.0338, 0.9993, 0.289, 1.779, 1.3487, -0.7403, 0.0971, 0.0868, 0.9957]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1532 left_yaw=0.0 left_pitch=-0.1324 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4045 right_y=0.1061 right_z=0.0963 right_yaw=0.1297 right_pitch=-0.5923 right_roll=-0.0708 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.306, 6.9675, 1.6484, -0.022, -0.0269, -0.0122, -0.335, -9.388, 7.7333, 1.0037, 0.0073, 0.0415, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6128, -0.4942, -0.0139, -0.0338, 0.9993, 0.5819, 1.6474, 1.5208, -1.1049, 0.1848, 0.3092, 0.9969]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1516 left_yaw=0.0001 left_pitch=-0.1392 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3265 right_y=0.1803 right_z=0.1741 right_yaw=0.1788 right_pitch=-0.62 right_roll=-0.083 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.4291, 6.9675, 1.6777, -0.0513, -0.0415, -0.0073, 0.1573, -8.9778, 5.6547, 0.8571, 0.2808, 0.149, 0.0024]",
      "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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.5285, 1.8191, 1.7073, -1.1328, 0.1783, 0.2634, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3707 right_y=0.1844 right_z=0.1693 right_yaw=0.1585 right_pitch=-0.6364 right_roll=-0.1027 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.5521, 6.9538, 1.5849, -0.0513, -0.0415, -0.0122, -0.212, -9.1692, 8.2256, 0.8767, -0.022, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a774bb0cbfe78ef7a122d81ef1384657bd3ae28c985fa778c932443f17fe550",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32bad164d350fd4a54be932068080fd33a98756ce3fcee44c2e025ba5a5a95a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541d56fc161bebd78b8309f74b8f8a67443d535932d2cb1b4d15cf658f728315",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-yFYuujxdP1ussPhJtO7v3ixUl_8-OYeZKVEbnc1n6y3bRJd4FMHTzQ47Q1zu_7gEsqkW5gSjs1ymUXgj-yVjaDnY9Xy2MhjRolztrHu4qccRpP-yj_GWRdDxMwMBeqqxY_vmqyHLWDIEZDhTY7riDFU77EGQNHsVq98nj_ZiqL9iw69pCQm_shi9fdBx44cMnMByufitSkvtEjAUSasH6bLzITOokBh9ePARgn9Yqps1kh7jItOZjRKLfEGJuIj4jUn1BBFr3YG5kiymd_gtjatIkd73wD6yLRneCT7Cv10lJVgjephgB0S-ilZTzQJM0CuMW-1R_xbAGnyNLxV0mJ7E9Cr3T7AptELC3VB8KLoyzkQW03aodpDxgjuJ3ac0FfPm8dT00aMGaID2T81cdy0-zDWDEJVUfTmqWkmeVEvEIs2n0dtfgRIipeEiI5FaF1UVNFE8tbOn8c8jiFJ2BoeFQ6WM_0_xmoZrQHsbWkgxHVMpBYWrABTz8Y6aX_05_PVxkzMSrlQpaeZucITW74ez6hDkY8FVqlIAd32IISfRpt3iweWp7QY67o1nN2sdA_GmnIDYhuOVVMufI0YuwXNadeh4hvwwN5IJGBmi1BcrGWzgIERQVmKMBopGGY19JsiFKxu23thwf1VUbd3qCIBhU86-T-5bi_rVe2KrOXOhWqQCA7wlUrUCTYenHs3bPdKrMKN2SQVjOxd9Ilg8aXRVuYE9IuWQdqa5v-J3Ohx_sKNaiC3L08IcuP-ybyY30jMrBBh5K4V399tC_h-ZKLSOeO4_ZVBRKENbDDKSMDPVBaZy7oNU9ouuNWr1oPanYmKUXtuAAb2p8cehOGgGVJauIbsEef6N9r2_qqOF5Vx8-Ug0qKIBKDWjgBAftvyauGwMtSAPi7WETvbUu12ZLusDyoVS-xz8cTnPQXKYIjvfx9vdCJGqJMjZtsWSGdY6T6-f3I1oGG2cduxoZvduDzsHHHvq9125YlNzHIy29n1lOkaotV8YAZCea10Kt8-eKoAlwv027cMEZawoLEeDDMqiByinY1CFqMGy4K3yfzD_XY0lgtOodhtSQp7MUJ1D5OVEJtup6g6viDJcpWcynBGb2y1R_TBq2lL_Gkc6_R2V53JSUk_0x7FGDwXNxe1s3mt5RYOMV1kOg_B7PA_xusWUmchNtZT5p05h6kg-3HQ2E_szT-Dd5rt0B68UFvIafvo32jcNyoxQ7a3fULRdk8DYGjOwRMou9taceytKr29nV7FeGGDj1ypghy0KvCcrsHwb-CZEUjqoshF5tebDh6KW_Jo2JnMeKy-QGUjvQuYL7efSSHLK_2Nhz73n8nHcnw9uOYD0DBK1_aNKDniqvRRnMTSKnZC1XiT-0TiUJGlxzne_5b6Jnb4IT8eH7nR3Pu-p8eF7quOLgqolJQjanxxP-zhC9gJDkYXFeYMp1JZ5_jvn9uaxTX6VAe8rBKxWk5xNbbPb0ihJRk2nXGcrWWcoVLN7hZIeTB6p6ULQE0Enw_9CMqOsfqnmgULXDqKdbpDlRDSHrsAUWjchZeWk5lydHX9Fd_dv-jsGAXdT3FlK52yDW5_OwVjo3pmsVuJh_yjJBICr2iP9U3pJ6BRou8A==",
  "id": "rs_01023e430eb7bae1016ab44fb196e487d0b07168adcc1a81e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.21,\"right_z\":0.18},\"note\":\"The yellow fruit is close but remains about 2 cm left of the jaw column and its center is still above the fingertip row. I’ll make one more high correction outward and left so its center reaches the bottom-center grasp point.\"}",
  "call_id": "call_HbJMrsx7Hr6Ap0h0ZYh8fN6I",
  "id": "fc_01023e430eb7bae1016ab44fb1d95087d09cbde7585f65ab04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HbJMrsx7Hr6Ap0h0ZYh8fN6I",
  "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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.527, 1.8317, 1.7233, -1.1309, 0.1783, 0.2504, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3748 right_y=0.186 right_z=0.1697 right_yaw=0.167 right_pitch=-0.6321 right_roll=-0.1061 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.347, 6.9265, 1.5751, -0.0366, -0.0708, -0.0122, -0.0342, -9.3197, 8.4581, 0.9451, -0.0269, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f42729ca90457ba8cf93121eaa1de53174344c0029e444dcb11e81b77f96405b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b48d3ce18c2bc2d6c5aa69e6e06091dce31d65d956a3ae0518b0c810a876e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75bb4baafc11defeb493f528f210fe15237a3eec5cdd4696b3232afc9ddc6d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.713 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, 0.8276, 0.6128, -0.4938, -0.0139, -0.0338, 0.9993, 0.289, 1.7817, 1.6718, -1.0683, 0.0967, 0.0784, 0.9967]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1524 left_yaw=0.0 left_pitch=-0.1362 left_roll=-0.0004 left_gripper=0.9993 right_x=0.4058 right_y=0.1066 right_z=0.1759 right_yaw=0.1348 right_pitch=-0.6001 right_roll=-0.0759 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.5385, 6.9128, 1.6532, -0.0269, -0.0659, -0.0122, -0.3487, -8.7043, 8.4171, 1.1013, 0.0513, 0.0122, 0.0952]",
      "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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.5285, 1.8191, 1.7073, -1.1328, 0.1783, 0.2634, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3707 right_y=0.1844 right_z=0.1693 right_yaw=0.1585 right_pitch=-0.6364 right_roll=-0.1027 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.5521, 6.9538, 1.5849, -0.0513, -0.0415, -0.0122, -0.212, -9.1692, 8.2256, 0.8767, -0.022, 0.0562, -0.0073]",
      "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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.527, 1.8317, 1.7233, -1.1309, 0.1783, 0.2504, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3748 right_y=0.186 right_z=0.1697 right_yaw=0.167 right_pitch=-0.6321 right_roll=-0.1061 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.347, 6.9265, 1.5751, -0.0366, -0.0708, -0.0122, -0.0342, -9.3197, 8.4581, 0.9451, -0.0269, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f42729ca90457ba8cf93121eaa1de53174344c0029e444dcb11e81b77f96405b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b48d3ce18c2bc2d6c5aa69e6e06091dce31d65d956a3ae0518b0c810a876e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75bb4baafc11defeb493f528f210fe15237a3eec5cdd4696b3232afc9ddc6d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-2c11FjoWYzwGAcJonDxbBLeawb09b_-vHUQzqTahTCBzkPQwyFLulLgDOf-756I-is0G8_ppKXVKkSSLNocuo8iWqp-FNEdhvFvQv1MqhS9ia1h9QGnp2sjNRNVcvjnLpLLyMdOEkQlphtTihItJGgXrCKKlQBkVrIGwC61y37fnprAWtlQlweb2bRTJHuBGN8PvKNJTn5292w4f-04gj2jZtQvuVQ6DW9hBfb-oNDPeoMsYiGVtROYiCoqvESh9hdY-7ViFb-Ucj_DC82rQjHnNP2zrUGsqUMfArFUruqzYV7C-ePo6iWK3Ygos9FaQj9SpYXPgqdKzgV3c4X0wu5ZfgaoMfPGbjSy81sIUyjc80o8FcuSIc6M_EzCNYpK83sAduBe2yoJfwzkkwfF79bO5EOPOFjJXRVvoccdWwpqHwE8tnQVFqruRmsGXSK9U06vT-jYWAWMI_yAnmFkULSkyj-jxIt9CszmkkQg4ZeVi5xYbA1029jn7_bnWDJiEZ_pyxpGVLgqs7Gaxu0lpAxnTVI3unpMg3vYQzgjVS9u89l5gIRH7y4fUYlH3toh6hTM23EGlnlApWk9u2a8vfwZlnyRpHeZQ3cpQ0DS_kugYIaHJHTVAFuoGkx4D3GOhVeCeJYtYM_Xhu_0mAgU62hESgOb91t_gI5a4DvcoXec_mtBVGPkN_mIcvMfADz0RpfYbdMYZFnYC3OgTfwx3r0JJihcNYqVWx4E214QIzcLVVr332C2xeF52U03Q7_E3Pou1SfSyF9OAZAASbZfH83rk1rg6jUeY7tIukxa_mXLR4yVWj8DMe2i_EDeClk5eqhCyo-BDLv8WYoUojlipw84uXGL-rgG5U-U_8ge3Rk_RPYSAHeXsVzjXUKkUl2eoByqpua6reTwimpVlModZwVHmraP8FEHdb4pwpMZ81Bpw1qAk4z2IIlmTbiGOg50KWp75N4oE5CaKBO7eT_kCo-qykPRIt7dqEdxAPjgiNntbzDQkndA8IaMsQ1BkN8qSVb1i2A7rSxLSkn9BF3StqeMbq6m2n9zcUGhE6VzACul70GI-vR2Lh6g5kuKKA4iF6pAGJihbk_ZnTtU1I0QdPRX1RG0_MVLzz9lBKxfOC2Jl2UqBLj4JH-9oCeuH6jvtmWqhyISKXc8vj2O6YujnOUHFU96SLzMYBTiFAC0H1zuUE57Vje4jXhNu7mGs7-bC4Na5KLc7SfJt3H9WsekgwVlMX5YTG-UcAoASCNi-yReO3NOrejytyVddAb23HwFba3CsOTeC6BNC_dvRpC7eMpPxGNo2QXYpoF_pLHXAyaFR7teTd9ilVoStA04aTw1gWKhHP6x-qbmSLgEEBz5lSWHq7pa1MzwiVG6U-_bbY1H4Qhql-AWNkgb8XViar0oerAEE3SR8POlXAXDA9O6tyD3Q3-ivD5loJPMgz5V1YfkqrZNDNGESEIhvrRE3cbYxYQSrlV2x4gdoW4mAQLfEbVFYbkdSTHcv28YXQtjD_fbevn-SRbK0__8uH5h0IEXdYkzG3QsIPlSpfyi1TUwIoWhONJGfWBa1WKq4hVkEg1KiVOmhadXOiBku3Ig6x2lX9y-T8jAnKRGpOZUOBSeKZO26ig2ew6bkPxaqbvP1xoFPAuGhiWn4POSBNLgBxMLflw4_9ONXda7f7LQjks3LnHMi87gQ-UVnuaaUct1XgG6f2HynJHnhWXqtzUKtoTj53YAcsGC85Kmo_JTTxpeVZ0wTKIZiOQEN4rBmkDDD2qzCGSxH7jMBiKsLxR5sezB8AXPBwXUH2sls_Vip0YXIIZCtv8K5eH7YmAffvI2tBFmJ1nx_yfikOo0j7FdI6mQz-xZ1fayc8K5se3Q8EIJE51uVPbdVhZDvpywOw6sqWuEx0PkREKc3hRwcK1JAyjPc8yBbXGu2TtVRh2FgUaPdvrfu0bcscV5JXDOewJqJwJkYwxPxV64FQ0weIWwrCYOqCh3ReLAWXGMYl2nIKeu9cF_Mel8RLov2j1lvZApvrjWrC6jyxTBuFwuxETgWI6usWqPxb_474-WuQqhUubM0Ith-MS-w40DjVYCJVfgaVyqPUP9sUDEN1O0a7p74iYpIcsK00hQpPEQJxlHkJcP84tBVcyM7FejFfAIudDrWkpD8_EX-vO3QxDGResNYUgDSsmKMTChgPjvgD_KDHqOnuKyoE3XaPzswKPewcse8UxFTqgIDssewpnlUmHbL-r4OMwR-GaUgXdy2n5pt4-jSO27xPJUs-uk9WHJJWYtJMU37QLIWZDI5OFmBGUnmOXG5gaYtuo8IPbtxrIDnf1Gs0Rw==",
  "id": "rs_01023e430eb7bae1016ab44fb4103887d0a28888a215405914",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.21,\"right_z\":0.12},\"note\":\"The arm did not fully reach the last high target, leaving the yellow fruit slightly left of center. I’ll lower to a still-safe intermediate height, which should improve reach, while maintaining the corrected horizontal target.\"}",
  "call_id": "call_arxWrNxcbI5qpAtDCF4igUk5",
  "id": "fc_01023e430eb7bae1016ab44fb61ba487d0a5ea1f259315c39b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_arxWrNxcbI5qpAtDCF4igUk5",
  "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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.527, 1.8317, 1.7233, -1.1305, 0.1783, 0.2501, 0.9969]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3748 right_y=0.186 right_z=0.1698 right_yaw=0.1674 right_pitch=-0.6318 right_roll=-0.1061 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -1.306, 6.9128, 1.6288, -0.0513, -0.0562, -0.0122, -0.1162, -9.5111, 8.3897, 0.9451, -0.0122, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d51b4a32da5d103553355a010b17307e8f621fcf7077882a56e0811710887ecb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3800138841414ed65bcb013587cdc77a2b5599f16249dfb6b2e2bbd9002380b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90a3ecef784dca09fb1cbc48e627830bdff3b89e42f618c7d64daebb05e9dfa0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.417 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, 0.8303, 0.6128, -0.4942, -0.0139, -0.0338, 0.9993, 0.5819, 1.6474, 1.5208, -1.1049, 0.1848, 0.3092, 0.9969]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1516 left_yaw=0.0001 left_pitch=-0.1392 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3265 right_y=0.1803 right_z=0.1741 right_yaw=0.1788 right_pitch=-0.62 right_roll=-0.083 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.4291, 6.9675, 1.6777, -0.0513, -0.0415, -0.0073, 0.1573, -8.9778, 5.6547, 0.8571, 0.2808, 0.149, 0.0024]",
      "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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.527, 1.8317, 1.7233, -1.1309, 0.1783, 0.2504, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3748 right_y=0.186 right_z=0.1697 right_yaw=0.167 right_pitch=-0.6321 right_roll=-0.1061 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.347, 6.9265, 1.5751, -0.0366, -0.0708, -0.0122, -0.0342, -9.3197, 8.4581, 0.9451, -0.0269, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.527, 1.8317, 1.7233, -1.1305, 0.1783, 0.2501, 0.9969]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3748 right_y=0.186 right_z=0.1698 right_yaw=0.1674 right_pitch=-0.6318 right_roll=-0.1061 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -1.306, 6.9128, 1.6288, -0.0513, -0.0562, -0.0122, -0.1162, -9.5111, 8.3897, 0.9451, -0.0122, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d51b4a32da5d103553355a010b17307e8f621fcf7077882a56e0811710887ecb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3800138841414ed65bcb013587cdc77a2b5599f16249dfb6b2e2bbd9002380b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90a3ecef784dca09fb1cbc48e627830bdff3b89e42f618c7d64daebb05e9dfa0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-7uRX1Ei4_EpAHDBL00BQ5tNeLqr-kIHSHXGPniAM9tmz95VagZlsUTpgrPH7OJojYhpTqcdFMP5aJd-IHi9zG4O-u7m_LTZvNZGjFunyllORGQHo7p5KPmBa7usogJ6LHV1SEUZVl7dr5TDb-p2yvSB372CVg9w9pcij5B4Kt1xCe_1CZakhcblqp_LUuOi3hZaqR-zcCjERpqhw5cyd-l0VzciviC5Rr2Kn5vxG0nbso1YQVo8P222V_3myDPUv2j3L5zIY-BfeJorTK6WhuYJpFn0jfnTVrRFid7HoxJE1uxXKKKWgQinN6tKvUIWVoe438DJg7djaFM8lU-lwex0IvfHfdl_mta8kIsTYe9pgBr0m90fggrbVvrb_swgWdWynriBUSPajSoftNAT9MV4r7UpYChfiPDu1XO5AU0wJ7bnmn9w6rPeaxizB9ohJLyeO0RQNuLBAbXiurjup8cyArtpQSx0edgIx2AqcUb5-erqvATfRzOYX0FhNqxrCDWShSSMpfpLsP347OL7AYQp-79ER2URoS6NuZVbC2RdPE6pA6oo1bdc6oAdOfGHyBrHIioW1mMb-5YhKgTaOftR_1ttJfxufAK3O8SNgFwZKdvC6jSHNzypx0IjMWWT0k-JQZNpwtIe8YP8FVez_glAMY2HanGPrYM7zig__613xlDlxTMeO6j-4YsBCjKuixCmWr-czZTJ2jA3wLJGvtVRv5yzxVfVjVRm8tZzj-xoPV9-306d9LdTRfsaCmAi8vQD7ssrNCbLeMUk9mpzJofDHXNHo3my1npRnrGA9gqN87H_uQPGxS8FJ5D8qBf5l42JDX8hXJwajspUE4a-8i_jSwdY4B3lg0T7KT7v_zBxd4dFBtfNAFS-Mm-_u3TUIpg1IfebbgPxQOoyu-QeM11KZDZfDKs7IBVR3z8niOWOCKSEN1hBuSEPGmTGpeofeGGuqA8-oj826UAlmShQj3njeIsRRTBFTkKNjCi4HMmusZckdEjq94_vC0XctBi8CBlsy2MSM9wXLRtZa-8puSk7Ev0beLh9TmaSZQlHTTSXlIE25YndCefMsPBokoZtA64C7Pi-8fhpyI4PsXpfQnzVPAkMtxqcGx1yYfY8DO_I6034KOaUnvrf_1WxD71iSbFG7HY1TVVLtZTzz8LTQghCQTi52h_8pa7R79-lCGz_AwCyqHRnpNihkzsnIaCvZWDqyF1UWzKsXORSJT3CMjwqJNE7eug-SHKqbLNLnK4qx6DSe3KZObFmaY4vQ5jqx_h_p5HEH2XIyQmqIpVFb7eDfgfdl7x1cvmzTVncTbASYlEUZG_4BhoGHJwyIP6Re4SO2_AZeRXqrlbUlfLS3Z-zyMK9Z0gm4ugHZdwYQAtczsnZY0iTasbQmULWdohq-_6nY_QJntEn2Fpg3YjuvDatig1Dwd7KPhVja6BFPjc3wg-tbrzCQHyLDaUBD9iXtFhRQJb1SBsyIj3-Dd4lj8bixKFpauAIymlqrdEu1VkqpL-j6if0rpAue-FpFxDmgSGvQP6_5RHDsufQeorDNJVZn6zE3H3rnFXRQh6LJgrWoEsO9svijG-EYNfxKWjt2QlsANHEknUsop3SiLqZFbBt_kDZfm7uJXYkQxtFkiXzdw3yOji7EgoOOVwNhwEjccFRpwdvTcwXKjYLu97-MUuOYHbzFTWnY1FnHxieV04pPnuYihPoDxCFevgOS0P3j-IO_FsAo-uJjk2kAd9-XN-Ke1VKtSE-7Rp38Yk8cNX-0Gbl5tDEMr4jq8wg2zu6E-ix-DbwfyXLgieH5wW-CzXYQmnQyOYvFJ6jkQf7ZHJ5MI6zKruOmuOu7atlz2Sx_5A89gnVoB5CwLgPJZsDwVE31wokEfUtcL_3zgfvUHnMAk_W-RlvgxCSkSamSqga38chD7cVB-PwA8IF7Nse1qHtkAHVMY1sCNNiSLM62XNwlG3jitTFArv4W5xLAa46kpCvq7tjT13mQ3KC6Onm8VSU6SOcbKb8OyiOdVlk3wCp5eOpndOt_y1Q_2uYTpvA0r",
  "id": "rs_01023e430eb7bae1016ab44fb85bbc87d0819c9ab76d58500f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.21,\"right_z\":0.15,\"right_pitch\":0.3},\"note\":\"The pose is stalled with the tool tilted backward near a wrist singularity, so the requested translation is not tracking. I’ll explicitly pitch the tool forward at a safe height to restore outward reach before aligning over the fruit.\"}",
  "call_id": "call_wkiMIUwbsEqHLuXwNDYBC0MK",
  "id": "fc_01023e430eb7bae1016ab44fba1c5887d08c995826ef3167d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wkiMIUwbsEqHLuXwNDYBC0MK",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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, 0.8333, 0.6128, -0.495, -0.0139, -0.0334, 0.9993, 0.6746, 1.6169, 0.725, 0.4892, 0.524, 0.0803, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1507 left_yaw=-0.0001 left_pitch=-0.143 left_roll=0.0 left_gripper=0.9993 right_x=0.3951 right_y=0.2074 right_z=0.1355 right_yaw=0.1819 right_pitch=0.2195 right_roll=-0.1262 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.4838, 6.9812, 1.5751, -0.0659, -0.0464, -0.0122, 0.4171, -6.3111, 5.8598, 2.1905, 0.2564, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c099a0e07f2effe70718a3ffd08172c1011c602227a156dea8df199e156d664e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11823894a634dcc813769b174e218a70c2e7cfa344347b9af6408e426e83da52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8d7c5832366ca224c9e91759268d9fa9af4f31ac1a730f1c1a1d1397e5bff44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.483 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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.5285, 1.8191, 1.7073, -1.1328, 0.1783, 0.2634, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3707 right_y=0.1844 right_z=0.1693 right_yaw=0.1585 right_pitch=-0.6364 right_roll=-0.1027 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.5521, 6.9538, 1.5849, -0.0513, -0.0415, -0.0122, -0.212, -9.1692, 8.2256, 0.8767, -0.022, 0.0562, -0.0073]",
      "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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.527, 1.8317, 1.7233, -1.1305, 0.1783, 0.2501, 0.9969]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3748 right_y=0.186 right_z=0.1698 right_yaw=0.1674 right_pitch=-0.6318 right_roll=-0.1061 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -1.306, 6.9128, 1.6288, -0.0513, -0.0562, -0.0122, -0.1162, -9.5111, 8.3897, 0.9451, -0.0122, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8333, 0.6128, -0.495, -0.0139, -0.0334, 0.9993, 0.6746, 1.6169, 0.725, 0.4892, 0.524, 0.0803, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1507 left_yaw=-0.0001 left_pitch=-0.143 left_roll=0.0 left_gripper=0.9993 right_x=0.3951 right_y=0.2074 right_z=0.1355 right_yaw=0.1819 right_pitch=0.2195 right_roll=-0.1262 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.4838, 6.9812, 1.5751, -0.0659, -0.0464, -0.0122, 0.4171, -6.3111, 5.8598, 2.1905, 0.2564, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c099a0e07f2effe70718a3ffd08172c1011c602227a156dea8df199e156d664e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11823894a634dcc813769b174e218a70c2e7cfa344347b9af6408e426e83da52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8d7c5832366ca224c9e91759268d9fa9af4f31ac1a730f1c1a1d1397e5bff44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_BgYd7UTSmrqP5rpStQbV6IC8NV0MBaJ6FwK1xbX7RFM0Nt54AGuL09rMNUp-bCKtnSYT3zAMu1x5EEldSxmADyb25RHh404-janIqXCdksTO3F8Efo3GtSuUXIukzb_rv1Y0W_Rl18pbLEEpWakEArcXqeJ9hSp_XMKyxVBzaXcvQ-AqqZMxanEQJI7t8lpo6UiDM2--KvVS9vUABkHx9FF1NJ3_D2LEeJc617M6dJ85ew6bQa4W-kxi3YdnwwHTUK12uaL8QCRWTg9anBdp9QemxKGLwonF37sBHcMTklj9s2qCMFUsrwp9ijC71EFZf_CC5p5AVs3UIJ4kN5IbiLt4jBypKU5wczkJDqEeq5Gho4v5uTogxGnVs1Uawp-gPPx3dCK76s4HXXTlQzys6s6NaiCvi622xu4ExSQLdNIp0BB_pdlNSpD9v9p2FA3jH0XIFEn4Vc_p1KA21P_3NAQYqQMYNjSmjgmZ7D2vUWoF5aparTX9dBoX5kUHvH353Z20Enc3wSJLhLBHW-XLTqhdIWIZTfOHSKtSEPZPdLYk3o-FX9rryHkxiDphO5NdMP4WlFK87YSCQv1EyXpnOYE4TcZut6gtaLluldiWVa6wo6fTiT4OW-13V3MNype0ZNnYtJg18KwptPmQq6BY1aZs__o7jGF0fDhU5KNnK0Z2okJNDM3yLQz5yg3JO4k1p9ALQ5nb3mkRkimv_pYLf0Qi1ML5QabnM-D8vk3N97QFQCtJG_CzgYeZzbY13d_OrBhmaWRVAolXlRv8bfgMoy7tm2in9fykyemMGMyZuIW4cx800PNCZnHIPmP1jVY3EQtU7kf6aZgMok_Tw9tL0V0ttq_ED-5QPC09YzGGLLRmBVTyBMsO0MmHqYMcg0rUITU0RIwLmUoMk64BiEq1aKkZTb5gcE2OeQBo77g2a-uRvVxMh_wp3r9hxClqXHTTlUq_aMxDrFzq4SpfxKtYJ0fMx9D76vMb-C-9x2aL4VtLDQXMway-IYbezYjHDKq6X-oNymQXWSWfuxOYtQLujcXIdJrG3Ln6nhLguDq1fnYhTNOFf76Tab5tESNTq9OQBYQtlZM1LQ8ojK0-Ffp8h-4meqi8qaMBAxZVzXQrY6PxiwcRQICLfMezUH1tzGaqeC-DRhESGlGzD0DFnU-Engs1y5RdeZso7tOc_jBgQeXlks9dScgpJzXehqJdmdwlMAfJAndxB9Cc3DewTng-W9lnAhwpRd8zxYKLWXwWdd1w1mdV8wrMafsZEQw3y8J8_DkHCpgTTmWE0rRsgxUAVK9WPBND4uRpDoFai1is2QCsFakLbzvIdIZHOj34JhaS3550k9hO5BQrGbxtAehwGtqk5AnpROcho1SZW7M9a-kVOlWIo4EdEHYwucC6jcsFHbkSBOciVs1Jve4-KN4-8xAlnpfbNz4p4Z9thbGxR45AGImKQ1Mm1lz08R2ajHsOE5E7nVbnO_Xicnc-v6BwTQ0xlMvArfrE3kl-TELVMz0ca9s2hQ2ODbYMYvpXgUTg4WqwPHYsP7GYOx6_LmtcrgXVRiXtF4PkhMR704RXCNORYeMEFSHy6MRPNYqKRheQ7UbYxi2Gp-j71bJ1nf-XSbhxxeo8TG0YUuntSHqjBUO6Z14dLzXfBGXWMEIXb7_0q_heYKW2P9Gi4vQRXBVro-XTNqmLCmy0zo3rpyXvD1jVQJOTXfvCobA1q9-nCDIi2F1HH1dNAu5LuBTe6hcIOew==",
  "id": "rs_01023e430eb7bae1016ab44fbfb2a487d0b2cd8e58e520dd0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.21,\"right_z\":0.04,\"right_pitch\":0.3},\"note\":\"Pitching forward restored tracking, and the overhead view now shows the right gripper directly over the yellow fruit; it has dropped out of the wrist view as expected when under the fingertips. I’ll descend vertically to its mid-height.\"}",
  "call_id": "call_fZaoTKPDY6aJe0m755N3EjBP",
  "id": "fc_01023e430eb7bae1016ab44fc08d4487d09a7c5e48c657e698",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fZaoTKPDY6aJe0m755N3EjBP",
  "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, 0.8368, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6773, 2.0228, 0.614, 1.0473, 0.5396, 0.0395, 0.9969]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1498 left_yaw=0.0001 left_pitch=-0.1465 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3987 right_y=0.2088 right_z=0.0392 right_yaw=0.189 right_pitch=0.2557 right_roll=-0.1512 right_gripper=0.9969\nstate[joint_eff]: [-0.2667, -1.7026, 7.1179, 1.5702, -0.0366, -0.0806, -0.0073, -0.0479, -6.5026, 3.7538, 1.2527, -0.0317, 0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ef561a90674389949c24403ac4ecf4e5e78a9715e37a0614ea4ad8ee34e319",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335202c23f5c8cc1d2e2f93a58b9577de25d54567d9675dd92c6a431ae8b0047",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3b6ef7473a2aaa0013a153a2db47250c3823973a824f18ca64f1d04dbea564",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 5.814 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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.527, 1.8317, 1.7233, -1.1309, 0.1783, 0.2504, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3748 right_y=0.186 right_z=0.1697 right_yaw=0.167 right_pitch=-0.6321 right_roll=-0.1061 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.347, 6.9265, 1.5751, -0.0366, -0.0708, -0.0122, -0.0342, -9.3197, 8.4581, 0.9451, -0.0269, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8333, 0.6128, -0.495, -0.0139, -0.0334, 0.9993, 0.6746, 1.6169, 0.725, 0.4892, 0.524, 0.0803, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1507 left_yaw=-0.0001 left_pitch=-0.143 left_roll=0.0 left_gripper=0.9993 right_x=0.3951 right_y=0.2074 right_z=0.1355 right_yaw=0.1819 right_pitch=0.2195 right_roll=-0.1262 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.4838, 6.9812, 1.5751, -0.0659, -0.0464, -0.0122, 0.4171, -6.3111, 5.8598, 2.1905, 0.2564, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8368, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6773, 2.0228, 0.614, 1.0473, 0.5396, 0.0395, 0.9969]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1498 left_yaw=0.0001 left_pitch=-0.1465 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3987 right_y=0.2088 right_z=0.0392 right_yaw=0.189 right_pitch=0.2557 right_roll=-0.1512 right_gripper=0.9969\nstate[joint_eff]: [-0.2667, -1.7026, 7.1179, 1.5702, -0.0366, -0.0806, -0.0073, -0.0479, -6.5026, 3.7538, 1.2527, -0.0317, 0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ef561a90674389949c24403ac4ecf4e5e78a9715e37a0614ea4ad8ee34e319",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335202c23f5c8cc1d2e2f93a58b9577de25d54567d9675dd92c6a431ae8b0047",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3b6ef7473a2aaa0013a153a2db47250c3823973a824f18ca64f1d04dbea564",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_Ex8QMi8jEJERhOXDEHcR-ScE2OB-DUZoW-xt_ssCsLXka5IDSbzFEd_NQE9BfTsi_-jc8lgEZ_1g6zzvJpawRQ9287br7I5gaDUys4MIhnItpwSh93hHI62hbrGiIrez6MCTaIbofn7yJFAxMo2lvrmvAmh4gE8WDtwxGpQs7jVlCq7vDsa-18DumAGfQ89mR63H7AFi75RheoB48i3goEmrOkB5f2vZe_XNLZYxVzaKQos8-L5rDuYXo1gCr0S6gpI-nem1GrBIGgxQlqZWiIRR6lVgo570IhBT9f07b4Da1ftiXlYbmemEsNZ6jQx-Prw8ujdFipqlKVBL4c62ou0lJGmAFhOh6xhF7RjA-iomk8VNKzxexwxT9OhQKlLahc2QhjCSoRyR2Bb0nmHmcJKN3sJh0cbW8c-GMj3MiPmdo-m_qwak0Z2nv7J8ld5-ZRpSQLoVo5XQ9zXm08LXeKJGIsWRSkK59zJOt-_7eKPDdEL51PeOcjRfcJpCMs9iOxMjUh_lk6CRsboLI4G-OhyJEuvW_3bcMgJDFoMo0PnUeRt4nWtKsOVjLh_xzrPrxdVqX2TRkrx9f6Jf14Mtp9nhvoRMJCSl20ZFTFe6EizaHvI6eqMBt4l4ZPhIVIHbE0P4DLQbtiWuRu8beDChCzNJL9yQAPFiwFDXsiGKPFMWVo4g9KfGibCseDEmu7oWWAui4ogThijt8h_6jCBf5PDO1hizXFXmwqTt8txZrFOMitUx7neAGmFWnbIDrXaWzhWsuzzKmwH6VxCqgBmLm-oj11bVeCLp6LOYDh5SSpTOZDBAtppDbi05FtpQFwpAbj6snsue5f4YQv28bKoU8sMD85eQDFjwpdMlJraH2cnq9JHjOU2RoqUzZ5L1psgP1tzT40fI01Jq7dL3xpS3pmE7e_QegaMBkSJaB7Y05wQ2UNmug7VdgYiJeojatZlCNrSyUz5kdM-rjH0MIcJOCDRQJvFCL7iqFmP_M4rqh52Xb-x4r_tPoFBPjzDHc2yxOoiD_XQ8CLnN7P479UQbWDL-QheS9bdw1D2_l-IT5DArGzP9uOrJrF9LalsVquRVp37KRhN1TeaZEwHGES9P_PNNL15d-nzNgmMNrxuoraYRN82TjS-otpCAKuxcUNlP1BiW2NUa23UqyiI7xUs60aF3Ya2XSfStWIlxuLHy_TiWxlkbG8MDqm8-3P9JVzWSROEfcsApgEf5zA17uhH3LwPq_RHVTjiEJDThRzQNTvqkMsPWdfkEP9BWbuDgvQiJBSYyIVEu6vKkS0BhiXfuZJFxKIxqZj9r-c-or-knduXPzL--n2Mmgd-MN51ea4n1r",
  "id": "rs_01023e430eb7bae1016ab44fc38ae087d082102c69b88c8ce1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the yellow fruit is occluded by the centered gripper in the overhead view, while the blue bowl remains behind it. I’ll close the jaws to grasp the fruit.\"}",
  "call_id": "call_7W2TF3YXsUgR0JjtfmgZgk0W",
  "id": "fc_01023e430eb7bae1016ab44fc3cb7087d0af26d46e6696bfa8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7W2TF3YXsUgR0JjtfmgZgk0W",
  "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, 0.8371, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6773, 2.0251, 0.6178, 1.0988, 0.5423, 0.0406, 0.009]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1497 left_yaw=0.0001 left_pitch=-0.1469 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4025 right_y=0.2113 right_z=0.0503 right_yaw=0.1789 right_pitch=0.3029 right_roll=-0.1247 right_gripper=0.009\nstate[joint_eff]: [-0.1162, -1.388, 6.9812, 1.5897, -0.0464, -0.0464, -0.0122, -0.0342, -8.759, 3.494, 1.243, -0.0122, -0.0757, 0.569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b87ff3b2fd98f7582acb49c98a2cf7d788f0cf4c0ce5373285d20c368737cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b3b4e48e6d59a7fb513d262be51d3a0dda01aa9fe61ed4a8feb61f5503c1b82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0983322c6232fdf235e104251767d8e6cf6af3541227fd029db0e4470c20205",
      "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 · 5.113 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, 0.8322, 0.6128, -0.4946, -0.0139, -0.0338, 0.9993, 0.527, 1.8317, 1.7233, -1.1305, 0.1783, 0.2501, 0.9969]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1511 left_yaw=0.0001 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3748 right_y=0.186 right_z=0.1698 right_yaw=0.1674 right_pitch=-0.6318 right_roll=-0.1061 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -1.306, 6.9128, 1.6288, -0.0513, -0.0562, -0.0122, -0.1162, -9.5111, 8.3897, 0.9451, -0.0122, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6773, 2.0228, 0.614, 1.0473, 0.5396, 0.0395, 0.9969]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1498 left_yaw=0.0001 left_pitch=-0.1465 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3987 right_y=0.2088 right_z=0.0392 right_yaw=0.189 right_pitch=0.2557 right_roll=-0.1512 right_gripper=0.9969\nstate[joint_eff]: [-0.2667, -1.7026, 7.1179, 1.5702, -0.0366, -0.0806, -0.0073, -0.0479, -6.5026, 3.7538, 1.2527, -0.0317, 0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8371, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6773, 2.0251, 0.6178, 1.0988, 0.5423, 0.0406, 0.009]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1497 left_yaw=0.0001 left_pitch=-0.1469 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4025 right_y=0.2113 right_z=0.0503 right_yaw=0.1789 right_pitch=0.3029 right_roll=-0.1247 right_gripper=0.009\nstate[joint_eff]: [-0.1162, -1.388, 6.9812, 1.5897, -0.0464, -0.0464, -0.0122, -0.0342, -8.759, 3.494, 1.243, -0.0122, -0.0757, 0.569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b87ff3b2fd98f7582acb49c98a2cf7d788f0cf4c0ce5373285d20c368737cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b3b4e48e6d59a7fb513d262be51d3a0dda01aa9fe61ed4a8feb61f5503c1b82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0983322c6232fdf235e104251767d8e6cf6af3541227fd029db0e4470c20205",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_Lz61h9eR9pxTD4a3-wrRNlOuibAXazqG-i_TV_Jvh4a9WXQhp2HhPpWCpk9iUSdQ-ARJVWdFnvAagTMfoVTbnXHZAzYeKH4_ivT_08_3NKPpdM_37w6huPZ9A6G_d1Yd6-_qsZXFlusDHpxfRdFTKZVZPSLJBUUqC51qRh4J_E20woyhRvAQ9vGz9ZZMF9A0ohrvdSNVlDSeOFuLeOr1F9cZWz3Kd-fZJOUEyCmiW-9Au7jgTRCl8beTdqnYn8OawP7_q2IwfW0DLhABiA-5A-rBlSSYAioFKtz-pHpAg-nZqdUp6WencH_ntmMo0KSFN9TAZvT1f0cr0-LdIghh8ROfoo0fLIQYqa-C6iZCV1BWqnIHNyqb0If7xmwGy8WZoiPqaY-KQAwZ2W7jpoKymS0PM3HdS1y0Nh45i39vMR-IeiVHYRucFH-Nb_B0i63eDxZPDMa4EPnaCdkzrjkGGd_DRnqIOzoxG8zEITsAT3Z-ZQndsctG5_V-32RQIQ0uvqqYnzZGuZcjx6Hr5q2n9TLivfHE2vw54m7bimzin54rajwWnKp8Cz_h-Atjli8RrUtRMimye7YrbKCPLhTbgI7dglG51GgdLcPZ87-VMtALR1xonamnYYG1biGzy2T2gNptcq4qS5wTt2r4HGaLZzyGA4z1Kg6mGx0_P_4qef9CeoBssxJuNs7dEkuLw_JV-EJ1Y-j16HbvaFQjYHrAu69rmsKX8nu-lQ90Qv1YOWwzRLDsmcEgtYGeTL-FzjL3WMPVhwtSEnKhO-BhPsr597ve1ys6a-tIpmsZL6kRZeAbNe0HNm3X7PRe0oFNLwdHWrFgnYTN5ttC4AGJmubxTf9-CxIlflgEflJOnX2VfX5Flc8ZccjF5qoG_eF1ZR5BCqrdgkCesSLCM-bG0wC8Br2HA2C1qt6WIrPQFiJjQv0SvXeEnSOTQyWMOar_4cHd364WsFVsGKn76SjTWobef732eGduBMX03Shpgx04a87m8Vo3EFgTMFVlK6pXDXrTgdomIhE9cGKqdsUT4UjaxsbKaeXHYFwG70RzGDmkwTTJPQTtwijfykIxS2tR-R22lgx7StJl-LGRqzzQJWSoOfITs9yXGBqND5f5f8_JepEQejXEdNUCwonM-ykBy7SFZ7CicteA2NoY945BdcrLlHcyr7jpy3wFFDmigLmwEYacaXPGtWQZtQiMAN-CU8jplj4io-A0gfKT2t9td5nAckDOS2aigs9A0LjD5Jrk7uQzSJHx-ls2b1PpIJYET6Mc7h9tbyEHf3rTgY0wsSSFp9XHskPNqCRW8NVGQ0CJxHQEl_IpcK0ZXgEiVWqTESHvo3BtjrrcQfnA3XbKWnTuI7xysdnzCj-QjcGrx_iGBA09rlj401DaqAW_5MBeFBB7nTLbPpd5nY775vxTW0ecYCtWAMaophntlrJcp-DxLIU9h003xEcsmO__OURS2jPm6386ezc9l8Xd9kf1AxfeHq0x4RDBMkRj9W93Kbi85kRkZKhRdjbEUi-GuEgzAes7rdvBBR8WIATM-hUW1VK36M1aB7COM3OJOlsvVn_p9nzTuPWo9yrt3WnqfcisZQBClpg_jWgQWeZnpzVVb3DZOi3fn9Nn7Hko-ZP7tqvqloyKT986L6wXhVXDPA-uHPooWGB3xM9c2RjNiCwfY50LamgfMhJLqKErBfljg68mzmMuvDy2w2PeM8z-GyeIha_tih2mrux0OYIX8uwSmh0KD9t-o2ZZebsQ4x6DwDJ-qkjrVjlvqVJJKUOAiXeeBtzs002tPswFtiW9KexIlMeRW0cSVbOEd9a2jiu3xpQx5_Jjm0SjLcvAC0rCjIlOuV6N-AnYL8vp7X77uJrPrj_i7iH8RC7FKaoLGcDLzbFWVnOOU5mB751h7nQWVxFGGdmVb0PYRqGZIy1NcaINgRaxSGMcQpAFphaim6yF05-K3jXnxwttROOsy9b5Hzgo1M0y3KkQ7LK6mrecdYogXCyhsrv9O6Asv0uWSAzy0DgAvo83ovImKB4FjVstqQb8dW40LB7RmGeFh4-Rm_Ee9fLgY4AlFz52fhvDshFRSfpJ8xwR13Cg33P2LPm42_fNeVFW2mSYho1IRmXr1PGWktz75tlYzaolfUTgd5A-ZnCMUsqv0yhTvlqSSyv_ip47QkEzOFhOy8m6JRLEwUn_q0UDFwujvpgY3YlGg9OshULlrYfdeNn9Tx9TqTrVroL_xEbwYmhEO4N2Cu5_RIYb27AHvXoVN-nx_MJx_lOd2-v5oM-wgot59fqyU216Hjm4J2idFk5SrHq3cuxXkDm-HbWC-lh2gnD03bKPGKywLosTVSnwPjVSOkUEHwTiplR0nBZza3OzvdPQqZ79rgPQ8l3kBxlKWdXnZX-Ngq0jlGaWb20cWOD2kKXHBauXiJ9hvySbO0U4NF71_CgAAmN83YDRz-7lxiYylbhz871MshunAP4kFGrcrjkx1qdw4N5w6KNf5iJ-ZzSySIULGTx_edqP9eZ4gNz1d13OeDWyTEt9kMOLl020Ld-_7tmc1t6GDIMDR1zM94gXr4PeioG9eEorjUVWjsxgZHDRB-sfWJ4r0f4moLtkTVD-5L7Trtz23LSDwOjz0r7lWZ1h6FqxqpGJdS7sxtIAKQtFJVT6fWEbAYD4QaDgfDBPnKJMQdmPd3YE_EiR7DBgSVwKnqD7x04mPzxj9zA-1kqztZAucHAjbeFTPhuhkhpTt2SW7Yn-oqyUvsiSRdODueWfeoPCLyWI4c6nEIM_BnJFQp-1WmkgY6KcjnSjXSZN1DKey8Hq7h646K9UNhiIwa6dA1hpNUPoOrGuJSYR6KAYWQz9PwbZXbQzSl2c2fztkeGGc4nNu_Q1hJujhNMxPdUYj0AoT_DvyDFPh1p69dVRBf0PxLCBXYow1uLm3zVu-k_hO3y6_2zBzOb6uiHub8TvD-vROIDcfzpr-lhTi0dMIbJqb2F_xF-W-F3cLBcJf0-fhkyRcMm2xly-kzfw9A5VjW9GVERD278wwBygye97g4iZcSbkmR7qDIdmisDuufxh81pY0fwrjHvRH1xXk3E2usiTqasFzgx3J-3Ng8NLuos27dDoWXibifNxmw9glLO5-LDUS9CPLCdghElet3VQ5zx4kW34gqEimlT1_pH3ZrpwQ3jke7vCVF5dD5U1FdHRa0PYS4k_JvTaszrLTzpATAz9TypH7epcKlnc2rpVY6OGvE6bFQhWGL0jlFXvlsI8PXtRkbJwG6hg0o1dObrw2SUzl3k_qh47OJZf5cuYstqp7HyswccT3NSJeGbTeAOfTdYrvcg_C_Qo3bIyW3SzAV-vTFnQeeA==",
  "id": "rs_01023e430eb7bae1016ab44fc70b4087d0b1ecd10e8ff80bb0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_gripper\":1.0,\"right_pitch\":0.3},\"note\":\"The gripper closed nearly empty; the overhead view reveals the remaining round fruit just upper-left of the hand, while the pear is already in the bowl. I’ll reopen and lift clear, keeping the forward pitch that gives reliable reach, then correct toward that visible fruit.\"}",
  "call_id": "call_PKwRgZH4vC1NoFPBmR90sFGs",
  "id": "fc_01023e430eb7bae1016ab44fca545087d090171be7195b58ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PKwRgZH4vC1NoFPBmR90sFGs",
  "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, 0.8387, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6769, 1.6421, 0.7151, 0.6029, 0.5381, 0.0353, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1493 left_yaw=0.0001 left_pitch=-0.1484 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4008 right_y=0.2105 right_z=0.145 right_yaw=0.1874 right_pitch=0.2881 right_roll=-0.1366 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.5795, 7.0359, 1.6239, -0.0464, -0.0513, -0.0122, -0.1162, -8.3624, 8.0342, 1.956, 0.0757, 0.0464, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94bfa528f552011d7c9a4dda5a23e86a3911c5086806ed5682b11cd8e46e88c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb82e1c43a8a7b0f4f353a49eb26d9019b5335c4c1d2ce5b6dd506592f7d6138",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2d5d01f1b4607e6abe264c3a4a70b51f77438432cd6ff046da603bcdfb9bf8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 3.252 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, 0.8333, 0.6128, -0.495, -0.0139, -0.0334, 0.9993, 0.6746, 1.6169, 0.725, 0.4892, 0.524, 0.0803, 0.997]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1507 left_yaw=-0.0001 left_pitch=-0.143 left_roll=0.0 left_gripper=0.9993 right_x=0.3951 right_y=0.2074 right_z=0.1355 right_yaw=0.1819 right_pitch=0.2195 right_roll=-0.1262 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.4838, 6.9812, 1.5751, -0.0659, -0.0464, -0.0122, 0.4171, -6.3111, 5.8598, 2.1905, 0.2564, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8371, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6773, 2.0251, 0.6178, 1.0988, 0.5423, 0.0406, 0.009]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1497 left_yaw=0.0001 left_pitch=-0.1469 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4025 right_y=0.2113 right_z=0.0503 right_yaw=0.1789 right_pitch=0.3029 right_roll=-0.1247 right_gripper=0.009\nstate[joint_eff]: [-0.1162, -1.388, 6.9812, 1.5897, -0.0464, -0.0464, -0.0122, -0.0342, -8.759, 3.494, 1.243, -0.0122, -0.0757, 0.569]",
      "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, 0.8387, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6769, 1.6421, 0.7151, 0.6029, 0.5381, 0.0353, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1493 left_yaw=0.0001 left_pitch=-0.1484 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4008 right_y=0.2105 right_z=0.145 right_yaw=0.1874 right_pitch=0.2881 right_roll=-0.1366 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.5795, 7.0359, 1.6239, -0.0464, -0.0513, -0.0122, -0.1162, -8.3624, 8.0342, 1.956, 0.0757, 0.0464, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94bfa528f552011d7c9a4dda5a23e86a3911c5086806ed5682b11cd8e46e88c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb82e1c43a8a7b0f4f353a49eb26d9019b5335c4c1d2ce5b6dd506592f7d6138",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2d5d01f1b4607e6abe264c3a4a70b51f77438432cd6ff046da603bcdfb9bf8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_RoR5mVCZ-CB11A2NYtindMJWCxTRzYxc2u2AIoKF7FE75_Fx3hkRYZCDt4qIhVPfoLMDZZSNElysqY10Ji7-e5T8dys7u-nh-IKJCUhHaUQQGViN2XQSNhxLfd3n6Wb5W3v6A1NxbMWeIz4HUqmdgu0vPHgk8y8oYueg5PseW2pzLExtWMX7A3wzZ0j8Fuxl243vmEifNhXYZZkHxxdLKZqAp_rU5T5cAz6fCcaMz0enzIfv0To3I8ncEWbQgWQKCRW9h_QwRHVmBSSCisFcFM4rJ-MMzFSynVQ1YZ7DOnt8BFurldHdhxl_YzuVB-llIO4kAiYB87exfa77jcZImt11RibXyhmCgrswgj9gN91Me-JPXJfB1pHPf66-osHd7PPLBXBt-WQ9nfJbSOJCxFFF35Dmc9c8btVIpLO4XnBIV50Z7yEDppdV_jYapJMbLagUjQg1b5fHVY-oauWeQ57MeA-HkqHlL5AqGovDoMJhb57ShAUGg_H9d85NVBPukWyZ3_ndxek5ZQA2HKFAEcINdSQ5LrsbDG2eWinRbeyppVKAkf9s3gVN0ZyQMRsOsh0Rqikhfk5LgbpAdj8xQRFulzJ0RgjJtLZHsrnA8moihZY9tpEt1vmmCFOkRPYkBG4ykRFopz0h4ua4fc0rvuPGG1HCS5AfReBexR-v5Yy_2TpcHae7UvcIHhH3Z1piQnA9E0kNkpv3x_3jFByHW3YxQ4nlHxYzpzaO__ijzlu6lVR0WO_Zd9uNBTGkIsf674aJCdDVN_YwDHPnBhu2pqoyP60vuPaff4IIBGKcFHnSDZNwpCureMIsJiZxxMoA_fLbYWGNerlooVFKdEazusz4uDCRsspfnDoYdZMlP5T8AxUJ23uFwBPgBBUjs_zK3wwcqIHAUGdOkL5Zl7_51KxA07_Ps1Hfaif3MDKEmxoKlOPr5Zo75qLxtG715ulNtE90BIjzMP7vy02Qvy4kxfz_ntrN88-JCs88DVkS3U4x8jzq74IIsgSI05UX1_dYC3GzvVlwhjVx6rGKSEJPAYM5jZb3uggEeZCan9hOy-PLB_dnyMpkp1d0bsAuCgU9GqDIqbaVQME0BJmHEByjqJdnif2lLdlwDV5w0fitxmrFlhnOvQWA4VuPKK0GkOLvTqHB5mSJEZAL_F9XgmIx7PVqx2aPwAPejOWkN03p_zwN-pMT0PQuKsRx5EQ_kAchJUnd-wJPvky1mS_I09p0dJEzgziozJOggzMRZwwYh8gsfUkX1bhhcrYPBvvtMCObmXQvXVa_6AtFrV7r-Sab4kRGM-4Pd-Iiedhjnrh3cnbBqesrrBRcY_a8RqZxykDXHHlEJBNzBg2k2eahEOkznTTqsOdm4jv1ZyKWsHL4CF35TBAanyTl89kr0zsUNdvtVWo3i-q504UQw9VWqWzHeWPJv8opcwteKjFWp7v0gFx6N5UqXoX3PdtEfI0PJ2YcBJnTS6CHNTIYHBEcY4NvPsUhd0-fXlk6OCZB5GEMop0efroRkMwDjcVQL5Iory_NFprBXU9fIpoLe4XRqQ2iZ8WFNWAKZwHo2ywteQS0rbAum9tSbq40L3spy1Ihvw3H1vjqvYddmQiufW76J98hAo33h05dEN81J8-JxcD7S5VSViD5tkL3QiZWqZcOUv66etE9Jg8u-uoeFjWObZ9L7u6SPq7_cBPSaKKrigKhwJn-iETgMpt9umkx500TkU33cxUokk0L9Jw_yw1Yz2mPD3BOOCe8FuwV8NTLFdr_FXqtBKvD7pDmJyq9E-c1BtMrhcLW033-gZt2qU-U2-cO4l4kmT9zAQN6myhnKP3_TA56Rw5hd7zfgB50qWj-eCAERgJz2RqkAN99Xakx1X8cBk2OvCIMPMURK5_0lKGeDTWv5c-gib3GjGQAnyGzorwng4HvKb14d1Hr3L6YQwHUIiWMq9ytJ4kxHxxED-Lp5_baW3J0krxe4JrJ0MA_4Eui3SAzdwA--QFvSF4ds7gmCfC0MqiqgXlmXfu3rNDA32fJVnUJWOwr-hTB0qmVzB-VncYfIB3nYy977T0Fc0yKrY-YAXjIpJvxC4D6GTiKhKzcRzP3sNMoLCkp_Ao41cd4guoail4vUsaQ0wo01Xq0rjqZP0zB1yG9-p5lvCYHbabWll1-vEqknoyFfCkvbmomc6ywQwHDM01tN1qIAgugOf8Zmt9jILX2eJ8lnv_fwsZGlZ7_PpenSaW1fqIVX6VIVd6w9oh5J_rjIVg5rktzEO4w21rXNLjEPB9RmdVeAF1GX88JSuov9j3Te_hPV-atkti1p8q-GFSB0dsBmfHnabjzYW8TSRUjcbJESyg3IRf0RaY3H0dV60MhBSZUuJMPDiwzCdSBNpGCDqbAApyDzVJaTKBNFhlu95DRCqJvU2Q-F13IVMk8_O8PK-Dx9jsRGLV5b4PHXK6k-IL4a8x2oBxrjJj6J6nsYMmPac222tFAHxW0OP7WSq8n5BYk7UqwJJtxoMLQZs7EfDKP6tFnSXrsXngmqC34wDYTqb4pX0m3RjesvFTsIljFEqGTXwpHItGP_OF2G-tEiNkeu28nYQcMlZxilDtzxfl18k_IHjfD0LRZC3V4VnnpMeQkGgwpllDVRmzx0PvOTy-KPZ53byq8oC9ApgUiTf3Nlij-pOteE7zyS-vSfXfwalSphx9sMbMUck0dkL7ignfGwZ0N0w7SZOz93pfuCSk9afenR2YXslsO2zmNQrKYS-BCbLhhZagD5q4dHJ64-CImqgqA8Sw==",
  "id": "rs_01023e430eb7bae1016ab44fcdd08887d0a869d7bbbf198861",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.21,\"right_z\":0.04,\"right_pitch\":0.3},\"note\":\"From the raised pose, the round white fruit is now clearly centered between the open jaws in the overhead view; the yellow fruit lies separately below-left, and the pear is in the bowl. I’ll descend vertically over the centered white fruit for a cleaner grasp.\"}",
  "call_id": "call_nRGxecjBnxL5aS9u6Deqien5",
  "id": "fc_01023e430eb7bae1016ab44fd04b6487d0926b7992b94577c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nRGxecjBnxL5aS9u6Deqien5",
  "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, 0.8436, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6769, 2.0293, 0.614, 1.0607, 0.5407, 0.0319, 0.9962]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1479 left_yaw=0.0001 left_pitch=-0.1537 left_roll=-0.0 left_gripper=0.9993 right_x=0.3993 right_y=0.2088 right_z=0.0393 right_yaw=0.191 right_pitch=0.2613 right_roll=-0.1557 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.853, 6.9128, 1.5653, -0.0611, -0.0366, -0.0122, -0.1436, -6.9265, 3.6034, 1.1893, 0.0855, -0.0513, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a3ff85556dc8bc117f48da376dbca1d9707bd9e53b11bfe5b57ef3cc03019d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64033a8fca5068d19e01648a8d806aa536613b647b32c11d66322fb6445a2dba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e30e1a2071922521c29877e1af06591b049ceac598993e568ce0d04720d30d3",
      "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 29 attempt 0 · /responses · status 200 · 4.769 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, 0.8368, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6773, 2.0228, 0.614, 1.0473, 0.5396, 0.0395, 0.9969]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1498 left_yaw=0.0001 left_pitch=-0.1465 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3987 right_y=0.2088 right_z=0.0392 right_yaw=0.189 right_pitch=0.2557 right_roll=-0.1512 right_gripper=0.9969\nstate[joint_eff]: [-0.2667, -1.7026, 7.1179, 1.5702, -0.0366, -0.0806, -0.0073, -0.0479, -6.5026, 3.7538, 1.2527, -0.0317, 0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8387, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6769, 1.6421, 0.7151, 0.6029, 0.5381, 0.0353, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1493 left_yaw=0.0001 left_pitch=-0.1484 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4008 right_y=0.2105 right_z=0.145 right_yaw=0.1874 right_pitch=0.2881 right_roll=-0.1366 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.5795, 7.0359, 1.6239, -0.0464, -0.0513, -0.0122, -0.1162, -8.3624, 8.0342, 1.956, 0.0757, 0.0464, -0.1245]\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, 0.8436, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6769, 2.0293, 0.614, 1.0607, 0.5407, 0.0319, 0.9962]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1479 left_yaw=0.0001 left_pitch=-0.1537 left_roll=-0.0 left_gripper=0.9993 right_x=0.3993 right_y=0.2088 right_z=0.0393 right_yaw=0.191 right_pitch=0.2613 right_roll=-0.1557 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.853, 6.9128, 1.5653, -0.0611, -0.0366, -0.0122, -0.1436, -6.9265, 3.6034, 1.1893, 0.0855, -0.0513, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a3ff85556dc8bc117f48da376dbca1d9707bd9e53b11bfe5b57ef3cc03019d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64033a8fca5068d19e01648a8d806aa536613b647b32c11d66322fb6445a2dba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e30e1a2071922521c29877e1af06591b049ceac598993e568ce0d04720d30d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_Vlmf3FPsqhPCD49UAgbHzRDo1GWz6QQJYgDzABZOuFH7IkF4y_XAoW254_Pj-Tj2XBHRv3SUNPfc_z1SpVwF4OvlAms-HrqBhVrana0bUg04LWDv22zb-fv4PZ7nc-OL18vZz39DkWIRBobw6zqXB1xjCOZd3GV1k5sZPSD-JxHIIt9QUTkgbWDjD2IZm54uFM-jO6Uw9jHW0QNKgpPJ2LOhro8wDUVOM-RiwMW2JWY4S_nlWUnrX1TnhaDl1LO1IavWfBhn51K3sylhP311isMidP5P4blJaV4LRGRBfHo9YFm94QwxxbwjOUAWCpfVVa_Zone-j0Uj7oeJJGXzCriIbA4ZEuKeHv-PRuiHywaAGUx5iRfTKrZiDfb3cI60lFFeI8cR9M2eS4Q6iTrMm-KvkLvUPGGgTsf7w2m69rnZS4iphYYfKge5XiaNzGSxsfzBZTf8Fp_yyJgmV07AGTskiJ-Mn-GLdx08jz1EU0UMWfqI0sxEv0giz6BG__ZHVf1GvSKfgRh10qDwphjkwLj2I-w6mhbHa8C7dIcHOkZWoUWoZiQSLEDgw0H-bSwfistaO0VyYfvvWQGWwwFTgkpLrxdFQHL_zEleusM_5vNYETGHaQCezdmWEtYDOTNWhmEUqv8I5i437uk170enMcTneALtU9YCLd2aYXmn1L6vuqK-iPCski6v6Z6wwBZotHiLn7spEHmNglgtaYwkdPLLwFS5CHy8u5R8WcxguGdY66o5Fz031a0LA4LozE4ciGYBusiFmTqak9qGkidG2qi1I2nIhbcH2y8dQ1cqFaudnIjdTw4Pgp0mFdPALB9aFBwmi8quIiObySJpTMIJT22W8l0QEzelK7tpzUxAhQL-TV6ZBuC-QYlNc6nL71PQrAQPMyIV7eE-TzVzv_XNcPWvC7-8kxDWEIQ7WpVQpgDWyK1PzY6E27pOnEe4zYZxBqISOrvPSwFOVAxyONCRB2f3edS0A2COwFkS85hXyghf9if9QNpbUcw3cxjvB_X4OgGL7wrERWPV89r4E0XFLur1Zvoqlmxna7MvhQdk75RQxeeJgUSbA29139bpRIlGk8oUqrO19PdWdpPAi4Nq-4KwTxEPsUIjkR1Xct0E_-25AG6YBAv-K-kD6GfETTuOkpXO-zKPfjGQMayeHjVVCAI_niZ3LLT5OOgixNH7ygVqw1wpydhoXVLjFmGL1F8Q-qRK4hqwIHF2cEv8RuEHXgCxO4P7G80amUdMCPqNDtorhi-2mfxGAYhUgfqzNA8E-22Uz7MNtvFP7jzqJuStVZhdJc51h2dF_tjoxbvIek2gioByCaEnOyifM_FsgbcXDVUT4LhgXOQkizSHnHbi7u9sOgoeE3p5cdRuRHPdGzIqdwaXLAmrm2t8Y47qh0Xy2",
  "id": "rs_01023e430eb7bae1016ab44fd401ac87d0bb2d285010477dfa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the white fruit sits between the two visible finger tips rather than ahead of them. I’ll close the gripper now.\"}",
  "call_id": "call_3R5fFeGBkzvWs2dVJX6F63wc",
  "id": "fc_01023e430eb7bae1016ab44fd476a487d0914a1fb5e04e07cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3R5fFeGBkzvWs2dVJX6F63wc",
  "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, 0.8452, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6769, 2.0361, 0.6117, 1.0847, 0.5407, 0.0261, 0.0082]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1475 left_yaw=0.0001 left_pitch=-0.1552 left_roll=-0.0 left_gripper=0.9993 right_x=0.3998 right_y=0.2092 right_z=0.0407 right_yaw=0.1923 right_pitch=0.274 right_roll=-0.1542 right_gripper=0.0082\nstate[joint_eff]: [-0.1026, -1.6205, 6.8991, 1.5946, -0.0415, -0.0708, -0.0122, -0.212, -9.1009, 4.0547, 1.6044, 0.1099, 0.0366, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e098feca68f001c871a3c4172eb3d388609a5aaaf4e4b3ede3a5ce9ef1546dba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf286881ee86a9ac5053bd242e012fb73c337d5d4426923cb42687c6ef30646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cd239145b22e74e73e6666fc67aba02a114d32b86cb4342f0912f71d8337dd1",
      "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 · 2.81 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, 0.8371, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6773, 2.0251, 0.6178, 1.0988, 0.5423, 0.0406, 0.009]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1497 left_yaw=0.0001 left_pitch=-0.1469 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4025 right_y=0.2113 right_z=0.0503 right_yaw=0.1789 right_pitch=0.3029 right_roll=-0.1247 right_gripper=0.009\nstate[joint_eff]: [-0.1162, -1.388, 6.9812, 1.5897, -0.0464, -0.0464, -0.0122, -0.0342, -8.759, 3.494, 1.243, -0.0122, -0.0757, 0.569]",
      "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, 0.8436, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6769, 2.0293, 0.614, 1.0607, 0.5407, 0.0319, 0.9962]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1479 left_yaw=0.0001 left_pitch=-0.1537 left_roll=-0.0 left_gripper=0.9993 right_x=0.3993 right_y=0.2088 right_z=0.0393 right_yaw=0.191 right_pitch=0.2613 right_roll=-0.1557 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.853, 6.9128, 1.5653, -0.0611, -0.0366, -0.0122, -0.1436, -6.9265, 3.6034, 1.1893, 0.0855, -0.0513, 0.0464]",
      "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, 0.8452, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6769, 2.0361, 0.6117, 1.0847, 0.5407, 0.0261, 0.0082]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1475 left_yaw=0.0001 left_pitch=-0.1552 left_roll=-0.0 left_gripper=0.9993 right_x=0.3998 right_y=0.2092 right_z=0.0407 right_yaw=0.1923 right_pitch=0.274 right_roll=-0.1542 right_gripper=0.0082\nstate[joint_eff]: [-0.1026, -1.6205, 6.8991, 1.5946, -0.0415, -0.0708, -0.0122, -0.212, -9.1009, 4.0547, 1.6044, 0.1099, 0.0366, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e098feca68f001c871a3c4172eb3d388609a5aaaf4e4b3ede3a5ce9ef1546dba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf286881ee86a9ac5053bd242e012fb73c337d5d4426923cb42687c6ef30646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cd239145b22e74e73e6666fc67aba02a114d32b86cb4342f0912f71d8337dd1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_aalmbYonBf7bYJSiz3vWWIvqRGePYGQ5_SaKFLYnRDI4AmaBFf5g3zAuoOY8RmJyytHi4PZyiDl_zOG3RpYLIE5t8b9St-Wd5-iD4AQLHwzUYtLQ4RkgUJwgBr9eqopknOTihBL_86Cej57-Pj0R_sXtJyJyNYslHhB467NAJR9o74hvUeWXxlCqGZotfSPnllMOFu62DQQD2ATCa9rzLwDPvvak0dsdj_06lJeNW68zsLvNFQ6WWR_OLUUB8LXNk7whaVT9MHnWzsBlY5r-JDHGpCVMPFPU_ybIVQpFTDSpGbn_3dKrVTgsJA5t2S_Y9C3dNaJ3ZYssK2Uo3AleF7-QCXTXYwSORLZQuHVj8oknFQ5Sz4gHRk_wOGIgEds0NT4QnPBL-vB1Yckecmtj0klf8rffQSNBG8-xiQoR3NxGzEzhKkIBBb7llShhJ2_SSTp5mV4g9BrMmuLWYkwhAm6k4UKgO3WVukxggyx0SWHNjo-1T2ZhKVehiqr3qUW1ylJ07xH4GHa5ar_sb-JnkF5D3XQ1-9V8inrcpyy3w5VfctvJwDPH_gSUrKiBwexR2JACRnZlGFotdicsgFpc_pA3s9Thfddeu2Wiuk0JkK96JQX5DDktkSGHU86DsvN7SVXCJ22IYT6C6YV-Nv4dIyXLc6uPfyMsD-YTWXx7BNbAmucPJxc_4QR3FeOI9lwgEuG0eS19tAhnZEGBP8I_0TQOsrIiH5A5NL61mH7Ulr1Hd3Nj4pLFqBG6ipjBLBsKwfarndC2JLxL-pojSgUUjMsDQPr1rBrXT3DrnpGUw5c1t3bxXVU2zF5fHgZnBmSIDKthGzQW3zdcAcOSHGuQ10kkXGxuHdEkBhjKbiRH_hNDZqvysWFweVqtTQmZpg5lpPRsdnQhSy9P7rAe_N0FEPf_Sukh6-UVlo_KvI7rL3wF328rgODGHgsrqommnYSe_ub0ymdYgg6w63PYb1Vj_8NHe_cMowH_bxsrI7oIroc6R4l9KD83MKsPh2tkiAVlCp_6sHcDw4YsndXeD2KnujjLe_69bs6yXbAC0Pn2_W0e6viAb7Q6Duluqjwzn1PBR7h6iPopFkp7cPeclVIr1j9vnZun7uoTlNr6T2QPMCZoXmO0HwGz2lyLVCV4U2H8RjROjTOBKuhDtDCja4cpoXRxcprv9O1RA0gfuxbQsRLdTVX-joJgSnYn1CSrDq-4ZwOlmB-_Y7PuUIR78gHYmduIWu7kQhz6hRfjhktmUHbsz3AkDqbaj1hx66VVOpaWAMat1d30pCgepg4WYvnfyn9ufsDf4amA2WhTswdg3DiO-ycUprWzjBXTDQ9IJQmpiVC2G7CqwWNA1Kqw9h9eBM22nsxeKXY-8WoLpu7kBlkLrCd19H2w1AW7AHwxe1r04ljoyXUtL_ITdcFiJFNzirL6QpV9zNKHdiDWumkGRAObw4rN0s4YuwgF5DF5BgLlAidJs1KDQnoxPgUduz0OFhP0G3C91v3HIoE54iQwmo-gkmLMjqbGt4HFw8FcqH1gjmV1sLKPPgil9iN720jHUWjNz0LJDVP6ntgmpjytyxR15eRQ0bweuXNZlVb6r1WQ3TOIQvweZlTislNaMgZWf45fgoOl0qfQp1NotLi9Zbjw=",
  "id": "rs_01023e430eb7bae1016ab44fd8d53487d08cb7a0021fe1eba6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15,\"right_gripper\":1.0,\"right_pitch\":0.3},\"note\":\"The jaws again closed empty, and the overhead view shows the white fruit just left of the grasp point rather than between the closed fingertips. I’ll reopen and lift, then apply a measured leftward and slight outward correction from above.\"}",
  "call_id": "call_9J2rdvadVK304eR94SDZHG3E",
  "id": "fc_01023e430eb7bae1016ab44fd9f70087d0a139aea5ed3c4051",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9J2rdvadVK304eR94SDZHG3E",
  "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, 0.8467, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6781, 1.66, 0.6807, 0.651, 0.5381, 0.0078, 0.9953]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1471 left_yaw=0.0001 left_pitch=-0.1568 left_roll=0.0 left_gripper=0.9993 right_x=0.3973 right_y=0.2084 right_z=0.1338 right_yaw=0.2044 right_pitch=0.2823 right_roll=-0.1661 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.5111, 6.9675, 1.5653, -0.0464, -0.0513, -0.0122, -0.0068, -8.5265, 7.8427, 1.8046, 0.149, 0.0757, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa015ef380ebe14494b45c3516cd7918705b1df5890f87826e09325827f0ec9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de103df9498b2b8651a376bdc55d0e1ac15b7164496a58c9569e202f5436cd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8b89a4a85bd921dcc4f804211c7f353fd659d3ad1192ff1ab0588c2202a3c8d",
      "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 31 attempt 0 · /responses · status 200 · 2.51 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, 0.8387, 0.6128, -0.495, -0.0139, -0.0338, 0.9993, 0.6769, 1.6421, 0.7151, 0.6029, 0.5381, 0.0353, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1493 left_yaw=0.0001 left_pitch=-0.1484 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4008 right_y=0.2105 right_z=0.145 right_yaw=0.1874 right_pitch=0.2881 right_roll=-0.1366 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.5795, 7.0359, 1.6239, -0.0464, -0.0513, -0.0122, -0.1162, -8.3624, 8.0342, 1.956, 0.0757, 0.0464, -0.1245]\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, 0.8452, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6769, 2.0361, 0.6117, 1.0847, 0.5407, 0.0261, 0.0082]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1475 left_yaw=0.0001 left_pitch=-0.1552 left_roll=-0.0 left_gripper=0.9993 right_x=0.3998 right_y=0.2092 right_z=0.0407 right_yaw=0.1923 right_pitch=0.274 right_roll=-0.1542 right_gripper=0.0082\nstate[joint_eff]: [-0.1026, -1.6205, 6.8991, 1.5946, -0.0415, -0.0708, -0.0122, -0.212, -9.1009, 4.0547, 1.6044, 0.1099, 0.0366, 0.652]",
      "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, 0.8467, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6781, 1.66, 0.6807, 0.651, 0.5381, 0.0078, 0.9953]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1471 left_yaw=0.0001 left_pitch=-0.1568 left_roll=0.0 left_gripper=0.9993 right_x=0.3973 right_y=0.2084 right_z=0.1338 right_yaw=0.2044 right_pitch=0.2823 right_roll=-0.1661 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.5111, 6.9675, 1.5653, -0.0464, -0.0513, -0.0122, -0.0068, -8.5265, 7.8427, 1.8046, 0.149, 0.0757, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa015ef380ebe14494b45c3516cd7918705b1df5890f87826e09325827f0ec9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de103df9498b2b8651a376bdc55d0e1ac15b7164496a58c9569e202f5436cd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8b89a4a85bd921dcc4f804211c7f353fd659d3ad1192ff1ab0588c2202a3c8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_epYTnk9Ugbh5FYT3aAATJYhge2zTHc-DNHNFnOAXXFKMTSdKoXKQu8EZ9KmLpOBkh94oFlcrUyc8phhPJ_uZMB7xQRkhCLB3I-RVMZQuDmlw6fsV0tq9dtaDFC2WFwv6tnZTYMB5ugsHmnkQ2DRBYL-o0uwHstCZKeot7ciMUN8zdhFAmPcpCWQdhu9rJiS6Xjchv6evgBNBp_FV_2oQPTWiCKhcUv-IxiFrJyHhi14tzmKlbJW89GCI6SxpIURCZKnr_1xJA1x07PsmaihXw7a-oBtFdKCVNaJ8vm8W5cSoB7V3Ph_gQJ-k3oVOvIt4LB5lQDYm4FbnSHc59CTHZzof8ILVlh34Un3Zcj6-b-CRWx4K83LKygbjrdiiAJzppqcv2qp49pojj1e29Wwx7ulC_TVM3VeVA_DI6dTZRvgmpLDrmjs30ABxi9VLfr138Q71MPNT0AShrt5MVIHk8z6z0r7q3RcBztDHrwwapUQ_NWEC0STp-8Irw4Rzz8cwGIiHalouxmmPmkeo5mwtPYMC5f9CWYymtyNGeJJ-KsckHdj8oIZVKqWHKg2lDwxl1R12cp13UZ8C8vEaEGYAUesk3vdgeUAC8jcQ5hUennqdJPL9Oc-cy7ROoVgef0gTPubRb_Pi9dfZnXuKzw-1ojVddWkatVdterYtv3z1MMmVam9qZLfFAmRGp3t5eTsHvMPh_7YWJinTtWIBpun7URvrpvtcsFEHC2FcLlwTNWVL4eKDvXb7cF_y4HScPtPYD-ThZoM6ALFF0Eoo6mtS3E1wOOeo5PJQoa6y3H_VG-XNmPXvQ3DW8MMDh_eg1bflfpwKGTL77F-Tqov3EgppSKt1G8w86jS1EaJuaxO17bb9x7O10QoYpOgBze8T5HX4et9sDyv4pUEi3W08A-iHmqK3K_M_pyvRbIUmQTESTg62wnnwK1iUQdVOHE44547kfXs9ZXmWuUI2a5DlIzL7SxkVZknMQ6grumEOb0LtsOfYVd-o8xEiiMJFwRqqP_drIYMLAyiZTtnfBcp0M6-CzAb5DyVikM6M8S5PpHoDlN8NMUkxA4w1sRXTKBHyn3lam_IRqltYtjx-1k3PosHg1Cj-tXGRV6DqnWfjwX0Mk1VEErGZaYyiRlwqlCr4Ejsg2RKsZYAqexgcM3kXL_2JrzEb-m1_cHY43PsrJPhFvksgHG4Eh4LJIGRDEleFz3OzrKzVL9FXSU_UfNEND9cp5TD28jsenPsu9hnh0LVmip7tjXG3weJq7kkBzpJMQBfBPGqgK2_suU02LfqQuXnv94EKp3bl6k6eYzmy_pSV2zOhaE-0Mbm-nwaCsPt2Y7oblY287c123CXNynh62pgEM4KgqslXiAz8DjUypymhHI-WcOY689-C8zbKgGPOKq9uC8LD-_b9p7ApXyEPCllGDgvQHGdoEV0Vew6jL_tXIUEnIbnz6NqQ8eDKDg-6cyPHT-BHUppATLEymjgzYwNqPeBAS2bg3aKQgwTn1OnOZZEEVx5IWZKOGqMC434pqZU_-cTFXSk-ngKEfdm7rMD5tptnF4TiCWiBBqzJM3GBcpji7UjfPbmqMUITbECWM2hsv",
  "id": "rs_01023e430eb7bae1016ab44fdd002c87d0be10f12334a8005c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.24,\"right_z\":0.15,\"right_pitch\":0.3},\"note\":\"With the hand raised, the white fruit is about 3 cm to the arm’s left and 2 cm farther forward than the last grasp point. I’ll make that correction at clearance height while maintaining the forward-pitched reachable posture.\"}",
  "call_id": "call_G2TtpIS5iAX4Es4cb2xrBzOs",
  "id": "fc_01023e430eb7bae1016ab44fddef2087d0974858eeb5ba3d42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G2TtpIS5iAX4Es4cb2xrBzOs",
  "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, 0.8497, 0.6128, -0.4969, -0.0139, -0.0338, 0.9993, 0.704, 1.7458, 0.8135, 0.5812, 0.5491, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1461 left_yaw=0.0001 left_pitch=-0.1613 left_roll=0.0001 left_gripper=0.9993 right_x=0.4138 right_y=0.2352 right_z=0.1353 right_yaw=0.2246 right_pitch=0.2635 right_roll=-0.1819 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.6205, 6.8991, 1.619, -0.0024, -0.0073, -0.0122, 0.1983, -8.8274, 7.2957, 1.8779, 0.315, -0.0024, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff081b3d8795909767eca173a6bf03f4e1bc55107b81a14f1d0d6e015e6a32f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af651a01d8b6f32c1dbda8a1a0b755ce79251044b3264d09b3ecb7e8a7dc512e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2340dd390dbac2d282ae97ea0171aee2eb5652c23e43ce2a881eaa8d8235c917",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 5.523 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, 0.8436, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6769, 2.0293, 0.614, 1.0607, 0.5407, 0.0319, 0.9962]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1479 left_yaw=0.0001 left_pitch=-0.1537 left_roll=-0.0 left_gripper=0.9993 right_x=0.3993 right_y=0.2088 right_z=0.0393 right_yaw=0.191 right_pitch=0.2613 right_roll=-0.1557 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.853, 6.9128, 1.5653, -0.0611, -0.0366, -0.0122, -0.1436, -6.9265, 3.6034, 1.1893, 0.0855, -0.0513, 0.0464]",
      "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, 0.8467, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6781, 1.66, 0.6807, 0.651, 0.5381, 0.0078, 0.9953]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1471 left_yaw=0.0001 left_pitch=-0.1568 left_roll=0.0 left_gripper=0.9993 right_x=0.3973 right_y=0.2084 right_z=0.1338 right_yaw=0.2044 right_pitch=0.2823 right_roll=-0.1661 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.5111, 6.9675, 1.5653, -0.0464, -0.0513, -0.0122, -0.0068, -8.5265, 7.8427, 1.8046, 0.149, 0.0757, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8497, 0.6128, -0.4969, -0.0139, -0.0338, 0.9993, 0.704, 1.7458, 0.8135, 0.5812, 0.5491, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1461 left_yaw=0.0001 left_pitch=-0.1613 left_roll=0.0001 left_gripper=0.9993 right_x=0.4138 right_y=0.2352 right_z=0.1353 right_yaw=0.2246 right_pitch=0.2635 right_roll=-0.1819 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.6205, 6.8991, 1.619, -0.0024, -0.0073, -0.0122, 0.1983, -8.8274, 7.2957, 1.8779, 0.315, -0.0024, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff081b3d8795909767eca173a6bf03f4e1bc55107b81a14f1d0d6e015e6a32f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af651a01d8b6f32c1dbda8a1a0b755ce79251044b3264d09b3ecb7e8a7dc512e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2340dd390dbac2d282ae97ea0171aee2eb5652c23e43ce2a881eaa8d8235c917",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_hqFKQEJ8_v_eFuqcB3guyfTsOYNMLPEGlTs1vAmYKec5HbNSjM1lWOd2AfLD3_Nf_Frq77Pz8jeJRAewuTvPGmht1U_x0WH5g2iAsI8tIRUbEy_ULBjuLgzSWRXDknHBvr8GikiiWP8lgvWoGcb9ZoX6712EYaeiCf6oPVXw3jrqYaxD9WJSysfcdLRaDpcvRhAUiBJEOB8H42G4-bzsL0ByIu1D0sXe_Ab8w06mQN-nCViIEcu_02nS3_AcQSJS1Ovd1T0EXK7LWdQvLuqY6UIw-Bit7vXk8TfMkpYk4qa-IWBZ0ecgLRmc9G_tqbAzVMS4lXbhAhfZy6LEbPzJHpbz0jqxwJAbnVcEf0sqkLANZzZgeNQE0Kl-MpMtnbMbYckndesODVk7QB3En1JeaQA--FuEflX_vN8ipL37svHqzkI4lkyWFh8K1X-3uRVisoY1IMP0XWPfG5FG986a9VCdwEqVOQHZS6r4lpaBDV_I81JcK9piyMoMZUeOP7YVFA9Rvaoa33W5u8ms1bq5BomVbbvbfCMa_uny-OqBm6DDBOyWhgJAkGvahkg0WzN_6xgp6XBZpUM9eUYpORQwompROvC5eCsZb7yIuJsQUSbrHK1kx0WSe6PMbA87IXxZO6OYpCb_ptpRz5qsLFyzaJMU8HwBUwRTUvjoziSubiIyXOnMxbFJWD6XAxAH2pwOH0rfNJFzA43CFK5okWACu-mxyDgANtcopfHw4SmV3AP2btZhHdrZCuIRZMVqjYg9mJcz3nnJxJ1TEoDYgwuvpc7_dfw5cjUsmy8B8eCHtOXP1gWnJm2ESleOJbikuzvSYtS99JTpFIFyyFeXzBiR2BUIDKOenjBrHCSx145cHE6oUGXzJpx-Hl8iYHekS0apyWTaONqXTWc3lKtW1dC7pmgCY1noMoa5HaCTJm-5mOS2JKKUURtWjjtVfLqPTsiVrYKRAt_3dXBUYVCe-rgrl2fpyNZg91rVJq3rbhYtyYFwh_MiC6hy9RDIRShXSSBY_5tKTNupXqB-4mOwVYvqe0CYdMSSqbtkfxj3E-Z9jmvT1_0BCl0v-GfbT9VZQj1JFVUEi44KbmdqWmqff3CsWkVvAeV894_QScWfd2Ko3Iikx6X5Jj13pwQROdk0aqewgMOJ21XD6zmMCXZK1oqWN8c2vdv1cZ3LtNuB2aeJ8HzqR-1wjTqY_iZs_Zpnw4kq5IRrxzC98uyh85AjIFCodglHhN9utCxLfAYw7c5VkCGY=",
  "id": "rs_01023e430eb7bae1016ab44fe0720087d080ed07ad0409a84b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.24,\"right_z\":0.04,\"right_pitch\":0.3},\"note\":\"After the correction, the white fruit is centered beneath the open jaws in the overhead view, with the fingers symmetrically straddling it. I’ll descend vertically to grasp height.\"}",
  "call_id": "call_OTehMX8LM5tD0hmHT2ucKrPf",
  "id": "fc_01023e430eb7bae1016ab44fe0ad5487d08169d20ac2f50142",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OTehMX8LM5tD0hmHT2ucKrPf",
  "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, 0.8501, 0.6128, -0.498, -0.0139, -0.0338, 0.9993, 0.7116, 1.7527, 0.8341, 0.5697, 0.5495, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1457 left_yaw=0.0001 left_pitch=-0.1629 left_roll=0.0002 left_gripper=0.9993 right_x=0.4152 right_y=0.241 right_z=0.1381 right_yaw=0.2316 right_pitch=0.2656 right_roll=-0.1809 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.5385, 6.8991, 1.5653, -0.0317, -0.0317, -0.0073, -0.4581, -8.335, 7.4735, 1.8828, 0.2662, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ff4f473a90b2e0239427bb9e48e9e0f97577dc96ab5d78061469a7d85a738a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e1dd805ad86713d9e8a9dd71cb41c10d75b11f6e3f2e0bf161a42d96a9ce8ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab77e5b4113f9f00d874a3acc07bb35cb338f41c381a0d6fcf9dbc6f9eaf35a9",
      "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 · 2.437 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, 0.8452, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6769, 2.0361, 0.6117, 1.0847, 0.5407, 0.0261, 0.0082]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1475 left_yaw=0.0001 left_pitch=-0.1552 left_roll=-0.0 left_gripper=0.9993 right_x=0.3998 right_y=0.2092 right_z=0.0407 right_yaw=0.1923 right_pitch=0.274 right_roll=-0.1542 right_gripper=0.0082\nstate[joint_eff]: [-0.1026, -1.6205, 6.8991, 1.5946, -0.0415, -0.0708, -0.0122, -0.212, -9.1009, 4.0547, 1.6044, 0.1099, 0.0366, 0.652]",
      "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, 0.8497, 0.6128, -0.4969, -0.0139, -0.0338, 0.9993, 0.704, 1.7458, 0.8135, 0.5812, 0.5491, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1461 left_yaw=0.0001 left_pitch=-0.1613 left_roll=0.0001 left_gripper=0.9993 right_x=0.4138 right_y=0.2352 right_z=0.1353 right_yaw=0.2246 right_pitch=0.2635 right_roll=-0.1819 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.6205, 6.8991, 1.619, -0.0024, -0.0073, -0.0122, 0.1983, -8.8274, 7.2957, 1.8779, 0.315, -0.0024, 0.0806]",
      "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, 0.8501, 0.6128, -0.498, -0.0139, -0.0338, 0.9993, 0.7116, 1.7527, 0.8341, 0.5697, 0.5495, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1457 left_yaw=0.0001 left_pitch=-0.1629 left_roll=0.0002 left_gripper=0.9993 right_x=0.4152 right_y=0.241 right_z=0.1381 right_yaw=0.2316 right_pitch=0.2656 right_roll=-0.1809 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.5385, 6.8991, 1.5653, -0.0317, -0.0317, -0.0073, -0.4581, -8.335, 7.4735, 1.8828, 0.2662, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ff4f473a90b2e0239427bb9e48e9e0f97577dc96ab5d78061469a7d85a738a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e1dd805ad86713d9e8a9dd71cb41c10d75b11f6e3f2e0bf161a42d96a9ce8ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab77e5b4113f9f00d874a3acc07bb35cb338f41c381a0d6fcf9dbc6f9eaf35a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_nRUPHQ8lNbbnFqo9Dp_ZKicS128h16XEWCsg8DBh3wRQgmggE2Sen9PbRrht16UiFmSwWGt8raw4w2VciyVASZsNFSyK63waw9buFdACSikGx_f0LHeDHzliJVEnjf5G-KvODItbICPqofEVxbwVX5gfOl0dc-07MlTV75jBACYzGrZgZFaqXQpzIzX8TITUqrxdtyQmMULVp4PrNeVknTkAIplE1Xaa8-yohBEUIqlkdeVyQbe7EsCHwwo3go4DAi1Z8Doy_kFA9QzgzhI2VB3YlPdwe1YDr43OrDCb6H9WcSn_BH3xxwwLxJkwWyuEdXsf4jyMPtnQjlsiyuFeUg6z1_E_y-x713Z8XU47KzT3Jx86vk-pqfusDmtN7JTfJnDwody1x90XiY36bAS6yooLZlBl37RYfEqyzjYMzlcp4LTmngkdt7nVJIBQaZgcqGI-lmyJFF0SJHialX0F67zJ7mXPk82B0bA6LNYpyUCbCefokja_iQs95t16ePpSj1JxdCk3kRuAZC3zYwefLFJ5yCKbVb2tRPYfTbDzgeEeR2S0WVmm-zft8yL6GIRdAj1HCWPOc_jQhAPZgozLI7DkCnwlx2N6Bx-D6J4k5ef3uzJicPyxIY6U4KnUejE39EmkeB0meuvh_7NNTbR_EZPTfLaAdes5sYZIVOJqmEv-L5KlbaNik5Xyz1hAfu7i9U-Pdsd4bT3lADyDf_-R00-ElN3Eudbr9kjwJRdZNbZpVhMNVYDQQUxXpGvq4sO9XPgUP1CJTWK0HLy8BnPD0AAy0t123Jj-Nu2aMwxd8wPDUPwIWh-CiDhsFxq1mITjygX9Wsd25eS8I-KzWZj2Meye86YBSFbHM_IdrlIoL-XLRjWXKIndNHm5IVHyyRwGArdIRgdzLykv_l7hZtnLknN_OZHjGv51n0vLdc2YIBNvtVp3Hntk_mftFwDFybuo7UhdNbowTKD_gqjqWsG0EAK9ZkIzCn8bL83EK5LXrDO165sTFrwc09G3bgwVyu20CNDQcW0PQGuSkDjR2BTvcXRvAT-kLaVV4gQC0sZDI_f0Qu6RpVgBtToFUGSVT6xkkMnR2uL00UMXF2ljfrqVytMjJgC-e4Ci-U8t9ZTnU1-etxs0an7pKqeX0qdwTGoUjje_U1AwhOeM-jfcKjyAbzcT-SFYk_MDNl9fQ2d8crS66jMHR8j84HHqE_x23hS7pf53ckH3maQEX7d6wPnFeiPDOO76rsllwd6ongm2Aa8qjHsBhYRHsHqUM2DNrXoA3gIsrsLYZE5rmSBfm3FWuyPQnuBHqCnOp6qmwCFgwbATqs0_xmgs-n8mb02bKtNz8-1vV-qH_8CLDnurDC2AfMb4vLSQm74QfSe9QobsOwcP_weBt6uYg2JqH8oFXLvIND2bN37V8YfJnjsx8KGN5yBYDawYbyTJN815nNO4dSRDrYiuPIfjJP15n3DACfhkbl0Maqk5Nw9fvR86JbghGQI3vVCkg-jQEgmeyttUBrHTTrCuB-XcKt-9Z4dNEKVGq0hIxNp9OLXDUVqP7kHc6DqcXJVbKbHQpz5nEzkeSmevPWiwi0NX_CDyovcCISgdvK3dSNmAJBbhDkDlHpveHwDageTolphZV60CMdvlh7vSeVQANBJ3x2jhRY1i4R0CvfY0pU8LYVVshtulCZanxsDwNiauLBcguGaVJpcZ5MffR1-iAUjTqoLm1mVm1CxAXn4z2fKPZwRWSffAGYKhI6UJelziIwuv_Q0MIw96tAywvY8FE84dOwHX_dQX8zgB81C0UVtFyUBHpqr3dTMeCYKaJmc3bzNBdgTged4oECrqTR-Tj512tkzOprhA-EbR3UJAPjt0pT77B6RAVC0CDkGdZKo5eF8ww0dmudcH6C236Q5VHWgb_8SzajZkxM6jNmBcc0NNWMSDLrTmh7thlpmYtcl3IyQ-3ITRS6cVoXRqfzI3pMNt2HWPKeRfO58MvbzrsbySuLwG22GiNtBhOlLt-uhjXfiS2Y_Ue1PquEk2NKB-qpCmBS7uMfFg0UBI9ZmpB1gY1bEggSUMnqbWqFD5Evv7CNXZths4MCVCpNQCcsTYtyAq5H4BiEFjO8KD1LipJ7JMxH6CI-On_S_S0eU83H1L4Zg1yiM7pnwRWRCsH28lVj-xKgqpOKtWAumvTk0BSK03jsEo_ndEkSe9jE5t5zSFJrltQp1TwOj-61sQsFM_iyNwTaj56hD700Xeir7k39OqkapxE7j7ByNZSy3DiFXROZtDTCeQ4Aa18bXaLbp-G0SS-cA8naGee-PdnlNYMwRVtE4OWBfOtsQ64caEwPGM_00188o4n7fM4rIEq4JzN6iR-xmccAEuLIJvr28B2lI662AonINvQJdtnRyeVzjh4BcNHCEKNFPJG0TE9E3gxOGUlkSPvUF6x1sU-yIPl-Z871XiDZewUTq-_S28bMNG0Yb8kLhVxCNoW38ncdk_WLdTkLZ85A1nhiXPBj_AzcU51_WxVkD6Vw04ynvn4u4uuouncrKLW1G4PNLZYi1x6eEoXBqE8MqHZm7mJLe84VCSN7dhR53noGG-oRcEhyHB-eCCw1uh0O_c_uYiSjU8hclBC_uR9NLXJviJu",
  "id": "rs_01023e430eb7bae1016ab44fe38dac87d0adf6c33831e606fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.24,\"right_z\":0.04,\"right_pitch\":0.55},\"note\":\"The arm stayed high instead of descending at this far diagonal reach, indicating a reach/pose limit rather than contact. I’ll pitch the tool farther forward, which this rig uses to recover table-level reach, while keeping the fruit-centered horizontal target.\"}",
  "call_id": "call_1luzat6mM6a5U0AN4zwbEmyx",
  "id": "fc_01023e430eb7bae1016ab44fe67f1487d0a966b691984fd7cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1luzat6mM6a5U0AN4zwbEmyx",
  "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, 0.8547, 0.6128, -0.5095, -0.0135, -0.0338, 0.9993, 0.712, 2.3043, 0.7719, 1.5234, 0.5678, -0.1345, 0.9962]\nstate[eef_state]: left_x=0.2794 left_y=-0.0001 left_z=0.1425 left_yaw=-0.0001 left_pitch=-0.1789 left_roll=0.0003 left_gripper=0.9993 right_x=0.4272 right_y=0.2479 right_z=0.0639 right_yaw=0.2285 right_pitch=0.5564 right_roll=-0.1641 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.8667, 6.8855, 1.7021, -0.0415, -0.0366, -0.0122, 0.0889, -6.4342, 2.2496, 1.0183, 0.0806, 0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53dfc130036b48f3184a2257887bcc63d8eebd434e51ac10c7c099d2e5f4e672",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011260575efadacfd0a2967e656d2b1926f93d5cdd95f0937b707ce90c7bcb29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93fbd277d19d6501f054d0b724859d90c3b04bbd00daf1aade0c1fa264ea3e1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 6.548 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, 0.8467, 0.6128, -0.4953, -0.0139, -0.0338, 0.9993, 0.6781, 1.66, 0.6807, 0.651, 0.5381, 0.0078, 0.9953]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1471 left_yaw=0.0001 left_pitch=-0.1568 left_roll=0.0 left_gripper=0.9993 right_x=0.3973 right_y=0.2084 right_z=0.1338 right_yaw=0.2044 right_pitch=0.2823 right_roll=-0.1661 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.5111, 6.9675, 1.5653, -0.0464, -0.0513, -0.0122, -0.0068, -8.5265, 7.8427, 1.8046, 0.149, 0.0757, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8501, 0.6128, -0.498, -0.0139, -0.0338, 0.9993, 0.7116, 1.7527, 0.8341, 0.5697, 0.5495, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1457 left_yaw=0.0001 left_pitch=-0.1629 left_roll=0.0002 left_gripper=0.9993 right_x=0.4152 right_y=0.241 right_z=0.1381 right_yaw=0.2316 right_pitch=0.2656 right_roll=-0.1809 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.5385, 6.8991, 1.5653, -0.0317, -0.0317, -0.0073, -0.4581, -8.335, 7.4735, 1.8828, 0.2662, -0.0366, -0.0024]",
      "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, 0.8547, 0.6128, -0.5095, -0.0135, -0.0338, 0.9993, 0.712, 2.3043, 0.7719, 1.5234, 0.5678, -0.1345, 0.9962]\nstate[eef_state]: left_x=0.2794 left_y=-0.0001 left_z=0.1425 left_yaw=-0.0001 left_pitch=-0.1789 left_roll=0.0003 left_gripper=0.9993 right_x=0.4272 right_y=0.2479 right_z=0.0639 right_yaw=0.2285 right_pitch=0.5564 right_roll=-0.1641 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.8667, 6.8855, 1.7021, -0.0415, -0.0366, -0.0122, 0.0889, -6.4342, 2.2496, 1.0183, 0.0806, 0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53dfc130036b48f3184a2257887bcc63d8eebd434e51ac10c7c099d2e5f4e672",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011260575efadacfd0a2967e656d2b1926f93d5cdd95f0937b707ce90c7bcb29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93fbd277d19d6501f054d0b724859d90c3b04bbd00daf1aade0c1fa264ea3e1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_qi6l1bTRjOywKlejx4RoSqOj8mUR-ECJ0Zb3jB4xZWx0sn1WMtiTLQsjFeb2RdX1a7jinkBcnfKiEDimCfzm5rndFpIFpssfziIeCpZP1CNMnvnuI-5O_dXCvrTE3LGL2YvfCC8LQ0GlH-6nP9o0_PbXz549V9nCRxRtyaNmYhPm6o6Jh0MN61RbK5i3BPCmRF_Fle1-UOWMdFoeXCAm8Cu313PPEAMpGPjNpwyIK-fQSKaB-zpCDGIGPQ9RDPAaw1NDOjCJW9WCBfgQOxAkMNNIXKDTWr_syYeyRH2sLX4pGmJo6B-nCcAjdklTIqzOJoN01Olg9d-5l3LGbd4uTa1siW0ZpKaAcrXdmpm389E8n9x2ak5NWe7GiDHYiXNW5sjPV09ql1WLR7uIxi5RXx67Xx9zondiQDN3p_0n6dx5cJhoR0Pv-QySLuhiQaDN3K4hsnhVAgxI30edRcaMDWzKm_5R3P0SmC53ge5bt0pAl5sBZDaagq201OWckxvX-bTo5jIG3KxshaWoFZde4VqO_mnF4Yh4pfhrQ761Ksk1L7Dw1P3G2ejgXnY2uo6TwvAEKq5-zYwkfacQJCscCEvf9nwxHnAm5zk1E5_71uWvEmtRLd0xBzY3M_LyTC8AyYJUWCjXoRAmJdww8tXRAUJdIoT6LPU7ajd9Qc131pKVx_Npm3pw9dVgSSx33WDZzHUGx8RJopzjHyTmfjOfbeu6AlHFI45K87_vSHnJCu9GuGRp0EKw-0TcnHfkz5KzDd5WWhQEMZhyeM-RBZ6KtD_GCTSiQIQPqDtJnpx3-OjjxO9EM93aVy5L91a3ex9Nrdo8EoQ_yN9_GUSgFrNO6KwAgl8diN0838v8cgG7BZI-X2U2LHYxMDLt6rLXIi7rvddP4tOdgyWJIxsNfm5VxDibNUWnN-TWlGBKcXm29yQWMAKFzOxSMVQz2ymSRX5HIsgXt89hmuZDYAODZsCQ8xO1ezw7ReAoQfhdYea1Cq-8ctJTmtsBQmsDYGU_GzYC2U4QorRS6V9El4B4CMrUXE6phoxw2vP3keFI9uBPce1H5kqCCR1R_Ek12kYvAOPsB3Ckx_1TovPJHfvlZuawtKzf8lHh8H1-byzHLvcEhpe8Jvcxg0loNbdFKepgUxSkzj7qbFWO5cfJgC7wmClMA1BiEZOqPvJQ09n9CWX5F0Q7sN6AXIwSYpPztLhW79u0rEvFT-S0uvIdbiSKmDmJvdVFebcHYSaWVcOTNPzyfNz_EVnvZ6Uc0SeuhZvgu4QS_",
  "id": "rs_01023e430eb7bae1016ab44fe9c81887d091de1678acc99033",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The stronger forward pitch allowed the hand to descend to 6.4 cm while staying centered over the white fruit, placing its midline between the jaws. I’ll close to grasp it.\"}",
  "call_id": "call_3a37Qju0suzywhaaC1qIdLFl",
  "id": "fc_01023e430eb7bae1016ab44fe9e56887d08770cad30005dc47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3a37Qju0suzywhaaC1qIdLFl",
  "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, 0.8547, 0.6128, -0.5137, -0.0135, -0.0338, 0.9993, 0.7116, 2.3131, 0.7795, 1.5517, 0.5674, -0.1421, 0.0089]\nstate[eef_state]: left_x=0.2787 left_y=-0.0001 left_z=0.1417 left_yaw=-0.0001 left_pitch=-0.1831 left_roll=0.0004 left_gripper=0.9993 right_x=0.4284 right_y=0.2488 right_z=0.0682 right_yaw=0.2252 right_pitch=0.5797 right_roll=-0.1581 right_gripper=0.0089\nstate[joint_eff]: [-0.1026, -1.5385, 6.8991, 1.58, -0.0415, -0.0366, -0.0122, -0.3214, -10.6872, 2.5778, 1.4628, -0.022, 0.0464, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9998bcfc6c9f70b3aae47afb07cc4b15599259e56349f44fc29b481488c9547f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad345c1d0d597da30f731fcb8a1c08591fa529794f5118235e13af8b46cec225",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3643383a303775fc6d9a3f0ca6704d3a1e175f0641c7d7176044be59c996f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 3.405 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, 0.8497, 0.6128, -0.4969, -0.0139, -0.0338, 0.9993, 0.704, 1.7458, 0.8135, 0.5812, 0.5491, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1461 left_yaw=0.0001 left_pitch=-0.1613 left_roll=0.0001 left_gripper=0.9993 right_x=0.4138 right_y=0.2352 right_z=0.1353 right_yaw=0.2246 right_pitch=0.2635 right_roll=-0.1819 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.6205, 6.8991, 1.619, -0.0024, -0.0073, -0.0122, 0.1983, -8.8274, 7.2957, 1.8779, 0.315, -0.0024, 0.0806]",
      "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, 0.8547, 0.6128, -0.5095, -0.0135, -0.0338, 0.9993, 0.712, 2.3043, 0.7719, 1.5234, 0.5678, -0.1345, 0.9962]\nstate[eef_state]: left_x=0.2794 left_y=-0.0001 left_z=0.1425 left_yaw=-0.0001 left_pitch=-0.1789 left_roll=0.0003 left_gripper=0.9993 right_x=0.4272 right_y=0.2479 right_z=0.0639 right_yaw=0.2285 right_pitch=0.5564 right_roll=-0.1641 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.8667, 6.8855, 1.7021, -0.0415, -0.0366, -0.0122, 0.0889, -6.4342, 2.2496, 1.0183, 0.0806, 0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8547, 0.6128, -0.5137, -0.0135, -0.0338, 0.9993, 0.7116, 2.3131, 0.7795, 1.5517, 0.5674, -0.1421, 0.0089]\nstate[eef_state]: left_x=0.2787 left_y=-0.0001 left_z=0.1417 left_yaw=-0.0001 left_pitch=-0.1831 left_roll=0.0004 left_gripper=0.9993 right_x=0.4284 right_y=0.2488 right_z=0.0682 right_yaw=0.2252 right_pitch=0.5797 right_roll=-0.1581 right_gripper=0.0089\nstate[joint_eff]: [-0.1026, -1.5385, 6.8991, 1.58, -0.0415, -0.0366, -0.0122, -0.3214, -10.6872, 2.5778, 1.4628, -0.022, 0.0464, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9998bcfc6c9f70b3aae47afb07cc4b15599259e56349f44fc29b481488c9547f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad345c1d0d597da30f731fcb8a1c08591fa529794f5118235e13af8b46cec225",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3643383a303775fc6d9a3f0ca6704d3a1e175f0641c7d7176044be59c996f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_yG_xepcszK2JR1bcepDUmgATSGHA8MKdLbNewGgAKtfuGTzJqFCzbFG2FtVpHbB2SHaU0Dym-1AO1lEs0R0RDB8EtJcb-VSrqRC6MjkYM0UlyCS_Y8YGULgbN_Qn-kLtLMUEZHhetLP7J3vIe0ezVKFp6wtCFMQG_bN87pR0E7zzF11-nq9NzDupy9-37bGHmYO6UcJujDO6BYJOx9ShJ5P8kjLI2p5CHrIOV_mUNgL25W12eabCfLsq0me3xeR5XaXmKdYxYCOIECX2vp0kRZm8-xPES0Q1vVnfspuQoBI2wEmud5yomEt6yrg1IpfKhFeml0EFXgigD3sh_XHQWbtBkfbCbZdMt75MvOH_N_kbjubklTiETrByFDUl8EFHm-7eOrSk8YYwnlfkkj6xKHn6G_94CIZE8cgvHLrCEe9ft4Qj0hE5RblPYlvHsIPb_HXe1joJ3H8RuRZLwOF2XbquPcLqfVC-lVDwVTV0RPJbAO9YZVejnj9cEoDAmtZXg4evLKT7KzjXgedrVAZ-yhJvGtYXnvhPVfUjomc9YZ3n5q9POwsiNBFdm37lSmzPMS3_sm_zvR0M3aPE1Tg_fXozils_-1_UarVaMaKR_6PZnhdVAXrIyJgVVD3a1Ll7wKiNSObvk6I0i1nO6MLsEkdwSaNLeVDC3iD5reen-EoQtTqC0Z0j3wBg6vqANx0pHrG9cSALFMUb_3rwhu_IWc2421aFf6dmAUmGn5nsBeHm8WN-20VxZC3cPIWQfvIwERgn1zC-k3X0h1whNd5pn486At16w1-DR1hhcyih1tmxOs2bF0vyv8ttBckKKKOWzmVsZYVCuxiocV7FkY8rLNLk707u4EqrDK8gEKa5riUsT3fBRe9kBmPjvBojWgSYWe265O3epM65O-Jrz3MF4xetW8C1zKlIx9j6ZLH4TAhp2_GN6MXE9S2w9wGJL0jxrYK7_4upTSqWLQterQcJ7A3btxhidI0j_SaXG9gGv2dwcMmdncTSnYgym902azelEJyczh4ZuMsvzKoR8NdtxFYHlqAh5KVQW3suwD89HkAYnGNwTHMWft9ypUX-umSTCfReWCZ3j9Sd3POtB9tvBmyrxExhQk_w6mYOoMWcPqTDeuBYh7zSzAyjX_p2GEjo0LZ3sexD9biaCZE3doh23-dw25AK5CYelov_wG6uOnZFzbkCkTsw0z9tJR1MhROLYYrMPk-I4HLRXKOCrrSlB-ZCn-TuCbErQONJss3Y5xWDsUekARoMXQkeASwJ0w6FnqJ6fwgiVB9SviL0c38ODJ33QT4h9pe_ZCrb9w7h5MO6I2sE8CV2Kguha1bYkB_Yod4G396GUU0CErTad2WSRbOPbo-6cNME06fCmvzebUa1oygcBlA4XUIDNuN0cZgnj59htXDVllgBWrTdRfYNxeQEccWcFEgda18Fr5ncWKxWH_QgIEgqtX88dSz5dt-rmgdodUR-vGfz9QgNCotpZECLAOnXMGGTIleupSFEOH-Sh0jpDdAHY6MiycLFtaO4CbowtjNqfBvzAfMR5i0egRv1UiZ39SDY-vUVtKFJZ0Dg9plHoQoYXbR5ij9xRY-mJSNHjBiuDb4pdEu3i87Wa4bOty3h4qxkVdeYGVeiscfWcJox5epNyebJaJjmbGeWZvXenOpuRxvY7GuKeOrfdXk0Vij0szTFUkawNWYdoIzSeOxhs3wEUL_mz0A_Y_vh780Bna3ibzALxGsOZ4xCVBsFmsXgAfCoIsSndBqihueJ_59aCEHkJJjpHSY62VoFxaL0vt37mCPMn5psLDcVshMD8v37kPdbnlmuoedR5wlhBpALA82jBh6LVi_vaEFyPgZeOAdSgSZbQGo6xbvNTiH0pgN7SRtXLZm07fCpO8QUFS43WHlcp3_gmJANEuiXUAnsaACbEoUoeHcMAYXyLYTIB9V5j2Zhrz0HSn-NAcH7slm3jukrJPsExbjydDdKmk1NUioXh9LP6S3TWkis0YzFuVjSqDMnj_SeyBSbitvP0BSsUnCMSYGmixg_OrfYSvlu16dDV4gc6hwHgUxEqC6RpG_8EdOrBqFwfR5_xuy6ThvaLOhYVdP7cElA3iESSHRuiVF7ibwRNrfN-UraEVTroclr3aX-fDGXDXihUWQmk5uyb-7VK6Z4iEnI6Vb5G5sixl5D2_u4YQu1f6SJrYVzAFU1JQafOOq5UTd5tI-lRCscIBhBya51_ESk62Uo2pl64GS6WbXXmHBBcCDd4YTXgwaeoqKp2wrbrLEAR_HKlxfoCaRmAuQATh6tSmJv4oDF2lueYso2zyfBk7wxLMYjb8297Jzm2Z2VMK0gKMbtR2zwQRevD2fgyHiqn7c3dN31NbRnWRk_7Oy5uMJdj7Tr1V5x2P6VhVH2ojEIUBJ4q6geRm6vl4hhjAQhYWVm2QIMWwbPIvO4yt_oP6eIgmCRdpONSl4VHHykqmKqrskfMfYy4a_YX1GRcIkGim8vSzsh0nEWR2iAX_IIeMHkKegELAYeiLwZNJy1ctxcg3cYRYDfVRYYf1Smf5-vpvRn8G4b-jYiuUxInigWz7h_WKFjplRwNPqbDHHCR0mxvioGDz8jP9DIHAo8XqIAa_KEVkXcBUh0KgaaUz3ntz6W2w0INZziJKdcycawLFxpz6ktYJBctzqrY7A4QCk7kFHUdjkeON9SuFo1fCBdLQXTwnCVhENlgcxrv964S-cI3_HoSJpxb1z029pX0h9MlmWIg9pi1ZNaAfHfc1W09LidjwtKV4-6QmiZ6Mt8v5AX8ccy30yYl7Z7Pt8oEiV9u6evY95XWiCYsnCW5BEE1hy_iMbpPFuRcoyQHViVgTk1kQruPkqFeMdpp35LIPhR_qEpXwUlwEnQe-H8FRQiVPZIHo2VNeNyqVI_bRfbqwVaoG7FZzdmKi62kXg85nFLxCGBrlikeu8O00PuvG-Ehq1EBwH5d2U7v4bqmYM9mB0o4gKbeWAkDZhhdE_HHiQIK7td0d8UHoGHdckp6kPPTijnKNyj5TuFX59-qmBJ6J_05sK-Dy2cc44XMWJoYrDZnN20g6IqbsfneaAM5w4wVldlOeBwcTrbWr5DKXc4o13Zi3m43zIbg10Cr6E8wfBtDnvsmJuDyDslTx9X-s1UtAzYbx8ZRvSEDmLFOrGc2FrGuWHx8ej3oL7hzAZ0NSgvYfrLMhcccERQODiSAyMGbkmJeKFpyYIVOs2JnNZdL8JcyVlZm7_QUtmnceTeEAI7uCKWPja5YHTG8cxvBVHdqv85nu0R-4vxdZZe6PDe5zY0v7czom5yU8RHGVHw2-qdTPAUAtVGpKM6iRZQ5-00Zq0qjthicjsOgHLC283Klajr5yg1QReq-2vGtMRlP_Hf-Y-QD2vkpvTlveSTg0pkgS_PgVEgDgidtEazlQ0y6ktIB9kc=",
  "id": "rs_01023e430eb7bae1016ab44fed1e0c87d0b4ddc373ccffbffe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_z\":0.0,\"right_pitch\":0.55},\"note\":\"The close was empty, and the 6.8 cm readback indicates the fingertips were still above this low round fruit despite good horizontal alignment. I’ll reopen and command a deeper descent in the same pose so the jaws reach its mid-height.\"}",
  "call_id": "call_NIzVmQOo7b5DDr9Gz8NX5Z6I",
  "id": "fc_01023e430eb7bae1016ab44ff11d5887d0a73607b910de4fa1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NIzVmQOo7b5DDr9Gz8NX5Z6I",
  "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, 0.8593, 0.6128, -0.5205, -0.0139, -0.0338, 0.9993, 0.7235, 2.455, 0.9325, 1.5875, 0.564, -0.1333, 0.9954]\nstate[eef_state]: left_x=0.2776 left_y=-0.0 left_z=0.1393 left_yaw=0.0003 left_pitch=-0.1945 left_roll=0.0009 left_gripper=0.9993 right_x=0.4463 right_y=0.2729 right_z=0.0521 right_yaw=0.2196 right_pitch=0.6217 right_roll=-0.1207 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.894, 6.8718, 1.6142, -0.0366, -0.0366, -0.0122, -1.0051, -8.7453, 2.6598, 1.5653, 0.0122, 0.0904, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f62506de92f5bdbb03c57310b6ecdeb1ff71825cee234cba4990e72e25c156",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a05c6630f30f831fd2b2328a22b97e80188e498bee66731482fd1651302d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:512715455ba831c27cf15b523f0a8a7cb29a5d75c187174e819cb317c44a4deb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 6.951 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, 0.8501, 0.6128, -0.498, -0.0139, -0.0338, 0.9993, 0.7116, 1.7527, 0.8341, 0.5697, 0.5495, 0.0063, 0.9962]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1457 left_yaw=0.0001 left_pitch=-0.1629 left_roll=0.0002 left_gripper=0.9993 right_x=0.4152 right_y=0.241 right_z=0.1381 right_yaw=0.2316 right_pitch=0.2656 right_roll=-0.1809 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.5385, 6.8991, 1.5653, -0.0317, -0.0317, -0.0073, -0.4581, -8.335, 7.4735, 1.8828, 0.2662, -0.0366, -0.0024]",
      "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, 0.8547, 0.6128, -0.5137, -0.0135, -0.0338, 0.9993, 0.7116, 2.3131, 0.7795, 1.5517, 0.5674, -0.1421, 0.0089]\nstate[eef_state]: left_x=0.2787 left_y=-0.0001 left_z=0.1417 left_yaw=-0.0001 left_pitch=-0.1831 left_roll=0.0004 left_gripper=0.9993 right_x=0.4284 right_y=0.2488 right_z=0.0682 right_yaw=0.2252 right_pitch=0.5797 right_roll=-0.1581 right_gripper=0.0089\nstate[joint_eff]: [-0.1026, -1.5385, 6.8991, 1.58, -0.0415, -0.0366, -0.0122, -0.3214, -10.6872, 2.5778, 1.4628, -0.022, 0.0464, 0.652]",
      "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, 0.8593, 0.6128, -0.5205, -0.0139, -0.0338, 0.9993, 0.7235, 2.455, 0.9325, 1.5875, 0.564, -0.1333, 0.9954]\nstate[eef_state]: left_x=0.2776 left_y=-0.0 left_z=0.1393 left_yaw=0.0003 left_pitch=-0.1945 left_roll=0.0009 left_gripper=0.9993 right_x=0.4463 right_y=0.2729 right_z=0.0521 right_yaw=0.2196 right_pitch=0.6217 right_roll=-0.1207 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.894, 6.8718, 1.6142, -0.0366, -0.0366, -0.0122, -1.0051, -8.7453, 2.6598, 1.5653, 0.0122, 0.0904, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f62506de92f5bdbb03c57310b6ecdeb1ff71825cee234cba4990e72e25c156",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a05c6630f30f831fd2b2328a22b97e80188e498bee66731482fd1651302d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:512715455ba831c27cf15b523f0a8a7cb29a5d75c187174e819cb317c44a4deb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_2-3ch9bBCzZOHE3TlBDGxQBPnB0uItPP9-ZNES8dqZsI_jLdpimBJW2vmmxfwMj3PFbGTj69GdVoS-6QCo1R8Wl8ZYApUPXMeJQavyieparuYpujPohQmE2hzCjyYQYi7ATzSRxfJqY4DpreqjBkLgaKA3YoPMb9ULJvOjlI91CF4lMlpBvLZvuC4132f1am7eZqtvsL7gf182h9dgXYaS3fOF19XUyp4VCL3VrLodxfpRHl_LW1n8PSW-YxLarJbGtcTWM83QAYL7U7B-UIpujNsUCEXDJ9PdOqWhlCXrkWHV8X_fpBP0mdu0Ivs4ghIMogAx_tuv5X4kPNeVinKTGw-pB5vDjVfVe6gtdLsHt3C7G8pWQfPonabRq2Fvf7Bn62cK86_72Kbl7Tu-URkU8h81aKZx9kiprAx5eCeqXeEFUSqlESquFtAw6BCkP-KbqNoZp8bXJN879EM-d4ATZXvv9knDv_Nh9BoASQgwy1CM-llfxgBDgYdAtO73ZkJFhZrvwXeXPHKpOVgZwj8TBDLDM_aeF-4qxFi4g3ltAqWKzRBY5_mBOCxOpzNd-BgXyKAMzHWfCElAEnfi30zM4sU9TVfLibvQxLgGZuwprwv9U5aNxZZhm4C4ZdNIc1fCSTFQIMBa_sP2YDMrdNYOuG_X2Z9YRqHQ317NLxVrBkwXb8BZb6VxVM8RxGHYAC1tqNVnh7-Ik-3ZKx7Pj0FkKTziILGE1bVx2rc_r-Vw-fow8p9nNonb6XKwjIRK43My3Uc6Yjsd07jzffVKe3SGlCXMpSjDr_FjWINV1ezuauh_QZYJvi4Jzb7oNOxBjIjhw0oMmcTpwVHUHF4sSTaSO0k6PvWW3AUkViDR_Ydp85kXLs0g-bHBPVlSkEF6lSpeHR1cOfa0kc9xZT26x7cUmoX2QMINjJ0tSSl3lC3y_2O7mBBLc_D833ExBFuDX8hRleLYbIzqXYZRKO87cXfwlyZkHF3c3OOCSoeZIZv-e6okjxB6Tsu8j7E9ppBoOwZp117vMqW9nPXt4Kur8U3jbkN-WZsnkaZo-KsToR-RDfb9hMKkR3eMQxHlUBtdWSPMpKyFbB0H6U6vdOhMg8qgIWCbHbUN1dWzbrt_KXlNLoq4Iwg7iafBLqcm8i0FTn9zW0KIlFlHLyYqSaOM7EeAQV3imBs398Izjalnlf3kVnsnnT95wSY2mjsdhtszOJ8JTgSSjLqFPWY5QhkcFmhRjFyT5HfnhVz33FeYfSI21BVU1hMuFlToX4X9VhleDqs7j9QVPRvT992VCOjmtoMoY_rF-QUS9mri5SJcbrv5fbFz-IFuBaZxFe5-lY3xJ3eBu0Mfj5B4MgMbzATGEAtgkLmUZE7mT_NP4yAZ-ZqCUNaz_prwjsQGf8FoHnnKWozeBCZBFrLk_LDciRhUPdFezULrnlwbP-OST3tWJYCKXcZTDEu4--BQ_naqFEfby_Osde3FYZnAvcvqDFDd8VEWCU8--Sf_8bdTSoRn1ujApYgO0XOujl6mhwkN292bcZ7xphQMGSaCUKpq2BE6r5fhemIodXKick0CfRR-w2169IGI9URz5sMd7qPRYAo6xlmm6I7cSOj35mx_uCfjllrB9UU2rGp_AlpZ3gxpzLjJx2HKfc7-VhpJ9krGMuHDkqoksjyVRcaDqiLWddx-CvAesMkipWzcnLJBi_AvmmxvWI7gkkaPmK9QPZMVg3hPLsuVtjuccIKquUzJiW5y9LwtunJpF-CH57EgCH7BQIvthw=",
  "id": "rs_01023e430eb7bae1016ab44ff4e8ec87d0903a734515bba6c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The deeper approach moved the open jaws fully around the teal round fruit in the overhead view, and the grasp point is now at 5.2 cm. I’ll close at this lower height.\"}",
  "call_id": "call_ZMKRngXYC8I5tonnSeZuNAdv",
  "id": "fc_01023e430eb7bae1016ab44ff5cfc487d0ae168587acba88e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZMKRngXYC8I5tonnSeZuNAdv",
  "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, 0.8593, 0.6128, -0.5205, -0.0139, -0.0338, 0.9993, 0.7238, 2.4592, 0.9241, 1.5444, 0.5606, -0.1234, 0.0084]\nstate[eef_state]: left_x=0.2776 left_y=-0.0 left_z=0.1393 left_yaw=0.0003 left_pitch=-0.1945 left_roll=0.0009 left_gripper=0.9993 right_x=0.4446 right_y=0.2724 right_z=0.0382 right_yaw=0.2351 right_pitch=0.5735 right_roll=-0.1409 right_gripper=0.0084\nstate[joint_eff]: [-0.1983, -1.4838, 6.8718, 1.5458, -0.0611, -0.0366, -0.0122, -0.1983, -13.135, 3.1521, 1.7998, 0.0073, 0.0269, 0.652]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8f91fa303c2eb55b70d8e886180de02f9b7c241b7cd01f8d8a7019f5c28aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b41883c1cbf4812b59ea767dbc08acbdecd7eef80499e03308267b6745373d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b770757fd92bdb73ccf417d2e439392b738a4a5297dff8387888b7c2961d7070",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 2.811 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, 0.8547, 0.6128, -0.5095, -0.0135, -0.0338, 0.9993, 0.712, 2.3043, 0.7719, 1.5234, 0.5678, -0.1345, 0.9962]\nstate[eef_state]: left_x=0.2794 left_y=-0.0001 left_z=0.1425 left_yaw=-0.0001 left_pitch=-0.1789 left_roll=0.0003 left_gripper=0.9993 right_x=0.4272 right_y=0.2479 right_z=0.0639 right_yaw=0.2285 right_pitch=0.5564 right_roll=-0.1641 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.8667, 6.8855, 1.7021, -0.0415, -0.0366, -0.0122, 0.0889, -6.4342, 2.2496, 1.0183, 0.0806, 0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8593, 0.6128, -0.5205, -0.0139, -0.0338, 0.9993, 0.7235, 2.455, 0.9325, 1.5875, 0.564, -0.1333, 0.9954]\nstate[eef_state]: left_x=0.2776 left_y=-0.0 left_z=0.1393 left_yaw=0.0003 left_pitch=-0.1945 left_roll=0.0009 left_gripper=0.9993 right_x=0.4463 right_y=0.2729 right_z=0.0521 right_yaw=0.2196 right_pitch=0.6217 right_roll=-0.1207 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.894, 6.8718, 1.6142, -0.0366, -0.0366, -0.0122, -1.0051, -8.7453, 2.6598, 1.5653, 0.0122, 0.0904, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8593, 0.6128, -0.5205, -0.0139, -0.0338, 0.9993, 0.7238, 2.4592, 0.9241, 1.5444, 0.5606, -0.1234, 0.0084]\nstate[eef_state]: left_x=0.2776 left_y=-0.0 left_z=0.1393 left_yaw=0.0003 left_pitch=-0.1945 left_roll=0.0009 left_gripper=0.9993 right_x=0.4446 right_y=0.2724 right_z=0.0382 right_yaw=0.2351 right_pitch=0.5735 right_roll=-0.1409 right_gripper=0.0084\nstate[joint_eff]: [-0.1983, -1.4838, 6.8718, 1.5458, -0.0611, -0.0366, -0.0122, -0.1983, -13.135, 3.1521, 1.7998, 0.0073, 0.0269, 0.652]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8f91fa303c2eb55b70d8e886180de02f9b7c241b7cd01f8d8a7019f5c28aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b41883c1cbf4812b59ea767dbc08acbdecd7eef80499e03308267b6745373d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b770757fd92bdb73ccf417d2e439392b738a4a5297dff8387888b7c2961d7070",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_-eMTOcVJPLHe7io5KxUBh9XLQHTQRYwr6tu6qgqZHyWJOJlx-X8AUK1S5qTPLgW3uS4McwpoxG2asYRtaD90h-HFeWjL-ec4EhodRi212o0XFrZPkU-She5JE8tjU-HfL53oap0bUM2IoEGTg9haD4ULl38xKvlKNwKshUc_P7rFmUMv_U7Tj6rVISTr30_qID_nA5wOO7HZ-PjSZe_CMuSh513YNtHwwJKFtiuTY_MpDD0fpR40raK5nXxCDJ15qfgf5wl5puqHmCHFBA7xOMVwnCN6rks-j4QHh3S1NWQoGELLgtZ8zRvgWn5B2VAUPMVxy45TlGUoAMZJu8sCWLFNP8CT7ZZ3R-hVVE0JeINCXBuYvqMT4zin2agVONfHLiD0R_1ijIej-aDMZMqIJ6_S_D_CbHp76oxl0iMBSKTSBCrgH9SgQPwr8OZmpPPPrm5FpDKZjMbX1uWn9K-kacUg-LP6MyBhO4AkBr9INIHix0OBdgKUuNLDWVBQocvI-Gwm8A3yewjhT9ztutLnCn5ynsitzHs_CJkF-JALafBKJcAUFTcW6-49by8nfUUe-9nB-2vEsTTmqDx6YntGu3QDFYUGGRqqW9DWGN2LybVHb2eMw6CDlH1gsaLy_Oh26qiOs2ZREEuYTRHmwYCIC16MeK3RGnHj6xXuYCaJmRFRn17pqKaCpBvogBYezRO5EWrcRIZn1Hxl986aU3v7zTlFN2q3hlanFQDsTZf143Pcn13R1yJjcJtu0ltGnLRPDBTnMm9aO_EcqZuzHYjfabFGnBx7ZeU6BtCTK96FMNU5jzBXMmka-jgZhkokdCA2OtTT6T1RarlBed7KhBBVPXUo34EbaYxrdVlgKLSBqqu2PZHY3X8tTSwdNGV_3PNluZU2Hfo1MT1hKFyfwQs32qNUnGu_aV4o7wOwt5AsXz28ODGeSqkpjmWKZq4v4IorilotpjFI4Mnze_34bWy7WxXCPuibmbSZHvQUnGybuqdoRlY24x8XOa_hDVwbDR6hj4khdDC4zP0o91qjmMQEEj4lajJqdbKrrC3KqotcCGT-dCn0J53JX4o9-3-n0vCBgiNZcSONSpXZHZpPnj44GAML_ZQ6CSQ5PhzaQp-buaaSTeBoouuq-NAh6AYF0iq29N_SwboxLga_JEeXyUgiSHwBtfGSfdsM5WNqf97cqhc_laDXeQGQ4n6PjtoY_E_rWaDVZZhl4JIzhKZ0bEfo4ACmZaE4wuI-t771fk8fUyoesiV8kRmyoL_IHma6-PPogoLBRjPcTufw3oLgvOay7pg8s7A6bE1k5nvKR1uNQ09mVEKAVVRz1xs8GXQ1xcEK18-g1LvtQCmUU7jf6NFJGMLG-SZoip0ozw4FX3FG747iGKG8kOuSYRrady_Q849xepFZvWSaFJcCbTPs0CN6C5uBGmwYaTvGrRx7gqQem_i52J591fUkwTmarFsOShZQaJAEcNlMJCEkpEgGBUSYr0s2kB9Or7Jm8yjvbajtbf6mkwUBqj0C8BKlCqgjhLx1pWpzUgQtpyX27WxWPsa3u36QXwAnSeAtqK9Q-ELTnIwCYDCewkN3An2wHvx80Pm0s1eAu1Dv8rM-GEtLrcW7w4CBCVIwi52tbwxPlsXTnusJR-a2HccZ62nDOka-fmP_H_XA3LPju6wp-_kQVyuJKFfaP3HFNuK39T6uaq3amypjS8nhV1XUWmQ2z6fmnhFbIcQud5zTS--vgQWa9AiRP-K4zOnayF4SWlou7mvd-TIG_X2ub5ikzeXJKLf8TMszHkRzvhHlOJAxXDN49Gq7SOSF8zdQLpu60tv8C-SaJ9fCc8J2tYAaID-VWC8nh_dvmoNJiLaaP4tFbM6TKqBj6nGmoVBqnlqydIoLiiW2sJRLvuYPkbzvmfwoyjEnNeR_01xY1WzdI5fxCTExJVtSUhYSkGi5wpOpbT6h3IPu5riP1leOuxSuDiKhyfgReHX6TqbBuDL4eCKDNudNaTkNqXK8rtnRDR9998iZwNc9TOZfxj3H36llPO_eBH3Osoc8ABw6onZXR_VS8nONdEgl8d23aIfB9wu1RH2h9xiGcJoouZ9Kri08rDxv6oi3JdDuXQyzY6fhB7oSAypEGSz3Up0xuPhEMUjGhftloxMLIqkQYrnjeJ_webG7Uyf6RSyv_9LMLTNVnaWLYGw1a1uHKRwVUVx0Lq_hchq5jG5azqoHQK-nyOgw4QewB06x_WWMWMe4xTq5K8xORSadw5ettV1I5zqfkVcCNrzqMJvuYHpnC_IBbN8zF5en4FWtlC8RKyge0jzU5CA6zWVPItOLjiCOD6fqHlfq2M7FSnpzzr5KMKZxovEKLiwhl4F5yCVMdrxxWiUKOd54CiwH77sVZE32cIyikoXF0PloBkdgzjcbJLssmmYtJ_Fxr4jQblkox3Sym7FaX5Gv3hh_OWXBSkLiMNNdjAhemHjkqmTiXxXUmqUmgzdyOExKQ2JkeRZHvCLzfrYLps-H9OqU-2gmLYYW-30owFOwKlJ82UCpM-lf2_KU5V2G33uJgv-03LZ_Agv4zXjFOEM-GwywS5zNX5h64ymHeGyq0J0JrsTBNoHV4c9FMxaqjHsB5OHn3j58QBOq1Czf9uF_g0PTg287Ni66usdWraeOkGWVhas0BDY9Gkd0ZWq7jjHkLOEJZNTOkzXHF_wkVadgUQz5KhtfNFhJokDtA7vuCFbDojoLJ7rhQHFq99SOwz_LsmIbCZIlIKgNem8PkFnfBgBIvsKQNg9VNbm-TpuVxCqknpffZQDPyHdJlOF1KsSH5AjrQe1rWYjGfFoecaEarjdjjsmGzwiLMCB5Zxsc-SGrhMds9Fjg567RsJ4hETN7Tuh_vUS1bbCWk__d4-UNkN5Jz2Z-TJ5qZ8V54glQp8NbbWGSDr532_F5OmIemN-CXyk1wIZ-EkrEII_uhwdWq4B6p5ZzqjaptwU-i3R-Ce8Pn1d8qrX7lTc91a6j2tNjEPfYzJybS0H5nJQMCr22CwBVlCW0HsTrkMUxPDExWS8hd6spJNW9CAllFsl3SjXKBadolX6XYJuZ1TvBXxsP33w24cwcBW2aeUPZKeE4fMPlvmHovwqStDER3ZoUHQ0zbtlG12ugU59APm7Fd4leampgTtEV6WyiM_QEaXJb9CTcYzpAfYkWBtJaB_RMYpCjnRAvAHcHJw_bXQFRVmMEVglqlt6Qx1cjNUIS1Zcqe4YOkjuAlkkltS8URLc_ObBaA3KhetvxHcLXuE5evCqwM3KZj-POd1rrlxijaWBxb5ghaVK-gLCqo99_p3MNmpOnFSjalaOD0",
  "id": "rs_01023e430eb7bae1016ab44ff9768087d0a9ecf80c3d5c14ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.0,\"right_z\":0.2,\"right_pitch\":0.0,\"right_gripper\":1.0,\"left_x\":0.3,\"left_y\":-0.24,\"left_z\":0.17},\"note\":\"The rounded teal fruit has ejected repeatedly from the right jaws, so I’ll stop repeating that approach and switch to the left arm for the dark fruit near center-left. I’ll simultaneously park the right arm high at home and move the left arm to an estimated hover over the dark fruit.\"}",
  "call_id": "call_2oIXpxgU1TR9aKyAAOdGyCQL",
  "id": "fc_01023e430eb7bae1016ab44ffd904887d0b1043fffbc976441",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2oIXpxgU1TR9aKyAAOdGyCQL",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9466, 1.5177, 1.1507, -0.691, -0.5957, -0.7799, 0.9993, -0.1452, 0.8337, 0.6518, -0.3584, -0.1997, -0.2966, 0.9977]\nstate[eef_state]: left_x=0.2951 left_y=-0.234 left_z=0.1554 left_yaw=-0.0129 left_pitch=-0.2334 left_roll=0.0181 left_gripper=0.9993 right_x=0.3055 right_y=-0.0056 right_z=0.1972 right_yaw=0.179 right_pitch=0.0342 right_roll=-0.1556 right_gripper=0.9977\nstate[joint_eff]: [-0.5128, -6.8034, 8.7863, 1.0916, -0.6276, -0.0464, -0.0073, -0.1846, -1.8393, 9.0325, 1.7021, -0.2418, 0.1099, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee2c10559eba43ed3bce9ca21aa456d970257864a6890251a978aa714d54635",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df273707de11ad3eaf71cfe594f3846569e3412e1127a01ccf9ea587ff71fed6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e531bebb9d43a8efd26ae96cf9d44a74eba78b1df29509c7c3dcfd2f478c3bbe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 2.551 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, 0.8547, 0.6128, -0.5137, -0.0135, -0.0338, 0.9993, 0.7116, 2.3131, 0.7795, 1.5517, 0.5674, -0.1421, 0.0089]\nstate[eef_state]: left_x=0.2787 left_y=-0.0001 left_z=0.1417 left_yaw=-0.0001 left_pitch=-0.1831 left_roll=0.0004 left_gripper=0.9993 right_x=0.4284 right_y=0.2488 right_z=0.0682 right_yaw=0.2252 right_pitch=0.5797 right_roll=-0.1581 right_gripper=0.0089\nstate[joint_eff]: [-0.1026, -1.5385, 6.8991, 1.58, -0.0415, -0.0366, -0.0122, -0.3214, -10.6872, 2.5778, 1.4628, -0.022, 0.0464, 0.652]",
      "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, 0.8593, 0.6128, -0.5205, -0.0139, -0.0338, 0.9993, 0.7238, 2.4592, 0.9241, 1.5444, 0.5606, -0.1234, 0.0084]\nstate[eef_state]: left_x=0.2776 left_y=-0.0 left_z=0.1393 left_yaw=0.0003 left_pitch=-0.1945 left_roll=0.0009 left_gripper=0.9993 right_x=0.4446 right_y=0.2724 right_z=0.0382 right_yaw=0.2351 right_pitch=0.5735 right_roll=-0.1409 right_gripper=0.0084\nstate[joint_eff]: [-0.1983, -1.4838, 6.8718, 1.5458, -0.0611, -0.0366, -0.0122, -0.1983, -13.135, 3.1521, 1.7998, 0.0073, 0.0269, 0.652]\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 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]: [-0.9466, 1.5177, 1.1507, -0.691, -0.5957, -0.7799, 0.9993, -0.1452, 0.8337, 0.6518, -0.3584, -0.1997, -0.2966, 0.9977]\nstate[eef_state]: left_x=0.2951 left_y=-0.234 left_z=0.1554 left_yaw=-0.0129 left_pitch=-0.2334 left_roll=0.0181 left_gripper=0.9993 right_x=0.3055 right_y=-0.0056 right_z=0.1972 right_yaw=0.179 right_pitch=0.0342 right_roll=-0.1556 right_gripper=0.9977\nstate[joint_eff]: [-0.5128, -6.8034, 8.7863, 1.0916, -0.6276, -0.0464, -0.0073, -0.1846, -1.8393, 9.0325, 1.7021, -0.2418, 0.1099, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee2c10559eba43ed3bce9ca21aa456d970257864a6890251a978aa714d54635",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df273707de11ad3eaf71cfe594f3846569e3412e1127a01ccf9ea587ff71fed6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e531bebb9d43a8efd26ae96cf9d44a74eba78b1df29509c7c3dcfd2f478c3bbe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFADFy-51-mPPL4oLcXOY-jmZzyr7PlFpUtWCMabNvgu-eQYESWR4tTOAcFVCJdPRsWmRWRdBRvBEXYr4BSBWE5KAjtkJ5WOSDsFBmiBJ7FaNVh1XKgxI3WjdSVP2YHXe7VuEWwYaYLaW0pEcRNUVdQTkEo1b6iW-udBg75XzBIWZ29TOOSuxlR8qYZJ96-VGphDONWJatKaFGFktlZEUe2Jdfg-WxErQGg24pTTkj3rhW2I3sZYDLORrfe7opd0Z3NT2Fll32VZjTFD0i-_zYXF6GLjdI4rnJSmQpPpMmJAn3RJTxWxKoWTL0ieKcBkLBZqoOYg8BnmVCajnOMsMkq0mnV6DLObpSzcpInwc7Qg3o8mcthEjrf0IXuC-OjmJQoBF7UPvieEUAkPIpTT8PSRxdDyGp6vzBgH_1gRpqthYK9w4PoB4xtv-Q5bYDFZlagoKnHZ3z3HPBdcWqcdK2Tf-tjuQPaJGfpV3m4xiS9badyz98tSPY5ujJY_ZFZA4kuS5qjIBFnJfqoOk1Wn7IElAkIAI3ebTbHE9k1iMkbPyCobWw4FBzZsll5sPmdoFyziRrPL2onLAcdVLN1QmWoG5BDrEWzUqFBd7DAsv8oqfh57ICF4ycQ8r3cyQ5nX-tt2Zfu7vZxmajOFtsPXbGJc0fEuvW7QxJ2T99w_ZLDXwECuqGtUT12fZC5WCVzo-BYj3-18lCOTKJDCRoePM1vVppAP0KgXDSszqLOFDz81JihO1dMsp3AUSa-FIOGHJ4C4A__1EubL_qUiKrNiuqHCK6pkO3ukk_bI97DSDY0vVoZFdYU-yqI7V2mg7HkSVQW98cbVJEXbrNV4mjb-oSem16lXOhPcwBXIKe4r6nv4WdCwA9Y92M1JfssWNY9IcjcQwvLcLKNEFjp1713tYWAjQkvYNTbr0vGPKCuJcBUnhdwAOvWvtWN5fyxavPER4Wzx1Gb6UEfd-9kF7LNEFlbxgTOzQSvBacSkZHqz-JMZlbNe24csbA9TZI9VS7XcnTT_xTPHSz1LbEMqfT9amvpQ0uNOrlYsfsyUtI-OOe9Na2WcBiR42FzZTAfU4Wd80csJNQ0PR_TBTOeLIop6OYIvyCC41-u1mMNAB8g-BcIzGieQ_VUTb-ZJSHfyRciA3EDP2BxiRMvmqcUNtGmf3bibLzNLpWNDV7W1uJxp5KtTZdC1-m_uOqk_--4MQtdbGTzb3a4iUi7rlsptjEX3edhWEtTz34g07r6lexyj_PoZvVBhmPFRR-JRKmDFl7OtutxXin0pIqqpEHDrcsASz0hrMoY7nhmRq02Z2n0eK42UMa03X_dGncltwpYWPmocMrmthMv3RZEQP05nelvqrsz0-nB7d5xpNozNCsYEqWRq_I6KS6qLQpPnOROxcMrLVg3C0mvmM6LID8MYtYmWQrjhY2DBhhRTibj4Q3DrbNl-nW9VjyVSLuTWoLjdGdYOPern-AV8lZliNBUWfmCCgOQeHYXuMx-mC08F1hF2pBOoyPh89Fb364mCNuVXWnQHC6JtnXcQMCoAtvf6kv3-6KPvPw==",
  "id": "rs_01023e430eb7bae1016ab4500200ac87d099a97ed214d89611",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.17},\"note\":\"The left wrist view shows the dark fruit precisely on the jaw column, with its center around row 177 and still just ahead of the fingertip point. I’ll move outward about 4.5 cm at clearance height to bring its center under the jaws.\"}",
  "call_id": "call_BsKnB3ZGYTrskur0hTc6lA4V",
  "id": "fc_01023e430eb7bae1016ab45002ea6487d0b07fe27e34d57598",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BsKnB3ZGYTrskur0hTc6lA4V",
  "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]: [-0.8394, 1.6035, 1.2453, -0.6964, -0.5514, -0.7155, 0.9993, -0.1459, 0.8383, 0.6571, -0.3988, -0.2138, -0.3222, 0.9983]\nstate[eef_state]: left_x=0.3307 left_y=-0.2245 left_z=0.1545 left_yaw=0.0298 left_pitch=-0.2623 left_roll=0.0361 left_gripper=0.9993 right_x=0.3012 right_y=-0.0028 right_z=0.1903 right_yaw=0.2035 right_pitch=-0.0028 right_roll=-0.1572 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -7.5692, 9.1419, 1.1795, -0.1978, 0.1978, -0.0122, -0.0205, -1.894, 6.612, 2.1416, 0.0611, 0.2027, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1f176a831a51294d82b7bae0ca3ce236624eb2a0b06cc7017b7510d1db343e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f44caa303703e5df1b3cdfe4ecab675a81161ee79df5a77dc7457766f248df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7eb970a81a90440a27048d308d5a63624a6cac0425079a1655ecb0aa2bf2e10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 2.98 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, 0.8593, 0.6128, -0.5205, -0.0139, -0.0338, 0.9993, 0.7235, 2.455, 0.9325, 1.5875, 0.564, -0.1333, 0.9954]\nstate[eef_state]: left_x=0.2776 left_y=-0.0 left_z=0.1393 left_yaw=0.0003 left_pitch=-0.1945 left_roll=0.0009 left_gripper=0.9993 right_x=0.4463 right_y=0.2729 right_z=0.0521 right_yaw=0.2196 right_pitch=0.6217 right_roll=-0.1207 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.894, 6.8718, 1.6142, -0.0366, -0.0366, -0.0122, -1.0051, -8.7453, 2.6598, 1.5653, 0.0122, 0.0904, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.9466, 1.5177, 1.1507, -0.691, -0.5957, -0.7799, 0.9993, -0.1452, 0.8337, 0.6518, -0.3584, -0.1997, -0.2966, 0.9977]\nstate[eef_state]: left_x=0.2951 left_y=-0.234 left_z=0.1554 left_yaw=-0.0129 left_pitch=-0.2334 left_roll=0.0181 left_gripper=0.9993 right_x=0.3055 right_y=-0.0056 right_z=0.1972 right_yaw=0.179 right_pitch=0.0342 right_roll=-0.1556 right_gripper=0.9977\nstate[joint_eff]: [-0.5128, -6.8034, 8.7863, 1.0916, -0.6276, -0.0464, -0.0073, -0.1846, -1.8393, 9.0325, 1.7021, -0.2418, 0.1099, -0.0415]",
      "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]: [-0.8394, 1.6035, 1.2453, -0.6964, -0.5514, -0.7155, 0.9993, -0.1459, 0.8383, 0.6571, -0.3988, -0.2138, -0.3222, 0.9983]\nstate[eef_state]: left_x=0.3307 left_y=-0.2245 left_z=0.1545 left_yaw=0.0298 left_pitch=-0.2623 left_roll=0.0361 left_gripper=0.9993 right_x=0.3012 right_y=-0.0028 right_z=0.1903 right_yaw=0.2035 right_pitch=-0.0028 right_roll=-0.1572 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -7.5692, 9.1419, 1.1795, -0.1978, 0.1978, -0.0122, -0.0205, -1.894, 6.612, 2.1416, 0.0611, 0.2027, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1f176a831a51294d82b7bae0ca3ce236624eb2a0b06cc7017b7510d1db343e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f44caa303703e5df1b3cdfe4ecab675a81161ee79df5a77dc7457766f248df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7eb970a81a90440a27048d308d5a63624a6cac0425079a1655ecb0aa2bf2e10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFAGMVNdG-bT_ypBCVVZwdO-Kbvcn_bqwIX8jfGm0ZsCZlEinlSuDfBS7c-hvTjz3fh8nWoxKBFz5lcqn7jI1gbJw9kLm7UNOeTXbR1Dm6uEMP8VDYWaxr4xuoCQJ0zd1mG7CVOrfI8vMM8wWi40ZUcVKiEIPV56W2B8S2OPR2-oCbnzC23J_EHC_sUWSolWh83gMClRuBii1bx8Xwizw3K7AauuIk3aivYRYzm20TP-PA_T8pcrNwV377dyW45np5bfJc0qC0YgUZOSQGznCIvhjHkff3VtccO9GQ9C7Vr-gXk6url_AOwglsbJsXiB1DxVO2z2XQazf9FHQetebC8QihEOSv8mOtxjRhe05sTR5zmJR3241JZPZ8C-wgLFrhV49GHYs_NgJqGEk5zeNz_pKK3t1ad3iRPVmN8WFKUry6jSgfZQkZmAYJP3xzdR8dzVMLF38FOi5jegbL8HBNogxGZxY0zC4BBlJfyAsNVR1qoBIngG-zBevXkzgbKeUbFwhpUiTTJnqQlQT0xdjmP8_BDPLHS9iZe-PLqi7FpmsYk0lp98PnZVV5XNiuIjBzoPPYBWSvO3b4UaOCNCUGrBbOLoBfHF8vgy92VwAwCfF-ravYlbfGoXyy6AU6CUPM0JUh284JF96Ejlw-VDQvw7YcRfNGJQ1g0AzghOBNfk3mlRhNmnTjDMt_uBY-Nh4JMkwr0pXciG41qIgsBP3DZeRrKHDWRqabGHKbBk_DYkZdEGUcmVFZo_uFDy92DtGirRfZPfQHWTMKzelEfmhCpwGsgO8ZVUHP9bsfHHD0hfg78evKKJ5fbg8h7BkaNDe5WC-QaWWLH0dk8OCRB1qddSNpt8G790xoCtSLeieiIYiu1yzpUczimoXJm4skXxfil4bSdEQH7Lr3sqe9qDOQeTyDbTabLIGbah2hZLHxivwm6HHcduBC-tHz3MiHD3IDB_N3ZJa6RR4Gi0SBwdM0fHvYNVrLwcVOjhRyxBypcEa04KAOQh9_PAPtHFODB3f2EcHsQXFvGGBXORDuZ4gMxvdiaw5Xm3_A0BV3H9SOlqHMvv3XVFFyt-HRnXCbZJy9uQT0ekf-fFNyJqr2hT85BgU6e7yVlw_FGtbCf18dX1o00LoG-JSiOIolD35lkahY1pcoJOo3ZeINvQDXy_EuYjCXx3Gm_JIV7O-nRwJ_5YXlrcCmsbApe2eALcKQLhkEaRFGPNyKA10dnAVhC8obbdtYJ0RhN4qnPkJe6dKjlZmjs=",
  "id": "rs_01023e430eb7bae1016ab45005ac4887d08c03b20b226cb5c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.04},\"note\":\"The dark fruit has shifted to the bottom-center fingertip region while remaining laterally centered. I’ll descend the left hand vertically to mid-fruit height.\"}",
  "call_id": "call_j9xYOJlgFY3qnuiooBpbaXQp",
  "id": "fc_01023e430eb7bae1016ab45005cf6887d0b0851a1172775d21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j9xYOJlgFY3qnuiooBpbaXQp",
  "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]: [-0.8314, 1.6112, 1.2587, -0.6933, -0.5373, -0.6876, 0.9993, -0.1459, 0.8394, 0.6567, -0.3939, -0.2111, -0.3233, 0.9983]\nstate[eef_state]: left_x=0.3339 left_y=-0.2267 left_z=0.1557 left_yaw=0.0112 left_pitch=-0.2663 left_roll=0.0402 left_gripper=0.9993 right_x=0.3019 right_y=-0.0033 right_z=0.1908 right_yaw=0.2019 right_pitch=-0.0001 right_roll=-0.1607 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -7.8154, 9.0735, 1.3065, -0.2564, 0.2125, -0.0122, -0.0889, -1.4564, 7.0222, 1.6484, -0.0904, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e990e586ca33838e7eaf2348de218530aee3b6965bf5c3972a20129470c25ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:003760694082b1c81ad1817a1ea35920bff5e0bc07c5a79edbad23ae5d4239e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c52b3bf4f85c175d5d97c25e444ad6c9139bead75ff4f63b23b6d79da74bd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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