adhoc

completed
2026-09-23T20:59:52.655812+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 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
187.5 s
total steps
243
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe green pear is centered between the right gripper jaws in the wrist view, while the blue bowl sits farther forward and left. I’ll descend nearly straight down to grasp the pear around its lower-middle.
move_to
right_x0.3000right_y0.0000right_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]: [-0.02, 0.8001, 0.6147, -0.382, -0.0143, -0.0299, 0.9991, -0.0227, 0.8005, 0.6186, -0.3882, -0.0238, -0.0334, 0.9991] state[eef_state]: left_x=0.2962 left_y=0.0002 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2959 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.7846, 9.4564, 1.7949, -0.1197, 0.1294, -0.1001, -0.3487, -1.7983, 9.4017, 1.8339, -0.0562, 0.2076, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.05},"note":"The green pear is centered between the right gripper jaws in the wrist view, while the blue bowl sits farther forward and left. I’ll descend nearly straight down to grasp the pear around its lower-middle."})
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 pear is clearly left of the jaw gap rather than centered, so closing now would miss or eject it. I’ll lift slightly and shift the right gripper 5 cm toward its left to center over the fruit.
move_to
right_y0.0500right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8032, 0.6147, -0.3866, -0.0139, -0.0311, 0.9991, -0.0246, 1.1088, 0.1501, 0.3447, -0.0319, -0.0376, 0.9991] state[eef_state]: left_x=0.2958 left_y=-0.0002 left_z=0.181 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.001 left_gripper=0.9991 right_x=0.2941 right_y=0.002 right_z=0.0404 right_yaw=0.0071 right_pitch=-0.0437 right_roll=0.0022 right_gripper=0.9991 state[joint_eff]: [0.0752, -1.388, 7.0496, 1.8242, -0.022, -0.0122, -0.0122, -0.4855, -2.7692, 6.0239, 2.0488, -0.0464, -0.0708, -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_y":0.05,"right_z":0.1},"note":"At grasp height the pear is clearly left of the jaw gap rather than centered, so closing now would miss or eject it. I’ll lift slightly and shift the right gripper 5 cm toward its left to center over the fruit."})
tool
executing move_to over 5 steps (0.5s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe pear is now centered on the right jaw column and its lower body lies between the fingertips. I’ll descend to about 4 cm so the jaws close around its broad body rather than the narrow stem.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8043, 0.6147, -0.3946, -0.0139, -0.0311, 0.9991, 0.2886, 0.9333, 0.3447, -0.0509, 0.1932, 0.1169, 0.9991] state[eef_state]: left_x=0.2948 left_y=-0.0002 left_z=0.179 left_yaw=-0.0008 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9991 right_x=0.2918 right_y=0.055 right_z=0.0929 right_yaw=0.0475 right_pitch=-0.0558 right_roll=-0.0059 right_gripper=0.9991 state[joint_eff]: [-0.294, -1.3197, 7.159, 1.8046, -0.0611, -0.0269, -0.0122, -0.3487, -2.3316, 8.7179, 1.5214, 0.2711, 0.2466, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"The pear is now centered on the right jaw column and its lower body lies between the fingertips. I’ll descend to about 4 cm so the jaws close around its broad body rather than the narrow stem."})
tool
executing move_to over 4 steps (0.4s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe pear’s broad lower body is centered between the open fingertips at table level. I’ll close the right gripper fully and then use the settled opening to verify a real grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8078, 0.6147, -0.4015, -0.0139, -0.0307, 0.9991, 0.2878, 1.1511, 0.1818, 0.2955, 0.1864, 0.12, 0.9991] state[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1767 left_yaw=-0.001 left_pitch=-0.0271 left_roll=-0.0003 left_gripper=0.9991 right_x=0.2873 right_y=0.0547 right_z=0.0331 right_yaw=0.0502 right_pitch=-0.0902 right_roll=-0.0075 right_gripper=0.9991 state[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7802, -0.0366, -0.0415, -0.0122, -0.1162, -2.9607, 5.5453, 1.9609, 0.0757, -0.0611, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The pear’s broad lower body is centered between the open fingertips at table level. I’ll close the right gripper fully and then use the settled opening to verify a real grasp."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe gripper settled nearly fully closed (0.011), confirming the first close was empty; the pear is still standing just beyond the fingertips. I’ll reopen, lift a little, and advance about 2.5 cm outward before retrying.
move_to
right_gripper1.0000right_z0.0800right_x0.3100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8078, 0.6147, -0.408, -0.0139, -0.0311, 0.9991, 0.2878, 1.1511, 0.1818, 0.2874, 0.1791, 0.1162, 0.0115] state[eef_state]: left_x=0.2932 left_y=-0.0002 left_z=0.1753 left_yaw=-0.0008 left_pitch=-0.0336 left_roll=-0.0005 left_gripper=0.9991 right_x=0.286 right_y=0.0556 right_z=0.0315 right_yaw=0.0582 right_pitch=-0.099 right_roll=-0.0079 right_gripper=0.0115 state[joint_eff]: [-0.2803, -1.3333, 7.1179, 1.8144, -0.0611, -0.0366, -0.0122, -0.253, -2.3316, 5.8188, 1.746, 0.1197, 0.0073, 0.9353] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_z":0.08,"right_x":0.31},"note":"The gripper settled nearly fully closed (0.011), confirming the first close was empty; the pear is still standing just beyond the fingertips. I’ll reopen, lift a little, and advance about 2.5 cm outward before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteAfter the outward adjustment, the pear now sits squarely between both open fingers rather than beyond their tips. I’ll descend the remaining few centimeters while preserving this alignment.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8082, 0.6147, -0.4171, -0.0139, -0.0319, 0.9991, 0.255, 1.1046, 0.3569, 0.0383, 0.1501, 0.0864, 0.9958] state[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.1734 left_yaw=-0.0004 left_pitch=-0.0431 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3034 right_y=0.0555 right_z=0.066 right_yaw=0.0652 right_pitch=-0.1298 right_roll=-0.0186 right_gripper=0.9958 state[joint_eff]: [-0.0889, -1.2786, 7.1726, 1.7656, -0.0562, -0.0415, -0.0122, -0.4581, -4.1231, 8.5402, 1.7363, 0.0122, 0.0024, -0.1538] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035},"note":"After the outward adjustment, the pear now sits squarely between both open fingers rather than beyond their tips. I’ll descend the remaining few centimeters while preserving this alignment."})
tool
executing move_to over 2 steps (0.2s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe pear is now deeply inside the jaw opening and centered at the fingertips. I’ll close and check for a nonzero retained jaw width before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4236, -0.0135, -0.0334, 0.9991, 0.2531, 1.2381, 0.2695, 0.2237, 0.1478, 0.086, 0.9968] state[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1709 left_yaw=0.0001 left_pitch=-0.0538 left_roll=-0.0022 left_gripper=0.9991 right_x=0.2981 right_y=0.0539 right_z=0.0278 right_yaw=0.0644 right_pitch=-0.1649 right_roll=-0.0241 right_gripper=0.9968 state[joint_eff]: [0.1846, -1.5248, 6.9675, 1.7314, -0.0269, 0.0073, -0.0122, -0.0615, -3.6444, 5.6547, 1.8974, 0.0757, -0.0073, 0.0904] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The pear is now deeply inside the jaw opening and centered at the fingertips. I’ll close and check for a nonzero retained jaw width before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe second close is again empty, and the wrist view shows the closed fingertips only touching the near end of the pear; it remains farther outward than the camera initially suggested. I’ll reopen and advance another 4 cm, keeping the same lateral alignment for one corrected grasp.
move_to
right_gripper1.0000right_z0.0700right_x0.3400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4244, -0.0135, -0.0338, 0.9991, 0.2523, 1.2381, 0.2695, 0.2169, 0.1406, 0.0864, 0.0115] state[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1708 left_yaw=0.0003 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.2968 right_y=0.0547 right_z=0.0265 right_yaw=0.0694 right_pitch=-0.1726 right_roll=-0.0202 right_gripper=0.0115 state[joint_eff]: [-0.1983, -1.347, 7.0359, 1.6874, -0.0122, -0.0366, -0.0171, 0.0479, -3.0701, 5.5726, 1.6532, 0.149, -0.0366, 0.8816] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_z":0.07,"right_x":0.34},"note":"The second close is again empty, and the wrist view shows the closed fingertips only touching the near end of the pear; it remains farther outward than the camera initially suggested. I’ll reopen and advance another 4 cm, keeping the same lateral alignment for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe corrected outward position puts both open fingers visibly alongside the pear’s lower body, with the fruit centered in the gap. I’ll descend to table-level grasp height before closing.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4244, -0.0135, -0.0338, 0.9991, 0.2077, 1.2884, 0.4862, 0.0311, 0.1032, 0.0441, 0.9956] state[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1708 left_yaw=0.0003 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.332 right_y=0.055 right_z=0.06 right_yaw=0.0793 right_pitch=-0.1962 right_roll=-0.0288 right_gripper=0.9956 state[joint_eff]: [0.0752, -1.347, 7.1043, 1.7021, -0.0269, -0.0757, -0.0122, -0.5402, -3.8359, 8.0479, 1.7558, 0.1441, 0.0513, -0.0952] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.03},"note":"The corrected outward position puts both open fingers visibly alongside the pear’s lower body, with the fruit centered in the gap. I’ll descend to table-level grasp height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteAt this depth the fingers flank the pear rather than stopping short, so the geometry is finally suitable for a grasp. I’ll close fully and verify the retained opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0338, 0.9991, 0.2073, 1.401, 0.4133, 0.1833, 0.099, 0.0406, 0.9962] state[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=0.0006 left_pitch=-0.0549 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3267 right_y=0.0546 right_z=0.0238 right_yaw=0.0835 right_pitch=-0.2295 right_roll=-0.0325 right_gripper=0.9962 state[joint_eff]: [-0.2256, -1.3197, 6.9812, 1.6923, -0.0366, -0.0757, -0.0122, -0.0752, -4.7248, 5.4222, 1.8486, 0.0464, -0.0171, 0.0464] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At this depth the fingers flank the pear rather than stopping short, so the geometry is finally suitable for a grasp. I’ll close fully and verify the retained opening."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe close again pushed the pear farther outward instead of enclosing it; the overhead view confirms it has shifted toward the bowl. I’ll reopen, lift, and move the grasp point 6.5 cm farther forward to get beyond the pear’s near edge before descending.
move_to
right_gripper1.0000right_z0.0900right_x0.3900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0338, 0.9991, 0.2073, 1.401, 0.4133, 0.1753, 0.0959, 0.0368, 0.0115] state[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=0.0006 left_pitch=-0.0549 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3253 right_y=0.0548 right_z=0.0224 right_yaw=0.088 right_pitch=-0.2378 right_roll=-0.034 right_gripper=0.0115 state[joint_eff]: [-0.2256, -1.3607, 6.9812, 1.6679, -0.0366, -0.0366, -0.0122, -0.0615, -4.3966, 5.6274, 1.5653, 0.0415, 0.0024, 0.8718] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_z":0.09,"right_x":0.39},"note":"The close again pushed the pear farther outward instead of enclosing it; the overhead view confirms it has shifted toward the bowl. I’ll reopen, lift, and move the grasp point 6.5 cm farther forward to get beyond the pear’s near edge before descending."})
tool
executing move_to over 10 steps (1.0s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe pear is now centered between the finger bodies with clear jaw overlap on both sides, rather than sitting past the tips. I’ll descend to 4 cm while holding this forward position.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.8135, 0.6147, -0.4305, -0.0139, -0.0338, 0.9991, 0.1619, 1.4685, 0.7712, -0.1318, 0.065, -0.009, 0.9981] state[eef_state]: left_x=0.2903 left_y=0.0001 left_z=0.1693 left_yaw=0.0014 left_pitch=-0.0618 left_roll=-0.0021 left_gripper=0.9991 right_x=0.3821 right_y=0.0544 right_z=0.0818 right_yaw=0.0944 right_pitch=-0.2574 right_roll=-0.0447 right_gripper=0.9981 state[joint_eff]: [-0.4171, -1.4017, 7.159, 1.7363, -0.0562, -0.0171, -0.0171, -0.4581, -5.1487, 8.1299, 1.5556, -0.0659, 0.0757, -0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"The pear is now centered between the finger bodies with clear jaw overlap on both sides, rather than sitting past the tips. I’ll descend to 4 cm while holding this forward position."})
tool
executing move_to over 3 steps (0.3s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe pear now fills the gap between the finger bodies at grasp height, with both jaws visibly alongside it. I’ll close the gripper and verify the opening before transport.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8143, 0.6147, -0.4343, -0.0139, -0.0338, 0.9991, 0.1616, 1.5696, 0.6739, 0.0406, 0.065, -0.0116, 0.9983] state[eef_state]: left_x=0.2898 left_y=0.0002 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0664 left_roll=-0.002 left_gripper=0.9991 right_x=0.3776 right_y=0.0535 right_z=0.0365 right_yaw=0.095 right_pitch=-0.2833 right_roll=-0.0483 right_gripper=0.9983 state[joint_eff]: [-0.1846, -0.9915, 7.1863, 1.7509, -0.0855, -0.0806, -0.0122, 0.1983, -6.3521, 5.559, 1.6093, -0.0073, -0.0024, 0.0024] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The pear now fills the gap between the finger bodies at grasp height, with both jaws visibly alongside it. I’ll close the gripper and verify the opening before transport."})
tool
executing move_to over 10 steps (1.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe tapered pear slipped forward during closure and is now near the far side of the workspace. Rather than squeeze its rounded base again, I’ll reopen and approach above its neck at the new forward location for a higher, narrower grasp.
move_to
right_gripper1.0000right_x0.4700right_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]: [-0.02, 0.8143, 0.6147, -0.4389, -0.0139, -0.0338, 0.9991, 0.1616, 1.5639, 0.6796, 0.0696, 0.0578, -0.0189, 0.0114] state[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1674 left_yaw=0.0018 left_pitch=-0.071 left_roll=-0.0019 left_gripper=0.9991 right_x=0.385 right_y=0.056 right_z=0.0454 right_yaw=0.1061 right_pitch=-0.2434 right_roll=-0.0453 right_gripper=0.0114 state[joint_eff]: [-0.0615, -1.347, 7.1453, 1.7558, -0.0464, -0.0464, -0.0122, -0.2393, -5.9009, 5.8735, 1.5409, 0.0659, 0.0269, 0.8718] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.47,"right_z":0.13},"note":"The tapered pear slipped forward during closure and is now near the far side of the workspace. Rather than squeeze its rounded base again, I’ll reopen and approach above its neck at the new forward location for a higher, narrower grasp."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe pear’s neck is aligned with the jaw column but still just beyond the fingertips near the far reach limit. I’ll advance the last 3 cm and lower to neck height, avoiding another table-level squeeze on its rounded base.
move_to
right_x0.4900right_z0.0750
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, 0.8154, 0.6147, -0.4458, -0.0139, -0.0338, 0.9991, 0.1326, 1.7184, 1.1965, -0.3202, 0.0277, -0.0681, 0.9983] state[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1657 left_yaw=0.0018 left_pitch=-0.079 left_roll=-0.0017 left_gripper=0.9991 right_x=0.4615 right_y=0.0602 right_z=0.1191 right_yaw=0.1305 right_pitch=-0.2726 right_roll=-0.0576 right_gripper=0.9983 state[joint_eff]: [-0.0205, -1.4291, 7.1316, 1.7314, -0.0513, -0.0757, -0.0171, -1.1145, -8.212, 8.8684, 1.4872, -0.0122, 0.1441, -0.188] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_z":0.075},"note":"The pear’s neck is aligned with the jaw column but still just beyond the fingertips near the far reach limit. I’ll advance the last 3 cm and lower to neck height, avoiding another table-level squeeze on its rounded base."})
tool
executing move_to over 3 steps (0.3s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe pear is now just outside the wrist image at the far edge; at neck height the arm can reach farther than it can at table contact. I’ll extend cautiously to 0.54 m while staying above the table to try to recover it by the upright neck.
move_to
right_x0.5400right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4496, -0.0139, -0.0338, 0.9991, 0.1268, 1.8854, 1.1992, -0.2062, 0.0208, -0.0906, 0.9983] state[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.165 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0016 left_gripper=0.9991 right_x=0.4802 right_y=0.0612 right_z=0.0623 right_yaw=0.1437 right_pitch=-0.3236 right_roll=-0.0669 right_gripper=0.9983 state[joint_eff]: [-0.1436, -1.1556, 6.9675, 1.7411, -0.0513, -0.0513, -0.0171, -0.5812, -10.4821, 7.2274, 1.7705, -0.0366, 0.1392, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_z":0.09},"note":"The pear is now just outside the wrist image at the far edge; at neck height the arm can reach farther than it can at table contact. I’ll extend cautiously to 0.54 m while staying above the table to try to recover it by the upright neck."})
tool
executing move_to over 5 steps (0.5s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe pear has reappeared centered at the very top of the wrist view, confirming the lateral alignment is good but the fingertips remain a few centimeters short. I’ll extend another 3 cm at neck height so the jaws overlap the fruit before closing.
move_to
right_x0.5700right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4503, -0.0139, -0.0338, 0.9991, 0.1192, 2.0579, 1.5391, -0.4164, 0.0021, -0.1242, 0.9983] state[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1648 left_yaw=0.0018 left_pitch=-0.0835 left_roll=-0.0016 left_gripper=0.9991 right_x=0.5284 right_y=0.0665 right_z=0.0775 right_yaw=0.1726 right_pitch=-0.3669 right_roll=-0.0714 right_gripper=0.9983 state[joint_eff]: [-0.2256, -1.1556, 7.1043, 1.7216, -0.0317, -0.0464, -0.0122, -1.1282, -11.2479, 9.3333, 1.7509, 0.0073, 0.1197, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.57,"right_z":0.1},"note":"The pear has reappeared centered at the very top of the wrist view, confirming the lateral alignment is good but the fingertips remain a few centimeters short. I’ll extend another 3 cm at neck height so the jaws overlap the fruit before closing."})
tool
executing move_to over 4 steps (0.4s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe pear remains centered but only its lower edge is visible at the top of the wrist frame, so the grasp point is still short. I’ll use the arm’s final 3 cm of allowed forward travel at this elevated neck-grasp height.
move_to
right_x0.6000right_z0.1050
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, 0.8154, 0.6147, -0.4538, -0.0139, -0.0338, 0.9991, 0.1184, 2.2017, 1.832, -0.6071, -0.0059, -0.1585, 0.9983] state[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1641 left_yaw=0.0018 left_pitch=-0.087 left_roll=-0.0015 left_gripper=0.9991 right_x=0.5595 right_y=0.0712 right_z=0.0883 right_yaw=0.2002 right_pitch=-0.4092 right_roll=-0.0826 right_gripper=0.9983 state[joint_eff]: [-0.0889, -1.0462, 7.1316, 1.6923, -0.0513, -0.0513, -0.0122, -1.1419, -12.2188, 9.0188, 1.5458, -0.022, 0.1978, -0.0122] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.6,"right_z":0.105},"note":"The pear remains centered but only its lower edge is visible at the top of the wrist frame, so the grasp point is still short. I’ll use the arm’s final 3 cm of allowed forward travel at this elevated neck-grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe pear is at the far boundary and the nominal vertical-tool reach is short. I’ll tilt the tool fully forward while holding maximum extension, which may let the arm realize the grasp point closer to the pear’s neck without scraping the table.
move_to
right_x0.6000right_z0.1200right_pitch0.6000
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, 0.8154, 0.6147, -0.4683, -0.0139, -0.0338, 0.9991, 0.1177, 2.3962, 2.2047, -0.836, -0.017, -0.1928, 0.9983] state[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1613 left_yaw=0.0018 left_pitch=-0.1015 left_roll=-0.0012 left_gripper=0.9991 right_x=0.5886 right_y=0.0762 right_z=0.0923 right_yaw=0.2324 right_pitch=-0.4602 right_roll=-0.0872 right_gripper=0.9983 state[joint_eff]: [-0.0615, -1.2513, 6.9538, 1.7607, -0.0415, -0.022, -0.0122, -1.0325, -13.6137, 8.9641, 1.6142, 0.0269, 0.2076, -0.0122] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.6,"right_z":0.12,"right_pitch":0.6},"note":"The pear is at the far boundary and the nominal vertical-tool reach is short. I’ll tilt the tool fully forward while holding maximum extension, which may let the arm realize the grasp point closer to the pear’s neck without scraping the table."})
tool
executing move_to over 36 steps (3.6s)
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 noteTilting forward brought the pear fully between both jaws at the far fence, with its neck and upper body centered. I’ll close here, where the fence also prevents the fruit from slipping farther away.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4759, -0.0135, -0.0338, 0.9991, 0.0952, 2.291, 1.1931, 1.0618, -0.0887, -0.112, 0.9983] state[eef_state]: left_x=0.2836 left_y=0.0003 left_z=0.1598 left_yaw=0.0015 left_pitch=-0.1091 left_roll=-0.0013 left_gripper=0.9991 right_x=0.6007 right_y=0.0767 right_z=0.1111 right_yaw=0.2341 right_pitch=0.532 right_roll=-0.1019 right_gripper=0.9983 state[joint_eff]: [0.0615, -1.306, 6.9402, 1.7118, -0.0269, -0.0513, -0.0171, -0.335, -10.5915, 5.135, 2.4982, -0.1148, 0.1832, -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_gripper":0.0},"note":"Tilting forward brought the pear fully between both jaws at the far fence, with its neck and upper body centered. I’ll close here, where the fence also prevents the fruit from slipping farther away."})
tool
executing move_to over 10 steps (1.0s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe pear is beyond the fingertip grasp point, so a normal pinch cannot reach it. I’ll open and rotate the jaw span 90° at a safe height; this places one open finger several centimeters farther forward so it can act as a hook to draw the pear back from the fence.
move_to
right_gripper1.0000right_yaw1.5700right_pitch0.0000right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4759, -0.0139, -0.0338, 0.9991, 0.0952, 2.3024, 1.1915, 1.0637, -0.091, -0.115, 0.0113] state[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1598 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9991 right_x=0.6003 right_y=0.077 right_z=0.1042 right_yaw=0.2374 right_pitch=0.5209 right_roll=-0.1035 right_gripper=0.0113 state[joint_eff]: [-0.2393, -1.306, 6.9675, 1.6484, -0.0757, -0.0562, -0.0122, -0.0479, -13.094, 5.3265, 1.8926, 0.0317, -0.0171, 0.9499] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_yaw":1.57,"right_pitch":0.0,"right_z":0.14},"note":"The pear is beyond the fingertip grasp point, so a normal pinch cannot reach it. I’ll open and rotate the jaw span 90° at a safe height; this places one open finger several centimeters farther forward so it can act as a hook to draw the pear back from the fence."})
tool
executing move_to over 18 steps (1.8s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteWith the jaws rotated, the pear is now beside the forward finger in both views, slightly to the arm’s left. I’ll lower to fruit-body height and shift left a few centimeters so the far finger passes around its outer side.
move_to
right_y0.1300right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8204, 0.6147, -0.4911, -0.0135, -0.0338, 0.9991, -0.1024, 2.7956, 2.8246, -1.3502, -1.018, -1.5715, 0.9972] state[eef_state]: left_x=0.2814 left_y=0.0003 left_z=0.1556 left_yaw=0.0016 left_pitch=-0.1293 left_roll=-0.0008 left_gripper=0.9991 right_x=0.5645 right_y=0.0967 right_z=0.111 right_yaw=1.458 right_pitch=0.0201 right_roll=-0.2347 right_gripper=0.9972 state[joint_eff]: [-0.1573, -1.0872, 7.2, 1.7656, -0.0317, -0.0464, -0.0122, 0.6769, -16.1436, 5.4906, 0.8278, -0.4029, -0.0708, -0.022] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.13,"right_z":0.055},"note":"With the jaws rotated, the pear is now beside the forward finger in both views, slightly to the arm’s left. I’ll lower to fruit-body height and shift left a few centimeters so the far finger passes around its outer side."})
tool
executing move_to over 4 steps (0.4s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteAt the lowered pose the pear is no longer visible in the wrist camera, indicating the rotated forward finger has passed alongside or beyond it. I’ll retract about 8 cm with the jaws open to hook the pear back into the reachable workspace.
move_to
right_x0.4900
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, 0.8249, 0.6147, -0.4942, -0.0139, -0.0338, 0.9991, -0.0589, 3.039, 3.1237, -1.3861, -0.9977, -1.5326, 0.9981] state[eef_state]: left_x=0.2811 left_y=0.0004 left_z=0.1539 left_yaw=0.0019 left_pitch=-0.1369 left_roll=-0.0004 left_gripper=0.9991 right_x=0.5737 right_y=0.1184 right_z=0.0598 right_yaw=1.4761 right_pitch=0.0056 right_roll=-0.2219 right_gripper=0.9981 state[joint_eff]: [-0.0479, -1.5658, 6.9538, 1.6239, -0.0366, -0.0806, -0.0171, 0.6496, -15.6376, 7.241, 0.6862, -0.5788, 0.0464, 0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49},"note":"At the lowered pose the pear is no longer visible in the wrist camera, indicating the rotated forward finger has passed alongside or beyond it. I’ll retract about 8 cm with the jaws open to hook the pear back into the reachable workspace."})
tool
executing move_to over 7 steps (0.7s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe retract stalled at the far-reach singularity and the readback barely changed, so the hook did not draw the pear back. I’ll raise the arm substantially while commanding a shorter reach to free the configuration before trying a controlled sweep.
move_to
right_x0.5000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8249, 0.6147, -0.4942, -0.0135, -0.0338, 0.9991, -0.0429, 3.0711, 3.1241, -1.335, -0.9958, -1.4986, 0.9982] state[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1539 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0007 left_gripper=0.9991 right_x=0.578 right_y=0.1271 right_z=0.0444 right_yaw=1.4738 right_pitch=0.0085 right_roll=-0.2127 right_gripper=0.9982 state[joint_eff]: [-0.0615, -1.347, 7.3231, 1.6239, -0.0366, -0.0757, -0.0122, -0.4034, -16.9231, 7.3778, 0.7741, -0.5641, 0.188, -0.0073] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_z":0.2},"note":"The retract stalled at the far-reach singularity and the readback barely changed, so the hook did not draw the pear back. I’ll raise the arm substantially while commanding a shorter reach to free the configuration before trying a controlled sweep."})
tool
executing move_to over 11 steps (1.1s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe raised arm is responsive again, and the wrist view shows the pear at the lower-right edge while the gripper is slightly to its right in the overhead view. I’ll lower the rotated open jaws with a small leftward shift so the forward finger can get beyond the pear without entering the singular pose.
move_to
right_x0.5600right_y0.1700right_z0.0800
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, 0.8261, 0.6147, -0.4942, -0.0135, -0.0338, 0.9991, -0.0505, 2.5801, 2.7548, -1.4792, -0.9798, -1.5257, 0.9982] state[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1536 left_yaw=0.0016 left_pitch=-0.1381 left_roll=-0.0006 left_gripper=0.9991 right_x=0.5255 right_y=0.1239 right_z=0.1918 right_yaw=1.4761 right_pitch=-0.011 right_roll=-0.2138 right_gripper=0.9982 state[joint_eff]: [-0.0889, -1.0598, 7.2957, 1.6484, -0.022, -0.0708, -0.0122, -0.0615, -19.3983, 7.6786, 1.2869, -0.5885, 0.1197, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_y":0.17,"right_z":0.08},"note":"The raised arm is responsive again, and the wrist view shows the pear at the lower-right edge while the gripper is slightly to its right in the overhead view. I’ll lower the rotated open jaws with a small leftward shift so the forward finger can get beyond the pear without entering the singular pose."})
tool
executing move_to over 8 steps (0.8s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe pear is hidden under the far end of the gripper in the overhead view but the gripper remains slightly to its right. I’ll shift farther left and lower to body height so the rotated radial jaw straddles the pear’s path.
move_to
right_y0.2400right_z0.0650
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, 0.8284, 0.6147, -0.4946, -0.0135, -0.0338, 0.9991, 0.0387, 2.5816, 2.3714, -0.9867, -0.9466, -1.4078, 0.9982] state[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1529 left_yaw=0.0016 left_pitch=-0.1408 left_roll=-0.0006 left_gripper=0.9991 right_x=0.5529 right_y=0.1685 right_z=0.0986 right_yaw=1.4909 right_pitch=-0.0204 right_roll=-0.2253 right_gripper=0.9982 state[joint_eff]: [-0.1436, -1.4564, 6.9265, 1.58, -0.0317, -0.022, -0.0122, 0.0205, -11.9043, 5.2718, 0.9011, -0.486, 0.1783, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.24,"right_z":0.065},"note":"The pear is hidden under the far end of the gripper in the overhead view but the gripper remains slightly to its right. I’ll shift farther left and lower to body height so the rotated radial jaw straddles the pear’s path."})
tool
executing move_to over 6 steps (0.6s)
step 221
assistant
agent noteThe overhead view now shows the pear directly beneath the rotated jaw span, so the far finger should be beyond it. I’ll retract 7 cm at this low height to pull the pear away from the fence into normal grasping range.
move_to
right_x0.4700
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, 0.8303, 0.6147, -0.4946, -0.0139, -0.0338, 0.9991, 0.1741, 2.6026, 2.2257, -0.7322, -0.8906, -1.2549, 0.9982] state[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.1524 left_yaw=0.002 left_pitch=-0.1427 left_roll=-0.0003 left_gripper=0.9991 right_x=0.544 right_y=0.2388 right_z=0.051 right_yaw=1.5197 right_pitch=-0.0395 right_roll=-0.1942 right_gripper=0.9982 state[joint_eff]: [-0.1026, -1.5521, 7.1316, 1.5897, -0.0562, -0.0366, -0.0171, -0.8137, -16.6085, 5.6684, 1.1111, -0.4762, 0.188, -0.0122] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47},"note":"The overhead view now shows the pear directly beneath the rotated jaw span, so the far finger should be beyond it. I’ll retract 7 cm at this low height to pull the pear away from the fence into normal grasping range."})
tool
executing move_to over 6 steps (0.6s)
step 227
assistant
agent noteThe open-jaw sweep passed the pear without moving it, but it confirms the arm can enter and leave this pose. I’ll return above the same aligned location, then use the rotated jaws to pinch radially instead of relying on an open hook.
move_to
right_x0.5500right_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]: [-0.02, 0.8345, 0.6147, -0.4969, -0.0139, -0.0338, 0.9991, 0.2005, 2.3264, 1.6398, -0.4866, -0.8677, -1.2293, 0.9982] state[eef_state]: left_x=0.2811 left_y=0.0004 left_z=0.1509 left_yaw=0.002 left_pitch=-0.1491 left_roll=-0.0002 left_gripper=0.9991 right_x=0.4623 right_y=0.2351 right_z=0.0254 right_yaw=1.5261 right_pitch=-0.0726 right_roll=-0.1159 right_gripper=0.9982 state[joint_eff]: [-0.1436, -1.2239, 7.0496, 1.7118, -0.0415, -0.0562, -0.0122, 0.1299, -14.7761, 6.8581, 1.3065, -0.569, 0.1099, -0.0122] 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_x":0.55,"right_z":0.12},"note":"The open-jaw sweep passed the pear without moving it, but it confirms the arm can enter and leave this pose. I’ll return above the same aligned location, then use the rotated jaws to pinch radially instead of relying on an open hook."})
tool
executing move_to over 7 steps (0.7s)
step 234
assistant
agent noteThe gripper is again centered over the pear’s overhead position with the jaw axis radial. I’ll lower to the fruit’s body height before pinching, keeping the fence-side finger beyond it.
move_to
right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8391, 0.6144, -0.5091, -0.0139, -0.0338, 0.9991, 0.1726, 2.7575, 2.6843, -1.1149, -0.8753, -1.2675, 0.9982] state[eef_state]: left_x=0.2792 left_y=0.0005 left_z=0.1473 left_yaw=0.002 left_pitch=-0.1663 left_roll=0.0002 left_gripper=0.9991 right_x=0.5493 right_y=0.2371 right_z=0.083 right_yaw=1.5228 right_pitch=-0.0715 right_roll=-0.1304 right_gripper=0.9982 state[joint_eff]: [-0.1846, -1.5932, 6.9402, 1.8291, -0.0757, -0.0464, -0.0171, -0.3897, -11.8359, 4.4103, -0.2711, -0.4762, -0.0806, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.045},"note":"The gripper is again centered over the pear’s overhead position with the jaw axis radial. I’ll lower to the fruit’s body height before pinching, keeping the fence-side finger beyond it."})
tool
executing move_to over 3 steps (0.3s)
step 237
assistant
agent noteAt table-level height the arm loses forward reach, so the radial jaws are still short of the pear. I’ll raise to neck height and restore the longer 0.55 m reach, where the forward open finger can extend beyond the fruit.
move_to
right_x0.5600right_z0.0850
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, 0.8406, 0.6144, -0.5133, -0.0139, -0.0338, 0.9991, 0.1684, 2.7674, 2.4989, -1.066, -0.8707, -1.2823, 0.9983] state[eef_state]: left_x=0.2785 left_y=0.0005 left_z=0.1461 left_yaw=0.0021 left_pitch=-0.172 left_roll=0.0004 left_gripper=0.9991 right_x=0.5296 right_y=0.2307 right_z=0.0227 right_yaw=1.538 right_pitch=-0.107 right_roll=0.0007 right_gripper=0.9983 state[joint_eff]: [-0.0342, -1.4017, 6.9265, 1.7021, -0.0415, -0.0659, -0.0122, 0.2393, -17.1829, 6.3248, 0.9695, -0.5104, 0.1197, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_z":0.085},"note":"At table-level height the arm loses forward reach, so the radial jaws are still short of the pear. I’ll raise to neck height and restore the longer 0.55 m reach, where the forward open finger can extend beyond the fruit."})
tool
executing move_to over 5 steps (0.5s)
step 242
assistant
agent noteThe green pear was repeatedly ejected forward during attempted table-level pinches and is now against the far fence beyond the arm’s usable grasp-point reach. Its center is past x=0.60 m, while the low-height arm stalls around x=0.53 m; rotated-jaw recovery attempts could not get a finger behind it. Because the instruction requires all fruits, the task can no longer be completed in the current scene.
give_up
hindsightFor this rig’s pear-shaped fruit, do not pinch the rounded base from the near side: even when it looks centered in the wrist image, it is still beyond the fingertips and closing ejects it forward. From the initial location, approach several centimeters farther outward than the wrist view suggests and grasp high around the narrow neck, preferably with forward pitch, before the fruit can be pushed toward the x=0.60 far boundary. At low z the right arm’s practical forward reach fell to about x=0.53, while elevated/forward-pitched poses reached about x=0.60.
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, 0.8452, 0.6144, -0.5201, -0.0139, -0.0334, 0.9991, 0.1661, 2.9704, 2.8559, -1.2774, -0.8795, -1.2942, 0.9982] state[eef_state]: left_x=0.2775 left_y=0.0005 left_z=0.1437 left_yaw=0.0019 left_pitch=-0.1835 left_roll=0.0009 left_gripper=0.9991 right_x=0.5319 right_y=0.2308 right_z=0.009 right_yaw=1.5502 right_pitch=-0.1094 right_roll=0.0496 right_gripper=0.9982 state[joint_eff]: [-0.0889, -1.8256, 6.8991, 1.6142, -0.0513, -0.0366, -0.0171, -0.253, -15.0085, 7.1726, 0.2662, -0.4127, 0.022, -0.0171] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The green pear was repeatedly ejected forward during attempted table-level pinches and is now against the far fence beyond the arm’s usable grasp-point reach. Its center is past x=0.60 m, while the low-height arm stalls around x=0.53 m; rotated-jaw recovery attempts could not get a finger behind it. Because the instruction requires all fruits, the task can no longer be completed in the current scene.","hindsight":"For this rig’s pear-shaped fruit, do not pinch the rounded base from the near side: even when it looks centered in the wrist image, it is still beyond the fingertips and closing ejects it forward. From the initial location, approach several centimeters farther outward than the wrist view suggests and grasp high around the narrow neck, preferably with forward pitch, before the fruit can be pushed toward the x=0.60 far boundary. At low z the right arm’s practical forward reach fell to about x=0.53, while elevated/forward-pitched poses reached about x=0.60."})
tool
give_up: The green pear was repeatedly ejected forward during attempted table-level pinches and is now against the far fence beyond the arm’s usable grasp-point reach. Its center is past x=0.60 m, while the low-height arm stalls around x=0.53 m; rotated-jaw recovery attempts could not get a finger behind it. Because the instruction requires all fruits, the task can no longer be completed in the current scene.
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 · 11.57 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6147, -0.382, -0.0143, -0.0299, 0.9991, -0.0227, 0.8005, 0.6186, -0.3882, -0.0238, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0002 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2959 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.7846, 9.4564, 1.7949, -0.1197, 0.1294, -0.1001, -0.3487, -1.7983, 9.4017, 1.8339, -0.0562, 0.2076, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6940a5992007a1987fcf9b57d7a8e56bdd439af2d738d7c9883c8924113868f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57c867b97d4345c5e2493c1074ba82acc8209c26d9c4982021e096ba8e301205",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4807c657d108fb32cc5534d6ef819f869c3e7dd27c4296adc85423c33496c2c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.225 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtD3iTxWZvxOCTvKAZU_UKwRSAYf8FOBQ5jjNWDUkFrvxE1B3X7QzcRUsfDLUSGN2JTXqwtMIYWJdqdpA_uruGiqw7zMBd78u4r9dFhfyScIZFbLs7aQ91tshwjLJaxdIn5CXIrUtu-pC3EceHzmnpPrY2hVig5TSNsTcpEjbTOSS5e8hdJgDu6k3J83Yb7ETjzn2c9GoxUMluM8n6b718LX2d0DwcT7OPY5c7WcFMn20z5m1XXgswFrmmsBo8tLzf_l0RAcDwBdpB9x2bKdUyjtqoaY4ChRRRbqbCGF8R-k2gBvDiHFPESQUI-RZJTrutpw2NLyp27x7CwoyfyXIw-VZrUwAH540gCBh6W6Un9eWixGGay-BG9NB2wqwE0ka3e4kEDEonMjv5Z4RpR-HwSxZGp_tZz1jB2WlMXmN2-l0kE3XfsiYlBkcbooe49AWBmEFVxTAAGCVQO86IaAm2Tg_HIQzw_Lvfj1R1W_VkkTEV9A35zENVeBKuzQQt4eRFa1UdIUi4EY7y9akyDvJm5V91vOvmWo8UQQL4F7C5WcDs4N-Yi2RiyLRQeQxp-GeTRbSy_p5eJpKOAjkjy9ST52ONQYLMgfmbQjtlhNwroNak3Sgwc8BUsxY9N_ZNMuY0IAurzK5utEa-tdsAVq2FjiYtp3eogYiIQimEmbLLVaUEHk3ryWTzUdA_0xgbNUtKEYgtdnN3oL9sdRZiIDuQUK1S0IvD2rkuyZdizQ62N1JWlGB9OTvZY-P5ZF6Iui3OtWGPmKdDBElSbhRDcCarlTdxG3Qha4gr9j1_faQ03iFl_e5Iw5ubpF3NP1m-6BuduGOP2YAxGPltmZBSkMnspDVfJtDC12wCFXBYy6A0AqgRqN0k9L3NqbVtnf9TgTtXhGEKGtH9KNsUMNEXpbKJnmPV2m8eUiFFVY9FAfoXi6wNeBSHVX38sqCyZzKyUZDmBlxBU7V-mzMY_ybG0smdNSeuM3PZhSSZBhXGLk00eyRhDqYfR8tFGrmn5cm--_fVuIh8pLawQdSe3f67C2vmlTtDTQKUrUOsqIP-KE-OhwGFSuiez63y5kCp6ut48hHjF2jAyVeaguR0L2yAOK4t1RkXZkPauMfLhTgzX_gBz7vPWpmJnP71fhAUZrZPvZ8M11vN2tkXcTr2vCHWX_QweVoRN2rBDThVDn8JclLzZLF3doLetk6ZAsds0sXR2JUilfDIwcQePMNTDFwRbkkdUKowR7Q7geLjNio1oWEAmwig8MEiZi8YT5Pr0KU7yD22pThEyclqnQEfEGHGq_N47lGu79yL6WaQaDO6GO02SFQ8mVHV2jMJ2i6AkgPQZGYdQ_PzrfiROjmpzyhvBFCal8ku4KJaWMkc8cd4MzoY1241WoUBEJEf8PxCtkW0qDvDrWfIgZPf5WvI0ztJwyn9zbLz2yMyZPxjbC5j1x4PhytJ3hxibXT9xJUhQHh0cVIGcGfppGd3lg0Zusbdf1tH-Du1krOReiepY4yVccLdYatz1U2pSn4-s_8_VZuYu6e06IHSqlt9jPqnJPPpYLQ_Bou20AzJt7S74iwzXOTplg9MzSY_3pB9q3ABVBrcvL7Meo3EsFlm-7TlHxNtZ61f7ABbasIrZD_kFWjp1zUF4IevZ0ZeagnQvKaO_HLbpncLayX1gLugYHcQ6m46TvNObKPrp7lWmlKu0yFJA2gVJjYUUy9XCx9M00eewg7IP16kr9o-h57W_daYBwVD5OdWz23C_DWVpU61Tu8jAzOd18PfLWEAHRRDSPQvAXKheqn3KDGhPxzCk6QwzKpw0j3034xz_aIFK_Nh4v4PD7IcM8ckFCaLTC6fqN2PtqBim3hVusXC0d4g_UTi0v7Hq1it4E5iDmuRhRj1fBVUAppMKnCkTPON01yHd9BLX-z2sY721-3iN4iBeXzsbmX6d9EXGcrabaufLxdIrXqXN5FN8gXz2HS0eisFF6I-oFZsbzQzDM6Pg5EOCTgcKlc_u907F8h0AFiAWPiQCTYR2hIE-UvTU8ts3g0BEU8DHyV3kitGEhRn6ykefpTMebBeYFuPxYdd1mM0uMPHpoUHRDGsZqGDCEdoT5ha0t2aodgCZqDPUtGYgV0bmwEtLabhpvSNED9Skym7Dd-64C4IQEchv1eXwIAZqXBlQe2U08Y-YBkdqd6I4-uKmiRu4OQr3UcBC7pjqZ3AvcjWmex0oRNYqTKrYsv427acO-dcaJqrw7DunLDlcb7Nis3TqP0dTApnnsOFGxqz7SbJgSjZzZwCPiiv4pB9AZtV2tWScDv95WmovQFQ4lWJD-E-XIR69Fon8w5rPMX85z7KwKlqZ_PnY0JD68t5WdkK0o5-eLwLxcrtzO1TFKeLFc5I-03M7v-s6JliWC4cUr4yq_doMZNJO6Z16KISWPzAfTwWYz5kWt4DXv92NxeB5L3lEpNgKH1ohjwNUXdm_F7xiL4NPwhfn-scNZF-FE3Y5TTDRUmfVwyRDQB9e-5NPEqnxhErmjdw4EfmFovvBlefQqPNnXKWx8WAGjZiMJwnwA49Him04PFzRRRKJeFhr-tkg3lqmE9uRSWBcQZcOmXkeFrFVKneO3sKOJapptkf5zWEzpfPkrwdjdWVdhcNeZmsnkMOwlRy7mPpVKhKwBA0-U-D_ZQePhnWES8GkpadV8nxy4fMC_R09yCA33VVenCjl_Se5Z0xHyzswH03LX6c4IKNImH82flOZC552j7M1_6P5zT6CCZa3CKIqClMKMZ5kjLVhmx-0loXes21Mwk4IBaYi27v56bNzKSsmR4R6TO4Jk4-tkMxO3BTMjPDpnGV6ewTe61DXr5CE5IejamvSJ8FRby4lMMuSr6vmMTDdT2sAnAsRNERGMY71VTN5Ow7IIybkBC6ZBuMeeBvuqOJh7KghrVKWSQzKInR9rBw3Dsa8SVwA6Kw2L9k48yDm7p-2gPCC7UHq637v3p6MyvOPu3sTolsjCWEZyqEIchCB20mF13acdhEj_JmAGFZhdUq-2bSAWIH5xgX8yDnECqW3IRt9qCDmFRfTRvURcTHw_pzyrh22EF5BKfjWP1S8X8GDHQq0aWpmoSGEziARUrQbvT3YxaeI8h2cGcU7FmfwGlZYsFIcLZZ9WiRomXok0TWIR55Q4PzEnUwrQI3zWxOvh1lkNbECLG0uYHb6l7TqcJrYpOYVW339BU_aJyDXJ1UFxMNDWIFVrKG1wj1LFI-zb_qRX_B3OPCBy_lDKVMxBk86KveqXjcTKTNF35mojLnesDMBrauDuI9IbV4BaDqrQbxKll1PpTvsU8usmXNFjTCB1KTALMHdrlmZfBpUie5U95T9TStZqKweda0HPe5FezQ45lv8cCkxgR90H9lWGWbaOEZ9katRT1FGU8jDWSNJl1GLrZfHyMoT94s9462CqKRn7DaaDbdvoUDgn-Mnjqqm_0BSOBYqR0PDEOwJwtAF5zCQ10_6o-0ZqMCau-cbvYEW6egM8LnBqJwyUJCYrqDRtAucShnxvh2G8ti_X6Vpd3fz1SB9sXvq8yzgP8e36vx0azWIl3ZCenxdDejaPUUaPa41ziZmAzizq45Ln6AeEzmtafteV0GtbXI1l9PGqE5LecvftPlAlq6tm8mYKLl9ZDfDcqRikDY1Xm0qUYK54J4PBcvPuzMB_FTCGWLD7BxgmITxaj7Y0_fdaE6tKGptN8pgaOYO4UNReqwziV10sNaS0WwOux4zZGY2r9pUpNiLcXeMGDkPqZmHmsPtl4dEaMK46T711hehW7Swc-zbkU4QOzsJQxM-yKf2Nnts8vBrJck7pjHcbqX7MtJ5lCIYn3gMDFOawPv0MYcHm2P3Zb9H82hF6s2Vchw0PgJeTIIiexogdM7BSyLJXt5ANjVzpT6dBIEl3EA-YDgOZiaZCyeYgao4f0QDbn49BBCsXF9t5bzJu5p3llIDos35z4s73Aiv3QmPnKOGNqENVeJhBWDTgv1BCpZSQl-mn4uzLJeslM2KS4fC24zNQjDsNL6lRzOYwjiYUoJX_Ik6RUsTdaaBVkk97a9QwGmif0QcnhhiKp7VLA8g0VHJ_qlc15pXefYQjUeGyy",
  "id": "rs_0d671001b327ea8d016ab43dd7b83487d09f46d7535f7b3eba",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD3ilZ4hUWxTVkjzJzo9A-DSkT5ydYvlg-AbX60ay3FmQDdf4EFe9u0lHuqNa0Zl5g78Xtk0D5AkWw3UUJmKujWaY9FP9TQumVTsebRmVmKP0U33Z-X0Is6E9bxifMpmAiXV4avft6y2eXhLEetrRXaPuKi6QOXk8R1bQPEoDFcCpNXOn418wr1KBnKkvOQDNfQJcZyJbHcG9lj3PrVXJPJNCAUWz1XQklZBaANmzNezYf6cZhFWdhm-7J0U0ucO8ZFBuyZob9j8FmD9-c9-4G0XvJluAmpz_hPRnn0rDDgLJRt5gkupSpseC98DGoewEpvUQamIuiCJj-4N3M_sSTfsBRQ6oiJWULzoEOLa1_Os5sCC_EiCajyLwvcwFTNoYV1BTQBE0nLdpSPdS8_cEUI2IMkdSUe728nLtAsPpYSG_eHHjqIOyVXbMkXGG5EtlvZPwT0eXUW68rwGfqtVJyoZyYDh897G-pGUKECojkt0Aj-2dBNWy857T0EIMICo52DVN_XykgxfBIzpsOnZIWGoUYXQ3q4AmRVm1LF1oWfYSkdAoDsUfPxTU_g3zy9gTay06ULcA3ix_4_0LAt0-I2QWwD66a_8luBR74MZnM_lrssYCBvNITk_g2IbL1W8x74U7nT46cN6lYFBxV-O6vzubpElkG8N-oBgBKXJsO3XhxHc5nip00wJ1bkU3XXWJZCiyaWDIuIkdiP3Ni9dP_Q40Sl_7L_3CysX2bjVgGSrbMt9jxtEOOEVwMZU3E9p7r2UiRqna_8Pyn5c1Npl3AKHT_JIWIhkJoqIXkqV_m97_PCaUiEJKUuhqHcJgplJ9wRcUXSDEz8zj7T316hE2kqTpHdj6ZNna96MD3YwDap4Yn6B2fojwbs_o9zoDo6TTMLq_xSadVLch21xv7zSI04fuE-c2hyBsLsoQdaq-UpUnZtKR6es0hXBoKKm2NW8riW-_eLkut-zlSb7Zaxjccoq9SBstKs8LvRH1kvosMBp6WFJ0NxPpJzeYfhT3E-mN4iS1pzOBY3H868hdBt3D7BecYKT226hu38qJ4gsM6vgJbFog0PmzVFUqygViOKHnum0Adbz8zUC5tLSt6VxjqHzKCmtmZ8rkiaSVIwXK8Hmk1dqB-eWlK8UJP4aavp4kt3_Bop9k-Kt-n91HN9GJ-U2J6RDImogk4XJyoexidp8SMCyVBCPhCnfnXIfi2kPvpOj678gaBkcWCBY7v4AtsodN-uMoZDlu3b4XGsXLAAM7GHDhhxS2SfcPGeOzXXPHMCTflb03oq99-fAMv95h5vd3mJWQxhhIe4nUIh5-vlpQNvk4LZyy6GKdapDkUuauPH7b7xtpUPWZgdGaEJMWa9S6nIstsj08SeO5P1wjbFkeDiZyfz-MKN7SUJkv_RAab8rTehpNdBYOjp0EQUAO3DJIbD8Y8owssTMnpYamDqsZba4k-15G3188oNcGMo8n2IBM5husUl8OZryuLN9BZMvjJR-SWwX1qrmiANaND7vezglkq5yf3IfbN7vGoUL267I5agkePA-K2Un6sw9e9iZwRj5f1FuXmjnqY3UvrfApq0RldkU4hVUsnEhI7yx3g6sUsC9guH6sIvFXfe7UHmotCQ1s1RVOuzWaYuTLR5NfgHdXKJBIUUY5uCvo13WjjW1jFYPacIUxHF2wxvVr1tH1Wygyjdabxhxewl-yGdVpgtwLrBqinkX7cqRSNimRyAac_d5mGSZiHYZy6N6JBobhsM5cb1WadO1Q3_CyIAOwx1qFqvjiWcfWB3CdekDKLqg0hEQE4RyAww5qvlv0h-cFeL3NgC3oisno87QdhRgyydgFGQo0KqaqbrCSk0kjpoIZpgblZyQgx7p18ZCYsKO42IlGXrxrcOH1n5EDVGrwU9rPPPYxpYLttFZM9xEIP7ek1kph20_9E-yLH3xmiuxyYZxbdOepC-sZm2IB2n73Haj-H2-7PvyZn9gf3sA1iKvGkk74N6T_6zt9dntDSlZEZd9slE6dIJW0sAGUeJcRvoAJgeGabV63a1e4Xx5vXgcIf3FCNeQunWhmicS4h0GoGNIn-VW1z6ExhGC8LcdGoVIkg2gfXVBRh1Y3wwbhydUkG_5agcJUVTbTDFxXK5lLjPeCVkIsYEEFO8xI1zG7nu5Gc818ISCL2uhHYp-dmXQMyGxhBr4zMYyK7vZLJdzJFfC2Mp1lESsFIGI8M6L3OJnH4q23YsgOLQx7LsZBP-IVcfAFF3uw2cBfM4OS65Q5pcKDjxcPKLSvY4CJm0y-SkIo8NmEedQYo9_aZvMjj7dR73kOI-yGiEym5GxLtoHNd7dvekQlJWv5rJUX4qtvbnLNU-BxOjLW1WSwXME3JCMKvcRKT0l6QIc5D-EYZhx_KCc6A23kIIXFzIGeIqa9WIJpqBdjMVGx9n8Zn6F5sw0ip1gtyIK0CuS7La1r8jvZrKk4WrogYd2JbyjC3jOj07LTwBBJ3-kIu5HT1_pMpm6TT3aveF2xV8gAfacnK4msujb910fScdpMkZm_q43fF_tclXHYWn9SHHSyjjiR1NDOv6yh-6T4oB1zYAxbUjDdaaI0LeRkaHwXKDxN6L7FzjD1VSFN7kRFVzlZutwuhk1vyK6YoPAxOCJ5vd9_EdMgkjhesTp-jdxmJEKePs9UwkttRyqD-IgE44lTUurzcn4WeZPu4WPSu4HYeZBW-McbktZihlASEsYRwu4oMxq-zbSlv_6pREBlcEtegKzylmVCBY8vugXKaIjk2HbtzPbEXtNTgPuo_i4gWbEcytdbFRQGfP-sV1D2HPUryE1vqwaFlJ8oJp3MFmu5uSIqmd-u6T1RRDuV934En5lh1dDd4i4Yp-RXGzaGUnJc04jlhrC12KmAR1eIhGeyTtxjgQLBF63vHoUCE3D7dFxekLvu-hra8mkHy9lXGdQ5Ge7t-SQPzbWN1upiD01n_jG94OU6sU2SDSB55k5Vuq-YcXZOidizYYMbkh-u2ba-r_myJjRWro7KuhIt7KOrPiRaIMA0E7Ra-X4_W6Ud-Ht3CeV9I-4DWwSzmHKUDlhz6eiLf3VtW5s218eUFq7dQa2hP1mPav6NmSP6ftTJlQz-P1htX86w-v21Me30mMG9vxtdaC2nVgeDnsDN5oSX44j7IGh3sWmVn57v7GCIZw28ER4PN98jcgxG4_KpGTO-x9ny4dkB0JSZ8k2i72XnjEo63cTJivahXF-R3iuTQQOw3CeN5k=",
  "id": "rs_0d671001b327ea8d016ab43ddcc20c87d0bb290bd0abbb188d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.05},\"note\":\"The green pear is centered between the right gripper jaws in the wrist view, while the blue bowl sits farther forward and left. I’ll descend nearly straight down to grasp the pear around its lower-middle.\"}",
  "call_id": "call_DxRQH4CmJHAPesE41qJw5147",
  "id": "fc_0d671001b327ea8d016ab43de1729c87d0943f762136050dab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DxRQH4CmJHAPesE41qJw5147",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8032, 0.6147, -0.3866, -0.0139, -0.0311, 0.9991, -0.0246, 1.1088, 0.1501, 0.3447, -0.0319, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0002 left_z=0.181 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.001 left_gripper=0.9991 right_x=0.2941 right_y=0.002 right_z=0.0404 right_yaw=0.0071 right_pitch=-0.0437 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.388, 7.0496, 1.8242, -0.022, -0.0122, -0.0122, -0.4855, -2.7692, 6.0239, 2.0488, -0.0464, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e57294f535a51f00ee7de5ae426af887b3e3790d5ae953bba09f07742ba20b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07b8e4d3afd6176bc8e421225b7bd426d30a28bc4404e6b72022668841e56d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3439f5ebb5e8267a913ec6c8b94414d98a04a4d7eb90f848138e8b495579c450",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.716 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6147, -0.382, -0.0143, -0.0299, 0.9991, -0.0227, 0.8005, 0.6186, -0.3882, -0.0238, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0002 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2959 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.7846, 9.4564, 1.7949, -0.1197, 0.1294, -0.1001, -0.3487, -1.7983, 9.4017, 1.8339, -0.0562, 0.2076, -0.105]",
      "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]: [-0.0212, 0.8032, 0.6147, -0.3866, -0.0139, -0.0311, 0.9991, -0.0246, 1.1088, 0.1501, 0.3447, -0.0319, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0002 left_z=0.181 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.001 left_gripper=0.9991 right_x=0.2941 right_y=0.002 right_z=0.0404 right_yaw=0.0071 right_pitch=-0.0437 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.388, 7.0496, 1.8242, -0.022, -0.0122, -0.0122, -0.4855, -2.7692, 6.0239, 2.0488, -0.0464, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e57294f535a51f00ee7de5ae426af887b3e3790d5ae953bba09f07742ba20b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07b8e4d3afd6176bc8e421225b7bd426d30a28bc4404e6b72022668841e56d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3439f5ebb5e8267a913ec6c8b94414d98a04a4d7eb90f848138e8b495579c450",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD3uVcW8KSrMur_xTIsVUDpMQJkG7BuhgbJi1qYC0zfmFsdbLL-qWgmta-dUVGXQCUGVPWHzL7MEaihKwgzQfa0aAKXklyt0c4P9tHuwd2tMRjzes1wFBi6m-hicARisrDhqI_BXzJv3Hqc4ew_i3MMw2xw-ENxSE6y-qwviQynQH8QwKOfdO1gHjJR3htOurovqRHbi-Oyk2EZpC4ybxS9xD82Jbk9O0yFI0sgnTuoN18nTkfz-6NtOM33THdww-vOHzbBYtFckRmC9WgHxEF-8J486GqKqcKR-SJK8l18snn7DE0BynR73lSdyy7FkGf6qJsL-fJtxApKfVE01sk-tgI2hIGRtHmvnFQiq99NX6Q2ViYzazaR_acR1UvXTIlZa2fZcNXxPNC_ygkhVlCoSviSj-LfMnjAFWCxcmn9AqYbQHhmXmuElMdbXlKLJllUa4ILqswcC5BDx7U2KrBBsKhX9ITwUkvh7AWJvRfnVeuf1ShpNRMvvbvsi-6U5_sgh-HBb6SH3EgU78nRC5-IDxIDajZAqGFAFL01SwNy5mLun-ktrIlz7o7wRmpAr9PNh37pAr7gfEfEq0LE_dWvgKOD8eJtTqSQhqSvNy4bQJ6qmbx7hKm-LXVwecdS-a609_-nkMiBKknxG1iD8DX-oHrFQDwdAcLbbg5kBSuBO5B0-uAHoi-t6bhjJeu24AVKW4vwxl-7AZGDXDTKat4Bsga_JVDwTRrDp6bkkJtnVCGxs8wajqZF7DcXAx6hK9KG8RBR7UE8fxz7oMJ3iYdD0nHYv5xF9GKpF2CHRVuj_AzdTSvOx2EngXSa30IpaIFsNz2pkUGomxLvPDUv4pYHZBhQUVVQ46ws_IjdHVRkAUqNjIVeK1N6zVtb_aaikK6fQZLmEf8TPn80iJl1IWnldPgZEr9sKR4rST8a8m3DIS4RMNbX-d3u_A3X5FdLSW9AWUVpTIBVDJHjhWnETmL_T1eGV2ZankTjv4UpBY2901sAXz_0k3ai_GLRQRRn6yWDbyfDchJaeyAnQwZGGM8GB3l_EtJTQvnKPM7GXepyKqsHyw5Eh6kO_xZMSbUSOdUU38HImxXFItlDq6V5bc9kEK30MsprqHxHwpLkVsM7kKMaewBlFxwDvmDn5GyCBPuHykE9ce_CQkaI3eGagwLSBgoe0zz5M_kljw85kffaiMYr7mQJ9gyoe3iRAirTzyEvyi0BbC3-8beQumETUzARKEjZGu56lbfa-cSlU_DdavOMTM2xp-vcWzR5rUhwDXJV_WkRARUvjbexRrjpN1cqkfdwcpRNIpNZPI9qcYoTE0Dd3ApB_APWqc8bmr2dX4Mo9zAhJvyGbwiGP3Dx5sJ0W3yqvC1Dy-7xwrYsRpGiwzwZ2Fdt_aAymEY57Ws-ylY7tu8Y3kqmfODjKO2h-OGurxfaCxcoS4b4ehMG0NNZGqSr9xSh7rv2_20heAo4r7EQtwoIFyqhxpMgwNxwGsmC0ulU2N9B8rxMi7P-jzeq8AWIlOcOZReqUAlqwhNlpe_CsuQJagCmWsqDw4f7igLXMl1YfiTHzmbm2G-Ip2411Z4KHZBK-x0Ik8-v_NuWo_glV6BvwnuiG70jKDUXs7eotZ8hGnf-XxtupMo2RyaYRXegEF51dJnlrcpKCMFH95QWFfDpRRBKOtygnQzSXb_KgbZlPcXHcKzx65iZGDE0o99CD97HYWfvV-ChiGrwQLbXp0-1MUMzr1NyV9PPEr24VspQlPaweP7oq5G5tpZvkjvNbMyxqwBagO3CBebz0lSHvWL-fPL4eFNfBDl72ZOSUyxlK--9UhjOoIrpXD-7_HirNbb1jL6-t6HzcOXUB5lJNjaCXwhZAQagP3JvX2uTmJQ==",
  "id": "rs_0d671001b327ea8d016ab43dec168887d0a7cb2f8d8fa131fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.05,\"right_z\":0.1},\"note\":\"At grasp height the pear is clearly left of the jaw gap rather than centered, so closing now would miss or eject it. I’ll lift slightly and shift the right gripper 5 cm toward its left to center over the fruit.\"}",
  "call_id": "call_17hmWqXL2G8xGa6i2PSGyH5u",
  "id": "fc_0d671001b327ea8d016ab43ded4b9c87d09635c102b7a53130",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_17hmWqXL2G8xGa6i2PSGyH5u",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8043, 0.6147, -0.3946, -0.0139, -0.0311, 0.9991, 0.2886, 0.9333, 0.3447, -0.0509, 0.1932, 0.1169, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=-0.0002 left_z=0.179 left_yaw=-0.0008 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9991 right_x=0.2918 right_y=0.055 right_z=0.0929 right_yaw=0.0475 right_pitch=-0.0558 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3197, 7.159, 1.8046, -0.0611, -0.0269, -0.0122, -0.3487, -2.3316, 8.7179, 1.5214, 0.2711, 0.2466, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e0c88697613dd0100a68d332d77b5b377c6acbb34afbcdb43b26f36d03a97e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb8988ad82ea7883947ac631ec7d1eb05bc4713fd34fa1588e4717d007a74e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28fd30d889feb020c4ad500794012201d00ac5f1a32955be9693a599fb46d86",
      "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 3 attempt 0 · /responses · status 200 · 2.165 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]: [-0.0212, 0.8032, 0.6147, -0.3866, -0.0139, -0.0311, 0.9991, -0.0246, 1.1088, 0.1501, 0.3447, -0.0319, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0002 left_z=0.181 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.001 left_gripper=0.9991 right_x=0.2941 right_y=0.002 right_z=0.0404 right_yaw=0.0071 right_pitch=-0.0437 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.388, 7.0496, 1.8242, -0.022, -0.0122, -0.0122, -0.4855, -2.7692, 6.0239, 2.0488, -0.0464, -0.0708, -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]: [-0.0212, 0.8043, 0.6147, -0.3946, -0.0139, -0.0311, 0.9991, 0.2886, 0.9333, 0.3447, -0.0509, 0.1932, 0.1169, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=-0.0002 left_z=0.179 left_yaw=-0.0008 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9991 right_x=0.2918 right_y=0.055 right_z=0.0929 right_yaw=0.0475 right_pitch=-0.0558 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3197, 7.159, 1.8046, -0.0611, -0.0269, -0.0122, -0.3487, -2.3316, 8.7179, 1.5214, 0.2711, 0.2466, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e0c88697613dd0100a68d332d77b5b377c6acbb34afbcdb43b26f36d03a97e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb8988ad82ea7883947ac631ec7d1eb05bc4713fd34fa1588e4717d007a74e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28fd30d889feb020c4ad500794012201d00ac5f1a32955be9693a599fb46d86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD3xkb2DreJhoEmP5Oojeiic-VmQyUcawzSj264gq1OouHTQBnZAPF4qeuGHF8EJu7kHzHpikS1G_p4pvILgynbwDgxgjGLsoWq2wA1PJ3OLmsvjWF3zWJoBwFUE_wO4L_oQaKG3aK5HcidWJKek8N34dFxEiMJWAt6cZxCa_avrfeazluPuBQIlsQociWC5r7dvaehfYd08uhDt3XW22whkFMEFGyHVh-Ub3mZXq3_yn_ZI1CTUt6OtKCIG5JMeeph5ohW-8HZ5xhQIAMb6pEG-v3WEbusprDoU8fwKae9k9pzoIgBYP5yWjH5OVA0hAPvi8swul9V3OsssR8eXkw8loTtrBhg7HK6aPywHcHhoJUeJxU6IUnYRQ8e-v91mLHAF5xbiVEwIDSy25aHk6P5kQiAHGb1QjwYDTKMXZFodAWYo0CACefZqpFqJ42uytlchvhu6AI4MCLSinaxFnZUYyUBJmZUET5YZcrpUUAghYjp7rdaxoZ6rB0fEkIC6LBp80SjafjRK_oOuHcn-bXq_7QeZauuyvn_egPluB4tED4IZrxiejOS7SRle5-GlI5YpaG_9SsHqSYWPqhwYlgY7YBiTNtXeAQXLO3KrAl71-CoNTJLM1HU9T-x1DET-pTIVC-KxuKTt6iJwYqb4bXgs4ElsUu5wwLBsfZqTq02P_t6ZUwNV6ap4rmb-RkE75sXPbhEqp1D4IdmtgC9nMf9lGCv8onloRDN09Jkh0mHtuim-YLUZbznK42KcVMYsO0_iL9CNToqxmPEHjvTqZKp3VB9K5DYI6A57j3vFi9zubIZcw2QQGhEzEOsFtHAIwjG8gFyQoxxZnJYozGBZKhurXVYhuEkJNr_bvaEjP8nP3cqxLGHMnvpnO4cmQRt1JzTiJKedV7FN4re-sHo4PdF1WstX9NiqF7dUVPv6Q6f3Pyp2U2prXQI9qja3kKHJRFn40_iKkMcAlNXlDbd7Mhwl2bd866e-Ni4aDr8DONB6OwMEtUh2z1dHW3P279UdheyOd5NAFK0qiMNB8ld9ECwdwhBbWu3TdV-oZ2XlsvlDtZIwlhIkOrDj0A4th9M6pzNFNsEIimgy86GqcSF7N_eTY_UR0hHvHMQbo3M_n44zkf-v9d3kQUATcMi9u_qZwLs8tXbXaGdscAbfQ9W1Fo_8WF_xJnFf6hpKmknjx3Q9xZCiCZsWeXF7UC4vBSq8mEy7Dx5NRLSpYGuScnlYWnMSLXaldkbz3rqFqxfqupXpKEhgciL5M1zTkZPqkp0AKV8HAu2K5lsyx-tQTgCP7GviLcMn6tkBQbigKrcUgvCRbXgcG_YM8SU63kp8WpHU6xb5kYP3FYlYCqPaARLjmH24FQ==",
  "id": "rs_0d671001b327ea8d016ab43df0b86087d097aadd23427aeae3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The pear is now centered on the right jaw column and its lower body lies between the fingertips. I’ll descend to about 4 cm so the jaws close around its broad body rather than the narrow stem.\"}",
  "call_id": "call_PARdECzTbOR9iU6Nq4Ipay5A",
  "id": "fc_0d671001b327ea8d016ab43df1242c87d0b30172189058713e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PARdECzTbOR9iU6Nq4Ipay5A",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6147, -0.4015, -0.0139, -0.0307, 0.9991, 0.2878, 1.1511, 0.1818, 0.2955, 0.1864, 0.12, 0.9991]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1767 left_yaw=-0.001 left_pitch=-0.0271 left_roll=-0.0003 left_gripper=0.9991 right_x=0.2873 right_y=0.0547 right_z=0.0331 right_yaw=0.0502 right_pitch=-0.0902 right_roll=-0.0075 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7802, -0.0366, -0.0415, -0.0122, -0.1162, -2.9607, 5.5453, 1.9609, 0.0757, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10658a094027d5384d2e6168453c8329b80d8677d481dcd6dd128918cc7a6808",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240184b8738970dcd3c5b9ed1eae194d4b4e0de819466c50a51c664df887bcf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f0b1c96cc7e5b285c0c785761f724293f07615e30199665970709bd334f385",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.387 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, 0.6147, -0.382, -0.0143, -0.0299, 0.9991, -0.0227, 0.8005, 0.6186, -0.3882, -0.0238, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0002 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2959 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.7846, 9.4564, 1.7949, -0.1197, 0.1294, -0.1001, -0.3487, -1.7983, 9.4017, 1.8339, -0.0562, 0.2076, -0.105]",
      "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]: [-0.0212, 0.8043, 0.6147, -0.3946, -0.0139, -0.0311, 0.9991, 0.2886, 0.9333, 0.3447, -0.0509, 0.1932, 0.1169, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=-0.0002 left_z=0.179 left_yaw=-0.0008 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9991 right_x=0.2918 right_y=0.055 right_z=0.0929 right_yaw=0.0475 right_pitch=-0.0558 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3197, 7.159, 1.8046, -0.0611, -0.0269, -0.0122, -0.3487, -2.3316, 8.7179, 1.5214, 0.2711, 0.2466, -0.0171]",
      "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]: [-0.0212, 0.8078, 0.6147, -0.4015, -0.0139, -0.0307, 0.9991, 0.2878, 1.1511, 0.1818, 0.2955, 0.1864, 0.12, 0.9991]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1767 left_yaw=-0.001 left_pitch=-0.0271 left_roll=-0.0003 left_gripper=0.9991 right_x=0.2873 right_y=0.0547 right_z=0.0331 right_yaw=0.0502 right_pitch=-0.0902 right_roll=-0.0075 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7802, -0.0366, -0.0415, -0.0122, -0.1162, -2.9607, 5.5453, 1.9609, 0.0757, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10658a094027d5384d2e6168453c8329b80d8677d481dcd6dd128918cc7a6808",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240184b8738970dcd3c5b9ed1eae194d4b4e0de819466c50a51c664df887bcf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f0b1c96cc7e5b285c0c785761f724293f07615e30199665970709bd334f385",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD32ysnJlnx0uuobs4-ol13BeLFSVopfPMClRYYgOQ6qEYBnzRqfkwZebnnclThK9QOWpg3q8W0QdxkJ3UeBQNdDZHgMifezR2pvXNohZk_ZmmuLSRQjY1bn-p4nwyVnCqNwVkDoAQXj1N7lxVHzqfLwavSFPYOORz7h3xo1dQiD-InrCjiUaViiYhrZIsZyK80GwMezT5lyE6o0hvCxl8YyDal4HD1tIIy-XahyGWkMFO1WySASM_1jaVVqnatQD9OnwDrq9yga1OEIJfDU2v8GID6I1hymSDdNyxrBzM2M6qo8hdaqELUhLcZVlwIjD7NjaAeW92aS-DfANC2Rsy21SvL2CvncQc7V8ApyxcSKE79VZqfv98LnDLgXIf-kHuwGuXe9QdVb4GRHe4ILSRhgBK0ERk_jd0ThIXBXLEDn9JInrM5-tCZOSZi5LsbtbS7HdScNdaCW4JeN-uGfSCStpZsNTxwDKaFfJDI6E55vCHoih8JWegDDmLeXHr_iUiN36TgfI59DFZF4iwdnqjh0sAmuCrXSUaakKEorMKt5Sh8jwD46K_m0GomTPHGJoNRbF5ncg-coTaaVYLMrk4eXu6-hwtieDtcIIx6JC_arkSX7yyJ7RNuh0DjACQb3IDa_Tk9A_6yEI0dZgNwyoNb8U7s7Xc-jS-TGnX9RSu0AAUkdRv3hOS6JYyWZtL7vK4Zs_6Dy2EBosu91Rf1RTcsWTijocDqW0lJvTw1QZelX18s0n0iO-MnvRllyOw5d47sG84DBsDQKpXrD-fpAnGnp8m3HuQNPyCrlHLcWEZSTc_Dv2Bx-eXzCUttbP_drop_8y_E55h-uoHO58AiodjWtkV3FMMq5RduoTcOG7nSz-Ex0GFd1yfwK2yE7hct3m6_DgIThC4TZpXDfr1GkwnDxD--OzWbFvyixRxXZr126wNjn0NhsE5ZDD6ESTgSLfP3hHnDIot7M06djN0HKBRijqvkZAqtPAr6Oy88Puj-dvkL5fB0I2j8D3gyWXm8Zh4qYT2lGjeztq5hqvTkwBCe60EHw7yneTrJU2RNXvI-atnl4CAKnd5nYrWCldPguE2gzdFBgYwNzGte_I9Z9E2g6ha9RMa0xxZC2VMptGf9fC0v8wdRIAvIpLJ-makL53WgqBc824toQhKfCDN0XE-7I0YWCgAsxP2PX1JkwIN__zwWIqF1qedVp078PcUNNNurv6RFsiBWRIqQaBRzeTZiAqITR1OstFcuQ4Syb23IgcAo=",
  "id": "rs_0d671001b327ea8d016ab43df5bc4c87d0bda413e59d60e806",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pear’s broad lower body is centered between the open fingertips at table level. I’ll close the right gripper fully and then use the settled opening to verify a real grasp.\"}",
  "call_id": "call_WvOqwnlPjseEQphQf1yRSUCp",
  "id": "fc_0d671001b327ea8d016ab43df60af487d0a94587e572606e63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WvOqwnlPjseEQphQf1yRSUCp",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6147, -0.408, -0.0139, -0.0311, 0.9991, 0.2878, 1.1511, 0.1818, 0.2874, 0.1791, 0.1162, 0.0115]\nstate[eef_state]: left_x=0.2932 left_y=-0.0002 left_z=0.1753 left_yaw=-0.0008 left_pitch=-0.0336 left_roll=-0.0005 left_gripper=0.9991 right_x=0.286 right_y=0.0556 right_z=0.0315 right_yaw=0.0582 right_pitch=-0.099 right_roll=-0.0079 right_gripper=0.0115\nstate[joint_eff]: [-0.2803, -1.3333, 7.1179, 1.8144, -0.0611, -0.0366, -0.0122, -0.253, -2.3316, 5.8188, 1.746, 0.1197, 0.0073, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c291e7d02f5b2c75e9ca5bd859a2ff73b30f1bd97e7bbb6e088cdcbfa5fdffa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a08661cdd961e369f8f8f87f2ffbf3d52bdfd8cc1f16c3b93f656a8109d813",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebdb449d62aa46dba7756ed0f6b9d4b8b7a88b4bd356a9c4d601594106b603e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 2.541 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]: [-0.0212, 0.8032, 0.6147, -0.3866, -0.0139, -0.0311, 0.9991, -0.0246, 1.1088, 0.1501, 0.3447, -0.0319, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0002 left_z=0.181 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.001 left_gripper=0.9991 right_x=0.2941 right_y=0.002 right_z=0.0404 right_yaw=0.0071 right_pitch=-0.0437 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.388, 7.0496, 1.8242, -0.022, -0.0122, -0.0122, -0.4855, -2.7692, 6.0239, 2.0488, -0.0464, -0.0708, -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]: [-0.0212, 0.8078, 0.6147, -0.4015, -0.0139, -0.0307, 0.9991, 0.2878, 1.1511, 0.1818, 0.2955, 0.1864, 0.12, 0.9991]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1767 left_yaw=-0.001 left_pitch=-0.0271 left_roll=-0.0003 left_gripper=0.9991 right_x=0.2873 right_y=0.0547 right_z=0.0331 right_yaw=0.0502 right_pitch=-0.0902 right_roll=-0.0075 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7802, -0.0366, -0.0415, -0.0122, -0.1162, -2.9607, 5.5453, 1.9609, 0.0757, -0.0611, -0.0122]",
      "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]: [-0.0212, 0.8078, 0.6147, -0.408, -0.0139, -0.0311, 0.9991, 0.2878, 1.1511, 0.1818, 0.2874, 0.1791, 0.1162, 0.0115]\nstate[eef_state]: left_x=0.2932 left_y=-0.0002 left_z=0.1753 left_yaw=-0.0008 left_pitch=-0.0336 left_roll=-0.0005 left_gripper=0.9991 right_x=0.286 right_y=0.0556 right_z=0.0315 right_yaw=0.0582 right_pitch=-0.099 right_roll=-0.0079 right_gripper=0.0115\nstate[joint_eff]: [-0.2803, -1.3333, 7.1179, 1.8144, -0.0611, -0.0366, -0.0122, -0.253, -2.3316, 5.8188, 1.746, 0.1197, 0.0073, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c291e7d02f5b2c75e9ca5bd859a2ff73b30f1bd97e7bbb6e088cdcbfa5fdffa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a08661cdd961e369f8f8f87f2ffbf3d52bdfd8cc1f16c3b93f656a8109d813",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebdb449d62aa46dba7756ed0f6b9d4b8b7a88b4bd356a9c4d601594106b603e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD37HpgNauD_tL0rOs54ScTT5V_gKmD-DWw1SyP5DSuTXtwuWuBhYvAfB8lEfxLOtqRRT9C4KB8qkPAjTVCs5B9udEgiVV5on_e_jnIIyj2z0Q-DaxAe_fecHXwyGJcd5DwVABJvfN-WucIZmw4Mc9E2I6AnEIlDdvRJ8OjG-oDqd1tw4RlgMcURQqBdXL18nEU4SZUlWhQjilrG8kjmgQyxluKgGUuZjTAKDXyaHjdKuTOXf3wlaOR2e5zTqQ025Aw2rRYBE-p5UJBLcVpujI7aimb_LGSjy94Ap2av6Ar40B0umcO6zOj6LqSYGZ5sSW_ZJS8WQ4CbCmegUwy4iYBCW0e9jfcQjcB3dOhHetM0fuRG-Asl3zyr5_eJNUAxLFJWEYOjJW4voOoNGv0f4-LoQQQ4aKT-2uBq-qNIrCYIBQkChWXdZq8CHryb8yHbMRSzhSleU_ops4-K-dUn23r0CRl3vcnM6efUls2FdH5BA9o5Rvo7BV-6usKDmyPJAUu0LZ1NnkSWzt5bPz5r8Jo4It6pxsBrRwEIhaV21-fZNFqGOpssRSCNFdPrhjJEiKO5jerL0FoEOKG8QGo_Ae8WVcL9caskCsEBL0Wz9MRiFE3xvAX9uPTu5PwNZhkBPClf0SBla2rx8EnCl3fsMEu_lqljYRoqySb7dzVy4LHDl7_mIcmflzkHdR-st7aIPzf6kTXR894ZjKx8HJuh6sQbBMSVxJuYfDL9UFky6DAFgn-FC-oYKSYI5HmAhmWDEtBHu52X4zLUu0JAFFh5OGJ2zNcNYIv8WoFuiVT7Vo8w7Gm1UNrPB6s5CK4M1aWIb20YaVs3GPQaNvLGAeg0Fed7RfLrjPyzueOe7HfDLwJoQyMl5N3FVxgnTV_PMq9gNJ1s9hpopcAi-fT9_felgu5dU2rthvHP1hUDoIdDxU5YRggtWzMMzOX5fars83Ld8HIv1NHMA7PYx9m_il7G9G3K15Lk4LA_FKBURxzKqQBD6WrU1_jvY1tytB2c5q9njnEzJb0leSJgCzoTJvVYJXV61m6a3j82qkraBOivaGRQ6ART8rdvR0j-OGlXOusaaOZYLx5MjSbrXxGvBcq2CRyty9EP2LpbMvzjxkV9oRXDOFN1m3HVnnZKBgruxqtfXgB2dlHnGi9pFFr0vNug-kOPbDnN3BsvpT2YuhxnZ15yoD6MhrQ9DmzjgYy0LYogW0Fv4Ty_sSf3Mll4l8x6F4Ekc4w4h1_cyj-ZB1HnmCfBb1SXzvWjrbiW9Vl_ic8_g5ebip-P-9YeGiY2cW87LzWP_p8aujexc9jf-0tbMC1wqBtxyykbi_y5854dALQln_v2uD-cnyrIdgrv5hBQ3cKQu_shVjKmSOPcqAMuNSagSq07-DQLndSKUDU1CqC22LQmG-AKF0AayHCYDkMHNjA-TYJNY9ePqOe4U6D6MvBlZ301XWSChFk68Anow06NMBGpr9BuMis5i6yRhiQz2RC5tJXtu5zQvoXdjYes6_Udl_LmSkXo048kd75c4tjjzAI2xWAVDy-yTtdTNVtgzYasBCfEcM18sSdTBvIQV8dY-islkzG5PZ2PfvjW2TQLlV0rPf_MAT9fAzvb3zTQZB9ndathGpaIj8o2wclcVMm9gJI=",
  "id": "rs_0d671001b327ea8d016ab43df8eb3087d0b2eb6a66e4428462",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_z\":0.08,\"right_x\":0.31},\"note\":\"The gripper settled nearly fully closed (0.011), confirming the first close was empty; the pear is still standing just beyond the fingertips. I’ll reopen, lift a little, and advance about 2.5 cm outward before retrying.\"}",
  "call_id": "call_c5Jw97Hg4ZPQ3yNV1Q7lUx1A",
  "id": "fc_0d671001b327ea8d016ab43dfa0fe887d0bc669a2d7a48c347",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c5Jw97Hg4ZPQ3yNV1Q7lUx1A",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8082, 0.6147, -0.4171, -0.0139, -0.0319, 0.9991, 0.255, 1.1046, 0.3569, 0.0383, 0.1501, 0.0864, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.1734 left_yaw=-0.0004 left_pitch=-0.0431 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3034 right_y=0.0555 right_z=0.066 right_yaw=0.0652 right_pitch=-0.1298 right_roll=-0.0186 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.2786, 7.1726, 1.7656, -0.0562, -0.0415, -0.0122, -0.4581, -4.1231, 8.5402, 1.7363, 0.0122, 0.0024, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cac209772a483e034d162ec4670e8b28d8c595900eda0a87536ad75a65cf772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36ceb8c9b1f421404e2b0a97108f0d80053d8ee389d7bc3f3164ce15e4b8b657",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9533e4784e2e9f7dd95e749a792c7ad61a46fb5c78b2dff3ea62ceac61e0b96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.755 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]: [-0.0212, 0.8043, 0.6147, -0.3946, -0.0139, -0.0311, 0.9991, 0.2886, 0.9333, 0.3447, -0.0509, 0.1932, 0.1169, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=-0.0002 left_z=0.179 left_yaw=-0.0008 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9991 right_x=0.2918 right_y=0.055 right_z=0.0929 right_yaw=0.0475 right_pitch=-0.0558 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -1.3197, 7.159, 1.8046, -0.0611, -0.0269, -0.0122, -0.3487, -2.3316, 8.7179, 1.5214, 0.2711, 0.2466, -0.0171]",
      "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]: [-0.0212, 0.8078, 0.6147, -0.408, -0.0139, -0.0311, 0.9991, 0.2878, 1.1511, 0.1818, 0.2874, 0.1791, 0.1162, 0.0115]\nstate[eef_state]: left_x=0.2932 left_y=-0.0002 left_z=0.1753 left_yaw=-0.0008 left_pitch=-0.0336 left_roll=-0.0005 left_gripper=0.9991 right_x=0.286 right_y=0.0556 right_z=0.0315 right_yaw=0.0582 right_pitch=-0.099 right_roll=-0.0079 right_gripper=0.0115\nstate[joint_eff]: [-0.2803, -1.3333, 7.1179, 1.8144, -0.0611, -0.0366, -0.0122, -0.253, -2.3316, 5.8188, 1.746, 0.1197, 0.0073, 0.9353]",
      "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]: [-0.0212, 0.8082, 0.6147, -0.4171, -0.0139, -0.0319, 0.9991, 0.255, 1.1046, 0.3569, 0.0383, 0.1501, 0.0864, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.1734 left_yaw=-0.0004 left_pitch=-0.0431 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3034 right_y=0.0555 right_z=0.066 right_yaw=0.0652 right_pitch=-0.1298 right_roll=-0.0186 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.2786, 7.1726, 1.7656, -0.0562, -0.0415, -0.0122, -0.4581, -4.1231, 8.5402, 1.7363, 0.0122, 0.0024, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cac209772a483e034d162ec4670e8b28d8c595900eda0a87536ad75a65cf772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36ceb8c9b1f421404e2b0a97108f0d80053d8ee389d7bc3f3164ce15e4b8b657",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9533e4784e2e9f7dd95e749a792c7ad61a46fb5c78b2dff3ea62ceac61e0b96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD3-H_H1yLQAMa-KR6_AOW65ZJZUFOkbZya3iUCTE6_uCzuvN6HzjotFR5ldMyKuWr0x6yz6QLBJplTtDVUjH6KjewIZ8ES1L6As1ukAXETE29Mc0LZb1uyat04fh8yZf5MgfHo6BQNczHgFzFwe9ba9ziWT5zT5vuF1wuxNKaHHgYjVKBvUO0gLnajsJJMqhjh3R9nx0rwyQTwnP51CSj0d95hvuMUAnKVG7inpCtatH8w9caVzalqnSi-bKDrhmMNaWDy-3RRnLnKH4-ZNX_d2PoRdJQ0rfhUMIzE2PvVpku1HZUgTW8nDZzduW4Bquha5R1p4gpxDGHlW5Pa_rHcitbRjvRLug4f3afoQuSxESYEvjJPPE6BjgihGqDe9_zkIjK50SIg_ZUzmLk2CBdhnybyZLvRjX4d35Pr_81rVni4hQ6GQwz2gIrAgg-LRou1B9iO_skMmAd-VgQ-Y01zhU6UQ6rISgsnG9HmarYjLwEp5HJeHDa10U4JQDn8hrgt5w-2Mr-N4ihQ24PXGNC2KZiQMVhFSH-OGJ3bgQ-Zb9z6PBr7h8biHtrjZjw6TrMKnSqsWzuS-EEScT-ocRoDmDD5N-axAed1yg3a-qRbZUFLTLR8CRaTdm5KtNdzouEFJFiiBifmcxppbavav5T0jtS_pKrA8Qg6i6hIogYf-moJkgU1-IahbYJpqN5xo6Xt0zHAYJoVa1GlvmAClFaq1uek66gsG-kQvMNnt50av_XGQenxTMRMGyN3WVokOiOIeIwgV_3vABua09v67N1mHS9e4T7v41gbfi_Lo19mANVqE3gK_lgbxbkvXGJynvBmAjihXYoGmP_ctjNG1VzWqa5uumD06kQNz-FWBnNbEhVer7JSj_e2D5GGFcCyppU9tQ_O4I_rNEO-lTmi7WTitsaF6aTjN5mTFC2xNb5BwM58azNSpxJZzSf5oRD_EPrnqsWyBqQnQTkvisfi0c4iPYJxQcxRICmflNuSWBNSAsHkbE1gCnS6qAy0XlwByKyZD3rOmt8BNCSii2o5OzLpoZFCQ1wir9pcKKqiVHDWEmEilJDwrNlCNuE9CzXwCvnXCgO9StFTXgl1jl0zLrT0094_yQtmwX4SMSekGnuXCEL8cvUac14BxFElFtQOMGsKNRIImumqcAz6Pv3YFffycHwEyNojzgYfA1dApnX-Pw7dWKSu9HZxOL2bpBBC9PVFHKvS-pZMBvMM2fuSBgtKu01gnOjpd1I8rJtU0ttgfEiNXcCNzzj2iTUQTauk5k-4wWcgwISX5KeUlCaTdLXoQfTYIEJC-utAiqqIhR4Rc6qg=",
  "id": "rs_0d671001b327ea8d016ab43dfd563887d09cf50b9fc0bb02f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"After the outward adjustment, the pear now sits squarely between both open fingers rather than beyond their tips. I’ll descend the remaining few centimeters while preserving this alignment.\"}",
  "call_id": "call_1HCdxMfPGoMLEFS66fR0e37N",
  "id": "fc_0d671001b327ea8d016ab43dfdb1c087d093048c0353c99c83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1HCdxMfPGoMLEFS66fR0e37N",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4236, -0.0135, -0.0334, 0.9991, 0.2531, 1.2381, 0.2695, 0.2237, 0.1478, 0.086, 0.9968]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1709 left_yaw=0.0001 left_pitch=-0.0538 left_roll=-0.0022 left_gripper=0.9991 right_x=0.2981 right_y=0.0539 right_z=0.0278 right_yaw=0.0644 right_pitch=-0.1649 right_roll=-0.0241 right_gripper=0.9968\nstate[joint_eff]: [0.1846, -1.5248, 6.9675, 1.7314, -0.0269, 0.0073, -0.0122, -0.0615, -3.6444, 5.6547, 1.8974, 0.0757, -0.0073, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb97fe697a55517587551e9c23fb3a5dc0118355c8245d1eab4ae11ebd382f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09163ca35054a15f208b2965247a45dae2529def9da730d851992c5c6ea3a66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c910909bdd4aacc4836250feaceaa943c0c43bb27d31146450e1b0fe58f61e93",
      "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 7 attempt 0 · /responses · status 200 · 3.997 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]: [-0.0212, 0.8078, 0.6147, -0.4015, -0.0139, -0.0307, 0.9991, 0.2878, 1.1511, 0.1818, 0.2955, 0.1864, 0.12, 0.9991]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1767 left_yaw=-0.001 left_pitch=-0.0271 left_roll=-0.0003 left_gripper=0.9991 right_x=0.2873 right_y=0.0547 right_z=0.0331 right_yaw=0.0502 right_pitch=-0.0902 right_roll=-0.0075 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.6068, 7.0085, 1.7802, -0.0366, -0.0415, -0.0122, -0.1162, -2.9607, 5.5453, 1.9609, 0.0757, -0.0611, -0.0122]",
      "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]: [-0.0212, 0.8082, 0.6147, -0.4171, -0.0139, -0.0319, 0.9991, 0.255, 1.1046, 0.3569, 0.0383, 0.1501, 0.0864, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.1734 left_yaw=-0.0004 left_pitch=-0.0431 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3034 right_y=0.0555 right_z=0.066 right_yaw=0.0652 right_pitch=-0.1298 right_roll=-0.0186 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.2786, 7.1726, 1.7656, -0.0562, -0.0415, -0.0122, -0.4581, -4.1231, 8.5402, 1.7363, 0.0122, 0.0024, -0.1538]\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 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]: [-0.0212, 0.8124, 0.6147, -0.4236, -0.0135, -0.0334, 0.9991, 0.2531, 1.2381, 0.2695, 0.2237, 0.1478, 0.086, 0.9968]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1709 left_yaw=0.0001 left_pitch=-0.0538 left_roll=-0.0022 left_gripper=0.9991 right_x=0.2981 right_y=0.0539 right_z=0.0278 right_yaw=0.0644 right_pitch=-0.1649 right_roll=-0.0241 right_gripper=0.9968\nstate[joint_eff]: [0.1846, -1.5248, 6.9675, 1.7314, -0.0269, 0.0073, -0.0122, -0.0615, -3.6444, 5.6547, 1.8974, 0.0757, -0.0073, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb97fe697a55517587551e9c23fb3a5dc0118355c8245d1eab4ae11ebd382f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09163ca35054a15f208b2965247a45dae2529def9da730d851992c5c6ea3a66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c910909bdd4aacc4836250feaceaa943c0c43bb27d31146450e1b0fe58f61e93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4DGwDTSnMz-t5a-FFPTvFw5akdcbfGNOJa7X9YO9khXd9R7qvvF9v4CEWOR2syROc5KLyYnbAdg86rvQCTOUWRdLqBQwL-aNgpZUJghg-7U18uOAvJJ7GMlrNKwXZbSLa7uDmOIbuDk6MEcLoFoJQHLRXEShtVvyvhMi9Ox_ZA9bpuT7iEn3OxuH9jrCEJ0LYBzVpR0T67VFwsFBireQVCuS1BgrV7jrOTVZnoFe1bVWQU4vgj5wBR0-P8S-m9CTEdOqvdygW1yWlrQh0RyUwY_O-ehuZUOkmHqyUDtTnvk_gVRsPYj3h5EBBvGVZ8cQDB0NE18LC46dXfYyLHGnCjC0Nc7JuAXu_jW52QtsGnp661zwmkVwiuga70dEMvgrlomusXeR-2SpPTUkY9nswEW_L_VklFKW8hzx34316NWp5Q5IiO-ZBPgvn41sW--eBF-bOr9PKBcHkxGf6S0tsQu4Hp7Bs5_-3xIxPbHLAiOo9HXA4gTBFI3Dbz8KbiLjc4KKo5_UOUdte3zWEonP_uBr7zCOMlE0XdKSU9otwIUjat2na7X-NX4TmS_JfDAXozUHWFchu5lg_dBH2KbZRFKufLpEcK1VB45IR5h-Ob8U4X8099guNIyDAOT283FG30hbibKNPxKfkxRq-vAf9dX7L0kJ4dzrHAJo0S-0mc9WYOAEbjQHm43GwqzyzOYPSX5tvl__Y9DOYQj1x0IEkvwQwfh-nWi9b83MtP8fQgc5Q2HuYn_pyUaCmgAcYk9l9-G0j1jK1EZt5uLlZryFGWfDuJOmRjS7fz7iNkrsDd2Zaj_PlU_9vW1WBKStwEmXnq5W24rTvKa0M7662YHAh4utRnGfQiDbY022Ti4WwmUSQ-muKQNm8P62IGIoO4t6C55UMiT_BWZO-0IjhUqMQuBFCXW4dTWVvvhgITE86FKACEbi25BYN2hFghT1iAEcgGz39hx1trjP4NGN4p1jpd9HRxbq3GXedxXBHXnHOvJ92JsNFe7kJCi8AOyfuy6rZDBe7Epzuk3EJUa7MF4XhO9L7eWsr5rIbHPH42jn2ZfYeZDjBM-ImJRJF9MPPrQFtYtHqoesAmHa22WJttCJ5VkzaCj79VGEhoKXqQuRFWMMxZzRVQDZ3JMvIXc5_uEIrki8CkXl-ov-mmPAmSgUrldwyUTtdOhRSKLTOqaLhcoII=",
  "id": "rs_0d671001b327ea8d016ab43e0222f887d0b081e4b71462fa02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pear is now deeply inside the jaw opening and centered at the fingertips. I’ll close and check for a nonzero retained jaw width before lifting.\"}",
  "call_id": "call_bUA7JMPmuSrrQamO3y8eZtVt",
  "id": "fc_0d671001b327ea8d016ab43e02391c87d0b7caa01ad8ef906c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bUA7JMPmuSrrQamO3y8eZtVt",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4244, -0.0135, -0.0338, 0.9991, 0.2523, 1.2381, 0.2695, 0.2169, 0.1406, 0.0864, 0.0115]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1708 left_yaw=0.0003 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.2968 right_y=0.0547 right_z=0.0265 right_yaw=0.0694 right_pitch=-0.1726 right_roll=-0.0202 right_gripper=0.0115\nstate[joint_eff]: [-0.1983, -1.347, 7.0359, 1.6874, -0.0122, -0.0366, -0.0171, 0.0479, -3.0701, 5.5726, 1.6532, 0.149, -0.0366, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f655566e0fd00be585ba9dfba004220a8fbd4efc3e15f0635cf8562f0bf0a0c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af4fe9af22120a595d898dff1a5e7a401607a88510f1ac994affedb99111787",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d116da8181ff0134998f36e37216040db6b2fd2a45f3d9cb119b7e09548178a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 2.298 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]: [-0.0212, 0.8078, 0.6147, -0.408, -0.0139, -0.0311, 0.9991, 0.2878, 1.1511, 0.1818, 0.2874, 0.1791, 0.1162, 0.0115]\nstate[eef_state]: left_x=0.2932 left_y=-0.0002 left_z=0.1753 left_yaw=-0.0008 left_pitch=-0.0336 left_roll=-0.0005 left_gripper=0.9991 right_x=0.286 right_y=0.0556 right_z=0.0315 right_yaw=0.0582 right_pitch=-0.099 right_roll=-0.0079 right_gripper=0.0115\nstate[joint_eff]: [-0.2803, -1.3333, 7.1179, 1.8144, -0.0611, -0.0366, -0.0122, -0.253, -2.3316, 5.8188, 1.746, 0.1197, 0.0073, 0.9353]",
      "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]: [-0.0212, 0.8124, 0.6147, -0.4236, -0.0135, -0.0334, 0.9991, 0.2531, 1.2381, 0.2695, 0.2237, 0.1478, 0.086, 0.9968]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1709 left_yaw=0.0001 left_pitch=-0.0538 left_roll=-0.0022 left_gripper=0.9991 right_x=0.2981 right_y=0.0539 right_z=0.0278 right_yaw=0.0644 right_pitch=-0.1649 right_roll=-0.0241 right_gripper=0.9968\nstate[joint_eff]: [0.1846, -1.5248, 6.9675, 1.7314, -0.0269, 0.0073, -0.0122, -0.0615, -3.6444, 5.6547, 1.8974, 0.0757, -0.0073, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4244, -0.0135, -0.0338, 0.9991, 0.2523, 1.2381, 0.2695, 0.2169, 0.1406, 0.0864, 0.0115]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1708 left_yaw=0.0003 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.2968 right_y=0.0547 right_z=0.0265 right_yaw=0.0694 right_pitch=-0.1726 right_roll=-0.0202 right_gripper=0.0115\nstate[joint_eff]: [-0.1983, -1.347, 7.0359, 1.6874, -0.0122, -0.0366, -0.0171, 0.0479, -3.0701, 5.5726, 1.6532, 0.149, -0.0366, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f655566e0fd00be585ba9dfba004220a8fbd4efc3e15f0635cf8562f0bf0a0c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af4fe9af22120a595d898dff1a5e7a401607a88510f1ac994affedb99111787",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d116da8181ff0134998f36e37216040db6b2fd2a45f3d9cb119b7e09548178a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4IIEzW1n99aKj7tKsaZPhBK4mVxMAVANe4Vvn774q6v9gAHRKeyubTeJjNPVJqVXHekhjCElZHowyklcLBXIYtqsHlDuSMK5XnuycG9GuxQ3RwPMMHTQsFp2EHE9o823Yut6U1MAP6xjiqOh8YnUNXRiRhPR7f1IuRaWFQA3MEMEEQnGJL06fM1ZOSk5KOKve0sdw_-4bIIyU_TQbhsMJ3BKXKIFOjI6DXBCDKEz5TsuzAfhxA06L096VFMr_SjpXMow9Et95YbD-QUVq-Av73BNX_Rtvw8r-bod0UV-D9-Pm6eT22aMWqUZgMCxGSFcNSxUgl6HbX_xf2YPGKftnMfNhHaYSTUmDSLQ9s_wiTgJReN6JtrihQkYarml3_IvpYGYjA2sh3XMAZ5hsZ3VlyX0DnszcdfLwl__MKxxUrfmRb8ZaY9pQYoIjaPrfaHnxfepPnmxbiaEEC1lk0508p6-OzOVYI8qAKInPLphTda6L1DsP2dQobPkfreE-e6H7UUvnStDhSfMAKZNVF3ZQmQ2pWmowx4iZ7embdUMQ5dcjmSLNKh_Tx2IzEhsKPKzqna4DpP8nxKQDmZ4AQZp8Lu218NCaYMYOUwaZ041gDfP_TRmtAAajCGtEkc1ZQTnMVZIS4dVGeHNHNJrDFP6YiihvMjCyybYnR2QYRxbpD33cgYpYF_aVSxiALT-pP7cvoPdbzxPrCZZ2XLMfYdE_8vpA4YjxmM5xnVFq7ty3902Ksc8jCHwYVHNL-2mw0zkxQ5h79Pqp9Jpi4Wddgx06iNePZAui55mVXY3F82cCv8T6o33DMFj9OKlsaut2CkNqTfIlviEPXnGHigYb-x4YvWhFTBYUAxcVlUqZ2yZr0GZgi_eeOgz2Hbi6TiEAS4wnB9sqO2hhs-AP1Ov4TNK46M-7lgloYVAkm58HkQ5n2Qv7r09IT1C0dTO8UOzdlt4mekvbLw0gnuj9fGnhaENgF7jjDjkjTXZp1-42T3LX3KiOIh2aQN4diDSy0ggCDuvBpjdfb6PYu2qNGSH36_7eac7zyjAFRcj5fBuP73XNGwrkNhKqTvMb0IqBCAPmA7wM7_1UOodhIclusgzejF1xm5NrWXIQRhf4XIO6Y7dI-g7NZZn0AMqpO8pe1a0e_tW-vWozJAum5D7Fr2ofxFxRTdGaeqhB0U9qctdi3GtJoEjBVx2rvLHS_byeFZTKYISPsfqI_9EwN7h6KHGU7EW9HNRH85k2A7tJL4Cg-fm8BPeuONEGqH5oN-r15TDR1mRmxnOu3_d-xE334ReZrC2ea4tUa9Lsm2dwVFJu69DDU5HZslnMQyTJyAfc7CfArXfUoZKa8IsHiTx0P2RRj-mN1qBDWqg8ewrzcDczhRXCAHnkOxvvU8851niW_44JYaK2VvMlZ34UCUDExMK906PyIjr3mfjxQ0c8IHKfHtAv9jFjjjdWZZY1wz27F7kRmdE-_NRVolxFo-cBBpGls8i0M0rQLk7AVbRsaTIg_A-6QqeCCwuWa2wD77aNH1_bwJFaqwdR7XRiMqVz2lGRXnMvVeC3jW9-okMW7KgOWeYXAUDcOPTiAfBPb3-KrtMKtVI_a9I2Q8pL3y2KEesg6YP8fFd0dR_gs5-MRFVYGqQU1YSJ9hf7LWgXAq7_1xpJYbOWIWwp8fAyu-hPPfA6NW2Mwn2LC5fauogO_ZRKqh3czeH8=",
  "id": "rs_0d671001b327ea8d016ab43e05070487d08f81abf5263d44f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_z\":0.07,\"right_x\":0.34},\"note\":\"The second close is again empty, and the wrist view shows the closed fingertips only touching the near end of the pear; it remains farther outward than the camera initially suggested. I’ll reopen and advance another 4 cm, keeping the same lateral alignment for one corrected grasp.\"}",
  "call_id": "call_VV3pHONDDF7sXKc6leWpBb4y",
  "id": "fc_0d671001b327ea8d016ab43e05d62c87d09d6921461f071e13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VV3pHONDDF7sXKc6leWpBb4y",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4244, -0.0135, -0.0338, 0.9991, 0.2077, 1.2884, 0.4862, 0.0311, 0.1032, 0.0441, 0.9956]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1708 left_yaw=0.0003 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.332 right_y=0.055 right_z=0.06 right_yaw=0.0793 right_pitch=-0.1962 right_roll=-0.0288 right_gripper=0.9956\nstate[joint_eff]: [0.0752, -1.347, 7.1043, 1.7021, -0.0269, -0.0757, -0.0122, -0.5402, -3.8359, 8.0479, 1.7558, 0.1441, 0.0513, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede02424ce6645ee9da5931bb4e2b7b36a954bfe8d242ce7ce5cf55a33cf0f73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4cf547dbc6faa65703b82e7c53d4a6a444f5491e8fb5b3ac00f178f6d80adb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17901beb23902e740bab386b818987f5a63f9d5be1634eee4c5f68c2ffa0b953",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.33 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]: [-0.0212, 0.8082, 0.6147, -0.4171, -0.0139, -0.0319, 0.9991, 0.255, 1.1046, 0.3569, 0.0383, 0.1501, 0.0864, 0.9958]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.1734 left_yaw=-0.0004 left_pitch=-0.0431 left_roll=-0.0009 left_gripper=0.9991 right_x=0.3034 right_y=0.0555 right_z=0.066 right_yaw=0.0652 right_pitch=-0.1298 right_roll=-0.0186 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.2786, 7.1726, 1.7656, -0.0562, -0.0415, -0.0122, -0.4581, -4.1231, 8.5402, 1.7363, 0.0122, 0.0024, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0212, 0.8124, 0.6147, -0.4244, -0.0135, -0.0338, 0.9991, 0.2523, 1.2381, 0.2695, 0.2169, 0.1406, 0.0864, 0.0115]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1708 left_yaw=0.0003 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.2968 right_y=0.0547 right_z=0.0265 right_yaw=0.0694 right_pitch=-0.1726 right_roll=-0.0202 right_gripper=0.0115\nstate[joint_eff]: [-0.1983, -1.347, 7.0359, 1.6874, -0.0122, -0.0366, -0.0171, 0.0479, -3.0701, 5.5726, 1.6532, 0.149, -0.0366, 0.8816]",
      "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]: [-0.0212, 0.8124, 0.6147, -0.4244, -0.0135, -0.0338, 0.9991, 0.2077, 1.2884, 0.4862, 0.0311, 0.1032, 0.0441, 0.9956]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1708 left_yaw=0.0003 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.332 right_y=0.055 right_z=0.06 right_yaw=0.0793 right_pitch=-0.1962 right_roll=-0.0288 right_gripper=0.9956\nstate[joint_eff]: [0.0752, -1.347, 7.1043, 1.7021, -0.0269, -0.0757, -0.0122, -0.5402, -3.8359, 8.0479, 1.7558, 0.1441, 0.0513, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede02424ce6645ee9da5931bb4e2b7b36a954bfe8d242ce7ce5cf55a33cf0f73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4cf547dbc6faa65703b82e7c53d4a6a444f5491e8fb5b3ac00f178f6d80adb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17901beb23902e740bab386b818987f5a63f9d5be1634eee4c5f68c2ffa0b953",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4LXwDFXJtYPGQKQt5dcVqSzBJO-c_KhuTEvzjhn99bOHSyV85M2Czasz7JA5PHZ8b5s5J5QGtl5ZK5Oy6_WeAB9d27GaFUXep3sWOl6h1xWif18Pf-9cAXYM1QLjUP6JbXQPbceQDprUHrmCnAeC-Mp8FrgOpiYaMXYg2AtJNOcmi5U-na6LWTuD10ip5fmn0gr1WW0XRKkTV0qEfODnJTczo-tZzDmU_LrJU2n3GZ7tbxNip83myqwSrjI5eWqX2igm4cpD5uV2tBfqhkhxBEerAmyffkXqeZRKDF9DrwY8VqH2rYgJCQ2bWoiiMhXrQ3B-r_R4NbRD-xuFWxWkPdXS6fzNc4V55TL4xeDK-CLYiBy_ltyzUeSy571XXkTPKha_VscvnBnpNYNTe2nQaNzLgaHQMM-T6oL-ulrZi7OZW8vl44vhL3_W5wjbER-1Kjqi-oVhxphWdhQph2pre3xV_AheTGMprXomunucljQJTUTffBoPImhapqQIOLBdtgPz3C4xNPwPPK1-8u3qa_e7HQ80owEjpOFd3wfTd9Pvixvf2cCDTIB6fy7h96_f_GAUUh2GOuGp_2C-7aYedGT3MmeIaDYF-R42Q1iWqzsZMi-urc1CrJ8acqc8RZgHg4syUSCIyI_8SzOi0XOIJfvF9cRui6DU4EVvydKU_stYVs0JvYi4FWVJdRTM4V4IP4FAl4OtV35dY0LIsr0-WnT7adcCI0o3hXT--W8w14Srsg3VJo5OPLZ2ovrCls_G0ymC_pW3RCmyiPTccTdcayVrKZAVixf7xcrIAtO6uQaLrL7_2EPWl-jAPI7Dl-oTlLLRHhhTfXoHs4VQJz8Wpfj8a7WLK3f8PaacXbrS-uZGI0Igr_Moa8W4HD57l15FHf8grSmv5CyObMSsgThGWT-5GoFerpT7qLLA_IPnt3Aa0xdMhggC8Y_c5hg4xnrFBHU_F6letX40C6daLtmYa4Sf_ry_UZxoR-PQITsgDoELjOVxWEXlnC5TqxRAQGvFuVdaECbGVFh_Tmc2tjorVpXAVns7RagqHWSxeIn2rcuj9gLG_zVPrLZ1lZqWUg8m9kRKE1_P-VuRDdBAnjBUqIgTta0GInWRyM6YpCnHJTm57XvjPvDM9520U5DmBXYgQTTBd4hPmBlWQlHe4Xc478b4YM9g6E4RK8rlvHOorlZ1yKw2e29IqAXOJRVmByR_UVm-MbdM_9JidNjoHqzCM-8EDmdgNapfvmA_C4miNxBKavfObaYWZ8CjEUOlKbGfNZFJXmWKWMNZVPAIM2XWWtYfgmKcV_SdxBpd_0PUUQVsVKlYEaF30JrBetuMiufyPN",
  "id": "rs_0d671001b327ea8d016ab43e0a3ec087d088ba3bde1bcaacf8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.03},\"note\":\"The corrected outward position puts both open fingers visibly alongside the pear’s lower body, with the fruit centered in the gap. I’ll descend to table-level grasp height before closing.\"}",
  "call_id": "call_aBCk3tm2QxT8qciVpRwx4xJC",
  "id": "fc_0d671001b327ea8d016ab43e0a993087d0b77ac7833bb2677f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aBCk3tm2QxT8qciVpRwx4xJC",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0338, 0.9991, 0.2073, 1.401, 0.4133, 0.1833, 0.099, 0.0406, 0.9962]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=0.0006 left_pitch=-0.0549 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3267 right_y=0.0546 right_z=0.0238 right_yaw=0.0835 right_pitch=-0.2295 right_roll=-0.0325 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.3197, 6.9812, 1.6923, -0.0366, -0.0757, -0.0122, -0.0752, -4.7248, 5.4222, 1.8486, 0.0464, -0.0171, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a3746eb7aafebfa1a31ee080ead041e5f9850679c595512b37a17e3af66691",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d39d7758aa27fa11798e21ad5ab72fc110f6215096b7b37270d332f1e109f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d675cfd3e42b1dd2b1ccac21b8338e0092c98a1cd606d2330f0b469845478f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.809 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]: [-0.0212, 0.8124, 0.6147, -0.4236, -0.0135, -0.0334, 0.9991, 0.2531, 1.2381, 0.2695, 0.2237, 0.1478, 0.086, 0.9968]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1709 left_yaw=0.0001 left_pitch=-0.0538 left_roll=-0.0022 left_gripper=0.9991 right_x=0.2981 right_y=0.0539 right_z=0.0278 right_yaw=0.0644 right_pitch=-0.1649 right_roll=-0.0241 right_gripper=0.9968\nstate[joint_eff]: [0.1846, -1.5248, 6.9675, 1.7314, -0.0269, 0.0073, -0.0122, -0.0615, -3.6444, 5.6547, 1.8974, 0.0757, -0.0073, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4244, -0.0135, -0.0338, 0.9991, 0.2077, 1.2884, 0.4862, 0.0311, 0.1032, 0.0441, 0.9956]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1708 left_yaw=0.0003 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.332 right_y=0.055 right_z=0.06 right_yaw=0.0793 right_pitch=-0.1962 right_roll=-0.0288 right_gripper=0.9956\nstate[joint_eff]: [0.0752, -1.347, 7.1043, 1.7021, -0.0269, -0.0757, -0.0122, -0.5402, -3.8359, 8.0479, 1.7558, 0.1441, 0.0513, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0338, 0.9991, 0.2073, 1.401, 0.4133, 0.1833, 0.099, 0.0406, 0.9962]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=0.0006 left_pitch=-0.0549 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3267 right_y=0.0546 right_z=0.0238 right_yaw=0.0835 right_pitch=-0.2295 right_roll=-0.0325 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.3197, 6.9812, 1.6923, -0.0366, -0.0757, -0.0122, -0.0752, -4.7248, 5.4222, 1.8486, 0.0464, -0.0171, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a3746eb7aafebfa1a31ee080ead041e5f9850679c595512b37a17e3af66691",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d39d7758aa27fa11798e21ad5ab72fc110f6215096b7b37270d332f1e109f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d675cfd3e42b1dd2b1ccac21b8338e0092c98a1cd606d2330f0b469845478f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4O27uGlFG94BW1oCSeZ2KLLLgZF38ND5_NfJa6MCpp6y73Bvzi_0aajFvEtL0lvJvNVI-TsNg78Cp2C-m9zcvq0gSPuDkoqSRh8MCwbkjsP4z5RamlPPWYIG39hycflTVRQOzDCRDg4HOduX7wP38s9Gb1EHs6Yqde-2DkALjXV7fIRhW-K_g7Hk3a6vyq8PFc5p8tRLKXmtUuk2xvvf3a15Zu7TR_KYLIqiwALkNXUm9HyhT_MErJeCPlzLsmGWv0OZqRpv8fjmsw9tsM0mMT_zgsicrerXR1s4TCqRzg8E5PvD1mm0YFRR2Riz2lubtCOo242o2Aofroq1i6kGmBKlElvhjt_9n1wauvVA9oVBY4a8wE_lJpD-XFOPrclo0nnIyqeyRTIRY2yfvlNVCiAq5bAt21GC5IuQawGbn8PhFydfNRpxszPqDUP-ASe_xq1A6mwE0dLK8e6xqHUgR4R1C-0-F2Wih2N-i8wGhJYC7erYxcT-W75BXokdxSaa371YhFeEDCKdqF35GAqI44kUoXTlD1SaUwO2pkvTOLHVQLCKn0HeAkoceERStgH7Jbi4BjteWD82knEX-JkWOdb9AYqi1afBNurutXzT-88odY4oCrFuBDyFsddKukHeKYiiwVc-KuxBt2xxDd0Vb7rCGB9GBaldz9a073y-v40Y86YZRkozakTL7WRmsIIorC_hUJyQuVwPYK-1B9obxsttxyl2ZkdpwD69P-xA6tzwLpSInMTfksNU4Ck9ZpVgL1L_BwJKiu3ZwVNVjKA5Xe24EEA5oWRGAf-M_f3iUSPyFRyKyURehrOnuhObGHkltD4V2O8Cx2shXJQBQNn6GBrb6wdDhYhWmwlmq8DMu6vzdyzsHdIqIJknilRG_So3qMGI3ut6cMAJEqO473UpStpfCiJzCQcVoYyjIBuZcJ1SGgLD-l-v_Dpxbiclf3v_TPFWCm1wPsAKxyyMwrJPC68aiutSPx66tr-k-idfYDWpAV_Vg8Kpbk7KHYy8yZwpTdod6Z-b-fyKMzSxEGBK3SpGNORd7rJE7_fGwfqQomrAo8ucD9wQs7i9FXY61V-zVRWVzY9XC6207By_nOwGUmI7pzYeJvIDpXTmfJqIKv41ThQ8Z-Pcm0y4JjfklYpSUQGKZhKFbj2AxaYgQ_y_0ByhkwHfXPXJLrk92a9AO2Wz4=",
  "id": "rs_0d671001b327ea8d016ab43e0d75fc87d0b76d138ac2415e3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At this depth the fingers flank the pear rather than stopping short, so the geometry is finally suitable for a grasp. I’ll close fully and verify the retained opening.\"}",
  "call_id": "call_U7whHpFv0OWorgu5yZTBDykN",
  "id": "fc_0d671001b327ea8d016ab43e0d949c87d0aa66aa892c7c7e50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U7whHpFv0OWorgu5yZTBDykN",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0338, 0.9991, 0.2073, 1.401, 0.4133, 0.1753, 0.0959, 0.0368, 0.0115]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=0.0006 left_pitch=-0.0549 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3253 right_y=0.0548 right_z=0.0224 right_yaw=0.088 right_pitch=-0.2378 right_roll=-0.034 right_gripper=0.0115\nstate[joint_eff]: [-0.2256, -1.3607, 6.9812, 1.6679, -0.0366, -0.0366, -0.0122, -0.0615, -4.3966, 5.6274, 1.5653, 0.0415, 0.0024, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908bd18d17822611eb3f3eb338eb6282ac324434e0d9180ee46b383b864484e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76705f41088b39e8c98e8130fe2781783242c59f0548a7951c6dc9a4b46423a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9b0666a3ad0fa0b1ff80e8004daeee5c7af32e8eae7b2b2230ea97c784c407",
      "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 · 2.068 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]: [-0.0212, 0.8124, 0.6147, -0.4244, -0.0135, -0.0338, 0.9991, 0.2523, 1.2381, 0.2695, 0.2169, 0.1406, 0.0864, 0.0115]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1708 left_yaw=0.0003 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.2968 right_y=0.0547 right_z=0.0265 right_yaw=0.0694 right_pitch=-0.1726 right_roll=-0.0202 right_gripper=0.0115\nstate[joint_eff]: [-0.1983, -1.347, 7.0359, 1.6874, -0.0122, -0.0366, -0.0171, 0.0479, -3.0701, 5.5726, 1.6532, 0.149, -0.0366, 0.8816]",
      "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]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0338, 0.9991, 0.2073, 1.401, 0.4133, 0.1833, 0.099, 0.0406, 0.9962]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=0.0006 left_pitch=-0.0549 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3267 right_y=0.0546 right_z=0.0238 right_yaw=0.0835 right_pitch=-0.2295 right_roll=-0.0325 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.3197, 6.9812, 1.6923, -0.0366, -0.0757, -0.0122, -0.0752, -4.7248, 5.4222, 1.8486, 0.0464, -0.0171, 0.0464]",
      "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]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0338, 0.9991, 0.2073, 1.401, 0.4133, 0.1753, 0.0959, 0.0368, 0.0115]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=0.0006 left_pitch=-0.0549 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3253 right_y=0.0548 right_z=0.0224 right_yaw=0.088 right_pitch=-0.2378 right_roll=-0.034 right_gripper=0.0115\nstate[joint_eff]: [-0.2256, -1.3607, 6.9812, 1.6679, -0.0366, -0.0366, -0.0122, -0.0615, -4.3966, 5.6274, 1.5653, 0.0415, 0.0024, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908bd18d17822611eb3f3eb338eb6282ac324434e0d9180ee46b383b864484e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76705f41088b39e8c98e8130fe2781783242c59f0548a7951c6dc9a4b46423a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9b0666a3ad0fa0b1ff80e8004daeee5c7af32e8eae7b2b2230ea97c784c407",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4TwkZO3vSfgtqbLxzh9mym_RbXiJlpDicYJ44bG3nESKEynm5Hp1eQov2i4-6QzgeX0CMetmEzy-D18S8XeefJmU51bd1rMUMx-4QWgVG2_WJeIvJbE1xjxYuodWP-842M5-pm7zXMxybQqXFNbtwwtMTAEGXKQmiFHJ2Tp8Y7DliwOTJ4VRkcW7GdwIaCNFfVSqd-R4qAGH_sEjO6MiNdurjRWZmIaXbOk1ugnJFcucPWKXlKsqx8WUnKGBU5IE_39vVRkcHsEol-s2M2SUwXLxoadZNaObgYrPFzCZoc0A8VZrS8KEtPoHjHLm1kJ4UEpAdvAZCvrAzaUg-4a5ofYr1fJGSnto7poqjd_BuADmHKEMLj8geXMbh1hyWrxRFSO9Q6-PBwSzRRtsgg7eKlOHK5GAowxQvmowyill63Pso8i-kPw27FGBpk-h4f9kaDIxuSeAEjpR_t7glcwCzgOiUCqtEp1s73Kr6S75f6AU4Ctow-pYYXUnJqkLlIZwdAQVfczJaJUScK8gi-J3h5amqRddU3RjI7RKB9PCVTAyBD7twy8Un5OMqYsTgg56xw3YSl6uRsXdUME9QYu7dYUOPAvhCtGEjy6eiHQGNJp-rd7vfYBU_SycEXi9Wobk4xq8xdN0kDVxy3-Nlzig4CX14mDhL1o5vweAU7ktzi2T3RhsqwxkbVC_aA7HpjLxCj3O_bUhkWi3PMpnAS_a9z4rj08kLy7hLht6u3PPKaaCph5YSjG87cUQn8J4ptc-LGt8WcZ4UKSBUKr-YrLhFSpg1xlWnL20tV91-eEX9D8lP6zQV_6l0qzwiWyOX5KruRCh7sPS798ePAgXVVKG0je5uQMQeu1Jatbi1cm7JJ7KtLNkQkgVljTdlL0Ms7baQ-qASuTS9PgYkK5JE_Fm1cStv3vLmMf0cixqAa-M9N3p1TFtDMAkdbu1l12GGS1ML5obQ_3Zh6-5l6voED4QXOlacYlNLYKvUFpe-brZwcktX-kgcE89mJN3hrr3U60nRlUE0z-HPwQhKFBiA_XdnDP37-5nyWwGLhhn8MXFVsLZvYikKE_XK8lx_hVcgW6FBXWg3MGWSEOexQpvV3bXQAarIcONrB3kCRL9HNycPhZHgosN-fY1mv1ABsrDIwBAjKwc21tu5jGfHDLkgOcIeUB9UuGeskUwgXPJ50FQuMWyKyHox0CIyRNNCySajJAumAjsY6DbsMbqX_AmJhHqMm8Igfc1GUeZgaiF3qBufibtECOz6_C_PfnOa4YcG_dxCu8IL8IrK0vtgW9C8k-MU1lrUl00zdv5Q1Kewdh22Joq8Ar_6ZHsGcGzdHqsaT1zukdhoZf5v5dEO7e0C54GYF-7XVM2H9FWQLgUUb9WMfkebKKeCzlynNFDjVpJJpiYKLrLBsYk22xPrON73ky5B-dAB6Drk2k4Ex0zNMZTpTN7TKwthZoLwxA15Ruutk6BzZg6m3SfCY1XFz2NgmfihUYcU_SN2YrA_V7ru0YYMwscJKVDNwcdV3_OgtM2Ozy0hEr1FilrflilFxM61EmSJzquXMQYswGyT5tM_uEs5RpiO7SEM4WBUBC4x9VzIs4L-ZS5NVEOy4tpqo7ozRBnlg-UEm2MfZ92ma1fEoEXVq6mr0gVkvE9cXAj0HrOUlJLBCk9u2g7N_G9Zz4vcKrL8CH5ShkUqTvLgJ1KXoOFG6b_hGpGcR802laZEDVU5yGzk3jEW-grnD4zRF-FuHAYOPzduzTpyci_4FMjLvMleA9kbuxyBi6FmLgBnrUbDlXqi8BLCIb4LjZORv8BP_5-mtTnAPYv6ytCLSiiGl-y1i8ZNIksIgaIdS8ryYhCTprXSjZmju1vfrkL5zNMmcU85-Cg==",
  "id": "rs_0d671001b327ea8d016ab43e10b83887d09ea351e7592774b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_z\":0.09,\"right_x\":0.39},\"note\":\"The close again pushed the pear farther outward instead of enclosing it; the overhead view confirms it has shifted toward the bowl. I’ll reopen, lift, and move the grasp point 6.5 cm farther forward to get beyond the pear’s near edge before descending.\"}",
  "call_id": "call_H1VwOXuM2dY0nZMGrMCUWHik",
  "id": "fc_0d671001b327ea8d016ab43e122a0887d0b3d9a068f4eea3bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H1VwOXuM2dY0nZMGrMCUWHik",
  "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]: [-0.0204, 0.8135, 0.6147, -0.4305, -0.0139, -0.0338, 0.9991, 0.1619, 1.4685, 0.7712, -0.1318, 0.065, -0.009, 0.9981]\nstate[eef_state]: left_x=0.2903 left_y=0.0001 left_z=0.1693 left_yaw=0.0014 left_pitch=-0.0618 left_roll=-0.0021 left_gripper=0.9991 right_x=0.3821 right_y=0.0544 right_z=0.0818 right_yaw=0.0944 right_pitch=-0.2574 right_roll=-0.0447 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -1.4017, 7.159, 1.7363, -0.0562, -0.0171, -0.0171, -0.4581, -5.1487, 8.1299, 1.5556, -0.0659, 0.0757, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a10eab666c3739a7fc144919369eb370e279981159a2f8c549c53d87dfe69993",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f1fbba51ca4ebbdf52d770067b49a5d2e2bfdef59921d5612e0106c689f9673",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:874ce34bc17b0f1043e30732e3b38fbc1396a78ad3c0b13e416b239a248e6b9b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.381 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]: [-0.0212, 0.8124, 0.6147, -0.4244, -0.0135, -0.0338, 0.9991, 0.2077, 1.2884, 0.4862, 0.0311, 0.1032, 0.0441, 0.9956]\nstate[eef_state]: left_x=0.2911 left_y=-0.0002 left_z=0.1708 left_yaw=0.0003 left_pitch=-0.0546 left_roll=-0.0025 left_gripper=0.9991 right_x=0.332 right_y=0.055 right_z=0.06 right_yaw=0.0793 right_pitch=-0.1962 right_roll=-0.0288 right_gripper=0.9956\nstate[joint_eff]: [0.0752, -1.347, 7.1043, 1.7021, -0.0269, -0.0757, -0.0122, -0.5402, -3.8359, 8.0479, 1.7558, 0.1441, 0.0513, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0338, 0.9991, 0.2073, 1.401, 0.4133, 0.1753, 0.0959, 0.0368, 0.0115]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=0.0006 left_pitch=-0.0549 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3253 right_y=0.0548 right_z=0.0224 right_yaw=0.088 right_pitch=-0.2378 right_roll=-0.034 right_gripper=0.0115\nstate[joint_eff]: [-0.2256, -1.3607, 6.9812, 1.6679, -0.0366, -0.0366, -0.0122, -0.0615, -4.3966, 5.6274, 1.5653, 0.0415, 0.0024, 0.8718]",
      "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]: [-0.0204, 0.8135, 0.6147, -0.4305, -0.0139, -0.0338, 0.9991, 0.1619, 1.4685, 0.7712, -0.1318, 0.065, -0.009, 0.9981]\nstate[eef_state]: left_x=0.2903 left_y=0.0001 left_z=0.1693 left_yaw=0.0014 left_pitch=-0.0618 left_roll=-0.0021 left_gripper=0.9991 right_x=0.3821 right_y=0.0544 right_z=0.0818 right_yaw=0.0944 right_pitch=-0.2574 right_roll=-0.0447 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -1.4017, 7.159, 1.7363, -0.0562, -0.0171, -0.0171, -0.4581, -5.1487, 8.1299, 1.5556, -0.0659, 0.0757, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a10eab666c3739a7fc144919369eb370e279981159a2f8c549c53d87dfe69993",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f1fbba51ca4ebbdf52d770067b49a5d2e2bfdef59921d5612e0106c689f9673",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:874ce34bc17b0f1043e30732e3b38fbc1396a78ad3c0b13e416b239a248e6b9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4WqSz92nsK6u0nRS3itE8Xd_z5NrWPQxqe9bZtET4icD9-SfnE95rvmd8BCl91N0SkZ_C0VuGiWHOYOd2MCfCiLNKOmvTFo2Lg_w4gbCpJVKv2uNKeKwFmdCJHrECVR7i-3Rwlp1cX6N6IEn16Ql5aWeK5D_XzZfOVZoujYnpZJQRCKSFQj0n5w6I8NGG89FNvlvLwXLikWTPD2ZhiC2Av-8LiJyRcwme1UwVpGzwt_mYKw8Zszk9lja43O-s8YtIZJ2SKwXU-vxkiqGghrVsVjQm3Wb2pIEvdCXp19XO5twQ9lCfcilcieHppEL8SNVKYplM5wR-VlDUYbNAcvF-CW7cGxdR0rVLB4l1vD3XPWlyWyS2ZHOrYNjbSas_cJ56Jz4bCLTIjye8NYqBLtb9AM5U0LzUIBfWOlgNvawCjrct6usfeL3EsfJZAAC0lMZ8iF2PS4Ptjhfd7qHAV4lSnSKpn4NdNtjDQ5lc_Do-eI0cSB3vixHgplWLJHg6lNMTpzsmsi8ySHsj_LfLzbjcfw5Jg_8nTH4hWZ5G3blSCjiawyRG-m58qiwMM8X0meeK9ehOa5rCe_tJk2z4YiuTjE9XKTsjb4-Te4x1tnF4MpLXYdZqtzONPymv5cIxi84uy4BmM7B4qoYF3jfN7eFNqI0QLV2gwfq5swoOzeiHgwR5cFFqKvY4dehk8VcYk3NtkLrnX6TrDD9Dsvoxd9CqvGYlnp3wF2JDRI9FcwF3fFG1gkUMvs9ojYpTx4J-49V4q5tcIpaEOKQgMCnITS3MjsEKxQTN8_Dtcnd-odC7wg2eQ4I2A4QQCELNR2zITjGWee9yYS0NU4rpdcoGn3w-9B6Rp_a_KD82Bz15EE5ISTg7A-YbJb5egw4X40_GaJsNNJgmH627xih5d5yCCe-AXyB3U6CfT0bc7ceXJqUa4yIBoiyARmPP7G6gWGw4Id3Km8wQ8dpcb34nky8LpEyIXC6yJrfZVxnrP_0mTMbK3FGYiZXW4wAqPYSEn1XxhATstYPWrFLIvr046YM-2OlCcXu7-ETASy-eMTTpO-JEt0V6sav_Sib9xWdU1QlaYfaJTuAL3LZTErvr7hlldeFCZyUU-5ZwrVrVUcNF46HvW6SCfRRmKaFHTp-S7NpImiQb1TAqSyImLOjxNf7vkJUPoupm_6yNeUWxaHpbRlxZqt_9BchJnowQCwiAQmyQZFXS4XIoJbj1cB5V3PjLLTe_yHaYrwdfjDqehhwhB7LsN_DoUSL4QlR7LxEpamXTA5d_J",
  "id": "rs_0d671001b327ea8d016ab43e15b7e487d0b7101df99c4778a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The pear is now centered between the finger bodies with clear jaw overlap on both sides, rather than sitting past the tips. I’ll descend to 4 cm while holding this forward position.\"}",
  "call_id": "call_X0X0fWc4isRbeZFfk4JoS71O",
  "id": "fc_0d671001b327ea8d016ab43e15e87c87d08fd365e6b3ec37eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X0X0fWc4isRbeZFfk4JoS71O",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6147, -0.4343, -0.0139, -0.0338, 0.9991, 0.1616, 1.5696, 0.6739, 0.0406, 0.065, -0.0116, 0.9983]\nstate[eef_state]: left_x=0.2898 left_y=0.0002 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0664 left_roll=-0.002 left_gripper=0.9991 right_x=0.3776 right_y=0.0535 right_z=0.0365 right_yaw=0.095 right_pitch=-0.2833 right_roll=-0.0483 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -0.9915, 7.1863, 1.7509, -0.0855, -0.0806, -0.0122, 0.1983, -6.3521, 5.559, 1.6093, -0.0073, -0.0024, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490724181056421da6686dcefc5f7cb7ecc56cdac01c442369b74ef6f906632a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3755fe994785d4df19d2df0e426471b833be321b29e3fe2801ea07e3f534d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f8508b739d0e9ab535375c61e99dd48d6ea93ee6f9e035cd39b932c6103fc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.345 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]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0338, 0.9991, 0.2073, 1.401, 0.4133, 0.1833, 0.099, 0.0406, 0.9962]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=0.0006 left_pitch=-0.0549 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3267 right_y=0.0546 right_z=0.0238 right_yaw=0.0835 right_pitch=-0.2295 right_roll=-0.0325 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.3197, 6.9812, 1.6923, -0.0366, -0.0757, -0.0122, -0.0752, -4.7248, 5.4222, 1.8486, 0.0464, -0.0171, 0.0464]",
      "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]: [-0.0204, 0.8135, 0.6147, -0.4305, -0.0139, -0.0338, 0.9991, 0.1619, 1.4685, 0.7712, -0.1318, 0.065, -0.009, 0.9981]\nstate[eef_state]: left_x=0.2903 left_y=0.0001 left_z=0.1693 left_yaw=0.0014 left_pitch=-0.0618 left_roll=-0.0021 left_gripper=0.9991 right_x=0.3821 right_y=0.0544 right_z=0.0818 right_yaw=0.0944 right_pitch=-0.2574 right_roll=-0.0447 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -1.4017, 7.159, 1.7363, -0.0562, -0.0171, -0.0171, -0.4581, -5.1487, 8.1299, 1.5556, -0.0659, 0.0757, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8143, 0.6147, -0.4343, -0.0139, -0.0338, 0.9991, 0.1616, 1.5696, 0.6739, 0.0406, 0.065, -0.0116, 0.9983]\nstate[eef_state]: left_x=0.2898 left_y=0.0002 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0664 left_roll=-0.002 left_gripper=0.9991 right_x=0.3776 right_y=0.0535 right_z=0.0365 right_yaw=0.095 right_pitch=-0.2833 right_roll=-0.0483 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -0.9915, 7.1863, 1.7509, -0.0855, -0.0806, -0.0122, 0.1983, -6.3521, 5.559, 1.6093, -0.0073, -0.0024, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490724181056421da6686dcefc5f7cb7ecc56cdac01c442369b74ef6f906632a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3755fe994785d4df19d2df0e426471b833be321b29e3fe2801ea07e3f534d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f8508b739d0e9ab535375c61e99dd48d6ea93ee6f9e035cd39b932c6103fc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4aeqLSZATCvYRVtKMqEifUdsdUEsEAHY4z_KUgaEahxU-HKf8L8MRb9QbrOboNvqNJJztaswU3EUVFVr5VwdHw6evb6EIVS_9KHKXdshMg_nWF7tkC9n4_f6-3o1LEJWxiNU_iRUPIfIOYjJMr0f8_cmNMfhG2jH1LGY8E2c7Ru7GIh3tM-2XJzdnWvW4KVJ-zPRRIXMfbky3XJ8dh-AgOYZCZ4vn9KfwSq1G1BTe7vi57ajAGm6mcntbSav5pXLBZsOU4AyszkiStlZ-4wP4GB8x5Xubl0hSBTj64pAuS2_yd44hrILCiuldJyQMV-_MNvYtZ3Kpjpds04rpGIF7moxcCRjsqIvuvDkyYJ_7kM7xpocwWzmnAyTTWP3pEiBwUfEN2YQK_AxxxwH9SvXL6hyaPqiBgH8cKu5EfL3nWoxo7citDg148nVW-RYQtwH6EvngLOgWTGAYd5tPyBkVENRfSxELgZzQTL7wprRZQddMl393jZM1P68INgC6HuXJtUhxrtMPfDHBzbQw3U76qWhC9R5kNMsMvT6o2GJbqTFt9zAFj1ZrXt63urZHS9d_xdam5PUe__DJd4bGqeDH6QPTF0yr41VwU4EJZlg9Mo-cBlF7gOyDfFg1rYW34UOeXcN-L8XmPVKupWApU4RyyabX0850lOUjT5s8CltOYOWtdWpig76XSJsie-B5PRciTSKEX2BVjaFqAGS4j97bLs49I_lnAEy7YFzk7O2dbU5FIb98oS4QhauwJ2XZQY2fbuSrRkcMFjPJ8aN3hbqJReLYcvnqpx0E5-6OI40UO2G7kS7CxWKQqa1dLZyI0pq8woX1JUWHkWdyqbbgwHqTs1TswtQ_q0hytABdIOCqYhZPkPsSlzXhFVovnJrW4RTmyde_8GEVUaC_g4hOEnWfDMlV5GgtJWWEZokM3MSNdlM2YSSn3HEvhecEMF8uR-wna4s6oV_nnZr03A4NNcqik-wuq2Nf4-6YfUlo4Gw7EC6JV4EfBaT7MPYZH0eJ9JuLg8_4okNOmWzi71zTQ02n7jAP_O7jA-OCflSNWSf_yMZYoAsvoZCddEAru9hlzthRMFOo2K6G28Yq7oiAA6b0iknYv2GoyYx-eNPEpFxh6_OM_S-tQm1NscC4vme9sfizOnsMZHfv4RJ_QCRsk8gOVYyYlgF-lcjsEjYdtVbg6_4h32zyJbA3HE1KM_7k2UwR8CXkoEqXuWK0RsNE554scn4G-FR6vILjK_3q7kmEFWxU=",
  "id": "rs_0d671001b327ea8d016ab43e19671487d094bc746c94298166",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pear now fills the gap between the finger bodies at grasp height, with both jaws visibly alongside it. I’ll close the gripper and verify the opening before transport.\"}",
  "call_id": "call_57usBT2hRxCYSuTfs2Mxz5Sb",
  "id": "fc_0d671001b327ea8d016ab43e1988bc87d0856c5c3164bbfb59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_57usBT2hRxCYSuTfs2Mxz5Sb",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6147, -0.4389, -0.0139, -0.0338, 0.9991, 0.1616, 1.5639, 0.6796, 0.0696, 0.0578, -0.0189, 0.0114]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1674 left_yaw=0.0018 left_pitch=-0.071 left_roll=-0.0019 left_gripper=0.9991 right_x=0.385 right_y=0.056 right_z=0.0454 right_yaw=0.1061 right_pitch=-0.2434 right_roll=-0.0453 right_gripper=0.0114\nstate[joint_eff]: [-0.0615, -1.347, 7.1453, 1.7558, -0.0464, -0.0464, -0.0122, -0.2393, -5.9009, 5.8735, 1.5409, 0.0659, 0.0269, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd00b1b734e0c877104d677972a14016b005c84da537e5982e3aec57e8a35a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70eb1cf9ee0e804cd3f44a05ad0311e0543b995d09e67aadc0bc27e53f7f1eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830447873d08401cd754caa0757b1abdc170c5acd1106945fafddb089469911f",
      "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 · 3.886 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]: [-0.0212, 0.8124, 0.6147, -0.4248, -0.0139, -0.0338, 0.9991, 0.2073, 1.401, 0.4133, 0.1753, 0.0959, 0.0368, 0.0115]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1707 left_yaw=0.0006 left_pitch=-0.0549 left_roll=-0.0022 left_gripper=0.9991 right_x=0.3253 right_y=0.0548 right_z=0.0224 right_yaw=0.088 right_pitch=-0.2378 right_roll=-0.034 right_gripper=0.0115\nstate[joint_eff]: [-0.2256, -1.3607, 6.9812, 1.6679, -0.0366, -0.0366, -0.0122, -0.0615, -4.3966, 5.6274, 1.5653, 0.0415, 0.0024, 0.8718]",
      "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]: [-0.02, 0.8143, 0.6147, -0.4343, -0.0139, -0.0338, 0.9991, 0.1616, 1.5696, 0.6739, 0.0406, 0.065, -0.0116, 0.9983]\nstate[eef_state]: left_x=0.2898 left_y=0.0002 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0664 left_roll=-0.002 left_gripper=0.9991 right_x=0.3776 right_y=0.0535 right_z=0.0365 right_yaw=0.095 right_pitch=-0.2833 right_roll=-0.0483 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -0.9915, 7.1863, 1.7509, -0.0855, -0.0806, -0.0122, 0.1983, -6.3521, 5.559, 1.6093, -0.0073, -0.0024, 0.0024]",
      "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]: [-0.02, 0.8143, 0.6147, -0.4389, -0.0139, -0.0338, 0.9991, 0.1616, 1.5639, 0.6796, 0.0696, 0.0578, -0.0189, 0.0114]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1674 left_yaw=0.0018 left_pitch=-0.071 left_roll=-0.0019 left_gripper=0.9991 right_x=0.385 right_y=0.056 right_z=0.0454 right_yaw=0.1061 right_pitch=-0.2434 right_roll=-0.0453 right_gripper=0.0114\nstate[joint_eff]: [-0.0615, -1.347, 7.1453, 1.7558, -0.0464, -0.0464, -0.0122, -0.2393, -5.9009, 5.8735, 1.5409, 0.0659, 0.0269, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd00b1b734e0c877104d677972a14016b005c84da537e5982e3aec57e8a35a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70eb1cf9ee0e804cd3f44a05ad0311e0543b995d09e67aadc0bc27e53f7f1eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830447873d08401cd754caa0757b1abdc170c5acd1106945fafddb089469911f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4hZn6TYIkvRLI1OWgvTiw-CKguL3e2nBZnBXD0_py4X5qU4zqXUoM4hQMgwOpq9hdJayKxj8imFI5jrB_Pszw0Ky0DvvLzTkvkd65L_Dc8qmIsn-6eKUmvrChbyaeHZ6utR9Czy_wBf2V2EqA2z4ycgbuMMlmBI-4cElcxOcxLTuCXX0Lpdo8QliNoxeL_XmYGApk7NFkvwwJyJYx9lXOWkgQqH0yWuyzZaG8TOjvxorCcgQojhpH8O_qrGtxXDNuyaqRc3H2lQlMu0tQ6IDB6OLMbBEnE7QUK_yeoVusTScEIncyLIEyZznZNBJoqHlkS0xu1Aot4hR3oGv3CEFteUUTLNdHTQ9AL0-Yr-Fp-px2pLQTJnVN_l2IKA2wQOq-HwFkSER6l6-WY_VNOEY-MyTWWSx5Je7K8uXCrtHkUVOkx7tJD8WArFLkCbJHs81i4PS2o3Do7GGYqkFHLnnCDh6m5o8UWuVtJplv3fnSLWz3aMH1AcupJAq-_3eVSbMr4VW9BVtarggDnggnme60gLoDn5FmaF5Xu-EX-eB480ZCPQUn7eXkHv27AoCsY68Vx5xzKwNeNswMlYBh074Uz2_YxJ17DBZhnMnqr3KB-itJ19RjtvsAZhKA3Mh3xpVyVnqd_3LOuiXmR54BFUwIG_7H0AI0zQBaAbfgFXErGnFCARRMJsuBgLJ0KIZEDUp6sS3bLe7F7h4Yl9n_FIDEZ_P4OnodW8J-2wfkdARjqRrjPWYvhn4VxMRfgkXoQkY04hq2CExp0QugQikqi5vOrphcsA1QbqKPLxGmgrwihtEg53ceKp4TfdmpOjg7XI-176TXoyzRpj_VtlStiQGZ0RATfhyPGU55y7GlgPFi5GIIim15F5pwOYY6yqubGI3Pj4ab0fmLnv9csEgLjgka_3BUWK50weq3fhGRlaf8B04PPOWl00_zoe6k07e2fZZ8gdL8g0Rg732MqZcXyl9mv1Ljok9SaZlxJAfEhI_fKuNeKoCjzxmav20VFfTxBck6sxFVUaFjdbz_zqW0S55UmPLrFvYxFSdTotOF-IVBrFiPse6qfselPm43VjbX9F802NVadFUtjRc-FF7HyeGxvNzPL6wFkVpv0K311fG1QIFSyW-FJ7bNRhEGH2Q0g9z7KmcdAlcy3UG1gvbKWIpEBZDqfSuv0oqFpFsMrTHPUITRZu-N2Ffck3r958cjmxOgyTEEIK86e_ktyDxUZdXqr3Z4D8_oa-elAH4gv70yCH2pq9dOa-igZ0vQ4L7MNULQlbv0t_j985s2uO6-HW2_z9kSWMdxbThmhS_iaJPNAN2bnWJUCSMdRo9be0GKeNw6sETmbnlPQWi97wEB2dsgsTX-LQSgnakX27jCUnibNuTGhXS4ACUdhDEbATBXgc8R6UMOYii9mGImTJ-0LMRbBz_HktfktoUmGbQtHACesXEZpoxm1mFNIFfhgE0fRPTMPneId_AeReOFAmu-BB0eI8gHNM-qvj3zHm9fo8lWoNVb7b83RyIa60SeokoN_t8OmjpkAM9TOa6MCmxhnbBCtZeYq1UlvlfwLW4Aui4UjfcePzvHE1QnZ4JrzQFDWx10c6rnCZpdeWHn4x3XOjUZejkPNaexxRIgn_LzGhdNQzJbR1TdgWhFNhxFTwO9UwUPVWxZFoFGdu3iJX-x7_LgNp4OqaBEY8ro9ep8Rv2c7z2Q1bOSAGvG2jm16FKPsjjzasbU-k948oeOJHr456S7hBJRFi3yuAlK578l3mlX4qFY732wONgol5lBhdqeYaT18I4ZQzwLoD8UonBqD_Z7QgDa0BMhi5o7TtHyAbs7wrQnOtyAFQoAkiVO2qLbEub3x3ovQ4uibU71-u6P-f9a5ksi5-MxPv2NU-yAA7CpnyNNnCDvh0uvVm47LBFrCao8MFfvELbCkUPJNOVXCmbuPULAD6kdog3R9yTz9ev8IxWgj4rzLMQ847mAu5sSP6J0cUwVQ6aKQJybiYWE0FNJlYplTPDIIx1E4bSb4CuVqgOO4aHx6aBuYIyU54uw2tGQco_9bzbn8SrNJOjTclycx79oyFcdm5Db0E8Xwqzn6B1v2DFIFGEWOQYQpmFvmOrp_cXJKsxorNjy6i3t_-bE7LdicS_fYTNAFWl_NP71Dkco-H5fgnnciiSNomj_AW5abZgMoltQJsWiwrXvRvUq4wzy2OPOe-JayNWgVztlDcvwl8v3HjoOGuq3lgp_WdW4x4aAgh_js1gAt8lTOAnQaoW6KPjHyTermuSvY4UTDCNUmf3Gec8Skj9mJ8d2L682a9Sfi7BKzmeoXgmcSKgbCCkrbTgAFB2zHTTa6MOm0RTARc6AmrkmP_506BnGIBj1ir2IbRpKd0PYfn6uBXJwPiqU6iAzGU6ffs5hJkWPVd9hHepsvaryzjEITRXiOmXGh4Y7m7G2rP4Tg6tXtnHOQiPmFG33bHo91R4aHvSOgjpBp-DCkv2WbNGxnM9Vao8X9r3incQoogWASS7hQW4luAxxcL6PlG2kDgnHsY-WAjI_qaXC-kXlj-QKaDBpzLwdq4kWgN2bjU1AJC_u59bWINKY7NeAgTqOagoFD0ct5XRcfocgIwfq5kWgG_PlWs1O93MPQ4XbgkbN3-NIMi1tQZH4NcgCGirK0C6EIafveeW9ncjji5N8dFnIEXn6xKOu_W_kqPsz-BGM4Xy0RBB03Qz1E73IxvL5EMfdUHoFDD6EtnjBUOGM6B5kOWmdfzXbojxvAnO2SFIH0DhOmXdZ3IA==",
  "id": "rs_0d671001b327ea8d016ab43e1cf3d887d0bf7dfe60e8b57b93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.47,\"right_z\":0.13},\"note\":\"The tapered pear slipped forward during closure and is now near the far side of the workspace. Rather than squeeze its rounded base again, I’ll reopen and approach above its neck at the new forward location for a higher, narrower grasp.\"}",
  "call_id": "call_p8oudQcVZAkFgMRUCb0f8Cpy",
  "id": "fc_0d671001b327ea8d016ab43e1fdb2887d0a05ce3ede5f45f92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p8oudQcVZAkFgMRUCb0f8Cpy",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4458, -0.0139, -0.0338, 0.9991, 0.1326, 1.7184, 1.1965, -0.3202, 0.0277, -0.0681, 0.9983]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1657 left_yaw=0.0018 left_pitch=-0.079 left_roll=-0.0017 left_gripper=0.9991 right_x=0.4615 right_y=0.0602 right_z=0.1191 right_yaw=0.1305 right_pitch=-0.2726 right_roll=-0.0576 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, -1.4291, 7.1316, 1.7314, -0.0513, -0.0757, -0.0171, -1.1145, -8.212, 8.8684, 1.4872, -0.0122, 0.1441, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0edc8f2b893c55e76915642471e35f4b450ff64faa0f728f5ef78e4884ad17aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67cb4836e468f81b1e02541d657d5f8227ed2ec1df4b1488ee92eadccab6039a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecac963d49b8e7badbbb3ac022ae5871c30a065672112455c4ba6b8ae8fdda8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.772 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]: [-0.0204, 0.8135, 0.6147, -0.4305, -0.0139, -0.0338, 0.9991, 0.1619, 1.4685, 0.7712, -0.1318, 0.065, -0.009, 0.9981]\nstate[eef_state]: left_x=0.2903 left_y=0.0001 left_z=0.1693 left_yaw=0.0014 left_pitch=-0.0618 left_roll=-0.0021 left_gripper=0.9991 right_x=0.3821 right_y=0.0544 right_z=0.0818 right_yaw=0.0944 right_pitch=-0.2574 right_roll=-0.0447 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -1.4017, 7.159, 1.7363, -0.0562, -0.0171, -0.0171, -0.4581, -5.1487, 8.1299, 1.5556, -0.0659, 0.0757, -0.1148]\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]: [-0.02, 0.8143, 0.6147, -0.4389, -0.0139, -0.0338, 0.9991, 0.1616, 1.5639, 0.6796, 0.0696, 0.0578, -0.0189, 0.0114]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1674 left_yaw=0.0018 left_pitch=-0.071 left_roll=-0.0019 left_gripper=0.9991 right_x=0.385 right_y=0.056 right_z=0.0454 right_yaw=0.1061 right_pitch=-0.2434 right_roll=-0.0453 right_gripper=0.0114\nstate[joint_eff]: [-0.0615, -1.347, 7.1453, 1.7558, -0.0464, -0.0464, -0.0122, -0.2393, -5.9009, 5.8735, 1.5409, 0.0659, 0.0269, 0.8718]",
      "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]: [-0.02, 0.8154, 0.6147, -0.4458, -0.0139, -0.0338, 0.9991, 0.1326, 1.7184, 1.1965, -0.3202, 0.0277, -0.0681, 0.9983]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1657 left_yaw=0.0018 left_pitch=-0.079 left_roll=-0.0017 left_gripper=0.9991 right_x=0.4615 right_y=0.0602 right_z=0.1191 right_yaw=0.1305 right_pitch=-0.2726 right_roll=-0.0576 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, -1.4291, 7.1316, 1.7314, -0.0513, -0.0757, -0.0171, -1.1145, -8.212, 8.8684, 1.4872, -0.0122, 0.1441, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0edc8f2b893c55e76915642471e35f4b450ff64faa0f728f5ef78e4884ad17aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67cb4836e468f81b1e02541d657d5f8227ed2ec1df4b1488ee92eadccab6039a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecac963d49b8e7badbbb3ac022ae5871c30a065672112455c4ba6b8ae8fdda8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4mMaQ9QJ7y2dHNibqgIv7WwTEPahmhcHAoGZ8GZYXEPkV9e_sS7nUgym1rn-9tgNUOflEKVqoQqsYZSxwDUM7Uu5zcYADFD-2-q6Gmu8yVM1vLilSYPHbE_tUPRd14WU6_c1UF1RT_Cq4I7yRxskrOaClsjUtpe9Quc4IHXJCp64iANJ5VH4Jq7byf63fDSmADXON240wnv9bDdAvaK5437qI_AERDan24KU_re_ODH5l9t-XRmad_Rc9bkQveB98Q7BO2zX7GAsDkqVM9KrrKbxa5P6oRPajrMz1XNdzRsLghlpxQCyPj4DI6D2JOhoCqzuIDcu1_1lP_EWtLlnaMp7MVcyBqB8ozkBHVQMeNg4icbZrJ68cndy81NQ7HX2PPAs3tn_LDjKiodXwn8GnftJiyyPDAti6QeqsQ4t4Y1AaYrep1i7JbeDs03yixCOhtibId_VhfStmxA48E_pwNBsjxgVr5zwgwIRbwCpb58dIsyATAJABBHLl15GSEqa5gtGXvROA_TLc50Av2mAhIkNcRssgjnqGMDgRZAsmFv7FM--voY-bwf5pYQC0rXJmWgLYHCLgHeYpCTmn3R39j1KAHMkeyaeLMd_t-znyp7JTb9ST0RjLcSQqpN3MIl6z0273LCdTUe38mZWupMEJtLokueY6vjObw556t5VYvEZ7ggbJjBJJC71QnnW8x_ixPAWLFxaUFVRyWYICkf5JK-p_uL213lgD8ki8XzcnWbTCxFMy-0mUxdk6VzSE_ocKcorB45x_DKlnqqMP0W0YVxKLWthCNE6rKYfAl8h3ExWhSpep1AsnAWs6XNg6nqnVa6cMv1YPTfBYOWawKIEJgPtcHiT9CALviVxY-vNZp6qBUJ1T_rGJTtqKlGbz_UkaH7RGtgXRNEzuskfTOVVQ-1ocVSuYTaAbaUsYJaJTF9DAramz7q4y83ves-CVFZRjMn2vmAMqodmC_X9tdzmHeuutim3KIRZ4oGwc4XHfD660GVdLSzHLFOlWspcEv_31LKuGJxT1fmSfAEol5zzdi5w0-HLcdqUZRa0zvn33cb1aUhKTNNlhwiMaXL26Ju9mF33vX7t3-Cd8wtvPLNOXAkX0U5teLDKIU-OA5f4XnoU2vY4wuK_ly_bDmwuzO4qfnhntVt2ovrSdo3z28uxkmrVC79_krfC8U6K7Hbbf7bzP9MFRtEIYMJVHOHGE21zF1J9KaNdw14As2BkA4zH2VMcOYXznzJMfux0DB1n_2T8WcX3m0dharmUKkKaAImYM3lOnA_n3-RmPDM-tgXZn9sP5cpKDovz7sKL_7TuGQ22H_rJGGdM-56BSARw01hHllPtqrAU-jAOGcukt93oD9mwbp-Z-BmgXUfJERunRkaD_SrdelQAODj98AimQsm8hLYQEhwqNhz5Af5BNvxO56GWzm6VgSX3k1UdM404cje6JbSaoUz5Fc9ih1VzRMXgeNRjdLKtGNF2tukCNvfClUXba1mZLC_aQw7DvT5xLQ6WfTC_SH3R9o0VAEE_JX85v1VGVxU_8OY_Mt5Vi_5EIXuM6dROt7OXGybtGysS5bK0dgUY2_ZK_pPXfu7RLIOSmgnNRArhYhMCvMnkxqEYzAQBWHZYegRBMa0CawPaKaBoY=",
  "id": "rs_0d671001b327ea8d016ab43e24069487d0bc606204d00be69c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_z\":0.075},\"note\":\"The pear’s neck is aligned with the jaw column but still just beyond the fingertips near the far reach limit. I’ll advance the last 3 cm and lower to neck height, avoiding another table-level squeeze on its rounded base.\"}",
  "call_id": "call_9CNLPBEf5qPggYSywyB9JNsG",
  "id": "fc_0d671001b327ea8d016ab43e25017487d089cd37538ab92fa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9CNLPBEf5qPggYSywyB9JNsG",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4496, -0.0139, -0.0338, 0.9991, 0.1268, 1.8854, 1.1992, -0.2062, 0.0208, -0.0906, 0.9983]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.165 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0016 left_gripper=0.9991 right_x=0.4802 right_y=0.0612 right_z=0.0623 right_yaw=0.1437 right_pitch=-0.3236 right_roll=-0.0669 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.1556, 6.9675, 1.7411, -0.0513, -0.0513, -0.0171, -0.5812, -10.4821, 7.2274, 1.7705, -0.0366, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83930da59a22599052cfb88a211a6ccfec0d0810c58742ecee4de658c3356ceb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eede27bfa46492eb9c13d615432d79f38bf444a545c396fbf643f57827431bbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268890914319e677d0b5ff3faa2f7e61930e5e1ba9ce426c2586951ab729c11b",
      "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 16 attempt 0 · /responses · status 200 · 3.185 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]: [-0.02, 0.8143, 0.6147, -0.4343, -0.0139, -0.0338, 0.9991, 0.1616, 1.5696, 0.6739, 0.0406, 0.065, -0.0116, 0.9983]\nstate[eef_state]: left_x=0.2898 left_y=0.0002 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0664 left_roll=-0.002 left_gripper=0.9991 right_x=0.3776 right_y=0.0535 right_z=0.0365 right_yaw=0.095 right_pitch=-0.2833 right_roll=-0.0483 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -0.9915, 7.1863, 1.7509, -0.0855, -0.0806, -0.0122, 0.1983, -6.3521, 5.559, 1.6093, -0.0073, -0.0024, 0.0024]",
      "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]: [-0.02, 0.8154, 0.6147, -0.4458, -0.0139, -0.0338, 0.9991, 0.1326, 1.7184, 1.1965, -0.3202, 0.0277, -0.0681, 0.9983]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1657 left_yaw=0.0018 left_pitch=-0.079 left_roll=-0.0017 left_gripper=0.9991 right_x=0.4615 right_y=0.0602 right_z=0.1191 right_yaw=0.1305 right_pitch=-0.2726 right_roll=-0.0576 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, -1.4291, 7.1316, 1.7314, -0.0513, -0.0757, -0.0171, -1.1145, -8.212, 8.8684, 1.4872, -0.0122, 0.1441, -0.188]\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 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]: [-0.02, 0.8154, 0.6147, -0.4496, -0.0139, -0.0338, 0.9991, 0.1268, 1.8854, 1.1992, -0.2062, 0.0208, -0.0906, 0.9983]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.165 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0016 left_gripper=0.9991 right_x=0.4802 right_y=0.0612 right_z=0.0623 right_yaw=0.1437 right_pitch=-0.3236 right_roll=-0.0669 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.1556, 6.9675, 1.7411, -0.0513, -0.0513, -0.0171, -0.5812, -10.4821, 7.2274, 1.7705, -0.0366, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83930da59a22599052cfb88a211a6ccfec0d0810c58742ecee4de658c3356ceb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eede27bfa46492eb9c13d615432d79f38bf444a545c396fbf643f57827431bbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268890914319e677d0b5ff3faa2f7e61930e5e1ba9ce426c2586951ab729c11b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4th3i8xEY6l1e3Fh4ARX7oQ06pDX5o3isQhwcWtF0grORZsP9JKrmVx7OfZyjMGizAJcmi9fqsndGWfEbPnyW-tzfSzyOdkgUS7Ggd5wPOwikZ-x3FM-BVNr6VwWIZoS5kGXwMFUoa-p8iub7cPrgwNCbq5xqT7D8gelrxIIVjEvflTU4Btl5Qi1MUrvl07Ni3DSLy0X_3wPN6FJWhAKEh2wvfUXGw8leyNRCmmdXK3MjehImmIlrYxFX6LM5y3HdGIWUGwoQtGeusRbTfoITmxu4HkaPkCY15UdYEKfcTgDQzpAinEmDehwVwR1FQ6jyRO7wTxmwkfeJVS3DEZ8UQsr5oRz5JXUyCpEVaP4GLEPBzMKBwwc0l5dXLCSBh5C1bmKjBtz7NTQHjkhAMbOTHeSutC6SOggTGZfW3aD7tO4zv15hsaQRKbHG08X7BH-CF-XgTv7luvBVkbn6KssUtUEwy1XlRKo9qjl8Z6ynvZrWfCIQEeH_oPwRcaG19oZvbfQ_Z6c-gEb5pAUFKCKx_jUneoCDQC-uUaUUjJiNzPqwKsdu2TDmQ6cBI6x86CvIxtrzD2HmqtcILB-MIzHH2f5PuZ3XQyth-gpXUHTJ_akK5NZuiEpM1upeNfYpPekA_sWVzIvtmMDQaUHcFZ2cFjIHAgz17pElexznnRhIJ5wcR26jID-lB1Ie2qPYxMdqnISy7RayNsWkybPnckYmAJEtfdbzFYEsJKh_AWDtJ2STl6rEItHrgAJZfqQPgZ7zVpiLoF9lcdlt4tNOt69RynOVJtuk5AtpE7iQenCYIeMWSGV_sUR1ttK_xktvsyz8a1fJt-vO3Tl4EY-Fjph0cmhVUsEMsXiuKFJ6I4uwffmvD7B2RC6_rJbI3M806D2ZFgbcR7lPhz2-p035bMjQtPkPNCaLwzCg5-NOe43dvjkSiLwJxKNnTDpNiNLQw069tb3yjfCee9PSkJhd4lpcHfvcYzTjuYu5HFDx-Rhk4xT6tqVNAogz2v7Gnb0wSRv_rZsyhW3Bk5rHRaHYZ9Km66elQlwDkjjSPiidXbrPG6ARnFC73DgSszrkQ1VtM2h9iy-Q9Ol22pTY3ojoWvULzcvLf4gNe7CPJEBkJ2pZeqn400TZwGnPOhcucmrvSeE19usGVqVXzd29AJF420Ju0FbQUI3extvU9MSBopcIWSXWV_psmOsPc0nj__Of3VJBCJ_gTIJrQ36lQp4WoMkvM7f3QPFpb765DO74HqZ88GNaW-ey_g7Bg_8s1LtlixC7z-clBps_8QQhVk6_TPKCa2j8qX0_Stzj4WUtZfAFUcMQJDLYgJIDyHH-KoX7HvSSCB5go1L8C6CJJkyubRiJKDcLhnx-qd1lGSasMeBf9NF_Tqq1IYIE_WOGiLlvW1GjAd1uR285U2FnBeax7YuTdEEJiJf3IsPGL7G3N_u9xLUWzVGmfs0V_ZSUeHhFaJ2A7sraG2xuQBX1qAeufc8nPyKYReqQ18r7S1X0n-LLkER2VpIE_NRnyljt-xkumgGUy0u55AWJIUBYmZOxOk4RBEw6GZYrDuovaOPC7oBV2qmcHCeAcheB5XoWNOmYJbjTUUtkk1BBMvatlMbdsWbHxTcSh7nUI95Q096Z1FFUe4BhHNll3ucgA80G274SDZBrAz6rBn9YiKZyW5eVS9RrAPFoAxsoT3jNZao8f1bmbZzPrfOax-KiU8TLkD7sju9TykGVSQFkS1zuzE2iOOMhjvdMXB6ClH5OXdYaVWTVv3f5QVhSn5Y62yhazL2tRq0-Uxf9rKIk_Wt1hYjJplJaXQD00buV3G3VgSsKD8vmzkJUFs5jaWztu0VTEmrpBFUY64kwmfMreaucJ2LnbYVBeOw==",
  "id": "rs_0d671001b327ea8d016ab43e2b083887d0840995ef1e1313fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_z\":0.09},\"note\":\"The pear is now just outside the wrist image at the far edge; at neck height the arm can reach farther than it can at table contact. I’ll extend cautiously to 0.54 m while staying above the table to try to recover it by the upright neck.\"}",
  "call_id": "call_K77jZvMtzgY3jrgGQkLPkGRc",
  "id": "fc_0d671001b327ea8d016ab43e2c5e0c87d0b2efd935cc51c0bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K77jZvMtzgY3jrgGQkLPkGRc",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4503, -0.0139, -0.0338, 0.9991, 0.1192, 2.0579, 1.5391, -0.4164, 0.0021, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1648 left_yaw=0.0018 left_pitch=-0.0835 left_roll=-0.0016 left_gripper=0.9991 right_x=0.5284 right_y=0.0665 right_z=0.0775 right_yaw=0.1726 right_pitch=-0.3669 right_roll=-0.0714 right_gripper=0.9983\nstate[joint_eff]: [-0.2256, -1.1556, 7.1043, 1.7216, -0.0317, -0.0464, -0.0122, -1.1282, -11.2479, 9.3333, 1.7509, 0.0073, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660b3a8275bea446e6f06ccb1be8df51885348bb7b656acbf4ed57ec77487da0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d7e18e7cdc83f4ef1465c134a7e047cdf4e2c805806bdf23235e18efaf89cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752cf9ac953b4856e048732be1a0c351dac0e0d6a677c279348efda24211064a",
      "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 · 2.71 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]: [-0.02, 0.8143, 0.6147, -0.4389, -0.0139, -0.0338, 0.9991, 0.1616, 1.5639, 0.6796, 0.0696, 0.0578, -0.0189, 0.0114]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1674 left_yaw=0.0018 left_pitch=-0.071 left_roll=-0.0019 left_gripper=0.9991 right_x=0.385 right_y=0.056 right_z=0.0454 right_yaw=0.1061 right_pitch=-0.2434 right_roll=-0.0453 right_gripper=0.0114\nstate[joint_eff]: [-0.0615, -1.347, 7.1453, 1.7558, -0.0464, -0.0464, -0.0122, -0.2393, -5.9009, 5.8735, 1.5409, 0.0659, 0.0269, 0.8718]",
      "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]: [-0.02, 0.8154, 0.6147, -0.4496, -0.0139, -0.0338, 0.9991, 0.1268, 1.8854, 1.1992, -0.2062, 0.0208, -0.0906, 0.9983]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.165 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0016 left_gripper=0.9991 right_x=0.4802 right_y=0.0612 right_z=0.0623 right_yaw=0.1437 right_pitch=-0.3236 right_roll=-0.0669 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.1556, 6.9675, 1.7411, -0.0513, -0.0513, -0.0171, -0.5812, -10.4821, 7.2274, 1.7705, -0.0366, 0.1392, -0.0122]",
      "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]: [-0.02, 0.8154, 0.6147, -0.4503, -0.0139, -0.0338, 0.9991, 0.1192, 2.0579, 1.5391, -0.4164, 0.0021, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1648 left_yaw=0.0018 left_pitch=-0.0835 left_roll=-0.0016 left_gripper=0.9991 right_x=0.5284 right_y=0.0665 right_z=0.0775 right_yaw=0.1726 right_pitch=-0.3669 right_roll=-0.0714 right_gripper=0.9983\nstate[joint_eff]: [-0.2256, -1.1556, 7.1043, 1.7216, -0.0317, -0.0464, -0.0122, -1.1282, -11.2479, 9.3333, 1.7509, 0.0073, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660b3a8275bea446e6f06ccb1be8df51885348bb7b656acbf4ed57ec77487da0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d7e18e7cdc83f4ef1465c134a7e047cdf4e2c805806bdf23235e18efaf89cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752cf9ac953b4856e048732be1a0c351dac0e0d6a677c279348efda24211064a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4x8cu4omPWB8dMyhd7J-y75CNfbX44MqRWPH5wFzyuqW5TQOkC09LGKKPMIex8r3LnFfHNHvg5A8AJ90hR01PuXBl9Tf4Y00w1vxfid4QUKyLC4W4LYUXxwr4ooO9kgNNwWSfXrcYUTkBzlvprgdkcG1TKniK5A6SqO4e6aJeMGt0t04-JHrVBQ0f2MIgX4kW7XUaQFpUin7ARq-sWlBzzPMNtn3_r5yP4azYB8K4yQOEqjJpNxka89HRttoMbqOtZiLcTdyAQod1v1QAdydf12QFCWuUYQSmNZ5SmXwwywgkNqDll6JzNpYOPZ0nQHITE6sUwdkY78J3h7tmEj5eQUQ8_YeUW_2yMuQqxXM3O6QC40rRt39bfPZ8jDnfPV0aFnDlifaQd_AYG56wOWf0ACqlbaKxMDimrngaAiKY8GjeSCphT1sCSuytViVd17qXoVkJsMpqlAYJtY0sKj5sRmSQRd5mM9QUP6bLDHSoxgrOBYpQ76RhcOkS494AlvuldLaKGwrza-doscewHfR2rb55MgPzy5CLZkwfrzeqMfq971Eg6PzwrisaUkTWtTRcHzA6iqnYyeLbT52609dANfXcDSnXqqvpvFKxWg-NHksrv6URGqShH6oEEuTVliRjEV09N6RIMTyHK16GU7wyoQZXRKDzBIFh42Fdl-20UndHLAd0dBU6SC_8Nl7pD2FVrwNtwvpHIgNyjX4FuCvOmmAjUfheeBdAYNGqODsBOHMf_vVEUBGrbBrZUbq5GaqEyBMPQJ7gRnXiDt6mjh4uaOEMAbSkBrbVvOGwNxeKBLZl-5f9qQa3ir6QDyJqPXsE2Z7LY44meJMVw7Q_Nv3KnZ3ziOgJFuCKZ3royMQsBFNJBfEb8D47-8SrQUjY3mKqMliCdSPz9VQQe3KuYhsuSLtg1IOzT6JXr_LbLfG8HvmAY4PqWuA38_NqwT1E5Hnq1CtfcUjwcqwAi6fbkZkoGKyovJc6Oz-rwTgJX9Bojb8hFp6nseU6dc1wweEPhs1yEr7uFX257ieVrus_cNzOHVSh__QCJDBXlxF23-pxzZymmfHS87O_tFK5evfXxiQH8EjcMX6WE2y3LVQn2jgNuVnbb0ssLPC74ieu0OzzXtWcGY7Y-dovwPTpIY50pbg54LHAhJOohDRoX13pr8uOl8S8Hcst3qj8IBedzhAGal78RN-GZzDbXAIcQn01tqX1D_hKwKQmBo7Q4NPnPBBMSFxyuu1kRIhMEoM3yVlXXF3oPgckiDtazAUr3KeoBYQYArNbnH8VHrodiCcnTiS-dmGzALhiGOxIFiNPk8vFWGsrtWWcc5W70KxhPv98zan_bTJp8tVsO4g_RsAkwP2W6cKLxids7tvJ9c6YP5dCytXvMR0bjV8ZzfWe3boVEGmZVZpVK1CVgYbGOHCgGIoh-F6JvmdGOMH0V1cxxYMkFFZM5e-7hjuOkv4J7k8jQgDBxjwMCb0Cely2H42dfSlCIJPalezFu9pBcQNLzE3N-rpGT74lLpQMzvuV0bdrWUpYhLK4ItNXPl68_iLU44U-iRD897SI8-QZGixpkV9Xaxu4=",
  "id": "rs_0d671001b327ea8d016ab43e2f845c87d086ced6069bb948dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.57,\"right_z\":0.1},\"note\":\"The pear has reappeared centered at the very top of the wrist view, confirming the lateral alignment is good but the fingertips remain a few centimeters short. I’ll extend another 3 cm at neck height so the jaws overlap the fruit before closing.\"}",
  "call_id": "call_M15lGrW9WzrLRS57o2M7PwWX",
  "id": "fc_0d671001b327ea8d016ab43e30867087d0bf057889199c9686",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M15lGrW9WzrLRS57o2M7PwWX",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4538, -0.0139, -0.0338, 0.9991, 0.1184, 2.2017, 1.832, -0.6071, -0.0059, -0.1585, 0.9983]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1641 left_yaw=0.0018 left_pitch=-0.087 left_roll=-0.0015 left_gripper=0.9991 right_x=0.5595 right_y=0.0712 right_z=0.0883 right_yaw=0.2002 right_pitch=-0.4092 right_roll=-0.0826 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.0462, 7.1316, 1.6923, -0.0513, -0.0513, -0.0122, -1.1419, -12.2188, 9.0188, 1.5458, -0.022, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d263b752a04ca8a24238211e5cc247831fd9b75018c2fa37fc02680698305afc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609f9d288918fa9e89609a49839324967e61c6d866cad68cb0f5109d299a900e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ff7eb932b5ae63e3c5e743bf363aeab3186e3c0296b21e4bea9423b3f0d605",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 9.048 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]: [-0.02, 0.8154, 0.6147, -0.4458, -0.0139, -0.0338, 0.9991, 0.1326, 1.7184, 1.1965, -0.3202, 0.0277, -0.0681, 0.9983]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1657 left_yaw=0.0018 left_pitch=-0.079 left_roll=-0.0017 left_gripper=0.9991 right_x=0.4615 right_y=0.0602 right_z=0.1191 right_yaw=0.1305 right_pitch=-0.2726 right_roll=-0.0576 right_gripper=0.9983\nstate[joint_eff]: [-0.0205, -1.4291, 7.1316, 1.7314, -0.0513, -0.0757, -0.0171, -1.1145, -8.212, 8.8684, 1.4872, -0.0122, 0.1441, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.8154, 0.6147, -0.4503, -0.0139, -0.0338, 0.9991, 0.1192, 2.0579, 1.5391, -0.4164, 0.0021, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1648 left_yaw=0.0018 left_pitch=-0.0835 left_roll=-0.0016 left_gripper=0.9991 right_x=0.5284 right_y=0.0665 right_z=0.0775 right_yaw=0.1726 right_pitch=-0.3669 right_roll=-0.0714 right_gripper=0.9983\nstate[joint_eff]: [-0.2256, -1.1556, 7.1043, 1.7216, -0.0317, -0.0464, -0.0122, -1.1282, -11.2479, 9.3333, 1.7509, 0.0073, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4538, -0.0139, -0.0338, 0.9991, 0.1184, 2.2017, 1.832, -0.6071, -0.0059, -0.1585, 0.9983]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1641 left_yaw=0.0018 left_pitch=-0.087 left_roll=-0.0015 left_gripper=0.9991 right_x=0.5595 right_y=0.0712 right_z=0.0883 right_yaw=0.2002 right_pitch=-0.4092 right_roll=-0.0826 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.0462, 7.1316, 1.6923, -0.0513, -0.0513, -0.0122, -1.1419, -12.2188, 9.0188, 1.5458, -0.022, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d263b752a04ca8a24238211e5cc247831fd9b75018c2fa37fc02680698305afc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609f9d288918fa9e89609a49839324967e61c6d866cad68cb0f5109d299a900e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ff7eb932b5ae63e3c5e743bf363aeab3186e3c0296b21e4bea9423b3f0d605",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD40L3MGeJs8yruO-dSTFrrpQxAqVehvm3hTZE8jxTd0AfnEXGFMVZhlB7NOrJV0P-Q8X5OF6qd0338MKQbJ96S09l3ZxobOWhJQZbPmZr-thJTbttwPSLigJhSN5Dv4SXaU_BK4wrRZhaMwDZRbPfLpaN3mhimLfQ_j8Lj_NfKer3pe9DZJ2jMFRFoR5WQY7Jd5W3gU2x3xA36S6Gj_bKkwTK2c3AKZ-uNDbXt25KNFkjQ9-hqwAe-sd0DVpHuSSd98UmX_oELzLm5ikZVhpGuIil2eTWxUWUi--5hE-KKXDvEANscleBRZZML7JuY1UmfIZZUSwCa99pnNd4ExDAovwoQ3qUkSEzJDtXzHUWhcRNPCjHoyzaPM6esDgtomfagJNrWY5KshLla_7Ml3qBlp8I7cOp2kr0No_2U9Snf59P5ejYsj1vodXmW7TwetT6sXRflVSnCkgnl30gJ_F90P3ao-DgxA28Ze3wa17ymma8LlfE2U0sVEOD84WPQvVjHmVNSZ0VBocyOWVo9jKQ_1eb1u-HAnesgmQBKamZmcPQ27_x-5N-tZo1hhnP92Ldm7g20XZLLM-wsJdUl7vP9605hn_1qjT4_yxU85ZHGaNIJpGCXml4fZGCkdgYJgyR-Kyqr2iLYz3TpMbsy5knOJ2H3Rn4o2Ic-xq5PaExF1W3HH3HMpqsDTP0pC6b5UQalKt53Rj4irp6-5OHZ9_cXFxw9MV9wygXx9FaW3KWXjoh-nAd-K-LL-OYLHG0yHff1TsoQAJSelhBrpvUYVIDcLJ1K2sly2PWzOJgRbGr0SAORq4G_GyYPxkBNQVKX0BkRGGdynaV8DcOvFlvkjmZSGKax4AhvbcknG4owiLO8cmJs4Zpud0p5R71tKdMuI1wNIc0wg5bkiqacuhfSjsPQj-boDY0FD_Hek4vGsuZsVKl4OiAOzs_I9esFKtcrzFAPHibAoNIdiYgtsQNxHOipdL1A606OqSpH7Fy_-SOUAzduK9-5GEG7Qua9DpyNrfYqJK8xLHhcj9iP4XN89b_7YebIWO6d490z-0E3FxoEQM-iiwxtbDWvAM334ba9Vkk6pDqaNCUz8jySxehowIa9riOfYqoj_lpumMHUAK_D9onmNevdRAAKDBN_nH7TZ_6xl4PinH_fDw8PMXmtUrIaCYGoVxMbdvgNqDEiY9u1BaSf30e0cjDBfHzlihJpEFhqXpRx0BTjPInlUQ-tKLxaypqGbwcUMrL8dl7YRtd9shNiugtnXVb-yCLxqwimc93uNZ1z7FilEjbEpVRYQ0-QlI_odRH1QDjpsodT9wvBpVJc=",
  "id": "rs_0d671001b327ea8d016ab43e33a74c87d08b276f3900eaef03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_z\":0.105},\"note\":\"The pear remains centered but only its lower edge is visible at the top of the wrist frame, so the grasp point is still short. I’ll use the arm’s final 3 cm of allowed forward travel at this elevated neck-grasp height.\"}",
  "call_id": "call_FTyProrREiEmRUtupqCwQhjA",
  "id": "fc_0d671001b327ea8d016ab43e3407ec87d08d36a7115078d20e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FTyProrREiEmRUtupqCwQhjA",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4683, -0.0139, -0.0338, 0.9991, 0.1177, 2.3962, 2.2047, -0.836, -0.017, -0.1928, 0.9983]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1613 left_yaw=0.0018 left_pitch=-0.1015 left_roll=-0.0012 left_gripper=0.9991 right_x=0.5886 right_y=0.0762 right_z=0.0923 right_yaw=0.2324 right_pitch=-0.4602 right_roll=-0.0872 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.2513, 6.9538, 1.7607, -0.0415, -0.022, -0.0122, -1.0325, -13.6137, 8.9641, 1.6142, 0.0269, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e30521a59ce7aa9cbdf06871e141f63985c147dccd7862e11058802ff4f3158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d4fa613ef8c15f45ff809a6c2ad0e741b2772d1687738211bd49b13ebdb285",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9adf4887186a7dfcb54d9799e49db5de4c6cee264c734cad5e50a052575f5e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 5.654 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]: [-0.02, 0.8154, 0.6147, -0.4496, -0.0139, -0.0338, 0.9991, 0.1268, 1.8854, 1.1992, -0.2062, 0.0208, -0.0906, 0.9983]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.165 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0016 left_gripper=0.9991 right_x=0.4802 right_y=0.0612 right_z=0.0623 right_yaw=0.1437 right_pitch=-0.3236 right_roll=-0.0669 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.1556, 6.9675, 1.7411, -0.0513, -0.0513, -0.0171, -0.5812, -10.4821, 7.2274, 1.7705, -0.0366, 0.1392, -0.0122]",
      "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]: [-0.02, 0.8154, 0.6147, -0.4538, -0.0139, -0.0338, 0.9991, 0.1184, 2.2017, 1.832, -0.6071, -0.0059, -0.1585, 0.9983]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1641 left_yaw=0.0018 left_pitch=-0.087 left_roll=-0.0015 left_gripper=0.9991 right_x=0.5595 right_y=0.0712 right_z=0.0883 right_yaw=0.2002 right_pitch=-0.4092 right_roll=-0.0826 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.0462, 7.1316, 1.6923, -0.0513, -0.0513, -0.0122, -1.1419, -12.2188, 9.0188, 1.5458, -0.022, 0.1978, -0.0122]",
      "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]: [-0.02, 0.8154, 0.6147, -0.4683, -0.0139, -0.0338, 0.9991, 0.1177, 2.3962, 2.2047, -0.836, -0.017, -0.1928, 0.9983]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1613 left_yaw=0.0018 left_pitch=-0.1015 left_roll=-0.0012 left_gripper=0.9991 right_x=0.5886 right_y=0.0762 right_z=0.0923 right_yaw=0.2324 right_pitch=-0.4602 right_roll=-0.0872 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.2513, 6.9538, 1.7607, -0.0415, -0.022, -0.0122, -1.0325, -13.6137, 8.9641, 1.6142, 0.0269, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e30521a59ce7aa9cbdf06871e141f63985c147dccd7862e11058802ff4f3158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d4fa613ef8c15f45ff809a6c2ad0e741b2772d1687738211bd49b13ebdb285",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9adf4887186a7dfcb54d9799e49db5de4c6cee264c734cad5e50a052575f5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5AvsZWw0NEefQ6o-7vhaIPSfWN3dDWmxHytP1gLkv_zI7EGYcihBA7KFrJRnoZ-XEj1jGjcfCfnThmIJBwGYAlDqyRgJiFBuwk4sG_psE2MrN8VBp0XY6E_T3NVsJ993dt5azPD6kY9xC2KXC9CxAk4Zqk92A_qOjqwwRFbVGpcb_I4mc0ipOhQ5nWqi7KcbtZ-qW4yd16jxMGCOkRswLejHoS7WEZfKH47znb-Q3r2BBlwgqs97Ts7OGjKx5IXgp2SZLBXJ-Rx1srQt30O2KaKfphsWBy25MWZzcWvPc19EnHPVMf-2WU8jgX_w7cqql17erYIoOThNfvaYJtLkjJyclhqBeVOBDGHEjKtuT6b_xFMpXixUOatlQ0rnQPQLJSIEExAIB84y6QdYu8-VcZCBQs0rUWfq_iyf4GBLVRxvpX5dktI3GsTOwKtzvrOFFwHlIwgxH8dqEi2d1w8IuNJ0S_fcAt9nR7ivXLrFzYmseCYWba80C6hSJaHelz0elmBSq-C89qZsAusVfZ8bhiWtc2395lM0SJSlJgjTYG-pgWBI1bA-kt7YGeIrDehFz7CIj2Wr35gWSU-O3gR7ew8gJDK0cZ3U2TxAQksbwxM1ngj22-5PGPfz_YdZaQfUxOu0R1OTHkHHthF9-PNIcgVAFACBO9nbjVp_P3ls5aL_jxqaiKmcrCIVAXxWAGhF3FaZFkSFK0zS81ahqp35PkVrt7_aSU7GECJhPbZjo8_bUYNg7OacQM3kEttBIGPcx0s9g62XaZ-VIN5iKOcmitzkhzgMtN9X7DpRdtw7DH8upSyoiXCG4Pv0tOy_yeOze4B_U5vP0WjCpfXKF2BSO6MEN50prmB4CXaRnnkVuwQ_KsoqPZiIoNCX06iLPAArIacYPB8LzNddA8AK-5biPLynbNObOfgGeeFxFe45Z2RTe87inTJvGAnvEsir6kVkLXTD6xHaX2QYDvPCwWSlOeHVe2P_vW_8PMvu9zdxjz6obAMK8q9NFlsdhZPV-eMIm2v1XrEEMqajE7sBaG_fcXyvAHE2xtyNTQEUpH6g6wi1RS81Zn4Gha0001cGScBbX27tse6pnAPs6FClfXNgAjJw3u5ZQcdyhNFtJBtWwJUgaCE9MC_i03b4SKv9L-0Eh6ARsIhjHh8Iwggw3Zlzj9E5D2zCBmjIn4rGfwLiOjuuvxER-_QSF-btF48hXo-MPoXn86BpwemGNrm-7xAt3IUy9iC0oCiibAkUFRgGRP-qlOwyxdcV_PEoWIQUyDYa6ek0Ko5B3dveoM0b5JOdQdwtGx31JT-F6fwngsSpg8NSDJIBnr_YTyxdaVV0B4Nu0aQAVOYwjzL3pC5oKi5dLcW9J43UlPl_DVJo4-T8Ztp9VvAqnRK5pP7U9X2P-6CQPGzanNjgWS4K2CUTisv2fT3OVKVOBp449UPy-vjsWZ5I59vDmzARZeDpBBvSVnw2Xj_QflqoTEkduVnDLYKl9lKUuSpx1KZIUHt1Lt27ZeKH8_nYAog8nt-82eWXoH1c6hN4zumIPMKWFykjy2YPZi22a5PF_Yi_DxsG4oJLp2kn-DsCx0dRkX9w_IepBtuHZncsXlU4L3nYWxnOc8MwEMRKKXAPLHBN4QCCXE5uSCDPHN5yBXhtAeSGWtmhSSG7RsnzOEXNj4GnsXobqP3TZfl1KYgHz8p3a5MNoWDkHNOkN0tRhB-Gq7Z9tXc9VWAG7wwjWRwq6EGHeAZfTA5pf_G5rhRwkI5OjLJgqdko5FntN8yVlpo23NpolBY_x7ieXIFLmOLo85tX_NPe2YEnDcbsMEg9MOSz78tHvuxIWX-L2bq_01x_fHnAta0X3N4XfvocHnSRgjlHcCAzuExbyKneN_VTwFkkpSuZWNjN2IR0fWT6HjGdXmtDqQXng6Q5ckTS8_O253b1dTmRKysRLEFeJfaRAF1sj7CKaUFbmngF12_1SF96wWXFKrVlgQkc3NQvKaX64Mp-QgLVc7h55hiywXqhPJm6w0NNOhwncL2kG_wODC15AeE8Sr0G8xeGDfLKEDlSFJ5QMDyw_GarZWRUwf2hy7O0mahKeHHC0z7GrERX1dl9IQcVj694Jz5HwPFFRguCU1LNWKjD2mB-1QX2RyjTPKZs-XXNsJb_242fYYuWwrzZuVPadN2wet8MJpKD36FUyFpNZjMzyvylrNBZL1IRzPJ7CK4LsQGywOjQbCLJ-FuehwPhkJKI_MFHYz-tv333D5W98buHOBGs3uWZUXg4pKpxsl8HEsZYHXSgUO62QRAaFV5J5-W9C6LCJEDa9Q9imvAFvwwcP9wCaAvvFMrU1KqfDSQQj0T0V2M6aWZ-HJcbYpKyHGJ1c_iUwMtYNvu6bchQunn-FIbzpnEI7PK-r8bOyETUUfft0zieRVX0mb7Jt0NGCj_-TQO4SGK4C3u2adeM1nJ2bf2_xUG4MgjXXBKWnPG5UQu2GlRii0-8PwkfKvIvbhcEyABE19pbvz6CBpBEyanjX4sf6cMs1k7apqOTeeuKlpR9fRx-hwiiAPDymgBuMpwmUtUAcshCIhfkwlpjEkItuzuf_yBo2f0vsC8r3aepFy23msNOQIUc0wOjI-aWyV834487oH3bhzjK7GEqhqQPTSSiSLwrnh1wZrQZE3-OmIloAUCfofhYl2uglQVtkyFM8U0oGC0CV7MAgoET1CR-_IgunJkuv0VcCKgE0TgNSMpp-0qf5YBei-IlY2HFlXaUWNi2SqOa-zFVuT-PeFJBKxbydi0IiH52lRM3fP45HrA5re4ZvbqWRY_DLLRTYrH3j2nqruv4zV8mjOWQkkXPMQbvWhu0oLD0g59eOzlvokmwT5_lI6oaPZqhftkxzEF_AtWTu6WWYwhx3oFEg1fMRt-RiNgx03dqQdAmqwimrIo_sCrcO4SsmpolLMFtZReh4tqJsz4t62jB2X2uy-XNNmWzd2zD0mAKY7j1pb2OCScbjib9cSPbjOnqNP5SiqLgdcckIUeDu6gZtU6lOIa_L0n9j5c60dVe1GgL4CvTfKOxF7By8J1tslMR23Gaheek3raUomWNrfTNGO1k-PZsNeWYUG15k4pypFWpKrCo0xXwRSFa47nwOkOCFCj0-pabamup0MXNGTu-_YDJh4m8tsxxsoJI8ptn6VTqCH8sDxg9l2nWT6Obm-DzEIrfQ5H54UgFF9JMRx-80zLaJMeYR5HH3EhFoO4FzLH_jVoqQlmpX6oGeLvB-OUtmhdXA3V3BN6N2EviSoV48M54NQfKOlhnA3o5bd3HCr_E81qUWj6c8nAsam_dHzoUfMEa0C63aKeUrfTQpS17-M7U1Zoqk74pqyhBpP9YvdZTd24EArJoZh8yQFTUnIk3kSY7Yi8LUpo_jcfDjTDMO70Uk8Mo04NEQ_lBWMzI4w2PiizGAufn-Mj1LPP60oh51c0bFukr4KHlOHNzMem9nhdQSLyhsSCXxe8gC4esBbv5EBriPGDxb9-jUV5r_JP3Pdp3BK1iZK9WIUAggPCfZhNCNzwdJ2nYhYK2vKjUvRzEax7kLQdr6Sy_JVI95owIi6_bcfK2QwWPgHclu3sx_72HLtU7p4OFZ7co5ramfWa2k6UVuTj7YUlgIeDLa6Cy7ZRJdrlLmq8IFtw4YOiwX_5kdPmprGOR8ajBNMkh7PVI6hylsmY_o_U1weWDLF5YvPX9gJDKZYQKgxslD7oTgX99oh6haL2lwTgCLjslJt2ifMRVmQ7Thyp7xCA5BWstWpzeGKQ3RKLweiTj7vTnjKom3ttvIy2Jn20jb4t8ST1b_QdjV8H6fOt59G2HXvOP5QNAreuW1h0f224yR_16qSH4EEIFmUIGc8QG1joexCiNo7Z1lA9jqLM5nVmSojA9ethXTgugEXOOAkiEmkFH270nPOPPR436iLRBb0RyQV7qBqtCkNuQSsGNQTxKJPDG0xB1a5xe0_aWazFBD_XON_CwL8nSiTe6NMd-QHhBV3yrdZsGPnr_aLuHS2WBTyLCDgrm3Cw4HIi8jVKR8MUGy5mB4TKjzke01aOfE6VO167XenFUe8q3opKsdkV_r2k6wNobEvdnXTHqeQJm9-BQXhfxK4paMpT_0iv5d-2kr7QgZVl8KBZc35ULEIZWVS_rJLsV-cbun9f-kkOGdXSdBULhseJp0wd3hI4AwM9JZHLOqFTb0-JxJdv05EMkncJXcODl3dIT74G_sX2tHHrQPl3GcD2iWXRTIhY55Lk7W_xAMNn9_zaGrtsnE=",
  "id": "rs_0d671001b327ea8d016ab43e386cb887d0ae62ed6da1c7ed1f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5AUD5DKKFooILJojMopY9dhR1M5qQY-0nDLP6NjNfqanNMVbGRUS4xENtocE31dgolWsrpNStV9VJaSFjMgvU-tsH8atbH4Ha6GNV7CZhtgqYPS00AWt2vYfostHcPpi9XznlVzzifkbA7TcIw05N60hRXv2ehTc3RUZn-RsFRmZVietOH3UuikDdujSRVqRuVTYRjLHPGzoqKHNdvG932ygqnG4AB851T4n1iyFQ68d9kK63sfqra_kflQDFV0_uOhtSQizLmwACLJ5rALM_D0Fg5g1jTui-FNdUzZ88r2eTv6mCAhsHT6EZ-iSZeeCAeNRYwG1H3nSl33kPovw078c9G8ze_9KdJ3StbD8UPqcWH_MGpXAeOY1Diree0f88CNm61xnhaiA5dybmuTkOSjiCeBQbD0ZVbViYa3pWCrJEioCA_Vrd-g1seHMK-1d0Ld9oZqdMAVwJHrZ2DlRq-N_oJrdEXDNd6M2BoCU0pHBBk0CsBK1Cef6SNE7kfvhdOwX6IDAl8Qp2QKf8LiPEfX_75WXhHjYjX-QrJlwTYGNTKsf-sbjHnEXgwSr1Lkgn683OhG5TNoF6JJzboR7oHw30ETDi8Z1dcet6or1uTVundgvJ9OtURg8L4z84YPkTdm5mI8SgqpDkNzdyjVvP5Z8B0tfCVVBjJwSFm3N_MQG15MFabKlH-_EkXyoq9FrtIgMVZZN8tqa-LfZtXsX2nLhKQ9LWrf5iU7eJ_-53L6QQTois7Shpkspns94oOJzheN_qdMlhDws9HxNrXOYMT1VaO8X1yJYRhgeYTISzHIupfw_GhQlFmqVNxqgIbiZs4cOvo8gYNwgcUoFN4TOAKlTBIFuGNRgOfn1ai18HDKdTcxEdCFRpqfmx6nicxMZZBa3zGfYlOk48T3ZxXErDkE4RdD1EfntrbQb8RDLueChRUDD-LNfjP7_KVroAWamLEElVbLURC0nL3Vs14-Egrn6iRCdWk7JOG8dxvrclXkcbskShcKsKNcvASQj0WuNFzFYKFpSJ3B50mnHQB5UTLIJWtgONPZNDZSzsxliD-_Aaxyxy5YTXiFIevQebj5jC0A89LHiykJPc07o_rCzK5YWjI9zoYwAfAy749cVj5ouxkhLWYxfzWh0r5uAm37EkLiZJWOoOrk7tLA6nI1N1i0-cr3LWn4k4tRj2_yiZg-L5LJiZxCAuqmkmVgb2nZZjb7SNKiRGf9eYfX-PHJwQVamhzbjIoWfMZP-gsgERiEBXwnRmu_hg0DewvBArRKn9ITzPLsjf-Nm4A5ZM01KxJh-fOwIZtJos0fli8HeTvd9gQB9pmYtlmDrmMmFlihEmJujWdTDMh8VRzav5W07qW6Zvey_8Db5OxUr0CXklEDCnETKiDnxTstmhNGplRLMQhm_3jXdnmjSULQwEEPMPQZbO8QmDX1xUG-lFbGaKa_HKbq9k5FcY3Op9QZHE4sXJ_iItUGng0oKkkpr5TA-l0_y4prZGMPNaYZqCJw-HpbFRoixg1XeF3eGvMulNOqzxFhtYhS3gNZELkoLaj4TWJnjjcYO67TlCM0Rfv8nqbSZwafT7IlWx0e-BSw4W-SjHfJvDnjKAkAr0COdegd__5GIR2qqzouzfVLS-Gyav3IvayI6WhoNEdd2AhB7q6nvr0wSYG6WHtXL2-WsJkbPODGV_2RXzyFa-xj1CKLKTiq0L62Yeub345Gaq5yjSUG4W2XaUVhu8cXG4FUERQ43YKgKMqKuNHqVuclSX4p1RmzaeC_ReEPqceEA9hbpd-o3-MKNvsg9ClDYU5m0DszF9MQ5iPEXHE8DtWRBl9_ItGuwI-7NHQcLhg2t3gG8pN2MrJ-WM1z0ZImu957sg79LGj0Y_-1b4tiAaE3NVFfRxyTu6Dlci53ELSLequzA2SV3WgY4S-TzpNhm-nhCOanEHZqSaHdxGVcKX_24bX1Y5Qx673a_kSUf0izEFcZ2d28ImndRE8ktO4z9AV6xW8fPGlhg==",
  "id": "rs_0d671001b327ea8d016ab43e3dfa0887d0982d2abece99d406",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_z\":0.12,\"right_pitch\":0.6},\"note\":\"The pear is at the far boundary and the nominal vertical-tool reach is short. I’ll tilt the tool fully forward while holding maximum extension, which may let the arm realize the grasp point closer to the pear’s neck without scraping the table.\"}",
  "call_id": "call_QMPS7MfJjeTeUg0JS6QZ5qPi",
  "id": "fc_0d671001b327ea8d016ab43e3f675887d0a0a256692ca9fbf0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QMPS7MfJjeTeUg0JS6QZ5qPi",
  "output": [
    {
      "text": "executing move_to over 36 steps (3.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4759, -0.0135, -0.0338, 0.9991, 0.0952, 2.291, 1.1931, 1.0618, -0.0887, -0.112, 0.9983]\nstate[eef_state]: left_x=0.2836 left_y=0.0003 left_z=0.1598 left_yaw=0.0015 left_pitch=-0.1091 left_roll=-0.0013 left_gripper=0.9991 right_x=0.6007 right_y=0.0767 right_z=0.1111 right_yaw=0.2341 right_pitch=0.532 right_roll=-0.1019 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -1.306, 6.9402, 1.7118, -0.0269, -0.0513, -0.0171, -0.335, -10.5915, 5.135, 2.4982, -0.1148, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd617cc4030d0fb375f2abc8b7988fab60d0f55ca6415870035eae36fb333f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9954554f252b2d630e1f0dfd52fcac48888e9fdfaf1dbb0624b46b814cd62ac8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db8d69802c51221608342326cb533c41f1c6180153d0126ddb878ffb269ae5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 13.57 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 80 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]: [-0.02, 0.8154, 0.6147, -0.4503, -0.0139, -0.0338, 0.9991, 0.1192, 2.0579, 1.5391, -0.4164, 0.0021, -0.1242, 0.9983]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1648 left_yaw=0.0018 left_pitch=-0.0835 left_roll=-0.0016 left_gripper=0.9991 right_x=0.5284 right_y=0.0665 right_z=0.0775 right_yaw=0.1726 right_pitch=-0.3669 right_roll=-0.0714 right_gripper=0.9983\nstate[joint_eff]: [-0.2256, -1.1556, 7.1043, 1.7216, -0.0317, -0.0464, -0.0122, -1.1282, -11.2479, 9.3333, 1.7509, 0.0073, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4683, -0.0139, -0.0338, 0.9991, 0.1177, 2.3962, 2.2047, -0.836, -0.017, -0.1928, 0.9983]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1613 left_yaw=0.0018 left_pitch=-0.1015 left_roll=-0.0012 left_gripper=0.9991 right_x=0.5886 right_y=0.0762 right_z=0.0923 right_yaw=0.2324 right_pitch=-0.4602 right_roll=-0.0872 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.2513, 6.9538, 1.7607, -0.0415, -0.022, -0.0122, -1.0325, -13.6137, 8.9641, 1.6142, 0.0269, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4759, -0.0135, -0.0338, 0.9991, 0.0952, 2.291, 1.1931, 1.0618, -0.0887, -0.112, 0.9983]\nstate[eef_state]: left_x=0.2836 left_y=0.0003 left_z=0.1598 left_yaw=0.0015 left_pitch=-0.1091 left_roll=-0.0013 left_gripper=0.9991 right_x=0.6007 right_y=0.0767 right_z=0.1111 right_yaw=0.2341 right_pitch=0.532 right_roll=-0.1019 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -1.306, 6.9402, 1.7118, -0.0269, -0.0513, -0.0171, -0.335, -10.5915, 5.135, 2.4982, -0.1148, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd617cc4030d0fb375f2abc8b7988fab60d0f55ca6415870035eae36fb333f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9954554f252b2d630e1f0dfd52fcac48888e9fdfaf1dbb0624b46b814cd62ac8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db8d69802c51221608342326cb533c41f1c6180153d0126ddb878ffb269ae5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5Nerb49O37dOMmSApSVsoxZl1cUPbc4Pt4Z0g4QmuTKzCy3Rio1dLvzLF3r1p59PLrnZt4ZdG8A-NGyb39tG_VFjleBRX2WpHN8Cel0oaeNNyFoGh_p-y9N4Bd-TRLEL3sqsP6U-EGXiYYE5HSDSXakcmGEpNGQUDi3u_GeZJta3MKWEoZL4fkLr3Esk755fi77gkGxn3xgITCo4GkvX5x194ErFmfWD7tj-22bK9HxgZ7IQYbdnIs1ULaz6pTv68qdxzP77CrLtE8lPUgAf54iJR4pfx5IaimNdQR4do4p7eJPUA60rIB4qg2a0FMR0VNTQ_8Wgr71S8FhOEVboSGUN50oQi4ua6X-cD6p03zlk2UvAPFXxBLJqI7XfgPmcoD3Gyg8cUt0GzXGevgj-LQ4948_LD0hA3cUSD3Fa04biylrKp2FaeRLrxZfRMtMhWmSbKJ1KVxvW4e-jTRXP_yiC46fj_Q5co4Fk_hKaXySPZ9VDoc6M7-YcfNJvsriRUkD0dfFTA_ljEw0Rg0QE-Io4Rv7HWftx0uRXaAPLWvYobyv1IykoiJ3-dhCnQHNUkmA5OXV651pNDyfczW-izbRN-G3uigymSRtp5_5yNPfEYyxHQn16jNY-QXUEDb8XU-mRrlW6nbQ_AXejBAfq_q6ryjQ4JQYFRPqwHs5-h2SwKGDyIaZQSo57Kx8qTcDMB-PuqX0PH3neJdfiwynkK_-wS6Vo1Rrgk6nIpiNf42bSrHh7RaxQ_H44JPWE1eWriyT7Gh0algG2XMJIkqPpEXvMiejUJGNvPFUEo8IPKEreZtMQ2CRlGzdk4azpeAer985YbKOh3Fv-Hj5C-dk9lksycbZMTbYJC9NNXtxKAVlhd8-ysjZ8UtqwB7AjlJrlYlS5iZwrXVaH5DD5TOUGgU9xpaE8ya0ZN9KReAHSD1jG4YnvuAlQgtH2WT2kc7fqiyHQwhf64uhbAffWBVIpd4goNpY6kv3KaPKohjD4LGM8Szucd29BGXJdFUUdZHEMUUU_M6EDHEZTtuf_3_p5s74uWdUdFvwpsMFcehIhBCqeVvbbxHgTuC_jWGuMinH-vVcAw1iED-BdYddbTykWbrX_i2Pav1EAJqPq5czHpmhZ_ay4levmlRvmiRhUvQ_97U3CrfIThcCDgwcc6qICIOUrAXQXw__rBUb9iJiBd-UHSsmadOVKCsdvSa7f3797dSrPcriFxqBHj2ycGuXkTH4MBSz8GXipgBMGgVbIjWul9ZaWI_503KDk8-y6q0JnkZgUkRbnht7WbdHhcJz_BIhA2AsbiMePFUkXVBi-eh4ZhgKVI8AmJLaadjr8IWg4qtY8fkUQ4L9dxq-uOEX-QjyHrKDQV7SYbhX-rlSkjK7sDbf7qR-r5Z6y2hbKt4DJso3F-ObC3aUjbS-6e1O-JOOl0uZzar_fEf-pBf9YdQztrKmjpFtiDbsAr7mtgMgpGBTOoR36ETKdJfKmOvoQca7yaWvhhSrDGx0iDpLsnAX80Gy-n49SuiSYQjtgfAOxmBrfdBIQUGZ1nai-hrbnBp4m1lS-m6F68W89WcgTRa2QkcoXn7XwCqG_V-KAILSZKr6XWAnm1T47QEyNOdKGdq7g==",
  "id": "rs_0d671001b327ea8d016ab43e49caf487d08c7978880ecb3d6d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"Tilting forward brought the pear fully between both jaws at the far fence, with its neck and upper body centered. I’ll close here, where the fence also prevents the fruit from slipping farther away.\"}",
  "call_id": "call_hh5T68yxgI5Lro5asuxBXIXX",
  "id": "fc_0d671001b327ea8d016ab43e4c266c87d0ad1c9cc734a508d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hh5T68yxgI5Lro5asuxBXIXX",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4759, -0.0139, -0.0338, 0.9991, 0.0952, 2.3024, 1.1915, 1.0637, -0.091, -0.115, 0.0113]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1598 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9991 right_x=0.6003 right_y=0.077 right_z=0.1042 right_yaw=0.2374 right_pitch=0.5209 right_roll=-0.1035 right_gripper=0.0113\nstate[joint_eff]: [-0.2393, -1.306, 6.9675, 1.6484, -0.0757, -0.0562, -0.0122, -0.0479, -13.094, 5.3265, 1.8926, 0.0317, -0.0171, 0.9499]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a41ad7e1b32efc5451fd04171b56892cb2f9b188b31a25c9d10032099ea267",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ebfac23f15eb6c0108f994e80e28c2a07f8ba20c0bcb18c3115b2539e668bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84ca4161eb3671b01d3fb3fab04ab36d55b8ec714017704870ddd44215d25ef",
      "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 · 4.812 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 80 changed as sent

message 84 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]: [-0.02, 0.8154, 0.6147, -0.4538, -0.0139, -0.0338, 0.9991, 0.1184, 2.2017, 1.832, -0.6071, -0.0059, -0.1585, 0.9983]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1641 left_yaw=0.0018 left_pitch=-0.087 left_roll=-0.0015 left_gripper=0.9991 right_x=0.5595 right_y=0.0712 right_z=0.0883 right_yaw=0.2002 right_pitch=-0.4092 right_roll=-0.0826 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.0462, 7.1316, 1.6923, -0.0513, -0.0513, -0.0122, -1.1419, -12.2188, 9.0188, 1.5458, -0.022, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4759, -0.0135, -0.0338, 0.9991, 0.0952, 2.291, 1.1931, 1.0618, -0.0887, -0.112, 0.9983]\nstate[eef_state]: left_x=0.2836 left_y=0.0003 left_z=0.1598 left_yaw=0.0015 left_pitch=-0.1091 left_roll=-0.0013 left_gripper=0.9991 right_x=0.6007 right_y=0.0767 right_z=0.1111 right_yaw=0.2341 right_pitch=0.532 right_roll=-0.1019 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -1.306, 6.9402, 1.7118, -0.0269, -0.0513, -0.0171, -0.335, -10.5915, 5.135, 2.4982, -0.1148, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4759, -0.0139, -0.0338, 0.9991, 0.0952, 2.3024, 1.1915, 1.0637, -0.091, -0.115, 0.0113]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1598 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9991 right_x=0.6003 right_y=0.077 right_z=0.1042 right_yaw=0.2374 right_pitch=0.5209 right_roll=-0.1035 right_gripper=0.0113\nstate[joint_eff]: [-0.2393, -1.306, 6.9675, 1.6484, -0.0757, -0.0562, -0.0122, -0.0479, -13.094, 5.3265, 1.8926, 0.0317, -0.0171, 0.9499]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a41ad7e1b32efc5451fd04171b56892cb2f9b188b31a25c9d10032099ea267",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ebfac23f15eb6c0108f994e80e28c2a07f8ba20c0bcb18c3115b2539e668bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84ca4161eb3671b01d3fb3fab04ab36d55b8ec714017704870ddd44215d25ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5bTWBenAMpMiOeO8u6wnb0aEpEai-08vDj_ZnGfDRIsQkB4TJPNNonBExUxyr5C9gYV8BK-QCzJcVaWS-SSbxt_zzhr6kvcTgkzGOtZ01kfyYahYTG2Mr2s-Kj-VIT1TAXW4mimy3R5Rg2W4--U1Bkbc9I-Cc7h4hxc86mz7ZuQZFg17y7P5DfLddYNwkGsaf5uTTxhInogxlFGj4oAzs0N8QZt6vUJW3m3hZHnH-KbUo5aYeBxjpvRCKEyuUfavq-BppncFXrxOuz0I4_lmDgvjrtUe3jUF5QuBmckmzvCWd8sICP7_X_yEzv9RD6yMcdov9thMgRFIHL1d_mpqNWOBti8o3-lid-hoOL5YPJ4fNNFXlDuG18V3AE-JMPifNjslsrE7qKygtiwrR7-VSar0mdEAzBRxv5QtF4Fw3JMe6Ul4CALevTiImA0C5a3cSd6bboT81ex5ffmzO1pM1rRmGwpscl_-UPd9wAKTd1khbPuJC2K5Fj44BKc2XZYHcFkKfaZOGigZgVVSMiTPh96FvmKwMLRDEISQpGGqDtBns0WITXACTVMVnIEwIJK4O3muyir6fFWo5cYhzfWChS9VOKGtiJHxxxGOF9EudnZj-mziInz5hDZu-kJhTDuIHM5DKTopjOdylm0THD8UIjGvkcBaz8mf2xB0Ih0aqNCBbTMAlrK8NkYQOeImcgRfc1Q6WLpOEuszKShjoL512ytmXQ1T23IMKQkWODN-ivZ7Ik1db3dFsfRlbPyIkRQ0UmVRRsOZkKG_hjiGgnap03Rx9viWDPMpeYz-BmoYCfNClG3A1v9XGQcgmlvGtNj7Re2Ui-qp32Cd9zpIv8A0b9OEiYPUjRr4pVEcqNc8qc8kFrQZ_GEUdzmKHTEueC8rGBHPoGRFu6SsKxYTnz5zk2iBIbScflqmCj_CebX-2NYGrrj5EQZ8D6bsWobnSgEAqYZ4MCvNP-9IX0wK6FMzSu1bRVgrb6UGMHEnURZ93KIlZFyxvrQvfQJl6ndFFDuQ71Qkfb7DG1fVCC-q93OBOmjp4C_Nz-rMXHpjTZ_tTnwi6iaHJffEsLzIuxShUq4q0wpM-kHEDtBrbSNTuCNNnaiqWysW8CmhCQF0_M-PyMWXWVA808MGdeF2B86b5q43B6g6dLO2bxNfRhPvqYBflC9argR2IoiM1JvFEUsCLliah5t7I4zOk1z61gmAMHD73s5vmOjm04ZKQ6ctB9N2YppgOAQehhFjTZ_cTJgzxlK5kpuu8sZQ-R0uzWP0__PSIidUmawv2H-v363GPqzxdc41z_yCFHyt_arqiVhjai0BNr-Exk3d8XPEf5SdaKmCUmsBrQAfDeReGy8F2yyOFwnGVwUNLTiTvVKXPBdtEmY5BE52oKiFCJT7a_swJabpaXucgbz7pV8SIvGTa0WmL_-n5wvWmLKN2Lu_qnHkNjRyuTbdlO91O6-kJkpHQqE9R1ia-3IoRHd9zG4Z_bProEHlW-V7FzMx46KCGV0x2RRCArKwQde7edpbwRnpaJtQTypTl9mHsOO4W4mnhIP9RH-swtlAgEwH6moq-h4qcpQTsGo6Mk68cNeoVGO6yEChqFoHp7-dlIZHOr3Y12gL04NKyfe-G9fLjgHS8fN1xD89-UFTQNuJllFpPsVALoWCsyFN02uZZjPvEjaN2cnwmlnUo9GFsDx1LYbCc1VdQbqqpUpqwm2iMg6QQAR1C6VglW5B11IRdpoc-m7t6mR5Rq7TquE_qULl6-Tv7KmqWCzieNlB6E8KJfTbikxGXIbme850g0nEHdPWc8xOeh6BI8G2zo-rHKi76KUBIxXZGsUvu7QEkFV3CQjXuRv2y4p7UBRtp6mILgpkORVCc1lt88AMfwOXZJxIqO944FNH7GQ4hMLc75yggJkJ9ZotOc3D0emyFPj1kMftrld9HGUThV4H0wE-76Wuy80CUqti9IzgiJ6TLnurA1u7jxbsXUt9AraqJhnRq3_Y4lpnNglgXiLajmNsfonDdIrzi_mcgYtWaNLTROy_o9HCEuDh57mTyW-rOsM2trkiP_ev82aWAt3O7sq-947whORtC4NspAY4q3jzRXbd4U4YGqBb1oxk8To04NcOGDqETnRnAXedjsAoLlSqd1jA4UMgarxHngIvaRXbIgxYZBb6XwVChAaALn87R_Iq8G10OIjabDUFFeQh_oJ2Z2cpt_2YqQ97pSuhBjftkqm3KdLM12ttA18iq2f3FpWjnMep9SsvflfNqKujc0cjzN-9xAqgxfZTPlcQlyNoQh1SrZpPabRmu73RgYB3B8owXJMRhK7Ed_p6IiUTIoE3Az8u-UPbdKvZ501YVLt824kYVFzwFRBh9JcR-1VotmLjxAUNfKTgdpvt27f-AYOpi1Pn8OSTIVcC1gYICAOuGkmymusUnX1fKSWT9wksBq9qRNakzYksILgPDoW9puGpHvX5p-F3zWOOh7RhHB1FQoCt_OVGQGJYUSxC0mbljM2xwTK7nZhdI3XZPrao0WHdKzEhJB4EwPJ4dFEINJmVrD9cEl_Iu7BtdVUTpjBFvDPF7y_hdG7lHQdRZyEe7YLYFNvv0bfF4CJKiDG80MsnCiV4i4TS97rirHP5gwDBKJXkQIMuoRvwdWRUxhiTXny6HuHXOr7WplUt1sAXS5wb5spfp5BCEf4HXVpyWRbMGp4VXV9lctYRcoDI9BrkceLpHfvHozC5TgkfzSKhxZjYtqh-PjGvYOF-A1XXVgBBpy4-twPdVDUVsGQapMK9CBdAzFFRBGHMT2HyaRoRMFw8crF7fNo191gmr_JjsNZT43KazMDO0_rn0404lFVKKMs4PAZtQdzdDwV66EiD0jVownYDDZbFCHfDSuQPu2LtqB-_htyKKTDZ3rqxXzNo7KrcGbXFUuqhq-kc9pocDFR3aEEwuLE2d73mrgSXmU2TlvHcHGUC8-afhxJOY4dprbl1Ask9sO0uu4CyTjF7DOlqvBC2LxnllfWb9XxCy42VuLsM4flpWrvHD0Za4D-O_fzZQXSFki3iipjku2mTQqdWu3UjFKO2PNv2EIw3Qm5SI1dnAXmy10MKFGsTCVgCTGmPXLqPgSA-mtGwFVV6pVamDU1f52RIKXj9BX_KRtBjgqr5ZGdyYlgtib1WOnSAJLBbTQNQIKkkJhooD57SVqhkVPUg0KIUYsEDjqSmN3EDvyUDEuT1or_i7I_PRStV0QutB7_90TOLN4rUnO4wCvxQOKJWu90tg1-BjhUR0JVmtZlnMupbZppc-tUdYd1VnqrWjrwZLsn4MKz2Z07sYB2twIsxI04SwpMDKzXW0-tBhN0TKKXoSOlpdi9jmvNg4P8RxDWjbo6LBBm8CSqb9KmVzOYlBHXrilT4-DqM70mph75fmsqhTVwgBzsfCwM1whfwTL4WB5XfYTmEUwJ1xox3__tsJ-ptMbXxnIDV0uBlngiJsZH-Dk6hXUIB0BWKuAP6_6d_703jYl3JmPuC-VIVo6nKICzXZX25zrhp-HDCdLo6SoJxOY6i1UhXa0WtFSgjiEPNLC_cNCiNuW2XRGRxjXyqLNvS5buRRccphTsslRMvFqfs0pDYxc3CqYvJdh5ZEx4bExThI5apucwoKzy4_kfnoVgocU-GfJhFE46ujNeRySvxzIbyP_LMu45HUhZfYXzSqlMwcnWism2JXbexBMOqjzHCep5DSSlau_9l708v9Wvn1REFmOrhqMwwKRvst3zzTg81Gcp01sSiNy56AAtumBBkEAwkYJeVdYlnIt39OvJaEnHYEeWgVYFreB_2VRp2FYXRGpyP-sh-WOKNClR5dNaHQe8Vp2RY2GPDTkZa2R97DMRo8iY25nUeDM0kfI_9uLh17VyNgG4jcWU5xopLN3-gPFVBPqvVXWviQcD_khBe2fIW6A7fNcoaeb3kxE6k7R0SijUkXhlf9qfG-0EonIDFYn1KzZiMe7BbJniRHXc2-HNCjLwgUmkeg4suKlMRCjIThBc-uJvOhLqundTOEoUctUrkknouR1tShpvzyJ8ASV7tmvMinopeHC8uzmznV2GxvenXXG_9VkjSyRvz2fGp3uPwDwYFgFwYQoJGuvVoIKtYnSakt_xUIclbjilepnRHYuQZiun1ktARpqIctG0gCbHlUDF_hj1_Sr9gFdrcb3hxcgUaFpJ3xnlKsGyYfOOaij5QxGwDv_M_RtK9ZW1ujFWhJK-Vc7HwxviOiSGx4a7vDJN1AnoSQu5m9GYhv0US72VWMLqv9u5QL5GRZMiwocLPdTkB2GYBna80I9PIqBU_s4h78CYwNuL8KgEhcWTd5srTJtCsiPIje4xK6MLoG4T-88TUkFOmQxsRs3cwwCX0gC7QN7xW-WaCnsFwiEr46_DpKTgVw=",
  "id": "rs_0d671001b327ea8d016ab43e5177a487d08f45ebe79225ee43",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5bDeFitMSiw3_Ijru3MkKd22Z5h3As5yNz6y0jWsa2QIXqFXfthAgmMsEEj-zTozqHPVHBwCdH38GZXtCe0dqA-sTQDmLWyXP9_UGamuvC0tgNVLhTO7e9DvbL7X46PCyoAb-EnxAq6Na6LiJrSknnLYww2CnZFaNpEIluq4rUnBDbIrveLRumJoPC_P6UZOU_MxgFuyNj97eSlaDOpLb0Gn9nN-R_XhiA7bupBj68mlpevf7A-wks8ZxUupESkqbuh6HaL3CLGZVMIQzuxonnjYIWZ-u8NdXqZsUHmcRgSgazGbRBVsHMvQb6AEAh1DHlvDpO5B-0NPRHdtjvqMNXhNKbDJiTlMcmxAGLpqpUJvjQRDztRMgb88oW0Bf2lr_MLxJDWgYu32Iaa2AoUey9g_pZFwmU1fu9glm84uSixtIpY7nsmD20mhZgpJ3WmmkYce7XT7If4dO6vVAOE1dlysRuH-CLm-rGnuG-8JgsOVUN8EsTOOWOh7HAQUaxLieWdOTo0Yq3b3buORRT3K2L0WjYmKxhO-alVEnaBwrq_NHmNQ680vHTlerWvOm-sp21R0ISgGF_CKXtDU4X2pCgBCE52D2O1_XjTdjNWK6aFObSngLozpNeGkBNrb-EZoOONhajZS6Oil24IByGJBDL8MVw0_0iHw9akgivoT5CDUodvS-Oz5tD4QZnAjxCjz-aK8YP_WJS8xAuxnZ24xUqR4w5Nax1JlisP6Gx4QdFS7DXwRiZoBmYPymI207UyWvj63ERewuM9-yRwc7p5XjG4oC2NZtsKGa2wC6tdSxK_u0cofjCG8rekIht6Xv44CatFjluMjO9xiWU5GEGk-ktKgLTUFZoeOhRR5ZASGyuxtDMEu_nPC-WbxWFMwY9AyEMtpS-mLHBn3Hry7kYqPs36RJjF2cCZRQ6RW4NyUwq8GwEQqFyEeIP1FIHx0ogOD9rGnQcijiLbsXh5EMJoI6yAg5t08i_YO9OtHvETSZqzZeSM_HWoKbnMf8wPe3gfobecuDCh_gnkj4qdwbeu_ouVuWdIYhG3oQDFHCs94e1pibOodzGn3r67VFRL3yIRcl9b9jlmtsBco7TbrpjVGOvTYdZItZoQFULsdka8x47HFBOKlxgGzcFrac6GReSKyvE4eBsbiqbKDeV3GezszmNIt8r8ei9DaotmXCpOYSlOByK_jKflNHKhi_GSCQTgVFXu5OSL-xXz5UNvHMj6iwSPd6IaLh-w25UUdgLtfq-_ilNM_WzLcV-5-4SZPd4Lfvi1LrQOFh7Eh0Lu5x_V1lSfuquofLxzvUPkSSHlVsX_WmXh-9JNTGoQKw_Y3CzY1qeAS0RaEG1YuZRtc8Cbco473JGayM8ULkkqCcn0lTla44gvHFZXH2ajMWupFsHwJ9A0itw6jtIQBb8xvt1IeVcuALiaXCogANmn6JSL1WjdwWM9D3J5Eh2v3MgkLNJN47g2Ewj2CLtiBleMGKbSsghBnlZNJgajJvMWBGCbKzz0FBbfdNzel1a8subE_IN49iD7k_2iKotQedVP1-frHkS4A-wghNMmkk2E5A1Z5Un0IksGU1fBUCJ-SMHBdG6MSQVK1FaUsIr20qc5zpfMrHg7IBVqw_5wU6-eId8XOyfshx0izYRPr_kpiHqrPKi18TU9HpaBOcMU2QhrW3JLIs8Kjgr6-wjWM0kAdXsDXQrpFzvvv-Sjq6f9ULFeoAjDuuWAsC3c9Xeoa_91jCXow095MsF7p_VbB7JhY2zXZ6oNlQNsUigAg18yURJWh0_dx2QjLQSEwcDmmZCvxnygv9AIaaSffAuX8MmNyUftKNfGzm-iVd8ELOCp0Km7PTGUK2glOyvshYQpw3E_y5VfqlNIKZrECvGPL__frsFMTQDKX3ZmgXPKleWVpYg8Z4bMP70LhXrx75r2UVZZH2L4NRTy8Jnyexv8Kz_A9qVeRFTTK9VZyNX6LYnl_AEBB-dh6J-5-8LRq615E6UaGmMuX5DkRKaS0XTpRBHs9lWboeKfaPcyNGAy6eNgWgm4VERqkLkk1v37Z-WbqZZuzadeSG-D65jLq_KOhtcVZQldXi-IcYgEXQa9IgnjWCAB1Is5lk_7vWnTiQ4KfD9-8gTO5EPyoLngD6dUOfQyQNapD3OlOOSk4q0uLvPpeABk6o8HV861T7xR2wUFrC1wl57OZVE0rg_z_HRusvt_yKwHK18eK7Z6_4pRCSxfyCjcAdoU1vfbPBxA6VpZQft6ZaxO8TXB5tF2pUzLvh8XU6AN4JwW9hcV9qTc2JHsqKd47lGX4UpFmDlSNrId54VcmXzIBb1cu4GKOA36G_sT7-AKPqdW-PB5fh_ddPe7uXNTEHLxN3UMH2pWV36sdjtFrf0-NrAKvgUj8ezXri2EER6kAeHEUVfuDGZORQycrdTPJY1n4RML9ysX8qmj24bADvxkuUUZ7_sXpRHhdWLENyuPXzoey4zEqyaKpshCcuzlbxHokBhcFxBeqPUUEHQsU6kJ-z5qcipS-tMikavfJsguKSk7QgaxRvJElaz8_N3PSMGe03Ki4Z4Vt_KI-zlpl9L2oGo6NxdPkceLsyPySt-cBlgO_dGFJQa6PV08ZT6fSZcVpwxfoaarU-rUsuLhXueQaQuzLgPYo-Xa2aziB2FDisIBV-89odr67Jw9RhqPcfAXG4_EeyjY6hF3TyfVYygTdxI_P4_U2gspoYh_remrc8z4WRGv0FbZ9SdEq4aUJrlQn7lHPHTDIBB9J3xhonVDUl-It09LEhuswf_m1dYJygDTvwzeY6I7XARs4yQwwnZDtCxicfVhG4EWh1bWcOUjQW991o_KNzTQUxtTfMQ4zsqvDepk2wIRXMB034_OHTQSi8SByNljE8wBP3TeI3xdhqS1pur4N-UqFYOdxMev301FbQ1YiAyIBFmVFGR-ru32Qx8p3coLq6nATZAeHhdTQECLfkjrcWU6yfuC6yWMj8-KNFH6KnJtS5lm3YW8GoBy3gs253gObfNKcXbLPi6AzMTevC0GvDroiaP-OMem6kqbyhuLAj5sgcfVZbHwdppoOCms6bCgL0vQL94A83J87TWptQEoCTacPv-tc3AiTxcy5c_D0C5iGFP9KrtsSAjjEdaOHHtceKRroml0XHKfhRV4W7Zr970QdDfKjZI022h0VEtxSr2GOC5Fq3tLiaKnhEb-kmCKFD7A-2y_Xul3ZPDXw==",
  "id": "rs_0d671001b327ea8d016ab43e56ac3887d09485b8c75d8cd0d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_z\":0.14},\"note\":\"The pear is beyond the fingertip grasp point, so a normal pinch cannot reach it. I’ll open and rotate the jaw span 90° at a safe height; this places one open finger several centimeters farther forward so it can act as a hook to draw the pear back from the fence.\"}",
  "call_id": "call_rrcaWYrp9OAK3Q85JRPM8WeY",
  "id": "fc_0d671001b327ea8d016ab43e5ab9a087d0b3357b9730e3aa3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rrcaWYrp9OAK3Q85JRPM8WeY",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8204, 0.6147, -0.4911, -0.0135, -0.0338, 0.9991, -0.1024, 2.7956, 2.8246, -1.3502, -1.018, -1.5715, 0.9972]\nstate[eef_state]: left_x=0.2814 left_y=0.0003 left_z=0.1556 left_yaw=0.0016 left_pitch=-0.1293 left_roll=-0.0008 left_gripper=0.9991 right_x=0.5645 right_y=0.0967 right_z=0.111 right_yaw=1.458 right_pitch=0.0201 right_roll=-0.2347 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -1.0872, 7.2, 1.7656, -0.0317, -0.0464, -0.0122, 0.6769, -16.1436, 5.4906, 0.8278, -0.4029, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93a75c5f025770bccc13b240309559bf045844d2b44a3c68cb18952901b9f9cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b2118a42fc48bd7ad893d25e1b4944b4c8864b25eebaea0c3a9856529cfa3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6fe3bfc4d7a494c6173580874f952ff51afeedb3d7566b92c1c8591dcb2fce",
      "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 · 2.629 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 84 changed as sent

message 89 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]: [-0.02, 0.8154, 0.6147, -0.4683, -0.0139, -0.0338, 0.9991, 0.1177, 2.3962, 2.2047, -0.836, -0.017, -0.1928, 0.9983]\nstate[eef_state]: left_x=0.2848 left_y=0.0003 left_z=0.1613 left_yaw=0.0018 left_pitch=-0.1015 left_roll=-0.0012 left_gripper=0.9991 right_x=0.5886 right_y=0.0762 right_z=0.0923 right_yaw=0.2324 right_pitch=-0.4602 right_roll=-0.0872 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.2513, 6.9538, 1.7607, -0.0415, -0.022, -0.0122, -1.0325, -13.6137, 8.9641, 1.6142, 0.0269, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4759, -0.0139, -0.0338, 0.9991, 0.0952, 2.3024, 1.1915, 1.0637, -0.091, -0.115, 0.0113]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1598 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9991 right_x=0.6003 right_y=0.077 right_z=0.1042 right_yaw=0.2374 right_pitch=0.5209 right_roll=-0.1035 right_gripper=0.0113\nstate[joint_eff]: [-0.2393, -1.306, 6.9675, 1.6484, -0.0757, -0.0562, -0.0122, -0.0479, -13.094, 5.3265, 1.8926, 0.0317, -0.0171, 0.9499]\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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8204, 0.6147, -0.4911, -0.0135, -0.0338, 0.9991, -0.1024, 2.7956, 2.8246, -1.3502, -1.018, -1.5715, 0.9972]\nstate[eef_state]: left_x=0.2814 left_y=0.0003 left_z=0.1556 left_yaw=0.0016 left_pitch=-0.1293 left_roll=-0.0008 left_gripper=0.9991 right_x=0.5645 right_y=0.0967 right_z=0.111 right_yaw=1.458 right_pitch=0.0201 right_roll=-0.2347 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -1.0872, 7.2, 1.7656, -0.0317, -0.0464, -0.0122, 0.6769, -16.1436, 5.4906, 0.8278, -0.4029, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93a75c5f025770bccc13b240309559bf045844d2b44a3c68cb18952901b9f9cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b2118a42fc48bd7ad893d25e1b4944b4c8864b25eebaea0c3a9856529cfa3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6fe3bfc4d7a494c6173580874f952ff51afeedb3d7566b92c1c8591dcb2fce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5i5IZcXA5uKzwnyaS_snReKQkSFr3wLApuRBcgFWMGIESorHiGIkKFhGA_IQoZii3OvSwqvM-Y-BHKsGGx4YAhflL8nJqmEerZkytdW_cMleJaSyUMdqugVk-D2yziC5b7OG6maRmg_Y2o_66pKaJQfTKbR9QskSsxyCWKMKwQCDaUmsahT27twABcZxbDYYuo4HH5RRpYN1Zhrs3QCKuNJVNTqacU6Ucx3z6WnMocco80668_Qfe2oUwagSfSG3WwXHSYDLXEeA1sRyMsexpwSFOvf7TAFYfKoJcgJoU6uJCN8X6m9FdcSs4bSnrjgm3JSRREyunBGxB20LbrBpyKmM52BlHOI--q-vSUj8b7S8mMgHrN_BKYHNGqOJjU5QGj7XA9Y_5mf4fXn4b_LaJ_7s2h1H8UomWtlh7i-pGBpW-padUqJBryO8HKd2cBpT-dGaWYsnZsyh_IcL66hyC5HYOFKPgZULFnLjNZEguU3lUFKa-i_l-oYwvVfvcE9HJM_EJpSBWX_bWHas6EcPWRXYn-mxdyU_BLWp1VmwU6kmKYjhC_zrlB5QswFh6t2j-b6y3rfwJfsAhFvcdp2dnAvxvSahWCJrmR9NYw81Fn6S0kHgoK9l8hawRZaFfX3Yo_ui61S-s0Pm71JIEhtrmZC6VdUfTadCXIkHidGNsNp5y9amRKMy_0qy5gJiRFbOPtD7mZGwMsx9hOtcaXensAnGtvas7kctJoqfRPQBcgSfScsh3ezk7gcqeUm7ti67aIBQg0eyddQN_MEKbqcFcjf8C2ZXMk7DpGuLDz-QPnblWazwD9tTUu4leJITGB3dt3kGK1dn6Hp9a9b3YrO7OcYr4isehHGL8HMUO0X7nK12LBLt35mH_rMWWmlpQuVbcrnQgWAc6Gx24RsTFGWhk5TwnCDZ-PPBhbK9a605VmarQoBipIA8kD-AzaR3JbzoWK8521pH7RFZG2ufADdhpvOcoj-HP-hARNXxuYNFwwUOtFL4e_TJoZUK13uC08wfBPvtsKMpgugR8Q3b7TUqgCyfy-wNXtnw2YGFo2Z0hN_WmY00_zCme2yxUiIzZmXBZbxOVPSdJHQ0UOphYris8lHsRCgRV2vx6VdelyhamOT75TsISp16k1b25Hy0TzvPZNn-2gm6i6ndf2U5VXE-e0i9uT5DYs1vcHFKrjmS-0UtDuFRHHMoC9MNhMZW7K0SII0KCtNMAXMyZ-FlpzqIU6a6PQ8onBf-EqgQgOm4RvCNTkDYiuCMrZLQHTAjtWcpwfTjJRW65czhNUlm4VFRszDY_XI2jdu6lbg0JRBg0Jyzvku_S9uJD8WGAADu4FH2TmhMB8H5W-MZQXNDPxXRhx-2810bTuPtTeTSaBEffDZsSZN_FWAIeWjfcSgDQNm8MoZF_8LqG0Zmd6-VZkyk31F4WqiMlU8l2hlV8S8a-hEtloXod9Iw60-gd4JWtR-345leW9UXUFeztQ9LUqTo5oG4J8Ajve_IMrs3aZWLNNJu98LMFA4LqgsWwqUlNIHH2Mr4DVw-Y3-qV0ZBlVJVb78M8_EgVKkW8hUelbZqtVLvvDDfzy_870ubRIAgGLOdl1XJJxd7uOUM7RuTcp3g4NQaeQdshg_L3z4FRdiUSqpUfSRzpWoWWYwaQ6i6xZ8InTOirCmHmZ3VtuCbkLzuTDL_plNqMAJrAyJardLnFUYTj1bL8GZNGydINGKTj5p4KUoxlIL-v0jvyhYxlbs8KoaB-UZUl6XKrPEuY3OTwY2nYkhDBLDXuRgm2h5NrgS9V-IUTlu0EDIKkwLjvifFTjDARVDYD88QJvs39T3q7O_dQb6EuTmDHPI7MMCy8jJZVr6MTGpdHob7KghzXGXW2m5-Xq818kFk0V8H1z_ZAVPXmOYdEh06UvitGrjiuU4zAbx5z9dmPg4zOELb7_Cni5gtk62p8RdIejSa0fArId8T_SHUVT7wS_jv87Ck5uMTew1hoqbp1g1eqh7nnE69ZH1AxvN7e8kKsnaPUBoyXMV4fAx3AOxuqTkZTbV61ThWlz",
  "id": "rs_0d671001b327ea8d016ab43e5fd86487d0b68273d34faf1f69",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.13,\"right_z\":0.055},\"note\":\"With the jaws rotated, the pear is now beside the forward finger in both views, slightly to the arm’s left. I’ll lower to fruit-body height and shift left a few centimeters so the far finger passes around its outer side.\"}",
  "call_id": "call_DdPHgaHpaVKsO3MkTMFQYkUr",
  "id": "fc_0d671001b327ea8d016ab43e617ab487d0b0a73693da13633f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DdPHgaHpaVKsO3MkTMFQYkUr",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8249, 0.6147, -0.4942, -0.0139, -0.0338, 0.9991, -0.0589, 3.039, 3.1237, -1.3861, -0.9977, -1.5326, 0.9981]\nstate[eef_state]: left_x=0.2811 left_y=0.0004 left_z=0.1539 left_yaw=0.0019 left_pitch=-0.1369 left_roll=-0.0004 left_gripper=0.9991 right_x=0.5737 right_y=0.1184 right_z=0.0598 right_yaw=1.4761 right_pitch=0.0056 right_roll=-0.2219 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -1.5658, 6.9538, 1.6239, -0.0366, -0.0806, -0.0171, 0.6496, -15.6376, 7.241, 0.6862, -0.5788, 0.0464, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a9d4b34c7b588a0331728199db0026a48402ca4c7a6269c55126827ebca72c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b62f87b12b5abd3f3fc0395264dd0877898676dcc10b8b51d315cb6f37070a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f59ea968c3764d20ab29fd9c852545322f85da39a8022e7b5291948c1aaa469",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 3.322 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 89 changed as sent

message 93 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4759, -0.0135, -0.0338, 0.9991, 0.0952, 2.291, 1.1931, 1.0618, -0.0887, -0.112, 0.9983]\nstate[eef_state]: left_x=0.2836 left_y=0.0003 left_z=0.1598 left_yaw=0.0015 left_pitch=-0.1091 left_roll=-0.0013 left_gripper=0.9991 right_x=0.6007 right_y=0.0767 right_z=0.1111 right_yaw=0.2341 right_pitch=0.532 right_roll=-0.1019 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -1.306, 6.9402, 1.7118, -0.0269, -0.0513, -0.0171, -0.335, -10.5915, 5.135, 2.4982, -0.1148, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8204, 0.6147, -0.4911, -0.0135, -0.0338, 0.9991, -0.1024, 2.7956, 2.8246, -1.3502, -1.018, -1.5715, 0.9972]\nstate[eef_state]: left_x=0.2814 left_y=0.0003 left_z=0.1556 left_yaw=0.0016 left_pitch=-0.1293 left_roll=-0.0008 left_gripper=0.9991 right_x=0.5645 right_y=0.0967 right_z=0.111 right_yaw=1.458 right_pitch=0.0201 right_roll=-0.2347 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -1.0872, 7.2, 1.7656, -0.0317, -0.0464, -0.0122, 0.6769, -16.1436, 5.4906, 0.8278, -0.4029, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8249, 0.6147, -0.4942, -0.0139, -0.0338, 0.9991, -0.0589, 3.039, 3.1237, -1.3861, -0.9977, -1.5326, 0.9981]\nstate[eef_state]: left_x=0.2811 left_y=0.0004 left_z=0.1539 left_yaw=0.0019 left_pitch=-0.1369 left_roll=-0.0004 left_gripper=0.9991 right_x=0.5737 right_y=0.1184 right_z=0.0598 right_yaw=1.4761 right_pitch=0.0056 right_roll=-0.2219 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -1.5658, 6.9538, 1.6239, -0.0366, -0.0806, -0.0171, 0.6496, -15.6376, 7.241, 0.6862, -0.5788, 0.0464, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a9d4b34c7b588a0331728199db0026a48402ca4c7a6269c55126827ebca72c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b62f87b12b5abd3f3fc0395264dd0877898676dcc10b8b51d315cb6f37070a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f59ea968c3764d20ab29fd9c852545322f85da39a8022e7b5291948c1aaa469",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5lEVB0StYYSFqkjNhXT_tZJwGLSe1H1XFUcQexQfK1sW7Q3X_Qe5pUpj1SX5pwnvtT3esXUGNzjDf-9BhTHFqYtevYMIpb6tNU08QsvGvfyJrzMlPncnDJoU6YHFAeEbRC5GdmHPL00IZ62L4_LkMz1iDEFWDAjSvybXoN3UEq_DPK3RB2pzohj8Y5jdXVaQCDNm9By8wOYdlFT8jNoD8Iypcbp_bmuP-RKHuz16iRM6s9eJaOlCMzSZ7iIMyV5JI4_mFn9hRCHuA-aP_kAFdZG-kM2R0x3nytwltx5T34ylXrXMSlu6OeFpct_q86z9NrAU4u53hDMeho_ObWB3DuO8jq8FRIkjpDq62gZkbZPz3RebNORBwgu2VekX3kDqdJvTfY_oRO_mTxyU7EybYsjMdSQLczqMvd86YjJ-ICGP-B7u3h6fHaftMDX2sHpayw9pn5AVVCfcq7UGp-lyXG00GlHLDLKDBsamIioxMpadBDF27OzcFZhMhm3SqEOXbL9HB-iM5LKFbGQ7TdyGtCgfW-FVtZs-vImlTG5NKzVoqBlsWO-BqW5xIdx4OqC-fhuRAkhDvf3F8HVTXwSGzcq7WK_Y_vthn4TOdKXgsqxS2JS_InjJghgEPTYYjJv6Ezmdm1FCrm36Lj3ZBf6akBgARHakuH_Bo4bBaTA_Gj7x6zp6XUfACgPDS0r9tcgEPc-QuY9l0yiRDDgo2dcc2YzssttRWg5k2AEF7ESYni_VvjdqfqtfvdYwTvMsZkWr4xaRLFNU4-4xWNchAXUx4IDjYDm0b-SX03Obed89ofal2RaI1el3rVowNAL97HxL_mXfpnFIKtcNpmr1QwJpCW_XVwoLQUWBJJzRwGY-FWbwz6BjNYZlb-ghiOypfh4N_9mLwu8Z7NKSlG6xvTCF_guLl4Tj4f3HTbZ5ZqfX-ZH-cRsoO5G5y6g4KXau9xaZQTrrtKYStjJVqySDSU-xwsr-2RGtHQsGMDVvv4jtTpAu7LiWlC5iri86oXz7Z_nHQdE43Crn_WWwGQyCABVz3Vgx-g63DLtdtN1VwfWh8Q4bFTAS2ewHqacMz9q1PAJ-y69qNsIoASA-PZD--ugkVsiGa8ypOqfp6nIaumpd7_jw4lqfLqScBu9Q1kAaoGLHbcVNFMEoAj7WCEHYjEGieXWpbAGTTk1m2PPMZliSkCgqvHZoesLh8mo3zhlA3ojgjNoF1EoxbSXYvImY43Y6ZWfKhWFhfWlZnygF4Fb1r1MzllFEem7qERXugmEZuxzhIpRO9pygm7otSXN1GUlV8_lN1jRYOfZVd5eTskNUXj7s-L79LhBpIXad1pHBMu6x2i9QEFAbtmQ4bf7mVn5ZGHCLIwfrVe02hnzJu57K_e3RF6psRycIYOiVcH_FsiRh0FMEw6Un4ZyS8UVyu60cH7NA==",
  "id": "rs_0d671001b327ea8d016ab43e64052c87d0a358321288ecfd76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49},\"note\":\"At the lowered pose the pear is no longer visible in the wrist camera, indicating the rotated forward finger has passed alongside or beyond it. I’ll retract about 8 cm with the jaws open to hook the pear back into the reachable workspace.\"}",
  "call_id": "call_surEuPdueXVgJSR8At0wRbxQ",
  "id": "fc_0d671001b327ea8d016ab43e647ee887d09735a370d35eb212",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_surEuPdueXVgJSR8At0wRbxQ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8249, 0.6147, -0.4942, -0.0135, -0.0338, 0.9991, -0.0429, 3.0711, 3.1241, -1.335, -0.9958, -1.4986, 0.9982]\nstate[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1539 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0007 left_gripper=0.9991 right_x=0.578 right_y=0.1271 right_z=0.0444 right_yaw=1.4738 right_pitch=0.0085 right_roll=-0.2127 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.347, 7.3231, 1.6239, -0.0366, -0.0757, -0.0122, -0.4034, -16.9231, 7.3778, 0.7741, -0.5641, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fd2a0bf61b5f172819802ab11dafc8feb924f55ace8ea476eb824dadc11f39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4979c85ef9d6ee80c413f60c779584250c861822cfbc2cdcc313b159ca259b58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d545afc1c2e7d268fc3406443016cadd0c9cad79e035912e2b85e09544b270",
      "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 · 3.375 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 93 changed as sent

message 97 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4759, -0.0139, -0.0338, 0.9991, 0.0952, 2.3024, 1.1915, 1.0637, -0.091, -0.115, 0.0113]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1598 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9991 right_x=0.6003 right_y=0.077 right_z=0.1042 right_yaw=0.2374 right_pitch=0.5209 right_roll=-0.1035 right_gripper=0.0113\nstate[joint_eff]: [-0.2393, -1.306, 6.9675, 1.6484, -0.0757, -0.0562, -0.0122, -0.0479, -13.094, 5.3265, 1.8926, 0.0317, -0.0171, 0.9499]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8249, 0.6147, -0.4942, -0.0139, -0.0338, 0.9991, -0.0589, 3.039, 3.1237, -1.3861, -0.9977, -1.5326, 0.9981]\nstate[eef_state]: left_x=0.2811 left_y=0.0004 left_z=0.1539 left_yaw=0.0019 left_pitch=-0.1369 left_roll=-0.0004 left_gripper=0.9991 right_x=0.5737 right_y=0.1184 right_z=0.0598 right_yaw=1.4761 right_pitch=0.0056 right_roll=-0.2219 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -1.5658, 6.9538, 1.6239, -0.0366, -0.0806, -0.0171, 0.6496, -15.6376, 7.241, 0.6862, -0.5788, 0.0464, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8249, 0.6147, -0.4942, -0.0135, -0.0338, 0.9991, -0.0429, 3.0711, 3.1241, -1.335, -0.9958, -1.4986, 0.9982]\nstate[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1539 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0007 left_gripper=0.9991 right_x=0.578 right_y=0.1271 right_z=0.0444 right_yaw=1.4738 right_pitch=0.0085 right_roll=-0.2127 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.347, 7.3231, 1.6239, -0.0366, -0.0757, -0.0122, -0.4034, -16.9231, 7.3778, 0.7741, -0.5641, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fd2a0bf61b5f172819802ab11dafc8feb924f55ace8ea476eb824dadc11f39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4979c85ef9d6ee80c413f60c779584250c861822cfbc2cdcc313b159ca259b58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d545afc1c2e7d268fc3406443016cadd0c9cad79e035912e2b85e09544b270",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5pEcgivAYlcMxbqpAZ7ArGFoKJSP_fFUMue2y22jqadLFqji5gLLKKQRZoQ7fxsxI1Tvp24DqAa-CGVouLsNgZQ7kVQcfLAtkzNPBr5sdQGfRgYUqf-P36H8t3KYGg5-WmYICfoHXOfvIjLckG4ceQEIh4akdHY4mYMiUpdHZUWr0xecRhE_Q5fa1oVE2_C5Mq3s4VKRAf-kMfUDIvhjdRVUhYhP-eNJ6ENTHcJapf2O_si81YfbBZjyGTSo6JIWXqmeczHhsBZLCV-aJeOJremoPXdQUfdxDU_UyhRApsGPrQRWfm5wlcQIsR2Rjpq3Mgn8lqly3kQzgZPFi_cs_M0PM-X4CAry_bPKwR78CWWaq8cwwVKNZW177svmaMDbNqWBpI8NYL8VIzMG7pH8lubZ_hycQRSHXoMZJQOasJXWXYKH0LC1cacBc5WRuRyceKHxNV1FBcJsAjrAZJxZ-2vqB1UfHTgI7Lv57ylw---_FTaxqGkAZSViapuArFjH2pYIZRerk604KbHIWrNiuRT-39ADxEScOvIKX9AaMKbVN1dDcx3V3VSumJY_OLnPPmGo3QnL6O9l_KcCqba_-ym33eQgAnQoTKOa8hzFwTw3DypujWN_ldXuH9KPpWBVKB5HohyYJDsuCtsyeGJ52VuIHKqzeHMPLw16l8K-042jpSBZhAzra0_OJ0YSNKSb3MD61v3RHladd8906HSy-8oeWJDMyac9yMeu8t7SoAgL495lODnS4-H87ivcXEUG-eyvCmZCH4IZkesew4Dc3sGEsBED1I5TxBWMssW29JNvNIqAvxRNqDSp2V5hfMPoIM27cxF8LKb-U25D70Z3iVUje8VckES1sy94_8Xn9tb9mVMarqcnDwS8iDEd1x-XNdBH98xs5fxF7ljcstq8jXCcjIqJkaCd9Vr-gkcfgEMLzXjsaQkoUENjr0dg0nWprqBFDpDGDsJtBqtLlpqzrmTeFAqdX-Gn9tqnT_waRsDlTEJz5_4Df2cJl0yHnLythy4GmDg_WhWBRny7r-Mm0-kjnjCF2BdXw-pULDQuhGPCQceQSo7ePOk4fSJCWiDU_xVwRFv4UTFyrUzdFYdjzlMdBwcFTogHsxkXmGbNxsX2QgWP9S6uAhgC5YXVpLZQffZUROByg8C966Fvm8Zj72TmttF8W2AbPUhywVQyesynIY_XxH3nowdk8gKtJCb28DITvGiH1r-6cqjkh98o-9q-01oEjJP5fufvAaPQMHBch-Yqqzo2SBfDuKnGVYLTx3L-f1lEQW2mas8eCiObtSy0shuqW7twclQ8u3ZEN1v-CeDNB7HYQ2fLTemmRhCvK5e7ccx0riNOQLatzIRYFtgeeNXyBywNZd6pYkQXHTCFvsYh3r22bt1EXtkPANxQ0pQbzjGDpO76gyFc1D2Tx2xdn2nXjkD_pjnRd06ddm0frR9o6IVKNpM4LD-KsJY0EXR4TqCHY9wHxN3w-zo_RyFkN3rf-tOmRPBhxwzJH8r-2RBlyu8JLmSxeFxEVTeJ5iwMskXSVZQrWUG5K_qyiSm83wdBcgiSeYtkgmULUz6O6m7d-Dni24s96OW8k7zYmGKegEnA9ppxqOr6N39lKhixspqQsHDaq3B0nBb9IqRHLrMqF3pCNPhwvKuI693FfY",
  "id": "rs_0d671001b327ea8d016ab43e674bf887d0aff7d6cb68ba0b14",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_z\":0.2},\"note\":\"The retract stalled at the far-reach singularity and the readback barely changed, so the hook did not draw the pear back. I’ll raise the arm substantially while commanding a shorter reach to free the configuration before trying a controlled sweep.\"}",
  "call_id": "call_ymspcNl1edu4VlfucYgbrmfn",
  "id": "fc_0d671001b327ea8d016ab43e6857f487d0b81e58a38e5d71b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ymspcNl1edu4VlfucYgbrmfn",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8261, 0.6147, -0.4942, -0.0135, -0.0338, 0.9991, -0.0505, 2.5801, 2.7548, -1.4792, -0.9798, -1.5257, 0.9982]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1536 left_yaw=0.0016 left_pitch=-0.1381 left_roll=-0.0006 left_gripper=0.9991 right_x=0.5255 right_y=0.1239 right_z=0.1918 right_yaw=1.4761 right_pitch=-0.011 right_roll=-0.2138 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.0598, 7.2957, 1.6484, -0.022, -0.0708, -0.0122, -0.0615, -19.3983, 7.6786, 1.2869, -0.5885, 0.1197, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2aa905e003e53a0f2dbea4c846abde799d3fdaeba8d971664d887f0da1d5fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b9036de6488b53803bc07618d3fb98874515e7c1a1fafd3e941838fcb5a745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a363471f89f4f2e4b84054506757b8d87e95f42dacd03725dd26adc2d9e3a89",
      "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 · 2.793 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8204, 0.6147, -0.4911, -0.0135, -0.0338, 0.9991, -0.1024, 2.7956, 2.8246, -1.3502, -1.018, -1.5715, 0.9972]\nstate[eef_state]: left_x=0.2814 left_y=0.0003 left_z=0.1556 left_yaw=0.0016 left_pitch=-0.1293 left_roll=-0.0008 left_gripper=0.9991 right_x=0.5645 right_y=0.0967 right_z=0.111 right_yaw=1.458 right_pitch=0.0201 right_roll=-0.2347 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -1.0872, 7.2, 1.7656, -0.0317, -0.0464, -0.0122, 0.6769, -16.1436, 5.4906, 0.8278, -0.4029, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8249, 0.6147, -0.4942, -0.0135, -0.0338, 0.9991, -0.0429, 3.0711, 3.1241, -1.335, -0.9958, -1.4986, 0.9982]\nstate[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1539 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0007 left_gripper=0.9991 right_x=0.578 right_y=0.1271 right_z=0.0444 right_yaw=1.4738 right_pitch=0.0085 right_roll=-0.2127 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.347, 7.3231, 1.6239, -0.0366, -0.0757, -0.0122, -0.4034, -16.9231, 7.3778, 0.7741, -0.5641, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8261, 0.6147, -0.4942, -0.0135, -0.0338, 0.9991, -0.0505, 2.5801, 2.7548, -1.4792, -0.9798, -1.5257, 0.9982]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1536 left_yaw=0.0016 left_pitch=-0.1381 left_roll=-0.0006 left_gripper=0.9991 right_x=0.5255 right_y=0.1239 right_z=0.1918 right_yaw=1.4761 right_pitch=-0.011 right_roll=-0.2138 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.0598, 7.2957, 1.6484, -0.022, -0.0708, -0.0122, -0.0615, -19.3983, 7.6786, 1.2869, -0.5885, 0.1197, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2aa905e003e53a0f2dbea4c846abde799d3fdaeba8d971664d887f0da1d5fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b9036de6488b53803bc07618d3fb98874515e7c1a1fafd3e941838fcb5a745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a363471f89f4f2e4b84054506757b8d87e95f42dacd03725dd26adc2d9e3a89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5tbH3ATZL6nlLnZt-kA0Hb8TRCNboGKhXWG2RhKHe7FCGlDsVwk2HldWFfGduPV02kWhrCjoMHu9Q8LdMqYeu7L3kADZ3GrvNuXrdlGZHrZSxqtdftoxQDfpidTT9oEK-l9xEZNEOpm9umABOg5gNNv5WTArSiBFCHsHql1f2uL6Do_SPkOqPuXcA7bx52qYRl4oYM8mHkRO4Asd4-eNgi_QqMifLqdTRLJ9GN3DwT1k3qzF8ujqkm-p22knCpFWGjOfMHdfGyaX-lS3eCUaONRgscO01w-XI_LLcW93lwosFBujhoj24KssGRkDiEe_TgT3XkaxtCbiSd7fmYxdbfuueaNAWB1zm-wm9hs85Fgr065n-Qm-I72NeMIClQJ6g8o5XCSwgab2gPz7vzPPOoRtLZot6T3weIWSGQ6zpeSJ367QA9ccxyXcv28nxDuNC5aJ9vEMv7B9Yf5_rU5iaFGrCLeRnHZ8pYYENsnA_Kv0U_dzI3Ss0H6JAuHGrXWQRuamYIc7q6FlfNnDMp_KAKDsInAfsWBVNal8OdYkIVC3DqpCw4Hc_SxlvdX5pgrzV-aRH3l49Tx2K4K5nF1dh1snJTg5hLbVcusW73ghnLxCBWayt-f9J8p3WU-24kTm7bg2NdCOXU_BuFJOdo-BJNzgelowfkgw_697ZmGszonlMrd9KJdcHRxdRbJOrPJImg-j9hEIKo09sCxbMsf22ienonT3Vd7C0e0GRcy2IzWdYZrpRAOdyp6Pwt7xr_Vm39CZGQC-mL-0D8pMJyWuQGHGPJznshAVgSD4aGOd5Pcjc4-89-iDDn4DC3aebSCLsCMqSAJijgzR3zEJZPBH1csxp3Pw0tWZ67aoYU_DfhnCicimrcn5bFEA3FqLkMMNs0BAn7XgKn00N4tmzxwHUBmd5z84IlOd1u5hPiyHIi1zgNff5jyC-m5wIRX3s06jVtZJUxeWxnoOmWdKmWLdERtuC6KEN10niNSZ8--I3aSN5Mrsb3v1awQIdwQX2PHIIdExkl2-Pd5AGbbDis1D9DZ_y1U3NwBBehJbcUmgjHO13X4qclSopkCfoM27TydD98BSVseP5kBqWajjGH-xLIOE2r_hGdS9_O4S7CEtt9M-sZERI_JxSW4br1ZWjxppGnh6Id1SvAQagOXZMPvXdgYmZoI9iinRbB0mVj_1xBaarPpJ8VZ0RBvZW-8M8u1sjd4a8Az8DzmMUNHElkYln0uWledAxlf_ijqcLJu4UUxeeguQHhpkPuPCC7cjdcUX9QkPsfcyVuehbNXivD4Ulun1W4jQm7274VoN2uPzPN8zwWffvgmZJfofSng7QxibD0OLRrhOp8C6H1aq_COmhTnQw5q8U3fXOXLemWumBjWUypv9d3VtV232_cHcaVH6E9UXM2a2osW1s-uzRhwmJ-eJi3g0j60U7K0T9o0jYuLJog5pNO2-csgrvWNjOkUEW14F1suZFs5ToK10xd3IlpVWpzC_UwJN9VfnrmyFmYQVaNjQheTZX9h4eUy60mOkX5pbCoCeugy1x8F0PaDKHbalyI7tKnqjOjWcE0yMjvVAls8xL7j7q5DYPcWsa4dTesQcklmSi-gbZ6NJYRrzakX9wnq6cI4wAJ3zUMWaGkDw7yK_768Ar2NVPyIk0zXClrvDIkquT7r7ou_onUeFf-vWQNqI-Qit5bxprZGDzB6yh2Abgs9pl4B9zz2Fu1Daxaa-o-BzRTrry4vOY5DfYZkxj202SIdoh2Y0W8Pqpmyxm1evqQi0E8GESqeHAT67yBKKCWFsNn4WwX7omBGVSOZ35AtOCZALKcmGJ-G-xFA0wAKQpwi55HTCisbEg7ZVNp8DjVEHoJrK_DAZ6DlZnPBA==",
  "id": "rs_0d671001b327ea8d016ab43e6bc8f087d0b6747491df56ed13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.17,\"right_z\":0.08},\"note\":\"The raised arm is responsive again, and the wrist view shows the pear at the lower-right edge while the gripper is slightly to its right in the overhead view. I’ll lower the rotated open jaws with a small leftward shift so the forward finger can get beyond the pear without entering the singular pose.\"}",
  "call_id": "call_rtDPyc6Rr28Y2k8iuKanapWZ",
  "id": "fc_0d671001b327ea8d016ab43e6cd0f887d0824f54959dbc1c62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rtDPyc6Rr28Y2k8iuKanapWZ",
  "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]: [-0.02, 0.8284, 0.6147, -0.4946, -0.0135, -0.0338, 0.9991, 0.0387, 2.5816, 2.3714, -0.9867, -0.9466, -1.4078, 0.9982]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1529 left_yaw=0.0016 left_pitch=-0.1408 left_roll=-0.0006 left_gripper=0.9991 right_x=0.5529 right_y=0.1685 right_z=0.0986 right_yaw=1.4909 right_pitch=-0.0204 right_roll=-0.2253 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4564, 6.9265, 1.58, -0.0317, -0.022, -0.0122, 0.0205, -11.9043, 5.2718, 0.9011, -0.486, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073555a0b2483562624002139d7521bf2d6bf8455ae2adbea2714ae9b099a63d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c00c3393574248eb1e575a2015b3fc633dc52478bdb1dc3c28ffc577498138d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2010548d1b1838e6c941950e7c9d941db623f187c9e9e65ad7bf3e050b5dd4f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.772 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8249, 0.6147, -0.4942, -0.0139, -0.0338, 0.9991, -0.0589, 3.039, 3.1237, -1.3861, -0.9977, -1.5326, 0.9981]\nstate[eef_state]: left_x=0.2811 left_y=0.0004 left_z=0.1539 left_yaw=0.0019 left_pitch=-0.1369 left_roll=-0.0004 left_gripper=0.9991 right_x=0.5737 right_y=0.1184 right_z=0.0598 right_yaw=1.4761 right_pitch=0.0056 right_roll=-0.2219 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -1.5658, 6.9538, 1.6239, -0.0366, -0.0806, -0.0171, 0.6496, -15.6376, 7.241, 0.6862, -0.5788, 0.0464, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8261, 0.6147, -0.4942, -0.0135, -0.0338, 0.9991, -0.0505, 2.5801, 2.7548, -1.4792, -0.9798, -1.5257, 0.9982]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1536 left_yaw=0.0016 left_pitch=-0.1381 left_roll=-0.0006 left_gripper=0.9991 right_x=0.5255 right_y=0.1239 right_z=0.1918 right_yaw=1.4761 right_pitch=-0.011 right_roll=-0.2138 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.0598, 7.2957, 1.6484, -0.022, -0.0708, -0.0122, -0.0615, -19.3983, 7.6786, 1.2869, -0.5885, 0.1197, -0.0122]\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 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8284, 0.6147, -0.4946, -0.0135, -0.0338, 0.9991, 0.0387, 2.5816, 2.3714, -0.9867, -0.9466, -1.4078, 0.9982]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1529 left_yaw=0.0016 left_pitch=-0.1408 left_roll=-0.0006 left_gripper=0.9991 right_x=0.5529 right_y=0.1685 right_z=0.0986 right_yaw=1.4909 right_pitch=-0.0204 right_roll=-0.2253 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4564, 6.9265, 1.58, -0.0317, -0.022, -0.0122, 0.0205, -11.9043, 5.2718, 0.9011, -0.486, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073555a0b2483562624002139d7521bf2d6bf8455ae2adbea2714ae9b099a63d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c00c3393574248eb1e575a2015b3fc633dc52478bdb1dc3c28ffc577498138d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2010548d1b1838e6c941950e7c9d941db623f187c9e9e65ad7bf3e050b5dd4f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5xmuQ8tiHYtDFFey-ZfAPnAQ0g3qkWMQLw5FlSFGqM8OQD2vUWRuqK3brRCF5-NVdZf1JmCk7bN72YlaTtkXxRscnmBaGQsJ4P4r8YHH1auCseMTh-9c1CsI45t633bRK8pkbTtStMMdKzxE4EXoZcrHf4ta3WNYyTk0iedApesJyQHPdXj4QPVBTIzaO-N-sMF6F62qokjI7wa-ZasEHLUnaJYyvhbQQyQ6KQRb-m3JUtKe4nidRPELjJz7ZkwGE9SZIcnXpBzqmCOuDdBYhao3foJnl91kZCQdYZ_cbJDtzub6dF7R3VT-rafynPWjjPrfpGPWYE9ngdWFp83Ux5LyO2SUm6Bg3gRO7RMAbtslVlwBBGQXB602cLvRTMCeqKAaCR3dPvj8PXk376uHLXyqCazS4PpbVVoaWw_3XZ9VKzQvQv9BWbj8kNTpjqWx5iPhvMkkV2MGSSgmNXPjjlSnhwO_fUy_eRKtSLMP-JjUCkLoggTXXgELvTw-gcYONzBdB5EmI9-l6zWrmM2Hcr4w2fpCvDbK6_QQT-orhBv7KZXAO3lCCKlVaBUMCSYDKfrfvTC8Ol1XXjVev9laCsa1NEbzuHCz1mcpAKaIWow4Si0n4ACuFWLmp0kDCwZk7iv7hQHIrhY0sVyeeEZDBCkKMMQ4JYIxxMrAyTLbGhdK_xm5kNlsfuKD4onWd0G-tOij1wFmRj4M4rRChwqo_9PUcLcdZTc0pE2-wjDFOBMv14D-6s2CBncLgVUow4AeZkJQFuXiEHCAnQR6lL2eXwIsZtxIS30bY-SDBkG19sZ8QDVkvaBwgGtrvW9gJU5PEDKRePGWe8T9sSAdkhWRMjftn3q0lqq4RtaelZJZh9HWyM28Fh9CWJB6wLPF8TEYTHVcTjOi583121Cz-UhlHXCIeSoARKYs0MM5QwL0pSS3tyB2b0wk3NLwZn6jJDBXtSPskcNJw098NNcDHOJlZvZzjjhFA2a_1ZGzgrb8rIaUKe9Ptj6g3bJkHEOWwLHWFzZubgmRF2wbUsl9eKETwdLwGLK7upeX_fsLNzAijAOVODYWSlQjcgLv1PYeY9w4CPk3x6vHNFBxXuaGjHQ-deMSXQodD1uad75Ju0KkN0dyZYOK7cIECByOPKyXVb72T02z4fgOYchJ3g5kZnzgDZR9xNdFejl0fHvJVytZzGautR9d-IELys0Xul8PZh8di5enwMMuNbw1nACur87Xe09AM8QNPTQBcTFW-HQRc_wzf8P74ey9HErS-HWSz8pHW-q-eLqyVrkNpwoCJxjwpW01ZZ4TA1ghbN_1OFaibDL6m5Jly6dLIP6EkuG_F2JBelS4NwEWelS9fnEmcPYyAZdKUO1R5_IHa1TKBuDmyFaXUCsqhFrPLpuK9j-2xe8Vqdd4AN6iIF0HC5dQ5Y4JmcWEy0TtuIKKPzXU1bGVdWyWzprk_trExiIEyNgvgG7a7Puzb9G8uQC7AZkakFGHt2RCXrguAr21nk_vv80f7MFXEc7Zl--9lu3FQ63nTreTfqybys-JrvFpYeRdhNZS7YAwummVWYYR_PeJO75DDaNYb_0oL8fQz1v2XUKANs7t9diaCcR21B0tGujS0i6-Z1QQ==",
  "id": "rs_0d671001b327ea8d016ab43e6f727487d093237d615a69b433",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.24,\"right_z\":0.065},\"note\":\"The pear is hidden under the far end of the gripper in the overhead view but the gripper remains slightly to its right. I’ll shift farther left and lower to body height so the rotated radial jaw straddles the pear’s path.\"}",
  "call_id": "call_CqBeLPQhjLoRUH9WHu5f7pwf",
  "id": "fc_0d671001b327ea8d016ab43e7045b487d09647a81cba5506da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CqBeLPQhjLoRUH9WHu5f7pwf",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6147, -0.4946, -0.0139, -0.0338, 0.9991, 0.1741, 2.6026, 2.2257, -0.7322, -0.8906, -1.2549, 0.9982]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.1524 left_yaw=0.002 left_pitch=-0.1427 left_roll=-0.0003 left_gripper=0.9991 right_x=0.544 right_y=0.2388 right_z=0.051 right_yaw=1.5197 right_pitch=-0.0395 right_roll=-0.1942 right_gripper=0.9982\nstate[joint_eff]: [-0.1026, -1.5521, 7.1316, 1.5897, -0.0562, -0.0366, -0.0171, -0.8137, -16.6085, 5.6684, 1.1111, -0.4762, 0.188, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f53c570898be8e5b48c1c6aea3528561560a6ec6e3dddf7db94e3ac7912e64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61317d6c008a7ee957caf79879abd2553a9a8487afcd96381b316b88842255d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386743c4cf73dea125edaa4a072aab6521aee88dd3d490016ba693b353dd8027",
      "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 · 5.505 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8249, 0.6147, -0.4942, -0.0135, -0.0338, 0.9991, -0.0429, 3.0711, 3.1241, -1.335, -0.9958, -1.4986, 0.9982]\nstate[eef_state]: left_x=0.2811 left_y=0.0003 left_z=0.1539 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0007 left_gripper=0.9991 right_x=0.578 right_y=0.1271 right_z=0.0444 right_yaw=1.4738 right_pitch=0.0085 right_roll=-0.2127 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.347, 7.3231, 1.6239, -0.0366, -0.0757, -0.0122, -0.4034, -16.9231, 7.3778, 0.7741, -0.5641, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8284, 0.6147, -0.4946, -0.0135, -0.0338, 0.9991, 0.0387, 2.5816, 2.3714, -0.9867, -0.9466, -1.4078, 0.9982]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1529 left_yaw=0.0016 left_pitch=-0.1408 left_roll=-0.0006 left_gripper=0.9991 right_x=0.5529 right_y=0.1685 right_z=0.0986 right_yaw=1.4909 right_pitch=-0.0204 right_roll=-0.2253 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4564, 6.9265, 1.58, -0.0317, -0.022, -0.0122, 0.0205, -11.9043, 5.2718, 0.9011, -0.486, 0.1783, -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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8303, 0.6147, -0.4946, -0.0139, -0.0338, 0.9991, 0.1741, 2.6026, 2.2257, -0.7322, -0.8906, -1.2549, 0.9982]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.1524 left_yaw=0.002 left_pitch=-0.1427 left_roll=-0.0003 left_gripper=0.9991 right_x=0.544 right_y=0.2388 right_z=0.051 right_yaw=1.5197 right_pitch=-0.0395 right_roll=-0.1942 right_gripper=0.9982\nstate[joint_eff]: [-0.1026, -1.5521, 7.1316, 1.5897, -0.0562, -0.0366, -0.0171, -0.8137, -16.6085, 5.6684, 1.1111, -0.4762, 0.188, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f53c570898be8e5b48c1c6aea3528561560a6ec6e3dddf7db94e3ac7912e64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61317d6c008a7ee957caf79879abd2553a9a8487afcd96381b316b88842255d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386743c4cf73dea125edaa4a072aab6521aee88dd3d490016ba693b353dd8027",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD50I_VQNP4VNp95m3Ftlr-r8-32E0_GNb26R2JZj9LYVWwzltkQojU1ZnLds0VucZNJsrPVgfauO9JMRmXZAprH0BvT5mlYlrrctKGGlY4oHhGHUYUAE0Jnb4-cW7-ypzWbAW7oZVmpulJae5OQRa0WSGtwat8wspvLJs23K3zp0n6XXReWzyJV-ukXoqy9YAdofB9fS7YBDR_Jt0l62RO2Kzro2utyqUyo-TSZnykvPTDel2ST_8Yp4oQDmkv7pma8Uqfd64wrnnNuT0aSH7YplqkZQ_fM6YelIMftMsDnxaixYr4yvOLVGe1ueKZ_CXtnwNGmMS8vY5FfegF_hy3z705NesVooBl2FkAID-A1jefTtU9fQAXgzvKO_NDHlczlruyTjzJObzTIbViGm5YNrTm9hwqf4opWBeSR0Vz9l6h5I5dENdqut48QNnmxqEeD3M5CXoQEFH2o8bxvQiKvWY943Li6879WacdtRwtG8fVfSCFafu-mJspArqq4F073bnSKdvIqFr7GdJt2cl19DpttNZcrBrjj55nSXjCRRWSNLBP5_kyQDZ2TvylOwlHCX8G99pUE6l4ygKmFkcU53wG9gosA1QV7DZTiLmiOafqZXxDiu5M9oJItopXjEHctnBsFIGaeSFBC4g9cPO-qgW1tGjQJApcsPGi-2C-sldrAPpTxnrui-AJUDeJzJk5KPx3P0dBFKJg4d47odt4OB71rgLxg_8S5QeRK00MYHyeVf9t5nnTME6HoJVEaZ9LNU7Xs7-01-g1sq2F_9NYIc1sXXqoFoU6LDpJ1mRQUkbi8Du9GAd8ktHXuVrxXQpKAg8Y1yMcBoJ3hNKBpXWUMbTKA5sHPEDMkOVOke-kVJ5GCcS94EwZVYGbJqCMUFnueXqm-BCsPG5RsaIo6HpMdiM1roneh2kP7QWLxSmB0weBnVoV0Ft8bMH3-lnbJCnpw9nueUtKen42Y4O3ZQ1s3OEcFnz5pgrXSco0mBzi3ySYzxW7x1JHNnueWUokjxjtcfK3xwbLs2WBOz3tu-1XlfQttZA0QLBwCQO26PzkTmp--KVPOU0pMApv3AlNgGwC15Z22dq0icKNYYT5f38rWbP_qafES5K4nCVCkK_91M4JOuXUKDaJS-G7XL5PTIEc48qDjbBf9anMvJaBXy0nD3jPZsrMyOi8GJ-iuGhZsVQeeMCX7U0aFfuECp30GEHA3_h9QJUqBVQ3OZ9LYyr9DVXxGP3dqXZ3uFCGFsFFUkGbN1IMcNdzGXEAKh4wpUopNiLMMgla2_8NGTVN3Ux7dDIL7tgPBx-CCNMJx9DQdIlIdAH3Gr0o_NdmSrAsO0BeW40XEzxU_0D7othmGuPZ2qghvvtz1T7qWgFm6QWzoST7sZtXKcgMjJOVOSM4vnB_HdMpNhHwRHv7TCYu45axf8lS4unb6_a7kbb_9MXgqCiJDigkhApDvZD1kcBNG9Sam03klfSlsU2GV0LCyUsApHRF_-BwsARy38EPjtnT9Jb4=",
  "id": "rs_0d671001b327ea8d016ab43e72e1e887d08cf70f96849bbe45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47},\"note\":\"The overhead view now shows the pear directly beneath the rotated jaw span, so the far finger should be beyond it. I’ll retract 7 cm at this low height to pull the pear away from the fence into normal grasping range.\"}",
  "call_id": "call_alW4far3CMKJpvLoCKFKX1Oo",
  "id": "fc_0d671001b327ea8d016ab43e73c67487d08b3aaeca1d1defbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_alW4far3CMKJpvLoCKFKX1Oo",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8345, 0.6147, -0.4969, -0.0139, -0.0338, 0.9991, 0.2005, 2.3264, 1.6398, -0.4866, -0.8677, -1.2293, 0.9982]\nstate[eef_state]: left_x=0.2811 left_y=0.0004 left_z=0.1509 left_yaw=0.002 left_pitch=-0.1491 left_roll=-0.0002 left_gripper=0.9991 right_x=0.4623 right_y=0.2351 right_z=0.0254 right_yaw=1.5261 right_pitch=-0.0726 right_roll=-0.1159 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.2239, 7.0496, 1.7118, -0.0415, -0.0562, -0.0122, 0.1299, -14.7761, 6.8581, 1.3065, -0.569, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1ac716c49e0653f97544277912d661ad4e95bd608d76a58d7b2eb475161463e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719391bd1e533acc849e044a7e7ebad7566a37daf7cab0a523c9fe728253165f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f458f2931b0c25b577c24f1453df0aba46c7aab62bda6743c8cf84de0ae1bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 1.97 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8261, 0.6147, -0.4942, -0.0135, -0.0338, 0.9991, -0.0505, 2.5801, 2.7548, -1.4792, -0.9798, -1.5257, 0.9982]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1536 left_yaw=0.0016 left_pitch=-0.1381 left_roll=-0.0006 left_gripper=0.9991 right_x=0.5255 right_y=0.1239 right_z=0.1918 right_yaw=1.4761 right_pitch=-0.011 right_roll=-0.2138 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.0598, 7.2957, 1.6484, -0.022, -0.0708, -0.0122, -0.0615, -19.3983, 7.6786, 1.2869, -0.5885, 0.1197, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8303, 0.6147, -0.4946, -0.0139, -0.0338, 0.9991, 0.1741, 2.6026, 2.2257, -0.7322, -0.8906, -1.2549, 0.9982]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.1524 left_yaw=0.002 left_pitch=-0.1427 left_roll=-0.0003 left_gripper=0.9991 right_x=0.544 right_y=0.2388 right_z=0.051 right_yaw=1.5197 right_pitch=-0.0395 right_roll=-0.1942 right_gripper=0.9982\nstate[joint_eff]: [-0.1026, -1.5521, 7.1316, 1.5897, -0.0562, -0.0366, -0.0171, -0.8137, -16.6085, 5.6684, 1.1111, -0.4762, 0.188, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8345, 0.6147, -0.4969, -0.0139, -0.0338, 0.9991, 0.2005, 2.3264, 1.6398, -0.4866, -0.8677, -1.2293, 0.9982]\nstate[eef_state]: left_x=0.2811 left_y=0.0004 left_z=0.1509 left_yaw=0.002 left_pitch=-0.1491 left_roll=-0.0002 left_gripper=0.9991 right_x=0.4623 right_y=0.2351 right_z=0.0254 right_yaw=1.5261 right_pitch=-0.0726 right_roll=-0.1159 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.2239, 7.0496, 1.7118, -0.0415, -0.0562, -0.0122, 0.1299, -14.7761, 6.8581, 1.3065, -0.569, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1ac716c49e0653f97544277912d661ad4e95bd608d76a58d7b2eb475161463e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719391bd1e533acc849e044a7e7ebad7566a37daf7cab0a523c9fe728253165f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f458f2931b0c25b577c24f1453df0aba46c7aab62bda6743c8cf84de0ae1bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD56AOnWr1hh7DS50tD23wVH8hcwDHFcHdsmiU4Gq7aNfaLjGY49DaLLvmnfB8viXj8we3RZ4eZ7R5f-izr2MrVau61gXqAWRnKS0YCfipJJWQK6f3IW-ZASAQpspTH4V2aabY6GrY-PD_qA3f7U_OuaBYatPKgQSrssFpgtrgb0BRhmMR-0yWsMwzXbpAzyO5itcrFaKadsVXhHHt8nUN0j4reauWeaiAzPBvLS-A2n6i_bIhFW8xWmjERLSIEV67c8taad2IsI0wpQ33EQbV1VhUYP4dAD6Pl8r65Ql3f58G41fbAkIaC-fL3vnW6PO3a-izUX7UYz4Mh2BO3Ey93rwlG4XOF18BfK4Mdkv6rtQNW-VrAZ-k5dDAqmuyYnLm4-JS-DHy_KwmagNFqsXvxzyd5zTdlhFcMhfbCLXpzyKKMpFVrbaH_XYS9T1zKwW0S9seFNwDOGti23zlNklxQNE0rS9LhptTTguGtNiUMCyM-wdjUDkmgAXoP7DN3Dgh42E_jgVBMgaLu-2m4uj2_5TNeJwlq93ppQ_VwAnHwTbH0JMtSrchRIExKOGf_hg5-RCRKiB8J8qkAzcJkLZsA82rD1n347bWWUpNmnoUs6-mhDOv3uY4xry8kBcE_VJps1xxmyvvsCAnMidx5POVtVNGfn8Rjp2wOs1b2invANVFQefCkT4JhtGDSV6FpgV_j1rVV14D7qSkUjH50tjEWadHzGHbToNgRg-6qQ9VmQu_XDQGVoqOpDRnFULh7LzdsjjVpvErOuAEKFo66EdTLGOXmzKGkeWpGP2bjJloWQwrMbW9D64KAj5siS8Hn_JW1S4J28SiIO6klRykvz3fAZFnWnTpDYtVstHaj6bK8fvOLxM6p_d_SYlWBaOD8ZsWVvY7dBHx0R3mk9D15c25DbNT7k5nb5M-0oTwUWV4KYRgDYX4Q9ULMD-m66dUB8Hn5SXTGys-xdCktaVSqwkid-0mT1yZQZJ1dMlzpD59FSU8rUjKnSPLiGKhbC7vglxr2lNSw4Rrd6jqtv80n_KnA7EeBYzr9yqkBkBvn5QZBxuX2np-zlsjgNC0jiYSskBy1ZIxm9eZIi2dzpUPHPGvqS5YmjcY3nvJjvBexMpGN0d3dXz1VLpPWKZcKL7JoXj50WWzLpynds65UL0TBswGJw5s3g7okJmCECtFp2TfKwaZb6N2Ke8Lx-op89QxdB-QvO9ljV1ySLKLuJk1ivj9Ue215sD3KyQYEWCxzhXAtkfUJBOX4hh6iEROIE1K5HyIWwXt0eg_pyOrndkx6emndX0U-NgNE85fMbhJgMPpmbEvwsyXXbZ9nk30jqzsQfD_gYYa_BgMEV6Q3WmxCS5FtLGQPLWk02c0K3aDantCK2yhTiW1sxJ3lBtPtwJhS33_2SiHTEBzdlEF6qZTwK1s6v5KouQhGDHBw0OlJ-_vRmEvVrAl_-zIS2_6eget4zVRG1Fe-_SwUB_fIvUKXqumALNNat6H8kUbi1n7pMCIetTPZaTSL_pV6e-hZtukMAMnVlEktE2Ic26yksgzpUW4Chn4NP-gHUKSjEDe_cB6S2CH5lWdZ5dLcAr7Pjv-MhZu_4COF5FrvEFoiPYlBXEwjVhZrNgPacGFdP7eVyb-8OtnxGEsy8T1h9dgoVPIm_xEXmTQTfRa96wGhMTf-OcKMINSduDEBMrniJi1QPb8cK72iRRcQzxEus42LsewrCwHls_e_8Z7nH8EZx6ufTAfk-EYHFmkctSOJZx6cWUGk1hnXeJZVjwGa-utfh8aKz8tPpXHRk9GEmuRabh0q4_fWH8wVIJbthW8Pxg3XP4k5GmvRZQSl5g5j3um9q0vIu5kPaUR2JtDCIMyRfEK-tYL6h3r1-JHg-j46xYXNhTc1iemWPNeFioC8UwQ52m2rox9S1es7-yNUMARj_rUnKLA67iy9ouUtOe3GJJ_IqsXBXgAbncPUceDJkChgZBqyctlc1wG_OUbHE72Tj7LTm-BuIikHrdRB0ALIuoZamIcaFMicWneyrQzIXtcogfG2Ags-AZhLANTK74SzbnfhVbIs2w-KRxMCw3R_sEV9j7fIp2Ha2idKhzI-SKVgGOwFTdSehbha4uS7EX0uL-RWJLxTu2jUac58B4b1Cl_Ec5612QHUpZ5hF-lJ7a1MHYmi3kitVpv3CstO8xp9ntgNsbTr3zVO-hklutMop3G_SLMTVAMbf5JoOBREBdFWXp5xt_Hny8SKpWthtNGiquhNiw8qxH0luRsHkMmuCgrK4KMBp9xKHt1L2Ez7bqSSwaWh6BQ4wSR5wDaSn6F5Zd6LyTnvYBLz8fLcq1xfX26sL3gZxiYs1xhXOQMCoOlLEYKWAg_y2lqi1igSZlEajzIkDHrpZTCI9Z43BkUlqVUSMwL4wnIPaLUHnLj1JUgAZNYpV8JyzE47jmcI0LbNDG6tyErvLUf1vj2ZtGzeaV0YD21La7JP3WMigYQR5_cK7YYlqBFfD75NDOosUUmLQUThtJqEKvA9HIJYPyrEmY3-n2AB3khvncrfjkGN9I_QRaPJZAO_PCE5wEwsKxfSnp4yXCIXRwnI6v5JA3fr4bLGQ-6GXdxZ8DMshvXkjIPN3hnBINU2Xe2rzYt-rQFMyCwnArCvyEF5rDuCI9xxVueS4G6omQ6zeMdVo5LT8CXQ97B3jLtjdeE9dTcOSxNQjk5Tnq5cL9xWIo2MiTciyjHs6R8_fKG44C4plR0vVA2dvCtI2udgeYlP7EAVCaY471OacV1iqc4edj72ynTMn7ptHoyt5x7R6z9N65dCOnvNZ-NOgqHPjunVOIKQ84sNmL4V1GVnNMpqRpBcyrWE4xg6Iq7Hhp3-BTZ8JHwb6AuEvaRWY2fMwTbkZOQVCej3l0SOrB5X8CKhVzbHMQe6PIeYG473IDMvDPKfcakIewUwXdf0ezFchj0ax96RLSNeXqkR7SqSHHTesdca87yomZ5uYpVpXH01cyrHl0g98Ev0yxBhKcDHNQnYKS2nwbAcA8rztN9JU7A==",
  "id": "rs_0d671001b327ea8d016ab43e762e1c87d09c186476dad9618a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_z\":0.12},\"note\":\"The open-jaw sweep passed the pear without moving it, but it confirms the arm can enter and leave this pose. I’ll return above the same aligned location, then use the rotated jaws to pinch radially instead of relying on an open hook.\"}",
  "call_id": "call_DOD3VN4woxpsFGHzvDZzhBe8",
  "id": "fc_0d671001b327ea8d016ab43e799d4c87d0b5164d50bd66aa65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DOD3VN4woxpsFGHzvDZzhBe8",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8391, 0.6144, -0.5091, -0.0139, -0.0338, 0.9991, 0.1726, 2.7575, 2.6843, -1.1149, -0.8753, -1.2675, 0.9982]\nstate[eef_state]: left_x=0.2792 left_y=0.0005 left_z=0.1473 left_yaw=0.002 left_pitch=-0.1663 left_roll=0.0002 left_gripper=0.9991 right_x=0.5493 right_y=0.2371 right_z=0.083 right_yaw=1.5228 right_pitch=-0.0715 right_roll=-0.1304 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -1.5932, 6.9402, 1.8291, -0.0757, -0.0464, -0.0171, -0.3897, -11.8359, 4.4103, -0.2711, -0.4762, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12e52f348fc4217713b119ff5059db90dad9d482e8de788cd0d3e5ffa912ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3bb20ce972f8735bba272a098944280f1586cce8f0fbef56291aee5772d257",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314105314c28826d0a68e2b62d13e5e7b5ee8aead92e131df5fae3b67579ace6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.164 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8284, 0.6147, -0.4946, -0.0135, -0.0338, 0.9991, 0.0387, 2.5816, 2.3714, -0.9867, -0.9466, -1.4078, 0.9982]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1529 left_yaw=0.0016 left_pitch=-0.1408 left_roll=-0.0006 left_gripper=0.9991 right_x=0.5529 right_y=0.1685 right_z=0.0986 right_yaw=1.4909 right_pitch=-0.0204 right_roll=-0.2253 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4564, 6.9265, 1.58, -0.0317, -0.022, -0.0122, 0.0205, -11.9043, 5.2718, 0.9011, -0.486, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8345, 0.6147, -0.4969, -0.0139, -0.0338, 0.9991, 0.2005, 2.3264, 1.6398, -0.4866, -0.8677, -1.2293, 0.9982]\nstate[eef_state]: left_x=0.2811 left_y=0.0004 left_z=0.1509 left_yaw=0.002 left_pitch=-0.1491 left_roll=-0.0002 left_gripper=0.9991 right_x=0.4623 right_y=0.2351 right_z=0.0254 right_yaw=1.5261 right_pitch=-0.0726 right_roll=-0.1159 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.2239, 7.0496, 1.7118, -0.0415, -0.0562, -0.0122, 0.1299, -14.7761, 6.8581, 1.3065, -0.569, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8391, 0.6144, -0.5091, -0.0139, -0.0338, 0.9991, 0.1726, 2.7575, 2.6843, -1.1149, -0.8753, -1.2675, 0.9982]\nstate[eef_state]: left_x=0.2792 left_y=0.0005 left_z=0.1473 left_yaw=0.002 left_pitch=-0.1663 left_roll=0.0002 left_gripper=0.9991 right_x=0.5493 right_y=0.2371 right_z=0.083 right_yaw=1.5228 right_pitch=-0.0715 right_roll=-0.1304 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -1.5932, 6.9402, 1.8291, -0.0757, -0.0464, -0.0171, -0.3897, -11.8359, 4.4103, -0.2711, -0.4762, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12e52f348fc4217713b119ff5059db90dad9d482e8de788cd0d3e5ffa912ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3bb20ce972f8735bba272a098944280f1586cce8f0fbef56291aee5772d257",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314105314c28826d0a68e2b62d13e5e7b5ee8aead92e131df5fae3b67579ace6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD59aFV1OcZ_xbTNq7M1Fu1i1NMTgYac89kmqZ5j7SFOaQJeE6lH9TqR9ZzD2hdmGVG1-TdobSeQUiYBq2hq2p4CrkXgIuQN59S3TOAJjl5Pvd4DElvYph5mBTJAnHxMkw2WjggaySntPPs4M4wmXO5I8Ev5pJF_blGlhdMQ8ZLDxmL9OQ06kQw5d83pIgJi6t-FjjVAirvBQXMkxnMqNCObCFKV2YSN8ryi2EpWO1230tcKmmxCx-Zw1hOj-7pXMpxsQ8ikHpIkf6vHDa5rOIOxaCksHPbv1fKA_8HPv_lzPfOF1x9UIfeF7-4w6cOt_U0wMmW5YnuPsz7KQJZfjmE6lwCJeNCgoEIRT2f6Ve9-wlYskHtQpwhwJbCf1wn6L2fZyoBTYvyseXPLAo_p8yBvXocxZ1gTFncokQ0IFHt1IGWLAdVMNrij-esRikM2F4OS4agFxfnPvn_jL3vmDXcsNcTyz2M2agsnGonWqBLF7MPAQEmNiyfYatyDOo54k3drOb2fWY0OtpDYaNdblPzr_k49QDLlYD0dS6bOLnO-_rQGQSqDb-C8XtGdJo-tRi39RaOmGmsDXZC33AI9NbDveL09NW4Gj1AUNGKEu8R2_22bP21a6WLvBnEx3DGlbn5Jpf8kcte7Ab5-3ujZcZlf1gQwEJEIJz6A_sxQBzQHefi0qwqrPbwTJ_z_PhWEsQV56te238G-7owL2tnuVjHYUq_DboAvMReYLhxwgFRwiEBhXSnDqvhNhPAs0I4ePc3ltw3trUM5WWPPpRrAUaACyw46S4I6Yx8M_-MDIwBwbmjS-cMjf9bdDMCkbAqlrKpV3Gdp8UOUNEXWt4-13bGjwVPi6YD_rJPZ05IIF8KLHSRG7aITGsvYjfr0wkPmRx4T5_CsfPvvUlpkjeUSg7glWpqroN9WDRm4rsuh2DqarbM_DTDiZHh0_tdEcQAdaZ7c8kQeskqwHdDbuvwx8kSE7W2ZtjgdO70fXJVVwhZuFGFBtpBaNjiY8RvNCoCQgY4Hqgmu3LYBWK9zSnQrLiqG2_qHWyirncn6PfUxMltq6rKZMtrj13vmuFMFtUqwCGadvx9fTB_r4xvj0g9pBNHyz_jUKspKZQPe9ermQQUHP3qRPb5YrvNYrsgNm0VEIXyBGhSfXKVJPxHTnmmAWnXvGJlX_kIvN_-HFw5yNK7sT8GGwOzlzkillWXSK1TIqRDDTgaWLW3GZG6bIBW_YTNX9NBGZy8W3yvPOjPvQVfzG-o=",
  "id": "rs_0d671001b327ea8d016ab43e7c309887d0a192e6b30b7074c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The gripper is again centered over the pear’s overhead position with the jaw axis radial. I’ll lower to the fruit’s body height before pinching, keeping the fence-side finger beyond it.\"}",
  "call_id": "call_s7QTDfmgGCUQvgsfKU77XZRp",
  "id": "fc_0d671001b327ea8d016ab43e7c5c6c87d0a25af5e1e9347b57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s7QTDfmgGCUQvgsfKU77XZRp",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8406, 0.6144, -0.5133, -0.0139, -0.0338, 0.9991, 0.1684, 2.7674, 2.4989, -1.066, -0.8707, -1.2823, 0.9983]\nstate[eef_state]: left_x=0.2785 left_y=0.0005 left_z=0.1461 left_yaw=0.0021 left_pitch=-0.172 left_roll=0.0004 left_gripper=0.9991 right_x=0.5296 right_y=0.2307 right_z=0.0227 right_yaw=1.538 right_pitch=-0.107 right_roll=0.0007 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -1.4017, 6.9265, 1.7021, -0.0415, -0.0659, -0.0122, 0.2393, -17.1829, 6.3248, 0.9695, -0.5104, 0.1197, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5eb124ac6efb4796e554ddb33e4249de1ac665c54d11b3dff3eeee8fc020435",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c720e3bc307f77d39f1f19da92e56fbee2e2c7618ff04605b3af7f5d82fb8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2189225dd99efb7f35480572c5dd2dc1fcd7bbbc5ce222975db72d0e7e859c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 8.097 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8303, 0.6147, -0.4946, -0.0139, -0.0338, 0.9991, 0.1741, 2.6026, 2.2257, -0.7322, -0.8906, -1.2549, 0.9982]\nstate[eef_state]: left_x=0.2813 left_y=0.0004 left_z=0.1524 left_yaw=0.002 left_pitch=-0.1427 left_roll=-0.0003 left_gripper=0.9991 right_x=0.544 right_y=0.2388 right_z=0.051 right_yaw=1.5197 right_pitch=-0.0395 right_roll=-0.1942 right_gripper=0.9982\nstate[joint_eff]: [-0.1026, -1.5521, 7.1316, 1.5897, -0.0562, -0.0366, -0.0171, -0.8137, -16.6085, 5.6684, 1.1111, -0.4762, 0.188, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8391, 0.6144, -0.5091, -0.0139, -0.0338, 0.9991, 0.1726, 2.7575, 2.6843, -1.1149, -0.8753, -1.2675, 0.9982]\nstate[eef_state]: left_x=0.2792 left_y=0.0005 left_z=0.1473 left_yaw=0.002 left_pitch=-0.1663 left_roll=0.0002 left_gripper=0.9991 right_x=0.5493 right_y=0.2371 right_z=0.083 right_yaw=1.5228 right_pitch=-0.0715 right_roll=-0.1304 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -1.5932, 6.9402, 1.8291, -0.0757, -0.0464, -0.0171, -0.3897, -11.8359, 4.4103, -0.2711, -0.4762, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8406, 0.6144, -0.5133, -0.0139, -0.0338, 0.9991, 0.1684, 2.7674, 2.4989, -1.066, -0.8707, -1.2823, 0.9983]\nstate[eef_state]: left_x=0.2785 left_y=0.0005 left_z=0.1461 left_yaw=0.0021 left_pitch=-0.172 left_roll=0.0004 left_gripper=0.9991 right_x=0.5296 right_y=0.2307 right_z=0.0227 right_yaw=1.538 right_pitch=-0.107 right_roll=0.0007 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -1.4017, 6.9265, 1.7021, -0.0415, -0.0659, -0.0122, 0.2393, -17.1829, 6.3248, 0.9695, -0.5104, 0.1197, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5eb124ac6efb4796e554ddb33e4249de1ac665c54d11b3dff3eeee8fc020435",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c720e3bc307f77d39f1f19da92e56fbee2e2c7618ff04605b3af7f5d82fb8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2189225dd99efb7f35480572c5dd2dc1fcd7bbbc5ce222975db72d0e7e859c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD6ATnZFxLBXK_qf7e8PREG3teHFk0eKNbz64mREQUJlkz8-5jj0bXJw8nFn6XBOEI57VOZ_LfPtCXEPcVgBuHvT41rzAjX3_c7gjhWBiXfzCi3kEuCr2RreXILMcWHUxGaJ5QCqk-qHHa9lvVjMMCquGB3Tee8hECS_CcTLwZ20oR1dMvgUo5hW2f5itMgeCw21hmrNPi8RdXX93zaX1JyFxhv3-HZnFuuXEIxIr9t0yg0MYo4RnmKqHw1ZkmarlGCKV2BDX0wIj8rb20j_agIUmAjwg6xL8gZbdW57NkUS2hmfSbd3GngLnJs4Ii21RtDG8AWNJzdLi3mBE_ZHODaycbB7Mv-wqhO-iXMB613gvsLs2cQFYAHA_8hiYFg45eHezR72h4yxMVLRech73iCNLQGC_q_Nkk-qCoM5qnPh20IgJhwzkloL-8lkI81Gg5GqwR1ixxdflqtdJTUKPpUM0XVEwsXcH3mdwbZ_sS-mdgxc8SdB2Xjjc33frsp2dkzCN9Guv45f1tdh4Iwtq403aVzNWhXRPwsrC1RK8NcGaFrnFESqBgdBZ2z19Qs3YCBN83zJ0gnJ89NDq98xBDHsvO4D-uIEkR4Y2TjxRmJbhzJDILfecd7YyMZZ7_wFJoB9nsBGW7E08QdsKsK8UGxpSX-pgt85Kyh_XLLAiQ6wR5euz5O5sqjHQ5sOy3VI451yej4nEJtsLR1aCzwO3o1XRx9Jqw8qncCv5FM3F-blYdabA-Xo8hjl_lusk_ZSl66_eLd0B3Sw-VM3ElK8hROkp5RDdYw-Yq07Iu-snINrfOK4Y5SFwBI7rC4zLDdTd91lvKUAj1pE7FstkEExq6CPO0WLKb0eHXPXVrSCcTBFi_IlXokIfca8w4VCwG5JeS7XeEfqZY7B4IhyfhgrjmHdVsSwpkCmGS24XUvt05gmnKR9eCYlvSf7p1JhHwtwpY5Me8YDy2N_fkwp2LggL7xQcv7lysSzTtq6M81CNItm90UCH3s1oArWMK02YdLYWr38wCulFd6fn9Sm1POYLGIMLA8gqiZc4toBV_tqop-VUw68QiW4umZ_XQOT2NXAnZwwCE4RIJuha3tph4n5cMGy_QhRmjZDHcW8dXx9vVkQmw9RzOb5iQ7K6FQ4U0NHaXKDW6Q7g375eCqimPosUPqxVKtLx1hXMstkhrSSpDzHF804c91OeqliDn4mEUOKBCV1WQsT12mzrjPqe8kj9idr1XiUKwaPV0_SBrQwzsyd492eGl0W-t6CNf-tqhxl8oWhTY2__zms8czpxr9xYEpyrOhKeRep570t3zXfjYzOKFVS5t_E2CIvLQvbJycf3MqQJxg7pDh5su7zwhDkf64TS5OPmKI_5AgDzHMq1y5aSz-MhhjGa9EHbnoRpiDDWXqdPI4sTkzic7-36dNMXWs_T7E57vOaHQbJwYIBRG5RCcWzDcQ5nx5MRZFNhG7Stho-KH-y-Ovj6juOQNdFDj2HDZSCkVqVTcDavPcXvSZC2e7FxjhwT5x0Zkoio_nF-pIRJBoyKnhVMPLENVS_lmQZLjsUAKEQns-0oxYw8CrsaSng4CrrZtN1eCvSCBi-rxwhqX1vSmCLxYo96ZpzKHcOIcvKlAV9TnUNPGQyOHWgR_mgkJRZ34COwBnMXU4V2JSdMGl6KuWV-st_eJxJDyTSevZaX4pELtmbixDbIfuoRGrKtHITIbTmL2GunGn8RhRq",
  "id": "rs_0d671001b327ea8d016ab43e7e77d887d0a40ba7843ec671eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_z\":0.085},\"note\":\"At table-level height the arm loses forward reach, so the radial jaws are still short of the pear. I’ll raise to neck height and restore the longer 0.55 m reach, where the forward open finger can extend beyond the fruit.\"}",
  "call_id": "call_YkzO05iGTasUnMOPQHn6MdEC",
  "id": "fc_0d671001b327ea8d016ab43e7fa0c887d0912a9c689b285e91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YkzO05iGTasUnMOPQHn6MdEC",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8452, 0.6144, -0.5201, -0.0139, -0.0334, 0.9991, 0.1661, 2.9704, 2.8559, -1.2774, -0.8795, -1.2942, 0.9982]\nstate[eef_state]: left_x=0.2775 left_y=0.0005 left_z=0.1437 left_yaw=0.0019 left_pitch=-0.1835 left_roll=0.0009 left_gripper=0.9991 right_x=0.5319 right_y=0.2308 right_z=0.009 right_yaw=1.5502 right_pitch=-0.1094 right_roll=0.0496 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.8256, 6.8991, 1.6142, -0.0513, -0.0366, -0.0171, -0.253, -15.0085, 7.1726, 0.2662, -0.4127, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aae24219cc4af58f0402586d37d66a9934b6e1c2be88cea6b696b6b751160b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd3318328986d5a05b77714baf5f8522852765b0704ad69f2d2003c66410dfa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c597a3e85d0b75ba64db612102ced45062b8f34e5e50420a58e808b09a0497",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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