adhoc

completed
2026-09-23T21:45:05.948291+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
216.7 s
total steps
385
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe right wrist camera shows the green fruit centered on the jaw column just ahead of the current fingertips; the blue bowl is farther left. I will move the open right gripper a few centimeters forward and lower to establish a close pre-grasp pose.
move_to
right_x0.3400right_y0.0020right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8001, 0.6132, -0.3824, -0.0139, -0.0086, 0.9989, -0.0189, 0.8005, 0.6178, -0.3874, -0.0238, -0.0124, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2959 right_y=0.0022 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5812, -1.7573, 9.5795, 1.8046, -0.0952, -0.1099, -0.1245, -0.4308, -1.7846, 9.2103, 1.8681, -0.0122, -0.0562, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.002,"right_z":0.1,"right_gripper":1},"note":"The right wrist camera shows the green fruit centered on the jaw column just ahead of the current fingertips; the blue bowl is farther left. I will move the open right gripper a few centimeters forward and lower to establish a close pre-grasp pose."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe green fruit now fills the lower center of the right wrist view and is well centered between the jaw paths. I will descend vertically to grasp near its mid-height without changing the lateral alignment.
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]: [-0.0219, 0.8047, 0.6128, -0.4019, -0.0139, -0.0082, 0.9988, -0.0162, 1.1446, 0.4091, 0.1314, -0.0238, -0.0124, 0.9994] state[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1766 left_yaw=-0.001 left_pitch=-0.0244 left_roll=0.0008 left_gripper=0.9988 right_x=0.336 right_y=0.0024 right_z=0.0925 right_yaw=0.0027 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [-0.0615, -1.6205, 7.0632, 1.8388, 0.0073, -0.0708, -0.0171, -0.2803, -3.7538, 6.4068, 1.956, -0.0317, -0.0513, -0.0757] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.03},"note":"The green fruit now fills the lower center of the right wrist view and is well centered between the jaw paths. I will descend vertically to grasp near its mid-height without changing the lateral alignment."})
tool
executing move_to over 5 steps (0.5s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe gripper has reached table level with the green fruit centered between the open fingers. I will close fully now; the settled opening will indicate whether the fruit is securely captured.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6128, -0.4088, -0.0139, -0.0082, 0.9988, -0.0162, 1.438, 0.2546, 0.535, -0.0242, -0.0124, 0.9994] state[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1743 left_yaw=-0.001 left_pitch=-0.0343 left_roll=0.001 left_gripper=0.9988 right_x=0.33 right_y=0.0025 right_z=0.0207 right_yaw=0.003 right_pitch=-0.0782 right_roll=0.0017 right_gripper=0.9994 state[joint_eff]: [-0.2256, -1.5658, 6.9949, 1.79, -0.0317, -0.0562, -0.0073, 0.0889, -4.4786, 5.012, 2.0342, -0.0513, -0.0513, -0.022] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper has reached table level with the green fruit centered between the open fingers. I will close fully now; the settled opening will indicate whether the fruit is securely captured."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe right gripper settled at 0.742, corresponding to about 7 cm between the jaws, so the green fruit is captured rather than an empty close. I will lift it well above the table and then verify that it moves with the gripper.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6128, -0.4175, -0.0139, -0.0078, 0.9988, -0.0162, 1.438, 0.2546, 0.5339, -0.0242, -0.0162, 0.742] state[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1725 left_yaw=-0.0012 left_pitch=-0.0431 left_roll=0.0015 left_gripper=0.9988 right_x=0.3298 right_y=0.0025 right_z=0.0205 right_yaw=0.0051 right_pitch=-0.0793 right_roll=-0.0013 right_gripper=0.742 state[joint_eff]: [-0.0615, -1.1145, 6.9949, 1.79, -0.0415, -0.0366, -0.0171, -0.1983, -4.2735, 4.7795, 1.6874, -0.0513, -0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The right gripper settled at 0.742, corresponding to about 7 cm between the jaws, so the green fruit is captured rather than an empty close. I will lift it well above the table and then verify that it moves with the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe overhead view confirms the green fruit lifted with the right gripper. The blue bowl is roughly 14 cm to the arm's left and only slightly farther forward, so I will carry the fruit to a high pose above the bowl.
move_to
right_x0.3400right_y0.1400right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8089, 0.6128, -0.424, -0.0139, -0.0082, 0.9988, -0.0162, 1.0405, 0.6407, -0.3141, -0.0238, -0.02, 0.7478] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1709 left_yaw=-0.0009 left_pitch=-0.0507 left_roll=0.0014 left_gripper=0.9988 right_x=0.3221 right_y=0.0026 right_z=0.1383 right_yaw=0.007 right_pitch=-0.1437 right_roll=-0.0031 right_gripper=0.7478 state[joint_eff]: [-0.1709, -1.388, 6.9812, 1.7363, -0.0562, -0.0757, -0.0122, -0.3624, -4.1231, 9.4974, 1.8242, -0.0317, 0.0024, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.14,"right_z":0.22},"note":"The overhead view confirms the green fruit lifted with the right gripper. The blue bowl is roughly 14 cm to the arm's left and only slightly farther forward, so I will carry the fruit to a high pose above the bowl."})
tool
executing move_to over 12 steps (1.2s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteFrom the wrist view, the blue bowl is still fully ahead of the fingertips and about 2 cm to the jaw column's right, so the first carry pose was short and slightly left of center. I will move farther forward and a few centimeters right while staying high.
move_to
right_x0.3900right_y0.1000right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8089, 0.6128, -0.4252, -0.0139, -0.0078, 0.9988, 0.5758, 1.3006, 1.0985, -0.664, 0.3889, 0.3607, 0.7478] state[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0011 left_pitch=-0.0519 left_roll=0.0017 left_gripper=0.9988 right_x=0.3305 right_y=0.139 right_z=0.1982 right_yaw=0.0362 right_pitch=-0.2127 right_roll=-0.0468 right_gripper=0.7478 state[joint_eff]: [-0.3077, -1.265, 6.9949, 1.6825, -0.0611, -0.0464, -0.0122, -0.4718, -5.5453, 9.3744, 1.7021, 0.3297, 0.2711, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.1,"right_z":0.22},"note":"From the wrist view, the blue bowl is still fully ahead of the fingertips and about 2 cm to the jaw column's right, so the first carry pose was short and slightly left of center. I will move farther forward and a few centimeters right while staying high."})
tool
executing move_to over 5 steps (0.5s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe bowl is now centered on the right wrist camera's jaw column, but its rim remains well ahead of the held fruit. I will advance another few centimeters and raise slightly to preserve clearance over the rim.
move_to
right_x0.4200right_y0.1000right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8108, 0.6128, -0.4278, -0.0139, -0.0078, 0.9988, 0.3626, 1.4235, 1.2301, -0.704, 0.2375, 0.1902, 0.7478] state[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1696 left_yaw=-0.0011 left_pitch=-0.0564 left_roll=0.0018 left_gripper=0.9988 right_x=0.3725 right_y=0.1007 right_z=0.1961 right_yaw=0.0386 right_pitch=-0.2942 right_roll=-0.0704 right_gripper=0.7478 state[joint_eff]: [-0.2256, -1.4564, 7.0906, 1.6825, -0.0513, -0.0562, -0.0122, -0.6632, -5.9009, 9.5932, 1.7802, 0.1587, -0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.1,"right_z":0.24},"note":"The bowl is now centered on the right wrist camera's jaw column, but its rim remains well ahead of the held fruit. I will advance another few centimeters and raise slightly to preserve clearance over the rim."})
tool
executing move_to over 4 steps (0.4s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe blue rim is now immediately behind the held fruit and the overhead view places the gripper over the bowl. I will lower into the bowl while keeping the horizontal pose fixed, stopping above the bowl bottom.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.432, -0.0139, -0.0078, 0.9988, 0.3187, 1.6073, 1.5162, -0.849, 0.2039, 0.1455, 0.7478] state[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1679 left_yaw=-0.0011 left_pitch=-0.0641 left_roll=0.002 left_gripper=0.9988 right_x=0.4113 right_y=0.1018 right_z=0.2171 right_yaw=0.0447 right_pitch=-0.3444 right_roll=-0.0864 right_gripper=0.7478 state[joint_eff]: [-0.2803, -1.4427, 7.1863, 1.7314, -0.0806, 0.0171, -0.0122, -0.6906, -8.5538, 9.0325, 1.3797, 0.0415, 0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The blue rim is now immediately behind the held fruit and the overhead view places the gripper over the bowl. I will lower into the bowl while keeping the horizontal pose fixed, stopping above the bowl bottom."})
tool
executing move_to over 7 steps (0.7s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe requested descent did not track at this extended pose, indicating an awkward reach rather than a useful lowering motion. I will retract 2 cm while descending so the arm can fold and bring the fruit down inside the near half of the bowl.
move_to
right_x0.3900right_y0.1000right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4347, -0.0139, -0.0078, 0.9988, 0.3099, 1.6196, 1.5494, -0.8841, 0.2039, 0.141, 0.7478] state[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0011 left_pitch=-0.0667 left_roll=0.002 left_gripper=0.9988 right_x=0.4117 right_y=0.0981 right_z=0.2202 right_yaw=0.0371 right_pitch=-0.3582 right_roll=-0.0934 right_gripper=0.7478 state[joint_eff]: [-0.1709, -1.1282, 7.159, 1.6777, -0.0659, -0.0415, -0.0122, -0.3624, -8.4034, 9.0325, 1.5604, 0.0122, 0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.1,"right_z":0.14},"note":"The requested descent did not track at this extended pose, indicating an awkward reach rather than a useful lowering motion. I will retract 2 cm while descending so the arm can fold and bring the fruit down inside the near half of the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe retracted descent tracked to 0.165 m, and the wrist view now shows the green fruit overlapping the bowl interior with the blue rim behind it. I will open the gripper to release the fruit into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4389, -0.0139, -0.0078, 0.9988, 0.3332, 1.5414, 1.2514, -0.6685, 0.2089, 0.149, 0.7506] state[eef_state]: left_x=0.2889 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0011 left_pitch=-0.0709 left_roll=0.0021 left_gripper=0.9988 right_x=0.3924 right_y=0.1008 right_z=0.1647 right_yaw=0.051 right_pitch=-0.3608 right_roll=-0.0937 right_gripper=0.7506 state[joint_eff]: [-0.1436, -0.8274, 6.9675, 1.7363, -0.0513, -0.0757, -0.0122, 0.4308, -6.9402, 8.1573, 2.0781, 0.1343, 0.1636, 0.989] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The retracted descent tracked to 0.165 m, and the wrist view now shows the green fruit overlapping the bowl interior with the blue rim behind it. I will open the gripper to release the fruit into the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe green fruit is visibly released in the blue bowl. The yellow fruit lies back toward the bases and to the right arm's left, so I will move the open right gripper to a low pre-grasp pose above it.
move_to
right_x0.3100right_y0.1800right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.815, 0.6128, -0.4427, -0.0135, -0.0078, 0.9988, 0.3367, 1.5631, 1.2297, -0.6617, 0.205, 0.1406, 0.9959] state[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1656 left_yaw=-0.0014 left_pitch=-0.0755 left_roll=0.002 left_gripper=0.9988 right_x=0.3896 right_y=0.102 right_z=0.1488 right_yaw=0.0586 right_pitch=-0.3972 right_roll=-0.1066 right_gripper=0.9959 state[joint_eff]: [-0.3077, -1.388, 6.9675, 1.7363, -0.0317, -0.0513, -0.0122, -0.3624, -8.7863, 7.9111, 1.1746, 0.0757, 0.0464, -0.1783] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.18,"right_z":0.12,"right_gripper":1},"note":"The green fruit is visibly released in the blue bowl. The yellow fruit lies back toward the bases and to the right arm's left, so I will move the open right gripper to a low pre-grasp pose above it."})
tool
executing move_to over 7 steps (0.7s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe yellow fruit is clearly visible just left and slightly behind the right gripper, while the blue bowl with the green fruit remains to its right. I will shift about 4 cm left and 3 cm back, descending toward the fruit's mid-height.
move_to
right_x0.2850right_y0.2200right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4473, -0.0139, -0.0082, 0.9988, 0.6804, 1.5059, 1.0679, -0.6594, 0.3492, 0.3992, 0.9986] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1646 left_yaw=-0.0009 left_pitch=-0.0805 left_roll=0.002 left_gripper=0.9988 right_x=0.3139 right_y=0.1809 right_z=0.1159 right_yaw=0.1098 right_pitch=-0.4254 right_roll=-0.1197 right_gripper=0.9986 state[joint_eff]: [-0.3624, -1.3607, 6.9675, 1.6777, -0.0708, -0.0611, -0.0122, 0.2256, -7.8838, 6.147, 1.0379, 0.359, 0.1294, -0.1538] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.285,"right_y":0.22,"right_z":0.07},"note":"The yellow fruit is clearly visible just left and slightly behind the right gripper, while the blue bowl with the green fruit remains to its right. I will shift about 4 cm left and 3 cm back, descending toward the fruit's mid-height."})
tool
executing move_to over 4 steps (0.4s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe yellow fruit is now near the jaw column but sits slightly to the gripper's right and toward the base in the wrist view. I will make a small right/back correction and descend to its center before closing.
move_to
right_x0.2600right_y0.1950right_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]: [-0.0219, 0.8154, 0.6128, -0.4496, -0.0135, -0.0082, 0.9988, 0.8341, 1.5848, 0.9852, -0.5835, 0.3931, 0.5148, 0.9986] state[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0012 left_pitch=-0.0828 left_roll=0.0018 left_gripper=0.9988 right_x=0.2812 right_y=0.2147 right_z=0.0714 right_yaw=0.1369 right_pitch=-0.4637 right_roll=-0.1439 right_gripper=0.9986 state[joint_eff]: [-0.1983, -1.265, 6.9675, 1.7021, -0.0317, -0.0366, -0.0122, 0.1983, -6.7077, 5.9419, 1.2479, 0.4664, 0.1392, -0.022] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.26,"right_y":0.195,"right_z":0.03},"note":"The yellow fruit is now near the jaw column but sits slightly to the gripper's right and toward the base in the wrist view. I will make a small right/back correction and descend to its center before closing."})
tool
executing move_to over 3 steps (0.3s)
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 corrective descent stopped early at 6.6 cm, likely because the open fingers have reached the tabletop around the yellow fruit. The fruit remains within the open jaw span despite a small camera offset, so I will close and judge the grasp from the settled 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]: [-0.0219, 0.8154, 0.6128, -0.45, -0.0139, -0.0082, 0.9988, 0.8528, 1.6016, 0.9737, -0.5499, 0.4004, 0.5426, 0.9986] state[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.164 left_yaw=-0.0009 left_pitch=-0.0831 left_roll=0.0021 left_gripper=0.9988 right_x=0.2799 right_y=0.2212 right_z=0.0656 right_yaw=0.1354 right_pitch=-0.4535 right_roll=-0.1296 right_gripper=0.9986 state[joint_eff]: [-0.0889, -1.1556, 6.9675, 1.6923, -0.0317, -0.0659, -0.0122, -0.6085, -7.3504, 6.0923, 1.1258, 0.4127, 0.1929, -0.0122] 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_gripper":0},"note":"The corrective descent stopped early at 6.6 cm, likely because the open fingers have reached the tabletop around the yellow fruit. The fruit remains within the open jaw span despite a small camera offset, so I will close and judge the grasp from the settled opening."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe gripper closed nearly empty at 0.012 and the yellow fruit did not move, so the fingertips were still behind it. I will reopen, straighten the tool, and shift several centimeters forward with a small rightward correction for a second, deliberate attempt.
move_to
right_x0.3200right_y0.2000right_z0.1000right_gripper1.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4503, -0.0139, -0.0078, 0.9988, 0.8528, 1.6016, 0.9737, -0.5507, 0.3954, 0.5423, 0.0115] state[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0011 left_pitch=-0.0835 left_roll=0.0024 left_gripper=0.9988 right_x=0.2793 right_y=0.2217 right_z=0.0652 right_yaw=0.139 right_pitch=-0.4571 right_roll=-0.1265 right_gripper=0.0115 state[joint_eff]: [-0.0752, -1.3333, 6.9675, 1.6679, -0.0415, -0.0269, -0.0122, -0.0068, -6.8308, 6.188, 1.0134, 0.2076, 0.0024, 1.0574] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.2,"right_z":0.1,"right_gripper":1,"right_yaw":0},"note":"The gripper closed nearly empty at 0.012 and the yellow fruit did not move, so the fingertips were still behind it. I will reopen, straighten the tool, and shift several centimeters forward with a small rightward correction for a second, deliberate attempt."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteAfter moving forward, the yellow fruit is now centered on the jaw column and close to the fingertips in the wrist view. I will descend vertically at this corrected horizontal position before closing again.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4511, -0.0139, -0.0078, 0.9988, 0.7391, 1.6367, 1.1347, -0.6941, 0.3889, 0.5426, 0.9956] state[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.1638 left_yaw=-0.0011 left_pitch=-0.0843 left_roll=0.0024 left_gripper=0.9988 right_x=0.3135 right_y=0.2 right_z=0.0929 right_yaw=0.024 right_pitch=-0.4742 right_roll=-0.1341 right_gripper=0.9956 state[joint_eff]: [-0.3487, -1.1282, 6.9675, 1.6972, -0.0513, -0.0415, -0.0122, -0.335, -6.8034, 8.3897, 0.8913, 0.315, 0.1245, -0.1343] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"After moving forward, the yellow fruit is now centered on the jaw column and close to the fingertips in the wrist view. I will descend vertically at this corrected horizontal position before closing again."})
tool
executing move_to over 4 steps (0.4s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteAt 3.9 cm height, the yellow fruit is centered between the two visible fingers and fills the lower jaw gap. I will close now to capture it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4541, -0.0139, -0.0082, 0.9988, 0.7376, 1.7077, 1.0039, -0.5522, 0.387, 0.5419, 0.9965] state[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1632 left_yaw=-0.0009 left_pitch=-0.0873 left_roll=0.0022 left_gripper=0.9988 right_x=0.3043 right_y=0.1913 right_z=0.0387 right_yaw=0.0028 right_pitch=-0.5203 right_roll=-0.1782 right_gripper=0.9965 state[joint_eff]: [-0.1162, -0.9778, 7.0085, 1.746, -0.0611, -0.0757, -0.0122, -0.0889, -8.1162, 6.1744, 1.072, 0.188, -0.0073, 0.0855] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At 3.9 cm height, the yellow fruit is centered between the two visible fingers and fills the lower jaw gap. I will close now to capture it."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe second close was also empty; the wrist view shows the closed fingertips meeting just behind the yellow fruit, confirming that depth—not lateral alignment—is the issue. I will reopen, lift, and advance another 5 cm while preserving the centered jaw column.
move_to
right_x0.3500right_y0.1900right_z0.0900right_gripper1.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4683, -0.0139, -0.0078, 0.9988, 0.7372, 1.7203, 0.9897, -0.5514, 0.3847, 0.5388, 0.0116] state[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1596 left_yaw=-0.0011 left_pitch=-0.1049 left_roll=0.0028 left_gripper=0.9988 right_x=0.3 right_y=0.1877 right_z=0.0303 right_yaw=-0.0043 right_pitch=-0.5413 right_roll=-0.1981 right_gripper=0.0116 state[joint_eff]: [-0.0752, -1.6342, 6.9402, 1.8046, -0.0269, -0.0317, -0.0122, -0.253, -8.7316, 6.7214, 0.8327, 0.2125, -0.0024, 0.9499] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.19,"right_z":0.09,"right_gripper":1,"right_yaw":0},"note":"The second close was also empty; the wrist view shows the closed fingertips meeting just behind the yellow fruit, confirming that depth—not lateral alignment—is the issue. I will reopen, lift, and advance another 5 cm while preserving the centered jaw column."})
tool
executing move_to over 10 steps (1.0s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe forward move brought the yellow fruit to fingertip depth; it now sits near the bottom of the wrist view but about 2 cm left of the jaw column. I will shift left and descend while keeping the corrected radial position.
move_to
right_y0.2100right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0078, 0.9988, 0.6495, 1.7611, 1.2716, -0.7574, 0.3542, 0.4408, 0.9955] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.001 left_pitch=-0.1129 left_roll=0.003 left_gripper=0.9988 right_x=0.3449 right_y=0.1895 right_z=0.0857 right_yaw=0.0049 right_pitch=-0.5425 right_roll=-0.1971 right_gripper=0.9955 state[joint_eff]: [-0.294, -1.3333, 6.9402, 1.7118, -0.0562, -0.022, -0.0171, -0.5675, -7.3641, 7.8427, 0.7937, 0.1441, 0.0415, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.21,"right_z":0.04},"note":"The forward move brought the yellow fruit to fingertip depth; it now sits near the bottom of the wrist view but about 2 cm left of the jaw column. I will shift left and descend while keeping the corrected radial position."})
tool
executing move_to over 3 steps (0.3s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe yellow fruit is now centered at the bottom of the wrist view directly between the open fingers, unlike the prior attempts when it remained ahead of them. I will close for the grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6865, 1.8439, 1.2354, -0.6735, 0.3618, 0.461, 0.9964] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3417 right_y=0.2038 right_z=0.05 right_yaw=0.0101 right_pitch=-0.5636 right_roll=-0.2187 right_gripper=0.9964 state[joint_eff]: [-0.1709, -1.306, 6.9402, 1.6142, -0.0366, -0.0513, -0.0122, 0.1983, -9.5932, 5.5179, 0.7253, 0.2076, 0.0611, 0.0855] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now centered at the bottom of the wrist view directly between the open fingers, unlike the prior attempts when it remained ahead of them. I will close for the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe gripper settled at 0.265 and the yellow fruit is visibly pinched between the fingers, confirming a successful grasp. I will lift it clear of the table before moving to the nearby blue bowl.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6899, 1.8622, 1.2255, -0.6743, 0.363, 0.4522, 0.2646] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3375 right_y=0.2019 right_z=0.0403 right_yaw=0.0064 right_pitch=-0.5865 right_roll=-0.2458 right_gripper=0.2646 state[joint_eff]: [-0.0068, -1.3333, 6.9675, 1.6386, -0.0415, -0.0513, -0.0122, -0.294, -10.5778, 6.7624, 0.7546, 0.1441, 0.0611, 0.3053] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The gripper settled at 0.265 and the yellow fruit is visibly pinched between the fingers, confirming a successful grasp. I will lift it clear of the table before moving to the nearby blue bowl."})
tool
executing move_to over 8 steps (0.8s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe yellow fruit lifted with the gripper, and the wrist view shows the blue bowl ahead and to the arm's right with the green fruit inside. I will carry the yellow fruit to the previously established high bowl pose.
move_to
right_x0.3900right_y0.1000right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6899, 1.8137, 1.5734, -1.079, 0.3588, 0.4442, 0.2635] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3413 right_y=0.2058 right_z=0.1403 right_yaw=0.0111 right_pitch=-0.5966 right_roll=-0.2523 right_gripper=0.2635 state[joint_eff]: [-0.1436, -1.2786, 6.9265, 1.5897, -0.0464, -0.0269, -0.0122, -0.3487, -11.0564, 7.5966, 0.7839, 0.2076, 0.0659, -0.1294] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.1,"right_z":0.22},"note":"The yellow fruit lifted with the gripper, and the wrist view shows the blue bowl ahead and to the arm's right with the green fruit inside. I will carry the yellow fruit to the previously established high bowl pose."})
tool
executing move_to over 9 steps (0.9s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe yellow fruit is back on the tabletop beside the bowl, so it slipped from the narrow grasp during transport despite the nonzero opening. I will park and open the right arm to clear the center before using the left arm for the black fruit.
move_to
right_x0.2960right_y0.0020right_z0.1830right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0078, 0.9988, 0.3698, 1.7973, 1.8095, -1.2713, 0.2668, 0.1406, 0.2633] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.001 left_pitch=-0.1129 left_roll=0.003 left_gripper=0.9988 right_x=0.3859 right_y=0.1035 right_z=0.2035 right_yaw=-0.0136 right_pitch=-0.6292 right_roll=-0.2654 right_gripper=0.2633 state[joint_eff]: [-0.1299, -1.1692, 6.9402, 1.6777, -0.0366, -0.0269, -0.0122, -0.212, -9.6205, 8.1573, 0.9206, 0.0366, -0.0269, -0.0269] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0.002,"right_z":0.183,"right_gripper":1},"note":"The yellow fruit is back on the tabletop beside the bowl, so it slipped from the narrow grasp during transport despite the nonzero opening. I will park and open the right arm to clear the center before using the left arm for the black fruit."})
tool
executing move_to over 9 steps (0.9s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteWith the right arm parked, the black fruit is unobstructed near the table center, about 24 cm to the left arm's right and at similar forward distance. I will move the open left gripper to a low pre-grasp pose above it.
move_to
left_x0.3000left_y-0.2400left_z0.1000left_gripper1.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4866, -0.0139, -0.0078, 0.9988, 0.1162, 1.3403, 1.243, -1.116, 0.2001, -0.0776, 0.9959] state[eef_state]: left_x=0.2821 left_y=-0.0001 left_z=0.1545 left_yaw=-0.001 left_pitch=-0.1293 left_roll=0.0033 left_gripper=0.9988 right_x=0.2961 right_y=0.0028 right_z=0.1773 right_yaw=-0.0507 right_pitch=-0.632 right_roll=-0.2753 right_gripper=0.9959 state[joint_eff]: [-0.1026, -1.3744, 6.9538, 1.7558, -0.0757, -0.0269, -0.0122, -0.1573, -5.8872, 6.6667, 1.2186, -0.1001, -0.0757, 0.0366] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.24,"left_z":0.1,"left_gripper":1,"left_yaw":0},"note":"With the right arm parked, the black fruit is unobstructed near the table center, about 24 cm to the left arm's right and at similar forward distance. I will move the open left gripper to a low pre-grasp pose above it."})
tool
executing move_to over 22 steps (2.2s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe black fruit is centered on the left jaw column but remains fully visible just ahead of the fingertips. I will advance about 4 cm and descend to grasp its lower-middle section.
move_to
left_x0.3300left_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]: [-0.9691, 1.5681, 0.8768, -0.3317, -0.6579, -0.7391, 0.9989, 0.1196, 1.3182, 1.2121, -1.0958, 0.1967, -0.094, 0.9965] state[eef_state]: left_x=0.2933 left_y=-0.23 left_z=0.087 left_yaw=-0.0125 left_pitch=-0.1726 left_roll=0.036 left_gripper=0.9989 right_x=0.2933 right_y=0.0041 right_z=0.1745 right_yaw=-0.0319 right_pitch=-0.6235 right_roll=-0.2767 right_gripper=0.9965 state[joint_eff]: [-0.4581, -6.8855, 8.253, 1.243, -0.569, 0.022, -0.1245, -0.0479, -5.135, 6.2564, 1.0965, 0.1538, 0.1587, 0.0464] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_z":0.04},"note":"The black fruit is centered on the left jaw column but remains fully visible just ahead of the fingertips. I will advance about 4 cm and descend to grasp its lower-middle section."})
tool
executing move_to over 4 steps (0.4s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe black fruit now fills the lower center of the left wrist view directly between the fingers at 3.5 cm height. I will close the gripper and inspect the settled opening.
move_to
left_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]: [-0.8776, 1.7378, 0.8478, -0.1509, -0.6197, -0.6765, 0.9988, 0.1196, 1.3144, 1.1915, -1.0882, 0.1967, -0.0952, 0.9966] state[eef_state]: left_x=0.3199 left_y=-0.2189 left_z=0.0353 left_yaw=0.0242 left_pitch=-0.2112 left_roll=0.0768 left_gripper=0.9988 right_x=0.2908 right_y=0.0038 right_z=0.1693 right_yaw=-0.0322 right_pitch=-0.6327 right_roll=-0.279 right_gripper=0.9966 state[joint_eff]: [0.212, -8.3214, 5.5316, 1.4383, -0.3443, 0.105, -0.0171, 0.0889, -5.9419, 5.9556, 1.0769, 0.1245, -0.0513, -0.0073] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The black fruit now fills the lower center of the left wrist view directly between the fingers at 3.5 cm height. I will close the gripper and inspect the settled opening."})
tool
executing move_to over 10 steps (1.0s)
step 201
assistant
agent noteThe left gripper settled at 0.495, about 4.7 cm wide, and the black fruit is visibly secured between the jaws. I will lift it clear of the table before transporting it.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8753, 1.7561, 0.844, -0.1459, -0.6121, -0.6785, 0.495, 0.1215, 1.3033, 1.1652, -1.0729, 0.1967, -0.0978, 0.9966] state[eef_state]: left_x=0.3186 left_y=-0.2178 left_z=0.0275 left_yaw=0.0258 left_pitch=-0.227 left_roll=0.085 left_gripper=0.495 right_x=0.2884 right_y=0.0041 right_z=0.1647 right_yaw=-0.0285 right_pitch=-0.6331 right_roll=-0.2802 right_gripper=0.9966 state[joint_eff]: [-0.3624, -9.2513, 5.7368, 1.0672, -0.4371, -0.0073, 1.0085, -0.0615, -5.9556, 5.7094, 1.1404, 0.0952, -0.0024, -0.0171] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The left gripper settled at 0.495, about 4.7 cm wide, and the black fruit is visibly secured between the jaws. I will lift it clear of the table before transporting it."})
tool
executing move_to over 9 steps (0.9s)
step 210
assistant
agent noteThe black fruit lifted securely, but the blue bowl lies beyond the left arm's cross-table y bound. I will set the fruit down near the center line at a right-arm-reachable handoff spot, then regrasp it with the right arm.
move_to
left_x0.3200left_y-0.3200left_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]: [-0.8745, 1.5841, 1.1534, -0.6422, -0.6056, -0.6815, 0.4941, 0.1226, 1.2903, 1.1336, -1.0542, 0.197, -0.0982, 0.9966] state[eef_state]: left_x=0.3198 left_y=-0.2201 left_z=0.1392 left_yaw=0.027 left_pitch=-0.2406 left_roll=0.0912 left_gripper=0.4941 right_x=0.2855 right_y=0.004 right_z=0.1591 right_yaw=-0.0275 right_pitch=-0.6331 right_roll=-0.2808 right_gripper=0.9966 state[joint_eff]: [-0.3897, -9.265, 8.5675, 1.116, -0.4469, 0.0024, 0.4908, 0.0205, -5.7094, 6.147, 1.0672, 0.1636, -0.0611, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.32,"left_z":0.05},"note":"The black fruit lifted securely, but the blue bowl lies beyond the left arm's cross-table y bound. I will set the fruit down near the center line at a right-arm-reachable handoff spot, then regrasp it with the right arm."})
tool
executing move_to over 9 steps (0.9s)
step 219
assistant
agent noteThe left arm reached the handoff spot at table height with the black fruit still secured. I will open to leave it upright on the tabletop for the right arm.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0286, 1.9881, 1.2854, -0.5312, -0.6479, -0.8543, 0.4936, 0.1234, 1.277, 1.1038, -1.0367, 0.1967, -0.0982, 0.9966] state[eef_state]: left_x=0.3123 left_y=-0.3049 left_z=0.0419 left_yaw=0.0286 left_pitch=-0.2886 left_roll=0.1317 left_gripper=0.4936 right_x=0.2827 right_y=0.0039 right_z=0.1541 right_yaw=-0.0262 right_pitch=-0.632 right_roll=-0.2802 right_gripper=0.9966 state[joint_eff]: [-0.6085, -10.4821, 8.1162, 1.0525, -0.6276, 0.0562, 0.7448, -0.1162, -5.5863, 6.2564, 1.0769, 0.1294, -0.0366, -0.0171] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The left arm reached the handoff spot at table height with the black fruit still secured. I will open to leave it upright on the tabletop for the right arm."})
tool
executing move_to over 6 steps (0.6s)
step 225
assistant
agent noteThe black fruit is standing at the handoff spot after release. I will park the left arm at home to clear the center and expose the fruit for the right-arm pickup.
move_to
left_x0.2960left_y0.0000left_z0.1830left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0298, 2.014, 1.2903, -0.5346, -0.6426, -0.8619, 0.9957, 0.1253, 1.2648, 1.0748, -1.0203, 0.1967, -0.0982, 0.9966] state[eef_state]: left_x=0.3109 left_y=-0.3049 left_z=0.0321 left_yaw=0.0358 left_pitch=-0.3044 left_roll=0.1462 left_gripper=0.9957 right_x=0.2798 right_y=0.0041 right_z=0.1489 right_yaw=-0.0244 right_pitch=-0.6324 right_roll=-0.2802 right_gripper=0.9966 state[joint_eff]: [0.0615, -12.3966, 5.2855, 0.8523, -0.4518, 0.022, -0.1343, -0.212, -5.4906, 6.147, 1.0965, 0.1245, -0.0611, -0.0171] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.183,"left_gripper":1},"note":"The black fruit is standing at the handoff spot after release. I will park the left arm at home to clear the center and expose the fruit for the right-arm pickup."})
tool
executing move_to over 28 steps (2.8s)
step 253
assistant
agent noteWith the left arm clear, the black fruit is visible upright at the center handoff point. Using the known 0.65 m base offset, I will move the right gripper to x≈0.31, y≈0.34 above it.
move_to
right_x0.3100right_y0.3400right_z0.1000right_gripper1.0000right_yaw0.0000
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]: [-0.1402, 1.0706, 0.8909, -0.7563, -0.2146, -0.0593, 0.9981, 0.1284, 1.2526, 1.0473, -1.0004, 0.1963, -0.0982, 0.9965] state[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.1636 left_yaw=0.0905 left_pitch=-0.3441 left_roll=0.1464 left_gripper=0.9981 right_x=0.278 right_y=0.0048 right_z=0.1444 right_yaw=-0.0204 right_pitch=-0.628 right_roll=-0.2789 right_gripper=0.9965 state[joint_eff]: [0.212, -4.3282, 9.935, 1.4872, -0.0317, 0.188, -0.2076, -0.0342, -5.2991, 5.9692, 1.1111, 0.1294, -0.0171, -0.0171] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.34,"right_z":0.1,"right_gripper":1,"right_yaw":0},"note":"With the left arm clear, the black fruit is visible upright at the center handoff point. Using the known 0.65 m base offset, I will move the right gripper to x≈0.31, y≈0.34 above it."})
tool
executing move_to over 28 steps (2.8s)
step 281
assistant
agent noteThe right wrist view shows the black fruit near fingertip depth but about 3 cm left of the jaw column; the yellow fruit is separately visible to the right. I will shift left and descend onto the black fruit.
move_to
right_x0.3200right_y0.3700right_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]: [-0.139, 1.0721, 0.8944, -0.7738, -0.2119, -0.0528, 0.998, 0.976, 2.1838, 1.9385, -1.2118, 0.408, 0.7101, 0.9986] state[eef_state]: left_x=0.2893 left_y=0.0007 left_z=0.162 left_yaw=0.0869 left_pitch=-0.3603 left_roll=0.1522 left_gripper=0.998 right_x=0.3074 right_y=0.3357 right_z=0.0961 right_yaw=0.0253 right_pitch=-0.6199 right_roll=-0.2883 right_gripper=0.9986 state[joint_eff]: [-0.2667, -2.865, 6.4615, 1.4579, -0.1245, -0.0611, -0.0171, 0.3214, -11.7675, 7.159, 0.2369, 0.3297, 0.2955, -0.1538] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.37,"right_z":0.04},"note":"The right wrist view shows the black fruit near fingertip depth but about 3 cm left of the jaw column; the yellow fruit is separately visible to the right. I will shift left and descend onto the black fruit."})
tool
executing move_to over 4 steps (0.4s)
step 285
assistant
agent noteThe black fruit is now centered at the bottom of the wrist view between the open fingers at table height. I will close the right gripper around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7753, -0.2119, -0.0528, 0.998, 0.9951, 2.3363, 1.9789, -1.1362, 0.4149, 0.7231, 0.9986] state[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1615 left_yaw=0.0864 left_pitch=-0.3629 left_roll=0.1528 left_gripper=0.998 right_x=0.3132 right_y=0.3584 right_z=0.042 right_yaw=0.0108 right_pitch=-0.633 right_roll=-0.3242 right_gripper=0.9986 state[joint_eff]: [-0.0479, -2.988, 6.653, 1.3211, -0.1099, -0.0659, -0.0171, 0.6085, -13.5179, 7.9385, 0.3346, 0.2515, 0.1001, -0.0171] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The black fruit is now centered at the bottom of the wrist view between the open fingers at table height. I will close the right gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 295
assistant
agent noteThe right gripper closed empty at 0.011; as with the yellow fruit, the wrist perspective made the black fruit appear at fingertip depth while it was still ahead. I will reopen, raise, and advance 5 cm without changing the lateral alignment.
move_to
right_x0.3600right_y0.3600right_z0.0900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7757, -0.2123, -0.0525, 0.998, 0.9958, 2.3787, 1.9823, -1.1145, 0.4149, 0.7235, 0.0114] state[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1615 left_yaw=0.0866 left_pitch=-0.3633 left_roll=0.1535 left_gripper=0.998 right_x=0.3143 right_y=0.3608 right_z=0.024 right_yaw=0.0007 right_pitch=-0.6424 right_roll=-0.3419 right_gripper=0.0114 state[joint_eff]: [-0.3624, -2.947, 6.653, 1.2967, -0.1636, -0.0171, -0.0122, 0.0342, -14.7624, 7.5145, 0.5348, 0.3248, 0.1148, 1.0183] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.36,"right_z":0.09,"right_gripper":1},"note":"The right gripper closed empty at 0.011; as with the yellow fruit, the wrist perspective made the black fruit appear at fingertip depth while it was still ahead. I will reopen, raise, and advance 5 cm without changing the lateral alignment."})
tool
executing move_to over 10 steps (1.0s)
step 305
assistant
agent noteAfter advancing, the black fruit is now at the actual fingertip depth near the bottom of the wrist view, slightly left of center. I will make a 2 cm left correction and descend while holding the improved radial position.
move_to
right_y0.3800right_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]: [-0.1398, 1.0733, 0.8944, -0.7815, -0.2119, -0.0525, 0.998, 0.9363, 2.4737, 2.3787, -1.3663, 0.4221, 0.6426, 0.9954] state[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1606 left_yaw=0.0867 left_pitch=-0.3689 left_roll=0.1545 left_gripper=0.998 right_x=0.3529 right_y=0.3635 right_z=0.0823 right_yaw=0.0185 right_pitch=-0.6217 right_roll=-0.3346 right_gripper=0.9954 state[joint_eff]: [-0.3214, -2.9333, 6.7761, 1.3748, -0.0904, -0.0317, -0.0122, -0.8547, -13.094, 7.7744, 0.359, 0.4029, 0.0122, -0.1343] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.38,"right_z":0.04},"note":"After advancing, the black fruit is now at the actual fingertip depth near the bottom of the wrist view, slightly left of center. I will make a 2 cm left correction and descend while holding the improved radial position."})
tool
executing move_to over 3 steps (0.3s)
step 308
assistant
agent noteThe black fruit now sits between the fingertips at the bottom center of the wrist image. I will close at this corrected depth.
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]: [-0.1398, 1.0733, 0.8944, -0.7822, -0.2119, -0.0525, 0.998, 0.952, 2.5031, 2.3123, -1.3132, 0.4263, 0.6468, 0.9964] state[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1605 left_yaw=0.0868 left_pitch=-0.3697 left_roll=0.1547 left_gripper=0.998 right_x=0.3461 right_y=0.3663 right_z=0.0516 right_yaw=0.0042 right_pitch=-0.6431 right_roll=-0.3783 right_gripper=0.9964 state[joint_eff]: [-0.0615, -2.906, 6.8034, 1.2772, -0.1685, -0.0708, -0.0122, 0.4444, -12.7795, 6.3521, 0.823, 0.3346, 0.1832, 0.0904] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The black fruit now sits between the fingertips at the bottom center of the wrist image. I will close at this corrected depth."})
tool
executing move_to over 10 steps (1.0s)
step 318
assistant
agent noteThe black fruit was not captured and is now hidden by the arm, so another blind retry would be unsafe and inefficient. I will park the right arm to reveal where both remaining fruits actually lie before choosing the next pickup.
move_to
right_x0.2960right_y0.0020right_z0.1830right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0737, 0.8944, -0.7822, -0.2119, -0.0525, 0.998, 0.9649, 2.5343, 2.3043, -1.2564, 0.4225, 0.654, 0.0113] state[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1604 left_yaw=0.0868 left_pitch=-0.37 left_roll=0.1548 left_gripper=0.998 right_x=0.3461 right_y=0.3787 right_z=0.035 right_yaw=0.0251 right_pitch=-0.6345 right_roll=-0.3544 right_gripper=0.0113 state[joint_eff]: [-0.3214, -2.947, 6.6256, 1.3309, -0.105, -0.0562, -0.0073, -0.4581, -14.6667, 6.147, 0.6618, 0.4127, 0.1197, 1.0427] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0.002,"right_z":0.183,"right_gripper":1},"note":"The black fruit was not captured and is now hidden by the arm, so another blind retry would be unsafe and inefficient. I will park the right arm to reveal where both remaining fruits actually lie before choosing the next pickup."})
tool
executing move_to over 32 steps (3.2s)
step 350
assistant
agent noteWith the arm clear, the black fruit is at image (109,136), substantially closer to the bases than my earlier handoff estimate; the prior right-arm approaches overshot it radially. I will correct to approximately x=0.22, y=0.31 for a fresh pre-grasp.
move_to
right_x0.2200right_y0.3100right_z0.0900right_gripper1.0000right_yaw0.0000
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]: [-0.1398, 1.0771, 0.894, -0.7826, -0.2115, -0.0525, 0.998, 0.1425, 1.3197, 1.1992, -1.0782, 0.2401, -0.16, 0.9982] state[eef_state]: left_x=0.2877 left_y=0.0006 left_z=0.1593 left_yaw=0.0868 left_pitch=-0.3742 left_roll=0.1555 left_gripper=0.998 right_x=0.2951 right_y=0.0035 right_z=0.1728 right_yaw=-0.0114 right_pitch=-0.6249 right_roll=-0.3566 right_gripper=0.9982 state[joint_eff]: [-0.3214, -3.0974, 6.8718, 1.2869, -0.0757, -0.0611, -0.0122, -0.1709, -6.1333, 7.2957, 1.0867, 0.0952, 0.0024, -0.1148] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.22,"right_y":0.31,"right_z":0.09,"right_gripper":1,"right_yaw":0},"note":"With the arm clear, the black fruit is at image (109,136), substantially closer to the bases than my earlier handoff estimate; the prior right-arm approaches overshot it radially. I will correct to approximately x=0.22, y=0.31 for a fresh pre-grasp."})
tool
executing move_to over 26 steps (2.6s)
step 376
assistant
agent noteThe black fruit is now clearly visible ahead and about 4 cm left of the jaw column; the yellow fruit is separate on the right. I will advance roughly 7 cm, shift left, and lower to align over the black fruit.
move_to
right_x0.2900right_y0.3500right_z0.0600
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]: [-0.1398, 1.0771, 0.894, -0.783, -0.2119, -0.0525, 0.998, 1.1427, 1.9568, 1.5558, -1.1709, 0.4484, 0.8413, 0.9986] state[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1593 left_yaw=0.0872 left_pitch=-0.3745 left_roll=0.1559 left_gripper=0.998 right_x=0.2192 right_y=0.3044 right_z=0.0871 right_yaw=0.0212 right_pitch=-0.6216 right_roll=-0.3729 right_gripper=0.9986 state[joint_eff]: [-0.1162, -2.8513, 6.7761, 1.326, -0.0904, -0.0659, -0.0122, 0.1983, -9.5521, 6.9812, 0.1441, 0.3492, 0.232, -0.1587] camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.35,"right_z":0.06},"note":"The black fruit is now clearly visible ahead and about 4 cm left of the jaw column; the yellow fruit is separate on the right. I will advance roughly 7 cm, shift left, and lower to align over the black fruit."})
tool
executing move_to over 6 steps (0.6s)
step 382
assistant
agent noteThe corrected approach places the black fruit low between the fingers, only slightly left of center. I will make a small leftward correction and descend to its center without advancing farther.
move_to
right_y0.3600right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0771, 0.894, -0.783, -0.2119, -0.0525, 0.998, 1.0531, 2.2276, 1.8423, -1.1629, 0.4488, 0.746, 0.9986] state[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1593 left_yaw=0.0872 left_pitch=-0.3745 left_roll=0.1559 left_gripper=0.998 right_x=0.2792 right_y=0.3425 right_z=0.0556 right_yaw=0.0058 right_pitch=-0.6288 right_roll=-0.393 right_gripper=0.9986 state[joint_eff]: [-0.1026, -2.8376, 6.7214, 1.2576, -0.1001, -0.0708, -0.0122, -0.6085, -11.9179, 7.0496, 0.232, 0.2955, 0.022, -0.0171] camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.36,"right_z":0.025},"note":"The corrected approach places the black fruit low between the fingers, only slightly left of center. I will make a small leftward correction and descend to its center without advancing farther."})
tool
executing move_to over 2 steps (0.2s)
step 384
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]: [-0.1398, 1.079, 0.894, -0.783, -0.2119, -0.0525, 0.998, 1.0634, 2.2673, 1.8587, -1.1324, 0.4576, 0.7448, 0.9986] state[eef_state]: left_x=0.2877 left_y=0.0006 left_z=0.1588 left_yaw=0.0874 left_pitch=-0.3764 left_roll=0.1563 left_gripper=0.998 right_x=0.2812 right_y=0.3525 right_z=0.044 right_yaw=0.0179 right_pitch=-0.6178 right_roll=-0.3912 right_gripper=0.9986 state[joint_eff]: [-0.3214, -3.1111, 6.6256, 1.2576, -0.1392, -0.0708, -0.0122, 0.9778, -10.0718, 5.2034, 0.4322, 0.3004, 0.2418, -0.0122] camera 'top_cam' (step 384): [image omitted: streamed camera frame] camera 'left_cam' (step 384): [image omitted: streamed camera frame] camera 'right_cam' (step 384): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.41 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
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{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8001, 0.6132, -0.3824, -0.0139, -0.0086, 0.9989, -0.0189, 0.8005, 0.6178, -0.3874, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2959 right_y=0.0022 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -1.7573, 9.5795, 1.8046, -0.0952, -0.1099, -0.1245, -0.4308, -1.7846, 9.2103, 1.8681, -0.0122, -0.0562, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2502b0595d2ae4422bf6a9513a9c57c3ea6027ec53ddd3ded1dee285004319c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b939c229fe5161dddbace3619554bbe15a4463ab0ee112484355a28ae5fb489e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c63f38651a69d711270f2d695bc86f7748865c74785e1fed0853afa905cbf2a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 2.96 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_0d8411c4f30c79c3016ab448716e3487d0ad48e5a702f148a6",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEh6SRJom8hHw-Fkb57HezHCfv0E-dbYluiCcwAbNzWxBvncu38lRusrNPQBeLkAmHPmifFLwRkAcGi2-TrwDRr0XZdUZO3dXyBP9WO-P_oTfCy1-J1ZULfbWSNbqfJy6IS3GWmWRGLSJ74Uv6NBIybnA4XGD4hi02JMTEVh2Klx-xpJavZ2Ze_YmSmIZRA39TY1Gvqf9TanAl0-_H8LCMv3HJ7ZKCtluxgmF7ZKbKR_ft2n_fqUum3RRjohk5wuqk_lq96cMuYCa_iWK_-XraV9xRZVZvXvp685wIKZwTNDFflAVlpHz1J2T68Wzb8blYDM9hAhKE6MbrrzbaUbLjLOSXu5vmADS5PU62DZNJMm0dbmb6NchnQGwiApikxOSPtVQMNFSz2YZZDDizg6mY9PNS9XhkKC_667ZOulspiSfHrxnSqMiE4yc3zC4N2IfI3ciCnj4X-dpRrCUKt18DQCUCbewvl2kG7KYMmll4EMNwP3zrps0t2Gr0e4oNnys-S8Gr9dsONuYGIISH2hbfhMeFoW972YFPA75DAzXIq6R91_3BsCm9ORpvzVLzDhPDDBbELMQPRlL5LRIz8uwqt5Czi1CDs8VkV3xze-8Q0mcs6IV2di-I99GrdHrdEBn-Oo7j5u8vIxV1ZfhMjoE_EdHqhTv2LRvSWhmMbOs-tcXqqy5kp_sMUhz8LUaeMLkazpTIwe0rvC-FLMLKy9Qa_w7yEUNM2UnOjqiOMy0aqLBYp8AUPGtip7o9fEPHvjwVLSpdFS7G0LI8stqaZ6yKFHBCtqieZMv4_MEo7jEEalSmV9IN12hj5XQ1QHcmulsvAtq7gobn7fcAjDOdee4i6VTepJJZvZuf-2EbU-NHY8j6bC94ZvgujXjUTUSFiA2l2vcxWy8eyPMR9h44n3Cf8IplZxcOoHfsmbYk5RWi9Y0Yj4w0Sz6b0wV4DD-lU504rjwdJTJnIUa1twHvJ77oJuSMpDhtSwjRx0LQQNniCiJ_Z_5eM6Jc6LVj8auFE6n3fL8RvwqH76DiIJzvlDBchgCapReV9S8E1cy-WNlL3FHUM0OigElFiuQBmApMydtHRcEkG8QXHrNpDS7jCCmtm3gBmDnE1-SM3L9FVPRbLnGqLIxGNHKyzTIf_75gLimREG4HHxXU-HpG37s_J0TH2tZDf6E24dX4xRcJaXDOpa5e9vkMG6OsZW1dcmH2aijk-vNPxDAq3uIJyBjVJUtTEXSEInZ8zUiKupgiDbr7IhKdm-PJV8G68PWjf5kdXIZ8U2RTrtMmmpPDVAw7E0Id75RHYPyUm78XR0KBf_d1kRCeXuFMg7IsSdbcksbdHGpkIsXAzPV7KmQYR19enzEHPCJeawywhsnqWX1LPv7QN1lEyNyPP3rRkDKH-OsyueH9EZ7mXVjfXUFSapGb5WsDcHUK6JaYXmOcxR5dfbbc0rNvH_nraYRVkBo7y6dwzkAVzM_CqNyJGDy7rlccQzrwjSeUU3gDQ0EJzR9LEWrELB-MBUizypIVxs05SGfxJD_OyJXwemF8JDBKWGvu9fiuKSsbMMaRpQw39-xp332lbIoEiMF8Hkkhy-Bw_K1HPp-7yBwLJ7ZAhdgnbCZ7U-P6TWkFYr2Z6j2TCb6YL6R_fwyV8lwOa4IFmiOju6lAXpVm4vinTKIY65Nu22liiDmTOOz6G2it5Po0w-o-A1XmIU67Q_kMaF6hnz82TnTTvfJIX2LygMss_S1MCL65CwoQmuFivgxYFlJqEpaUSAqhqGfq49grOhrt4mspLauYyTJ2IqXZizsStWngBRYJ0HlszUwCRA6iHEvZCH1JpbrRi9m2xbDykc-0Pgu1KD_AfuD-IbLtGgM2XJV824CTxUNKC_IoYKI8p8ZpnCkhg8cysqCePek6kFZstArZTydoFPHChrKGlC5lToZ2ZHTciLL9GN8as_enyRtP7TFk4LwmXRLycTevzLcbes-8E6GdLfXsFjf4TaN2LgEDwxpsrEdG1QmXYi2zN-Pg5yfJ7UGYjYzvPbrbQBXlXFPsepRbAffD-gMxLjtaXh2gLkgwdLEh-Zdg1ERA4k4ufANPNk2DNy0059lrBquyDchz2Sl945Vw_f2p-4posRoSRuCVamovvvohy-xLr0tvNIZvZ8lyb7vN2hcEpmFP6vfCCxJI62UjLzaBHMvwXgxiWFMeYOyz_UOG5htruFw-s3qTYZ0CpQp-opVRxs2m1nX7AiMP3Khbwiclc9hKs-o_yrHnM8F8mZXJMr1i82WtTnKj7mCBdpzNcxKmWZoG3j77OY6u5pSr5gB2jgrhi_mXGS-MWU04ECv_XFiJ3GYkjuNiWRhV-exMDcgOI5Ofct9jYFGX-vstKG9MwRhRxrEaKL-Jdl43LiFQ-Ij6QaTFC6aMIki5yDojiXiJz9GGxSCxoWZSKHRnHf",
  "id": "rs_0d8411c4f30c79c3016ab44876d7d487d094359d8a21f66a64",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.002,\"right_z\":0.1,\"right_gripper\":1},\"note\":\"The right wrist camera shows the green fruit centered on the jaw column just ahead of the current fingertips; the blue bowl is farther left. I will move the open right gripper a few centimeters forward and lower to establish a close pre-grasp pose.\"}",
  "call_id": "call_YLYHDUMTtixUrnqsG4eNE1gs",
  "id": "fc_0d8411c4f30c79c3016ab4487910f487d09f214c9cf97211bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YLYHDUMTtixUrnqsG4eNE1gs",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8047, 0.6128, -0.4019, -0.0139, -0.0082, 0.9988, -0.0162, 1.1446, 0.4091, 0.1314, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1766 left_yaw=-0.001 left_pitch=-0.0244 left_roll=0.0008 left_gripper=0.9988 right_x=0.336 right_y=0.0024 right_z=0.0925 right_yaw=0.0027 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.6205, 7.0632, 1.8388, 0.0073, -0.0708, -0.0171, -0.2803, -3.7538, 6.4068, 1.956, -0.0317, -0.0513, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977fe831e3948063a731fc53bf4f63c4644fdbdd97309360aa36fb606fd3d30c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3d4054461af95448a26985e42b5b8e5b41ed02baca256ed7c28779664c63f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5218d52a951acf452d6dbe3e82f72c0523640e9881f1938ef47382b26bcaa880",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.137 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]: [-0.0212, 0.8001, 0.6132, -0.3824, -0.0139, -0.0086, 0.9989, -0.0189, 0.8005, 0.6178, -0.3874, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2959 right_y=0.0022 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -1.7573, 9.5795, 1.8046, -0.0952, -0.1099, -0.1245, -0.4308, -1.7846, 9.2103, 1.8681, -0.0122, -0.0562, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8047, 0.6128, -0.4019, -0.0139, -0.0082, 0.9988, -0.0162, 1.1446, 0.4091, 0.1314, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1766 left_yaw=-0.001 left_pitch=-0.0244 left_roll=0.0008 left_gripper=0.9988 right_x=0.336 right_y=0.0024 right_z=0.0925 right_yaw=0.0027 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.6205, 7.0632, 1.8388, 0.0073, -0.0708, -0.0171, -0.2803, -3.7538, 6.4068, 1.956, -0.0317, -0.0513, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977fe831e3948063a731fc53bf4f63c4644fdbdd97309360aa36fb606fd3d30c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3d4054461af95448a26985e42b5b8e5b41ed02baca256ed7c28779664c63f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5218d52a951acf452d6dbe3e82f72c0523640e9881f1938ef47382b26bcaa880",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEiBHXjHKC9atepkn6ng8MFT9ayzqwgDeGmiWXh9U-RKmm4PWNdzTfE5mMOB4bui-kz8MvgVdc-Qd3RldGRLCdsWEkGDSzwGONF75h5zLB_aKvwlLD889pixD32F1YuHmA5_TbKAFD-6lVo4ky6wMI-YEJVmj-vbamgnshhP1TeJyvYoD7dtpi_FXWC46MrS-s0R40-w49CJ5GoEZheDgm6Amhhex5q8E25_gyGSqaquzMPz7doAYw2cIgPxkqkMW5Jx_1-HxJPJqssrHA-qyTlM168kdOdXEfnIvdy1M5_-dVmUr19EdWStNkMb6FKit6B7Nf01tGVSjKSN_D3EUpcEIel7CQm64tjkNTJ9BoEuJ51Jh8Vc8xq9b0FIEG_sro3uiaOrgbrWuhwPRSmYwY5NQ5nhw0VCYQ7ywc6b0nodz13fUxGzuYICVp3QcLN_rNlX2uw7GAw6KET1NXFoQayDPzAbn98qOIg4WTUEJ5B_ztjCNiiaPiHRSsSxpSjw9ALLyuc7Lh2H9rYx7cR8gJaFSeV8e50pQOMmhuA8C0Xnlsen63TBQCcVluDqEVJ5c9dlWurn4SwNHqz2JspdIxqFsgy_z8uNhUwrEQIU3CS2QuHEx4iY3Pxzdypo1EOhtogZdSaFh3GRHXgD1a6zg7I4AhIv4qC5OhuNUdOe0spjS2zv1cmGQd5f_V81-NEBJQjcTpcpx7jFN4YhWj_Nfa52HaaA-o1eRrgLDcSAgrYav4iR1FmN4cx7skxCi3g6GTmzNNHF9E1yLbqHe_0Z1jhYnnCZWyy2o-PttvXGc0DLfcs8BqgJrvmhFtrJSB_0h-DwAWr7xZKKmje51WfCPwQf244D6rx_1L3pUkUigYNw_qfy4xAKK5qvCFdFWBf4ADw9yweU-qLBkb8IoSy9A_Ou56KpNIBULQ0j8F0ra6L1ssXbneFwFK0Ec2oYm_2jyX1fXtAQqf2hR9Nb29em_fNhhK_pBKQ9LgGhu-XDqnHYugpvfrZ9hHd-43tWlLm_fSwnPoZAN-cdD6-vIQOoJW1garkBzVC4hKE0AP5lxEsEvkEhF4hM4a5r5kRIboJwl3qdtL-PRsicImXHlSL7oO0MhqWysyo8NleYREGPVDFF_KaAk3KXXxf2avgKksU2NM9iodykTespny_uCulvEJbKn_6jR--XLYcSF_lCFk4PknGDKlZulemxbH0oVnoMVASTIQEZLutNHC9AEMDT2VIWVmhgbPp2sbX9Oo09p_6kV8EkcDtpqn_EhfFpMtieOrufqUEd9IIOGhfAiWFy-7BM3G5PbFOeaUjMNbai7-P4uqFPMZR0pmd987v3RaxqdHShXmYFvPz5y9xTUUPKxJ_JjPA-0tlSdE0vICKRhc1G1I56U82MEGrXH5ksMTwoT9qxnwEV_eUZNAkhvLKRAiWHnLmQRAnMYL6BXWjkPi8pBGkkqRiUKDCUWM5qqckIC7yhyDz1S3u7vNwThZ1CrSTnTR5dZgOtVlkrDdGYST4G-qOoItj5sLs-NunDtCkMSMXkj5lUKPLg1bKNqnI0B6lCv0VFA-95cJWK7eodC0uuURT9q8YL3T2iEo-CWzT3O-RP27kfGHMKhlUQDMEwEU2LJ9KdFL46t2dL3jjzrwFKnH9_Y5EakVqSnsVnBdgDefOiCss6FZWaBg25wIpV4fCrOeSzDU5Cf66U3KL3yAK7jqB4qNAELWb-CZNiqKhuUUdaHRHv0M4_1kzvuyT3hO3UmVl1rIRmBhyyvc4bQKTszV-c51PzeggpTeD6Gdyi8h_G",
  "id": "rs_0d8411c4f30c79c3016ab4487fe9dc87d09f2e4472cefe0942",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.03},\"note\":\"The green fruit now fills the lower center of the right wrist view and is well centered between the jaw paths. I will descend vertically to grasp near its mid-height without changing the lateral alignment.\"}",
  "call_id": "call_g7JhOkHv5p6GiSqJEJbXArxR",
  "id": "fc_0d8411c4f30c79c3016ab44881020887d0adec727cf5f063dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g7JhOkHv5p6GiSqJEJbXArxR",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6128, -0.4088, -0.0139, -0.0082, 0.9988, -0.0162, 1.438, 0.2546, 0.535, -0.0242, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1743 left_yaw=-0.001 left_pitch=-0.0343 left_roll=0.001 left_gripper=0.9988 right_x=0.33 right_y=0.0025 right_z=0.0207 right_yaw=0.003 right_pitch=-0.0782 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.5658, 6.9949, 1.79, -0.0317, -0.0562, -0.0073, 0.0889, -4.4786, 5.012, 2.0342, -0.0513, -0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c7acfa2962370f0a92af3f8a3320bf0c45e862ff5cb46c653311c9a7c1c43f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1a2ff0a341ed8f566dae1ea52068de94a2ee53d3da8634a19dedf6faffc773",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b0777f00071cc7bfdf57c46dd7ae6d4930c212460f85a2c96ef70cf01f6409",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.897 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8047, 0.6128, -0.4019, -0.0139, -0.0082, 0.9988, -0.0162, 1.1446, 0.4091, 0.1314, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1766 left_yaw=-0.001 left_pitch=-0.0244 left_roll=0.0008 left_gripper=0.9988 right_x=0.336 right_y=0.0024 right_z=0.0925 right_yaw=0.0027 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.6205, 7.0632, 1.8388, 0.0073, -0.0708, -0.0171, -0.2803, -3.7538, 6.4068, 1.956, -0.0317, -0.0513, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6128, -0.4088, -0.0139, -0.0082, 0.9988, -0.0162, 1.438, 0.2546, 0.535, -0.0242, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1743 left_yaw=-0.001 left_pitch=-0.0343 left_roll=0.001 left_gripper=0.9988 right_x=0.33 right_y=0.0025 right_z=0.0207 right_yaw=0.003 right_pitch=-0.0782 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.5658, 6.9949, 1.79, -0.0317, -0.0562, -0.0073, 0.0889, -4.4786, 5.012, 2.0342, -0.0513, -0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c7acfa2962370f0a92af3f8a3320bf0c45e862ff5cb46c653311c9a7c1c43f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1a2ff0a341ed8f566dae1ea52068de94a2ee53d3da8634a19dedf6faffc773",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b0777f00071cc7bfdf57c46dd7ae6d4930c212460f85a2c96ef70cf01f6409",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEiI-v1JbZZ83BJ6E9Ck1W3S4_fgIUdS5Om53PUitZIAeV_R1PIu29ySbI_JZRn1OcdFH08SiCDyj7x9EG3sMs_OEJqGGYtZPkPBlj8R8Je85He1g0if5X7i8TmgbPcUxVacenoTczGRpWnIZok-q4qnqm5C4iH3GIvdMBIROnw_PuBNkrBJvIerALzDAvn3Ay7-rZX0lyo8uL7OY1hNA1kPo-DPPw6y4EQXhg3PqTqzOinFnYBJ0yER87qE9RJNfjh2_I7JprQLH08urHgM-CkK6_rhMih8tFRYEjde9j-E4BdPa9lbjlez9nNonL3M3PD24Ki1pHYv-sN4PSOXdlpqdXPN2hwzXvAKrr3b01EMEO36MyZRk0XiWeLbHWZ4Vc8cl28nZky-yMxks5uFLiTGJrNKdQcBGJMtCJCqE-9QlHlNNwU0JLuhERaCyGl9ZuK1--mPOreR70j0vP8Me3-k4_iDfi0tPoGjzCCNvO4luIbd1Mhe0o0VeL3uSDMWXgDdb8XsXMgA_bMahA39S9HP5naTBFDuIEJGVPcTruQOgp3sSMU9NzQkmciIohvokba79e8nSDNxHD-fOWMP8S3V_Tu0cATVwlulPfUhkPVepsFkzEwjYzIJwb94bVSW1ne77Wh_ga4tLFr82ToRCpeuy_l3csgLjpcwZdDC9A3h6xFsIjJozlmEnhBBlDnSF3tGvPHUNXRjVQSNce4paIQMF1YHcauJij7tnHM1yl4XdoqIGoqTMWFFeKxs1NJelSAQROOC_Gun3YDvL_jjmLALCQS_CNTYWt_LG-MRaeXM5bsBpmXqR1M0J82SGpVGEWgCmjDj1w8fEByinnrkULm4ruHLZ5LMcmg2NlKjfJwDlEwHO0200QQ4UemfRyTPHCCZ2NMZMpRG1lgsqvHydJhmpTF6EkV1uQj0Xv_fDdeQ0CoidCr2pN1nTsvTK0r_G1OFZKKV4YrQlZloz3DixWBChDMAh4ccvYojXPVwBsh0cDBGSzgQu3iH7VzAL1U6p1z5cb6aoZ9ONEpqY0gyUPaEGIu4nsRekrztK7AKNbDSWK3hygM3aCRcFo0CCl6uMT4nc1IhwqpIIkIgXh3llaHLmJmYw0t_IxXLCKWaojWo9LeRvhsRmRsD1B7OlPdRk3kBdddfjNWX_Y-i4wNHQKxkiRmadeKqU3hU-8Di2juRTCD8ioc3Pl2wMPNt2iQUIASGxQXuxSwvQqN94dp9Vb_uugawW3_hSA3322y51kTXyU-lbCzMYaxEVwR-gdTW6pwlcbYtOGNNYa8gp2XSCGTB7_t8UgI3PjeE4hYyf-GJAhcVrRsFNg6pj7RSZTg9DnGnOh0WITqYo89GtKA0uTyub5rJHMbdSI8s_71U3KDl73M=",
  "id": "rs_0d8411c4f30c79c3016ab44886d4f487d08d56688eeac82c53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper has reached table level with the green fruit centered between the open fingers. I will close fully now; the settled opening will indicate whether the fruit is securely captured.\"}",
  "call_id": "call_p01d2TlAHI8tMofQS7ptjBq8",
  "id": "fc_0d8411c4f30c79c3016ab448876ad887d0a0d0d1944da37be5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p01d2TlAHI8tMofQS7ptjBq8",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6128, -0.4175, -0.0139, -0.0078, 0.9988, -0.0162, 1.438, 0.2546, 0.5339, -0.0242, -0.0162, 0.742]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1725 left_yaw=-0.0012 left_pitch=-0.0431 left_roll=0.0015 left_gripper=0.9988 right_x=0.3298 right_y=0.0025 right_z=0.0205 right_yaw=0.0051 right_pitch=-0.0793 right_roll=-0.0013 right_gripper=0.742\nstate[joint_eff]: [-0.0615, -1.1145, 6.9949, 1.79, -0.0415, -0.0366, -0.0171, -0.1983, -4.2735, 4.7795, 1.6874, -0.0513, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12404ac3879f188bcc4774047449aa76c2e345edd6cefa85f79f7217ac5b3461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d833bf75c7ae9f0565accdeebfd8454319c4c1a2a499af5bf164abc5035ee8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68b546aaea59587a88ca50a564fdabdd3025e601a494ea55fb88fe691fa35959",
      "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 · 5.166 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]: [-0.0212, 0.8001, 0.6132, -0.3824, -0.0139, -0.0086, 0.9989, -0.0189, 0.8005, 0.6178, -0.3874, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2959 right_y=0.0022 right_z=0.183 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -1.7573, 9.5795, 1.8046, -0.0952, -0.1099, -0.1245, -0.4308, -1.7846, 9.2103, 1.8681, -0.0122, -0.0562, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6128, -0.4088, -0.0139, -0.0082, 0.9988, -0.0162, 1.438, 0.2546, 0.535, -0.0242, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1743 left_yaw=-0.001 left_pitch=-0.0343 left_roll=0.001 left_gripper=0.9988 right_x=0.33 right_y=0.0025 right_z=0.0207 right_yaw=0.003 right_pitch=-0.0782 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.5658, 6.9949, 1.79, -0.0317, -0.0562, -0.0073, 0.0889, -4.4786, 5.012, 2.0342, -0.0513, -0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6128, -0.4175, -0.0139, -0.0078, 0.9988, -0.0162, 1.438, 0.2546, 0.5339, -0.0242, -0.0162, 0.742]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1725 left_yaw=-0.0012 left_pitch=-0.0431 left_roll=0.0015 left_gripper=0.9988 right_x=0.3298 right_y=0.0025 right_z=0.0205 right_yaw=0.0051 right_pitch=-0.0793 right_roll=-0.0013 right_gripper=0.742\nstate[joint_eff]: [-0.0615, -1.1145, 6.9949, 1.79, -0.0415, -0.0366, -0.0171, -0.1983, -4.2735, 4.7795, 1.6874, -0.0513, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12404ac3879f188bcc4774047449aa76c2e345edd6cefa85f79f7217ac5b3461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d833bf75c7ae9f0565accdeebfd8454319c4c1a2a499af5bf164abc5035ee8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68b546aaea59587a88ca50a564fdabdd3025e601a494ea55fb88fe691fa35959",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEiLRKV2Z_gieadk8o4d6zJKrptXLk_Q_dOaLBk-cU1xSw3RkFayMnIpFEJB-Gf5NqK-xBgyQrsHGd8Ce_5TAS8tKvF81hrdElBtA3MtTRUeQ7a7GkomDudwyPVYegGAHq4gDJG5xVHjJaVO0Q3IdIVvGksMMyMvCNMJZ8eIA91GuE1ABaTmrXx6pKHhG5VGwti1312oNK9TGsChxFmGpBDMxAu7qI3sz8J_QYbRjxEnTKdY15mp981ILydf08-h1SCU9taRmsFxIdn7-_N7lPeNF-zxI8UTuhnWYTNgOfZUbKF9qX1dKR-FNnKYosc6U42QSqqpJhiYlMmqbSN6yY7XkOOHTR3Q_mUg1is7bg7z8xy2B9e05vXtXKutifhqIBDdqT2D9fZLSJ15Dq-7cuYwQIpKlh7v56XqwKk5Urqrc7pU1UqWDx0uVy2d2dMoDa34izhvw3dJRfq2RmZzVpm0Bnue_b74LxlTesmamlcDEC7SC9RQaHxJ8IVSm734vL5UjkhI3vocg7bmrYoC1dJbhN3rem1pd8Rh6AV1_vUkZCnF5X9rOl5mYfnXdm4-VxDbIsNnQkOfiyQTWVz79PB6LGk-oW6b2wSgA4xHjOWGOxJCyyfleK_WqGUg6j5ovwDXbKXvUSb2mANts33Nf01UtPa1CzEBJSgdpTHjYWB2ePzxvsCFqBdmMzJZojylnhmEPZgjyQgsLwFtcsmn9hi2Jq05Fa6E5PuSm2TanhxSkkUrbEKnzQhjCgCeOugjnMsNftVHG_UEH85MLkLhsAJXQLUOkm2o2ThIDAwLimf1K0Md7q0hlpeJ3_lEM2ghtR2JZvuUj2Cl0LsVEMLo8vYg6pd8e5B68gr1v4d8aOQI270Z6PoIzHE0CtwGZz6mZsfrt3L-DxdNiFwXlO88HEnjvWeJuIUOH1MgoSDlVNZFydOO9Q7LrUgydsaCKnflAiGrLQwZaF-rqIc-sWQvw9HGhgzcb2NrZ4qfqD9nAR343ztoko7onc_5Uewk_RvmQL8JwX2sZ8F3KDCOfJUipRPbVQKBwIxe8YkXK3CnClL3mAtyzwpVgGJp2ApuTzvmmELqRpa3xZCu9y-uj0VoAuPx0uBUbMPIWe0LiBvUCTbxKtwAldMrpjZBOLgfiglXr45o_HP3M9P7Q4mUcayUBJtzjCJh12hahf3gzy2tvJSe0U4cAHScP-R02e2TGSZj-kVoFhr4AYaOKnqEnEo5-O92fqZjs_Z7TMYrcrKttdE1YTvB6YJ4Xb3DCbb3V-CLabbB",
  "id": "rs_0d8411c4f30c79c3016ab4488a4fe887d0a9fcef05d0665453",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The right gripper settled at 0.742, corresponding to about 7 cm between the jaws, so the green fruit is captured rather than an empty close. I will lift it well above the table and then verify that it moves with the gripper.\"}",
  "call_id": "call_D7xE0JfXyDBtwSd6EJANtOXL",
  "id": "fc_0d8411c4f30c79c3016ab4488a99b487d08ad15de71afe0342",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D7xE0JfXyDBtwSd6EJANtOXL",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6128, -0.424, -0.0139, -0.0082, 0.9988, -0.0162, 1.0405, 0.6407, -0.3141, -0.0238, -0.02, 0.7478]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1709 left_yaw=-0.0009 left_pitch=-0.0507 left_roll=0.0014 left_gripper=0.9988 right_x=0.3221 right_y=0.0026 right_z=0.1383 right_yaw=0.007 right_pitch=-0.1437 right_roll=-0.0031 right_gripper=0.7478\nstate[joint_eff]: [-0.1709, -1.388, 6.9812, 1.7363, -0.0562, -0.0757, -0.0122, -0.3624, -4.1231, 9.4974, 1.8242, -0.0317, 0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d03df9357b78e10ae39a24fa51d69ad8b631bdf27d1421a861f1dc86d08c1b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c026feb8146e44f49ff99b71d82e3fd9e6a3db18c3741e15a9e49e3fb19b91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d8c20651cf71d44225c6bbddc9f9e0b267d0f63f6decb3e0177f0e5cfd46d50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 6.455 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8047, 0.6128, -0.4019, -0.0139, -0.0082, 0.9988, -0.0162, 1.1446, 0.4091, 0.1314, -0.0238, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1766 left_yaw=-0.001 left_pitch=-0.0244 left_roll=0.0008 left_gripper=0.9988 right_x=0.336 right_y=0.0024 right_z=0.0925 right_yaw=0.0027 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.6205, 7.0632, 1.8388, 0.0073, -0.0708, -0.0171, -0.2803, -3.7538, 6.4068, 1.956, -0.0317, -0.0513, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6128, -0.4175, -0.0139, -0.0078, 0.9988, -0.0162, 1.438, 0.2546, 0.5339, -0.0242, -0.0162, 0.742]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1725 left_yaw=-0.0012 left_pitch=-0.0431 left_roll=0.0015 left_gripper=0.9988 right_x=0.3298 right_y=0.0025 right_z=0.0205 right_yaw=0.0051 right_pitch=-0.0793 right_roll=-0.0013 right_gripper=0.742\nstate[joint_eff]: [-0.0615, -1.1145, 6.9949, 1.79, -0.0415, -0.0366, -0.0171, -0.1983, -4.2735, 4.7795, 1.6874, -0.0513, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6128, -0.424, -0.0139, -0.0082, 0.9988, -0.0162, 1.0405, 0.6407, -0.3141, -0.0238, -0.02, 0.7478]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1709 left_yaw=-0.0009 left_pitch=-0.0507 left_roll=0.0014 left_gripper=0.9988 right_x=0.3221 right_y=0.0026 right_z=0.1383 right_yaw=0.007 right_pitch=-0.1437 right_roll=-0.0031 right_gripper=0.7478\nstate[joint_eff]: [-0.1709, -1.388, 6.9812, 1.7363, -0.0562, -0.0757, -0.0122, -0.3624, -4.1231, 9.4974, 1.8242, -0.0317, 0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d03df9357b78e10ae39a24fa51d69ad8b631bdf27d1421a861f1dc86d08c1b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c026feb8146e44f49ff99b71d82e3fd9e6a3db18c3741e15a9e49e3fb19b91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d8c20651cf71d44225c6bbddc9f9e0b267d0f63f6decb3e0177f0e5cfd46d50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEiTkSSkGBmfPWVDwFUWgyzbamCnhHldQvU6jZmteHoHcJ2koMvx4mP9wQEYRc-Je6cPq_PzxG3H_zq0cfFgxk5Xc_zbaYaTNv8QOi3bd2UtBvhIDe_X2B26PXZD3fXTEJuHwNdpMieXrFpCBuiQ_R_Sf8YLyn-R8BxfB55sULaYnW4vLlvUyE6oOMY6-KRhDCax_rUiNbQd3MqJockc3O8BIY-LGyVl-YwMFtK0e6pIq1zz9fYBjrjOqIo4Zn9YlMxPqGfJA9ywndHJnx_U1TNZ2TgaWodmwpAdKzVYCOTZt84S3tyJ6DMAapel6xdlBUU_327yy86i5jxE9H0gYnxo0VFGtLetvy4HIOdw2nbNErSnbF5McAZgVQNPPnPGxdIKQpTRFPP6Tg93w7e-HxWyJE62Flc9plWp_OnIW53C7frEdF2iQEWErnUb50h1NSQl-_KYikZ145t6YZm5dH1alL8Z8ZndYAKRbtJjC4EgDhBABxh-GKGdP1UWqZ2wQE6Ow1Jq6zAkJuf_KdMLB9LWFZiZ4Je_9Pyq8tWDK9L1FVkhpt9Y2KkJ6ePqmBpRpUnMndUCelCaXHU-PX8eKEVwRVcSN-eihZmx4XZBj4GslPeqJv8HBXGORxKlpyPvOCOC1AFd_ZVjfyOj1QhY7n4bTFUx-Fvsi10C2-gA8htpv3FTbnKuemobeDe5hgt_nPumK6tK1uegnVarwF9_KF-oWoFGahfRbpPxV71zTJvIs1D8xf-R3Bt6mB66FPQIywo7cOVaXVl536o1wcmOCRcmGmxd0Xm5QYJcQk-_yhY02bn9N4yYgAhg_2IndiX9wQpzd9qBxMLWfhLizAXrsobR-M4bAHrWQwvt9QsP4NUneQDb63rMeTsYU2m6c6UYo6qsF6_X0064XldQT5roLXnuAUSp1netM3c3ESuGDSxupfOh1gx_wF58UaUrdBrkV2Z2Tp9-fLaC2WnG7Nx-S7Owyr2S9r16ndwMvDlm6q-ayAFWh5Wf8tjOCNVkeOwN61Cz3x4Yd7AtWeh1khQxGQ1WEf_gjzpgZ1dqH8BTQoaHm0llDMlLExHxd3JPvfkz7AxiUnREpacKAZ07L6Th2HV5cwN8XIzvCcVcdTlPR-mJuZZtX9BeLrgs9Dtbks7McYFbg5L09XPH2ZJ8SoFHD28C0v8h1Hzf44KfJFX6Lm2mFCLenLB1WlTzmLXJg3NCHMz3r087NbAVm9PtacyKTlYaJxAlpye_EtEaCuJ017aLOh8ndyqw0-wThByb8WAHfKPhB0NBAxzJ_Zz7T9YPagp8qZsp5cK_saAUhFjyqpZtOGdmE4XLq78XYID67jWqa6uNSY7UOblVwF3c1YH3OTVVFHbETw6mBxi2L3x3f5adCj9Oqaa1uoYB-QUs-63MyNMXweu2KlqLnNFjfL_5BFNYd0Psmmh3Nvs61FdboAbyT47ZJq1a1-VC-OpMGTewAC5qMaEVm4H1uxukvqW0OusFCzKf6ln9lSjcGDXBbjuvIYRUWcFA0Mu7YKfVmb6FtjkE4KgM6yJQUcXlnoL6HdVIMsHkcYvwLvJmQACAz74rtyqSpbpRZ1aDPX9zSvqYuh9Asa7vl_US_TaVSclFv4T-Wteg8XoEjjPoCk7bVAMFhYthoTbD8N8tihzpAfKI-xyMUrHsaTPm-j1otNOcpgi8Xyqfbo4P-6HorByuXpbqiBqeaB4RXqYcGsI76O7s-3nJpWpF-1Nlm9aB-wBziufqB6g-FSnDxTgWJoAhKVVE-72KgJ1OiCwpCbiLyUo59AhlouX0FD71snyCmYOFTTWeTKODkU5mr1VVXp1iORxIh4olapfvyFHbsUSjua1ZZNwQxOQuJDl9l9oSoPB9TxC7c_-3g0W95lajaOdBIb19127HKO5kE3GufkZSESHx7kfDd_jqCwEVYJst1yORwIn1weiFQoihooXbfprcwgrcQF3CX6c7bWtCyQ88LSUHBbkpwFadvOal-Ll-a11eZetqJRyTn88DkReodGR135SIhRK54k84uSv5pQcsyteuTBdMy9g2QuYHg7n7-FHh7yTwojokyqk53jyeBDmbfZFalW_4JiVHjq1h3gE0C-WDHI6klQ7SLf7963-rw0sd88vrn1LyHuQP6TUTLbvvE06aE3ET_-BnvWNMAMLq3WHr4_81q41-NLzIkMeC4XUn5z6Q4XO1tVnp0fMvn6cCK5S4RToW3NYpq6XzAqIH4qbETEm0p0xXV38xPxoWtqiX4qE3xmR5zJxO9Uw-7VpXJnsVsPGbgGwNmqiFihV132FU2_BsaRLyJk5MnxBESpumqIr8BYok3g4BeMdTyBfiht6EVcNtc2iJ6nkbJZ7Nx5Yl5i97V7WGqcjRNN532TkqILCd-QvkzDdIM3T_SYBzRyDY7WKJUBnZsxVYC3RYZk4Pppe0hpWFwWKeApnnvBztgsDZTvL8XoKgcPQnv0MnCvJAOYTKeGeE6wfFzMmx4oXcoR2Vj7dmsTuzpuVvMGAelEXjoKesWQF2gaahOyOKUqizcnrTfvv2DDdoABgGBXade9tsqTOf1MHi75ng6y161fCbzAwbcIZjOQsNBuG723W1OIrqDTpMc-AAF21n1XYs90kOPKGlmar17kGwWCzlWh1Oew==",
  "id": "rs_0d8411c4f30c79c3016ab4488fec2487d0aee4bda8029422d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.14,\"right_z\":0.22},\"note\":\"The overhead view confirms the green fruit lifted with the right gripper. The blue bowl is roughly 14 cm to the arm's left and only slightly farther forward, so I will carry the fruit to a high pose above the bowl.\"}",
  "call_id": "call_lenGkruVs8EzJw8zjmC563fh",
  "id": "fc_0d8411c4f30c79c3016ab448931c7c87d0877f922eeca5239e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lenGkruVs8EzJw8zjmC563fh",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6128, -0.4252, -0.0139, -0.0078, 0.9988, 0.5758, 1.3006, 1.0985, -0.664, 0.3889, 0.3607, 0.7478]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0011 left_pitch=-0.0519 left_roll=0.0017 left_gripper=0.9988 right_x=0.3305 right_y=0.139 right_z=0.1982 right_yaw=0.0362 right_pitch=-0.2127 right_roll=-0.0468 right_gripper=0.7478\nstate[joint_eff]: [-0.3077, -1.265, 6.9949, 1.6825, -0.0611, -0.0464, -0.0122, -0.4718, -5.5453, 9.3744, 1.7021, 0.3297, 0.2711, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b7cd101b0cc92cd4396bc87c6789d63538de89c0a13238e43104410e65ff9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90276885050e1f337e68ba8191b839179298aac145db593a29921707a9d99ec6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:856525f250a2f17e6857d6d0a997b720109851033be2e1a4302499928cf585ed",
      "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 · 2.834 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6128, -0.4088, -0.0139, -0.0082, 0.9988, -0.0162, 1.438, 0.2546, 0.535, -0.0242, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1743 left_yaw=-0.001 left_pitch=-0.0343 left_roll=0.001 left_gripper=0.9988 right_x=0.33 right_y=0.0025 right_z=0.0207 right_yaw=0.003 right_pitch=-0.0782 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.5658, 6.9949, 1.79, -0.0317, -0.0562, -0.0073, 0.0889, -4.4786, 5.012, 2.0342, -0.0513, -0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6128, -0.424, -0.0139, -0.0082, 0.9988, -0.0162, 1.0405, 0.6407, -0.3141, -0.0238, -0.02, 0.7478]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1709 left_yaw=-0.0009 left_pitch=-0.0507 left_roll=0.0014 left_gripper=0.9988 right_x=0.3221 right_y=0.0026 right_z=0.1383 right_yaw=0.007 right_pitch=-0.1437 right_roll=-0.0031 right_gripper=0.7478\nstate[joint_eff]: [-0.1709, -1.388, 6.9812, 1.7363, -0.0562, -0.0757, -0.0122, -0.3624, -4.1231, 9.4974, 1.8242, -0.0317, 0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6128, -0.4252, -0.0139, -0.0078, 0.9988, 0.5758, 1.3006, 1.0985, -0.664, 0.3889, 0.3607, 0.7478]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0011 left_pitch=-0.0519 left_roll=0.0017 left_gripper=0.9988 right_x=0.3305 right_y=0.139 right_z=0.1982 right_yaw=0.0362 right_pitch=-0.2127 right_roll=-0.0468 right_gripper=0.7478\nstate[joint_eff]: [-0.3077, -1.265, 6.9949, 1.6825, -0.0611, -0.0464, -0.0122, -0.4718, -5.5453, 9.3744, 1.7021, 0.3297, 0.2711, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b7cd101b0cc92cd4396bc87c6789d63538de89c0a13238e43104410e65ff9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90276885050e1f337e68ba8191b839179298aac145db593a29921707a9d99ec6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:856525f250a2f17e6857d6d0a997b720109851033be2e1a4302499928cf585ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEikG-Nlo9jO4VfxXy04d8PFkG9OjVhRMNOd0t4oQMdRILEu_W0WpWl60cBWXbSxz3EGVr_iGy_lrxO-5zPlTRQG0EcLZa4gsfTTzmbJwmUUgppLcf74lbqPXZa_Q40yPMvEOtbI5fPLY8uuD7JBkklCEg_6tErbff2PRNBlnTlC1zA_qS57liPfHwHCOukIor4AuEjzbsKOcskOmPsZu-e5ZMNZJWJ6Uy3PnUKPeqImeiAZpo0QLOHm1KZ3IFGwqNals5RPn-8DuiJV8CuCJEKOUD3IVrF8eV1YUSzJIDnunzNTnQwPEWx5T4ZBs0PKYXvuk5JQ_ta8FIqxR2nppS46WfoxNTs-0luiy7eM1uvy65no1SrzH3W3Uxvjin68BbX5jL7IxguFjD5GMh6tvstMwLWyHVxlCiY7xxjy0HnnPOa8j4PK_UdmAd7zT_hjsXqEV-k0pTtv8IzAuErIxcHntiZeUoG9ZeRWpnbfm-NHYTvwyr7C_usJbJQxHcVSXJ6TNbXN-ClhF3EHD4ZfN4DX1uQv1fGpYS2IpNvY5BZ6GVZLWJ52jv4ZnZ7ctLKwqvVfz59UcxBqdtVQa3I-SiDS-7dh4MCHct1rJvNKl93MEgaIP92Wwyp460ZZFWr2DDiZca4rIm09YtskEk3cHgCXgV2Z1sMe0ExcVuBg1HP6IPuGavsRQHVyfzpS8Si8Kt0WjMwW9G1dFCTuONhCmbzDx31nJoS4LRIGF1emaMvoAucWu2pUUivLxZdShUC63oRwVcm7Jd6tDqpV3qrL26xl-lPXu7-MRlCbHY6g4XQVPQZI8UP76TlosgZd4IClT8oNR9-TlDhMFco8DuPbwUBh9qji2_aYry0qfmN12o_P0z7qYyQzWdbf2k6Gsk7VpCynflGWFxI_YwOiCY9hs8T5suLDw9jzBEb1HexHkeTc80KVo1ijw1SKG3QRkm9xjDXoU8DBUWJWQL4dydZdrnwXgoYJrV6a33Acg8OR40y3Jf7ux8E0Xdq1RRk2yI1YEed0pJ-IxcySygDFnbqeXimaoFH-0Z_MRzt92bNLitE62esz3nkVK2WB791aKi3GIxxLqDhvbR-L7pTcSJ6TZab12IWP4T8vP7BlmDoySFRU_Ns4mc0NKt2QMJX6nE8-vHiIr6Ml-ol92jC1SKpjNhzfIfXCaPsVgyospBq9V31bIiKLw2GCzYGwWjXcTTrnct5rvrAIIfkYzNl-9TqC55XSDO_upcXTXo9zea4A90MQMxkM_Qlt2xXOAyHGAiY1laEVFCJcwcUROxfd4qfl_1FKCse6ofPOajzX998XYFLY0ieK-ybfKBUV2WmJnEc171LBKNX1cTo770_dOZP46A7QvxvttL6yGJGi6UEMQqBw9ukI_A2LhjkYgbRVlYIORGqA6u9h2Pk5iL402y3TVY6H2JB6ECL3dpoEAKyptbwDPcQW-YJUsEI4aq2pbwiPsExP0ohRwhmGTf3Hg-ZVhsx3tyv5g-sVWnKASpbBDLh1ghQul37li60HNLsQ1uKr5IswtXxVmtjE2w_yuEApVlb95EAztfE5vFp2vZvYSgMWBXqDw3R4LtNWeyphOopGutzOWHezVeeXoVdChhFuH3iPDT7oapez17vEORbgSZkrqXcU1jW9Nuxq012OTJ1d78-HBZE9h8rmSxwkkk5jFvRIlnDABREJnFu66O4RQz5w78cGY6GHitYmHBc7I45lr818kz9E1hvo064_byNralKkGfyUciQcKQqVn9C8IpMozqD6oAfILUSnmXv0l5MELmzCqGhm49OxywXmniTpmu1XQisHUSlN5ns4Wp_TBAxpigf-PMGc5lJV-HJ6T5mi7sEHPAtyxNJVQzvESprGR5tUliN8T1JIMTZnRaoL7gCI1zluRnUjUvOoiBcJvGWX-_6J0rbFJZor4Z9639ASSHRtiJQIrYQ8Uv1BbeI_xmp6AGN2Ae7DnBLx_f-OW-MRJNfdGINxQmBLi4g00Am4MxGDAGt5WwNJMywhXW1aZ8GTsYv9AlAnrx_fYAEEpZlH_fh8CEbE0hQBfYMhjbQ6ZG9uaTWe8XWGLAp9PRQPrBnWn7Aw6ym9EMP1ZD6e7Zhrqu1iYExdsNMxlYayT3H7rcCqzXNBUfWMrSpUXXSnJdUYhP9Iw8YliSI_ja-OLysYiQdKRJPz6DxjiZ0hocVgnx0sxbJ1kG26BBrG9SjBDSCXtuYYLga8PXGJB-PIHJbO_VXOlpYHOFTmOruuydkETZeFGvhR4p8QSS9mXj36iW7EXTOCDCgTWMKgXsFTWIr4mQ9xNlVYVFQXfnLy0wfInUatSYqc_hb2XTXphHlLtJxWvGN2etD-jqAlOS87uNefW59LtndK6X88EsqKJXKc81RDbUdCW-ajbM21KZ9sBE6RRvHrEcV8WFtUO9hI4jI07U0v4AHtJ000KuS4ZvQXUVibGa0aVNJSO5vTXdP8n9EqsvTzwEarF0YBLjFonB26dQ71g26VB_46T9pk_S38UKpOviduKLW08_pTQQsz8CBCJGwKQhsuRMTFi3GYM4xZNUcL71H44ZlQ8F1Fy1WG1TnUBQ6UiYY-6xv6sbkZky2xfX9tB41yZHodBQrO-_1s7iAF4ycrIp_6XQj-78afpVXLVezWDvFzubPYomyYGzMd2yK9NknWi6esvLqMr0tQtnCFqvX4lXkS9Ugk__3eBSlvOpBbnvFZIechO66xFcFnzaMWkLGPTx_cHCk--9Jjt3MF_RyW7eyduYDV0RiHn-5SBQ8O0vh09LltM8S6sdTlirkhXO4JJ_wbXfYVoiSS54GQBbsxJfHcctPuuNnxvy4fSWeuxNaS8M-vZoVKgmyHlIow1NGlJoT-WlhdTvbc5YpROf7uvnfn3DylEywr_MFEdIqDLeLxUgZXjxB3fXGol4__1QTjtOnZbrtIGdjnqOdvadRsjjmeOqEY-Uf4gciVXQYxccykSx3dqpQe-ZzzA-cKxrW2pbX_YqL9AutezIRKMScGplZCzBDtyaCp36zsF4uycG3Ta15mluX-LgZ-JxYnIjygevbF2ZYqJ9B6WZ96uMc2bsnOCn3Ub8SUnB9l7mYP_tYnv3T8DBwYIRRKxWqyWWdpsNE9dLDlrI0CvRxe8dt5bu7N7FG0zfFQfgvj1A==",
  "id": "rs_0d8411c4f30c79c3016ab4489f126087d0975735c910abccb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.1,\"right_z\":0.22},\"note\":\"From the wrist view, the blue bowl is still fully ahead of the fingertips and about 2 cm to the jaw column's right, so the first carry pose was short and slightly left of center. I will move farther forward and a few centimeters right while staying high.\"}",
  "call_id": "call_K1SgbShy7snUpHJDwmQZts0N",
  "id": "fc_0d8411c4f30c79c3016ab448a304fc87d0b7e3f471c015af85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K1SgbShy7snUpHJDwmQZts0N",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8108, 0.6128, -0.4278, -0.0139, -0.0078, 0.9988, 0.3626, 1.4235, 1.2301, -0.704, 0.2375, 0.1902, 0.7478]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1696 left_yaw=-0.0011 left_pitch=-0.0564 left_roll=0.0018 left_gripper=0.9988 right_x=0.3725 right_y=0.1007 right_z=0.1961 right_yaw=0.0386 right_pitch=-0.2942 right_roll=-0.0704 right_gripper=0.7478\nstate[joint_eff]: [-0.2256, -1.4564, 7.0906, 1.6825, -0.0513, -0.0562, -0.0122, -0.6632, -5.9009, 9.5932, 1.7802, 0.1587, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c7cc7da990dbbd36810c1f052613ddd5f24709f7f7877b71ed9f9c4c9d0bf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:440cf6a22ce7030cc7f90498830b9543188b4c239b3d31a12fd42eb2cf48b344",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9ab5e50aca30dcd213927f2ec22bf1e24ee4bba5d27e264489fc88df438458",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.884 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6128, -0.4175, -0.0139, -0.0078, 0.9988, -0.0162, 1.438, 0.2546, 0.5339, -0.0242, -0.0162, 0.742]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1725 left_yaw=-0.0012 left_pitch=-0.0431 left_roll=0.0015 left_gripper=0.9988 right_x=0.3298 right_y=0.0025 right_z=0.0205 right_yaw=0.0051 right_pitch=-0.0793 right_roll=-0.0013 right_gripper=0.742\nstate[joint_eff]: [-0.0615, -1.1145, 6.9949, 1.79, -0.0415, -0.0366, -0.0171, -0.1983, -4.2735, 4.7795, 1.6874, -0.0513, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6128, -0.4252, -0.0139, -0.0078, 0.9988, 0.5758, 1.3006, 1.0985, -0.664, 0.3889, 0.3607, 0.7478]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0011 left_pitch=-0.0519 left_roll=0.0017 left_gripper=0.9988 right_x=0.3305 right_y=0.139 right_z=0.1982 right_yaw=0.0362 right_pitch=-0.2127 right_roll=-0.0468 right_gripper=0.7478\nstate[joint_eff]: [-0.3077, -1.265, 6.9949, 1.6825, -0.0611, -0.0464, -0.0122, -0.4718, -5.5453, 9.3744, 1.7021, 0.3297, 0.2711, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8108, 0.6128, -0.4278, -0.0139, -0.0078, 0.9988, 0.3626, 1.4235, 1.2301, -0.704, 0.2375, 0.1902, 0.7478]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1696 left_yaw=-0.0011 left_pitch=-0.0564 left_roll=0.0018 left_gripper=0.9988 right_x=0.3725 right_y=0.1007 right_z=0.1961 right_yaw=0.0386 right_pitch=-0.2942 right_roll=-0.0704 right_gripper=0.7478\nstate[joint_eff]: [-0.2256, -1.4564, 7.0906, 1.6825, -0.0513, -0.0562, -0.0122, -0.6632, -5.9009, 9.5932, 1.7802, 0.1587, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c7cc7da990dbbd36810c1f052613ddd5f24709f7f7877b71ed9f9c4c9d0bf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:440cf6a22ce7030cc7f90498830b9543188b4c239b3d31a12fd42eb2cf48b344",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9ab5e50aca30dcd213927f2ec22bf1e24ee4bba5d27e264489fc88df438458",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEiqEKue7BzUisBxGY63kuDVQ0206wa4NbOxyKRBfqau5zFq9F0RxdqIwj_Q07F7fLQJPSrSml_cXKGXYkY34WDPAczg6I5MWc5ECapfMEOcTzRDFwUkaSJ0IY7dJFacqdbmZBofcoZP3nVtHmGcpFxEmE92qGO-Hxp2FO8l7DC0EfAmdF5vKqQIb_Q7JJLDjgi42N0A6alrXbHISZuzGzodzph0C_AtBoAWFM-joreVsT6TIORxaQdXFnlt0wr8JTR_FZQvlbw8fEBUV0W13YpxEiPnFZSWzv8K2GNcc_ImRM3AbPOqZrIlfqIuFg6omiwiO0HNQzyNEuYluI4qTJFHueFGlQZUaaUjWvomz0k7xx3bR6I7XKFank4_mr_oI_xZio-60lSW4BxcdeiYNeMVyvMKWuEdsG2wlO_WJ5LHrafTOgAJ1BE55db55lf1pV2kwUTo7C2665xcJNlBdO5QNkkG3kdR4YFQrmhzB1iuLIrq_-0mloKGrMzOrGWYOe88EXn_gjTH42HF49ShDZLo16jxyyBOkbXCITuW47tEtmsVHEPIfgl86JNRQ9VWga-Rb0qYMGqKslfBbWtqfBIroaiJH_KMez_ka_EM3IMEjvUtYl9wQLooJg839qn3kiABVH-9F2ca2UwcaF09NBekcCOy0SVhysiSr6WD6eOK6KbBVXN75zRC90BPgxZT7ly0KG9mAZtHmNKTb2SpGliOT8NcKaRIrHsRwpuy9fFYwhMkLhCNqFgUvLqW4LFDHxJQ1-5jfpHc1RUalrohr4_34UyNKVEMs9q3XC_cYeA0jtTFF-t0hyeqLSfNXufSTvbgakBkltJ4safm1VV8u9YMZBqeb8SGrwTBz5T9cg0qcpdHQ6BIngjk01y8_pdKirD_qRjOM6BRNNHCxBM4QHiup6Xj9MPPlDftuiKJ-i51RCNMwqc5IbEhGqpE_-WkNWITPeP3rMCmIVzJnA-HFbljfRN-nLS8ZVOq5qQGE4UDrvSZ1A8q1fpoM0-yDli6-7xdqahvQn45CDbMhMEKuLlt_s5hnmlZSrv33W1-maX_d2WRpyMh2gaPm5JQr26Cm47YObxsc4ZAOasS52Q9tavMH6oPSO7eFPEab7Y_v-FzO3M7rb8QRP6UjAz8vyZf3_ixpQY9adXj_QrT74E7Q2t0SL04PwFtPdZCx0BmIUwZmNNucsaVSIn8FlJu1jq2gmNLpKlvztFkNULBQLZ6-YNVT7VLgDbksGLsyc6NLNO2qgWLe-F_Bw4NRC_eBGbicAzl1xTSOSEN_utzEKhROflD75Prax01SmfR0ZXuu7iK_wrwZlwFIgRIJcRPRFJNKFmeKknor0XuGNQfqYdyn81oYypeKCKu_bu4MCQPNLs0seG0VtpAXiRYv2A3iqQx_a6j9gn2pSdcCwGbdnBGat9ElJALhNwswnTD8bLlg59V-WsKtvt8_EaI2ZNF9dZ6I86O",
  "id": "rs_0d8411c4f30c79c3016ab448a8c19887d0841716b7f9302f7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.1,\"right_z\":0.24},\"note\":\"The bowl is now centered on the right wrist camera's jaw column, but its rim remains well ahead of the held fruit. I will advance another few centimeters and raise slightly to preserve clearance over the rim.\"}",
  "call_id": "call_WRBbB0b1wjOtiPVQTq7Tp0oJ",
  "id": "fc_0d8411c4f30c79c3016ab448a9784487d082690413134af9bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WRBbB0b1wjOtiPVQTq7Tp0oJ",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.432, -0.0139, -0.0078, 0.9988, 0.3187, 1.6073, 1.5162, -0.849, 0.2039, 0.1455, 0.7478]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1679 left_yaw=-0.0011 left_pitch=-0.0641 left_roll=0.002 left_gripper=0.9988 right_x=0.4113 right_y=0.1018 right_z=0.2171 right_yaw=0.0447 right_pitch=-0.3444 right_roll=-0.0864 right_gripper=0.7478\nstate[joint_eff]: [-0.2803, -1.4427, 7.1863, 1.7314, -0.0806, 0.0171, -0.0122, -0.6906, -8.5538, 9.0325, 1.3797, 0.0415, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046cb4962e192847185b23f0005a70902c0f5b42cab49ce0c6214ee5a9b49dba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973ef6526fe423a8b74310a0e6bc260290077c4a406e2e5ff502fd31b31a2293",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbe5f780a8f90c49708b93d907dc2cf621734688aab1cac2eefcd629e53f8d86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.363 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6128, -0.424, -0.0139, -0.0082, 0.9988, -0.0162, 1.0405, 0.6407, -0.3141, -0.0238, -0.02, 0.7478]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1709 left_yaw=-0.0009 left_pitch=-0.0507 left_roll=0.0014 left_gripper=0.9988 right_x=0.3221 right_y=0.0026 right_z=0.1383 right_yaw=0.007 right_pitch=-0.1437 right_roll=-0.0031 right_gripper=0.7478\nstate[joint_eff]: [-0.1709, -1.388, 6.9812, 1.7363, -0.0562, -0.0757, -0.0122, -0.3624, -4.1231, 9.4974, 1.8242, -0.0317, 0.0024, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8108, 0.6128, -0.4278, -0.0139, -0.0078, 0.9988, 0.3626, 1.4235, 1.2301, -0.704, 0.2375, 0.1902, 0.7478]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1696 left_yaw=-0.0011 left_pitch=-0.0564 left_roll=0.0018 left_gripper=0.9988 right_x=0.3725 right_y=0.1007 right_z=0.1961 right_yaw=0.0386 right_pitch=-0.2942 right_roll=-0.0704 right_gripper=0.7478\nstate[joint_eff]: [-0.2256, -1.4564, 7.0906, 1.6825, -0.0513, -0.0562, -0.0122, -0.6632, -5.9009, 9.5932, 1.7802, 0.1587, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.432, -0.0139, -0.0078, 0.9988, 0.3187, 1.6073, 1.5162, -0.849, 0.2039, 0.1455, 0.7478]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1679 left_yaw=-0.0011 left_pitch=-0.0641 left_roll=0.002 left_gripper=0.9988 right_x=0.4113 right_y=0.1018 right_z=0.2171 right_yaw=0.0447 right_pitch=-0.3444 right_roll=-0.0864 right_gripper=0.7478\nstate[joint_eff]: [-0.2803, -1.4427, 7.1863, 1.7314, -0.0806, 0.0171, -0.0122, -0.6906, -8.5538, 9.0325, 1.3797, 0.0415, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046cb4962e192847185b23f0005a70902c0f5b42cab49ce0c6214ee5a9b49dba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973ef6526fe423a8b74310a0e6bc260290077c4a406e2e5ff502fd31b31a2293",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbe5f780a8f90c49708b93d907dc2cf621734688aab1cac2eefcd629e53f8d86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEitd2pJ1Z3bD8HGjAYtqZR4gxhSzEXrTeP7p8DHh64ajbux2050WEWc3XlnTRWY79Pm-IETgfZPXmxSUeqe3tm4cny3hDtzYgITFT_lAbubNcMpE6wEEMhBbnpAhaEOKvJQE4U57hd2ly29g0CeQw6fWgKS-9_6mL10A_Vbirna0FC8guWjNvQGvtFzVDC49jtJqY8OlZworiXdGMJlcjAEXmnpR2xQgS895FkdaxVZNjFj_rNFhL6W_L9xCkVBsVORb6LtbKtMGjVNYSNp2lHrtUrbB7Tc-iCN80bw_4omqqvVbwD4e2b9wpvYM_H6uRVSn_E3GjTfnt1RAAXm3syTshW9an3SIYlMEiA1A307wYkPClWin0E5C7C3DIH5_M4rUvK5cx8f_hwL0HWwADZ66YbYkGkEhbwaWrGVNfo-DCoW8BH34Nj4IKkbq2lsi9u9cdICvap3uVyPzxRXHDmQbVrYB2bPv-kNy80WosBwNaihNMAXsZDt6_MluPHC-fS57x5S4EY2lqU5Q7cIPAXSUd3ha5Az854cycw8pa1O0HNdJShujabYgWxaftvPg8TLWKreAGfgUNoydBxo3wGpF-ba8h1-oGR7QaVpOuKw13CUoG8D9v527h25TOvfoYJNcXLMvhcrOkBw6FHkq1xYRCTp06EOxl2qNq7ohq8m6qKfzEF_UuN_tHdc5x1YUBRuS-2cT9OVduyqXnny-sTMgGdUPi-_gR1E4mkmotPLneZ_LICviyMOAygoVMh9nSfyXyUHo7spuiuxJcHdL5b8t6ifxULnDGBGt5kBbxx2eprG80Vko3XwQfZFcl8-19cD6ePp9rrVWs0umnKxgGfmkqLQ4Bi5_PhsqVZAm7CfKTEysCGXjt23iiIq-q8xbHdLbGnYpIP-qxVjerUT-_QPg3VngeYMDs0A_-0UN-7GXzlo7ax3ddaO8COJsFvox-_ktVb3UBQ9GoTtqsh148VeN9rwGkubV90zTHTAOiK-4PfA8Feoef-dpBHDH8XljvSQRsr-EePkSdefpmvYFAK3yoGDdR9zOK11Gv_qSqOZZWeQoV8q8zYYurliVhUDeS6O8nkE92D6UntHWIRKwBb7twxVF_KOqGjw2e9zSGJdKG0i7G-Rk_bmZhqdWs3g5ZoNROf_aTZAIkcxCVXBA3TVb5Udv-MDN2ccGoeX3k02u-RTwJY0ZIzfeilwAN5UYW580_KojURkkHuVBZl-2YHNa8cFWtQRdnp5VkdqJtTj8j_5UhmuGuWVxVEBJVmbRBy8tJw_BrxJAIMV6k6jr-Lig56jfbS-aSS5KNXpJMZYadDZyADnsdFxLKgFO_n5H-vQw4c2e0fxBJXAPRh4JG5lxmqQUZmaOuU9wKoHIwYOqz0A9QxjYXWuPdT_qy1HNwoiDtwT374h8l3pFlAILbnIr62L_PqUi_dA2EjZpO5moLYOpcKp2zn0IXlN7Xf4oPnE3Y5xpzSvfTHCHf4GOqYRAxvwKtKGVgJpLcjMkwlBe1EU1Wea5obxcsVmYA3_81xOpng9ulzsK67QGu6jA5oZyrjrgv6HYsh5zD6-MFslP84=",
  "id": "rs_0d8411c4f30c79c3016ab448abd1bc87d0bec8d70f72e7b6cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The blue rim is now immediately behind the held fruit and the overhead view places the gripper over the bowl. I will lower into the bowl while keeping the horizontal pose fixed, stopping above the bowl bottom.\"}",
  "call_id": "call_37A7vJOpiXXsNvCtE4TaUDsP",
  "id": "fc_0d8411c4f30c79c3016ab448acbe9487d0a14239c82b34139c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_37A7vJOpiXXsNvCtE4TaUDsP",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4347, -0.0139, -0.0078, 0.9988, 0.3099, 1.6196, 1.5494, -0.8841, 0.2039, 0.141, 0.7478]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0011 left_pitch=-0.0667 left_roll=0.002 left_gripper=0.9988 right_x=0.4117 right_y=0.0981 right_z=0.2202 right_yaw=0.0371 right_pitch=-0.3582 right_roll=-0.0934 right_gripper=0.7478\nstate[joint_eff]: [-0.1709, -1.1282, 7.159, 1.6777, -0.0659, -0.0415, -0.0122, -0.3624, -8.4034, 9.0325, 1.5604, 0.0122, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5374606fff267ea3dbda33025acd30d4d2be174a00548218b66052c074b192",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cfba5899948dad0e51d5957e10183667a858fdaf088ac075571e668965c5b58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b160e61a25493ff3ef94bf194980dbf4c8701f288b370db423bcd441c62a0c14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.026 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6128, -0.4252, -0.0139, -0.0078, 0.9988, 0.5758, 1.3006, 1.0985, -0.664, 0.3889, 0.3607, 0.7478]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0011 left_pitch=-0.0519 left_roll=0.0017 left_gripper=0.9988 right_x=0.3305 right_y=0.139 right_z=0.1982 right_yaw=0.0362 right_pitch=-0.2127 right_roll=-0.0468 right_gripper=0.7478\nstate[joint_eff]: [-0.3077, -1.265, 6.9949, 1.6825, -0.0611, -0.0464, -0.0122, -0.4718, -5.5453, 9.3744, 1.7021, 0.3297, 0.2711, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.432, -0.0139, -0.0078, 0.9988, 0.3187, 1.6073, 1.5162, -0.849, 0.2039, 0.1455, 0.7478]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1679 left_yaw=-0.0011 left_pitch=-0.0641 left_roll=0.002 left_gripper=0.9988 right_x=0.4113 right_y=0.1018 right_z=0.2171 right_yaw=0.0447 right_pitch=-0.3444 right_roll=-0.0864 right_gripper=0.7478\nstate[joint_eff]: [-0.2803, -1.4427, 7.1863, 1.7314, -0.0806, 0.0171, -0.0122, -0.6906, -8.5538, 9.0325, 1.3797, 0.0415, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4347, -0.0139, -0.0078, 0.9988, 0.3099, 1.6196, 1.5494, -0.8841, 0.2039, 0.141, 0.7478]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0011 left_pitch=-0.0667 left_roll=0.002 left_gripper=0.9988 right_x=0.4117 right_y=0.0981 right_z=0.2202 right_yaw=0.0371 right_pitch=-0.3582 right_roll=-0.0934 right_gripper=0.7478\nstate[joint_eff]: [-0.1709, -1.1282, 7.159, 1.6777, -0.0659, -0.0415, -0.0122, -0.3624, -8.4034, 9.0325, 1.5604, 0.0122, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5374606fff267ea3dbda33025acd30d4d2be174a00548218b66052c074b192",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cfba5899948dad0e51d5957e10183667a858fdaf088ac075571e668965c5b58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b160e61a25493ff3ef94bf194980dbf4c8701f288b370db423bcd441c62a0c14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEiyrTnDQ0_zThEUQ4nB7WpnyYz1fyFOYv_3OLFHFXRG4knhOrcf5Q12NJU8uT7WI2tdRtdovk7mRV2UYm7oNaYw762_uix2LR2xsTeLuOl_oxEoHkZeAr0nNDoHxKk34rZ5ZzrCr9y9fWNfYIJeXrZVZOZO1fQPWUxwxZSgCSgTvJcufSlGf4Q_PVkvlikcfdyMtCyzgKdpP2kh9UjLFZzidPTfmnk_-FDM0ApK0RLjOLSK63qzSukP-ywTNgyMm9eNj46QLvc3C1gEGGbTynS9rrmaahqGrGyi2XY4fvvBl63bKl6070ifZgzlLG30hPj9PSnOa-jKalalJjl1XudZawzhMHdLZKB1ikvrqFVPJ3LQzskcQkgO15_AEgmG6cmjaIXdSyQiX79cGYFtsLVKF06BTqjb7y1kdQFeJbVwYiVbR8gnUGRu8bisRINJdROisGJYldAcZEjg7SIS7objEYL5iga9bCMT-Hvvnz1-iNVFr9eAOhXiPFlnNv1hLh6kmbxy-GhKzFPnpy6MZJ-dy_OIcTdzpzO04Oe18fk2QdTXQi5j2Pv9vo4eYz-dDxuVts0PawGERL76kMAPxgiIbXkCS60OoUzhi22VCKdzv25psPXbN1xxPN0vehVt4tCus0trecIiHXm4lbQL86Mupu6-Ek4HeuWR4EArqPy8hzcLCsabFtW6z8sw_yMaOF0slFXTXIhXcxJu83BOqo-m-V2L4kYOgdrdTfSDw22wxV2-8r12V8BAFsJBpPT6ke9Fpn6Pg7rhRRvOql_rcL6X7y9LqKi3Up6eUe3z_0k2GsFjO3QXglP3EABzQz4-lpzgsIrNVZvYD6jBDCZHRaS8YJrBQyZsj8rlNWN063Uy0jRzXAnT5-GPDHYBvV3wZdPYNMQRuf-RKxwk8xacVPuADwKeP1FzUrZN-HBkRBcBGV70wvCbU28PMzR-YQ8UK9kh0LHTtduBe2xpqh3rgejZdqxuRUeGpTIKvmt7DBc5xs0xQCVLB_x_zmZWj1mhVrxl1J44_BQxzTA66pCD2XsDyc1WIeea21l3znR7rcF7ws0CLpw1D0ph1e4869XvgeJ7YeD3tvSKawNMf1zNbAObZZoY7OqVvYAnutgVnU8LcJHPmNyb0QpFhzzfMqkTw8sGwSuvF-tmmPSNw46ERZHwqT01o7TW5HB3vJR8-0eQM0bfBJT6fwe77hQ7YhS9pzCPB63DI2MIg8J_FZE3poQY1OZWrJh9LxcRK95eipuWWGpmnaS5ry7fbU2OfwFsliGcAu2OzLtuc6p6piJmVV43QCYv34U3-Yhr2nR3FiosCPyH4IbTIwZkAuKwOwwceK_VP-Ff1fJvCN7gC2ELacMxs3SGDzPae_P1YrdBfdLEyHkOsuemdcywmaFyo9X-cptMY_oBRHowpYVEqfxFge2Lb3KfkS9X6sqdMrRDeCGqi4v0V-el9jbYl0ScosHq1IF7v4PwFjnd-bEc4lYOl1_MfjQqNNAFfA78p-pHl6qZWZlv-pq8RzkcHuBhQkiOmdl0AsgIeGXrWi9MRYHn7JnjwZpM2D4wDSQgunVSiX5a2TGkhSVT7SzXjzB14w0qRVAmCN2bIswePHkKfEX4HxwFjKJ04lW47qQ0CVqTdbDDddjkpFw_YU14OMREryN2Y6fGK9ShDxVDg9K4CoT9m8rHDEL7xSNVoiB-NdqyNQtTOCe0WkzqImsO9aq94uG3q3f4_RTFY6Io8zfaYKOCqAXKYHeQ1hD2ITLmpR_jjNloyQN-4A1YtMZaqivlKnGPnateJDSBtoF27FlhDBaXCcW85AE1i-CF_Cwo_729LWnRAM2bYRgXRPs948Lb5vF0HRyAghUt9ywduqhYV4Rra40jAZvmuYQEBNnU05CJ0o6Ohgt7br2OVbiP8Xoz05Wd6igUlIEBDGBJbVqjHph47v6iL1OPHlmpvkyOFG2MuvURgkpCP1LMsSeXCNQerWCVvBSTZCptmvofruGroLbPfAdpMJNJFBBMh0nJCHjPrMsJoofE_C3W-uasNa9ApFNA0WWvUf4ku-mo5g5hU2sF1oL0Kncel4khCsxBR8QqTHiIei8NLaccH_-vlmbp3TuoggKSpnKYjTrx6iWhbBi7R-2JaJpTCrl5BQ3lSbi2zUBHhJAe5Ba8Sx2FByrxzzwUo2_H7zwnaY260ITQLfjKmzkMX_kQJmJwKsff7wAI8DsbpgtqTqKHokKgeB_C_ywm8yvMqfBI-pkDfpHWoounBZZ644rf0RGZZzOpsxjRrZATP7I=",
  "id": "rs_0d8411c4f30c79c3016ab448af69d487d09d619715a343a711",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.1,\"right_z\":0.14},\"note\":\"The requested descent did not track at this extended pose, indicating an awkward reach rather than a useful lowering motion. I will retract 2 cm while descending so the arm can fold and bring the fruit down inside the near half of the bowl.\"}",
  "call_id": "call_BfJR5vTuvxmRKKriYOgiHMX0",
  "id": "fc_0d8411c4f30c79c3016ab448b19b4487d0a08e98ad39ec029c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BfJR5vTuvxmRKKriYOgiHMX0",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4389, -0.0139, -0.0078, 0.9988, 0.3332, 1.5414, 1.2514, -0.6685, 0.2089, 0.149, 0.7506]\nstate[eef_state]: left_x=0.2889 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0011 left_pitch=-0.0709 left_roll=0.0021 left_gripper=0.9988 right_x=0.3924 right_y=0.1008 right_z=0.1647 right_yaw=0.051 right_pitch=-0.3608 right_roll=-0.0937 right_gripper=0.7506\nstate[joint_eff]: [-0.1436, -0.8274, 6.9675, 1.7363, -0.0513, -0.0757, -0.0122, 0.4308, -6.9402, 8.1573, 2.0781, 0.1343, 0.1636, 0.989]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ba89f354bf0006148480bb770eb252af1fd153787353791f6cceb79e81e468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d0dfbd8157f09a7d7f924b599ec4977bd3a0d3763523606df40c35b9165b8e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9e5b5fe9075cd86432c1d8401361ff05437e8fcc3101bb34ef3e67f6b1c0ce",
      "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 · 4.081 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8108, 0.6128, -0.4278, -0.0139, -0.0078, 0.9988, 0.3626, 1.4235, 1.2301, -0.704, 0.2375, 0.1902, 0.7478]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1696 left_yaw=-0.0011 left_pitch=-0.0564 left_roll=0.0018 left_gripper=0.9988 right_x=0.3725 right_y=0.1007 right_z=0.1961 right_yaw=0.0386 right_pitch=-0.2942 right_roll=-0.0704 right_gripper=0.7478\nstate[joint_eff]: [-0.2256, -1.4564, 7.0906, 1.6825, -0.0513, -0.0562, -0.0122, -0.6632, -5.9009, 9.5932, 1.7802, 0.1587, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4347, -0.0139, -0.0078, 0.9988, 0.3099, 1.6196, 1.5494, -0.8841, 0.2039, 0.141, 0.7478]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0011 left_pitch=-0.0667 left_roll=0.002 left_gripper=0.9988 right_x=0.4117 right_y=0.0981 right_z=0.2202 right_yaw=0.0371 right_pitch=-0.3582 right_roll=-0.0934 right_gripper=0.7478\nstate[joint_eff]: [-0.1709, -1.1282, 7.159, 1.6777, -0.0659, -0.0415, -0.0122, -0.3624, -8.4034, 9.0325, 1.5604, 0.0122, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4389, -0.0139, -0.0078, 0.9988, 0.3332, 1.5414, 1.2514, -0.6685, 0.2089, 0.149, 0.7506]\nstate[eef_state]: left_x=0.2889 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0011 left_pitch=-0.0709 left_roll=0.0021 left_gripper=0.9988 right_x=0.3924 right_y=0.1008 right_z=0.1647 right_yaw=0.051 right_pitch=-0.3608 right_roll=-0.0937 right_gripper=0.7506\nstate[joint_eff]: [-0.1436, -0.8274, 6.9675, 1.7363, -0.0513, -0.0757, -0.0122, 0.4308, -6.9402, 8.1573, 2.0781, 0.1343, 0.1636, 0.989]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ba89f354bf0006148480bb770eb252af1fd153787353791f6cceb79e81e468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d0dfbd8157f09a7d7f924b599ec4977bd3a0d3763523606df40c35b9165b8e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9e5b5fe9075cd86432c1d8401361ff05437e8fcc3101bb34ef3e67f6b1c0ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0d8411c4f30c79c3016ab448b4dd8c87d0a5b3a56c1c0eb14d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The retracted descent tracked to 0.165 m, and the wrist view now shows the green fruit overlapping the bowl interior with the blue rim behind it. I will open the gripper to release the fruit into the bowl.\"}",
  "call_id": "call_UaUgrLlrB3bCiNI3Uw3zUtYD",
  "id": "fc_0d8411c4f30c79c3016ab448b52e9887d0a42f48319dad4ae1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UaUgrLlrB3bCiNI3Uw3zUtYD",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6128, -0.4427, -0.0135, -0.0078, 0.9988, 0.3367, 1.5631, 1.2297, -0.6617, 0.205, 0.1406, 0.9959]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1656 left_yaw=-0.0014 left_pitch=-0.0755 left_roll=0.002 left_gripper=0.9988 right_x=0.3896 right_y=0.102 right_z=0.1488 right_yaw=0.0586 right_pitch=-0.3972 right_roll=-0.1066 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -1.388, 6.9675, 1.7363, -0.0317, -0.0513, -0.0122, -0.3624, -8.7863, 7.9111, 1.1746, 0.0757, 0.0464, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce15f5bff6a5786e0497c3386af171834de3930760e4431ee57459a1ef42ff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac69fff46121f0bd3c99e3e5aa847666d367ef657184b43c550d616e0dac76d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c477bc28c8613357c75c53a9751db1d827e6f168fa4fb61681ffe2f78e6780ac",
      "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 · 4.508 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.432, -0.0139, -0.0078, 0.9988, 0.3187, 1.6073, 1.5162, -0.849, 0.2039, 0.1455, 0.7478]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1679 left_yaw=-0.0011 left_pitch=-0.0641 left_roll=0.002 left_gripper=0.9988 right_x=0.4113 right_y=0.1018 right_z=0.2171 right_yaw=0.0447 right_pitch=-0.3444 right_roll=-0.0864 right_gripper=0.7478\nstate[joint_eff]: [-0.2803, -1.4427, 7.1863, 1.7314, -0.0806, 0.0171, -0.0122, -0.6906, -8.5538, 9.0325, 1.3797, 0.0415, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4389, -0.0139, -0.0078, 0.9988, 0.3332, 1.5414, 1.2514, -0.6685, 0.2089, 0.149, 0.7506]\nstate[eef_state]: left_x=0.2889 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0011 left_pitch=-0.0709 left_roll=0.0021 left_gripper=0.9988 right_x=0.3924 right_y=0.1008 right_z=0.1647 right_yaw=0.051 right_pitch=-0.3608 right_roll=-0.0937 right_gripper=0.7506\nstate[joint_eff]: [-0.1436, -0.8274, 6.9675, 1.7363, -0.0513, -0.0757, -0.0122, 0.4308, -6.9402, 8.1573, 2.0781, 0.1343, 0.1636, 0.989]\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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6128, -0.4427, -0.0135, -0.0078, 0.9988, 0.3367, 1.5631, 1.2297, -0.6617, 0.205, 0.1406, 0.9959]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1656 left_yaw=-0.0014 left_pitch=-0.0755 left_roll=0.002 left_gripper=0.9988 right_x=0.3896 right_y=0.102 right_z=0.1488 right_yaw=0.0586 right_pitch=-0.3972 right_roll=-0.1066 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -1.388, 6.9675, 1.7363, -0.0317, -0.0513, -0.0122, -0.3624, -8.7863, 7.9111, 1.1746, 0.0757, 0.0464, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce15f5bff6a5786e0497c3386af171834de3930760e4431ee57459a1ef42ff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac69fff46121f0bd3c99e3e5aa847666d367ef657184b43c550d616e0dac76d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c477bc28c8613357c75c53a9751db1d827e6f168fa4fb61681ffe2f78e6780ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEi6f5IjWG4420In-P5_k8iN6zAZQ2NEdRlgc5AsUv7VeFiAlbRXiM6IC0ULCSgCBkmZ9C0FdTn5SbdL1pt1wqBXwJxxMGnS4pNmSt6JWn2R2AWgkQzk380Y9WxIVl9ohtW8_OTxbRiFEn-p6a8LlUIfhYcdoIR9IpMuRQih0KC7L6JiAA0zY1ejMZlMjzVli2pBJlNi5oIps0VpNw0VasVqJJgDo8Pt8hyBcp6OejfyidYIdTz-T5iJy_PXv3-yeMXHqqt0cy-fbE-NubNo7DhVSGzYPXaNTJo_VZ18UEBKFt_I_SLtXcvUdZZX8rg5scWjtEug7qRrswvUol8ntQ1k6ga-l44Nrw-ReTcZV51H472wS4I8bV6udQmLZXujE3Tjoi2NPRnXCTNUXhjklgWfm0rP_7QXATTZgRLakxu9I_BUqfzjv_mgqqwW41C7mi-bBoopAnFBNXz7KBYm1RVqmrNkFCnwg_NS4ebH2gQQGI3wWqOcn9sV4N1ej8qaZYALanyCHw4FE0485F7fa8lgIRwl0gvuI3F97eDld8saoClCvNiLqRdZnoG8TbdP-pCO-plVRWnovdQXWEdu2B4LNLpNjaRP_1IzZ7E6z49c0QPPtQPaLVfT2Z84mTUwI0FyS_9ayCLPmkkfBkf_dO6vMCC4TJSkoJWIY5mlyUqWw0XPeSQoZMfnYEYkVqLhEC4mTFLGWO1Brac9Osf2-jCP8vSi1S8IP5H1fW-PaJ358DcWuypDhc9uUbS-zkElHzd1uT5PvbFdQLIrf1AO5Of_ih_kZDlCsbEkOirJ9II5T94Hj3OJVEGTs_h8Ocb2jD3stOBWda1NqYS_txlwkujs9wgbX5yerYRAEM6_0ehn_RNimaZnxx7Bz5cPOoMDbNeQq7s-jTd0EFxeojsu-CLLVK9UIYJEmDpiGPvFcrxiEGApQH5TitFRAAmPrOhWEWuyir84KEFbj6TEq3t9vgPKWAj2Bsra2QOeZYoWyvuoEGd-vHNXz-7NYMdMunmlmvwctyuJFipdezn8XADJpgHv2F4SBphTQ_QckfIvybYQKOBMxzoalQXUwRogcGhVA1qmwp3jNRo1q4Chd-O1OyR9KnZqfOtt4YXFNg63COeNckCqUtOyWI5888px94gGAU7Ah8EHOxZhVDkRxl49NP0FmmWuczyoqVuSJFF43U9YvXeplRn0iRQXmXze7Iwz9IyaV2oHfGyNue7EDbm7kaEDpQU72ous5ocHJJyv1MF8hJAgzqjTMY0-Ga6ewIIK7SvLaKpSaIbTFHFaWdxbwEMh6BsdzrolRMDF3iwX9N-6U6zm-A1cjEzYeHgmSNYQXRmUxnTZrdFKywkkpsM-fvhYlyEzTpIh0WiRvA7GyAR_Kdj_jjkof65XPjMABRj2vv8CeH_OYLDEtipqAKA-GVfM0cs-6HQsRGCYkqxPUbB8hv8rn6XLQ5R32_qj2-FrP_-9B6EUca3eotCyA1kEWqz__OBme19jbJnm-rI8y8vylYF8HeDcKvnJX9uKMQbKN4IHsALzoq9MDCeR7yf2manMbJn-0c2jz6tyP7jZFrcbLxace-07NUSjP30XYrzk2To6djunBS8-iVPnc5s29n2dgSmpX-bZKKirHL-sulfiV2XMotMbfK8d9wbckkUTpk0ghPZhC_3ZCqbXA4VgjI6U7Bq13T4ThC4JiWQUPXfU4ITiZ-1w8roorCnViFqtqReKGRB7sP0hm7ScN3u3E2prwzE7Wdh82rHLDL-bqJ2rKAAjs898mPEre4g0oOoS4Ahz4tqiYWtuwaJ6BrmcMNkRg0t5LVe7zsdGbr1I0aEQQlcCpirV2I7inPbtkKtUAAYt-Eo1VOiT1yJnc4pgBgl1iUKtsUPBcXESM6VrBchXxeeeIgBDvsO3XAQNb9_KRD1KtWQKC0iuply1benWtTmjooh043UEl1wr75goXnjUU85TE4-d8XwdZRGTtbSXgc8dobww4zt4m_Ef2lpU4k1HsajrWXVVcgbMI0mlan6StPRH6MNZGtS6fYr2od_pN5uEwFMB0yZ-kFHsjibwcv79Kdolnh7ozsoM9VvIDpdbg3w=",
  "id": "rs_0d8411c4f30c79c3016ab448b79ea487d09b12ec426d1ebd39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.18,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The green fruit is visibly released in the blue bowl. The yellow fruit lies back toward the bases and to the right arm's left, so I will move the open right gripper to a low pre-grasp pose above it.\"}",
  "call_id": "call_LwTQwEMbjzrHCGAU01tRqXu7",
  "id": "fc_0d8411c4f30c79c3016ab448b97a4c87d0a1a3ba2e042866c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LwTQwEMbjzrHCGAU01tRqXu7",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4473, -0.0139, -0.0082, 0.9988, 0.6804, 1.5059, 1.0679, -0.6594, 0.3492, 0.3992, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1646 left_yaw=-0.0009 left_pitch=-0.0805 left_roll=0.002 left_gripper=0.9988 right_x=0.3139 right_y=0.1809 right_z=0.1159 right_yaw=0.1098 right_pitch=-0.4254 right_roll=-0.1197 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.3607, 6.9675, 1.6777, -0.0708, -0.0611, -0.0122, 0.2256, -7.8838, 6.147, 1.0379, 0.359, 0.1294, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747b595136ff15c88ed99053db255458af3ade65a0f69f321b368e4e027e300a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688a902e8866c5230c69db789c3e3c1b90c0aebb81594a77149a9e5c697de552",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1529392e8048e99f00a0c690facfbda21c5a951a256465734bcbdccba07ab7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.763 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4347, -0.0139, -0.0078, 0.9988, 0.3099, 1.6196, 1.5494, -0.8841, 0.2039, 0.141, 0.7478]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0011 left_pitch=-0.0667 left_roll=0.002 left_gripper=0.9988 right_x=0.4117 right_y=0.0981 right_z=0.2202 right_yaw=0.0371 right_pitch=-0.3582 right_roll=-0.0934 right_gripper=0.7478\nstate[joint_eff]: [-0.1709, -1.1282, 7.159, 1.6777, -0.0659, -0.0415, -0.0122, -0.3624, -8.4034, 9.0325, 1.5604, 0.0122, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6128, -0.4427, -0.0135, -0.0078, 0.9988, 0.3367, 1.5631, 1.2297, -0.6617, 0.205, 0.1406, 0.9959]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1656 left_yaw=-0.0014 left_pitch=-0.0755 left_roll=0.002 left_gripper=0.9988 right_x=0.3896 right_y=0.102 right_z=0.1488 right_yaw=0.0586 right_pitch=-0.3972 right_roll=-0.1066 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -1.388, 6.9675, 1.7363, -0.0317, -0.0513, -0.0122, -0.3624, -8.7863, 7.9111, 1.1746, 0.0757, 0.0464, -0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4473, -0.0139, -0.0082, 0.9988, 0.6804, 1.5059, 1.0679, -0.6594, 0.3492, 0.3992, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1646 left_yaw=-0.0009 left_pitch=-0.0805 left_roll=0.002 left_gripper=0.9988 right_x=0.3139 right_y=0.1809 right_z=0.1159 right_yaw=0.1098 right_pitch=-0.4254 right_roll=-0.1197 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.3607, 6.9675, 1.6777, -0.0708, -0.0611, -0.0122, 0.2256, -7.8838, 6.147, 1.0379, 0.359, 0.1294, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747b595136ff15c88ed99053db255458af3ade65a0f69f321b368e4e027e300a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688a902e8866c5230c69db789c3e3c1b90c0aebb81594a77149a9e5c697de552",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1529392e8048e99f00a0c690facfbda21c5a951a256465734bcbdccba07ab7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEi_GPigsBM7x7LWJxKO6yz8wapYhAWIkRSgHdhpRIovAym_T7_nbjSeikwZqR0jQ5UoyVHulWmQzLj5TM00gnCrHWKVr6ipJ_BGPjBq-LogbNKrVPVe9h15WDWX2sXL2pE7JalkACJvvQoj0oNOMVQ43V8X1IvJSlvE2327t1Jd0VR7UBeZb3mQ5Ft1WJXDDUuSyorbHN8hRuQBClcc2gZhY4RPBQIxCh4MBovjtixyiqrf9ClxgKWA9k9m6XejVEnH0bYAVkhMi7Yj6jAxAy8ZJshc83utEt-J6B_m_h4JQOZSP_7wVvQxaAnBsxa6lWl0IxcNGk76US8uI8TJ2xMlMwDvn3T86lIQugNBMwTCNzZpMqqmmIMhHZMWaY6E5KLzpnZwgCLbUBQ4HPjIsXHCr3tPSG5cHNQ_ujRZmL_ghRnc5qTr0B6jqXPcOMh9l2T4KYOB71uD03Utwr1VjeUOL1cs5tW0oImkmRfYDLph7D7IeVXePWBgTL7oPLcUcOqEwP6wW_xS49W3Rp9E4vvYkSx6MPoeRG4X6Tx48GnqgAXS4jgaYUDw3298-NrqR1TDwlLm6-In_wtfHW8YkZa71CufIhLPYmqadzmgZpLjDwRD8VXHSHvJi3rMxwHVbfahMPgRTHreCxLcW6s_z4QUKlwnJh86gtvNid_poCoKQ3aUOUeEtYdIGsBDCgFcbT4f6c66odWAM3b7SqBg3i4IUaXSvo5z_4fphDrezLxXh2m5k4BXDaHuCj7Cn1gaoag35pkEriHXKjtGNYPcEHdyw-ze9p7B84TYYkv5nWIgQDL5K-EU_doBkdGTHzk9e7vzkvuc_-5NJ1nXW2Ptf9kle8nmQgEF-QzqzS7iH8VSLFVqJuZSAYJoX_34eYplntvspdDxYziCqSygLJjW-IWJz0nEU0nKzrlVq54Qqp2tS0H2x00VxY2eEsbLXgekGb25dR0ZpDOgn0YNwQrR29Adqm68n2MbaCo6ZqqMwOy3B6fSDQ557yTZVN7naJzLiMN3wX4C0KejzW4sICvtM9JFv82vYJb9KWaTIA8RdBM7W_BXx5O6nWGtaC0qHTW6OrMIcLiB2JDuJ_TsUynwkloJnY_cGsb_G_zfweb64b11t5MpekbURKzYqHNVMov_V8c-YsIaukKjHPWzIb-rLgzlQ1z1I3TKPONoBiJVDWT-dEJfGuRS1Q8AqJ6-fHcRR60M4Hpc5DL7-9Ykb8-y9s69TyclwAAcs-dSlTnrHANEJTc_JIG0tx2BIFCktrJgYRfDNI0OGoX4IyP8mcVF_Zdeo0HVwb3xJ-3kaSiP1AUFo7OEWyWxEMuN142Qz1UtGL5It_aX8Tam74bnbeKdq50pO66gEq-Puc7vpTtho99Urs9eRsWvfl4b8YUpoZdI7-Osphl747QoPnxFdsemz1hUrFV9rXTyR94r43WG3WyDcbz0SvD1kyD4ypCwTWL_WpN_ws70x74-8s9Fa0LqJ_MEIIyXGm9rtrtGm_16jxq7A33ToGY_MWjeSiatEKvv4LfM7hVacHR1XQvyF2xSaaKSPnknXJnCekH33TEZf5hgKdp1wH7WA7vDInCdGUtelnEf5B2yJnKCWvvqjlID9cYy3tZGIJ-RkMEgK_AlLW9seStj5sRVUdT0D7RgG76ioIjfzMgYQ3tf8zsTSnFAsQ-sfRVSJTpNzJeToIdPCTZHWlfIufR3Pqxxg0-tWhm6evG7xaoSXRCDJDUxfoTsteCrzX-irybieuit9Wwu6N0zjype5-R_0wfSc_SaHVLOXn9ixeilOIifYJ7qVlCVNOJFNgHghU5uH5h9f1jAam_AADyRWrv1tkfCyB25EJg9PiTW3Vgyt6Z8d1NHr0cr2FILlQ==",
  "id": "rs_0d8411c4f30c79c3016ab448bcdad887d0ae0735e43f259318",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.22,\"right_z\":0.07},\"note\":\"The yellow fruit is clearly visible just left and slightly behind the right gripper, while the blue bowl with the green fruit remains to its right. I will shift about 4 cm left and 3 cm back, descending toward the fruit's mid-height.\"}",
  "call_id": "call_XStvgs7DA1EGgkfFXqfbgHSD",
  "id": "fc_0d8411c4f30c79c3016ab448beac2487d0aed043544e9b4a8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XStvgs7DA1EGgkfFXqfbgHSD",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4496, -0.0135, -0.0082, 0.9988, 0.8341, 1.5848, 0.9852, -0.5835, 0.3931, 0.5148, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0012 left_pitch=-0.0828 left_roll=0.0018 left_gripper=0.9988 right_x=0.2812 right_y=0.2147 right_z=0.0714 right_yaw=0.1369 right_pitch=-0.4637 right_roll=-0.1439 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.265, 6.9675, 1.7021, -0.0317, -0.0366, -0.0122, 0.1983, -6.7077, 5.9419, 1.2479, 0.4664, 0.1392, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5adbd58a48b1cb43509513aa4181a46ce25792bd286c594019551ed005f0701e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f49b80daf9d37169d153421b763231034a0a5292a1b84937c96b99970befedc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e8ebce9d266dcd5218fbf0c916a07e3af58dbc6641cf5bdbe881c51e127e5c8",
      "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 · 5.071 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4389, -0.0139, -0.0078, 0.9988, 0.3332, 1.5414, 1.2514, -0.6685, 0.2089, 0.149, 0.7506]\nstate[eef_state]: left_x=0.2889 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0011 left_pitch=-0.0709 left_roll=0.0021 left_gripper=0.9988 right_x=0.3924 right_y=0.1008 right_z=0.1647 right_yaw=0.051 right_pitch=-0.3608 right_roll=-0.0937 right_gripper=0.7506\nstate[joint_eff]: [-0.1436, -0.8274, 6.9675, 1.7363, -0.0513, -0.0757, -0.0122, 0.4308, -6.9402, 8.1573, 2.0781, 0.1343, 0.1636, 0.989]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4473, -0.0139, -0.0082, 0.9988, 0.6804, 1.5059, 1.0679, -0.6594, 0.3492, 0.3992, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1646 left_yaw=-0.0009 left_pitch=-0.0805 left_roll=0.002 left_gripper=0.9988 right_x=0.3139 right_y=0.1809 right_z=0.1159 right_yaw=0.1098 right_pitch=-0.4254 right_roll=-0.1197 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.3607, 6.9675, 1.6777, -0.0708, -0.0611, -0.0122, 0.2256, -7.8838, 6.147, 1.0379, 0.359, 0.1294, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4496, -0.0135, -0.0082, 0.9988, 0.8341, 1.5848, 0.9852, -0.5835, 0.3931, 0.5148, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0012 left_pitch=-0.0828 left_roll=0.0018 left_gripper=0.9988 right_x=0.2812 right_y=0.2147 right_z=0.0714 right_yaw=0.1369 right_pitch=-0.4637 right_roll=-0.1439 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.265, 6.9675, 1.7021, -0.0317, -0.0366, -0.0122, 0.1983, -6.7077, 5.9419, 1.2479, 0.4664, 0.1392, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5adbd58a48b1cb43509513aa4181a46ce25792bd286c594019551ed005f0701e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f49b80daf9d37169d153421b763231034a0a5292a1b84937c96b99970befedc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e8ebce9d266dcd5218fbf0c916a07e3af58dbc6641cf5bdbe881c51e127e5c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjDjZudcj_bAsKNK_3zwSnoNuWnlZioAEcXNgoqcpCQ3WHfCMr9H8FU81BNPdrHHA-5MzbeAfHZrqTQqwEoPQgBugGXQ5drE25N-T3WWHPUnUW_9B0o7M4oBFqGNmFPovzOLrQ17abkWGQeFiEt5So3DiEVXaHEdyUEu-dr9BTv1taSW2PzVbq24WemJN0S44Gk0bXVcMMIQRJp8TuJSx4jEHxDhpDU5DmNDd2CeMuyGfPwExzw0YC0IatePWWjur5mqdZoQCgtPByKCGmUG2aJ59ZjZdx_r7vz1mdAyL2Q4s_RJ43wRuR0duFd_vMTnol-HAZksMFyHij9haNU-Kx5ErSkJRb1Jhr7V4qA9wGj2kX9EP9VZJsM-tCPumjojbZp3KWhycbxIXnIsH9Ujgkwaf_OrsA62di9TlzXlQIOiIW8aolD06tLjbiBu1whU4NCeyAbp9xYZCYaLwPdgHa9gw58ew_X3Y-p22_uj56sxFcr-9QbtQBbwvhKvYDSH3tTLrFdaRWo9VJ6QrFa74XKRc8DZdsShuUmFkM2mRYS9ud4zjIhju5ePoRniW6iYsgagrHqpd4U4m2Q0Dq53JLhLNfLI5t7wXOW1izxCkdPEZIhKvKMHeOQnyxtkc8nn-LNF9BaYxIDVx7BG7-N-RW_r-TlYczjlOGmbdX03SWlTVFzANWNM65KvBE3dpqelG1fQJnF8XQPVzReb9cYyvwuoSSXffKt61Tpdd54ZfFtwE-o4FXXCa-S-zWbuOO9O4QOmrsEZzE0v6cuapq0GCvAiQtxM5UoxQh7T5YJi0smMuzb3Wu4xC7jhnmLe8OkhEcDx37HRNOGE4sgwBbxaJhvJguITfk898EGjewgH1Q_EbF2_1N_ZCRiBEqslhIJHvbW-EHDAaJHQZfZno5JyDSUUy8ePWuKCx8cSrvWZB9NrslBmE6yIzi3Vm9zcQb8OTGmyEdKwnHIBSDTLEX_U7wkpLMbGRbhcLkOvVLZx5xyRe8y_NFIDCZMOUBeHnfCQRr19iBpyQGJ2kvymmVEuuwn5aDVyDd04br5Vg7lGAAI3VkGgNHG6fakFEIgOmixrddYpovyucpcVtEQXH3rT9eSd8tsVgifl2CFu5fEaVEFxeEPMNB1jSTxkmtHBX_4EOd2zylVN5_mVyZ35sCnVCXOl34lPCKoypbkDApv8iAfeYAwEG35h-YDTvBLqvFxx02rlUw19Vu6VcMgfUiBTC7RLq9QlFgBrFsOe6pOziTg8f1sgyjOI1E4KK9B4ctvu8b_C2U0VUD_UPo2AYVLIoeiPPvLfT_u5Od27WqKgw5u0Qs_qTDqiccdFxAmpT1DMg_6hLSDR7AhjOEzpJF_matApW493CNWhLrjJrzJfJ6kng_n1WE5XAEVlZZsGs9ffdITeqQL6RHSvTpBEYICmfnByVeNer7FKwq_FX9KJN_i4HnY1jWpxx6xA9Fj5U6nMA7RoWgh2OheKvBnUnxp9GBuXUVJPGIrze4x56rTBR9bo-CBO15tIrrjpbCCoEsrFp82qpW_ZXXMlNxQUqH1ixTVWgTAFlAo9CU_UTD5lRCniIrmh6rdcSPWewv1vsYD-eShL2D2Yu9B4xj_7EPO1C42V9_oi5cYY9h_Py5ERLhtO9o3U3ooS10qtmRmPjkFmLNl0u6woUBdxhGCiyl2N--XDYkDtXQgt5WjwsOGv8wYqn-m3YGDi58s1Xq-Xbz4bwYyqTpDMWntLDPTSMtv-XA8ADi8Af4tLTd5t1cDIh5VxytBKOGlCKX6WdLqgGlh7BTs3vtsQg8CO9bvZFcQ_Pi3GLhdkWWhMrXYSFnvpAoB8ZpK0C_8OXYP9FRBb4TBAXvSIxCk_VW09UaHkeTQ_zkOMlV3UDa664HJcuCv2ckWNP2g_PK6NMWTKK7oH-m0RY2z7REU2Oc6wm8EYlZuJ3qiMJkunOo38cas7nWbetsQ24qtd9KDVSMreOB1S7VqnFksWvA8wE8Llz5Dr13LEAk0KCHL_GfVw8xahwFmQ7wDIOumYQrhP4ZMFtCkEh0bhjlG",
  "id": "rs_0d8411c4f30c79c3016ab448c0e6cc87d0a8de671ce25a9ab9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.195,\"right_z\":0.03},\"note\":\"The yellow fruit is now near the jaw column but sits slightly to the gripper's right and toward the base in the wrist view. I will make a small right/back correction and descend to its center before closing.\"}",
  "call_id": "call_7ATYpCKm2DPAn3nZUZwwjfgh",
  "id": "fc_0d8411c4f30c79c3016ab448c2bb0487d0a5b89cf34bb8f856",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7ATYpCKm2DPAn3nZUZwwjfgh",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.45, -0.0139, -0.0082, 0.9988, 0.8528, 1.6016, 0.9737, -0.5499, 0.4004, 0.5426, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.164 left_yaw=-0.0009 left_pitch=-0.0831 left_roll=0.0021 left_gripper=0.9988 right_x=0.2799 right_y=0.2212 right_z=0.0656 right_yaw=0.1354 right_pitch=-0.4535 right_roll=-0.1296 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.1556, 6.9675, 1.6923, -0.0317, -0.0659, -0.0122, -0.6085, -7.3504, 6.0923, 1.1258, 0.4127, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa81e892c4ebccee724165c57a92ed3e86293d031c5a4b79056f887bc2816475",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249c87fbbc007b64e0af819a2de8b682ee15e6bacbb8c80f98c80ffd1656d0f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8408ae755dca5fb68c43b6a5eaed82a8c389f51234d258d6028d33c58d678c11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.121 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6128, -0.4427, -0.0135, -0.0078, 0.9988, 0.3367, 1.5631, 1.2297, -0.6617, 0.205, 0.1406, 0.9959]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1656 left_yaw=-0.0014 left_pitch=-0.0755 left_roll=0.002 left_gripper=0.9988 right_x=0.3896 right_y=0.102 right_z=0.1488 right_yaw=0.0586 right_pitch=-0.3972 right_roll=-0.1066 right_gripper=0.9959\nstate[joint_eff]: [-0.3077, -1.388, 6.9675, 1.7363, -0.0317, -0.0513, -0.0122, -0.3624, -8.7863, 7.9111, 1.1746, 0.0757, 0.0464, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4496, -0.0135, -0.0082, 0.9988, 0.8341, 1.5848, 0.9852, -0.5835, 0.3931, 0.5148, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0012 left_pitch=-0.0828 left_roll=0.0018 left_gripper=0.9988 right_x=0.2812 right_y=0.2147 right_z=0.0714 right_yaw=0.1369 right_pitch=-0.4637 right_roll=-0.1439 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.265, 6.9675, 1.7021, -0.0317, -0.0366, -0.0122, 0.1983, -6.7077, 5.9419, 1.2479, 0.4664, 0.1392, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.45, -0.0139, -0.0082, 0.9988, 0.8528, 1.6016, 0.9737, -0.5499, 0.4004, 0.5426, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.164 left_yaw=-0.0009 left_pitch=-0.0831 left_roll=0.0021 left_gripper=0.9988 right_x=0.2799 right_y=0.2212 right_z=0.0656 right_yaw=0.1354 right_pitch=-0.4535 right_roll=-0.1296 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.1556, 6.9675, 1.6923, -0.0317, -0.0659, -0.0122, -0.6085, -7.3504, 6.0923, 1.1258, 0.4127, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa81e892c4ebccee724165c57a92ed3e86293d031c5a4b79056f887bc2816475",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249c87fbbc007b64e0af819a2de8b682ee15e6bacbb8c80f98c80ffd1656d0f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8408ae755dca5fb68c43b6a5eaed82a8c389f51234d258d6028d33c58d678c11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjIAZ5dtphhUD6q6Eh4lXJY-TF0fQclHZW6kajfZm6inFDonaeSS6TMTYqZ4-NaiFDHFTX7sI5ZXdqf_9mu9RS9Xua9vsqWUdF3kPAW-l25LSmAPVLj1l7tmdJmuWvq4ESjSCYr2YKBF1D_b0WTkhPOhyk1hc2AecWR5iuwwHJgylfEzPaystlEzsf-RPoUFSXZxtbtxDfhSSDS1bGNkP5hnz-5sqT_xI0aLTaLRuIaKu4tySwvF6sA6bZVhzdYo3YhKfa04cCEyf0kopon-15lpZKfZ09EDAnbkNzlVIKI7iDwknedBU21eQVe-Fq0S84_WRBES-27-cGhVLVLarsBut1QAf_fiQrM_6iiJsIQr6ffliVZn8P-mVynzJ9AGpZ2coy_O1d5UFOtIgWqDxFmD5KSjwGBOS0eEm5TPuJtFnoMacF9Dd4t7uXvYXRg8z2a9Gj1oE2KrjljyvC4uqVJ1cwrEkEmV-9HPvNz7yrYt4zk2H8fR8079Jh_regKcH0NuOD65nTbXNtwNZewhNWss8b0bd5Vh0z-4hMkvM8PchZPpz_AF6yGVyykzftaIX6-yFQvemmQm8-oMEcS8Y6OGEntJ3SSfI70Exg97WzKGHwC72onzoNURpmvEwBFWFe7SKvqrPkad7b5UAo4_k2gUtcswExaIR6DL_VX4LU_GclB8P97pbfQB8Aky_tzm9w-89Z7Ol4jygwF8uPWyFCaHz-OpfSveP8tb6xKk3YIzf1pp-tm0J0EUJ56OuaoEiZXrthMTioIh8wbaN7vRkZSqadYACFuBil-scn5jHKsup2uTtZnoCZeaX1CItToUF_aLzh1OLboyZnXTv31x_qqVgqLNWq9XR4EsvL4xwVTkL1kx83GGUPyM6QzAEiwxt9IDzaAYNmLA6JwYBoAJb7d9ymWf2DWfcZHylmLUGVd4MJvFvOKtSTMWs6EY-Gda04HFDzPhrGJeRtGu5J4ugsjDBf_8gbR4-fe1Uc-3ivHuRdgtkSVu74fS0yuZIft32Q5sd24m1mMySn8ieRWwlaCRODWy0q4nFpvwwV2iJxP4p2Q1wDQIqPuuh9B_FCd5basbN4cIrSymFelHTA9OKsrv0HeK6lWiRu3YDMxk-ib-uhqlTGtrQx2lJkqGV7Pd7tEFJM_zUuE7R7jHvSdT3k_fdrSsYy1ogprZGf4mRJV0tHr6wwG74uFErkhyZfBUbo3tHfNq9v8-owFl46B3XsDEATXSu1Gg9seSZtP53-sCbATXZFUUHBU_NSALvVg__JPCEfmf14Dr_RyLdCpTzD7ONtb4aweM-ian0vgTpOc40BrE-W4OGerO1VJYWjqgF43ZznTCGP6S5Pi7dke4HxMpo4MwsREvcF6GvHQMUPD2JaaSkZ581HOojcc8b8R7elgpxj6KpCRbuTTDCzEvwivnQ8bdL16ACGiL5IsG72h1UMQJD__X0R4MJTSsKT7mg9VewaiwaeloVQaEQHt3zHhUWmU9pe7EgBycpeU6csJIkb3HlV7Gi9OadnlNgCn0zGHUYqHpk-hE1s1LQFvy3N4YNxRO27jpOQTkXI54fwrAyfIvz1GXorvFve_4zO_L35Lhqcw5QJJv-lsThRZ5__l6WFCkkzN6aFsB61NmRyHwUhHzILz30Lmp6fP8tOS-8Rg7DCwyIO8A1xMEV1PocAH8Imc13dHMddjgLuoBVSahO08VJrz_P4wAy3xkLWgERN8ondF_X4OMlL2mbfglzXtaiXZ5Il85RksZ5GZqUtbupZPKrK_yNkXOfupSV6F_3RFZM8juPH0KlIdG5VH0U7yWQ8Q8GFvCCbmvkYreuckUiEEBgbj74L-5ArikWOqHcxoilXltfDrn_fZA3RZqgrSzcmM2FCfUBtZ6q9sUdR3nkv8otrdk3oTtVczoQxECoATmbQ4RVV8V4S4UO3H44er8o6KJ_sTfl_q56vH_I6GyOxJPiaZnDYVUudWWwq-hGHKwbHMDZbnRj0EUCCexKuxCk8YCwCjZOJnqa17uNpoCF0Z6TQN_HC24StYGrQxutV8_PEELVImRM7wEOpgxsaMwaz2B80Lauc6Puy72wWb6-4WpEw3OApYwiUMums8pP2i9jIIczHMONdvVuxafZp6DBjT5rp55Mo2x6hyMyj7MOUEPqQhalh-TLgMj4iEcn-oHagFhtCQuV9uYC2mVh5YzuUXeHTwMmH-5kNdiUW6b3hUwWFvCYucSMzKJ6kBQMejkyL6QZmolWJVTJ7epAA5Y-E2vhM6UY1yeTLwouSla0Ft5UM4jCAL1KjedcYKsHqaNEbKniS0NxwTpot631mEfji8u4sLf7JcB5pSfVs5K9AU5ILKsmSIc4pThduqHFsirWk-JSJefU8IaWVPx9ywpTlA4XBOyPvdGxS3U5KOuYbEh_owcDxOchTrqfsURm3xcfoYo5v7o9fTPs6iRQPjbvcdgYtBIGPI6KqNV-eIaYPBAq-CE-8ZhBYtVd4FQbN5tjazbYGkHvAVQfWm919FxerTcSy_sZZQd6dLVZTyroYMSMibhO5OnUaYQdkAuHpswganlCRX30f20j6BcFUfhqnyLI1nv-mHG7yX2cvWFHeB2ZmOLy5JlX0wEmWdEPhmST-XS-ZsDJAykuc_i5Gp0w0yxMQvY7tmRpMcbuatoV7zo7dwIVQkCeX_UTOLgf_sPoQxy7K_ioQRzB_dvPWfoxoQW2FJZv_K6q-hNZuz3thrYKM0avG2_gTMaOjXCVPZuo0v5IFqkWGlhzOJfe9zaTi9u16Mci_fJcQTIyxfi5Yjw1ua54ZryOnaKQHGP_DPJQi9c9dAs5nqTIWVKAN9b4lQdaxChXyMSVa66Bj8FAs=",
  "id": "rs_0d8411c4f30c79c3016ab448c4f8c487d0a1581caba1df1687",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The corrective descent stopped early at 6.6 cm, likely because the open fingers have reached the tabletop around the yellow fruit. The fruit remains within the open jaw span despite a small camera offset, so I will close and judge the grasp from the settled opening.\"}",
  "call_id": "call_pdGVQb2IwzUtLa3YhJGoJXEv",
  "id": "fc_0d8411c4f30c79c3016ab448c7cd8087d093ca4d2305d6e254",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pdGVQb2IwzUtLa3YhJGoJXEv",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4503, -0.0139, -0.0078, 0.9988, 0.8528, 1.6016, 0.9737, -0.5507, 0.3954, 0.5423, 0.0115]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0011 left_pitch=-0.0835 left_roll=0.0024 left_gripper=0.9988 right_x=0.2793 right_y=0.2217 right_z=0.0652 right_yaw=0.139 right_pitch=-0.4571 right_roll=-0.1265 right_gripper=0.0115\nstate[joint_eff]: [-0.0752, -1.3333, 6.9675, 1.6679, -0.0415, -0.0269, -0.0122, -0.0068, -6.8308, 6.188, 1.0134, 0.2076, 0.0024, 1.0574]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b53980b064c74c1ee59fad2c40b7f1dd50889971ebee981c0901ed8b0685660",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19f6cfac70f97f30eada4e75513931a878798a75e0559b2867b1ebb0e1e95ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a1cfa79e69a913da5f6db215f91a4b8341eb8902e9446c72f0e92c02a58816a",
      "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 · 2.795 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4473, -0.0139, -0.0082, 0.9988, 0.6804, 1.5059, 1.0679, -0.6594, 0.3492, 0.3992, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1646 left_yaw=-0.0009 left_pitch=-0.0805 left_roll=0.002 left_gripper=0.9988 right_x=0.3139 right_y=0.1809 right_z=0.1159 right_yaw=0.1098 right_pitch=-0.4254 right_roll=-0.1197 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.3607, 6.9675, 1.6777, -0.0708, -0.0611, -0.0122, 0.2256, -7.8838, 6.147, 1.0379, 0.359, 0.1294, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.45, -0.0139, -0.0082, 0.9988, 0.8528, 1.6016, 0.9737, -0.5499, 0.4004, 0.5426, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.164 left_yaw=-0.0009 left_pitch=-0.0831 left_roll=0.0021 left_gripper=0.9988 right_x=0.2799 right_y=0.2212 right_z=0.0656 right_yaw=0.1354 right_pitch=-0.4535 right_roll=-0.1296 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.1556, 6.9675, 1.6923, -0.0317, -0.0659, -0.0122, -0.6085, -7.3504, 6.0923, 1.1258, 0.4127, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4503, -0.0139, -0.0078, 0.9988, 0.8528, 1.6016, 0.9737, -0.5507, 0.3954, 0.5423, 0.0115]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0011 left_pitch=-0.0835 left_roll=0.0024 left_gripper=0.9988 right_x=0.2793 right_y=0.2217 right_z=0.0652 right_yaw=0.139 right_pitch=-0.4571 right_roll=-0.1265 right_gripper=0.0115\nstate[joint_eff]: [-0.0752, -1.3333, 6.9675, 1.6679, -0.0415, -0.0269, -0.0122, -0.0068, -6.8308, 6.188, 1.0134, 0.2076, 0.0024, 1.0574]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b53980b064c74c1ee59fad2c40b7f1dd50889971ebee981c0901ed8b0685660",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19f6cfac70f97f30eada4e75513931a878798a75e0559b2867b1ebb0e1e95ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a1cfa79e69a913da5f6db215f91a4b8341eb8902e9446c72f0e92c02a58816a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjMSPbc6JbeFwQ5ti_Dz1TBv0y-iVvAdyzT8lK3PsyzjW24I9hx_iCTvG1IWREoj5T5ghHeaodeFcLnC6GLBRrLjKIlh-zmx9UTsfXPltsc3oGA8hRDsXU6I5vsNERnbkBjeTTVPQlcR5E-cDD6g1gEbQhYLNNAYzU3fIcZu960MtOFl4Ejq6Ba-J_hClMJrE-_CAqE6w9raUA2hsmljqp3ibDG4UrnwVGhXypwnTy6yAY7REu3WNJh2wO7QMZZpqV-7xEMBP-32Wr2v3Tr2TA3ebbhSW-KdiF049UAR61bnF_5mzHBA45uLZGCvuVzuJEuHfv2UENQyswVpeTVpccrDrbm_k4rSuYiLTUf6fvvTf-of7qYk_V52i8_wzqdbbrUtD_fNXuvbPQsjpGVnoa11GAlqO4Bui7vXjCrQ_hUtJsV9GlEjAoJ4lCAqHsUb_pzuQ7MWZLpH1Bu--mBeRrrFd3eBp5KItyjR9L1Oriv1Ov1RUqlmp1ZOR_AEnHUHPCOHiqUp7vkGN_LSAt6hz5Kpfwv-JxTHSoERjN8qw_juIyko-CzsVOdxJKIF6XPh86be0yhq0JfQMJUATJUjRBlBE0sW6pvsjd3m2xgK0QrrQPYxlmpRMZ7b21BI2Ot3AM-r-_NX7qF-1OWyT6UQz-CF2ryiiM3PwkRf3tXMzxHVil_LIMDxQ_do8yaGc6Fwe989o9CbKViZhzo-cSf9MrOc7MdUylVRMXOU25GM-oYWOY8AQX00ZFtaxMQbP4l5uVyQdiScouiSmebVYUwiwV1M1BIdC7OFnUvQvjfVPpXZ2Lkn4KLpH0ycRaFmfjd_jiVe2kkUq85Uammf7d98rk6ePab515gEyxsiCud3hR_bW7Tw0hHLZjy5BV-p0V2ilsDJU7mVSZAq9hHtPYeDyKkn_1wj_3d4oela3db5Go-yD_0tgTtebqpCtx2KXHmd7YgnfIMtUrw35l-oqyRv-PT-xzkPfJy6fnbBo3SqeBt6IFwzrbRfnUKqipVprItZuL3_zF1mx_IaqBDqzRAGxZJ46uLj2tH5BRW9Wz53-ov4KhM-na_WiHVkZN84RqTQYlI1PFh3C7Xv3wkhXJ41114pwjMRlOH87BYWc0wzYV2w0tVnGPXs4VPmNqaSWQxfVZb7VXPQWfsf745IkJLuWoZR5yiQF9RtJniNKBdFtUSR-r0h9WZL_-8slc5vdG9TTkfwYxOV1zhZvPg_GRGk-HqoMiM0_JfQ51W41_jgd3AUj0tg3AH_2x2TGsZYGmUhcZXVfYgRy5SJufoKuBwwwsWF-5CMEBahL-hJ3Ujlwcmse6LkT0tXUC9w0qSTw4yTcUZNTBv01I7MghLI5KsRj-yZIhJjVZtUbqLilsk7yf4d7-AbaMbbSnrX7wfYcw_vM1HkaPK_FK0QOzYW6L5pJVJjBzDEPEVU66qQJV1w45CeUNHgj4n8MXuKyY5QZieD0Xsv9z6nn7KQNPLetIpvKc5jX2mgoHfXmiA2KnZNP_VVCfkxghqaLfDzVaK8dDH4qtE5Q9HkxC5dLf1BTIxv5Zf8bbVsTOM4-Fg_cm89UU5Pip2LyHiGk_hn03gee1jean_pNptONIwc5KPSvq6q5f8W7YcxA8NDS2MrsjIWTT5ONLoOPs9-jECmPXNhyQhKFTc-38ux_HV2qemMS4xtMme6uavb9LefRgryXEd0PqOe50wKGal8CPirQQsPS2svVzDJd-EUC7t26nDQeCazRtWvL7HEqaye6yzgo6HRoXPQ3vSf_zzGDt6XR1XFfWfSOtiech4qPbEl8JdCI1waoiUafN99hAgq61v9UbxVMsHkP7EdyisnnWqrTE4vAnQzkZ5",
  "id": "rs_0d8411c4f30c79c3016ab448cae72887d0a6d2130065773540",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.2,\"right_z\":0.1,\"right_gripper\":1,\"right_yaw\":0},\"note\":\"The gripper closed nearly empty at 0.012 and the yellow fruit did not move, so the fingertips were still behind it. I will reopen, straighten the tool, and shift several centimeters forward with a small rightward correction for a second, deliberate attempt.\"}",
  "call_id": "call_Zozx9RgoNNR6VFAANsM3vMmP",
  "id": "fc_0d8411c4f30c79c3016ab448cbfd5087d08a01bce16789e3d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zozx9RgoNNR6VFAANsM3vMmP",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4511, -0.0139, -0.0078, 0.9988, 0.7391, 1.6367, 1.1347, -0.6941, 0.3889, 0.5426, 0.9956]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.1638 left_yaw=-0.0011 left_pitch=-0.0843 left_roll=0.0024 left_gripper=0.9988 right_x=0.3135 right_y=0.2 right_z=0.0929 right_yaw=0.024 right_pitch=-0.4742 right_roll=-0.1341 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.1282, 6.9675, 1.6972, -0.0513, -0.0415, -0.0122, -0.335, -6.8034, 8.3897, 0.8913, 0.315, 0.1245, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a12c1a3689cb1b6fb01e53c00e577af1e2c6524974d840f412d054eef15841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3628093457e47e79766f6488ddbc928d3fb99d65cce5295c7850930f622a88ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a29c9ac7fbbf28763b05dc8327e33a254b7fc2ccf041b4777594ad9e1b5f1fa1",
      "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 · 6.947 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4496, -0.0135, -0.0082, 0.9988, 0.8341, 1.5848, 0.9852, -0.5835, 0.3931, 0.5148, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1641 left_yaw=-0.0012 left_pitch=-0.0828 left_roll=0.0018 left_gripper=0.9988 right_x=0.2812 right_y=0.2147 right_z=0.0714 right_yaw=0.1369 right_pitch=-0.4637 right_roll=-0.1439 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.265, 6.9675, 1.7021, -0.0317, -0.0366, -0.0122, 0.1983, -6.7077, 5.9419, 1.2479, 0.4664, 0.1392, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4503, -0.0139, -0.0078, 0.9988, 0.8528, 1.6016, 0.9737, -0.5507, 0.3954, 0.5423, 0.0115]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0011 left_pitch=-0.0835 left_roll=0.0024 left_gripper=0.9988 right_x=0.2793 right_y=0.2217 right_z=0.0652 right_yaw=0.139 right_pitch=-0.4571 right_roll=-0.1265 right_gripper=0.0115\nstate[joint_eff]: [-0.0752, -1.3333, 6.9675, 1.6679, -0.0415, -0.0269, -0.0122, -0.0068, -6.8308, 6.188, 1.0134, 0.2076, 0.0024, 1.0574]\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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4511, -0.0139, -0.0078, 0.9988, 0.7391, 1.6367, 1.1347, -0.6941, 0.3889, 0.5426, 0.9956]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.1638 left_yaw=-0.0011 left_pitch=-0.0843 left_roll=0.0024 left_gripper=0.9988 right_x=0.3135 right_y=0.2 right_z=0.0929 right_yaw=0.024 right_pitch=-0.4742 right_roll=-0.1341 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.1282, 6.9675, 1.6972, -0.0513, -0.0415, -0.0122, -0.335, -6.8034, 8.3897, 0.8913, 0.315, 0.1245, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a12c1a3689cb1b6fb01e53c00e577af1e2c6524974d840f412d054eef15841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3628093457e47e79766f6488ddbc928d3fb99d65cce5295c7850930f622a88ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a29c9ac7fbbf28763b05dc8327e33a254b7fc2ccf041b4777594ad9e1b5f1fa1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjQyKaq_OpzksNQFXNMs-vBoCsjWzm5v6tbCl5YDOtIgtSHfzuBmvKiis-gpm2qJphC0rMeOlJiSrnKGVG9I10kJLrgKbV-hqRAInIwLhD1xda4ja6dGTH9PbbnOuYx992ricuc8nNxH2j2A8ybpKVSVaCa0HLCWXjkGx79jKt0uwhJLSuUkHiIEvvKXmRo4fSudXl85B4AoCQvXehhxUzKeLbofb5xQLEae7eo5rzHtzQPXMdhobog-ESyBLQBd1Wt52hrHONpqJpbgHUkOlOP9JibXtzXib6BX18ErF3U312ao8Yop4q6Teo118e3Cz9Ep8zj6LEGTidnt_J_vRi6LXfpdlXh2pVeiBbxXIMAQ72-JmC8_ulMGDV4_VYfYa3pjjHp3B3TGYm-Eq52TGPQ8LtVMuEpe6GMDqeaJlmV8syVFcSwxmwBFd9l8RmKDitaT_-uEewdOhK_X0fheXei3pDksQVQTuqc5PXvUC8GzX2p_S9eCZx-KSiAIvruagxBYrO2uveiDCtTIxG3pek3vb1hEBxOCDIfnziVTroBJIgS4i6oFSk0abRSo5d2MfcvRic2MGAx6ootsV0J3oiDRRb3InZnzoL8SyZf61Dj7hld8Q2yzO8K4wUjvTKb3IVUOa3zyPjmVycMLdT0_i_JwDX4idbq6JtVVQ9WXYZwyKudoRmMnigWxmSifX_nzw6-n5PAVNWlFUU3E09waS8NHGW3nZ6bC8-kx3PvSBPuod2qUbz_OL1nZPjYjr8_ugmLll6hO71LNJ0LT1ny7J3xXZOigsS-1BTLnQoUR9YES-jcctzjdLhZSIOpC9Sw5dD_6irVnitHnkQI2fe47LqVbi_zHOAdIC-6nvM0FaDS3ek71NUVfGJHqNpaxWMT9ek6X87SK8IGifqe9xZB-nYHibfecm2Sl7siIzKL9vhbe-vUxzInhFu-9i-Oz18Y9vzPQegV8IedNyGy32r4qMZ-KdD3p7dMU15seRFpUcz6pG-_XXlK7km80r7LPytmZrRAYfoDappWWyuID0XBZJWNX88hl8scUmC9j39UDowe6Wk5x1rUDmNfpYBIiGazeDELgBjIzpYW9Zr0JX9ZJxlT4oQpvt0u9guxWytGsC6lsg9xLw7jerjNIV70Q2rg38yjryJR-GANTooBBnBWEvLhIFTevukhrfkPdTB4bFpblKsLglqdlVWSb0ywfObTslM1rOnuXwqfyfApjyLxfNuxd0U04kMZI4YNf4u89ovKvx-N1Ww-_vJUULGjbb0z4eMEzOp8rxhIR3S4FjImNIm8v_hjDoZBz2xAIVovfuh7oyVvJdF3oVtRsRmDaVw1K2gRUsJcKdyYmWBNz9YUG6adGrKvH8Z4p990HhZ2Us7VWIVHPtQm3yIGCCdPInCE9fvhGwhPdhFnL5JIgiKDUvHF5hp5VALgmxa5dLW0_bEPgaS0hAqvTQLL2pm7365gBZQ1ITn0iKrwVav2HMGOhdMF-tD_kN2nn7vkv4Ng074obck=",
  "id": "rs_0d8411c4f30c79c3016ab448cf602887d094eaabfb5ca19519",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"After moving forward, the yellow fruit is now centered on the jaw column and close to the fingertips in the wrist view. I will descend vertically at this corrected horizontal position before closing again.\"}",
  "call_id": "call_AkWVNRJ7xXJIdg3VIY2CJp3k",
  "id": "fc_0d8411c4f30c79c3016ab448cff00087d0892322bc3b8249cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AkWVNRJ7xXJIdg3VIY2CJp3k",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4541, -0.0139, -0.0082, 0.9988, 0.7376, 1.7077, 1.0039, -0.5522, 0.387, 0.5419, 0.9965]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1632 left_yaw=-0.0009 left_pitch=-0.0873 left_roll=0.0022 left_gripper=0.9988 right_x=0.3043 right_y=0.1913 right_z=0.0387 right_yaw=0.0028 right_pitch=-0.5203 right_roll=-0.1782 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -0.9778, 7.0085, 1.746, -0.0611, -0.0757, -0.0122, -0.0889, -8.1162, 6.1744, 1.072, 0.188, -0.0073, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:924bc88f236fe4507cf11cdcc762a433ce925c9dce912f6936565f79d935b923",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3afbfa813efd39a410f63f453798575ab1a270d7d4a820ba572566ed7ec6ef3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e41597d3c4e0e418ab1e300cb1ae280c6bef6ea875c80ae881380916dd61e153",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.096 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.45, -0.0139, -0.0082, 0.9988, 0.8528, 1.6016, 0.9737, -0.5499, 0.4004, 0.5426, 0.9986]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.164 left_yaw=-0.0009 left_pitch=-0.0831 left_roll=0.0021 left_gripper=0.9988 right_x=0.2799 right_y=0.2212 right_z=0.0656 right_yaw=0.1354 right_pitch=-0.4535 right_roll=-0.1296 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.1556, 6.9675, 1.6923, -0.0317, -0.0659, -0.0122, -0.6085, -7.3504, 6.0923, 1.1258, 0.4127, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4511, -0.0139, -0.0078, 0.9988, 0.7391, 1.6367, 1.1347, -0.6941, 0.3889, 0.5426, 0.9956]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.1638 left_yaw=-0.0011 left_pitch=-0.0843 left_roll=0.0024 left_gripper=0.9988 right_x=0.3135 right_y=0.2 right_z=0.0929 right_yaw=0.024 right_pitch=-0.4742 right_roll=-0.1341 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.1282, 6.9675, 1.6972, -0.0513, -0.0415, -0.0122, -0.335, -6.8034, 8.3897, 0.8913, 0.315, 0.1245, -0.1343]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4541, -0.0139, -0.0082, 0.9988, 0.7376, 1.7077, 1.0039, -0.5522, 0.387, 0.5419, 0.9965]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1632 left_yaw=-0.0009 left_pitch=-0.0873 left_roll=0.0022 left_gripper=0.9988 right_x=0.3043 right_y=0.1913 right_z=0.0387 right_yaw=0.0028 right_pitch=-0.5203 right_roll=-0.1782 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -0.9778, 7.0085, 1.746, -0.0611, -0.0757, -0.0122, -0.0889, -8.1162, 6.1744, 1.072, 0.188, -0.0073, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:924bc88f236fe4507cf11cdcc762a433ce925c9dce912f6936565f79d935b923",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3afbfa813efd39a410f63f453798575ab1a270d7d4a820ba572566ed7ec6ef3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e41597d3c4e0e418ab1e300cb1ae280c6bef6ea875c80ae881380916dd61e153",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjX46Wz7S15NHCgwneBJRlESPHgQzeNhKMhm0FSND6_Ll7JVU-jKZxgFO6wi5j_1sG0lqMncavbxiogHD4P3xcnvjRm_XWduIgeOqmDdzrQx2oeSdwvvzI5oDPxw6NjqQgozfJxmSvZqj1ENX8DLrgoWSPtygU6S9Q97KGB6X3PVZOHm-vphzuoP5X_Yehb-gw7IIwtMPrHznGBIBEUqmbQ0op-f2aH1nI-yNFlA44rzTnM798OJqNKuhje0HtSTYjT2siTa77P4GAO7KjFlemX-m-iTnFAqqFZQVLP_oMGBO0is2iUvViIKAbgfSAD_jWoDOPW8a65aVQlI9S6jul1macvVlx8ST_2wtOnYORJzCHqLEp7hZNXn5hBdRjcKCLV93pc2ejUnGn1LhL-5JxS6wtQyuxOkSKH-DPQttrHjDxC52vwNQTuihd7IDJ_mdy6OCkzk8un1fpzMdcoyW-qmV9TuS0Qk-Gtkv22XO9mCvf_sviSUWKl4esaNYIshSsdyOKwsQtb84FLWrOPInyfFE4DrCnsZMapcONtqJHjhYQVTKVVLpujFvloZHcAlSTB9ItalJ1io9Dij7FImXoImZjNaiKJEkJZgRN9zbidm-CtWgTIgessazWRWJJnAjTGyWFBqTUvsIKZh1ibT6uOvP0Er26CJsXDgv6pnlt6BZaPJ1GGQ4l29EOpxWx-KRYre1z4LpLqa-dPZR5_p4kD2YVlng7zJsiNQwonzZnvoOyZwq_ZvCnfIbhcypvFNrp5CokpiRAGgq3ByHvDlUWwHztmgosI8s6fPrBg_sgvFGnXXWBSQxFHzMMXPMX-F-jK3pbCaF-th-IxuFPkYXP_5jbmV-l6htL4OYeAuQve_dLqEBUPWYpcsEb6WRk-LXII7PMBn_Q1dYuQhsebWlL3BLRhTtX_Clsa6hnMB3czCeCUUytwQ-oBTWhyeuJw5FP0OqFDXWbLtrHo3F_VPIOi8WFdu8FOZmoyKrWQhn5joWiZnOdzNSX1ZqhSXXEybGIuYQNgTgDrDgssBBT9zyV_azxXRF02AK53-B4p4Cy__pePzUkSq5TMnlZFbPHv9xiLIiw125ZCUdPtX046iODkkGukaEDW91gOJrAIvBdT2A2Jm6IbwmsV7g42Jq2ef50LzEwTlpDR5UP59kvaTzgyibLcfd952Ioh0RTTO1V2QRnrnEVhKEFNS67B46fX6n0jdI1rXtOYZ7CHvFWkWW-c0v8xjtUGuyJwdpcsYJXim54=",
  "id": "rs_0d8411c4f30c79c3016ab448d2bc0087d0b1d22fb9340b372b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At 3.9 cm height, the yellow fruit is centered between the two visible fingers and fills the lower jaw gap. I will close now to capture it.\"}",
  "call_id": "call_LepskNePaR2js26VQ4zAIq1j",
  "id": "fc_0d8411c4f30c79c3016ab448d6191887d0b7d1e42a37b6f5ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LepskNePaR2js26VQ4zAIq1j",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4683, -0.0139, -0.0078, 0.9988, 0.7372, 1.7203, 0.9897, -0.5514, 0.3847, 0.5388, 0.0116]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1596 left_yaw=-0.0011 left_pitch=-0.1049 left_roll=0.0028 left_gripper=0.9988 right_x=0.3 right_y=0.1877 right_z=0.0303 right_yaw=-0.0043 right_pitch=-0.5413 right_roll=-0.1981 right_gripper=0.0116\nstate[joint_eff]: [-0.0752, -1.6342, 6.9402, 1.8046, -0.0269, -0.0317, -0.0122, -0.253, -8.7316, 6.7214, 0.8327, 0.2125, -0.0024, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecb025fc2a29d60e05b99d8725bd1fc526972dd77b62239efced88dbedddf49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5edbb1e8981918476b396c4f41084f865a81ff4449853f0cc5147f8563a8c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd04d10226b13e5a477af858b32cb7246bac45177c9ee79365f0ffef403e211",
      "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 · 3.291 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4503, -0.0139, -0.0078, 0.9988, 0.8528, 1.6016, 0.9737, -0.5507, 0.3954, 0.5423, 0.0115]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.164 left_yaw=-0.0011 left_pitch=-0.0835 left_roll=0.0024 left_gripper=0.9988 right_x=0.2793 right_y=0.2217 right_z=0.0652 right_yaw=0.139 right_pitch=-0.4571 right_roll=-0.1265 right_gripper=0.0115\nstate[joint_eff]: [-0.0752, -1.3333, 6.9675, 1.6679, -0.0415, -0.0269, -0.0122, -0.0068, -6.8308, 6.188, 1.0134, 0.2076, 0.0024, 1.0574]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4541, -0.0139, -0.0082, 0.9988, 0.7376, 1.7077, 1.0039, -0.5522, 0.387, 0.5419, 0.9965]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1632 left_yaw=-0.0009 left_pitch=-0.0873 left_roll=0.0022 left_gripper=0.9988 right_x=0.3043 right_y=0.1913 right_z=0.0387 right_yaw=0.0028 right_pitch=-0.5203 right_roll=-0.1782 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -0.9778, 7.0085, 1.746, -0.0611, -0.0757, -0.0122, -0.0889, -8.1162, 6.1744, 1.072, 0.188, -0.0073, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4683, -0.0139, -0.0078, 0.9988, 0.7372, 1.7203, 0.9897, -0.5514, 0.3847, 0.5388, 0.0116]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1596 left_yaw=-0.0011 left_pitch=-0.1049 left_roll=0.0028 left_gripper=0.9988 right_x=0.3 right_y=0.1877 right_z=0.0303 right_yaw=-0.0043 right_pitch=-0.5413 right_roll=-0.1981 right_gripper=0.0116\nstate[joint_eff]: [-0.0752, -1.6342, 6.9402, 1.8046, -0.0269, -0.0317, -0.0122, -0.253, -8.7316, 6.7214, 0.8327, 0.2125, -0.0024, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecb025fc2a29d60e05b99d8725bd1fc526972dd77b62239efced88dbedddf49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5edbb1e8981918476b396c4f41084f865a81ff4449853f0cc5147f8563a8c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd04d10226b13e5a477af858b32cb7246bac45177c9ee79365f0ffef403e211",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjbeoQ6sXhMgzCIj29IKpS5CkV_Wfl6hK-CZUfZvH9sSOs_csvM1FWI6ohTzQ_mvkqX4p-8Cnqjz904-olhdL12XsFM_PoJbOnwm9qQAvpPFhmSjbkJQ_4nuOQzCRfyFbvfgKmWSEmUUJkQ1IQF7z_tZG01ZJGgOw0LRjwq8EBC4-Q-OpcBOePLQgrMOeIz14buXz8cVdarQgos8mKY_Habu57fd9Pfy8VBhajwS4vjdednzSRDV01_g30DsQKu_2sTZr-FEEXvcy277KBXQKJCovOuzap52Snl3Tvsw00z91g4A3Ydz5CWmUHRUnJEXsj_9rfdWHc3qsHqr_i3-4Vpq3ke0vHTn53ieY7KvIqp2j8YZf4M2Mva4DEQFlPLqPBzjTk6miV-aDIjG_rwHsftxITSBKUsZZ6DVrV_V8QlWJbfIiHib1QidtEeXYb28AQEQxZy-anjCKe8wddvXFscIVTQb-0oDh5Up0wcnwinSNjg8Sk-tBDonjJCapJsS8di-VlELQUKtMCzIHnVcO7rAs8QRf_nmalE7xgJTp87JLjvqjKxxwDL5k8-Y5-DOwOSx_oozUUSCSgyflQ-amvHT5chUFZsUaOTbp_5d_ND3FS6BbvOpBQvK1rUW8C7VmmZLjHxCc1AqQL2-UWkXHH_gj1w-m_H-UB4bypQ6u2tzPfBEFcC7Iqy4gKEQ4x2Y_RzQUcvn1cZDMsYSeoQnkyavWGlK9nqsRYrDfAouLzISVOazkATrYDVDO8JjQKW4Yyk5xPVnawspnFOWmMYlVABZtsPR_xxAglLkJJcAeVxPHuG8hLyJDJUtliPUJmYWGFD17U2c1niZfRZly8l8hCjZ31Bi-ic8TGeh1vAlGHZjRbpthMFyHrc6_0Yq0dRiGjCuJZdN34N-2FvJbYAp12cG9k19ijCyJlof2ol8SnoHzbHt-dEmpgDHEMfv44epcJwYH-Yd4bs0HCa3ke3Esrg3x3DscELDX6qggrBrSO704qWrhHhw8VeRbFLxTVVbFSvYjmD43x1mPOZ1vdzzZpuXHoNNwqE53rxJjMbNm8joyuyTWfxJn3BR0pPUL_QZQtaqPtOIb_6EiBDrK8NfXtVFqzsiU2wMIN9NM8eOXpAEJNJQUHQyovnbsLGy3_Wh4nZfd4uht58ZR3KRmr09GGb5meSOKum_RbDU9JNilZObrziLXTulZutrMZSIXzRShuAgzoBf0EEm04Q0S4NOHUkhVQlYpDfs07POlJpolHjGxnTj3s1N2oZU9fmRLno8raAvyH8wV4LPMwEvRxklsaihYCj7FpD6acSuKaDK4EeXjD33t11vguU3KC2zOpsFLKWhrGM9xtYhGpajlcOuncUcdHwP8rNt1VHLIlrGs6y_fp3VZklUEGZAqI4q_ToVywe_HSEQthquVgEGwQhWEp6hzwu31ByjIU-kyyRQyJobo6gnr1raOay7I2m6yzAFOeBaYiyCGbvJMotQlhKL6HQX27tor3xR11HtHvSJAxCuW33pXQuyWaGYoU1-6_XF_SibC7Lpd9e7SHvH8p4cFDsfI9PJ-3K_MN38nW6usFd61xd-XF60rbiEonI-iC-4xqrtgDCMW90kqyqkCmaIoGj7D4Q4LL5wZzKABu96NJWIIk=",
  "id": "rs_0d8411c4f30c79c3016ab448d9f70887d0a0435472e4dfd7d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.19,\"right_z\":0.09,\"right_gripper\":1,\"right_yaw\":0},\"note\":\"The second close was also empty; the wrist view shows the closed fingertips meeting just behind the yellow fruit, confirming that depth—not lateral alignment—is the issue. I will reopen, lift, and advance another 5 cm while preserving the centered jaw column.\"}",
  "call_id": "call_UQP2OzofMuFMDHgpuJ5nyeoE",
  "id": "fc_0d8411c4f30c79c3016ab448daf47087d09f055077067a9145",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UQP2OzofMuFMDHgpuJ5nyeoE",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0078, 0.9988, 0.6495, 1.7611, 1.2716, -0.7574, 0.3542, 0.4408, 0.9955]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.001 left_pitch=-0.1129 left_roll=0.003 left_gripper=0.9988 right_x=0.3449 right_y=0.1895 right_z=0.0857 right_yaw=0.0049 right_pitch=-0.5425 right_roll=-0.1971 right_gripper=0.9955\nstate[joint_eff]: [-0.294, -1.3333, 6.9402, 1.7118, -0.0562, -0.022, -0.0171, -0.5675, -7.3641, 7.8427, 0.7937, 0.1441, 0.0415, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28cd539c45439d2aa73de9bfb281545d9a9560b903894cda4fd49fb5e60bb7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26725303402f1e180d4e6b6075afe0ffa091fe67f1350e52f56bc4090ebd7803",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e450a2b6f7a1eb780bee8f50c9bc8dc5feeb1fd57abb935d20e4c7fab666039",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.091 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4511, -0.0139, -0.0078, 0.9988, 0.7391, 1.6367, 1.1347, -0.6941, 0.3889, 0.5426, 0.9956]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.1638 left_yaw=-0.0011 left_pitch=-0.0843 left_roll=0.0024 left_gripper=0.9988 right_x=0.3135 right_y=0.2 right_z=0.0929 right_yaw=0.024 right_pitch=-0.4742 right_roll=-0.1341 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.1282, 6.9675, 1.6972, -0.0513, -0.0415, -0.0122, -0.335, -6.8034, 8.3897, 0.8913, 0.315, 0.1245, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4683, -0.0139, -0.0078, 0.9988, 0.7372, 1.7203, 0.9897, -0.5514, 0.3847, 0.5388, 0.0116]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1596 left_yaw=-0.0011 left_pitch=-0.1049 left_roll=0.0028 left_gripper=0.9988 right_x=0.3 right_y=0.1877 right_z=0.0303 right_yaw=-0.0043 right_pitch=-0.5413 right_roll=-0.1981 right_gripper=0.0116\nstate[joint_eff]: [-0.0752, -1.6342, 6.9402, 1.8046, -0.0269, -0.0317, -0.0122, -0.253, -8.7316, 6.7214, 0.8327, 0.2125, -0.0024, 0.9499]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0078, 0.9988, 0.6495, 1.7611, 1.2716, -0.7574, 0.3542, 0.4408, 0.9955]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.001 left_pitch=-0.1129 left_roll=0.003 left_gripper=0.9988 right_x=0.3449 right_y=0.1895 right_z=0.0857 right_yaw=0.0049 right_pitch=-0.5425 right_roll=-0.1971 right_gripper=0.9955\nstate[joint_eff]: [-0.294, -1.3333, 6.9402, 1.7118, -0.0562, -0.022, -0.0171, -0.5675, -7.3641, 7.8427, 0.7937, 0.1441, 0.0415, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28cd539c45439d2aa73de9bfb281545d9a9560b903894cda4fd49fb5e60bb7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26725303402f1e180d4e6b6075afe0ffa091fe67f1350e52f56bc4090ebd7803",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e450a2b6f7a1eb780bee8f50c9bc8dc5feeb1fd57abb935d20e4c7fab666039",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEjgMXmNrwcCwcZ5aW_SNhFBGtL-NoNGy4ipe2SwrOVKWAP9ngKN81nFzTqQdMJXpaf7IyTgiGYZQ_izGtRd7qUABSyWg2Pjnn-92D8bUum3BECy8PL3sw_Y_hvJahqzRjOH4FW1hqBgCY8dBm2F2ek1jvReG9ik4epxs_kEaqpswl4DnnQ4coE4PmJnjKm0ucnTLtUh7uPoraZB8UoMzQAbFuMbkGw94S17MJtTzP1gvqUVQm18qPpzW822784J7P5AClhlemdQK3lYoZD0cSe7GTc1JbdDZVQ0qFL5aCe4JAYIuv78wcQqW8sRqDhQ1Se1MvvoKyFXeIHEC3L-YyqFNVuhr-ro_GjHzG5nu11Club_boLPgF5UaywDkMxmludQVG6hKZp8KRN-np-LUF7iwlOy2nDWj-don3YXewm53I0WzUB4IkYsVmup66D7dt8F3HOPDBVKAjAiSgBk70Rq6lOWCG-M1SVLhujKctn7e9PJE6Pv_mHaHcYGrWiwXSv0AmTOtcctkHUFgcEQbpZzCB70pYjsnBUhgJxPk2gzLJH9APbgWH0NTC4uMN5udXHPwj3lfOExdzaTkDptjSJYf1VvrYZE2A3JXGPzyLMqaFicNFsFvS_UBWn4mbUqyDKkhC9y-XqjR59rzDY0tEe-Pbsh4KjImEsXtaHWKc-OpqaYIBlvNM2e4MtA13zFgJOvhzW5WyqqAxcBwZ5nbUKp4mnPkRi_IHVTB19LkGV3eqojWCZUZx23MWs564v--TJuKRb8x_hpQNxNlkdaqT9UTeEF2BCcS6IBDCLzEj4usISUIe1qRas7kYE6AlXjBJELdzEVYOnpD4CYPESGLM0yLZ0U8t5dGiFZzNvV1j6kazZ61E9PDOeqIbaCoErtCee1qoQrrXpBp3KeCiWOzVImdMvqTYR7NcZTR5mm4nUezSsPNDQ2aNFE3ymcYnj4vkSUcMRnpIQAGAJ8WrvaOcDNcQ4i6Xd8rKFPgUrMjsPdqCJV8gLVaK7VCe8uMI779EGxv35oLYMq4ber2ITqAQ1UZ_N_jQEGFfT9dE2u5npxP646Y1K7FbYJHxC-FF4MwHHM7wVjC46o700XWfMPZKMDXeKYIBbhoEo9HwZ0YYeSAyZ8kbl-7E31izuR70CyS0ZRwO2l_WAGn426zh91786X4eUSXeRTheKvHpXRh3kbFlNiTTjpdwyK-Yu0h3K0V1NNc8AEeqKF1_XIb4rIhDQjOA_e78wx98syqlBnFuX22xzq16velUtBtRXq8CQSCvX82hmjTzPgnXGUmCYBmqPZfjUsUcO37dGNmWw-vsewY3cGvH08cc7DODNxvtxltPzHtengNrKWciQokIccum97xQlV5ME6ejvSHzwMzU3FnV4=",
  "id": "rs_0d8411c4f30c79c3016ab448dec90c87d08a9c8183ae761371",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.21,\"right_z\":0.04},\"note\":\"The forward move brought the yellow fruit to fingertip depth; it now sits near the bottom of the wrist view but about 2 cm left of the jaw column. I will shift left and descend while keeping the corrected radial position.\"}",
  "call_id": "call_qO9a8yZHqVG1MMI32HuYYJYu",
  "id": "fc_0d8411c4f30c79c3016ab448df2e4887d093494d306cededa3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qO9a8yZHqVG1MMI32HuYYJYu",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6865, 1.8439, 1.2354, -0.6735, 0.3618, 0.461, 0.9964]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3417 right_y=0.2038 right_z=0.05 right_yaw=0.0101 right_pitch=-0.5636 right_roll=-0.2187 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.306, 6.9402, 1.6142, -0.0366, -0.0513, -0.0122, 0.1983, -9.5932, 5.5179, 0.7253, 0.2076, 0.0611, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bac3d5a10c90f2b4c6f60e47a3c6aa6603fa3a8fc5ecbea2cd167145aac0aba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19268f2a737df9428f0a3e7e541bda8a185390c30aefd5ed86ce3e2367bfedc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8900d959e842edfb8c68bf47a390f1400020d83532f5844d88a38f2fe40ec020",
      "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 · 2.28 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4541, -0.0139, -0.0082, 0.9988, 0.7376, 1.7077, 1.0039, -0.5522, 0.387, 0.5419, 0.9965]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1632 left_yaw=-0.0009 left_pitch=-0.0873 left_roll=0.0022 left_gripper=0.9988 right_x=0.3043 right_y=0.1913 right_z=0.0387 right_yaw=0.0028 right_pitch=-0.5203 right_roll=-0.1782 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -0.9778, 7.0085, 1.746, -0.0611, -0.0757, -0.0122, -0.0889, -8.1162, 6.1744, 1.072, 0.188, -0.0073, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0078, 0.9988, 0.6495, 1.7611, 1.2716, -0.7574, 0.3542, 0.4408, 0.9955]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.001 left_pitch=-0.1129 left_roll=0.003 left_gripper=0.9988 right_x=0.3449 right_y=0.1895 right_z=0.0857 right_yaw=0.0049 right_pitch=-0.5425 right_roll=-0.1971 right_gripper=0.9955\nstate[joint_eff]: [-0.294, -1.3333, 6.9402, 1.7118, -0.0562, -0.022, -0.0171, -0.5675, -7.3641, 7.8427, 0.7937, 0.1441, 0.0415, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6865, 1.8439, 1.2354, -0.6735, 0.3618, 0.461, 0.9964]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3417 right_y=0.2038 right_z=0.05 right_yaw=0.0101 right_pitch=-0.5636 right_roll=-0.2187 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.306, 6.9402, 1.6142, -0.0366, -0.0513, -0.0122, 0.1983, -9.5932, 5.5179, 0.7253, 0.2076, 0.0611, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bac3d5a10c90f2b4c6f60e47a3c6aa6603fa3a8fc5ecbea2cd167145aac0aba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19268f2a737df9428f0a3e7e541bda8a185390c30aefd5ed86ce3e2367bfedc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8900d959e842edfb8c68bf47a390f1400020d83532f5844d88a38f2fe40ec020",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjiTogXa_a9gBXBW1ZVbhf9A2KC1NxwX3VJEiAw4-kLwiBi1a6UOAOGETHKdB_0hRGgGssj8lyz31oVugDTC9WLwhs9NJVTBn8t3wUOu8IOvTz4wW8bGB1Oge-8Qmz9NpzeroyfgylU7RfqunRGnQYq27wFQAb5p-beksFjGsatAwl37rRwEyzsh8BD_Mera1P2tBL5lrtL4Mg98kg-XL4XFCjmUjGtAe9Hi8YY-qPlva4tc1B-0GwmtTwz21jPmqs8lAKiTNwz2lBm__kxWkHmn2W3zlsvWxrrimIdQQ1NEOX-BX2Furg8hW0oZRRyc0wX-pGwdrbW5E9SYyfvDWwP-TZ_cayrbR3ozT8lYAn_xjLmONUb84u7mmpUaLa_sQmlfFdF8Torfp6JMSDpBZiS8VUr7I8tYvHMDFoEnHJ2KRddkr2Bb0KhKhARv4zynIkzeqT9GWk5ofKJiiDTStZ-BaoSMmhAD_jIRqPuvK_6XgFMefHYtjrWWAKui6GBBkiMMUfroYRHbZHOl_lEHjtZmAiNFX3kSUzsKs-enZoUiSTT3Th-qqYUacysUamX8AbX6qPq0ZY8ko__3_dRWRc1hpgRM224ngA1r7Wx-1Mxnh5b2RK9rxOaqa3AVO59TTsrVDVpKuvhzfC59a3R3AOk-BnDOOC7VdMf-y85RNUVXygmxMsLJsoiXfHLlvtfvKtJCbhNleYe9wNqOWmvP5_l2QA04zWIcOqumrCP-Ygy0qPbbQ-vycAMa9s6u6-_HKUZ5s_mxGItmGW_lrXU5ybVtbOiRbNmqP0rMN67hr1cTBUZ4H6JrvO7j3mvzaP1xBOo-if_MkPxyTy2YjOPCHPN2ewTbzB3w7CnTaYc7clIn5DdNw6im1G_fJzFZHXUMt4DHPmQTSUjm6wpKARkEamXlqTJkhN-aln0Untp8rfGTuVLyuvys_WSRzO8imUyGjTJmwiqVr1nu4Q8OScrY_vWZPcYrx6Lzea-GfzZ-xN1s-VHsOrC3-W7BuhmdTVVeViSKWQgltBqw6cXnUxSmSRmBbf4HpyoiFHhUlm985645vYHy8S5C7y8GHE1jwfZ889eL9j-eyvojRy21Jzy5f6xacikxuhoBC-EyKsafuyoDAuaKIbo-EOvOeMy-EZ6_X0dNOZ009oOK27jrLH2XMPLNKuKRHrguPS0ClYuYgMulO9rXNmluqyopid2O10QE8Rl2Ztq0iZJCLyn-CWp-nPT4QflpxpEZDhwZVXmBRAEQmQBLUC-QOUew9U-p737V5k_",
  "id": "rs_0d8411c4f30c79c3016ab448e19f3487d086d87ccbef77c250",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now centered at the bottom of the wrist view directly between the open fingers, unlike the prior attempts when it remained ahead of them. I will close for the grasp.\"}",
  "call_id": "call_yCEnUbtFqUsPTlSwUCRpyuWR",
  "id": "fc_0d8411c4f30c79c3016ab448e1d06087d095a2f2bf9b217269",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yCEnUbtFqUsPTlSwUCRpyuWR",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6899, 1.8622, 1.2255, -0.6743, 0.363, 0.4522, 0.2646]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3375 right_y=0.2019 right_z=0.0403 right_yaw=0.0064 right_pitch=-0.5865 right_roll=-0.2458 right_gripper=0.2646\nstate[joint_eff]: [-0.0068, -1.3333, 6.9675, 1.6386, -0.0415, -0.0513, -0.0122, -0.294, -10.5778, 6.7624, 0.7546, 0.1441, 0.0611, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04541a678e42db94917452e818a2933350aa3519e09435b8572bef1452d3e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7968e510b7f3b2a9f660c55ce9df1d735fcbb395474337c231d16e19d24d03ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e79195888effb2433a41bd4b42f63278ff8968d00024128d3267beba5db29ba",
      "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 · 2.652 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4683, -0.0139, -0.0078, 0.9988, 0.7372, 1.7203, 0.9897, -0.5514, 0.3847, 0.5388, 0.0116]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1596 left_yaw=-0.0011 left_pitch=-0.1049 left_roll=0.0028 left_gripper=0.9988 right_x=0.3 right_y=0.1877 right_z=0.0303 right_yaw=-0.0043 right_pitch=-0.5413 right_roll=-0.1981 right_gripper=0.0116\nstate[joint_eff]: [-0.0752, -1.6342, 6.9402, 1.8046, -0.0269, -0.0317, -0.0122, -0.253, -8.7316, 6.7214, 0.8327, 0.2125, -0.0024, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6865, 1.8439, 1.2354, -0.6735, 0.3618, 0.461, 0.9964]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3417 right_y=0.2038 right_z=0.05 right_yaw=0.0101 right_pitch=-0.5636 right_roll=-0.2187 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.306, 6.9402, 1.6142, -0.0366, -0.0513, -0.0122, 0.1983, -9.5932, 5.5179, 0.7253, 0.2076, 0.0611, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6899, 1.8622, 1.2255, -0.6743, 0.363, 0.4522, 0.2646]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3375 right_y=0.2019 right_z=0.0403 right_yaw=0.0064 right_pitch=-0.5865 right_roll=-0.2458 right_gripper=0.2646\nstate[joint_eff]: [-0.0068, -1.3333, 6.9675, 1.6386, -0.0415, -0.0513, -0.0122, -0.294, -10.5778, 6.7624, 0.7546, 0.1441, 0.0611, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04541a678e42db94917452e818a2933350aa3519e09435b8572bef1452d3e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7968e510b7f3b2a9f660c55ce9df1d735fcbb395474337c231d16e19d24d03ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e79195888effb2433a41bd4b42f63278ff8968d00024128d3267beba5db29ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEjlAKa8onrKb_wCLez4N0IlYnZlVkSTO9ioh3dWOKcLb38GMbSprg-OAjUNWyRmAEZb13nKTNrHyJb9p3jFMfNlp7LEB3feEynu2GH3CPLRAYEiO0Yl4G9A_UJIrRd95m7NtvwAUYKwNHG9t14reCJu2ttJoHPVLJiG8KEWXY7m9p2ZM7bDm0P06T-VjI1TvORiqDgu-2cOunmq4PgHWPe13SZpBnuCZqsxgnrpi2TkNr3etLsRK9Mm-k0dzO502A_lpT2rDv8N3d1cVxJSSqo8OA6iCLNfKfLFzNFZwFZGauR-TeezWvuzlJMMIdSS-KHAiH4H9feG51ODpYrokjAOlLzwZB511tS9WtMZy9hBrSconNUvVqktSod9EOVdhQiO1re6e6jlgZ6OSdkoSK0U765Rmahnzdw5BZ8KZZWZ_0LfkSZHrnt-G3vsXjL4eEsK18Em8PsfscL3ryknhicaqP9_vYbjDOcUs4AHlcolX2pGE4royD8yYj8uNlqAPYoTyyPBfJ7Gf38DHgBSS1hryJmiG6ptbtuoYEm6rZqOde4NxAumz9Mdfmr8pl4wvO42wBjai66BUJHRvXaxO28-aOFfDq5YxeNfqHGi_lM6-j1HR0f8y8lQpGedCchQKAjM1o-r-iH6wyKue_z5E5c3s6Lu9HAES7-x6XX6OPNznQ8x-yr3N0iqfW54TCsRmCS1ZCGRs8b6GOVvVZJM1zEwTI9VBVkZOLBlMSzLZVAx1tILMTuoZBiu7w_k679CJYsmQm4WxjgwoT9EvtFjWWBVJuKsLgrj6DAy56gUFQHDzjuI5P9JWY0wNCcp-4TDjH89wuC6d2pZJh2YtMP0iWjsdMWlRhS0udmPsHdto9qjv8vl08pDjDNpiVnRcG9uw0KvVqJSxqJT6-zAEWQZSVc_wlbJEyGqXy-gAra-1NZr3FZXdONpFgxJPk4arTDITbheOL7wnrhjxWTIy7uA2YrGyOXx2i_jSCJeoa4ehZBoQl6bWCzjC_uinmwYnyvDr0gQ5n6vNZvSnUJddA9HSrp5DjyQlDI3BWX26dvNneCHEhUXOg5kEMnxhwKtPaEo2W5hatWNeaMTmWxQ0Zm-aT_s61g2VCJpRLZm9Jn_2WAfhxBUVzhH2pnfynjGrjyD67h67nQAxYMn2FL_kipPFoPT5As1Kl5AMuN9A_5jPziTKqhFjMWXC1acF4NijEePuiCh0Oevqyl-crkSykEJafXkgLrC9ulylkuu8NY5qEZQ-iT1aff_pOpDpXHsu7KcI6smHYFQuZ7bm_Sn-jEEKXxdB4_rOILhUs3hzZTANUAdKeC-AfmUOT9_MuJNBu1m9byQMqoPCR-w4KXSzk4fS8btXqXkgluxEf1q_qiTnFON-YY9McsyY9ZsxStITBaKW9Ua",
  "id": "rs_0d8411c4f30c79c3016ab448e4826487d0a44b3fb7d639f1ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The gripper settled at 0.265 and the yellow fruit is visibly pinched between the fingers, confirming a successful grasp. I will lift it clear of the table before moving to the nearby blue bowl.\"}",
  "call_id": "call_iO4adMtM3pDIHGN75j7203wU",
  "id": "fc_0d8411c4f30c79c3016ab448e515d087d0809b22f46383f9b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iO4adMtM3pDIHGN75j7203wU",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6899, 1.8137, 1.5734, -1.079, 0.3588, 0.4442, 0.2635]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3413 right_y=0.2058 right_z=0.1403 right_yaw=0.0111 right_pitch=-0.5966 right_roll=-0.2523 right_gripper=0.2635\nstate[joint_eff]: [-0.1436, -1.2786, 6.9265, 1.5897, -0.0464, -0.0269, -0.0122, -0.3487, -11.0564, 7.5966, 0.7839, 0.2076, 0.0659, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e137ff6e8edc3f6b7fdbdd572d7f0659a4a1db9e3a0f8790dabe5ab75169a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68509829aee87cc2b72467bef9c26b93350f18eafce19d94999fd9ec02cabd3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9fde0798c8149f0e0950022b20f2eb465a2793999e0a1a8a89d41ff65f727d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.848 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0078, 0.9988, 0.6495, 1.7611, 1.2716, -0.7574, 0.3542, 0.4408, 0.9955]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.001 left_pitch=-0.1129 left_roll=0.003 left_gripper=0.9988 right_x=0.3449 right_y=0.1895 right_z=0.0857 right_yaw=0.0049 right_pitch=-0.5425 right_roll=-0.1971 right_gripper=0.9955\nstate[joint_eff]: [-0.294, -1.3333, 6.9402, 1.7118, -0.0562, -0.022, -0.0171, -0.5675, -7.3641, 7.8427, 0.7937, 0.1441, 0.0415, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6899, 1.8622, 1.2255, -0.6743, 0.363, 0.4522, 0.2646]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3375 right_y=0.2019 right_z=0.0403 right_yaw=0.0064 right_pitch=-0.5865 right_roll=-0.2458 right_gripper=0.2646\nstate[joint_eff]: [-0.0068, -1.3333, 6.9675, 1.6386, -0.0415, -0.0513, -0.0122, -0.294, -10.5778, 6.7624, 0.7546, 0.1441, 0.0611, 0.3053]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6899, 1.8137, 1.5734, -1.079, 0.3588, 0.4442, 0.2635]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3413 right_y=0.2058 right_z=0.1403 right_yaw=0.0111 right_pitch=-0.5966 right_roll=-0.2523 right_gripper=0.2635\nstate[joint_eff]: [-0.1436, -1.2786, 6.9265, 1.5897, -0.0464, -0.0269, -0.0122, -0.3487, -11.0564, 7.5966, 0.7839, 0.2076, 0.0659, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e137ff6e8edc3f6b7fdbdd572d7f0659a4a1db9e3a0f8790dabe5ab75169a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68509829aee87cc2b72467bef9c26b93350f18eafce19d94999fd9ec02cabd3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9fde0798c8149f0e0950022b20f2eb465a2793999e0a1a8a89d41ff65f727d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjpZl7xd9CfvqICvH_mcOH7hS6r4BO6ApWGayNjDiZeXoGiIUg2qUmnyFi3MRmXE5cF4Gh6GZf3A4HYNGtKuyKXvdCtessKjqcowp_QSREIve49NsMnSG5iM4HWM1Q9PCoepc96gAThZlvdkY2Ev83nLd6fxs0-5Kv4MqPwef4kf8O0GQJzb3Zra6qch3tsFVT4WVIUkpqf7K3K0XsWdeHE3XdepAWzJjuwzGAIqQVroy8kr7s_Sjy3NtkGzYlGcn8ROkMi5as1QviDPhN8cHTCz8TBtU8y6dQuv8mgTrt_CTlflwn6f6ugsa_em8qdvx549WSD_Vnll6ar4mSrxRp1G80loQYAXSGIqGXOSBp9rdIVLenBAQdTyO_sZ2r99YSNY8NyHetSpTb2Vl9oPwXB00M06f3axqws3Efh0MmEE6ytPT8oPrK1UBzJq17XIFz8pfGXKgdhySKgLx-6YC6G92iHZvGqQGsV6JjppA_mg1Ipv6rfSLkEcMH-7-bHXsxpeKEHLefhJmksBWacL6p89oEm880mTVp7HEC9f2VbkC0JZnRY3DSfjRqSRVUBm0cFnQtGGtxAomuvvapA3NuTsR9gCSXT3n3t-Kw1uLTo36uxdgVJxUuDUrZW6_zEnaZ7kQIvZ-4oDVpzeiAIzq3VptCKtQFQUGY2EGnj81GeKG_aJK7idFQyN-xfZZE3DbQdVly_FZmDrUEphd5SSJ03Ml5GPB0TPzXZ_UbFPXWHtDhVCX7_Je2UkXmTrzgnobjDol6TUAHeGwvf7CBFAIa-fkX16PqnV1YCqYDRKTyytuDSA9gnE3CuvQn-mjB4t-jHF9w2LBptfvMjTd1XU83g6vM4ovA3dZe4n07BQN0ZZFs2N2QukEg0M3-jusZvR46XfL0p3T_pSSB42Hm8SmIk8ztgQCnah8p-OQSiqyEMTeXf-Sr33OuGqkg6LSBdem1cwee88OaQsuwfcurKllwFPvBlGTQwAqcJ3URRenyvAaNs2QExuCFoj3EWCk3oNr0Q-7qakB1rAOmqW2RWzz2v99ieqKgPeAFxC_1wC-tEexOHdsnrdDUQdYQ40P3X7BIXGS1IUtbM-Iz89q-THHeDRE1aDH2lcPJbVT6bHmyTYcjHUL-orx6aD89qHu6Ajp8siL4u7jaPSOeMq9fJGWINoI-exHR2uk0wg5zrbl4HLjz3YpdG9GgR1FUhg28bznzqNQsnXmcmBevoA4fVrBk-vPmK98m4a2shL4QHzIdzgK_qtBeflFb-C_RLeisDFnR4pJv2c8T7ZBBIdToC3zNmPYCQHjiF9N8rPIorSQmVGufObnE8W4L0a4KoM-GEybKuoJF3b19Ytm9HeNJHLs2L-9WL0haJfhsGB1R6scjmOdZGTxz2s2HXLiq3fQ4P6IoLz6odq6Ni9j-DapKdky9l_F4v-QahpD2tDPqP6OQx9daxSxVba4PS_tF6NiYSd5Tb2hLAgadGPNTVA6ZBmjbBfL8TzVuw3qfOR1bG0njxvHKMOKvTTCm0mZrtMI12kCf0CcFpy-Dv-xXYp2jiUk5LNA==",
  "id": "rs_0d8411c4f30c79c3016ab448e7759487d089e3ce62ca5a14a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.1,\"right_z\":0.22},\"note\":\"The yellow fruit lifted with the gripper, and the wrist view shows the blue bowl ahead and to the arm's right with the green fruit inside. I will carry the yellow fruit to the previously established high bowl pose.\"}",
  "call_id": "call_Y7j423TP5nZbdB7M0CRAPVIk",
  "id": "fc_0d8411c4f30c79c3016ab448e865e887d0acc7f81d7b03720c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y7j423TP5nZbdB7M0CRAPVIk",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0078, 0.9988, 0.3698, 1.7973, 1.8095, -1.2713, 0.2668, 0.1406, 0.2633]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.001 left_pitch=-0.1129 left_roll=0.003 left_gripper=0.9988 right_x=0.3859 right_y=0.1035 right_z=0.2035 right_yaw=-0.0136 right_pitch=-0.6292 right_roll=-0.2654 right_gripper=0.2633\nstate[joint_eff]: [-0.1299, -1.1692, 6.9402, 1.6777, -0.0366, -0.0269, -0.0122, -0.212, -9.6205, 8.1573, 0.9206, 0.0366, -0.0269, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7a637efb45872ecaa7d94330dfce9dfc1d3812930f64839cfcd319916ded88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8bd8bba6831ef1e4b3d1934c9366074226073328321f75d57af6f1dcb434606",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ad9f5c15b6a428f5e29c54aa4b65e637253837959194e1b5af0bc8f6b66901a",
      "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 · 3.117 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6865, 1.8439, 1.2354, -0.6735, 0.3618, 0.461, 0.9964]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3417 right_y=0.2038 right_z=0.05 right_yaw=0.0101 right_pitch=-0.5636 right_roll=-0.2187 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.306, 6.9402, 1.6142, -0.0366, -0.0513, -0.0122, 0.1983, -9.5932, 5.5179, 0.7253, 0.2076, 0.0611, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6899, 1.8137, 1.5734, -1.079, 0.3588, 0.4442, 0.2635]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3413 right_y=0.2058 right_z=0.1403 right_yaw=0.0111 right_pitch=-0.5966 right_roll=-0.2523 right_gripper=0.2635\nstate[joint_eff]: [-0.1436, -1.2786, 6.9265, 1.5897, -0.0464, -0.0269, -0.0122, -0.3487, -11.0564, 7.5966, 0.7839, 0.2076, 0.0659, -0.1294]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0078, 0.9988, 0.3698, 1.7973, 1.8095, -1.2713, 0.2668, 0.1406, 0.2633]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.001 left_pitch=-0.1129 left_roll=0.003 left_gripper=0.9988 right_x=0.3859 right_y=0.1035 right_z=0.2035 right_yaw=-0.0136 right_pitch=-0.6292 right_roll=-0.2654 right_gripper=0.2633\nstate[joint_eff]: [-0.1299, -1.1692, 6.9402, 1.6777, -0.0366, -0.0269, -0.0122, -0.212, -9.6205, 8.1573, 0.9206, 0.0366, -0.0269, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7a637efb45872ecaa7d94330dfce9dfc1d3812930f64839cfcd319916ded88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8bd8bba6831ef1e4b3d1934c9366074226073328321f75d57af6f1dcb434606",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ad9f5c15b6a428f5e29c54aa4b65e637253837959194e1b5af0bc8f6b66901a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjvHJKeCMmOLVqLjteD4w7lZ5lRAcXPXA8j6EVC_HcDhxtpQSxms3bKg_WqywdRedUtxYswD579WYfr903vhabk0rVvXVnEr7fVoZSGtQeIFxQVMz3b_GHqWSl8RnxiY4DijQnsX0AIjaSrB-41E0awf5TUtMOGUnK2uc247YB0WSOD9oLzuOuR7ByizAwbyA7jXQhCJVr3xsj_kTpGCymkeubhrdoVjiAp6_xr_u6WCoCY9is6jO1kcXl6hZQY734yW5swXhBiejrrc1aQuqLzG9z7EUBcjsuA3_8a65TQ4f8DPvLhv5aYaF2_-hWCrKWsJMZPAv6e9AN9eD4wD50CVuAPwtxLbzur1ReKz5cjg_ee9yxoIJQG9lgwBzTR_J6gi1NyxGXykhU18fYaNYpF6cXxoqy2Pr1A6Xw_E9J4uv_Oury9xi9uJOKW7-PLPFVY60kA2wYP4GpJ2HzA1H2AuaXmR1Te0yBNeBz9iWPtxICkhT4WaNURABLYlZHSruOVS17U9suYA6cPOaduJRECvHnJkCIsF1zlYPlupPm4CG_S5BGDTeoZxzlPzESALhFoklHHgF_FHLM5D7wQcC4GciNHp4Pcaw6529FOB5LPR54xplREPvYStSxMRqhCmBv3y4BiPFUHTdGEGbA4nh8syi-vBMcMV8wY8wzRgL6Y7StYL2FRYmNXu1OKd-xPTyuVJyo9g9UPELAAx2wDOXyO2z3_Jq6P7QFlBakXBx82Qdo9MNYozoZXE1HR4vi0zTi2JBDcuubVZPAO9-wkpogoMjG3_kfjsJtL0SJOjHe8jKGvb32mCfGp9c85EEOYqozxI54xXBuf4-EngnVkX5atBvd8SCaFy0BN2fGqlTuX4Xqd6g39EN6KXME53CuXOpaZgoENV8y7-x2EoVkDhU5Qlwbox2R-oYybK540APQzyYT44RlEQmEaBCmSnn2JU_4XoMQQjUFD3hDyv8U6Qn01Fh9FegLwH-P1PPHi10LpfDUqtoiTOzKcdhdT7_Mr94xTPZNqzzn4AzduxjLmjppJHf_R52gnC6T9tVzGW8BVdQSDGrjsMOVJ1muSj2LTAv6zcfSMynR5ZaFGOCNWIxVgPLWEce9RbUxI8BMpXACHPD0Aoyu00V6byI3w0G1kBBy24EIuyqvf18isBUXBcsm1g8SeNrzQERwxqHpc3I_8lMsQEtXewvQ8R6C-tC6z4XDhG3nIRb2mO8_b7uOev4gDQoWZU4iZh-1UmV4csS7DYSBpJxRjTxrgaLDqkWDiqMUU3XXguOj4gk4RbXhjiYfv84Z6OgUVikA8cxjOlQz1EJKpXyhxIcZoXlCmhYORFlfIv-IZCCuFNEMPdrFvMX4lDvto8UsXjz-Sp3_gQuk54IyKfJKa9wYkGiwMQVS7qPeJ3MEvWOih8u4axlO2cVpEPRIcSdYPv4zSEtS3xEmlo-rkd7WxPRWLSdpUzirhDNGJvkZxq3D2NcdOtwil80GLY4n2H3iddMuyXCAVfIV6Nz14buTE0W9Az64wGstYgn6n329eiMVCJXN9GJ6I9ZrTUzI1AU9mkWHFl9kdR12gr9K5hrIL8BApdiDT2_yvzQzMgYhSaHuXXSdid7qWUDFqapxWGA1NHv98yOqbpu2GAn6BaaRi-Xd7sFt7aB2FCv4YTB4S9lNjTx7GDM0qF6ufUD2Ze3_HRaKLEqNXiVrB7zdpMFljAG8YkDlfnXUQ56jPeLOzaQsGoF3ztJqL4wEcyX97NTsVtwyHZoMlEVx_sudbqs6GEDtDOh_P1S2Hj1m5Zs-FulS6Y2YmTThbqosrHFj3KnJLFN0OnrmSWnT0vZJzryjQKoctg_sK9X9uiJk8m9-v59xEmaqhvLErA450eUGw9rm4fJKsSWXbrurVtPdGjVLs1DZe1pLvzO_KC7c0xOtxM2XahU8OoHya8Arml4uJpGS76-UfsHy4wWyO4Nbi76CLQNLoOPHMVn0y3gtPr8eZbn_oujOoMQ40rkYFkeNfJeL3mxsj5mCavQri6IKgigNsTq56BE4f7fU2CUH8w69xk_1zmJbxEnbTyuxI4_5NDrW4XRg0ky-KDEMNxIRciSEGITIVrsM1oTXKQRYHOR0DJYgTXS4nNxTp3N1wchJXk8UHdQCAG3QYD1Xhe_0MhGd5wRX0fC6Wsq3u_FfTpwIyE_l7sKF8lktUF8-cV4on36FsapPR76azMjXcv42ROLVG-oTOxYjcwVGgOxbmo6NauvIqiTa7t5SfJqrATJBR09YaVVhzWCiz2whaiFLiuCqf4rfDnKj4t__qZDB3LiwmsMNBwojV9yuGsPvVc6L0xrVbpQXRrkNaYX6_gxwsGjaGEAjf0GOGpIgKsZ5cUwCXP-u3ZwxSkvSmO5czqMiZEVIbX9Hsfx1sgszVtu1big3sU18Kz1L3mEKHCTHT97dGcZnNyuwqlZ_KOekFaGAZ3UAJe600CAWpO6M6U03R8WXPxzwbPhINW8Fj9WNGRcIaiF7gnWobdW4SWBJq_zF-m0a8rghs08pjt_Bk30nNseY6rPPH4XrEZyVtOV4lY08Ecnwyy3rEl-O_9lqilHB-ar5s6NbVrQB0SnprhFhKcsEgvvItoxXgWTGIhBPrHbLKUCAMoARbuPyLwjyHjLQyPh2akvSSPe3S7FRusyGvulPCIRJCzAiEqAiECoRHZYSj3uE4jnhvzjXPmFg8ubWTU6ZOTuFXsmPNsMaWmqKxoBBXwrgD9ep-fCxQTIz9Q96Lbhhu8fcQg9KxysJ-LZdN04GLSZ_6P8GhZHHoxdmgpR8q8LefhJGlLQjp8W8iQTqopzlwhaBuCBy024aNJ4O8OR5BfYpxsuW7-DAYNl-NrnPoQreNbsPtEqBoiOMP4Nymc5YK8lYDQ34L-WmltPdbWcFDrToiPWSKsjlPtnYV4J-nKbaO2Ajoq9TYZkEQQIDC3xnQLTCaU94-jnlIofL_D6ujq_HeJr1YIU6aB-zCBFHvInOsCxy1EjSkahRzCn9bzI1LIFvsz8y5Ufgkll_cWpmTxfJWPBh6KqAm4ybjsgcxp7ekwQ9WQS1bMNQEJNicpliXOWlx1J3zFwD0kJoBQD-fzi4xVUBc1mpL6zW8sx06SVHTD1_qXilCAyt3u_aZzSUdnnY3JIESQeqo9SovsIeSU38vT4gDx7zkadmUoyYTIxHM3xUv6YxoK1kwVKZRTVLlGiZAZBSOIeAu2m5TnLvybQuWjFyoLW-0hcxCPUe5q2N-EGtRPHkm3uQNIGPurnSC942hLbWOpGy0IcB4V9-uFPV85-GNCv5pGScLGR2OnmWM8wxrjeeDT2u3",
  "id": "rs_0d8411c4f30c79c3016ab448eafa2887d09a2e04e69cafc2fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.002,\"right_z\":0.183,\"right_gripper\":1},\"note\":\"The yellow fruit is back on the tabletop beside the bowl, so it slipped from the narrow grasp during transport despite the nonzero opening. I will park and open the right arm to clear the center before using the left arm for the black fruit.\"}",
  "call_id": "call_9FoRkys1F8bF01fJHsVSd0fa",
  "id": "fc_0d8411c4f30c79c3016ab448eebcb887d09aee9223eb1944fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9FoRkys1F8bF01fJHsVSd0fa",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4866, -0.0139, -0.0078, 0.9988, 0.1162, 1.3403, 1.243, -1.116, 0.2001, -0.0776, 0.9959]\nstate[eef_state]: left_x=0.2821 left_y=-0.0001 left_z=0.1545 left_yaw=-0.001 left_pitch=-0.1293 left_roll=0.0033 left_gripper=0.9988 right_x=0.2961 right_y=0.0028 right_z=0.1773 right_yaw=-0.0507 right_pitch=-0.632 right_roll=-0.2753 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.3744, 6.9538, 1.7558, -0.0757, -0.0269, -0.0122, -0.1573, -5.8872, 6.6667, 1.2186, -0.1001, -0.0757, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abaefa7591704e65c55b00cac0a41175559608c6ff1daf97a2f133888e61cf48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052e7bf6f572f07e9a6b84ee06ab40964387d92eeaee9c9e0943cdf4ffb35925",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6b331e675d58038bc7bc591591b00c15a47313125d12d12534e177b7886517",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 3.616 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6899, 1.8622, 1.2255, -0.6743, 0.363, 0.4522, 0.2646]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3375 right_y=0.2019 right_z=0.0403 right_yaw=0.0064 right_pitch=-0.5865 right_roll=-0.2458 right_gripper=0.2646\nstate[joint_eff]: [-0.0068, -1.3333, 6.9675, 1.6386, -0.0415, -0.0513, -0.0122, -0.294, -10.5778, 6.7624, 0.7546, 0.1441, 0.0611, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0078, 0.9988, 0.3698, 1.7973, 1.8095, -1.2713, 0.2668, 0.1406, 0.2633]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.001 left_pitch=-0.1129 left_roll=0.003 left_gripper=0.9988 right_x=0.3859 right_y=0.1035 right_z=0.2035 right_yaw=-0.0136 right_pitch=-0.6292 right_roll=-0.2654 right_gripper=0.2633\nstate[joint_eff]: [-0.1299, -1.1692, 6.9402, 1.6777, -0.0366, -0.0269, -0.0122, -0.212, -9.6205, 8.1573, 0.9206, 0.0366, -0.0269, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4866, -0.0139, -0.0078, 0.9988, 0.1162, 1.3403, 1.243, -1.116, 0.2001, -0.0776, 0.9959]\nstate[eef_state]: left_x=0.2821 left_y=-0.0001 left_z=0.1545 left_yaw=-0.001 left_pitch=-0.1293 left_roll=0.0033 left_gripper=0.9988 right_x=0.2961 right_y=0.0028 right_z=0.1773 right_yaw=-0.0507 right_pitch=-0.632 right_roll=-0.2753 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.3744, 6.9538, 1.7558, -0.0757, -0.0269, -0.0122, -0.1573, -5.8872, 6.6667, 1.2186, -0.1001, -0.0757, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abaefa7591704e65c55b00cac0a41175559608c6ff1daf97a2f133888e61cf48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052e7bf6f572f07e9a6b84ee06ab40964387d92eeaee9c9e0943cdf4ffb35925",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6b331e675d58038bc7bc591591b00c15a47313125d12d12534e177b7886517",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjz86Z6cH19dfctUhiZkbCdaXiU0mTz8XlidmCU5YXBcL_ITa4OdjyKtzlze9IHLRA60W1jTrF0tGL8oVYeS9EQEwl6xO42ykNBiXd2IoGkzZFFkSkrTAivzZ18OP3hhMR7u0KxUsgUL1Tx43v1d_mfae-3D5M6fYYFMOOLN77GacBR_pL1UrfoUr7Qj63hlpUWK6jSel2HCxysZdoyLA6tFw2Vb7MJ8fE7ywJlrrPNzOjMDh9TdZk4ES5OO16QaApZJCfSJdEPNMK1Vqn2uYIX7jigIDemjXEOQ3Six7cPFFMsq1MbFCc_rofogjTCkAnKZ9yiOkt8IEOeFBQQa0xEHH7vLPVRceIy78NoANphm9GuFW_EGa91rfqUtPG7vmBDq0a35EHTyancQGA96JpWWJ3qxwCMJ77tQx9eqbgkxFHn4FoG2AxBq9-rWT6MVLpopk3QnSDHQAkC_VPX4OrJXJgyh3aZCaFaxDBJcYFqEJNTarwtoU3U9t_0CfhPKpoN8U02sGSJKmEjHYo_IBYqk93aFmLV8omZRIjQypnn0dKPfmqqdbo6lgmQ0EW0qkhtObEuIehJ9WhQjJ6-LSP5RJNNkgzXVPoQEF5ec40eL7btyzL1nQfIIiVskJ3jdFfew_dHmC912liIUxzb2epxxrHymdCgRiw-prgcKZEr9t5gsHlBNk2eVbDc4dsoOimXn16gi5hWy8MFB4u-jkm7vbkp6EIJZkoRnS-oUQOoZcLBRdXS0WZT95W5ixe5puLb80yCiZ0hh0urklmjUI3dj1vxWEL3MPo44iXp8GDE8Wn6-ZznYb4X5jIA4z5Iza8lWhUBaRdefkgsxXvu6XCl2t2p3P5bYb4uYIWAXSQOvYjluGBA-gqmHhaTCIYTtokImcTStEuSfDzyd2fVjxAjdJuji1Djb1YKZ8yLJw6Moy-ZJw7DgQWfSBWLrnY8qFKHtfmsL5zfRc9iW1WXUwixLZYxSle1e01MXOQ5Ys8yd43x_XpQjyTgTYo0znteDS9nqJKVTqEw774bd1TfdJ2hwj6llftjXu_nhMJT7DRjvyBZ5rl5NLeDyDhuAhajG9dB-RQrqbBnlfwTB0pEA_jYFG2yl7AFjjpI6ApV4vvnymz1Wl_mZkoMyXDr5IZb-vZd5wSn5wwud2vSQlNRYrga-aJAjBo4HOPOW49PuG-SMT2f2VKyEKi6iFUuz8jLfG70benyBAsvk4CTTZr5KiT7y6d_K5nbqey2dRUlnr2ZKKXOR5gXhMDyLVgP18ClRZjg5J0vrbqIFg_iAsUWWZQ50e3xS8OZaphPushegcbSMfNAz29oRc87gUGRwDOuW8ZsVSsWcQCWCjacorHajvL4trshCMYqlYfVwrmHxe73xHLcUl03NYzy4BZWzv4z8nxK7AiBKFVdVznfoyRJg50EbccIqi2FyAPqMO8JS4kGJ7gGW3luVhGjX8rTaNG1YUG67X7g1eWN0Fg9MM4F3Rl8Iixs9mPRGWMR0paQ4sqQew2NqV_yft41bkvIr8oSjAiS8twDDBOh12BfKJEOnq1ZOLLuxJMALQVhXP7egxcewIPvaoq0zUQM0M23CvtzdkGE0-fhuTfHEI_ves5rMWd8M06sm2Yj6rEiGNKJnWiRZ5RLKyar7kc9puIOwFS6wcQNMXb-0JqTDa0BLlep637QRNZb3_g3hGb2uwxFZpHTOLA=",
  "id": "rs_0d8411c4f30c79c3016ab448f1953c87d08fb7b6f901af35ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.24,\"left_z\":0.1,\"left_gripper\":1,\"left_yaw\":0},\"note\":\"With the right arm parked, the black fruit is unobstructed near the table center, about 24 cm to the left arm's right and at similar forward distance. I will move the open left gripper to a low pre-grasp pose above it.\"}",
  "call_id": "call_sAxrXfHjiJeOS7wgI6s22MPP",
  "id": "fc_0d8411c4f30c79c3016ab448f2b60087d0a8ced0740ff7b470",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sAxrXfHjiJeOS7wgI6s22MPP",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.9691, 1.5681, 0.8768, -0.3317, -0.6579, -0.7391, 0.9989, 0.1196, 1.3182, 1.2121, -1.0958, 0.1967, -0.094, 0.9965]\nstate[eef_state]: left_x=0.2933 left_y=-0.23 left_z=0.087 left_yaw=-0.0125 left_pitch=-0.1726 left_roll=0.036 left_gripper=0.9989 right_x=0.2933 right_y=0.0041 right_z=0.1745 right_yaw=-0.0319 right_pitch=-0.6235 right_roll=-0.2767 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -6.8855, 8.253, 1.243, -0.569, 0.022, -0.1245, -0.0479, -5.135, 6.2564, 1.0965, 0.1538, 0.1587, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e4709528ca717a5652d41a42a34177c02f3b3121b343d9074f159e84a244f11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7f8ed74fe1ed39a0bdb34707d1e549b4aa329cc2f3b0b62e8cd4ff9da3fb97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85e982948579414df512cc62bd5080fb35120302fb36179d445ec2052907cdcc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 2.017 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4763, -0.0139, -0.0078, 0.9988, 0.6899, 1.8137, 1.5734, -1.079, 0.3588, 0.4442, 0.2635]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1579 left_yaw=-0.001 left_pitch=-0.1133 left_roll=0.003 left_gripper=0.9988 right_x=0.3413 right_y=0.2058 right_z=0.1403 right_yaw=0.0111 right_pitch=-0.5966 right_roll=-0.2523 right_gripper=0.2635\nstate[joint_eff]: [-0.1436, -1.2786, 6.9265, 1.5897, -0.0464, -0.0269, -0.0122, -0.3487, -11.0564, 7.5966, 0.7839, 0.2076, 0.0659, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4866, -0.0139, -0.0078, 0.9988, 0.1162, 1.3403, 1.243, -1.116, 0.2001, -0.0776, 0.9959]\nstate[eef_state]: left_x=0.2821 left_y=-0.0001 left_z=0.1545 left_yaw=-0.001 left_pitch=-0.1293 left_roll=0.0033 left_gripper=0.9988 right_x=0.2961 right_y=0.0028 right_z=0.1773 right_yaw=-0.0507 right_pitch=-0.632 right_roll=-0.2753 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.3744, 6.9538, 1.7558, -0.0757, -0.0269, -0.0122, -0.1573, -5.8872, 6.6667, 1.2186, -0.1001, -0.0757, 0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 1.5681, 0.8768, -0.3317, -0.6579, -0.7391, 0.9989, 0.1196, 1.3182, 1.2121, -1.0958, 0.1967, -0.094, 0.9965]\nstate[eef_state]: left_x=0.2933 left_y=-0.23 left_z=0.087 left_yaw=-0.0125 left_pitch=-0.1726 left_roll=0.036 left_gripper=0.9989 right_x=0.2933 right_y=0.0041 right_z=0.1745 right_yaw=-0.0319 right_pitch=-0.6235 right_roll=-0.2767 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -6.8855, 8.253, 1.243, -0.569, 0.022, -0.1245, -0.0479, -5.135, 6.2564, 1.0965, 0.1538, 0.1587, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e4709528ca717a5652d41a42a34177c02f3b3121b343d9074f159e84a244f11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7f8ed74fe1ed39a0bdb34707d1e549b4aa329cc2f3b0b62e8cd4ff9da3fb97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85e982948579414df512cc62bd5080fb35120302fb36179d445ec2052907cdcc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEj5PSVf3tUKS_leX4VmPo7WRmbTAcqm_Cshy-3N4iwDEgBuV_GFx87nVluSS5IfQRl7_ygIO8oRXoMgFHiK_BAb26RxmCvW0likSAp7lkFOTPEtIa68UibuodjlsUcY1SQ4wFUCoktYuctUpG_Yb2ibKuPK6zyE3-vlnmiyiKPVVBb9BndsqGmg0Kelz8dlg6086kiZBn1DcoMEqLE64SVRWt5g1mQ1eXZ4PDL6q8v2h3FECikDNYKihvWxH_j42yU8X0SSd6YON6ChlrkyQMgZspp6ax-Et2ZGlHrlFlB9zYwu3GHlk5vbfqNCbHpkXgnueAeMDby9lLwjb04UTy0XVbtXI3WTqTbNme0okBmQSaro18WoplZmEaNkfkEfnxJvhEX4bWPlJ7CzG05rp0MamjCuJZTY9KoUhpTOoZLhWlupOM_2deDVluH4gdlhh4HlSQgqYwRB_9pzkpdmjIQjPE5t1Laxtlgmpokf9O-81b1EbKcYW5BFxdmuTvmrYxFZhPFNH6lBo9jPJwWr9Vy0mrheQ7PuhS-9ZFHn6-jsUIk_YE-NIbbk8mFZ-QOOisnM0JvjV5uMEptbFJS_t5lLdZG2iQYZjvkvo7r2W2jTzfak8VCYd5uI33qzW_KJPt8sKxRtsUMex9sTAGbPk7vp5-LOPhuVt72fxl2emq_kPUmh_xebtLhTda-KtdOzUdp48f1tBvVtayh1MiEnjfuj16GILXnooS3TUdIXdm6KxZMg1wTbb8HONVRPdSx5RrIwoRw98RuUMU7I-Nh54YYY4mjAN3XgCvgQdYjRlSHfLjyA6zdhYZYTxT4Gf-y0I45QodlcGxM2a1PSX5srGzpYLfKqk9kZUNPrwX3njhEMb4LUcG-u-fkUqlq_5qYqYeeF2F7oYQ24X5nA9gmnnvmnotgOEltrwQ8l1j8m8lUlQuQ0G1SZLZGyphFI96cTmZ-zQEK0Vy7uQsnXmqLrehtGSQAiISP0kU6D_QgKLva3Pw_YO_qohMgk8bUbWYRtAa1MkzR_iNaSux7ns7skSkPSFtbc-7zn9MQYzYN5wYW_rhJALCkeZ2MBtPQOxEY2kJrGukr5t3WFN9QTV_01YRdBkqZQtoPDcbEcybItpakEyFx6tuLnz6o1fvgvLRr7shT5sM4-SVqcnkc5uzYbg9XDcq4kQMc5oG-c9JwV_pqVdaZv-PBLcOq3cXiZGVjKCWX2fIH4XslP-7kOutbSfmNOxetzHRO-PDWdTFTAdzxEjME_IbEYBa3k2GcSSl2qeVkeIUyW10MJvjYAlkrrJR-M_HJay-6uVJ_M4MHcxMRxu4PT0byCCpmHg6LRcKi3pP5Y4q7yPJSCw_2x-Ym32vxjZBIekIUKPjYWv5Y0GDjHEi4jQVbRB_OSRZoFZuf4rrMseIXasK1stnw6JwK6duuSIQ==",
  "id": "rs_0d8411c4f30c79c3016ab448f7aafc87d0b23aadebad4e88ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_z\":0.04},\"note\":\"The black fruit is centered on the left jaw column but remains fully visible just ahead of the fingertips. I will advance about 4 cm and descend to grasp its lower-middle section.\"}",
  "call_id": "call_7MCelJGSXj9Pa8EZeXL8yRKp",
  "id": "fc_0d8411c4f30c79c3016ab448f84f5887d09ec43b97096d3298",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7MCelJGSXj9Pa8EZeXL8yRKp",
  "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]: [-0.8776, 1.7378, 0.8478, -0.1509, -0.6197, -0.6765, 0.9988, 0.1196, 1.3144, 1.1915, -1.0882, 0.1967, -0.0952, 0.9966]\nstate[eef_state]: left_x=0.3199 left_y=-0.2189 left_z=0.0353 left_yaw=0.0242 left_pitch=-0.2112 left_roll=0.0768 left_gripper=0.9988 right_x=0.2908 right_y=0.0038 right_z=0.1693 right_yaw=-0.0322 right_pitch=-0.6327 right_roll=-0.279 right_gripper=0.9966\nstate[joint_eff]: [0.212, -8.3214, 5.5316, 1.4383, -0.3443, 0.105, -0.0171, 0.0889, -5.9419, 5.9556, 1.0769, 0.1245, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0eb06a6529677bfa0478f9140ae3503ee82228d49916a337e4b958e916dc13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86a09bb92fddcc5ce168050ad553bebe1387901bc503f6cbbd7c391a80008ea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d6b065f427606fe3c65d64d37d292980ac19af293fe0fc4645f0f220ca6c5ea",
      "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 · 1.941 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4759, -0.0139, -0.0078, 0.9988, 0.3698, 1.7973, 1.8095, -1.2713, 0.2668, 0.1406, 0.2633]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.158 left_yaw=-0.001 left_pitch=-0.1129 left_roll=0.003 left_gripper=0.9988 right_x=0.3859 right_y=0.1035 right_z=0.2035 right_yaw=-0.0136 right_pitch=-0.6292 right_roll=-0.2654 right_gripper=0.2633\nstate[joint_eff]: [-0.1299, -1.1692, 6.9402, 1.6777, -0.0366, -0.0269, -0.0122, -0.212, -9.6205, 8.1573, 0.9206, 0.0366, -0.0269, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 1.5681, 0.8768, -0.3317, -0.6579, -0.7391, 0.9989, 0.1196, 1.3182, 1.2121, -1.0958, 0.1967, -0.094, 0.9965]\nstate[eef_state]: left_x=0.2933 left_y=-0.23 left_z=0.087 left_yaw=-0.0125 left_pitch=-0.1726 left_roll=0.036 left_gripper=0.9989 right_x=0.2933 right_y=0.0041 right_z=0.1745 right_yaw=-0.0319 right_pitch=-0.6235 right_roll=-0.2767 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -6.8855, 8.253, 1.243, -0.569, 0.022, -0.1245, -0.0479, -5.135, 6.2564, 1.0965, 0.1538, 0.1587, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8776, 1.7378, 0.8478, -0.1509, -0.6197, -0.6765, 0.9988, 0.1196, 1.3144, 1.1915, -1.0882, 0.1967, -0.0952, 0.9966]\nstate[eef_state]: left_x=0.3199 left_y=-0.2189 left_z=0.0353 left_yaw=0.0242 left_pitch=-0.2112 left_roll=0.0768 left_gripper=0.9988 right_x=0.2908 right_y=0.0038 right_z=0.1693 right_yaw=-0.0322 right_pitch=-0.6327 right_roll=-0.279 right_gripper=0.9966\nstate[joint_eff]: [0.212, -8.3214, 5.5316, 1.4383, -0.3443, 0.105, -0.0171, 0.0889, -5.9419, 5.9556, 1.0769, 0.1245, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0eb06a6529677bfa0478f9140ae3503ee82228d49916a337e4b958e916dc13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86a09bb92fddcc5ce168050ad553bebe1387901bc503f6cbbd7c391a80008ea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d6b065f427606fe3c65d64d37d292980ac19af293fe0fc4645f0f220ca6c5ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEj76Fe_udT-eeqX_9TMsorhG8Bi_tgFa0N1FMUpEHnrdXkn87zOwv5jYf8yyPxVBkr_IGjysbx79kIA0i5gFMIrQJu6QZ915AUDt7zWrSltOpm2P-Sv-WOtsBqZ3jOItTn4LUi6C2SiNFE5dAoR9MdrgLxTMgejRNEWPq3To6yoDqZtbhVYtx5UzhVm4B42GQQyoWyIvcB7zYzQINSXlgqa5ifSaIbKrGGLYA6NWAZuFtzEGG4c_FPo_hxsccHX98Zv8MmyBkRbdbEva7SCVAH76tBoHcnM_msUyN_ZLpx62MDWElcTUEzl0yLNX5TJfjDulN7T4ZnVkF0fW1YZ__gvcEvX-yzc9NIbyzV7cuKUAtI1IrH4U1fNIMKgjAfFlqEJlE0h8wuVjmYZhzo479a1D0l3pE0GL0GsUVhW9lRAOobQwCWBOtuA8guVOzwUmvC0EE6BGtln79EiVH91vp5R-kBGMq84a07kG9_zvPcoEfCC6LOSgGXf-dlMpiqWhoK-59Ha_wOe2jwe4g4dAkxvbtLDBooZuVeEg2qnl4Lh26WGRV73tJNYL7TJXHXS2c-iEIGYaKctDDnrGFSKmxFHpa2dkrzIsFw6TyGCDQvHi3mDVzaPVKRnSut7c81Ke9Sy6aVpmmb6qfdjvQ14UrJVpuFeLtTIAyX2reqWqDUHWasqaDITy-JMHVSGiulCh_RAOpAJlBwpt06uweuH_hdAMscYjJMQOa4SQ7ReqsxRd0M6gLYjvrkKCQ0zaGTfogETF7qxrrcwuaf82qUiAmetqVIoDeP8J9eLCfSCa9Sn3mLFysUahQaitxOoNfSJ42qjEUAhMYdUON5yzfmh8nFSRVyFDoaMum4Q-AB4rCcpxdzStVLMnvVG16ux1Nyoj8LqUm4oyIWtwxJ70XbJ33eBljaUJr2_3QDVZ0HHHYKujrmPqHkHQI1T4bNC3yd85cPOwTjFURnM-u9Yx4_lkt3cjNvYAP3gWkOb-Yxa_SoWrgdbYX0_9WBamiDr47uyvAekMgCzZE_FRGZeLs8B-wuNjN97iqzQQrM4FiCOvpDIy_3C5gRcgPAspePL96LGzWgm1APZ9-niH6lxPPvtYuecJZUGXWn_F9rlJ30J6LibcQisj8-gku3JttJT2osWj7TQ_bnoB2BGiuYus10p0RK-ZeYedMnkLQUMsOwH5fWxaJCQV3nTBv62BL1Xnxg5zpnUqb6to_rs-NH9eOZjNJkv-g==",
  "id": "rs_0d8411c4f30c79c3016ab448faf1d487d096f35f5f6248695f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The black fruit now fills the lower center of the left wrist view directly between the fingers at 3.5 cm height. I will close the gripper and inspect the settled opening.\"}",
  "call_id": "call_fyUKA29x4DoeQpwDaWHaIzWi",
  "id": "fc_0d8411c4f30c79c3016ab448fb0e4487d09b7075fbc806d6d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fyUKA29x4DoeQpwDaWHaIzWi",
  "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]: [-0.8753, 1.7561, 0.844, -0.1459, -0.6121, -0.6785, 0.495, 0.1215, 1.3033, 1.1652, -1.0729, 0.1967, -0.0978, 0.9966]\nstate[eef_state]: left_x=0.3186 left_y=-0.2178 left_z=0.0275 left_yaw=0.0258 left_pitch=-0.227 left_roll=0.085 left_gripper=0.495 right_x=0.2884 right_y=0.0041 right_z=0.1647 right_yaw=-0.0285 right_pitch=-0.6331 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -9.2513, 5.7368, 1.0672, -0.4371, -0.0073, 1.0085, -0.0615, -5.9556, 5.7094, 1.1404, 0.0952, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a9bce133911e251f417da104cf058235e3fc1f6de3002c6b1328eb6debb977",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1ece8e3f83bc06645c5cd70ae9b55844b3f1c4dfd12ffb1d6791119ac788dbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:963e0af63ae7c3b462b169315dd570537486f390a620b163996035f12545efb5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 6.058 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4866, -0.0139, -0.0078, 0.9988, 0.1162, 1.3403, 1.243, -1.116, 0.2001, -0.0776, 0.9959]\nstate[eef_state]: left_x=0.2821 left_y=-0.0001 left_z=0.1545 left_yaw=-0.001 left_pitch=-0.1293 left_roll=0.0033 left_gripper=0.9988 right_x=0.2961 right_y=0.0028 right_z=0.1773 right_yaw=-0.0507 right_pitch=-0.632 right_roll=-0.2753 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.3744, 6.9538, 1.7558, -0.0757, -0.0269, -0.0122, -0.1573, -5.8872, 6.6667, 1.2186, -0.1001, -0.0757, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8776, 1.7378, 0.8478, -0.1509, -0.6197, -0.6765, 0.9988, 0.1196, 1.3144, 1.1915, -1.0882, 0.1967, -0.0952, 0.9966]\nstate[eef_state]: left_x=0.3199 left_y=-0.2189 left_z=0.0353 left_yaw=0.0242 left_pitch=-0.2112 left_roll=0.0768 left_gripper=0.9988 right_x=0.2908 right_y=0.0038 right_z=0.1693 right_yaw=-0.0322 right_pitch=-0.6327 right_roll=-0.279 right_gripper=0.9966\nstate[joint_eff]: [0.212, -8.3214, 5.5316, 1.4383, -0.3443, 0.105, -0.0171, 0.0889, -5.9419, 5.9556, 1.0769, 0.1245, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.7561, 0.844, -0.1459, -0.6121, -0.6785, 0.495, 0.1215, 1.3033, 1.1652, -1.0729, 0.1967, -0.0978, 0.9966]\nstate[eef_state]: left_x=0.3186 left_y=-0.2178 left_z=0.0275 left_yaw=0.0258 left_pitch=-0.227 left_roll=0.085 left_gripper=0.495 right_x=0.2884 right_y=0.0041 right_z=0.1647 right_yaw=-0.0285 right_pitch=-0.6331 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -9.2513, 5.7368, 1.0672, -0.4371, -0.0073, 1.0085, -0.0615, -5.9556, 5.7094, 1.1404, 0.0952, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a9bce133911e251f417da104cf058235e3fc1f6de3002c6b1328eb6debb977",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1ece8e3f83bc06645c5cd70ae9b55844b3f1c4dfd12ffb1d6791119ac788dbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:963e0af63ae7c3b462b169315dd570537486f390a620b163996035f12545efb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEj-BasLN_CfC5H9NcOCCkjAQVyxBVtI-9RO0gmqBVHhTE7QJDBC5lQbNnZ5c3RgQNrvluMH31YvakzUQIGFs9TuEGpE33WKx1a7nXoeBW0ob7v4T9pEVgqiRv4KOxmJOzv-GTuiEGzIZSetpmYmFg9_Bvy5i2lBTV7mNDLFMVZcthR9nbIIaTTO0EJvY4iSD4BRZOcdXjoLfTEka80pZTCfa5p3kPPX_kSRVXoRcu7yVmXr9P0t-qa_k5w8jTb8ZY9r1SPru5bklfehDlAbz_GeYOP4xhM13bTVAD7Uh_e41U2yBRe4OUuocM8-M7D7pCIC7nUxuTHIndT6I0oV9gT8VPABlYsVxuTld-EWEYke0HYlptLkr-6tlqshk2Gn4f65NQk7dmQNBV_0-tynoUzHYcgQogahbPO3c26rT83aopNtBE9PeW-cavuxa-DN7ogduA75muVGPxhmowvSdlMO5Ia0qrjWtCee3JbTYqJYvyUfwR1TRUzaW4Qs_a6VUHEIiqQPDycnKZ-6c2lcSppE7VqSMdlBnaf8RN4B-lKmrUjZMAtSqBKlDmrKBLlFzUxiThjhQZQy_cca8Piu7PU8hOrg64vYZzsWhreVUKOeYbc7rDIh6tUaoT0WTqONada9Ti1q_HrTdz1XR-Y0bc_6Mta6sZoVBfQXm6A6QoOlS0W4Qw-trFIHSGwy5vdxj0RzrTcd0xnyL9Tfo43l3nl691DMLgQl8w_ABL8VPPmsGJWrOG0hIat_sqdqZPIifH9EL00Rov3lpIHBLB-VUJf2ERC2QpOmtn38-6KN3qwc0JgVqUggteC4tNmRbR2ZXrvspz2EQINSBL3ELJ2_o72dqli6DdDnzdMJmgZ1rrrij4wRXK1LL8oDvdyB1x_GrOgzE4lP8VE5lJi0UuLDiSyJ1IoojdKWm0jHhG1l8GCBL5dbmCU_ykF6U09c8Se6SltObgpdnfag1cbms9n248CPkpaIx80mikcq4xrOqdsFZFeGUTFHIaZsTnhJrin4hy7bKF8fBgaH-NMlGLr83OaaKQ7jcT0s0ktq6URRVR_DeKggNibzjluj4R0R0UxuKQN2o6StiVbGaMjiC0mwkTldklBeFLgdnJ0J24_5kBWIL417HuhZqIld5Q3E7bl88jz6LY8lzR0BjlL9o24GLkaf7aauX1bAgCfNAOLe03qHyVtzSqzn30JuEoUtIKRxJOps",
  "id": "rs_0d8411c4f30c79c3016ab448fdded087d08d7710ca6f92b295",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The left gripper settled at 0.495, about 4.7 cm wide, and the black fruit is visibly secured between the jaws. I will lift it clear of the table before transporting it.\"}",
  "call_id": "call_x3IxelZyMDuZjSAXqlaE1RaL",
  "id": "fc_0d8411c4f30c79c3016ab448fdf47087d09858ce1c3d1edc69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x3IxelZyMDuZjSAXqlaE1RaL",
  "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]: [-0.8745, 1.5841, 1.1534, -0.6422, -0.6056, -0.6815, 0.4941, 0.1226, 1.2903, 1.1336, -1.0542, 0.197, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3198 left_y=-0.2201 left_z=0.1392 left_yaw=0.027 left_pitch=-0.2406 left_roll=0.0912 left_gripper=0.4941 right_x=0.2855 right_y=0.004 right_z=0.1591 right_yaw=-0.0275 right_pitch=-0.6331 right_roll=-0.2808 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -9.265, 8.5675, 1.116, -0.4469, 0.0024, 0.4908, 0.0205, -5.7094, 6.147, 1.0672, 0.1636, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079aa05a8a219e0ae2d626fc4a52d62895585b5875ef2f940d5701211d3abf33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a3aec21c48e3c0a1d07954f796e014ded5e8943416b5036f11b210969beaf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd148b37068cc9f56a7192631ad14951183adb0b94e5837c8083728420a569cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 2.807 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 1.5681, 0.8768, -0.3317, -0.6579, -0.7391, 0.9989, 0.1196, 1.3182, 1.2121, -1.0958, 0.1967, -0.094, 0.9965]\nstate[eef_state]: left_x=0.2933 left_y=-0.23 left_z=0.087 left_yaw=-0.0125 left_pitch=-0.1726 left_roll=0.036 left_gripper=0.9989 right_x=0.2933 right_y=0.0041 right_z=0.1745 right_yaw=-0.0319 right_pitch=-0.6235 right_roll=-0.2767 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -6.8855, 8.253, 1.243, -0.569, 0.022, -0.1245, -0.0479, -5.135, 6.2564, 1.0965, 0.1538, 0.1587, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.7561, 0.844, -0.1459, -0.6121, -0.6785, 0.495, 0.1215, 1.3033, 1.1652, -1.0729, 0.1967, -0.0978, 0.9966]\nstate[eef_state]: left_x=0.3186 left_y=-0.2178 left_z=0.0275 left_yaw=0.0258 left_pitch=-0.227 left_roll=0.085 left_gripper=0.495 right_x=0.2884 right_y=0.0041 right_z=0.1647 right_yaw=-0.0285 right_pitch=-0.6331 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -9.2513, 5.7368, 1.0672, -0.4371, -0.0073, 1.0085, -0.0615, -5.9556, 5.7094, 1.1404, 0.0952, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8745, 1.5841, 1.1534, -0.6422, -0.6056, -0.6815, 0.4941, 0.1226, 1.2903, 1.1336, -1.0542, 0.197, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3198 left_y=-0.2201 left_z=0.1392 left_yaw=0.027 left_pitch=-0.2406 left_roll=0.0912 left_gripper=0.4941 right_x=0.2855 right_y=0.004 right_z=0.1591 right_yaw=-0.0275 right_pitch=-0.6331 right_roll=-0.2808 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -9.265, 8.5675, 1.116, -0.4469, 0.0024, 0.4908, 0.0205, -5.7094, 6.147, 1.0672, 0.1636, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079aa05a8a219e0ae2d626fc4a52d62895585b5875ef2f940d5701211d3abf33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a3aec21c48e3c0a1d07954f796e014ded5e8943416b5036f11b210969beaf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd148b37068cc9f56a7192631ad14951183adb0b94e5837c8083728420a569cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEkFvMw4BatSFwGGLVfJgrxzayBhUkTAT1XYPTbOAqwYzqvpxXDosMN82LNb8BsEsZd2Iy1u84s5iaN5JTA-PzioiXmB3gZJtWpEVsRO9TBmGGeWud6pT-d8Cyz04ZTicVtIBg-R1Yp6fMZYsL775G0w9Sa_32MpNoZ5E8ZZ-SukDG7MnAwPsA_tanvkO2blcDHgAuomE4HlsWHAfT6KKIsFRRybmLQ2tb-jYvxc8BCHvrgrwfsZQC5lKg6zQ5F_DLcZZ24-dIuTzOdC0IDyBtWCQtO1PEcojIz1UHgw6qf3Zgruo4EBXw9hAoObjYOzqshiumACKZch3VPQDd2vaN9W2APP0zt7BRrfeedawaOkKtGC_1D4Ts9Z_oitpFSg01z0_skMCrpuAKWwoJcBokNwT7KwJjDHaMiERP4ew3tFrd6oTeer738Plz0iCv4N5tdolWZXrfvOMPmZSBDt0Q2TyRunWb_0tceq48TM6AXr8dIFytm9W2hum7MeCa0t1BvY2Fyzj2IrM4blfEwbW4ur12GwIjvQGXaRF7MFuk6UOLeNsBITUji59QgcMLEzg1eXIUC_XyHc-qn2lpaM-jQFMwPz0hf99Wfuf8N1XTA6VZvt-mDBN400i3ZJYHtftie-gDdzLXHhd7oXOboozAmFvXZmI6pmg2tDnU_p1AkZUuFLFpg5CeCYXM9GuZ6ZE-2Oyr2GS1bdHLD0UzBK4aQzn8gK-F3hA1Z_uGzl1R4aaMAgICH-wPSTTDhD4_EgolXGKtWG-s_1XnjAlGMBZb7bN8mUEj3bI7QKetM8_stNF6dzRKzSgqIgWcXS_F9Er-NhIxXgC6th286U0Pnkal2jBQahJSlZn8uF_t_6BLMqKOWudy5CWb-xvJIF9rCS6VXSXUOIXxZhpm7UyIAFQTSaUuOm5KqU16mo71dmijsCitf0MGEgGKJkwVeSUZqVmKsnk94Rufz5MBhfns9zxD8v2oARJO4VXMq1rKEkmnkGiCfY9Z68wzf2xfSKLcKrRU0d1mYO7bIHx9tRB06pAYQmEu4ll6-o2sTdlwWLW6nodJgPmHzEHwsS9T8qnrJ9IbalixOdI-z-ic-DULGlKuMrjJXFmkzPnOqvZvQek_kSLM65R7VeFZ0_vjfX-kjsrNveogvU3_louNfkwAOXLufQR3P9uTn2KYPaNCHpoRUk_mhYj4hDo4IJKcE7ViugX9DBP829kjwovhqqalF9oJNrC6BayV8aolo5XGClZQMEerSol5I6LG4eXFlQh6RCvqxWQK5uyRbQr6uwVZ0NJTTzmwPZS4UO93ZXMKJuRq6sA5aNy61KodaBB8PRm6MDNDCMHm27fC7i_n0B8rVTvysKMW2O5OeV3Xcb_TpU37LSG7HN5EcQxsefROvS9CxIFeL-IP8-KZZsDcxnyNvj4_yt0oGyvVDBeicOUv9qnFHOmks1cF4irWiJs4mwNDODv178ZgUW6EZmsE0wLpQ5y0Ijl5Rgia6EMTefyqJIW-jgmsv0yZCjiPTY5QP9ZEUDajqpoKkJZ9GTJEQbnErq9otXdmTcQk8k5giG4SUJjPic3uUSX749JKSi14o7sjWpZ7x9GL367Uhks3CySHTsUWn3oq90gs7sG8Oq2mGR-qDxC0uTwXcUEK916egEZrdJ6QgF-CR8RgwI1mb-DB1ZSLoLyCrzFDgdKzIszmP7qIcwRJi5wuFWQOIHnlctt4I47MHR9ouKbjzLS_-w7-exipJ0ynuay-XRDPc9YMhuKjX87HEOlXs0lTL5b0hDf_qnjupyWxuhhzueX0AwrLlF86b7j__u9yixN-ChLdzfRs26wpvVu7T5h4lfNBA8bUYaFarcG-ecGy8mtmhtuxK573xDmIP5HBFd0-7xDWCXzgLc8PwNYjjY3BNlo-gG1ecY5cbzGCvBO5hhtLJF7euatZz-vuPKmvbxXw6r0xj2Npo1l7PR8C801X5sprVBFfPDb2ReDaIsf35p2K7NiXdu5jmeJLzEbX2CGTKmm3sX1ppskYH6c5XYWQULMffZ7PUWp8LFX3Ne0-uWqRKfr24ZpDzP_Cu0Imaf7G91hswvBhnFKkfb5IWV0lG0c9vW5HFWSl3_kWoXE2Scc2ymLygH6bOkKphGSRSXXq1bNNy3TwzAZfQ9EPmZMwn7aUAhC8EH0uZ54GI35SYeBsaP2VG7STATCLRrtq5pPjSXh61Mb5ShqlUG7OOrXGOaSKefXmWZVnrhJ64o0GylYvB2xrsNccMFHcQ4LuTXCvK4FOwyDwg-n308nXU1_2ZbjJwPs3gn_gU8TFn8d619IBKvK3u3BrcVEm-6yRFSZKxUxjUqrmzNReNFlvWxxfXwVDcrJ2q153OGzebfQOIyNPpk5tksWgv1lQaJAxzTDNgJz0gUjyUOsDXspcPzJbixBB8hzkgFnAylwfm6_dy9Wf4vvWxEJ77VsxThllDQA82QCiuxetpHFtVbGHYy3-LONLD4Cs8svnX9b_iLFEfYGONd2hASqOF5KPZcdj3f0owvs-2lqlg0JqBopz96sBMKf0W2L478ncI5E2o_bPRuZVEpcBoEJ9Fq-sjuvwPEdPpBZ_0FNXbbFebJF7r9JZoEGn0E5DvRgO1tRnGbFD35OaTa4TpPvbgTUAyQMObIxU1PHqL04Ox6kvazIxe46JN_Op83lpcp9A-216WMJm6bhXFiZ6mo2Q-m82ThrSGjZQmW_fqwOmdrG2ssvvCJ2t8R4a4mgSHk2FmoUjtvNs-5fAgfYn067GbdhS9auv_TzHfVjkEUvbRXAaslgQN-yTu16AiIZXWScst124On55Co6GHkP9dI7Qw4rOUBwhMqtuRySnDD-hVaB2yDVN3iahrbeK-S-khEsNissyC4c2xnDupY5z0mZus9FkJCtfVvhLF0AinxQD9YVXllKFQgqnBwWk8osAyU-tMgnRAGhQuRa1nTN8OUp0j1vHaFuAm5r_mPt5cJfnoMaZFQbOiCvngBZqD0eXSXkDz0L2QRuwrUQiC9r-aEp4pFJEXq-nXR1aUHKIX5YVjNPYUR4I387roi6Z9SpKiE2Nhq",
  "id": "rs_0d8411c4f30c79c3016ab4490127b487d0b0aff4a78372508a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.32,\"left_z\":0.05},\"note\":\"The black fruit lifted securely, but the blue bowl lies beyond the left arm's cross-table y bound. I will set the fruit down near the center line at a right-arm-reachable handoff spot, then regrasp it with the right arm.\"}",
  "call_id": "call_Cja6A3gyLfXWm2wPd5ViBgR3",
  "id": "fc_0d8411c4f30c79c3016ab4490441ec87d0a992543cfdb58630",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cja6A3gyLfXWm2wPd5ViBgR3",
  "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]: [-1.0286, 1.9881, 1.2854, -0.5312, -0.6479, -0.8543, 0.4936, 0.1234, 1.277, 1.1038, -1.0367, 0.1967, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3123 left_y=-0.3049 left_z=0.0419 left_yaw=0.0286 left_pitch=-0.2886 left_roll=0.1317 left_gripper=0.4936 right_x=0.2827 right_y=0.0039 right_z=0.1541 right_yaw=-0.0262 right_pitch=-0.632 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -10.4821, 8.1162, 1.0525, -0.6276, 0.0562, 0.7448, -0.1162, -5.5863, 6.2564, 1.0769, 0.1294, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed13fc443036a841e80d4551aea42a04cf227ccb28d77d1dfdef549c5b658601",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e44a1bddb9c17623584063f6169f855de5ca0b35a7538d5f164b1af1f3f8eab6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0cf9af0978b56c016d6863c5f70b8ba2095fbc6e4ef5faedea6ca2934942bd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 4.725 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8776, 1.7378, 0.8478, -0.1509, -0.6197, -0.6765, 0.9988, 0.1196, 1.3144, 1.1915, -1.0882, 0.1967, -0.0952, 0.9966]\nstate[eef_state]: left_x=0.3199 left_y=-0.2189 left_z=0.0353 left_yaw=0.0242 left_pitch=-0.2112 left_roll=0.0768 left_gripper=0.9988 right_x=0.2908 right_y=0.0038 right_z=0.1693 right_yaw=-0.0322 right_pitch=-0.6327 right_roll=-0.279 right_gripper=0.9966\nstate[joint_eff]: [0.212, -8.3214, 5.5316, 1.4383, -0.3443, 0.105, -0.0171, 0.0889, -5.9419, 5.9556, 1.0769, 0.1245, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8745, 1.5841, 1.1534, -0.6422, -0.6056, -0.6815, 0.4941, 0.1226, 1.2903, 1.1336, -1.0542, 0.197, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3198 left_y=-0.2201 left_z=0.1392 left_yaw=0.027 left_pitch=-0.2406 left_roll=0.0912 left_gripper=0.4941 right_x=0.2855 right_y=0.004 right_z=0.1591 right_yaw=-0.0275 right_pitch=-0.6331 right_roll=-0.2808 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -9.265, 8.5675, 1.116, -0.4469, 0.0024, 0.4908, 0.0205, -5.7094, 6.147, 1.0672, 0.1636, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0286, 1.9881, 1.2854, -0.5312, -0.6479, -0.8543, 0.4936, 0.1234, 1.277, 1.1038, -1.0367, 0.1967, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3123 left_y=-0.3049 left_z=0.0419 left_yaw=0.0286 left_pitch=-0.2886 left_roll=0.1317 left_gripper=0.4936 right_x=0.2827 right_y=0.0039 right_z=0.1541 right_yaw=-0.0262 right_pitch=-0.632 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -10.4821, 8.1162, 1.0525, -0.6276, 0.0562, 0.7448, -0.1162, -5.5863, 6.2564, 1.0769, 0.1294, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed13fc443036a841e80d4551aea42a04cf227ccb28d77d1dfdef549c5b658601",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e44a1bddb9c17623584063f6169f855de5ca0b35a7538d5f164b1af1f3f8eab6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0cf9af0978b56c016d6863c5f70b8ba2095fbc6e4ef5faedea6ca2934942bd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkJUlfN52zPzLO0wUOW1qmaK-UiLLf-1bA2lpMRZRWOSZ2nCNzY-hdxrJk4272st1QZZ9lxM1h3uZI0sjYgTZ_AF81q4zjjoeORln_XenTGOtVY5UZlBOljE81fRrhzLF87krXdnDoExXOJzPmjDZAyK_1Q0XB9DsD_MNpxJQ4sAcVyWNrCO29TNhaD85SL6noDDfe1RQcrTvo9FTabgwFtWO-430Bythl_kJxJLADVaQABhSn2erPFzUwk--g41SUoDxIvL3FU9xe6gfVzemZnjcIzoPtKsPj0JM1Vy2Xds34vh2-aXDvNA0sWJwd76y-4wx15V9HZFbkwHKrI6FsKc8VsGfNSabdgABRReTjf6L5tZ6TeeBp-zeAnE8P2cwTBvZzKHDelISknmFB6LDeGhPTIQw4kGLW9hb9noOdW5I7vUBmNiTscBMz3OZVNFoR6izI2U4KnJ7eGNhKqXUOtxP-p9pC0fCPbaD0agIKidPxHcLcSQbzFzmN7CXBIP_sX2C4JYpbwzSjBxCZ8_OFeKv9lO_ApvBolzcO2rzxvMvuQ1FdCCGtnGYKk0xZNjtn-yzH7qNY5ddpbsGM3ZdbyUqeRrDy7_5KQESo27rqg06AbIXCpkhF4E59eUxxkyU0r8Zx25de_1jrtREPqEihtMJpKok0FLm6Bs0r5rK8bRFuOUXIV_qIabt99yXwHYz92aZJLbsUnpXQD7S5UtYzBADvDFFM3EAy44fKv4jcWfHIPgZTRcBygXzgDXTzVF3Un2nxiT0QxGIlNBRyAdU17mVcuPkl65phyYleKARN8zzqwxlxJX6q71C-RhUkpjEid1PVgsG3zxWX-mJiv_dpY-sexluNC3DSlfWIyI4--Jqe0jhWn9KdVt4gmleEbVE07xrzOJVQZjESlBUcYylMHSglqXETLo1I6oKVIuIB6Y_GRXX9zFVU78Vvhuod3RlvDvNZoY--WAjuYQGnxud8TaksXrpUWJnxN-JrrcRuh-WXmNpqCgLZ7XwBJeps1DB3yPafmjLUjyhCqJmTiswS-pIQbuDeHN2dTMFUvOCFvIb8i3ooPXQsUbM9oH4EV3UheHIaDiTT7HxH3-VlPi_XCPT9s94gIU-tJfCgKPfrTVUOORKFvsjuRdFCfX-E5mubUwcVHoINFyih0dA4rU6-anYwapKAM7rEQaD00Sm4PnAAmZYEwtnyYoN4u7SQnVK8nrc9BujcmDBCAmU9ZHKejaU2XEV34i3cRfPgSAlYsXgs=",
  "id": "rs_0d8411c4f30c79c3016ab4490839c087d093da5a10a3663b7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The left arm reached the handoff spot at table height with the black fruit still secured. I will open to leave it upright on the tabletop for the right arm.\"}",
  "call_id": "call_n7SszUUCHQWs1WagsYU6muSq",
  "id": "fc_0d8411c4f30c79c3016ab449085bd087d0b1a1600d6878fd76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n7SszUUCHQWs1WagsYU6muSq",
  "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]: [-1.0298, 2.014, 1.2903, -0.5346, -0.6426, -0.8619, 0.9957, 0.1253, 1.2648, 1.0748, -1.0203, 0.1967, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3109 left_y=-0.3049 left_z=0.0321 left_yaw=0.0358 left_pitch=-0.3044 left_roll=0.1462 left_gripper=0.9957 right_x=0.2798 right_y=0.0041 right_z=0.1489 right_yaw=-0.0244 right_pitch=-0.6324 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -12.3966, 5.2855, 0.8523, -0.4518, 0.022, -0.1343, -0.212, -5.4906, 6.147, 1.0965, 0.1245, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:401141fdcdb5f26b3d59100280ca7dfab5d00e081a984333c67e56a514e8e6e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e938533dc16b9151a4a882e211549cd42367d838a663a66549eab44abb1ad173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51492a23834b8f57e454f87be82cf049b346362eb38906ade29d21e4562c30fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 3.936 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.7561, 0.844, -0.1459, -0.6121, -0.6785, 0.495, 0.1215, 1.3033, 1.1652, -1.0729, 0.1967, -0.0978, 0.9966]\nstate[eef_state]: left_x=0.3186 left_y=-0.2178 left_z=0.0275 left_yaw=0.0258 left_pitch=-0.227 left_roll=0.085 left_gripper=0.495 right_x=0.2884 right_y=0.0041 right_z=0.1647 right_yaw=-0.0285 right_pitch=-0.6331 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -9.2513, 5.7368, 1.0672, -0.4371, -0.0073, 1.0085, -0.0615, -5.9556, 5.7094, 1.1404, 0.0952, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0286, 1.9881, 1.2854, -0.5312, -0.6479, -0.8543, 0.4936, 0.1234, 1.277, 1.1038, -1.0367, 0.1967, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3123 left_y=-0.3049 left_z=0.0419 left_yaw=0.0286 left_pitch=-0.2886 left_roll=0.1317 left_gripper=0.4936 right_x=0.2827 right_y=0.0039 right_z=0.1541 right_yaw=-0.0262 right_pitch=-0.632 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -10.4821, 8.1162, 1.0525, -0.6276, 0.0562, 0.7448, -0.1162, -5.5863, 6.2564, 1.0769, 0.1294, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0298, 2.014, 1.2903, -0.5346, -0.6426, -0.8619, 0.9957, 0.1253, 1.2648, 1.0748, -1.0203, 0.1967, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3109 left_y=-0.3049 left_z=0.0321 left_yaw=0.0358 left_pitch=-0.3044 left_roll=0.1462 left_gripper=0.9957 right_x=0.2798 right_y=0.0041 right_z=0.1489 right_yaw=-0.0244 right_pitch=-0.6324 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -12.3966, 5.2855, 0.8523, -0.4518, 0.022, -0.1343, -0.212, -5.4906, 6.147, 1.0965, 0.1245, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:401141fdcdb5f26b3d59100280ca7dfab5d00e081a984333c67e56a514e8e6e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e938533dc16b9151a4a882e211549cd42367d838a663a66549eab44abb1ad173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51492a23834b8f57e454f87be82cf049b346362eb38906ade29d21e4562c30fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEkOacIHn0eeISkYPLYK9E8WyryI_9lxJHYVxMJVVBjPDEWMV13CKfgAmnOzHmIE2x96viy8fKLVS-qh1AbZSvjslfx4DMOXKPRk_VnUD3sKrDvKKi6Ob_9hFR4jsHgRg1SnX5yBjV-KotFfgmLX4pyMpsMX5ADdTFc_ENhQj9UKxh9LHU0FrsHjEbez88KRgMzg2Ei58oI7wkhSQyrHFGAUjffkQ7prQpI2TrbtAFvpc807L-4EOwGwrdSXDbmD8A1cbVoB1Ynwd-0tLTKFMkMTaYu8Kj3tjRuqg865mTIvqfsj1opNa-Tgucwm3hW7S4Evf_uMkUCEfIM9PvHE0q4m2MtsVvGefO8gdTeLjA4uyIxQ_dou5pdgb8CPrSTYaZkrmR4Y7ksX8-s6Q3jZicQ1aerCrOmuQ6ChkxO1m7oxRoathWUAA5Ga1kwfFca206nuY9gMGyoBCPi3B4R1cnxdpFYQpCUvRdgH4RNjOmGloJ5BQQTqnpcizqPI5toZ1Tw8ZBj0MfCDQNGaRxWXA6qJA5y4-CzJ1TRnCQPooCKmx_vh6aipMaveKUEpKr-mDQOD6ln_NpozVIYWkKtTB7EbIlOVDwMQ5RQIBzmu4cI5udsLmFbUeph9couYW54Js149r69y_6twui01V5xsC1OW5gIvJHinsb0h5w7PE_FpHjdGCq4pyLMXRK94FQlwkUz5jKf6TBsi1k2DIVbOL50M_jZSfbfLLpg0sMBesY71UoRO0mN2MmdBWesGn1TpLvVaAbvo1H-M2fdr5cdbReqjYN5TJp_do1LFZH4tH6Vo_lMPmcfUML6Aomk-Eo_lvybltoACPOf-0kh9L3Y2p4FGCXjs7gAMKcale8gLW0BLK3XPF2m-mQ_OfP76CRqUxZVrkIXQt588FBB7zjq0JnvVBuEe-Xqv-7gqo3N5ZJnbPc56YhKlXb6GRmZH8-9K33UUkSB8aYlkp3ZjGc_MjWtKVal3zR3ZI6qaCUNdUPqEdR6K2G2zQxTJe9h2Yz7vbJ47NoE3RKMEM_5HpCIoWNMoNVjxteMRHDxvgSTqp7SkN7JdR5kgKVvsImvj5seS5_8jmXG4H2XUuMuiZ-8vZscLQWh9O8PfZgHURjiU1sPAkZwmiudcisMX1d6RfP-5lUk5GuQ5YIcTFYLz6rY4_uuWbkiBivet-7KmU5GErhqDG0LtjrHSLSqPsSeFy8OQy9JYytxd0Fnqeog40ETnf5XStJK0mRiwzr5kaVZhpWTK-as6jOpsDXdRp2OBB060itpIzF2rEaBEX61vlwNyoYkRtbQ32L9Zw-a5Ez_GB0HvezGG0EInWE9T7WE5dM3_YdBNsPPJeA0vhuj3Vs_4jnN4kAgpZGQeEXUhI6pH975SpyTgZW_b43FNb0OVICPdWI1BwXV1pVyZzh59VEjXmQc6qG93g__sABLZn27I0DnXmuYaaAbX8YvuZIySFEIUe8_KERunzPTwxTnaL81wDqkugV6e3sC6taD4xzTJmLZqqd8=",
  "id": "rs_0d8411c4f30c79c3016ab4490d00cc87d086ee643f7f4b072f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.183,\"left_gripper\":1},\"note\":\"The black fruit is standing at the handoff spot after release. I will park the left arm at home to clear the center and expose the fruit for the right-arm pickup.\"}",
  "call_id": "call_0KVuTefr4NPgRXQATQiKpkOc",
  "id": "fc_0d8411c4f30c79c3016ab4490d938c87d0a0f69ad5d8fe47f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0KVuTefr4NPgRXQATQiKpkOc",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.1402, 1.0706, 0.8909, -0.7563, -0.2146, -0.0593, 0.9981, 0.1284, 1.2526, 1.0473, -1.0004, 0.1963, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.1636 left_yaw=0.0905 left_pitch=-0.3441 left_roll=0.1464 left_gripper=0.9981 right_x=0.278 right_y=0.0048 right_z=0.1444 right_yaw=-0.0204 right_pitch=-0.628 right_roll=-0.2789 right_gripper=0.9965\nstate[joint_eff]: [0.212, -4.3282, 9.935, 1.4872, -0.0317, 0.188, -0.2076, -0.0342, -5.2991, 5.9692, 1.1111, 0.1294, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d78573f18e97c4892bfd837ee16a5becbf734e1e66b6362ebf6b57ecd96bebf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a014bb7121c304c72e36c832d52941ab26f258c0424a0ed96ca4f4e65382365",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d9d2ee88abff64daf3175ad45e090431284d17b1920afc91a1b1556df4a0e5",
      "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 31 attempt 0 · /responses · status 200 · 3.178 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8745, 1.5841, 1.1534, -0.6422, -0.6056, -0.6815, 0.4941, 0.1226, 1.2903, 1.1336, -1.0542, 0.197, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3198 left_y=-0.2201 left_z=0.1392 left_yaw=0.027 left_pitch=-0.2406 left_roll=0.0912 left_gripper=0.4941 right_x=0.2855 right_y=0.004 right_z=0.1591 right_yaw=-0.0275 right_pitch=-0.6331 right_roll=-0.2808 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -9.265, 8.5675, 1.116, -0.4469, 0.0024, 0.4908, 0.0205, -5.7094, 6.147, 1.0672, 0.1636, -0.0611, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0298, 2.014, 1.2903, -0.5346, -0.6426, -0.8619, 0.9957, 0.1253, 1.2648, 1.0748, -1.0203, 0.1967, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3109 left_y=-0.3049 left_z=0.0321 left_yaw=0.0358 left_pitch=-0.3044 left_roll=0.1462 left_gripper=0.9957 right_x=0.2798 right_y=0.0041 right_z=0.1489 right_yaw=-0.0244 right_pitch=-0.6324 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -12.3966, 5.2855, 0.8523, -0.4518, 0.022, -0.1343, -0.212, -5.4906, 6.147, 1.0965, 0.1245, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1402, 1.0706, 0.8909, -0.7563, -0.2146, -0.0593, 0.9981, 0.1284, 1.2526, 1.0473, -1.0004, 0.1963, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.1636 left_yaw=0.0905 left_pitch=-0.3441 left_roll=0.1464 left_gripper=0.9981 right_x=0.278 right_y=0.0048 right_z=0.1444 right_yaw=-0.0204 right_pitch=-0.628 right_roll=-0.2789 right_gripper=0.9965\nstate[joint_eff]: [0.212, -4.3282, 9.935, 1.4872, -0.0317, 0.188, -0.2076, -0.0342, -5.2991, 5.9692, 1.1111, 0.1294, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d78573f18e97c4892bfd837ee16a5becbf734e1e66b6362ebf6b57ecd96bebf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a014bb7121c304c72e36c832d52941ab26f258c0424a0ed96ca4f4e65382365",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d9d2ee88abff64daf3175ad45e090431284d17b1920afc91a1b1556df4a0e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkV_pwmjyVjJ-2AsZwI0Hl6f-4QHGAtoGW5I89GjScPMSPW7JhnGUUSgiin3CJAFXq7ZCs6sv1MLKP1k0Vg9YAf7xykt_RCRSmGQ2DCUzxevtsfCeTV0Urhy9KUazzUaF4np5neU0xyVwIKtz2xBXVeVaRPurUPHvNHcgr32Nty2tjr8P5_a6QTejIfYxNQ2rB3IAkAi-WtVXRRHX89DTB9uii5cuOBMWA98NlMTHYDS8RqbXNXYG-ELXmHrLi_3rDngon2RjgQDPLulc3Su6xP0UwCFF0lOSnjwTG8dRMQHYPXa6_SvQtO3qPACtrrMQFuDFuYLlrVzB6E-T3_YMRZJ1ZddWRK1e2OJxrgaLODGy9Zb0N-Nq0j-7OFe2CpBLoCC-f5OOtg3vG5mPOE74ykjgQ_6w8U-vRAhf_esXzW3GgGeiSwq8kPlagDnQruk8ifjvgUkMd555TnYyC3qU6YDXCA17lrOdN4M5r27jAw_SqSVkoIVds30pg04lnNTZXMs-KRA0kz6LshwzyO585U8KinsdOBq6vnCeTD48otT10g-0VyXY9tfMGjVI1od2R55b4GDuMyCffE1H56WyyG2hBVlYr7lk6EzClp5ZpixtQ3klkNbBa01FwSe87x9tivHIYFdB_qfmSKC64KPnfGBWVQpb8-gwT0aaG5Znm2u4rFB5q0lKFCiUIgUrcliCOOs5UQ5cEWc9DCofhM6tO8e2IazEjPG89B5IoTrZlZ9e1kwBaILse8U1Itz354Zjhh6PWaz3HBeJHe1bqt4jgsLVHUFaFxbtwnXFm4Ov7usVhNDUhGIcpYJPaHH-ftPBBbeic5C3AVrY4PDeGY3lJs-4XoIcUT4WVcYdmMDuKfbb7ALMlhkbp1HXUdyMYxUPNoqYAA5eI29sv10LpAxxjzP6jdo4HV_o9Qn2GHoMj7xPD-rMd_YVtoqRqQLZyOC5oa1HPuX-WJNX3yupDO9hykxqxSJ2tqAuH5noTd6bY-j6XGKCQY4mFeU4DxfZ_0d4CuYYcTUbdBQDO1DTm1XuS2GmpPNwdt92s33EKWSVZ6Nbki8olcy7pNrP83zCfr7UGMHLQPVtKOxZy6NHxT79WWd-ka0gNiGUUerTpIZuuTWAQ6HYZC_aUY24CVpktyaJDB-QWiWSjcKIIso5OrlRqG65ttU8Rm3kaYj9a4T2dcp907TaiZluGQYVZi9LiNRBb2lL9cBKQvBco5HxUYC4UmPRlubJWpyWweGdxJybd_7_KGwk4IpEthiiiXAao6Q5wxZWUdkX3Bccr2ds950IQHulnJzXPOpN4y3_tzUuYKFe_kCbKfpJkvUaIoSIpHGy3PHZ-_BDfs2QPZ7c0JQ_f8qqDge67EtU4iVlZE8nqTniLaeln2IyOOdzDbJ2ekzSCbNtnUxJE2LZTlkpzLQvOJ_w==",
  "id": "rs_0d8411c4f30c79c3016ab44912ba3887d0b3c3d70a28caa884",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.34,\"right_z\":0.1,\"right_gripper\":1,\"right_yaw\":0},\"note\":\"With the left arm clear, the black fruit is visible upright at the center handoff point. Using the known 0.65 m base offset, I will move the right gripper to x≈0.31, y≈0.34 above it.\"}",
  "call_id": "call_vYQAZzhLiP6TzqJlecm8mcog",
  "id": "fc_0d8411c4f30c79c3016ab449139a8487d0937c9d5a6d4bfc91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vYQAZzhLiP6TzqJlecm8mcog",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.139, 1.0721, 0.8944, -0.7738, -0.2119, -0.0528, 0.998, 0.976, 2.1838, 1.9385, -1.2118, 0.408, 0.7101, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0007 left_z=0.162 left_yaw=0.0869 left_pitch=-0.3603 left_roll=0.1522 left_gripper=0.998 right_x=0.3074 right_y=0.3357 right_z=0.0961 right_yaw=0.0253 right_pitch=-0.6199 right_roll=-0.2883 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -2.865, 6.4615, 1.4579, -0.1245, -0.0611, -0.0171, 0.3214, -11.7675, 7.159, 0.2369, 0.3297, 0.2955, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdb65a8151f42f06770fbcbd38f6b8a7c91da1a06dd05b96b1f852a773c581cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175498fbd824e99b6c9da3bf561649f9a0042b31e656aa7f6eaea9855ae11a20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f106cff6fe0d3b521096ce87788555f31ecdc8f00d1c7129ca30549a43b476",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 1.868 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0286, 1.9881, 1.2854, -0.5312, -0.6479, -0.8543, 0.4936, 0.1234, 1.277, 1.1038, -1.0367, 0.1967, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3123 left_y=-0.3049 left_z=0.0419 left_yaw=0.0286 left_pitch=-0.2886 left_roll=0.1317 left_gripper=0.4936 right_x=0.2827 right_y=0.0039 right_z=0.1541 right_yaw=-0.0262 right_pitch=-0.632 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -10.4821, 8.1162, 1.0525, -0.6276, 0.0562, 0.7448, -0.1162, -5.5863, 6.2564, 1.0769, 0.1294, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1402, 1.0706, 0.8909, -0.7563, -0.2146, -0.0593, 0.9981, 0.1284, 1.2526, 1.0473, -1.0004, 0.1963, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.1636 left_yaw=0.0905 left_pitch=-0.3441 left_roll=0.1464 left_gripper=0.9981 right_x=0.278 right_y=0.0048 right_z=0.1444 right_yaw=-0.0204 right_pitch=-0.628 right_roll=-0.2789 right_gripper=0.9965\nstate[joint_eff]: [0.212, -4.3282, 9.935, 1.4872, -0.0317, 0.188, -0.2076, -0.0342, -5.2991, 5.9692, 1.1111, 0.1294, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.139, 1.0721, 0.8944, -0.7738, -0.2119, -0.0528, 0.998, 0.976, 2.1838, 1.9385, -1.2118, 0.408, 0.7101, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0007 left_z=0.162 left_yaw=0.0869 left_pitch=-0.3603 left_roll=0.1522 left_gripper=0.998 right_x=0.3074 right_y=0.3357 right_z=0.0961 right_yaw=0.0253 right_pitch=-0.6199 right_roll=-0.2883 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -2.865, 6.4615, 1.4579, -0.1245, -0.0611, -0.0171, 0.3214, -11.7675, 7.159, 0.2369, 0.3297, 0.2955, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdb65a8151f42f06770fbcbd38f6b8a7c91da1a06dd05b96b1f852a773c581cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175498fbd824e99b6c9da3bf561649f9a0042b31e656aa7f6eaea9855ae11a20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f106cff6fe0d3b521096ce87788555f31ecdc8f00d1c7129ca30549a43b476",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEkakGDgCVGSuK4C9OSPI3aI9xP_yAHSgP-pwaQKKSjggo0RBhkohUieHbovl98fqiUw4sAONFnhppG3KEVGQI_856KW4qbzrmusXl8pBUVy2FhkJEwh_7SvyD2XHdWc0sHaj_Dwb88qJYqIJK-5CDGjKR7lfEHzqtnBVjwiqA9vM_blEuahJUtz0cDudrd16-r32as33JXrxPyWtWoYzg5gqEY7lOtwdPyrh-9H3sDUqpfKKzNaFCwrMzrnK5_ZoI32HqlJqeR7hKFEI8TuaC0fY6I5WC2iQ-k-CPwV4p_8vJYll3QEM8zr95Dq2e9rHJ5pDFptsuOdZTNfeqz6VRa-iPhLLBRq-pPsj93_myY-OAx2R9vtBXRX-QNliO8U386aqkKWA1aIfxaJXW5e9gelwgsN7nJDdcoUZpQjip4qb8KlhMnL3nPamw6F88khmdTdsr_3W9ejW41QIIv6OhNAM_8KQAW6J-CynI_Y3BiWo2ProskPjZilKVQAUzCC9GRv-2OEt97Vc-RXFENvAaSHdyEKBb0AV-g4A66x-7JIBPVllc6NR8yraKADvFbQcw11PPQ5uitsP59k4yjgayxY1jKdfPOVqhWXcrrqw48j1vHpeMoZdyXEoao-iivltHZdjA6BRNV2mbOkeGPvDgvmLs40u8RGXvEkmanLT8H2koznxBpbRmXw8pdiyrdmd5IdQ4rsAxAwoyH01A8mU4477sNEcrHRz-okEPlF4D8X7suwamJirUt0zENeIiQus-3EJeQ8LmaHmkMctHneMpLC_ZUp9DLuQEqNTyrdhg06xM6sQU0yZJntoiWx48IRy_LQW9a2lGhYB8FRnQYlcnRY-E0oMznJo_dt5Am8zmv8e1vgCyUfhFtLSH2xve4W_rYDZufU2SzMXDpb3MzftDGcaEQ2BA61enS8qHhKi3OR-vZjroxIQSKpkUgOfKch5gAppzg7qU9xnO8P6VWjKVWYraLeq2sCNOPp_lW69fD9LtX_c_kWvMeACQkvCQE0PD2dDbX2R9lW1foTP5bOf2DSVEi5ga33_yXXMPwb437pr1jmjemB9MZDbIZflqvmPyHTwskAikH1FhEEsCNXGNDDeOVI_4AdLxoHTGXMbxmHCPqGg9ggEjE1CLjpdWov70ry_0zsJnJP5zewHzaUAcy9gdbvpgj8vFIdU5qAZDYi8MpJkD8ZoGWKMYSEeZE9ivSXN66siqZd_geJEKAQqDxvP6nYgFcHDsEtizAAS3HlljKCC6W6xqEdB42j4hv245tCpujpvVpHepjmP4UxJsJoA8PZQjEQ-tikFdNP8WZn-PiFISnQqyXW-ye2dv49CUX20Km0hcvxEofEZ-H2oaQZ8w2Th7j41pXFvjWnSRy4uwn--ndeiVAmKj-ShzLj-uvus_9FgXhHkeU-8oKUMXBZSJ3mrJqB2GGDoL_hnnrey2s=",
  "id": "rs_0d8411c4f30c79c3016ab4491906a887d0882b992605b380fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.37,\"right_z\":0.04},\"note\":\"The right wrist view shows the black fruit near fingertip depth but about 3 cm left of the jaw column; the yellow fruit is separately visible to the right. I will shift left and descend onto the black fruit.\"}",
  "call_id": "call_Qygswxs0wYWkpACy77zylzYC",
  "id": "fc_0d8411c4f30c79c3016ab4491a55dc87d09b8dcc1c5773e7f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qygswxs0wYWkpACy77zylzYC",
  "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]: [-0.1398, 1.0733, 0.8944, -0.7753, -0.2119, -0.0528, 0.998, 0.9951, 2.3363, 1.9789, -1.1362, 0.4149, 0.7231, 0.9986]\nstate[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1615 left_yaw=0.0864 left_pitch=-0.3629 left_roll=0.1528 left_gripper=0.998 right_x=0.3132 right_y=0.3584 right_z=0.042 right_yaw=0.0108 right_pitch=-0.633 right_roll=-0.3242 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -2.988, 6.653, 1.3211, -0.1099, -0.0659, -0.0171, 0.6085, -13.5179, 7.9385, 0.3346, 0.2515, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7f304899580d6833c618d9efa1d8ca137c86c4f0f3c7e0bcee52ef411609b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f6fdffaa35820bd76d61bb2c2ec7224b2d6cb30fcc8d1313ced25f07fbe030",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc707b3635e71d42a81c2dd59374ab7e62a378af0f2d11af340f3a16f670496d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 2.565 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0298, 2.014, 1.2903, -0.5346, -0.6426, -0.8619, 0.9957, 0.1253, 1.2648, 1.0748, -1.0203, 0.1967, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3109 left_y=-0.3049 left_z=0.0321 left_yaw=0.0358 left_pitch=-0.3044 left_roll=0.1462 left_gripper=0.9957 right_x=0.2798 right_y=0.0041 right_z=0.1489 right_yaw=-0.0244 right_pitch=-0.6324 right_roll=-0.2802 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -12.3966, 5.2855, 0.8523, -0.4518, 0.022, -0.1343, -0.212, -5.4906, 6.147, 1.0965, 0.1245, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.139, 1.0721, 0.8944, -0.7738, -0.2119, -0.0528, 0.998, 0.976, 2.1838, 1.9385, -1.2118, 0.408, 0.7101, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0007 left_z=0.162 left_yaw=0.0869 left_pitch=-0.3603 left_roll=0.1522 left_gripper=0.998 right_x=0.3074 right_y=0.3357 right_z=0.0961 right_yaw=0.0253 right_pitch=-0.6199 right_roll=-0.2883 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -2.865, 6.4615, 1.4579, -0.1245, -0.0611, -0.0171, 0.3214, -11.7675, 7.159, 0.2369, 0.3297, 0.2955, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7753, -0.2119, -0.0528, 0.998, 0.9951, 2.3363, 1.9789, -1.1362, 0.4149, 0.7231, 0.9986]\nstate[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1615 left_yaw=0.0864 left_pitch=-0.3629 left_roll=0.1528 left_gripper=0.998 right_x=0.3132 right_y=0.3584 right_z=0.042 right_yaw=0.0108 right_pitch=-0.633 right_roll=-0.3242 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -2.988, 6.653, 1.3211, -0.1099, -0.0659, -0.0171, 0.6085, -13.5179, 7.9385, 0.3346, 0.2515, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7f304899580d6833c618d9efa1d8ca137c86c4f0f3c7e0bcee52ef411609b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f6fdffaa35820bd76d61bb2c2ec7224b2d6cb30fcc8d1313ced25f07fbe030",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc707b3635e71d42a81c2dd59374ab7e62a378af0f2d11af340f3a16f670496d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkd_4DDB7klGt76J4fyBg7MPWra309ECYd4yW8LnEZp7TNb9KEqpKdb73b_vmFI8N7HGRnB--G5TPA3hIvb6NDsPxBRpxk2enLEcXPO1gVTk8L3OPFxGbFymFp-fTWu-8scn83RYYGjcwGoMSV_wj3U-KFzvxTjbh-yX_ECyNY-0xhCeUupmviO1Q92MKu4HfhXkjUSaBZ_Z0YiebTeGGjFi4EExCramVNKoWJSvq_FixD7SUuydpTrCedtwTnHzE0JTFaWhsuK3065h5idmsCcgmdDrq5Etsbi7J11SPWD7rnjQN_3OpFqMqKYdl6hfSy-J9iOncizsyxoeVohhLv6G0NLXX2w3tDn8b247UMekfqJI1S5cUPJSLDIpZDbt1f_Yu666-PbcQy4G-Rte9WIlCyGLEJY0497Ini1klAU9Sqa9-SyfOnjCuR6os7ea5J5hOJEx1xp31_C_sHS9pFKJ4H9LPYGVjhbPQzPAjY3MvMHh1o-mRmri-OX0cat9OEAujjozlFJvxYCcktE-QvcjY4oTeVbwWKTHm1cbzXdr1pvwb9qlAAxkvD5b3tOuFkxzjkW_KlfdF3o6P9yyC8W7tDvizUkoir5RD6o60RKf4_WLBSGyt_cWQMg7KhVQmwo6RZNNM0p6elnR1bP7VgwnE46YVK_VTmqXAl_MzdO7vTocXwlsgSXetrdJssnJVSim2bkH4png8iwCVlpU1X-uO-ZYiILziy1Ziq_Z01p3IcSJkR6anH6-mpdtSx2XiO4tdukyV5R7zPFpQrzUBCqq1XlnPHdaxLMgrolqrvARYUXYlgXMR5-Y-PD3f71K-ADU8B0bre7DXtUNbl6aOVUB_d9R4f3Gr1jfawoCVjX4e96Tuc0jdJGJKYnxnEP0-MZ1NhNFmuF_PFzgVqlAjCLGAjD6-r7ZgvenX9ud7uMreqSTYK7Gsm-oDql6IF-7FuKVaRjd-4tyuxuNT3jOlQ_o6iZpfEfG_Y95sfhOrkZxKq-E_g1U_hZaJHW0U69fluXV_-k9eMQhtHIYICEtPO1k9FEhFQtoY78vfW3k0wcX7syoWnVDeIcXA7OVAYTuEOVoX99oRp2UrRuAaGYtrp3r7JXji4IUE_9xb1bORqD9Xfgfu472qQiXNTV7EHNHvNKj5sv3ar-GgKN3Mv26ZnTFOTyShOfigQGOzqBlouELiToqPO-nWqDhi9pndLGBaagtdHkMByiy2sp0Bp1cVe1yw==",
  "id": "rs_0d8411c4f30c79c3016ab4491c73cc87d0bee9fac0f042d943",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The black fruit is now centered at the bottom of the wrist view between the open fingers at table height. I will close the right gripper around it.\"}",
  "call_id": "call_9ZNZLhBDr8LytnySfTzqnGdI",
  "id": "fc_0d8411c4f30c79c3016ab4491c9ca487d092ac858bcf40a06f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9ZNZLhBDr8LytnySfTzqnGdI",
  "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]: [-0.1398, 1.0733, 0.8944, -0.7757, -0.2123, -0.0525, 0.998, 0.9958, 2.3787, 1.9823, -1.1145, 0.4149, 0.7235, 0.0114]\nstate[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1615 left_yaw=0.0866 left_pitch=-0.3633 left_roll=0.1535 left_gripper=0.998 right_x=0.3143 right_y=0.3608 right_z=0.024 right_yaw=0.0007 right_pitch=-0.6424 right_roll=-0.3419 right_gripper=0.0114\nstate[joint_eff]: [-0.3624, -2.947, 6.653, 1.2967, -0.1636, -0.0171, -0.0122, 0.0342, -14.7624, 7.5145, 0.5348, 0.3248, 0.1148, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd2b3ff97d7e5a1efc84b05cb5e18d88a03efa4f42387ae69fcf2401e94eb7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2202522aea6877a3d47f2d9f009472d91577c88d3893afc70bd78dfd011d47a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64e5dd5fefb7a2de52103ff0eba096a1d5eea0e1d283fe37f39d1b5448adaefb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 3.016 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1402, 1.0706, 0.8909, -0.7563, -0.2146, -0.0593, 0.9981, 0.1284, 1.2526, 1.0473, -1.0004, 0.1963, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.1636 left_yaw=0.0905 left_pitch=-0.3441 left_roll=0.1464 left_gripper=0.9981 right_x=0.278 right_y=0.0048 right_z=0.1444 right_yaw=-0.0204 right_pitch=-0.628 right_roll=-0.2789 right_gripper=0.9965\nstate[joint_eff]: [0.212, -4.3282, 9.935, 1.4872, -0.0317, 0.188, -0.2076, -0.0342, -5.2991, 5.9692, 1.1111, 0.1294, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7753, -0.2119, -0.0528, 0.998, 0.9951, 2.3363, 1.9789, -1.1362, 0.4149, 0.7231, 0.9986]\nstate[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1615 left_yaw=0.0864 left_pitch=-0.3629 left_roll=0.1528 left_gripper=0.998 right_x=0.3132 right_y=0.3584 right_z=0.042 right_yaw=0.0108 right_pitch=-0.633 right_roll=-0.3242 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -2.988, 6.653, 1.3211, -0.1099, -0.0659, -0.0171, 0.6085, -13.5179, 7.9385, 0.3346, 0.2515, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7757, -0.2123, -0.0525, 0.998, 0.9958, 2.3787, 1.9823, -1.1145, 0.4149, 0.7235, 0.0114]\nstate[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1615 left_yaw=0.0866 left_pitch=-0.3633 left_roll=0.1535 left_gripper=0.998 right_x=0.3143 right_y=0.3608 right_z=0.024 right_yaw=0.0007 right_pitch=-0.6424 right_roll=-0.3419 right_gripper=0.0114\nstate[joint_eff]: [-0.3624, -2.947, 6.653, 1.2967, -0.1636, -0.0171, -0.0122, 0.0342, -14.7624, 7.5145, 0.5348, 0.3248, 0.1148, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd2b3ff97d7e5a1efc84b05cb5e18d88a03efa4f42387ae69fcf2401e94eb7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2202522aea6877a3d47f2d9f009472d91577c88d3893afc70bd78dfd011d47a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64e5dd5fefb7a2de52103ff0eba096a1d5eea0e1d283fe37f39d1b5448adaefb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEkgyzIXDVASoq0rsTZw2X7jNT7jENCxt-h22ZMnoVTfsw9I9Y1b4U_71WXkZ-1a8wVU0cvdtV-H1WJlX6kuP3dzMnIdbj5pGG17lN4JR1aRsTG_ItCiqIM9wHFHHAjdBUcFdU9bKjVnYmisMC8rj7Pdpz2Lgq6FkPQl-DOZzMlrEjrYatZ-ZoQqQ89chBN0oqimVDp3CG20H3ItmCx7Rr9-dEPi4_0RgXrOSgUdOtwjNkoBQ0GjD4nJ3zRsLxNyuOIpbhpEbDX21x83J3_fToMCSpQHkyvNz0cnhf9zIZuCHErwgTu7_TDgEBrIHTu1eP9Qj1hZ9UzrSBcd92RhvQ687KuW9eYTAbZFXYI5Gw_QFhXVdJGVp2yLW78hyyTZ2Vz6gYQm0ZziMHs6B0x3q7Z8SWQjRW5gx-QyBKu58fvTQSi84J9eYNQTVOzgd1YaJnHy4xkMXzkOqX-2D4VWKfxvH1_LvCAcGAHHYfkmQ5QzhCvg4V9zRpAhI_qMLJYwO_Ejpx3gRaEp19xd-oN9zTyApUyqj7OBerHdrJx7lPm6jo6jDXuOUpL011FX0XhKrCMNcRAiVzjB-AFpSnp-one4-SOoJuuT51kc0n0mFQxVotk9CKRSIgPItUNQRptoSmUmsjEW_lLjgbaKW-xOPGwYquVR7LQ4h3rMBzcNm55p1u-4J3QvR184pSqu5X4aIDsxTjUGnRVQxgyZcjuzsvoVbyqQbu4hJKkRfekQZjnKc-8VsjEWwe5EfBPAYqzJvuqO1hm-Jlk5VC6umwrqT173fHQBMFkH9lSpQbOF976e6JSwoYTwLvL7DKZNEYKGdxMNL47ZAoeq5J2NLTDMy_jvix1LdfXSAwWyfugBlmS_-0CkQLkBuVUldE9Pf8LyYH1qyz_QDSQOEeXr8_z1RxRZGOqHS71SrJCDVQTfPehn24KEld04hVdg8PbeaQNIHcVb12h8NW6Rm5vWu21E-te5m9hNc3uD25eP-Qk5oSUEUA6n39oIDzfriOnN6VV6tVzdTVsEGdBc4ZJtx6PhPFpbulCx8bTlx9ryRyekWzwm6VKnEY7rvkGBzCiVIfuG8kGsMpxMFOFCQ38IGoFDbzzLK0d4GK0JsDtvXMPxj8qHKLegBNbEW3KsmyRasYr4mYLDS0WrG8kvDS3T-THyDpKc_RAY8tY9y6d_Qc9ywG2aXvSUYxGKVy5pu_J-li1F00Ip-sL83N1oetoDFeFZwWNEsetNt_amZAJKNF8fkGWxwN7MFuTwMB_pDnCg51BA-8Pkg3Bb5qtzeTPtcwgQs_owq7ZRrcxvIN1VxlV4IaymuOY=",
  "id": "rs_0d8411c4f30c79c3016ab4491f5b6887d0b3d6c9f509a9bfe0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.36,\"right_z\":0.09,\"right_gripper\":1},\"note\":\"The right gripper closed empty at 0.011; as with the yellow fruit, the wrist perspective made the black fruit appear at fingertip depth while it was still ahead. I will reopen, raise, and advance 5 cm without changing the lateral alignment.\"}",
  "call_id": "call_AKLTkBwZT4RZEGS8NuRRFc6t",
  "id": "fc_0d8411c4f30c79c3016ab4491fb92887d0b548982c5e9e4343",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AKLTkBwZT4RZEGS8NuRRFc6t",
  "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]: [-0.1398, 1.0733, 0.8944, -0.7815, -0.2119, -0.0525, 0.998, 0.9363, 2.4737, 2.3787, -1.3663, 0.4221, 0.6426, 0.9954]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1606 left_yaw=0.0867 left_pitch=-0.3689 left_roll=0.1545 left_gripper=0.998 right_x=0.3529 right_y=0.3635 right_z=0.0823 right_yaw=0.0185 right_pitch=-0.6217 right_roll=-0.3346 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -2.9333, 6.7761, 1.3748, -0.0904, -0.0317, -0.0122, -0.8547, -13.094, 7.7744, 0.359, 0.4029, 0.0122, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9007420eb92b914769b4400bf4dc59b50ca1374cf6a05eed7a6d7028867fc812",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3ac6c542153548956ea1895c32002659dd16228be3326955206b3f44b0c04d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f56d1a5466c56048289210bbf239269650b983d6dbd506b71d130d27c3fb50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 1.93 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.139, 1.0721, 0.8944, -0.7738, -0.2119, -0.0528, 0.998, 0.976, 2.1838, 1.9385, -1.2118, 0.408, 0.7101, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0007 left_z=0.162 left_yaw=0.0869 left_pitch=-0.3603 left_roll=0.1522 left_gripper=0.998 right_x=0.3074 right_y=0.3357 right_z=0.0961 right_yaw=0.0253 right_pitch=-0.6199 right_roll=-0.2883 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -2.865, 6.4615, 1.4579, -0.1245, -0.0611, -0.0171, 0.3214, -11.7675, 7.159, 0.2369, 0.3297, 0.2955, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7757, -0.2123, -0.0525, 0.998, 0.9958, 2.3787, 1.9823, -1.1145, 0.4149, 0.7235, 0.0114]\nstate[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1615 left_yaw=0.0866 left_pitch=-0.3633 left_roll=0.1535 left_gripper=0.998 right_x=0.3143 right_y=0.3608 right_z=0.024 right_yaw=0.0007 right_pitch=-0.6424 right_roll=-0.3419 right_gripper=0.0114\nstate[joint_eff]: [-0.3624, -2.947, 6.653, 1.2967, -0.1636, -0.0171, -0.0122, 0.0342, -14.7624, 7.5145, 0.5348, 0.3248, 0.1148, 1.0183]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7815, -0.2119, -0.0525, 0.998, 0.9363, 2.4737, 2.3787, -1.3663, 0.4221, 0.6426, 0.9954]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1606 left_yaw=0.0867 left_pitch=-0.3689 left_roll=0.1545 left_gripper=0.998 right_x=0.3529 right_y=0.3635 right_z=0.0823 right_yaw=0.0185 right_pitch=-0.6217 right_roll=-0.3346 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -2.9333, 6.7761, 1.3748, -0.0904, -0.0317, -0.0122, -0.8547, -13.094, 7.7744, 0.359, 0.4029, 0.0122, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9007420eb92b914769b4400bf4dc59b50ca1374cf6a05eed7a6d7028867fc812",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3ac6c542153548956ea1895c32002659dd16228be3326955206b3f44b0c04d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f56d1a5466c56048289210bbf239269650b983d6dbd506b71d130d27c3fb50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkkFwfsM2e7S-SqwctABYPjgQBDNhpTtSBmvxbcFWkjoEAdLS-JuieZf-bfHeqRd9ZhSI-6PRb0HxLlmR9gdc3APM8SLVu8Mkb8UCf0BRsXb8L3n42Ab7wv_ML2AFv-Mcy3PC114CDJqctpHU7d6uH1h9HEE6632tesdnOKjTI7L0_-LDcw5XIqT8I0vyGOOmaSq1hLFntZRa5Tz8jEkBJHh_R10-IG1Mu-FfsfoSCdkvuWrQ2v1-95kE3-STL-eHcJyXMJXXdzjC8dzTKWW8Mbk0rJBS0AdaSn-LK5a3h2dYTm_Q6w1maefTUyL792N0kOexjAa0H0NJcA2BlG6Wb-FMj2QmQ9kyqeH5ZJx6UFiinVtWwHnj8HiMFxSP6FBbwlk3eyxfwj39TvPTRT-1Xx-N4eQ2_Om4Ui6x637gomP_WiMrnORQejbvJpSTQIzwqwewB91pCud6uXkLvtVvoOU_PRJnN5Kh3mcPen3wwy3L8NyJ4PXh6UDhGyuVUNgS4Ms2rN2EvTbeRut9ZWHhHfFHxVD-PS2stXErf8ujuB1exU5uH0xiqnqfFCO7-_JCv-Z19I8DYzm_dtOrFPCPfUZr2PBlMX_lC7UHTBjFmumtlvhsusOR5wRXGUMP2YzbjL_zdNHwUhpS0OKkcOs0ycoDfV11JbSduj8DvQDGxhoidPC6_7ftXlFanewP56BGAZ7733Ofl9Mp-eGq9yx0Bxh4Ov1b21_hYnA9en22vjp4AGHY4HuL56hgVX4QhsAnpjZYEldZMREGM4E676_988243a80DUkmBZbnr2GNoIYxwQTmZpFF39GAXctZQvHuQjUdU6ba56GBNPb2p2HLfeM_tNrpqp9Xv1qU0YM6RBcUQCC2k3NBmvDxpNvUs_B_HWGvUFW3aduRv3SInk-88sJ0MGzgQLkhNtqEhZtFBFNBH2R4KhYkccKox5xRA46f-QVYeQUgNgsw8bI2I_lN3GhaxmO2IG-0xd_qCLk5p2jiIKYms_mNoSVefJAl_YBZtWrkTORSqtLCYbUBTAdnL0CoeyY06E6v0cXWvtzQSTAoNJr-H9K1J44XQ8Oofu_B1zifzCX3ibzMfrkkzKZdbqPe3TipY63KXStSt2hqK4B-UOCg-wAgyKRwrp-rJ_MmpNNqhuChbZSvbDKlXsr_6yjFgXf5uWfs5g7Rjc-rCdkkvIakHWUESzMzjp8HC3yQ07EPS1-QW-ArLmOCJK4rW20xf70SOIlDlO0YRJiLo_f6yxdcQNEaFVhPgLtWuEMzbP38eoapG8bs8x_HYKvJq-CIOXiHXFoxVCgmPEj68jcmc=",
  "id": "rs_0d8411c4f30c79c3016ab449237c6887d0b5d7d5c81c098436",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.38,\"right_z\":0.04},\"note\":\"After advancing, the black fruit is now at the actual fingertip depth near the bottom of the wrist view, slightly left of center. I will make a 2 cm left correction and descend while holding the improved radial position.\"}",
  "call_id": "call_tPbaqEAMvZvmER9anXZ3jb6p",
  "id": "fc_0d8411c4f30c79c3016ab44923bd2887d0a7ca445380ea1de8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tPbaqEAMvZvmER9anXZ3jb6p",
  "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]: [-0.1398, 1.0733, 0.8944, -0.7822, -0.2119, -0.0525, 0.998, 0.952, 2.5031, 2.3123, -1.3132, 0.4263, 0.6468, 0.9964]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1605 left_yaw=0.0868 left_pitch=-0.3697 left_roll=0.1547 left_gripper=0.998 right_x=0.3461 right_y=0.3663 right_z=0.0516 right_yaw=0.0042 right_pitch=-0.6431 right_roll=-0.3783 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -2.906, 6.8034, 1.2772, -0.1685, -0.0708, -0.0122, 0.4444, -12.7795, 6.3521, 0.823, 0.3346, 0.1832, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e139a7dda328f43f664af82dd538fa05b81b11b1b0eb592335c2f65dba32eb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5330d0bfe3038d0d1e0de7f92694d641f5b9ebda8b1efac84f1a4b5e5ff2fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9c9ca1e7e3d5647e6397549f644b3c38e703a3eeb2f9e9c9f113f9c8b6402d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 5.036 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7753, -0.2119, -0.0528, 0.998, 0.9951, 2.3363, 1.9789, -1.1362, 0.4149, 0.7231, 0.9986]\nstate[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1615 left_yaw=0.0864 left_pitch=-0.3629 left_roll=0.1528 left_gripper=0.998 right_x=0.3132 right_y=0.3584 right_z=0.042 right_yaw=0.0108 right_pitch=-0.633 right_roll=-0.3242 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -2.988, 6.653, 1.3211, -0.1099, -0.0659, -0.0171, 0.6085, -13.5179, 7.9385, 0.3346, 0.2515, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7815, -0.2119, -0.0525, 0.998, 0.9363, 2.4737, 2.3787, -1.3663, 0.4221, 0.6426, 0.9954]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1606 left_yaw=0.0867 left_pitch=-0.3689 left_roll=0.1545 left_gripper=0.998 right_x=0.3529 right_y=0.3635 right_z=0.0823 right_yaw=0.0185 right_pitch=-0.6217 right_roll=-0.3346 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -2.9333, 6.7761, 1.3748, -0.0904, -0.0317, -0.0122, -0.8547, -13.094, 7.7744, 0.359, 0.4029, 0.0122, -0.1343]\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 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7822, -0.2119, -0.0525, 0.998, 0.952, 2.5031, 2.3123, -1.3132, 0.4263, 0.6468, 0.9964]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1605 left_yaw=0.0868 left_pitch=-0.3697 left_roll=0.1547 left_gripper=0.998 right_x=0.3461 right_y=0.3663 right_z=0.0516 right_yaw=0.0042 right_pitch=-0.6431 right_roll=-0.3783 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -2.906, 6.8034, 1.2772, -0.1685, -0.0708, -0.0122, 0.4444, -12.7795, 6.3521, 0.823, 0.3346, 0.1832, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e139a7dda328f43f664af82dd538fa05b81b11b1b0eb592335c2f65dba32eb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5330d0bfe3038d0d1e0de7f92694d641f5b9ebda8b1efac84f1a4b5e5ff2fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9c9ca1e7e3d5647e6397549f644b3c38e703a3eeb2f9e9c9f113f9c8b6402d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEkmGyfn2qUxddhoXXOplaPVfVjejRZBQOIbyaHNMsHHVsKHYWfuUxClB0VtE1XSiZGL2U9rAxk_vZsfYfZgrVgb95UAMnPkqRlWK6nlgaLLIrZbtoPuxlqeYKeBxK1zbWSPk4HUDSCoHG5TZV19CiIZCbdKtFPyhib97VSciqODpyu-1hzcdqKdvjs2ONc9ZnADIdTRNgvzymVyZE0S68qK6YM8LQixWzw7YOJDYJ2PceZE8hjknwpnomjc1kqsxASZ0mP8l0MI_p9jqfaDmvbPl0Ak1_XAeLn7XYrG4jCJGlz0Bx6PCnZEqtOmfwd45e2SzLTyLEJLlLbGWxpZC2Tmto46uqgUVFyetQopaa5hYBlPSxaKLokm5vTNnK4K6alOfV9owBSvFxY44IfhfCyaEQMUFFPoX_3vnYvpCX32IEjqsau7R11wF7IUKGxL1UVy6i_0O0xib_NiFWayDct_dcrAMBwMbGKWb3jywvbSwH0RajdTNlOX8cyDP0guSwd4rl9HGH_Dg3b7VC8EKoLRWZEZzYTzR9hCzlx11cRG3t00IIAxOtVrps9PD988YcwNiPTdxmBC4dmRK68Qy6zHK4qPiDumU8733zzDHVUu_PtPucPvEuerTS5Ovf0uAWJXNECSLjDUQ1X9WTeuMCIJgaQsDDQ1CUSF3xp_paKSrFENrrUyhJwxJ6xWJW1ssJglZHKwzmta8jCjvqLRCd7z1-_5MWHydfm3746vHDPvfkdAfl--dWvmlcJIQuFbasSCDKTJnEYnzxGsgpXtoqTYcd-DjJaxEwInHWvoZhQVY9w1zP7R-v78Eu1DzCxFH_arnHt4ijFyhppObPB3e5MSyQ5bUNI7F-Qkge94n9CAIeK6HoUqIN0nakJApdy1-dG_nvRG87-KJqrKEvu8ldyd6fG_jMiniFZDFdOf0d-g4UF_aK9GuMGkzK1qmi2Kz-Lmi7ga0X5_m1jvHqXmMDZVYgIzp0JI67gjLLRzWCH5-IvXQJmki6yjRc6aZQ9hPDajKKUhN-b0zHAcn3Gqg1hDFxBvd0Sj7Hr-TuAvhLIdjuVeVltQ5UN6rpdX_GkYq-wUDNNQPXVJRrnrRNnXpD1Hwz_ScCxDoXrGJN6L2RfvNp9QpZRF3pc77XtpJCR_W5RHIa4MvUU4pu8JOUcALjxHenLmGMaV8j6Zct1Imzb7KVm-2S6rp_sLQEfMtq4XIYQvytVMYVOSrb9g0inZNKO_bg==",
  "id": "rs_0d8411c4f30c79c3016ab4492620a887d0853492d0424f00dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The black fruit now sits between the fingertips at the bottom center of the wrist image. I will close at this corrected depth.\"}",
  "call_id": "call_KWCKwiaK2T8PAFzZEYdsRPTE",
  "id": "fc_0d8411c4f30c79c3016ab4492638f087d0b86cdf69fe51535b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KWCKwiaK2T8PAFzZEYdsRPTE",
  "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]: [-0.1398, 1.0737, 0.8944, -0.7822, -0.2119, -0.0525, 0.998, 0.9649, 2.5343, 2.3043, -1.2564, 0.4225, 0.654, 0.0113]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1604 left_yaw=0.0868 left_pitch=-0.37 left_roll=0.1548 left_gripper=0.998 right_x=0.3461 right_y=0.3787 right_z=0.035 right_yaw=0.0251 right_pitch=-0.6345 right_roll=-0.3544 right_gripper=0.0113\nstate[joint_eff]: [-0.3214, -2.947, 6.6256, 1.3309, -0.105, -0.0562, -0.0073, -0.4581, -14.6667, 6.147, 0.6618, 0.4127, 0.1197, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:293336435edf6a72eaa98cc2be18ea6471ab0bcce27704101943372dc61b53d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4045efa375416d643d6960bfef1a3adb348bed7c66b5a72178f4c5f08f8a5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7eec6998388256d14e2244536944a477362c6721b0f1569d47082778986434",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 6.65 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7757, -0.2123, -0.0525, 0.998, 0.9958, 2.3787, 1.9823, -1.1145, 0.4149, 0.7235, 0.0114]\nstate[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1615 left_yaw=0.0866 left_pitch=-0.3633 left_roll=0.1535 left_gripper=0.998 right_x=0.3143 right_y=0.3608 right_z=0.024 right_yaw=0.0007 right_pitch=-0.6424 right_roll=-0.3419 right_gripper=0.0114\nstate[joint_eff]: [-0.3624, -2.947, 6.653, 1.2967, -0.1636, -0.0171, -0.0122, 0.0342, -14.7624, 7.5145, 0.5348, 0.3248, 0.1148, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7822, -0.2119, -0.0525, 0.998, 0.952, 2.5031, 2.3123, -1.3132, 0.4263, 0.6468, 0.9964]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1605 left_yaw=0.0868 left_pitch=-0.3697 left_roll=0.1547 left_gripper=0.998 right_x=0.3461 right_y=0.3663 right_z=0.0516 right_yaw=0.0042 right_pitch=-0.6431 right_roll=-0.3783 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -2.906, 6.8034, 1.2772, -0.1685, -0.0708, -0.0122, 0.4444, -12.7795, 6.3521, 0.823, 0.3346, 0.1832, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0737, 0.8944, -0.7822, -0.2119, -0.0525, 0.998, 0.9649, 2.5343, 2.3043, -1.2564, 0.4225, 0.654, 0.0113]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1604 left_yaw=0.0868 left_pitch=-0.37 left_roll=0.1548 left_gripper=0.998 right_x=0.3461 right_y=0.3787 right_z=0.035 right_yaw=0.0251 right_pitch=-0.6345 right_roll=-0.3544 right_gripper=0.0113\nstate[joint_eff]: [-0.3214, -2.947, 6.6256, 1.3309, -0.105, -0.0562, -0.0073, -0.4581, -14.6667, 6.147, 0.6618, 0.4127, 0.1197, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:293336435edf6a72eaa98cc2be18ea6471ab0bcce27704101943372dc61b53d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4045efa375416d643d6960bfef1a3adb348bed7c66b5a72178f4c5f08f8a5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7eec6998388256d14e2244536944a477362c6721b0f1569d47082778986434",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEks2ZDJf7RovtHsg7lQQrtFybup7VIiX5QhioTntJgGWQrWe7vfPx2DQO_MXIs2LDayTYEq285d0JztnN6GIM_8skVGp-gHkLEkUzLk8KWrU5jgeESW3BOYZdi4r2O9J5x_NTr_yik56EuY2W_14ORpmEzRnvcxWDhSKDWI9lj3fcvSBx8ox1b6vI-boOVd5ghH9O_H0gev8aWrNRaL86A0d3uqF20I4mpEHupKqxCXGQNazsGWnjwNjo5nMcBEfKIUllL9H1bCmORYEcsKxJXofiXNXdJ3En53kMZz5H7By5PiNQYDmzP4n7JwoHZQ89uj0MopbbjEaCHOmc1Uad7Qsxq0rtr6kPHhp9fLy_MltNHYEBxwou-3_1oZpw0JLNFLKPtisZ33WqVsar5jd1W7wzQazkbLJAncBlZAkooX2aJSvwvwTyUg_my_nODoEuQmMBUuLjAafqpChJR9GIpI5XYAhHqFTHlLSpV8xqAPk3xr1nD0Ixqay_0p_DQ85UODwrBKApGs7oHRjFH6fpiQx4q9sv3ojGp8WvxOelZ_7gb287IpOZCkApUl27nbplKn84YfysWHOmcon1ro9aaR5H-IZ0gFCSybinvboctjneUV1c9Mk32jQTu4X0O-ZH6Bb7kNYeavU1Qb_ky1Yp9Qe7JgQg3eRwheBAZujsa0VsO_yhFuUsaxkJ0-8gfyRYR-g5uxRmn6rNC4e6-BTNMQgvUi-6c-DJyMOby7_rV-wAJJoCcWxvkeLEDXF9-_sf-VdGFzzyx9JV-VazNSSYGA2wy0YKSKOQMW9paJ_POKeP1UKWq9ZEB4JiQR63IJuyjIt9anjkzhiFAS_3ZtUVpH4A82l8neWtX1R-K-ZPXiX9GMFhHej3y-AOId9p7y-6R_0nf4EWD3fYuDfwuDZ2z_sNMNXmT1mC4eQ0sSfnQEDjfsZpOY9jhjYhHGMGFY_pFL4kMyw7IFw9uW5W6Imp2fIqP8Q39PExmFZBDDNePe46KR2OuKh8V6FQAh21dXnS8XP_Atp9zrylhXgX1YPn8LF---ukxKdMKkk990guAxwxKVsfXFsDFWPaP5GU6eKNZCgb0N8BXwBdz_KyGspCYCZthI9eLXptfDiUqWjd-ALI9oBkWW2pGAqTNETLRwOGpA4VT68Y5KwWRlbde6g2u_plRv2_MMIEgfcnF2Nn3KzrP1ZbATP0KywCaIeOCQlR25Ufifj1wtweZ-Ry9_inIdQplwEmr5EsqtdkpcV2hApreX1YNszYc6v3HUkP_wxoF3whW6-PmFjSx7hCuP718jDUjcRgQEbd44BJtOV_2PQ36zLbIL2ECJ3WIAGeyS3QDDD6w2eh5in1H4iGYX88cqs2Xa1KdCAYANiIvTe1S_Iy1dcEXeTr6WvI5ZJnJwnj0EpBBQ4ILZnt0MHdY7BEv2iSPJLbLyzxZFY1I5CR-aHYZ2r-fSwa7dOH-lfdmKPHMR08v5bNSNpEXW4LT6aMHt82IaOC6YtT4kD55h-mK-rsOnMxmXNNO5akkJgkgCkWlbpXFw8xgr0R0iqj9y0PM2dH__JuwaRGPOKGHRHe-DU7gSKiGpbAybTtNP5JNKdKRYkgTQir1nTtrfYHyfYx3o_4o5NioU3SofpilHsdqmITYflX3Z9xv85h9HhyWudYd5XT_962GPSHsZkc6aCN0B7_YwDgqJtYcgfVXHP0L9dEvwLQHoNKZl6oVf0Hit4V8uSvL4qqNG0vW3XC6wpy7glSQ89r8-Rl2-UbcTA6xxMeW3sbX0h1xJUZXNgHRnpfYlbHg0YrR8XCT_xL-gdSGJ8ZXKz017oo55OPJybIeOr_f08jjcy1eB_uJfmjZ0SWaXBzSWDf7fYkSp6kQagOS7xWUlEZgBYuF625eMNsaVmV1Q25Lvh9snIARUdOY6UiFRdrafxvDl2AXEwE4JoGy5wnvoXH8sJXPimO39t87Z7p_z-EzZCzEi85BFnkE09bujUPzkgNBJ28-NIxNtdo0Pc3goCMVf3cafE-afeD6gHKzPPTX_gmYdWoks2DvjH1b4GToGybV1TqvdJ3gfs7Z4h5rD4RA7EyiIGJYMr-aJ4NcLFg854LD2qw9EfsxXZ6slBV3zVzh0yTEUVH7T_9oMnxiDLUIjttJx42Qu57zQbee2pl6-7BXESDza53dcZwxYTuXPqD75NbDYE9aGfiNPYoKnYEJ0ExOXsze4CHuuRRLSPi5KT8ftMdLolJMpFA4onDb5MsHd2CYUur416Rywa0CbuKLLKS2IrHZL4z0dIW-x_UoL7WTxsFDtqtUYK52K_wc6bF1v4zLIBl1N0J1We8IL1axdl8QTa00mBAyOwrrctG3NP2-kPFKUlwg_D5XU1dOnpFU5HKG1aDLYQVDa5Z-J6iEJ3tpzTrSfEHAPCDXDn0j0Typ6djGY7GGjkFoau8Ln_FmE_rsCslW5CQ8fG-Tl5-ZqKlomgyEwSXTNDKEuZPXZ3RWH7IOhYMCaBv11NRyh_9x9bOi5o08LctGSyg==",
  "id": "rs_0d8411c4f30c79c3016ab44929e53487d0a5fab0e1e4f355da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0.002,\"right_z\":0.183,\"right_gripper\":1},\"note\":\"The black fruit was not captured and is now hidden by the arm, so another blind retry would be unsafe and inefficient. I will park the right arm to reveal where both remaining fruits actually lie before choosing the next pickup.\"}",
  "call_id": "call_x0eKU9WE0hcgAY5ByqsnV8z6",
  "id": "fc_0d8411c4f30c79c3016ab4492bd3b487d09f53083caed922ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x0eKU9WE0hcgAY5ByqsnV8z6",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0771, 0.894, -0.7826, -0.2115, -0.0525, 0.998, 0.1425, 1.3197, 1.1992, -1.0782, 0.2401, -0.16, 0.9982]\nstate[eef_state]: left_x=0.2877 left_y=0.0006 left_z=0.1593 left_yaw=0.0868 left_pitch=-0.3742 left_roll=0.1555 left_gripper=0.998 right_x=0.2951 right_y=0.0035 right_z=0.1728 right_yaw=-0.0114 right_pitch=-0.6249 right_roll=-0.3566 right_gripper=0.9982\nstate[joint_eff]: [-0.3214, -3.0974, 6.8718, 1.2869, -0.0757, -0.0611, -0.0122, -0.1709, -6.1333, 7.2957, 1.0867, 0.0952, 0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9e28c5aeb35ad80cfd4d1033a6a7eb00ca5d9bda974825190c2777d9381e28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d350577d51a2a6b5e5536841f75ada2c573e07fa3bb2da4abc6345ec74ea51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9764cc40b833c2d01e9c982f296308c38e7573089372c76f9ef0f70c4d1fb6a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.005 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7815, -0.2119, -0.0525, 0.998, 0.9363, 2.4737, 2.3787, -1.3663, 0.4221, 0.6426, 0.9954]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1606 left_yaw=0.0867 left_pitch=-0.3689 left_roll=0.1545 left_gripper=0.998 right_x=0.3529 right_y=0.3635 right_z=0.0823 right_yaw=0.0185 right_pitch=-0.6217 right_roll=-0.3346 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -2.9333, 6.7761, 1.3748, -0.0904, -0.0317, -0.0122, -0.8547, -13.094, 7.7744, 0.359, 0.4029, 0.0122, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0737, 0.8944, -0.7822, -0.2119, -0.0525, 0.998, 0.9649, 2.5343, 2.3043, -1.2564, 0.4225, 0.654, 0.0113]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1604 left_yaw=0.0868 left_pitch=-0.37 left_roll=0.1548 left_gripper=0.998 right_x=0.3461 right_y=0.3787 right_z=0.035 right_yaw=0.0251 right_pitch=-0.6345 right_roll=-0.3544 right_gripper=0.0113\nstate[joint_eff]: [-0.3214, -2.947, 6.6256, 1.3309, -0.105, -0.0562, -0.0073, -0.4581, -14.6667, 6.147, 0.6618, 0.4127, 0.1197, 1.0427]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0771, 0.894, -0.7826, -0.2115, -0.0525, 0.998, 0.1425, 1.3197, 1.1992, -1.0782, 0.2401, -0.16, 0.9982]\nstate[eef_state]: left_x=0.2877 left_y=0.0006 left_z=0.1593 left_yaw=0.0868 left_pitch=-0.3742 left_roll=0.1555 left_gripper=0.998 right_x=0.2951 right_y=0.0035 right_z=0.1728 right_yaw=-0.0114 right_pitch=-0.6249 right_roll=-0.3566 right_gripper=0.9982\nstate[joint_eff]: [-0.3214, -3.0974, 6.8718, 1.2869, -0.0757, -0.0611, -0.0122, -0.1709, -6.1333, 7.2957, 1.0867, 0.0952, 0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9e28c5aeb35ad80cfd4d1033a6a7eb00ca5d9bda974825190c2777d9381e28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d350577d51a2a6b5e5536841f75ada2c573e07fa3bb2da4abc6345ec74ea51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9764cc40b833c2d01e9c982f296308c38e7573089372c76f9ef0f70c4d1fb6a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEk2M7NV98FAZNDpcK1wTnDMwBXLdkvpfWAwCiWTMFcx6F0js5Xxhsdvp0n-7sSngezFL2PCdB6g6WTQB0OSmkaSG4eSVytqDisYcwVLXQhW_d-MRfH4nWly5aaHali08gM6juT_eHsMWqk7YGHZu9LEaY7ERHMLn29HFIbTcDxWm6_kePUubuexrgbu10HoR3_RUStXbKPhuIKCs56l6hBvcQaJ_BaFNQFoPOcREXrXL4QCveU-1js887VEY7qIxp8BLmS2ygUpiLJCN-8X9q3HRB9Mj1neXgpbdcxaYv4yl81Zh-VbAez_7Sur3CTj1V2l6WG9egCT9p_itDtEz2bBSd8H5bM3wEmIcSYiGDrhS9fQHXAZaXvAj5BOsVlJdx0itDIKT7Ro6KoWu_N2xxclv9NIYLAFxafm3A0QmScKqWDhZUTBx5XH-Tos29JZaXB7S_SffKL6MsNcMeczAFc4yJY2SBFw24-lOIqMmOhDu8ihT9ekaoJYjuDV_zUBQ1g64d_Ewn1a4-_ks_Xb0LoA4HUqgnXmnaaeigMEZ2AQ8iHBZ_JJK9txMGk9oelO44r6hE8CNZGm1r4lp5EHJsbxpVTIE1ekDf-bjXdVcjeThOQvvP6B_YbRGLsZRJj5TFc1fJdzCEqU46m3ZOebBF88QpdQnQ9O7XYhaqzONeVnr61qYfkbWddTJKLleYUFCXJftbxatgnA0fW5UJ5nEBJIX9hsslGNEGcjrBEtyaEIZ-F46ATRMDKVSNIeXaXQC2JGQOKaSYNVkZtXchgoL4ZtnhPne8UKn_I78Ll5GSgsf2WkRQMtRVumZGBFM0uaLt2BqRBgTbDSlApmSI454R_r-8XThrRFIUaePu66U5eFuYcHQyfskWsckjC5p109YbG90Xy3LtCTJ6IU7H_7tSdI1nyaY3v97Q6iFlOzZg7tfDQ0lZmx4n-5rlpxMGOstn4BSI1OzYIn9fRnlF3gr7F1a-8U2wOqo2JgVeVgJGwnKxgm1-eMwvwNmlYQ3Inf6fcxVEGinyLVAbmMO8n9VcmmDEyJU3S8rL9BkGxptGQV1HYiwCjRaYnV0c9sxHzjJuOun_6AY-Nk6r_yj8SOpMviMOivt7pmhqZkdrpMCHxKwj2o6I1Z4QrbKGuXsKx_p9E5p-YFzMMIgIBiZdGyZeL0Bea60ghINRhLaPvoyVHlxaB1tYpVKWtb6eRyCElLgci1-4WKYQn6zhFpV-7PPAOotWvaUSXudaTZDFdNxCEcUBBQKBqOlqeQi6yRjqviZLx4V8tg0JHprNWSSUg4cIjtZhIelKcdl40kWinBOQL77ogPphBItivH_s7tdfQtWoaLYsnmRNi9OBn2GIXWZHZ0vWs3Eu7PH9dtO2logfDcw7Z15PiBEZefZ1YmrD0Cxhmi3VhuTyvmtDBvVEdDCXU-6M7JX9CSazc9BCAZ17vG_Z6kGnLEDpCn8NHDczCaRQww0C6YXXjrFzqEToI3OOmkuU0P3JArNXkgfn3W07ZquSbrnotNFbMQwJujD9BG7Xyphg7gum9L5q7MZIi2LbfuYjqvN7RgjRnSHK53FPpQgcPMkajfLdFcilbi1BHNGrnt84_EVHSts2PxvlUUovUoaM-bH4A54BSaGiXwbMv5Rde034hMwYPJettu7hSn-ukEbNp1JbFfQu62OpxyIdTgAq79aPDcPwyyRj2PsEJM8XieeySxDP2YnwBg3ZuvhIKtRyTI_uDuOmH9_d0BMFsG4_OholWdIGK-L2HwBb4PSxQkBiEkwBSSTPMQgQ9N-FoKj7G3PHhIUbVog8fAioL-fu0OJUGm64uojwIRH0NTJJ_dR8zf0Tb6F4GoiUmUehpw6RLBf5XK_QzFhiA8f8xkWsnLhpiDufd4IZWZV5rceTQ2Q-nQlq0fz0h0cWyrJKT5JEtSy8jwlgdmunaIqpOtI9ogPxBBUpONLpyB1dFE-YbUFXp6xsCOVJWpWt4FuZ5EwZsfQlVWdDulbNGnSsD8eArs2BQHqb5rd1yJbsuLmUkM6LXUds2EAFja7aLfLKeI0Th_cKbt3tnGhYOJ1Vh9dXlebybEYeAXOV6fUayzHyYmoBRejqhjtToXmA4ola9e",
  "id": "rs_0d8411c4f30c79c3016ab44932339087d0b3d40d359826ba83",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.31,\"right_z\":0.09,\"right_gripper\":1,\"right_yaw\":0},\"note\":\"With the arm clear, the black fruit is at image (109,136), substantially closer to the bases than my earlier handoff estimate; the prior right-arm approaches overshot it radially. I will correct to approximately x=0.22, y=0.31 for a fresh pre-grasp.\"}",
  "call_id": "call_a2f1OMN9XHYJUhgLcBPpjmWG",
  "id": "fc_0d8411c4f30c79c3016ab44935690887d09581a6162dc43ca3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a2f1OMN9XHYJUhgLcBPpjmWG",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-0.1398, 1.0771, 0.894, -0.783, -0.2119, -0.0525, 0.998, 1.1427, 1.9568, 1.5558, -1.1709, 0.4484, 0.8413, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1593 left_yaw=0.0872 left_pitch=-0.3745 left_roll=0.1559 left_gripper=0.998 right_x=0.2192 right_y=0.3044 right_z=0.0871 right_yaw=0.0212 right_pitch=-0.6216 right_roll=-0.3729 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -2.8513, 6.7761, 1.326, -0.0904, -0.0659, -0.0122, 0.1983, -9.5521, 6.9812, 0.1441, 0.3492, 0.232, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7062372dfa5c92600fa680b0cbad3e1201ec5b4a7acdf9e412d0b7f9d69b6ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251f45cbaecabd790fe77b2a2565ece487b4eea85550fee58cad8062d0977e12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5aa957768735be7477484756fa07536d06bbb798305f5d51cf5bc844b314b01",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 2.784 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0733, 0.8944, -0.7822, -0.2119, -0.0525, 0.998, 0.952, 2.5031, 2.3123, -1.3132, 0.4263, 0.6468, 0.9964]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1605 left_yaw=0.0868 left_pitch=-0.3697 left_roll=0.1547 left_gripper=0.998 right_x=0.3461 right_y=0.3663 right_z=0.0516 right_yaw=0.0042 right_pitch=-0.6431 right_roll=-0.3783 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -2.906, 6.8034, 1.2772, -0.1685, -0.0708, -0.0122, 0.4444, -12.7795, 6.3521, 0.823, 0.3346, 0.1832, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0771, 0.894, -0.7826, -0.2115, -0.0525, 0.998, 0.1425, 1.3197, 1.1992, -1.0782, 0.2401, -0.16, 0.9982]\nstate[eef_state]: left_x=0.2877 left_y=0.0006 left_z=0.1593 left_yaw=0.0868 left_pitch=-0.3742 left_roll=0.1555 left_gripper=0.998 right_x=0.2951 right_y=0.0035 right_z=0.1728 right_yaw=-0.0114 right_pitch=-0.6249 right_roll=-0.3566 right_gripper=0.9982\nstate[joint_eff]: [-0.3214, -3.0974, 6.8718, 1.2869, -0.0757, -0.0611, -0.0122, -0.1709, -6.1333, 7.2957, 1.0867, 0.0952, 0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0771, 0.894, -0.783, -0.2119, -0.0525, 0.998, 1.1427, 1.9568, 1.5558, -1.1709, 0.4484, 0.8413, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1593 left_yaw=0.0872 left_pitch=-0.3745 left_roll=0.1559 left_gripper=0.998 right_x=0.2192 right_y=0.3044 right_z=0.0871 right_yaw=0.0212 right_pitch=-0.6216 right_roll=-0.3729 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -2.8513, 6.7761, 1.326, -0.0904, -0.0659, -0.0122, 0.1983, -9.5521, 6.9812, 0.1441, 0.3492, 0.232, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7062372dfa5c92600fa680b0cbad3e1201ec5b4a7acdf9e412d0b7f9d69b6ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251f45cbaecabd790fe77b2a2565ece487b4eea85550fee58cad8062d0977e12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5aa957768735be7477484756fa07536d06bbb798305f5d51cf5bc844b314b01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEk7XQjxNiqp4FYTnCaArNIWB4q7naSzobUargrr3s7AJHHQlxiCYVYNxiQLDJrMDA4bz16Yjhep_PikdsE3FmUM32KcnYC6m0T4Zl0bQFqpn5cO9H487YMcHxkFFN2qUomUayppWYyzUb6o1KgBuA4Bqg8ofq8RdxdRP_ZOl47xKjs-7WmM6USyfWOWfxDKvFFv_NpNDCh9Qy1WQBg1PHrhpA7X8kcTFPBfk365YE5xaBUZxxUngDlTOEhtGCC5bSx813iI23wlmLkONM5uPRsEn9drbNuoG4OU2CZsQoPTGBrHTJVtUeb-8YwjOlZU4wte34fG1ZKP-iMMNgGolhQfmL4e7Xywu2ahQwYFX9KFzzTioMxCEJtCwvzKbT5wTWw8ctzISZr1ZHFLG7xxtj-n8vnFwfHo_iAhpJRBMrkcgu3RneH2pxu1Ju6I-cKj2L5sTaxHdai808vu8_57elT4I6Rl2vy363y0Vm4k6PD_v_knWYzqR6T1TC9Yz7P7Rbdt_83knKjZkw3bNxiHxkJ81ldUgXdsJRRq31AvzyvXIQQG9paIoCJ9fhgXkUfgRaByRNz_ceYyHmwAIb8_MOpWxGbJN4GTogwHjE_OuVr7JEMBCY052uUzmzv1aHD71ovn1LFl31xXh4OeqVRVXKTe2fsnQG8JUBFw7UlgAMhdNteRVfmhRNEeK9yZ65670TruugjlrERYGcynnhdqcEvJ5gB02RUnZ67nRtudD5LnKmFnnYz_clbPOO-Nif4zf428HLJg-snM9Tp5X3Q8yp-X8pO8ydQmftRf7WB5DbfjQon-wx5MEQWaDpIg3kWisyI_RjdxzVvCXu6fUdS-d7mKJ-HkashE9wqHfUx5TN0A56GTLMg-Ic4FbHNwDGfThmSVEq_vuJ4_Z2S6m_STKu6keAaGOiXVklR6sXRedjrlqX9YSsAnYI51yc7zMwgcayOfQrBpiZnJMvheHCEUp6lBOC6G5Gw7fCmDQCpOLCntBivfUtKOtg_S0f-bcbMj7EeRdpVPfYoY8PgEKerBV6ZgzPvbZSROH58MFdrdbGgxgkZwF-DsCD5gVjvddCzAzM0mUFsXYdmzteQKa1K93O8SkIqK-cSSZYkZ89Qv3DE0rUbbU7FZb85mpbTrEG2Up1SpZ0iGZFNr6ZRw0JJP82ZzZ1baUdABJiib484NpLiJL4Vlzz1YknZeucuw-2niHgDP8OXLsqh1Y6r9fQDTT9VhQojhC0gAZ4ZGsLA3f8OvIUU5zO8tHu-DBv4mCPVZrMDWmexGFEmhJa24DzFG97_48_DT8HthLV__FJhTjnPZfguDUi-5MbUeJK0kWTc_VYHMMUVu3Sn3cNhQCrMM3kYnZS4BeqTXgkS9F0wDI1COTqqSjlRsNf9EcZOo74rAlubVEmPezDXw0tdnaaIn2aU9UTlEAybWuwpn2YSB_paTJktLqjbwvThI_BxcqJVdjSKRjdQvcoyp3XQCrGVO1rslYSq7EaMdHia3_WBPgNbGtRA=",
  "id": "rs_0d8411c4f30c79c3016ab4493a6bf087d0ad96dc9ecea98c9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.35,\"right_z\":0.06},\"note\":\"The black fruit is now clearly visible ahead and about 4 cm left of the jaw column; the yellow fruit is separate on the right. I will advance roughly 7 cm, shift left, and lower to align over the black fruit.\"}",
  "call_id": "call_7LdkY3jCTq8m2I9auWLhCyNO",
  "id": "fc_0d8411c4f30c79c3016ab4493b060887d096f1b389a5cefd31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7LdkY3jCTq8m2I9auWLhCyNO",
  "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]: [-0.1398, 1.0771, 0.894, -0.783, -0.2119, -0.0525, 0.998, 1.0531, 2.2276, 1.8423, -1.1629, 0.4488, 0.746, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1593 left_yaw=0.0872 left_pitch=-0.3745 left_roll=0.1559 left_gripper=0.998 right_x=0.2792 right_y=0.3425 right_z=0.0556 right_yaw=0.0058 right_pitch=-0.6288 right_roll=-0.393 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -2.8376, 6.7214, 1.2576, -0.1001, -0.0708, -0.0122, -0.6085, -11.9179, 7.0496, 0.232, 0.2955, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b459e8aba2ff33413c071fda564f2ceefa8463535390892b5ca26d4f9a5922",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42539859f38f8add45511c5b11c19e8f8dcb6ec2a334acd3f799f64bcf82ac2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6270415160884903825056e618ae251022fa0e743090af85ebface6f55254f77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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