adhoc

completed
2026-09-23T21:22:55.041478+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
218.5 s
total steps
367
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe right wrist view shows a green pear very close below the gripper, slightly to the image-right of the jaw column; the blue bowl is farther ahead. I am moving the right gripper slightly inward and right to center above the pear before descending.
move_to
right_x0.2500right_y-0.0300right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6136, -0.382, -0.0139, -0.0292, 0.9992, -0.0227, 0.8005, 0.6186, -0.387, -0.017, -0.012, 0.9994] state[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1823 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9992 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [-0.3897, -1.7846, 9.6342, 1.7753, -0.1099, 0.1587, -0.0952, -0.212, -1.4427, 9.265, 1.8291, -0.0562, 0.0024, -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":0.25,"right_y":-0.03,"right_z":0.15,"right_gripper":1.0},"note":"The right wrist view shows a green pear very close below the gripper, slightly to the image-right of the jaw column; the blue bowl is farther ahead. I am moving the right gripper slightly inward and right to center above the pear before descending."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteThe pear is now nearly centered on the jaw column, but it remains fully visible with space below it, which means the fingertips are still a few centimeters short. I am advancing 3 cm and correcting slightly left before the grasp descent.
move_to
right_x0.2800right_y-0.0200right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.804, 0.6132, -0.3901, -0.0139, -0.0303, 0.9991, -0.3202, 0.5655, 0.4473, -0.4763, -0.2352, -0.1589, 0.9994] state[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1794 left_yaw=-0.0005 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2495 right_y=-0.0356 right_z=0.1488 right_yaw=-0.0356 right_pitch=-0.0072 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [-0.212, -1.5248, 7.0906, 1.7802, -0.0562, -0.022, -0.0171, -0.1162, 0.0479, 6.9128, 1.7216, -0.0952, -0.0073, -0.0757] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":-0.02,"right_z":0.15},"note":"The pear is now nearly centered on the jaw column, but it remains fully visible with space below it, which means the fingertips are still a few centimeters short. I am advancing 3 cm and correcting slightly left before the grasp descent."})
tool
executing move_to over 3 steps (0.3s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe pear is centered between the open jaws after the advance. I am descending to about mid-height on the upright fruit so the parallel jaws can close around its body rather than skim over it.
move_to
right_x0.2800right_y-0.0200right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.807, 0.6132, -0.4011, -0.0139, -0.0307, 0.9991, -0.1337, 0.7277, 0.4477, -0.3622, -0.0975, -0.078, 0.9994] state[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1763 left_yaw=-0.0003 left_pitch=-0.0259 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2723 right_y=-0.0157 right_z=0.1304 right_yaw=-0.0076 right_pitch=-0.0698 right_roll=-0.0029 right_gripper=0.9994 state[joint_eff]: [-0.1299, -1.1556, 7.0222, 1.873, -0.0513, -0.0562, -0.0122, -0.0889, -0.9915, 9.0325, 2.044, 0.105, 0.2076, -0.0171] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":-0.02,"right_z":0.035},"note":"The pear is centered between the open jaws after the advance. I am descending to about mid-height on the upright fruit so the parallel jaws can close around its body rather than skim over it."})
tool
executing move_to over 7 steps (0.7s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteAt the low pose the pear fills the center of the wrist view and is aligned between the jaws. I am closing around it now.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.812, 0.6125, -0.4168, -0.0139, -0.0307, 0.9991, -0.1543, 1.0424, 0.1238, 0.2394, -0.1127, -0.0902, 0.9994] state[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.1714 left_yaw=-0.0003 left_pitch=-0.0473 left_roll=-0.0003 left_gripper=0.9991 right_x=0.2748 right_y=-0.019 right_z=0.0276 right_yaw=-0.0083 right_pitch=-0.1052 right_roll=0.0018 right_gripper=0.9994 state[joint_eff]: [-0.294, -1.7026, 7.2274, 1.8193, -0.0464, -0.0611, -0.0122, -0.4171, -2.0034, 6.3248, 1.8437, -0.1001, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the low pose the pear fills the center of the wrist view and is aligned between the jaws. I am closing around it now."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe gripper settled nearly fully closed, so the first pear grasp was empty; the pear slipped forward-left and is now visible beside the blue bowl. I am opening and moving above its new location for the single retry.
move_to
right_x0.3100right_y0.0300right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8127, 0.6121, -0.4236, -0.0139, -0.0307, 0.9991, -0.1543, 1.0428, 0.1238, 0.2352, -0.1123, -0.0898, 0.0113] state[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0003 left_pitch=-0.0553 left_roll=-0.0001 left_gripper=0.9991 right_x=0.2742 right_y=-0.019 right_z=0.0267 right_yaw=-0.0087 right_pitch=-0.1098 right_roll=0.0025 right_gripper=0.0113 state[joint_eff]: [-0.1846, -1.3607, 7.0222, 1.7656, -0.0611, -0.0708, -0.0122, -0.0342, -1.8667, 5.8188, 1.7118, -0.0562, -0.0415, 0.8816] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.03,"right_z":0.13,"right_gripper":1.0},"note":"The gripper settled nearly fully closed, so the first pear grasp was empty; the pear slipped forward-left and is now visible beside the blue bowl. I am opening and moving above its new location for the single retry."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe pear is fully visible ahead of the fingertips and about 25 pixels to the image-right of the jaw column. I am advancing 3 cm and shifting right about 2 cm to center the retry precisely.
move_to
right_x0.3350right_y0.0100right_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]: [-0.0212, 0.8127, 0.6121, -0.4248, -0.0139, -0.0307, 0.9991, 0.1589, 0.9798, 0.5293, -0.2523, 0.1081, 0.0803, 0.9986] state[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1694 left_yaw=-0.0003 left_pitch=-0.0565 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3057 right_y=0.0333 right_z=0.1199 right_yaw=0.0252 right_pitch=-0.1291 right_roll=-0.0069 right_gripper=0.9986 state[joint_eff]: [-0.2667, -1.1282, 7.159, 1.6923, -0.0269, -0.0513, -0.0122, -0.2667, -1.9487, 8.7453, 1.5995, 0.2222, 0.2466, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.01,"right_z":0.12},"note":"The pear is fully visible ahead of the fingertips and about 25 pixels to the image-right of the jaw column. I am advancing 3 cm and shifting right about 2 cm to center the retry precisely."})
tool
executing move_to over 3 steps (0.3s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe pear is now centered on the jaw column with symmetric clearance between the fingers. I am descending to grasp its lower-middle body while maintaining this lateral alignment.
move_to
right_x0.3350right_y0.0100right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6121, -0.4267, -0.0139, -0.0307, 0.9991, 0.0204, 1.1202, 0.5629, -0.2035, 0.012, -0.0082, 0.9986] state[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1688 left_yaw=-0.0003 left_pitch=-0.0591 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3234 right_y=0.0081 right_z=0.101 right_yaw=0.0163 right_pitch=-0.192 right_roll=-0.0129 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.1966, 6.9812, 1.7118, -0.0806, -0.0806, -0.0122, -0.0479, -3.7128, 9.1145, 1.79, -0.0855, -0.0269, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.01,"right_z":0.025},"note":"The pear is now centered on the jaw column with symmetric clearance between the fingers. I am descending to grasp its lower-middle body while maintaining this lateral alignment."})
tool
executing move_to over 5 steps (0.5s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe descent stalled around 10 cm with no visual contact, indicating an awkward IK posture rather than a table touch. I am tipping the tool forward and requesting a moderate low pose to let the arm unfold while staying centered over the pear.
move_to
right_x0.3400right_y0.0100right_z0.0500right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6121, -0.4271, -0.0135, -0.0307, 0.9991, 0.0223, 1.1202, 0.564, -0.1993, 0.0025, -0.0086, 0.9986] state[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1687 left_yaw=-0.0006 left_pitch=-0.0595 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3243 right_y=0.0104 right_z=0.1022 right_yaw=0.0266 right_pitch=-0.1867 right_roll=-0.0065 right_gripper=0.9986 state[joint_eff]: [-0.1709, -1.0188, 7.1453, 1.6777, -0.0317, -0.0562, -0.0122, -0.2393, -3.7538, 8.8821, 1.8144, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.01,"right_z":0.05,"right_pitch":0.4},"note":"The descent stalled around 10 cm with no visual contact, indicating an awkward IK posture rather than a table touch. I am tipping the tool forward and requesting a moderate low pose to let the arm unfold while staying centered over the pear."})
tool
executing move_to over 20 steps (2.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteWith the forward pitch, the arm reached the low pose and the pear is centered between the jaws at body height. I am closing to a moderate width so the rounded fruit is secured without aggressively ejecting it.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6121, -0.4313, -0.0139, -0.0307, 0.9991, 0.0204, 1.842, 0.0662, 1.5307, -0.0055, -0.0113, 0.9986] state[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1674 left_yaw=-0.0003 left_pitch=-0.0656 left_roll=0.0001 left_gripper=0.9991 right_x=0.339 right_y=0.0115 right_z=0.0546 right_yaw=0.0335 right_pitch=0.3237 right_roll=-0.0094 right_gripper=0.9986 state[joint_eff]: [-0.1709, -1.4838, 7.0906, 1.746, -0.0269, -0.0122, -0.0073, -0.5402, -6.106, 2.906, 2.2686, -0.0269, 0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.25},"note":"With the forward pitch, the arm reached the low pose and the pear is centered between the jaws at body height. I am closing to a moderate width so the rounded fruit is secured without aggressively ejecting it."})
tool
executing move_to over 8 steps (0.8s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe gripper stopped at 0.38 open, confirming a roughly 3.6 cm object between the jaws. I am lifting the pear well clear of the table to verify and transport it.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6121, -0.432, -0.0139, -0.0307, 0.9991, 0.0204, 1.8587, 0.0677, 1.5818, -0.0051, -0.0166, 0.3788] state[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1672 left_yaw=-0.0003 left_pitch=-0.0664 left_roll=0.0001 left_gripper=0.9991 right_x=0.3414 right_y=0.0115 right_z=0.0619 right_yaw=0.0364 right_pitch=0.3595 right_roll=-0.0155 right_gripper=0.3788 state[joint_eff]: [-0.1026, -1.3197, 7.1863, 1.6923, -0.0611, -0.0513, -0.0122, -0.1846, -4.4103, 1.8803, 1.7802, -0.0464, -0.0073, 1.0183] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The gripper stopped at 0.38 open, confirming a roughly 3.6 cm object between the jaws. I am lifting the pear well clear of the table to verify and transport it."})
tool
executing move_to over 7 steps (0.7s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe overhead view confirms the pear rose with the gripper. I am carrying it above the blue bowl, shifting left in the right-arm frame while maintaining generous clearance.
move_to
right_x0.4000right_y0.1200right_z0.2000right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8192, 0.6121, -0.4393, -0.0139, -0.0307, 0.9991, 0.0212, 1.2659, 0.2741, 1.0, -0.0093, -0.0193, 0.3788] state[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1648 left_yaw=-0.0003 left_pitch=-0.0774 left_roll=0.0003 left_gripper=0.9991 right_x=0.3719 right_y=0.0131 right_z=0.1939 right_yaw=0.045 right_pitch=0.5769 right_roll=-0.0229 right_gripper=0.3788 state[joint_eff]: [-0.2256, -1.6205, 6.9675, 1.7705, -0.022, -0.0366, -0.0122, -0.3487, -3.5897, 7.3368, 1.8046, 0.0269, -0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.12,"right_z":0.2,"right_pitch":0.4},"note":"The overhead view confirms the pear rose with the gripper. I am carrying it above the blue bowl, shifting left in the right-arm frame while maintaining generous clearance."})
tool
executing move_to over 9 steps (0.9s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe carried pear is directly over and occluding the blue bowl in the overhead view. I am lowering it into the bowl while keeping the grasp closed.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8238, 0.6121, -0.4465, -0.0139, -0.0307, 0.9991, 0.4591, 1.3746, 0.5659, 0.5674, 0.3893, 0.0341, 0.3824] state[eef_state]: left_x=0.2881 left_y=-0.0001 left_z=0.1621 left_yaw=-0.0002 left_pitch=-0.0893 left_roll=0.0006 left_gripper=0.9991 right_x=0.394 right_y=0.124 right_z=0.1796 right_yaw=0.095 right_pitch=0.3449 right_roll=-0.0604 right_gripper=0.3824 state[joint_eff]: [-0.1026, -1.7299, 6.9675, 1.7216, -0.0562, -0.0073, -0.0073, -0.4581, -5.6957, 9.1829, 2.0977, 0.2711, 0.0415, 0.823] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The carried pear is directly over and occluding the blue bowl in the overhead view. I am lowering it into the bowl while keeping the grasp closed."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe blue bowl rim now surrounds the pear in the wrist view, showing it is lowered inside. I am opening the jaws to release the pear into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8249, 0.6121, -0.45, -0.0139, -0.0307, 0.9991, 0.458, 1.6325, 0.4347, 0.8349, 0.3874, 0.0341, 0.383] state[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1611 left_yaw=-0.0002 left_pitch=-0.0938 left_roll=0.0007 left_gripper=0.9991 right_x=0.3868 right_y=0.1202 right_z=0.0865 right_yaw=0.1081 right_pitch=0.2307 right_roll=-0.1042 right_gripper=0.383 state[joint_eff]: [-0.253, -1.0735, 6.9675, 1.6679, -0.0513, -0.0659, -0.0122, -0.1162, -6.9265, 5.0803, 2.5617, 0.0952, -0.022, 0.9158] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The blue bowl rim now surrounds the pear in the wrist view, showing it is lowered inside. I am opening the jaws to release the pear into the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe pear is released and remains in the blue bowl. I am lifting and backing the right arm away so the remaining yellow fruit beside the bowl is visible for the next pickup.
move_to
right_x0.3000right_y0.0500right_z0.1800right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8288, 0.6121, -0.4606, -0.0135, -0.0307, 0.9991, 0.4583, 1.6512, 0.4259, 0.8314, 0.3851, 0.0265, 0.9959] state[eef_state]: left_x=0.2862 left_y=-0.0001 left_z=0.1581 left_yaw=-0.0005 left_pitch=-0.1083 left_roll=0.0007 left_gripper=0.9991 right_x=0.3836 right_y=0.1192 right_z=0.0754 right_yaw=0.1169 right_pitch=0.2008 right_roll=-0.1214 right_gripper=0.9959 state[joint_eff]: [-0.1709, -1.2239, 7.0085, 1.8046, -0.0269, -0.0562, -0.0122, -0.1162, -7.6786, 5.6, 1.8437, 0.0464, 0.0073, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.05,"right_z":0.18,"right_pitch":0.4},"note":"The pear is released and remains in the blue bowl. I am lifting and backing the right arm away so the remaining yellow fruit beside the bowl is visible for the next pickup."})
tool
executing move_to over 7 steps (0.7s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteWith the arm retracted, the overhead view shows a yellow fruit just below-left of the blue bowl. I am moving the right gripper inward and left to hover above that fruit.
move_to
right_x0.2900right_y0.2000right_z0.1400right_pitch0.4000right_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, 0.8326, 0.6121, -0.4702, -0.0139, -0.0307, 0.9991, 0.3035, 0.7517, 0.2153, 0.4305, 0.2737, -0.0589, 0.9965] state[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1552 left_yaw=-0.0009 left_pitch=-0.1217 left_roll=0.0013 left_gripper=0.9991 right_x=0.3066 right_y=0.0497 right_z=0.1936 right_yaw=0.083 right_pitch=0.4645 right_roll=-0.0971 right_gripper=0.9965 state[joint_eff]: [-0.0752, -1.1966, 6.9402, 1.7802, -0.0366, -0.0708, -0.0122, -0.1573, 0.7043, 6.9265, 1.8974, -0.0269, 0.0024, 0.0464] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.2,"right_z":0.14,"right_pitch":0.4,"right_gripper":1.0},"note":"With the arm retracted, the overhead view shows a yellow fruit just below-left of the blue bowl. I am moving the right gripper inward and left to hover above that fruit."})
tool
executing move_to over 13 steps (1.3s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe yellow fruit is centered laterally but partly cut off at the bottom of the wrist view, so the fingertips are slightly too far forward. I am moving inward 3 cm to bring the grasp point over it.
move_to
right_x0.2600right_y0.2000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8387, 0.6121, -0.4763, -0.0139, -0.0307, 0.9991, 1.0069, 1.4345, 0.3622, 0.7338, 0.9173, 0.1192, 0.9986] state[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1525 left_yaw=-0.0009 left_pitch=-0.1339 left_roll=0.0015 left_gripper=0.9991 right_x=0.2874 right_y=0.1988 right_z=0.1283 right_yaw=0.1515 right_pitch=0.3587 right_roll=-0.1598 right_gripper=0.9986 state[joint_eff]: [-0.1846, -1.935, 7.0496, 1.6679, -0.0562, -0.0464, -0.0122, 0.1709, -5.1761, 6.735, 1.8584, 0.4225, 0.1734, -0.1538] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.26,"right_y":0.2,"right_z":0.13},"note":"The yellow fruit is centered laterally but partly cut off at the bottom of the wrist view, so the fingertips are slightly too far forward. I am moving inward 3 cm to bring the grasp point over it."})
tool
executing move_to over 3 steps (0.3s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe yellow fruit is now fully visible just below the jaw column and slightly to image-right. I am making a small outward/right correction and descending with the forward-pitched posture that successfully reached the table for the pear.
move_to
right_x0.2750right_y0.1850right_z0.0500right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8406, 0.6121, -0.4759, -0.0139, -0.0307, 0.9991, 1.1049, 1.38, 0.3466, 0.6598, 0.9848, 0.1596, 0.9986] state[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.152 left_yaw=-0.0009 left_pitch=-0.1354 left_roll=0.0016 left_gripper=0.9991 right_x=0.2645 right_y=0.2065 right_z=0.1304 right_yaw=0.1791 right_pitch=0.3585 right_roll=-0.1627 right_gripper=0.9986 state[joint_eff]: [-0.1709, -1.1419, 6.9265, 1.663, -0.0757, -0.0415, -0.0122, 0.0889, -4.9436, 4.7111, 1.6288, 0.2613, 0.2173, -0.0171] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.275,"right_y":0.185,"right_z":0.05,"right_pitch":0.4},"note":"The yellow fruit is now fully visible just below the jaw column and slightly to image-right. I am making a small outward/right correction and descending with the forward-pitched posture that successfully reached the table for the pear."})
tool
executing move_to over 6 steps (0.6s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe arm again stalled high in the folded near-base posture, not at the table. I am extending a few centimeters and using the maximum forward pitch to unfold into a reachable low configuration before refining over the fruit.
move_to
right_x0.3000right_y0.1850right_z0.0500right_pitch0.6000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8406, 0.6121, -0.4763, -0.0135, -0.0307, 0.9991, 1.1221, 1.3685, 0.3466, 0.6075, 1.0023, 0.1768, 0.9986] state[eef_state]: left_x=0.2842 left_y=-0.0003 left_z=0.1519 left_yaw=-0.0012 left_pitch=-0.1358 left_roll=0.0013 left_gripper=0.9991 right_x=0.2599 right_y=0.2049 right_z=0.1266 right_yaw=0.1837 right_pitch=0.3412 right_roll=-0.184 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.347, 7.1726, 1.6484, -0.0171, -0.0659, -0.0122, -0.0889, -5.0393, 4.7385, 1.6679, 0.3736, 0.1245, -0.0122] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.185,"right_z":0.05,"right_pitch":0.6},"note":"The arm again stalled high in the folded near-base posture, not at the table. I am extending a few centimeters and using the maximum forward pitch to unfold into a reachable low configuration before refining over the fruit."})
tool
executing move_to over 9 steps (0.9s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe unfolded pose reached 4 cm above the table, and the yellow fruit is centered tightly between the jaws. I am closing to a moderate width around it.
move_to
right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8463, 0.6121, -0.4847, -0.0135, -0.0311, 0.9991, 0.9413, 1.8935, 0.3008, 1.166, 0.8761, -0.1009, 0.9985] state[eef_state]: left_x=0.2831 left_y=-0.0002 left_z=0.1489 left_yaw=-0.001 left_pitch=-0.1499 left_roll=0.0013 left_gripper=0.9991 right_x=0.2983 right_y=0.1851 right_z=0.0405 right_yaw=0.2586 right_pitch=0.2493 right_roll=-0.4338 right_gripper=0.9985 state[joint_eff]: [0.1709, -1.894, 7.0906, 1.6825, -0.0659, -0.0757, -0.0122, -0.3624, -6.5983, 4.0, 2.044, 0.2418, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.3},"note":"The unfolded pose reached 4 cm above the table, and the yellow fruit is centered tightly between the jaws. I am closing to a moderate width around it."})
tool
executing move_to over 7 steps (0.7s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe partial close reached its commanded width without clear resistance, and the fruit remains within the jaw opening. I am completing the close to test and secure 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, 0.8471, 0.6121, -0.4881, -0.0139, -0.0307, 0.9991, 0.9497, 2.1067, 0.2817, 1.5295, 0.9073, -0.2089, 0.3048] state[eef_state]: left_x=0.2826 left_y=-0.0002 left_z=0.148 left_yaw=-0.0008 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9991 right_x=0.298 right_y=0.1835 right_z=0.0349 right_yaw=0.2701 right_pitch=0.3328 right_roll=-0.4631 right_gripper=0.3048 state[joint_eff]: [-0.2256, -1.5795, 6.9675, 1.619, -0.0269, -0.0464, -0.0122, 0.2393, -6.4752, 1.894, 1.9463, 0.1538, 0.0513, 0.1148] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The partial close reached its commanded width without clear resistance, and the fruit remains within the jaw opening. I am completing the close to test and secure the grasp."})
tool
executing move_to over 4 steps (0.4s)
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 full close was empty and nudged the yellow fruit to the image-right of the jaw center. I am opening, lifting slightly, and shifting right for one carefully aligned retry.
move_to
right_x0.3000right_y0.1550right_z0.0900right_pitch0.6000right_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, 0.8471, 0.6121, -0.4915, -0.0139, -0.0307, 0.9991, 0.9497, 2.1067, 0.2821, 1.5303, 0.9073, -0.2096, 0.0103] state[eef_state]: left_x=0.282 left_y=-0.0001 left_z=0.1474 left_yaw=-0.0008 left_pitch=-0.1575 left_roll=0.002 left_gripper=0.9991 right_x=0.2981 right_y=0.1836 right_z=0.0351 right_yaw=0.2703 right_pitch=0.3335 right_roll=-0.4631 right_gripper=0.0103 state[joint_eff]: [-0.1162, -1.5248, 7.1863, 1.5995, -0.0317, -0.0366, -0.0122, 0.212, -6.7897, 1.6889, 1.9805, 0.1783, 0.0611, 0.9402] approver: 1 step(s) modified (delta_clamped). 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":0.3,"right_y":0.155,"right_z":0.09,"right_pitch":0.6,"right_gripper":1.0},"note":"The full close was empty and nudged the yellow fruit to the image-right of the jaw center. I am opening, lifting slightly, and shifting right for one carefully aligned retry."})
tool
executing move_to over 10 steps (1.0s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe overhead view places the open gripper directly over the yellow fruit, which is now below the wrist camera’s bottom edge. I am descending vertically in the unfolded posture for the retry.
move_to
right_x0.3100right_y0.1550right_z0.0400right_pitch0.6000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8482, 0.6121, -0.4919, -0.0135, -0.0307, 0.9991, 0.8532, 1.726, 0.2085, 1.5463, 0.8356, -0.4126, 0.9953] state[eef_state]: left_x=0.282 left_y=-0.0002 left_z=0.147 left_yaw=-0.0011 left_pitch=-0.1591 left_roll=0.0018 left_gripper=0.9991 right_x=0.3081 right_y=0.1592 right_z=0.1371 right_yaw=0.261 right_pitch=0.5393 right_roll=-0.4602 right_gripper=0.9953 state[joint_eff]: [-0.0479, -1.4291, 6.9812, 1.6874, -0.0269, -0.0122, -0.0122, -0.3214, -5.4222, 3.1248, 1.8877, -0.0073, -0.1538, 0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.155,"right_z":0.04,"right_pitch":0.6},"note":"The overhead view places the open gripper directly over the yellow fruit, which is now below the wrist camera’s bottom edge. I am descending vertically in the unfolded posture for the retry."})
tool
executing move_to over 7 steps (0.7s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe second descent again stalled in the folded posture around 13 cm. As with the successful pear pickup, I am extending farther forward to let the arm unfold and reach the low grasp height while keeping the same lateral alignment.
move_to
right_x0.3500right_y0.1550right_z0.0400right_pitch0.6000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8482, 0.6121, -0.4942, -0.0135, -0.0307, 0.9991, 0.8188, 1.8107, 0.2768, 1.5471, 0.8055, -0.4271, 0.9963] state[eef_state]: left_x=0.2816 left_y=-0.0002 left_z=0.1466 left_yaw=-0.0011 left_pitch=-0.1613 left_roll=0.0019 left_gripper=0.9991 right_x=0.3257 right_y=0.167 right_z=0.1287 right_yaw=0.2701 right_pitch=0.5229 right_roll=-0.4869 right_gripper=0.9963 state[joint_eff]: [-0.1299, -1.4974, 7.0632, 1.6142, -0.0366, -0.0611, -0.0122, -0.4581, -5.4359, 4.4376, 1.9072, -0.1343, 0.1441, 0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.155,"right_z":0.04,"right_pitch":0.6},"note":"The second descent again stalled in the folded posture around 13 cm. As with the successful pear pickup, I am extending farther forward to let the arm unfold and reach the low grasp height while keeping the same lateral alignment."})
tool
executing move_to over 6 steps (0.6s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe low retry remained blocked near the bowl, and the overhead view suggests the yellow fruit may have been pushed into the blue bowl during alignment. I am retracting and parking the right arm to verify the bowl contents and clear space for the dark fruit.
move_to
right_x0.3000right_y0.0000right_z0.2000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8516, 0.6121, -0.4946, -0.0139, -0.0307, 0.9991, 0.7059, 1.9614, 0.4377, 1.5478, 0.701, -0.4313, 0.9965] state[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1456 left_yaw=-0.0008 left_pitch=-0.1651 left_roll=0.0022 left_gripper=0.9991 right_x=0.374 right_y=0.1738 right_z=0.1195 right_yaw=0.2619 right_pitch=0.5324 right_roll=-0.4875 right_gripper=0.9965 state[joint_eff]: [-0.0068, -1.7983, 6.9128, 1.5604, -0.0415, -0.0317, -0.0122, -0.4444, -6.9538, 3.7812, 1.9316, 0.0757, -0.0708, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.0,"right_z":0.2,"right_pitch":0.0,"right_gripper":1.0},"note":"The low retry remained blocked near the bowl, and the overhead view suggests the yellow fruit may have been pushed into the blue bowl during alignment. I am retracting and parking the right arm to verify the bowl contents and clear space for the dark fruit."})
tool
executing move_to over 18 steps (1.8s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe yellow fruit is still beside the blue bowl, while a dark round fruit remains near the white bowl. I am using the left arm to hover over the dark fruit, leaving the parked right arm clear.
move_to
left_x0.2600left_y-0.2200left_z0.1400left_pitch0.4000left_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, 0.8574, 0.6121, -0.4946, -0.0135, -0.0307, 0.9991, 0.0307, 0.7864, 0.5762, -0.2573, 0.0933, -0.514, 0.9986] state[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.1441 left_yaw=-0.0011 left_pitch=-0.1709 left_roll=0.0021 left_gripper=0.9991 right_x=0.3056 right_y=-0.0035 right_z=0.1958 right_yaw=0.2186 right_pitch=0.0288 right_roll=-0.4945 right_gripper=0.9986 state[joint_eff]: [-0.1846, -2.0308, 6.9128, 1.6142, -0.0269, -0.0464, -0.0122, -0.212, -2.0034, 9.265, 1.8974, -0.0171, -0.0611, -0.1587] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.22,"left_z":0.14,"left_pitch":0.4,"left_gripper":1.0},"note":"The yellow fruit is still beside the blue bowl, while a dark round fruit remains near the white bowl. I am using the left arm to hover over the dark fruit, leaving the parked right arm clear."})
tool
executing move_to over 20 steps (2.0s)
step 208
top_cam
camera top_cam step 208
assistant
agent noteThe dark fruit is centered on the left jaw column and just ahead of the fingertips. I am advancing slightly and descending with a strong forward pitch to reach its body at table level.
move_to
left_x0.3000left_y-0.2200left_z0.0400left_pitch0.6000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1999, 1.4353, 0.4252, 0.4271, -1.1156, -0.4755, 0.9992, 0.0307, 0.791, 0.5819, -0.2886, 0.0772, -0.532, 0.9985] state[eef_state]: left_x=0.2559 left_y=-0.2105 left_z=0.1168 left_yaw=-0.0585 left_pitch=0.323 left_roll=0.0803 left_gripper=0.9992 right_x=0.3032 right_y=-0.0007 right_z=0.1902 right_yaw=0.2411 right_pitch=-0.0039 right_roll=-0.4965 right_gripper=0.9985 state[joint_eff]: [-0.3077, -5.2991, 7.6513, 1.7021, -0.6911, 0.1441, -0.0952, -0.253, -1.6068, 6.6393, 2.0586, 0.105, 0.1197, -0.0171] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.22,"left_z":0.04,"left_pitch":0.6},"note":"The dark fruit is centered on the left jaw column and just ahead of the fingertips. I am advancing slightly and descending with a strong forward pitch to reach its body at table level."})
tool
executing move_to over 10 steps (1.0s)
step 218
assistant
agent noteThe fruit has moved below the wrist camera, indicating the fingertips are directly over it, but the first descent stopped at 8.6 cm. I am requesting a smaller follow-up descent now that the arm is unfolded.
move_to
left_x0.3100left_y-0.2300left_z0.0450left_pitch0.6000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0859, 2.085, 0.4904, 1.5314, -1.0931, -0.0212, 0.9991, 0.0307, 0.7944, 0.5819, -0.2974, 0.0738, -0.5358, 0.9986] state[eef_state]: left_x=0.3076 left_y=-0.2395 left_z=0.0862 left_yaw=-0.0225 left_pitch=0.5392 left_roll=0.0622 left_gripper=0.9991 right_x=0.3024 right_y=-0.0002 right_z=0.1873 right_yaw=0.246 right_pitch=-0.0165 right_roll=-0.4955 right_gripper=0.9986 state[joint_eff]: [0.3624, -6.2017, 3.1658, 1.6386, 0.1197, 0.1929, -0.022, -0.0479, -1.4838, 7.0632, 1.8437, 0.0269, -0.0317, -0.0073] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.23,"left_z":0.045,"left_pitch":0.6},"note":"The fruit has moved below the wrist camera, indicating the fingertips are directly over it, but the first descent stopped at 8.6 cm. I am requesting a smaller follow-up descent now that the arm is unfolded."})
tool
executing move_to over 3 steps (0.3s)
step 221
assistant
agent noteThe low follow-up moved only slightly and the dark fruit remains directly under the jaws. I am closing around it at this height to test for a secure grasp.
move_to
left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0679, 2.1494, 0.5552, 1.5547, -1.087, 0.009, 0.9991, 0.0307, 0.7948, 0.5819, -0.2981, 0.0734, -0.5354, 0.9986] state[eef_state]: left_x=0.319 left_y=-0.248 left_z=0.081 left_yaw=-0.017 left_pitch=0.5495 left_roll=0.0731 left_gripper=0.9991 right_x=0.3023 right_y=-0.0001 right_z=0.1871 right_yaw=0.2462 right_pitch=-0.0175 right_roll=-0.4947 right_gripper=0.9986 state[joint_eff]: [0.4581, -8.4308, 3.7812, 1.7265, 0.0611, 0.1978, -0.0122, -0.0342, -1.2786, 7.0496, 1.7705, -0.0317, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.2},"note":"The low follow-up moved only slightly and the dark fruit remains directly under the jaws. I am closing around it at this height to test for a secure grasp."})
tool
executing move_to over 8 steps (0.8s)
step 229
assistant
agent noteThe partial close reached its target without resistance, so I am completing the close while the jaws remain centered over the dark fruit.
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]: [-1.066, 2.1544, 0.5697, 1.5562, -1.0855, 0.0204, 0.205, 0.0307, 0.7948, 0.5819, -0.3042, 0.0734, -0.5358, 0.9986] state[eef_state]: left_x=0.3212 left_y=-0.2508 left_z=0.0825 left_yaw=-0.018 left_pitch=0.5545 left_roll=0.0753 left_gripper=0.205 right_x=0.3016 right_y=-0.0001 right_z=0.1858 right_yaw=0.2464 right_pitch=-0.0235 right_roll=-0.4937 right_gripper=0.9986 state[joint_eff]: [0.253, -8.3077, 3.6308, 1.663, 0.0415, 0.0611, 0.1538, -0.0752, -1.2923, 7.2547, 1.873, -0.0122, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The partial close reached its target without resistance, so I am completing the close while the jaws remain centered over the dark fruit."})
tool
executing move_to over 3 steps (0.3s)
step 232
assistant
agent noteThe left gripper closed empty; the dark oval in the overhead view moves with the wrist and is part of the arm, not a fruit. The only remaining loose fruit is the yellow one beside the blue bowl, so I am approaching it from the left arm’s cross-over limit for a cleaner low-reach geometry.
move_to
left_x0.3500left_y-0.4000left_z0.1400left_pitch0.4000left_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]: [-1.0664, 2.1544, 0.5697, 1.5562, -1.0843, 0.0216, 0.0087, 0.0307, 0.7948, 0.5819, -0.3054, 0.0734, -0.5358, 0.9986] state[eef_state]: left_x=0.3211 left_y=-0.2511 left_z=0.0825 left_yaw=-0.0202 left_pitch=0.5545 left_roll=0.0766 left_gripper=0.0087 right_x=0.3015 right_y=-0.0001 right_z=0.1855 right_yaw=0.2464 right_pitch=-0.0246 right_roll=-0.4935 right_gripper=0.9986 state[joint_eff]: [0.1299, -8.1709, 3.5897, 1.6581, 0.0415, 0.0611, 0.7448, -0.0205, -1.1145, 7.0632, 1.8144, -0.022, -0.0366, -0.0171] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.4,"left_z":0.14,"left_pitch":0.4,"left_gripper":1.0},"note":"The left gripper closed empty; the dark oval in the overhead view moves with the wrist and is part of the arm, not a fruit. The only remaining loose fruit is the yellow one beside the blue bowl, so I am approaching it from the left arm’s cross-over limit for a cleaner low-reach geometry."})
tool
executing move_to over 14 steps (1.4s)
step 246
assistant
agent noteFrom the cross-over limit, the yellow fruit is partly inside the open jaw span at the lower-right of the left wrist view; the arm cannot shift farther right. I am advancing and descending in the unfolded posture so the wide-open jaws can capture it despite the small lateral offset.
move_to
left_x0.3800left_y-0.4000left_z0.0500left_pitch0.6000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1591, 2.1235, 1.2915, 0.4885, -1.1618, -0.3168, 0.9965, 0.0307, 0.7967, 0.5819, -0.3191, 0.0731, -0.5362, 0.9986] state[eef_state]: left_x=0.352 left_y=-0.3922 left_z=0.1489 left_yaw=0.0158 left_pitch=0.4345 left_roll=0.0209 left_gripper=0.9965 right_x=0.2999 right_y=-0.0001 right_z=0.182 right_yaw=0.247 right_pitch=-0.04 right_roll=-0.4903 right_gripper=0.9986 state[joint_eff]: [-0.9231, -10.0308, 7.1453, 1.1209, -0.1197, -0.0611, -0.0415, -0.1162, -1.4291, 7.0496, 1.8828, -0.0366, -0.0415, -0.0171] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.4,"left_z":0.05,"left_pitch":0.6},"note":"From the cross-over limit, the yellow fruit is partly inside the open jaw span at the lower-right of the left wrist view; the arm cannot shift farther right. I am advancing and descending in the unfolded posture so the wide-open jaws can capture it despite the small lateral offset."})
tool
executing move_to over 7 steps (0.7s)
step 253
assistant
agent noteAt the left arm’s lateral limit the fruit remains too far to the wrist-image right for a reliable close. I am retracting the left arm and will use the right gripper as a low pusher, since the fruit is immediately beside the blue bowl.
move_to
left_x0.3000left_y0.0000left_z0.2000left_pitch0.0000left_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]: [-1.1236, 2.5343, 1.3437, 1.2217, -1.1519, -0.0235, 0.9968, 0.0307, 0.7982, 0.5819, -0.321, 0.0734, -0.5358, 0.9986] state[eef_state]: left_x=0.376 left_y=-0.4026 left_z=0.0621 left_yaw=0.0529 left_pitch=0.5811 left_roll=-0.0401 left_gripper=0.9968 right_x=0.2998 right_y=-0.0002 right_z=0.1812 right_yaw=0.2465 right_pitch=-0.0433 right_roll=-0.4894 right_gripper=0.9986 state[joint_eff]: [0.8821, -10.5641, 4.4103, 0.6325, 0.1148, 0.4567, 0.0269, -0.335, -1.4154, 7.0496, 1.7753, -0.022, -0.0611, -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":{"left_x":0.3,"left_y":0.0,"left_z":0.2,"left_pitch":0.0,"left_gripper":1.0},"note":"At the left arm’s lateral limit the fruit remains too far to the wrist-image right for a reliable close. I am retracting the left arm and will use the right gripper as a low pusher, since the fruit is immediately beside the blue bowl."})
tool
executing move_to over 36 steps (3.6s)
step 289
assistant
agent noteWith both arms clear, the loose yellow fruit is directly below the blue bowl in the overhead view. I am placing the closed right gripper low just behind the fruit, ready to push it forward and slightly right into the bowl.
move_to
right_x0.2800right_y0.2000right_z0.0500right_pitch0.6000right_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]: [-0.078, 0.8371, 0.6518, -0.3855, -0.141, -0.1619, 0.9979, 0.0307, 0.8005, 0.5819, -0.3347, 0.0734, -0.5362, 0.9986] state[eef_state]: left_x=0.3027 left_y=0.0048 left_z=0.1897 left_yaw=0.1204 left_pitch=0.0036 left_roll=-0.0437 left_gripper=0.9979 right_x=0.2982 right_y=-0.0002 right_z=0.1777 right_yaw=0.2469 right_pitch=-0.059 right_roll=-0.4863 right_gripper=0.9986 state[joint_eff]: [0.2393, -2.0581, 9.9077, 1.5409, 0.0757, 0.1245, -0.232, -0.2803, -1.1966, 7.0496, 1.8535, -0.0415, -0.0464, -0.0171] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.2,"right_z":0.05,"right_pitch":0.6,"right_gripper":0.0},"note":"With both arms clear, the loose yellow fruit is directly below the blue bowl in the overhead view. I am placing the closed right gripper low just behind the fruit, ready to push it forward and slightly right into the bowl."})
tool
executing move_to over 22 steps (2.2s)
step 311
assistant
agent noteThe closed right gripper is now directly behind the upright yellow fruit at about mid-body height, even though the descent stopped at 12 cm. I am beginning a short forward-right push toward the near rim of the blue bowl.
move_to
right_x0.3400right_y0.1700right_z0.1100right_pitch0.6000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0772, 0.8448, 0.6525, -0.4015, -0.141, -0.1642, 0.9977, 1.0447, 1.9064, 0.3847, 1.5326, 1.0332, -0.429, 0.0097] state[eef_state]: left_x=0.3012 left_y=0.0052 left_z=0.1846 left_yaw=0.1224 left_pitch=-0.0189 left_roll=-0.0411 left_gripper=0.9977 right_x=0.2987 right_y=0.2194 right_z=0.1216 right_yaw=0.2688 right_pitch=0.5189 right_roll=-0.4882 right_gripper=0.0097 state[joint_eff]: [-0.1709, -2.1675, 7.2821, 1.8535, -0.0513, -0.0171, -0.0269, -0.1436, -5.8051, 3.2205, 1.8974, 0.1441, 0.0073, 0.9402] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.17,"right_z":0.11,"right_pitch":0.6},"note":"The closed right gripper is now directly behind the upright yellow fruit at about mid-body height, even though the descent stopped at 12 cm. I am beginning a short forward-right push toward the near rim of the blue bowl."})
tool
executing move_to over 5 steps (0.5s)
step 316
assistant
agent noteThe yellow fruit is no longer loose on the table; both fruits are visible inside the blue bowl. I am opening and moving the right gripper above the bowl, resetting tool tilt so I can grasp the bowl’s outside walls.
move_to
right_x0.3900right_y0.1200right_z0.2000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0772, 0.8459, 0.6525, -0.408, -0.1413, -0.1642, 0.9977, 0.7944, 1.8732, 0.3672, 1.5455, 0.8223, -0.4572, 0.0121] state[eef_state]: left_x=0.3004 left_y=0.0053 left_z=0.183 left_yaw=0.1228 left_pitch=-0.0263 left_roll=-0.0393 left_gripper=0.9977 right_x=0.3454 right_y=0.1721 right_z=0.1312 right_yaw=0.2371 right_pitch=0.5373 right_roll=-0.5042 right_gripper=0.0121 state[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.7509, -0.1099, -0.0122, -0.0122, -0.1983, -7.9521, 3.9726, 1.873, -0.0269, -0.0855, 0.5641] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.12,"right_z":0.2,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The yellow fruit is no longer loose on the table; both fruits are visible inside the blue bowl. I am opening and moving the right gripper above the bowl, resetting tool tilt so I can grasp the bowl’s outside walls."})
tool
executing move_to over 18 steps (1.8s)
step 334
assistant
agent noteThe cleared overhead view reveals the yellow fruit rolled just below-left of the blue bowl rather than into it. From the wrist view it is down-left of the jaw column, so I am moving inward-left to center above it for a direct pickup.
move_to
right_x0.3300right_y0.1700right_z0.1500right_pitch0.4000right_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]: [-0.0769, 0.8471, 0.6525, -0.416, -0.1413, -0.1642, 0.9977, 0.3325, 1.2972, 0.8898, -0.1364, 0.1135, 0.0093, 0.9972] state[eef_state]: left_x=0.2993 left_y=0.0055 left_z=0.181 left_yaw=0.1232 left_pitch=-0.0353 left_roll=-0.0375 left_gripper=0.9977 right_x=0.3907 right_y=0.1175 right_z=0.1973 right_yaw=0.2335 right_pitch=0.0281 right_roll=-0.0494 right_gripper=0.9972 state[joint_eff]: [-0.1026, -1.6752, 6.9949, 1.7753, -0.0904, -0.0073, -0.0122, -0.294, -4.5197, 8.9778, 1.746, -0.0366, 0.1783, -0.1245] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.17,"right_z":0.15,"right_pitch":0.4,"right_gripper":1.0},"note":"The cleared overhead view reveals the yellow fruit rolled just below-left of the blue bowl rather than into it. From the wrist view it is down-left of the jaw column, so I am moving inward-left to center above it for a direct pickup."})
tool
executing move_to over 13 steps (1.3s)
step 347
assistant
agent noteThe yellow fruit is very close below the fingertips and about 25 pixels to the image-left. I am shifting inward-left a few centimeters to place it squarely on the jaw column before descending.
move_to
right_x0.3000right_y0.2000right_z0.1200right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0772, 0.8509, 0.6525, -0.4236, -0.1413, -0.1642, 0.9977, 0.6731, 1.3266, 0.3367, 0.6941, 0.4255, 0.038, 0.9986] state[eef_state]: left_x=0.2985 left_y=0.0055 left_z=0.1785 left_yaw=0.1229 left_pitch=-0.0465 left_roll=-0.0352 left_gripper=0.9977 right_x=0.3262 right_y=0.1714 right_z=0.1292 right_yaw=0.2815 right_pitch=0.2979 right_roll=-0.0872 right_gripper=0.9986 state[joint_eff]: [-0.1436, -1.7299, 6.9812, 1.7265, -0.1148, -0.0269, -0.0171, 0.1709, -4.1778, 6.065, 2.2491, 0.2173, -0.0122, -0.1587] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.2,"right_z":0.12,"right_pitch":0.5},"note":"The yellow fruit is very close below the fingertips and about 25 pixels to the image-left. I am shifting inward-left a few centimeters to place it squarely on the jaw column before descending."})
tool
executing move_to over 7 steps (0.7s)
step 354
assistant
agent noteThe overhead view shows the gripper center just left and slightly ahead of the yellow fruit, despite the rolled wrist image. I am correcting from the overhead geometry: a few centimeters right and inward.
move_to
right_x0.2700right_y0.1700right_z0.1100right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0772, 0.852, 0.6525, -0.4244, -0.1413, -0.1642, 0.9977, 0.8631, 1.6585, 0.2249, 1.2285, 0.5961, -0.0082, 0.9986] state[eef_state]: left_x=0.2985 left_y=0.0055 left_z=0.178 left_yaw=0.1229 left_pitch=-0.0484 left_roll=-0.0349 left_gripper=0.9977 right_x=0.2989 right_y=0.2023 right_z=0.0967 right_yaw=0.3315 right_pitch=0.3949 right_roll=-0.1323 right_gripper=0.9986 state[joint_eff]: [-0.0889, -1.6615, 6.9949, 1.6581, -0.1148, -0.0464, -0.0122, 0.1846, -5.7368, 3.412, 2.2198, 0.2662, -0.0562, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.17,"right_z":0.11,"right_pitch":0.5},"note":"The overhead view shows the gripper center just left and slightly ahead of the yellow fruit, despite the rolled wrist image. I am correcting from the overhead geometry: a few centimeters right and inward."})
tool
executing move_to over 4 steps (0.4s)
step 358
assistant
agent noteThe last correction placed the gripper just to the fruit’s right; the fruit is now fully visible about 30 pixels left of the jaw column. I am moving inward-left by a small amount to center it.
move_to
right_x0.2500right_y0.2000right_z0.1000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0769, 0.8547, 0.6525, -0.424, -0.1413, -0.1642, 0.9977, 0.8734, 1.6619, 0.0422, 1.4433, 0.6132, -0.0528, 0.9986] state[eef_state]: left_x=0.2987 left_y=0.0056 left_z=0.1773 left_yaw=0.1233 left_pitch=-0.0506 left_roll=-0.0344 left_gripper=0.9977 right_x=0.2701 right_y=0.1696 right_z=0.0899 right_yaw=0.3458 right_pitch=0.4175 right_roll=-0.1675 right_gripper=0.9986 state[joint_eff]: [-0.0342, -1.7299, 6.9949, 1.7411, -0.0952, -0.0269, -0.0122, 0.0205, -4.0684, 3.7402, 2.1319, 0.0757, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0.2,"right_z":0.1,"right_pitch":0.5},"note":"The last correction placed the gripper just to the fruit’s right; the fruit is now fully visible about 30 pixels left of the jaw column. I am moving inward-left by a small amount to center it."})
tool
executing move_to over 3 steps (0.3s)
step 361
assistant
agent noteThe inward correction stalled in the folded configuration. I am using the previously successful unfolded low pose at x=0.30 with maximum forward pitch, while resetting yaw and roll so the jaws approach the fruit symmetrically.
move_to
right_x0.3000right_y0.2000right_z0.0400right_pitch0.6000right_yaw0.0000right_roll0.0000
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]: [-0.0772, 0.8547, 0.6525, -0.4244, -0.1413, -0.1642, 0.9977, 0.8738, 1.6619, 0.0284, 1.5219, 0.6128, -0.0643, 0.9986] state[eef_state]: left_x=0.2986 left_y=0.0054 left_z=0.1773 left_yaw=0.123 left_pitch=-0.051 left_roll=-0.0343 left_gripper=0.9977 right_x=0.2691 right_y=0.1687 right_z=0.103 right_yaw=0.3376 right_pitch=0.4724 right_roll=-0.1436 right_gripper=0.9986 state[joint_eff]: [-0.0342, -1.5795, 7.2821, 1.6581, -0.0855, -0.0171, -0.0171, 0.0889, -3.9453, 2.865, 2.0733, -0.0024, -0.105, -0.0122] camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.2,"right_z":0.04,"right_pitch":0.6,"right_yaw":0.0,"right_roll":0.0},"note":"The inward correction stalled in the folded configuration. I am using the previously successful unfolded low pose at x=0.30 with maximum forward pitch, while resetting yaw and roll so the jaws approach the fruit symmetrically."})
tool
executing move_to over 5 steps (0.5s)
step 366
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]: [-0.0772, 0.8547, 0.6525, -0.4244, -0.1413, -0.1642, 0.9977, 0.8753, 1.6619, 0.0284, 1.5219, 0.6128, -0.0647, 0.9986] state[eef_state]: left_x=0.2986 left_y=0.0054 left_z=0.1773 left_yaw=0.123 left_pitch=-0.051 left_roll=-0.0343 left_gripper=0.9977 right_x=0.2688 right_y=0.1691 right_z=0.103 right_yaw=0.3393 right_pitch=0.4724 right_roll=-0.144 right_gripper=0.9986 state[joint_eff]: [-0.1846, -1.6342, 6.9949, 1.6923, -0.0855, -0.0708, -0.0171, -0.0889, -3.8222, 2.865, 2.0342, 0.0073, -0.1099, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [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 · 10.17 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.382, -0.0139, -0.0292, 0.9992, -0.0227, 0.8005, 0.6186, -0.387, -0.017, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1823 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9992 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -1.7846, 9.6342, 1.7753, -0.1099, 0.1587, -0.0952, -0.212, -1.4427, 9.265, 1.8291, -0.0562, 0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850858c85f703bb6a689cea73b383607ea5450045aee18f696fbfbd35371c772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb123cfc589a8021018ca173542b6107f083be6ababbeede12a9b7a571776948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b73a830bbaec62012a2d1c8da34c9b74d48d139777af14e087e0de592d1e11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.722 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0664fd631a42552f016ab4433e012087d08f413587104592ac",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtENHAhvEEqYzEkYdHkIATcYxUvx5vFyP2MzWoRN73GmaI8kpw2B0VqDfGhA92Uy1n1ax8tVn4W6NZ1B9wDQzKskgBxvFRlLvuXvGxKkWWZN_vfw-ECnPCGt9h-da8o8Ge6WiRIvnelRg7iyoL96_qr3kVrECo3NgDE7VztogJ_rYIYAbPxOyO00fLIqSWop_epYLypAkI8brS1lNLoRCphr7vAVh6KOWasZmJ9TYAeFzTGUJ67sPxmyI6m--IoudUEGlLOEIGjd5YlpGnJiztEm4I3E7dw4_RLF8cLUgfUjhL3AIr0PpRP13oFkTMfrggUKBLKKOmIpXMxTMU2PCrf1fVmmWcgYJ4eZuCD4WRHkUwEoJpP3Mh5gw9dhwD2XjAI9WP6P8_agf1JjZol8SbNqTIQbYdNNy_u6LJ84B8upAbwi-CUQ9bhmKq29dnm1WMqMXQAwAURhbyPAl8LjEODZtanh87hu3sdnnWVFyF-ldZRWEY96IYAoDmnLbs_C9ajzwHiAS7FhoVn1Y6GOOi-E79O0RmQ_ze8WcU0dxFTj8jhFE7DOHwhPJWPUzw0ed1Gnh5xATpknpUwueTVwBCUSbGEHPeuNTUChvegGuleLA6DIT7-mvTcNUd8VD0q50itrmYVOtUN633o139-8lKOu6sIkS_lXk47YHTQG-2b0pl-goXE4_Hw56ywZwdMfX3PzAocH6KxBy-ovT_r0mhUAsB-OA-dlpWc2Cf_Tjpd_cNN9coRcdwraAoRRk-_7ZwAp9oFqhD5-Fb9ApSbzdvTcYslincmz9VNgn5cS2c4kjwVwE-0ZTO-m5HGeDODWuv8gxeW39OE5_8eBuOnu5gKBhzY2bu0SfxM1r-Ie799O-3wZEuRumdMUcwUojPDV4QHNBNm6c2VrucE1_kSn7qSfVhx3LNjTCH6mK0o1z3mXjviPuseasCh-ctQR8N7SCCTp8seAyo6apSfCWn_ymikDckiFRt9-qAy1PDw-DTpeAL0SAKLSe4Rj7kYO-sg9Z9kRaEh3kpr-V6ozahl4G9uq9Wzyf3AtUXE98Nu1fhzMPTEBo2rwayTe_JBzAm8RM4bRM3a06E-3cqVGGPIkx7oqfJTu2m-AWMDcJS9OfB5JTnmSkdrQNMveJypGMzdvXYGM_2SXkJyNEm_RGaXjsRmpcu2PIjzQZeargrTBROeLYRcirJ_InThIxOVla9HeMyWPj9wvxlA3ZaaDv63DrigV_axRpSYLXf-0S1u8ab-DyFCcGWV91B9_VEhqIHdVlltljILe9y6LjgxQKRkwcSVi-8sbQRyHh9SS4QFYFPNSxt_HJ_HPVFabnPSR5WD81Ztl-GAfZY40T26sZrNvwh2uFknEduDrxQ4x2Y8bF8a_NyJxBJvG3txiZdm3hW1Lvk6A5nCPaI68ULfAeIDo9OU_nPv0YXMLxrhpRvSSuyz5X6IezWvoraPouAAxDcgDIaQ9ccf5roz3l5oiuRfgzLEfx54K1opY6NgPLTybGJikpvORtX5kzblJsk4VPNLWXxdJ-mPzLbh9KE2fSiD_ByMtp3AHh9sp7jmSfYlg7rkLQJQUxEXOakup43HzTi1I3rlTKFwPE0SSXjTRS7YqMNdwdr-tlW_Uo4Jb4ZNLpHw3EfOIC-uEUYoHxp4xNN09ffTHCSRHLia4HafKSonVZq8jovlcKy3Ruy3bmsSze4oQMQ_y0EpvyfqHG2fySJUXZBPJZQ4fZB2SqT3bhaJe5KHXzrUucGw8xsVLQ3-v2vOOSQ4Zd7bJQe_4Z06jrIXvqVQBxNAPDzPTJgQxGL3zsxIYWU9FUrfo05K9r0x0xoH5HpbzJYC7N0xZyZF-xkdaqqSwYtqvImHepwpBHkD0ssD6i2e4QpPpt6AwDzQ42R7nkNbEOGtGtkiOu7-2gdzsxwLOSJjMx_zSsROVc__iUDurgEBnfdMDPKxUJCUlGORzvfZDiajhEKUbL5qUjG4e2AZu1-rgJERpAYyS2lYtG7sShqJYOsjUJeTqa_6Yhi6hXMAFn4IguYNDn-h-ytFWaspFErCJBwpJ4fcpHF0SSOjOiKZHdyXXKLkvio0gRqOpdOWer3M5v5lcfOo4nAnWaxNf0D0SC7Tmggg1xfO0P_cHzK9oAI2XeNXE7o-nE8-fSNCHp0_Yqqpd3uRL_eYbVzHMGOrGH09i3m2Vp17bK8e6RaguTUpfU2HccAEyj00_s3EJMDUChDRMIWfzFGeyqAcAcPneTPXO5DSrJYh0S-6Yzj8FzRZSX2RO6NNr5zI-cE7oS0aN8fwEOZgIykszgINnDonVZGWTDXTUp9eRmJH_BsRhpa2zugv1izik8qevNEKY=",
  "id": "rs_0664fd631a42552f016ab44343a6e087d0913876ff18374f16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":-0.03,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The right wrist view shows a green pear very close below the gripper, slightly to the image-right of the jaw column; the blue bowl is farther ahead. I am moving the right gripper slightly inward and right to center above the pear before descending.\"}",
  "call_id": "call_iSO1EPh65BXPwXtzbEMQrpgV",
  "id": "fc_0664fd631a42552f016ab443465a0487d0bf70f96ac3f5462d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iSO1EPh65BXPwXtzbEMQrpgV",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.804, 0.6132, -0.3901, -0.0139, -0.0303, 0.9991, -0.3202, 0.5655, 0.4473, -0.4763, -0.2352, -0.1589, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1794 left_yaw=-0.0005 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2495 right_y=-0.0356 right_z=0.1488 right_yaw=-0.0356 right_pitch=-0.0072 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.5248, 7.0906, 1.7802, -0.0562, -0.022, -0.0171, -0.1162, 0.0479, 6.9128, 1.7216, -0.0952, -0.0073, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3a7dd0847d3de8ef7a503df281cdfdd8af1b8fd02fa56fd1c8f718a8700570",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d020899844708cb98223174fcb13607fe6377848970bf5436c4ff4baddc6a928",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ff2b48cdf7feb6d5dcd19c8fb8d5ff8ce38d5337c2df952f99a633448362a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.772 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.382, -0.0139, -0.0292, 0.9992, -0.0227, 0.8005, 0.6186, -0.387, -0.017, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1823 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9992 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -1.7846, 9.6342, 1.7753, -0.1099, 0.1587, -0.0952, -0.212, -1.4427, 9.265, 1.8291, -0.0562, 0.0024, -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]: [-0.0212, 0.804, 0.6132, -0.3901, -0.0139, -0.0303, 0.9991, -0.3202, 0.5655, 0.4473, -0.4763, -0.2352, -0.1589, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1794 left_yaw=-0.0005 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2495 right_y=-0.0356 right_z=0.1488 right_yaw=-0.0356 right_pitch=-0.0072 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.5248, 7.0906, 1.7802, -0.0562, -0.022, -0.0171, -0.1162, 0.0479, 6.9128, 1.7216, -0.0952, -0.0073, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3a7dd0847d3de8ef7a503df281cdfdd8af1b8fd02fa56fd1c8f718a8700570",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d020899844708cb98223174fcb13607fe6377848970bf5436c4ff4baddc6a928",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ff2b48cdf7feb6d5dcd19c8fb8d5ff8ce38d5337c2df952f99a633448362a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtENLIMpJh-OXnVq98wZ7HfmnJtQpUXHSHb9kqFLXK1FNsxbWfQErIGUi_IN-kNU8SO1NnsZwuWyN6xWnwrEdmOLfmRBX9N8hbyzbE81QODTDbXFpPF_gvo3TW53GIhh46nXIo6xyYfaxhCob04K2fuYCJbdY_xpf7NTAVZp083unM9RuwSM-yAy6gcZEopmt-VXyBtAmO1Zz4Vz8vfiLwT1c5iBcqelXKp89Yp30UakFVGkj2rpo7as33r1AyfpjP3YrtmwZtCgUT4iePiJTyFgEb-urvaBkRqvZ8ZCL4_5xqWc_YVK9y8oF74Q5XF78ZJ-iFAwSdYsazHDvcoF0SfeXq9ef5TR4WBsacXeda19pigcF532VmwfNByPVTTdckGWAvOBvAKXYDQQiG7Mdb9nGLKov843kJbBWhJj4FybV7Ol9PUaRhYfd45CsiuqrA-1L8iTi3fIWwOHm8PMPrDA4kAi5Axl-QR5ZmlqiEc4O3DgaWE5xt3vNoTrg3lg5ZOoX_C70_67IvJJCj9ACqtIIlddUElP_63uGYAtEpMUeZFDIKW2NP4j1pH2GCYR3Ddj9D76DhqFVsTIkLe8c36Hlp5LegSFP9GrMOllcryjLGz9-txppDc0KFhkMkNvzkCsAjsBaKyM9vwxSmPYHwhm6N6L_QFNm8SHRgrOuI3yLt26aBjn4DC93kJcufEtAut-omQUi6GP6JQnPhD_VMeCuXlH6ZTDvSc9X4TPXMsPqqhz_BfFgus_4ww_4INWJPH500xC0LRvnD3vqSqtcaPFfkXGDuqVNPywB4QEuEQTt6wjEcGFjkKA5mv40VegFIVkHXuBrGRr-qDZ_V3Vlkc174mFqhaOXZKniOJYcrgz-dGfNRBEcbGUh6AikLcvFLERn2BQKhbBVfg4yr3YunXh_wGxPQCbxaQr-83gNDAriVTPbcKlMX2nLmR9WY-1UxOYrNBjDWRdKARP345AzDAoolPazfGhsIaPlxgu5lvTzsdUw1BCqi5OwFQ3GLdfMN-DRpMubT_YoT5RDKldvQ82MyQvoAMyTaRs_CYr_1RjQbI4KcwCD5bg3F_CHC4aQilG6jdBxoC85D-6DqPJHgAvmJgNU_h1EShCsMzxr-8Jf6ARY9mOzkKo_0Ms4n3xz-FXx-JdgbzQ4C6TnX5VWU6Ql7Ro1mFyXnzPkFDjuGBvXtf89YW3Az_05JjQ67TuJ9VFxerledGIFZGo8UBsacunHhOCMiLerirVL8YuaqsCBPJbCXwUTsUFxK5BMwQkY1CkL3hct7GyNr9kpE9lFtoUwnSZ0UmAlDSuyl0OYJ-RhcBqQNGoBT_fw2eiNTRqW0PS2YO9z0mERBCANbeiYEmkB6YfXm05hJRjkzO9CQ03AHvFN6sbi_o_XW7kQVSOIqn8UgrAT3VTJAmMsp2-44Af9AuOUk9pxPb2KpMK09XjtES-0mM3w_K6jQ4b0qroX3GEa4gslnwBl1dboiSkiCkQprO0JfHgZA6zZpKEGEUdmvnyPw-O0uzj_QIb3NqNATmFw6ahjoP1JjQJlrvnDYSFIX_Vcbq4L67a_SF2D3ne-oPDw5eIW0qjEKMTfMgKeHneVDgK7X3hAJowji4KuuHCSeCxIeyCDougz66FumfLsiEaVsam1MGZaU-oAaFjUS1YcnY5vnzAYMXc3gwIU_eo1XhdbCsx74pSpcrUeGgirOyUsyi1tVBrModwmJsxPdYnxckBnMb-6qtYbzYfg2XbztrKwnoFKaM0PLSNQUTJOF1bSqCkQ_xw8mrHXX0J2kL_b-pdQ-jiJlGSApcv0eV2IsMgf6Sb6LYQ9cZxvLYX-Bq6IOnPIw2VG8NuS8bgHzPBMXz2HUJahkjBXQWW0xJ2KzHhNOLeVx8-TsWBwGFr2OXU=",
  "id": "rs_0664fd631a42552f016ab44349471c87d088de0cce893bb2b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":-0.02,\"right_z\":0.15},\"note\":\"The pear is now nearly centered on the jaw column, but it remains fully visible with space below it, which means the fingertips are still a few centimeters short. I am advancing 3 cm and correcting slightly left before the grasp descent.\"}",
  "call_id": "call_QF5JTO7RV41dDp5ddKRllr9F",
  "id": "fc_0664fd631a42552f016ab4434ace9887d09a695cc75c77526c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QF5JTO7RV41dDp5ddKRllr9F",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.807, 0.6132, -0.4011, -0.0139, -0.0307, 0.9991, -0.1337, 0.7277, 0.4477, -0.3622, -0.0975, -0.078, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1763 left_yaw=-0.0003 left_pitch=-0.0259 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2723 right_y=-0.0157 right_z=0.1304 right_yaw=-0.0076 right_pitch=-0.0698 right_roll=-0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.1556, 7.0222, 1.873, -0.0513, -0.0562, -0.0122, -0.0889, -0.9915, 9.0325, 2.044, 0.105, 0.2076, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5052b6ff0f85ef9aaa1b345507c81e58e0e3334ebe6c6cc7a8bd1566848c6d2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acde5e2479707783969d8dae37b6945eb00016729789b6f9860717c426e13f5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03ce0d6060f3516581966373aeff99248243f3b1abb091fc452e988dd8bd4fa",
      "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 · 1.963 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.804, 0.6132, -0.3901, -0.0139, -0.0303, 0.9991, -0.3202, 0.5655, 0.4473, -0.4763, -0.2352, -0.1589, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1794 left_yaw=-0.0005 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2495 right_y=-0.0356 right_z=0.1488 right_yaw=-0.0356 right_pitch=-0.0072 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.5248, 7.0906, 1.7802, -0.0562, -0.022, -0.0171, -0.1162, 0.0479, 6.9128, 1.7216, -0.0952, -0.0073, -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]: [-0.0212, 0.807, 0.6132, -0.4011, -0.0139, -0.0307, 0.9991, -0.1337, 0.7277, 0.4477, -0.3622, -0.0975, -0.078, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1763 left_yaw=-0.0003 left_pitch=-0.0259 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2723 right_y=-0.0157 right_z=0.1304 right_yaw=-0.0076 right_pitch=-0.0698 right_roll=-0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.1556, 7.0222, 1.873, -0.0513, -0.0562, -0.0122, -0.0889, -0.9915, 9.0325, 2.044, 0.105, 0.2076, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5052b6ff0f85ef9aaa1b345507c81e58e0e3334ebe6c6cc7a8bd1566848c6d2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acde5e2479707783969d8dae37b6945eb00016729789b6f9860717c426e13f5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03ce0d6060f3516581966373aeff99248243f3b1abb091fc452e988dd8bd4fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtENQNV7fP56HJczurdzMFuxI_b6lY6W2jK9ligBPgLY7MqaqFIB7jIo4ZssJ71gYGDFt1QvaB3pQZ4dl1QN8TKuSe0hh63gI76q5s9u45mpgeHn1xj7-Olx4kTPkerqL5JZuuGdo8v2TWVdGK3y-doHUv5JAyLICNLu3tX_fwQaaiYzfay-20U8qfsyocYuJIDWsbhR-0NIPIhlSI1U8LlhCQcy5MDVvWVYIetzcfTMowBYnmTiDWW5E0OzhrSOggAmutqvXdH5-oenk6XlRfjsL58eDOTdcYNfmdFKyEYRvBx2ikMnmniEaOFWokeyQ_OzKOTJe9ovDF_q0bSZHamegfwqJuRajVeeGsuFXz5lz577uHvGsVQTflCr_-7P6iBOD4zJtb_jxk14tS1qqAKimFVCzc6xV0OPxVKecZK8lfsua0QYmdv6Kcalqi9QZV8nY8tELiosqC9p8fJ-k5arDsyMuc6rUL88aGjecbU6kCY7jZF3qcpBGFTJqDGhWsf3YeuG21ZgUMlRv38Rj4I0Cx2XeUYxaQypXdWjwHoNPgn1QTdp2iYltZ6egE3voZkTiRPhY-ClJ6pF2dEsPqKbJruv9NfQGjiXaz_lQNHmaZBs4p0_pmRh4FO90zc3GzyhtInkIIFs6AlP8DVEr3Ht5i-JS3UUzNaQVuwt5wYkyaP8yfflemzd4XwOpKqbLDn3r3_2Gk1VPkGFc7Ra1ObC9qgW52eklBbiGC6ENleOleBjThiLgItfSMQ9fzUFep9ijZGcLPrIVHfh1joc4KlRBBAcRGH3s4uGEFYPrGkqZ5MAZ4psJQkW9-_hGNCqfmiml2a5J6cSe2O7jG1fx81mD4NVB7bELJjgLyuQbhwkY7ZiiKFmU1wWYp1yNcfAdpd6TAUCHNf_HEQmqOYjs29fDGKcqpk4I0lGNwHPJRp0yts8vZesTzrxxg1lPQZPkToayFM4Aaa_-K2SnJWEKwl56-gMI7v7uhWaUW4fQbHkFTp45HaQfmpwjN053FGyMgdlSJLvNtYolj1FKIlWgx6GWu1k-_2EmVMkGB3ruoQbIiRVyU0EY3vtCg7h1yMvtSpaXSZ6Pu_yCpPt05qUu-i1C9KB2kbm368NmBWZIya5P9NDKElCJK02pajSZhwKGeB_Wx4js-0w81__6H61AYAU-XoSTJT6zRfKQTYxc09hBM3XorXLeZNPCwZC--JhCvsWlX6F8VcigKzkRGtvXMS1x05G_JOTIHYl-N6qtOjKKhIQooiBJccu7y5anwXLR3LDERNtpPoyhHjuHBrHg-eXRkVCrHQkh6sD0h3LnE0o70kHZZsnbvFzBk9DJJh4ps151JRgxp3B7ju7weE70YOuurtkhLXrlU8ZiDrBRaxv9Bv5xFU2qRh7iKwRwW5cNC1rrjSI_uvNNqHImnXkdLY4WI4KvF0R9owhxnZI-0Jm2S3BUXdtL2fl7TcadFi9FJxJsPgIwuDkddBYAqasF9a2hrDxcAQcof8tfyPOhYEnxJeU=",
  "id": "rs_0664fd631a42552f016ab4434f2ba087d0b9d3d76ad7c5d7eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":-0.02,\"right_z\":0.035},\"note\":\"The pear is centered between the open jaws after the advance. I am descending to about mid-height on the upright fruit so the parallel jaws can close around its body rather than skim over it.\"}",
  "call_id": "call_YpoNDcjjGU0vA2yFnwSfL61B",
  "id": "fc_0664fd631a42552f016ab4434ff92c87d0ad910b3a27220061",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YpoNDcjjGU0vA2yFnwSfL61B",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.812, 0.6125, -0.4168, -0.0139, -0.0307, 0.9991, -0.1543, 1.0424, 0.1238, 0.2394, -0.1127, -0.0902, 0.9994]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.1714 left_yaw=-0.0003 left_pitch=-0.0473 left_roll=-0.0003 left_gripper=0.9991 right_x=0.2748 right_y=-0.019 right_z=0.0276 right_yaw=-0.0083 right_pitch=-0.1052 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.7026, 7.2274, 1.8193, -0.0464, -0.0611, -0.0122, -0.4171, -2.0034, 6.3248, 1.8437, -0.1001, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c1eca96b0cbe5c6def9565468a09aaab43efe25682a87690f9fc2e8170bf78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e463a06aa4a8b2b7fcbb79f11ad33a600abfdf7b5ff47e0d9164d68dd12592",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3eb42f64fbdd3168d733344a3e636969dc16bedac8af3b13056cd50ef58c46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.334 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.382, -0.0139, -0.0292, 0.9992, -0.0227, 0.8005, 0.6186, -0.387, -0.017, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1823 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9992 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -1.7846, 9.6342, 1.7753, -0.1099, 0.1587, -0.0952, -0.212, -1.4427, 9.265, 1.8291, -0.0562, 0.0024, -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]: [-0.0212, 0.807, 0.6132, -0.4011, -0.0139, -0.0307, 0.9991, -0.1337, 0.7277, 0.4477, -0.3622, -0.0975, -0.078, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1763 left_yaw=-0.0003 left_pitch=-0.0259 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2723 right_y=-0.0157 right_z=0.1304 right_yaw=-0.0076 right_pitch=-0.0698 right_roll=-0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.1556, 7.0222, 1.873, -0.0513, -0.0562, -0.0122, -0.0889, -0.9915, 9.0325, 2.044, 0.105, 0.2076, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.812, 0.6125, -0.4168, -0.0139, -0.0307, 0.9991, -0.1543, 1.0424, 0.1238, 0.2394, -0.1127, -0.0902, 0.9994]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.1714 left_yaw=-0.0003 left_pitch=-0.0473 left_roll=-0.0003 left_gripper=0.9991 right_x=0.2748 right_y=-0.019 right_z=0.0276 right_yaw=-0.0083 right_pitch=-0.1052 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.7026, 7.2274, 1.8193, -0.0464, -0.0611, -0.0122, -0.4171, -2.0034, 6.3248, 1.8437, -0.1001, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c1eca96b0cbe5c6def9565468a09aaab43efe25682a87690f9fc2e8170bf78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e463a06aa4a8b2b7fcbb79f11ad33a600abfdf7b5ff47e0d9164d68dd12592",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3eb42f64fbdd3168d733344a3e636969dc16bedac8af3b13056cd50ef58c46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtENWrazHo-WSzfjEP7ih66HQ7scNeuiCz50q80hQSas-PSCzQypvA5TLDOH9PG9X6jVWV8lmsKaClZmAY8GYJuzcv_3QMLWazEwLjUGJcHWFFZVok7AzEoT521a4Go-utNx_tr5v-Uqgiy9BcKnSByUW8DRCVziSn80Cwzexp1IR_CXgfUg5z7cAf_bQbd2tZc5RJODYbvQK7dWgN7MWMsDYZ2pCrSbFCahwPx_BUEsRG06SVUVysEJ2oT4lDs6dUvlCjl9KHvgG2FSZ9L7EFTxo3OkZ8tKET8nzcoKRBGeVs58AJj4OLup8FBF0WJjKRnlnpNg3y5XKD7PalHZW6c8zf6iGcsLQW9SzbPBpz3gcvgNQLUkcmHbJPU9mzG7Jctvs2nFumjALC5Dgv_gpBOns1SaLqEw86F6K5TDvzjz0WTzdwa_VlGnuXtFPeiQ8pmRhQFI1tGvvNIoYa--n-2GmujGuMGlqIGB1HY_LroINwGBnD_gLeNRnN_3Ljms-K-VZGw4M5ZvrS0smvH5gk9en1s_c1SwCV6rqesf_2Izy-AqxRCPS2xfg3xbNkjjrJexOCpri8t913rDtZRM8nBjBnjWWyIUlkEO4jHbBtnjn1QrAp2EuFoCeYfqcu96Oec5V5bG1NJynePKIp4K3jRmhSvkFc-t-nF2Grw_JUkfizMxaGP2x8-JA5QEHoFy70Jujs9isS_18FNZsA8OLLho0HpGAA5ACxW50drYsJdUImCunGyRTaIJktF8SM8MHQ1F3cF9NkfQxB2optVeWTEtjJkqVZsROwTw7s3tBGFm-Qv1pMnJmicnnMot8Ha8-y03Csg0RqCIyh_LOssNxTfzLuggNhb3oV8rclTT_dHw7AS9Ej5Dk1tkl2GnA9pikW_zPyGQWOU8-QvH6GqobNCK7n6pBJBTe6UK4oeyM8SHmL5KYdNrb80V11urvrJJHIr5lnEOhM4yB92xioI-oLkn5_bDmkzSABb6Xzl3chFaJ_rVAL4gNlYOXx-5gTS0tyBY5e5t_e1CHKxQfAKVEG3NlFwIrWvbNkYurj3vOvG0cHlWf6QpXBtUeL8TZHubTx_lhXWgg4xWA1w1hxyWuyKeZ2OncxY0TEatXtYM2TJHYeTunRLsTfAY5wEAzizT5LwdINkPvgZB9pfwnuxqpCxrOdN4D2AqCrbHZVZzk7DWoVXixjjbOfdY0FMW8_eyQgQVrniI5icAcJD9KszE6DfleiRWFG3fLsOphT898vwAZ9GfN3Dl-2usQA4DLdcocpTG-8DTQoW-nekxMZOlcyM3R0Bqqsh6PliY8Ll2wRbLhX4WLbrhJKS8IrY_1FU4m5_Ub",
  "id": "rs_0664fd631a42552f016ab443556c5c87d0b1a782446daa2f3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the low pose the pear fills the center of the wrist view and is aligned between the jaws. I am closing around it now.\"}",
  "call_id": "call_agpjSkN8LscdOiOTRVv0cpqz",
  "id": "fc_0664fd631a42552f016ab4435598d087d0826d9d3db4eeb467",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_agpjSkN8LscdOiOTRVv0cpqz",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6121, -0.4236, -0.0139, -0.0307, 0.9991, -0.1543, 1.0428, 0.1238, 0.2352, -0.1123, -0.0898, 0.0113]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0003 left_pitch=-0.0553 left_roll=-0.0001 left_gripper=0.9991 right_x=0.2742 right_y=-0.019 right_z=0.0267 right_yaw=-0.0087 right_pitch=-0.1098 right_roll=0.0025 right_gripper=0.0113\nstate[joint_eff]: [-0.1846, -1.3607, 7.0222, 1.7656, -0.0611, -0.0708, -0.0122, -0.0342, -1.8667, 5.8188, 1.7118, -0.0562, -0.0415, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206f5631186097466c23549c59aab55141fe6eccf0aafc8102b1f621809a3911",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df722a2e5f2819fb1600b992721dc22afd878c241016254a340a3e968e23d61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d5de97884ab53d2fc87bc59c68e417b7eb7ae70f1038f3961a1c2224035b70",
      "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 · 2.852 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.804, 0.6132, -0.3901, -0.0139, -0.0303, 0.9991, -0.3202, 0.5655, 0.4473, -0.4763, -0.2352, -0.1589, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1794 left_yaw=-0.0005 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2495 right_y=-0.0356 right_z=0.1488 right_yaw=-0.0356 right_pitch=-0.0072 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.5248, 7.0906, 1.7802, -0.0562, -0.022, -0.0171, -0.1162, 0.0479, 6.9128, 1.7216, -0.0952, -0.0073, -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]: [-0.0212, 0.812, 0.6125, -0.4168, -0.0139, -0.0307, 0.9991, -0.1543, 1.0424, 0.1238, 0.2394, -0.1127, -0.0902, 0.9994]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.1714 left_yaw=-0.0003 left_pitch=-0.0473 left_roll=-0.0003 left_gripper=0.9991 right_x=0.2748 right_y=-0.019 right_z=0.0276 right_yaw=-0.0083 right_pitch=-0.1052 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.7026, 7.2274, 1.8193, -0.0464, -0.0611, -0.0122, -0.4171, -2.0034, 6.3248, 1.8437, -0.1001, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6121, -0.4236, -0.0139, -0.0307, 0.9991, -0.1543, 1.0428, 0.1238, 0.2352, -0.1123, -0.0898, 0.0113]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0003 left_pitch=-0.0553 left_roll=-0.0001 left_gripper=0.9991 right_x=0.2742 right_y=-0.019 right_z=0.0267 right_yaw=-0.0087 right_pitch=-0.1098 right_roll=0.0025 right_gripper=0.0113\nstate[joint_eff]: [-0.1846, -1.3607, 7.0222, 1.7656, -0.0611, -0.0708, -0.0122, -0.0342, -1.8667, 5.8188, 1.7118, -0.0562, -0.0415, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206f5631186097466c23549c59aab55141fe6eccf0aafc8102b1f621809a3911",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df722a2e5f2819fb1600b992721dc22afd878c241016254a340a3e968e23d61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d5de97884ab53d2fc87bc59c68e417b7eb7ae70f1038f3961a1c2224035b70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtENa77WZbgu_DIkqcgVOQsbQKuHlNmfBCPOdwwJJIGS4jU2KWgtVA1wDBUFa6Ylt5wGNTuCpsFSTc2ErYmRNWcVXnCO93pv-63TRbXRc_Ot2IpxL_nXks8xOMe4VxwIhNZ4dfAoMlQKvWAeLlCnvH9j01ymXuujg11VY1V941pVOyDUZkqv53ywawUeGpRmaxDv8ZV3-M5WsKGExR7vwIiebhECktJ1mBg5i-hVEDf4n6NApzhyXheeaI5GsIA4-131XXSx-PrA6zBM-Jl9MiFl1EKabeX7razjk3fM2IQGzn4gNWZuGKepsdcOMIj8s6Tp2a09obIPtBRcA3D5Lzh4eDm2vud234uEVV7gWZRiVsECqKMHN7NN3oSWYIeI857Pwu-dT4_06ri_ihQPKd-oLlmR87GxDZUtVIUpjZZC1B2C0WBAsylFdxNx9JqOgBUWvD6h5rjPaIaAw7q7teE7TnCr0Vz2Jlj5kMUL5ptl0mdSiowbaQ1eaSFt3p-h5a_r-8KWroCgifNcLGcbzSTpzqQyecFofpEbFS_f_qcJsNS3-TCShC0V_LT01vl91AukwtyBwX7vqI6o274mAG0UIOyLOxbHVYUDM_5TNBPGmcKubatyrbxrVwCt78L9j3Mf8czv-NKMRymWXWLF-p1W4UzFsN6NE7jUkklL8HZMWjb2z82FTom791NXPadZ0FulwnNCwrTLC11o7OHguN5oxe8D6MjZWFa32aj3E_2Xah623AxCWOZDZK4uM8_Ze3Qa4ib7cLzk_DilDKv6w09BC-pyGM_CrA7yBBRHJC35RAcrIvDDGgqtpHxa2_woifWnJXDvwxgDujwenLMR_e3-4lF6eajkx8SMlSV8dUiLKUOcAhbgpeVjjByTo06rc8nEMi_CPrLbzQ13eYkiZt-kFNaX6Of9-GdEIZnQ6BJiol1JN7g2cP1Yhj35mz-I5OiAsMwskYWwUDXjKj9I3A6UnLeBKiV2drlxkQZM8GexUsaW4eMs5VYfOhvx1NmzEp0LU98Pdr6mH6w8keaUUlxGLUjsd5_Q9TMzS7eJWGL_G-yLsNvziBqodLPDK7fpYRYnQ3XWind_-eGVdsDdr0pHw8Go9WHLEIl9RTNMcloKbK-3CahJSkDFxJnz4TQffcnszTM-hlRdCR-g6gfOi7GX4HDPWEr5jl42J0mO1nJ8PbiIQP9pT1-haTHBN4NTIFIrQ2An-0TynKgK3EYPgg2IlyZa9w64YpZNlEhjmfdfaJPCs_ST45J2-ivZvMbMubFu-YIOoVDK6w3x0ytKrBGwzvu2s9FefzxNVNM-NGzAVCMY1KQEict4XFutgAwQDRBlzr6_ozeK8DOwZWzcQ4oVnDDi__nSDlaJi7SkU_Bbb7ZXEsNJhSELoYHtHb7o5Dq5Lgl5Pls_Jr1USzK-58gdWGAnz-u9qBCwy7OUX6hQuiHK-qUitRukpjkEbexxufppONhHyOVoAN7mdy0GFYSTFy0sPVIDXDzNolfvXrLTTgR-a6nCslhrR8_hOPMyyGYNR_qiYAVt--0UhZesqKg3XXSmC1p-lYukauWOApeFlQiVHUOwtUg2hc3xdxFgm_xX1DhLedmV-FfJEoCySObNXECD44ltmpiNmkbhW6RjKIpY-QrQdQgUZylOt94hRpM2nqu0FkMhCz84zoKYwdc_AYS4OcFVJhlQ4m7DC0o1kH96Fqd5G1X3KAF8hLGwqnRbpedDMzD-CjUklk5DPaYlOyrdUWPIP2wTjASqaje05PyhKmk38TF7MD2u6yIz2J3qy",
  "id": "rs_0664fd631a42552f016ab443585ef087d08de724f7f2dbde7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.03,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The gripper settled nearly fully closed, so the first pear grasp was empty; the pear slipped forward-left and is now visible beside the blue bowl. I am opening and moving above its new location for the single retry.\"}",
  "call_id": "call_Njeq9V89DkN8GksoXD0XKJNx",
  "id": "fc_0664fd631a42552f016ab443599ad487d0b1d7929fc294de73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Njeq9V89DkN8GksoXD0XKJNx",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6121, -0.4248, -0.0139, -0.0307, 0.9991, 0.1589, 0.9798, 0.5293, -0.2523, 0.1081, 0.0803, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1694 left_yaw=-0.0003 left_pitch=-0.0565 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3057 right_y=0.0333 right_z=0.1199 right_yaw=0.0252 right_pitch=-0.1291 right_roll=-0.0069 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.1282, 7.159, 1.6923, -0.0269, -0.0513, -0.0122, -0.2667, -1.9487, 8.7453, 1.5995, 0.2222, 0.2466, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d73f9eab31ce24059dae8c359b3d54be4cb82a8f207de02d377d79823a8e3dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77ab6f036645afa10fec6ce810794facfa8bbf01f7dd96b56e23310f391aabda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:048243768c4b92fc14fe03a815e84237090f70362817056c379550236933fa8a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 2.528 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.807, 0.6132, -0.4011, -0.0139, -0.0307, 0.9991, -0.1337, 0.7277, 0.4477, -0.3622, -0.0975, -0.078, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1763 left_yaw=-0.0003 left_pitch=-0.0259 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2723 right_y=-0.0157 right_z=0.1304 right_yaw=-0.0076 right_pitch=-0.0698 right_roll=-0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.1556, 7.0222, 1.873, -0.0513, -0.0562, -0.0122, -0.0889, -0.9915, 9.0325, 2.044, 0.105, 0.2076, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6121, -0.4236, -0.0139, -0.0307, 0.9991, -0.1543, 1.0428, 0.1238, 0.2352, -0.1123, -0.0898, 0.0113]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0003 left_pitch=-0.0553 left_roll=-0.0001 left_gripper=0.9991 right_x=0.2742 right_y=-0.019 right_z=0.0267 right_yaw=-0.0087 right_pitch=-0.1098 right_roll=0.0025 right_gripper=0.0113\nstate[joint_eff]: [-0.1846, -1.3607, 7.0222, 1.7656, -0.0611, -0.0708, -0.0122, -0.0342, -1.8667, 5.8188, 1.7118, -0.0562, -0.0415, 0.8816]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6121, -0.4248, -0.0139, -0.0307, 0.9991, 0.1589, 0.9798, 0.5293, -0.2523, 0.1081, 0.0803, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1694 left_yaw=-0.0003 left_pitch=-0.0565 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3057 right_y=0.0333 right_z=0.1199 right_yaw=0.0252 right_pitch=-0.1291 right_roll=-0.0069 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.1282, 7.159, 1.6923, -0.0269, -0.0513, -0.0122, -0.2667, -1.9487, 8.7453, 1.5995, 0.2222, 0.2466, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d73f9eab31ce24059dae8c359b3d54be4cb82a8f207de02d377d79823a8e3dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77ab6f036645afa10fec6ce810794facfa8bbf01f7dd96b56e23310f391aabda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:048243768c4b92fc14fe03a815e84237090f70362817056c379550236933fa8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtENeEe4-T5rz7aR5bBiqeKHvMKGZUqYhtLlvxa-3KcHi8xjCiuZpOn3UKo_bE6lQxtIOFri6VSECzmEmxiXPJOM9K3OgQNCBMNtm_BTc9OpgWyxZRWhzuqxa-jA4Dfq5x-c87N8CBI8ErdXU84JyS8h6CKJ_dcWbSOlexidFhIFx9G-2ey8HwSWHoKKmZWcwHRarTQMcvwTmv73FUvIuM3h65yILRthizMTFcNahxBXiADX9XubpRRh6Nm81QOWhNMzVOUz9L5xqZBABonHdd5_hQWPxLhZcsV_eaLdHfYlJksGKR4nfDVPNApPuW2_sqC89o3KR7JPUAG1LOUx4woCoj22EK3FEUC_WnEYb-s6gr98s7BQPqMrJH84er96v3aTP-A5aG6jlsWYbSeCmfDY8W_qe-7S003-XCcEXHYWJL5pyxm_2nIgvGC3IkuJt3BKAwidm5HzZHJm-ig1F4RJ_e61xExTI0TaT4Vsvj0aTn2pQWd3D0YAxl1xWrXIiqJep1MF4EVxZWWvqXslUlPx8SFazwHTb5bil_WTX2V1cFoGNltnXTfqpHM7qFw4X5_rQKA7UG5vU17LKJAUUo3XZc0Eqvqyit8DKltJ2yT6gGiNHr6Q49nIfiFu7IuytNu7bY6onJVkYol1i-SjmDrcIvnFir1SSFijpxzf7N-TXEJFGObabkpXJsLFKyPZ745OAFEJf5ZSSh1TNymgTMhl1mg_Tm-Edj4d5ygNlc-qrOtqYaydRiwZtd3HJYSeoDQwsVEP5tBMGG6wL8OVQGWVR0vL6q8wgWPZr_8u5sGzzRe3jpJO8XOpUrKp_pdjSFVZ5_Qy6eZMdW4JGcfSuv7WFUChUmZs2JHxjvvomPu3CpkZNGV1DHBqO_orJbPFvQDSfE4brcEGN1aX0P5MojVKDiQ0T-GF7gy9zA9uFbWS3f13R-FU9K1wXkHXrXhZEDkDlmwkhokcQmXtRtGq5QsZxpZSkyCXe6RC8uGB2EXm5U0hlhf3vCr0rLauOHVOVNsXx32WT6VtU7NwqXgtG2Vk6wYZ42JtdTpu4jxfAhf-RcMK_yLJ2SG6YwNSleRCv4agXC9h6egQl1VLaTv5_X5GQISh3gOjitHAzfZti06JdSoDhmdRkEAQy84LMW5nX-LRszBzuZWethZrXesLTHCn7Zyyv3PLYLD2lb7Ri40m2EtOBt6UMYi9fh9GHfmlUCtkvY8ueAU69_cUeKFKSYNOINOnxbnJGUJ5nb43crwqCNbbQlGlLyKm-bWCbOju9qqJf1xTzXDE6Ut5Im3l7ei4ZIyDZ1_MvRGy9at0Z42uiEyfBTfMFHmEDDM1xWU5PusjOdCCRkTHqnQJ1DtGfhrxzIoLfmGS91cPavX0greRfXloOM0dRTodV22CCt1h5UXWZcbbBMh9_IFgs1Gqdp_nWdYH_mY1YnrRmSiQMCAteYgECGYKwXutl3D6kH9oMnYfzVnRE91M56R6dpwebGndlXrc_Gv38T43iGC-IGy-hKOh7oAqqltZ1Vfr87zyqZrXj67fS1JzYzoO6TOQ2pJ9yeVn7n4-awmuOIlFYPqKzU5BdPbQqJAA9GyMlaNFmMaZMG2ulRhz4raeKwZ6Z4V4XbClweBer7gN8kvTtZSZmJr4Zf9lERBT_JxPAg57ON2oCMS1-5DL1LTk3pOgHsjnRhA==",
  "id": "rs_0664fd631a42552f016ab4435d0ed487d0892e470e45697d40",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.01,\"right_z\":0.12},\"note\":\"The pear is fully visible ahead of the fingertips and about 25 pixels to the image-right of the jaw column. I am advancing 3 cm and shifting right about 2 cm to center the retry precisely.\"}",
  "call_id": "call_UuZWAwEqq9BooE4gyblddrXZ",
  "id": "fc_0664fd631a42552f016ab4435e04e087d0a1c17a6ee1eca199",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UuZWAwEqq9BooE4gyblddrXZ",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6121, -0.4267, -0.0139, -0.0307, 0.9991, 0.0204, 1.1202, 0.5629, -0.2035, 0.012, -0.0082, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1688 left_yaw=-0.0003 left_pitch=-0.0591 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3234 right_y=0.0081 right_z=0.101 right_yaw=0.0163 right_pitch=-0.192 right_roll=-0.0129 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.1966, 6.9812, 1.7118, -0.0806, -0.0806, -0.0122, -0.0479, -3.7128, 9.1145, 1.79, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99505f0e0eb63cb067d364dea20004c63879e9c98217f62972fad936c6d4b074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0ed3b93b2ac267de129474e566a3924e4ddbb8ed8f737acc201450a7b6e3814",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e8657a6ced14a7713b1c4c7bc2a453832582e8f500638d4298c67049b4ba28",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.039 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.812, 0.6125, -0.4168, -0.0139, -0.0307, 0.9991, -0.1543, 1.0424, 0.1238, 0.2394, -0.1127, -0.0902, 0.9994]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.1714 left_yaw=-0.0003 left_pitch=-0.0473 left_roll=-0.0003 left_gripper=0.9991 right_x=0.2748 right_y=-0.019 right_z=0.0276 right_yaw=-0.0083 right_pitch=-0.1052 right_roll=0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.7026, 7.2274, 1.8193, -0.0464, -0.0611, -0.0122, -0.4171, -2.0034, 6.3248, 1.8437, -0.1001, -0.0513, -0.0171]\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]: [-0.0212, 0.8127, 0.6121, -0.4248, -0.0139, -0.0307, 0.9991, 0.1589, 0.9798, 0.5293, -0.2523, 0.1081, 0.0803, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1694 left_yaw=-0.0003 left_pitch=-0.0565 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3057 right_y=0.0333 right_z=0.1199 right_yaw=0.0252 right_pitch=-0.1291 right_roll=-0.0069 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.1282, 7.159, 1.6923, -0.0269, -0.0513, -0.0122, -0.2667, -1.9487, 8.7453, 1.5995, 0.2222, 0.2466, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6121, -0.4267, -0.0139, -0.0307, 0.9991, 0.0204, 1.1202, 0.5629, -0.2035, 0.012, -0.0082, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1688 left_yaw=-0.0003 left_pitch=-0.0591 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3234 right_y=0.0081 right_z=0.101 right_yaw=0.0163 right_pitch=-0.192 right_roll=-0.0129 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.1966, 6.9812, 1.7118, -0.0806, -0.0806, -0.0122, -0.0479, -3.7128, 9.1145, 1.79, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99505f0e0eb63cb067d364dea20004c63879e9c98217f62972fad936c6d4b074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0ed3b93b2ac267de129474e566a3924e4ddbb8ed8f737acc201450a7b6e3814",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e8657a6ced14a7713b1c4c7bc2a453832582e8f500638d4298c67049b4ba28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtENiPekQPkhd26gGi1j1bsCZUDj8zybM1ZKZE5wtaY-wGffN-dfWC4qHRrHxdk5S-AACGYSEDl0fGRg2arkIg2HQ6caLwwjmOPxJjg2PztyaA9yPOg_78tjyXpQ6hRc2RcwLS0lMhDAZjMu4t0bQU4vgvIwRNFBpg3ysPHDQrOGHEAkpcKtDI56oJq2UX8NRmh5BIq01xxwUBo7yQtmY5ByG40CNTCsh5UpxECLgyIvr_8ec7P3yGpKVOxYAFQ10GRkL-0pKsCnUjs-wXp7faekWwA7adx70yEuheG8OvOqwPCEgQ62I-2PzL5hsmoAZy5N9EpPQvR_kX5ogPB5H4mmOS0Jo1BWZVd2VguYncvePCtjlcMHET-gytzE7atLAbyjMRstmb-uwkGhx75gxlIjusKPMJqPqHmTSE0RkKedKoPEjihK0MgU4K-QC8VkUlHPX_zIQRpU48Degtj-hhghiVPR-_dD2Tw_bto6XJVtdN9tnYeiX3X-oGUeSV1U3XWE8FI-82vs4JSJekxw7P8-P93R5a_j8q081oF8y9gh4V9u7o_3NtAxtgp-1LWkz_crHLrA-ffupbbEZwa4b3ltp0WYYGecn4gqUsjhjudSiUcDseEwCQUdV_sLpdJc8X6oljTvPeNrwOdNjEEjWpLbrOSjjPH3_jyJvBW56w9WU8WUKlansIGLHVtQ4I2_seL43c0vCtvZ2HEDw4EN5RhX37172HuTvwOCJq4InEmqOlujiNIIvN5DwUKw8BoZHe3kMrlBvAEb1UW2jMhjInHV_wfH2gTCes6bngF4RyIUjVzt2onlT39sViR3kO64M1yPut9zt_n0ViVXWtMhSS369xcVjSPes9UIlvmOUOAzyRTUiQpl53zx2JNZa5nMlGqM0kkz_x460my-quuX1wYFNNMjBywOORWofvyyUw-UBIM4hvkusZ1L6-kukaflLPn1ehvS1cGWP94DDDbN_j_FqKai19RTjT-s9dokKoDDsZnevhlxhqc-wak8Ic5-mZkwdX1ERq-RaVjs11JF9ZPlohSv5X5xhgnf8u8B2mv-A-5ZntC3kxmA4Tm3zSmwWniD3-nK8WXMcuELHApOfpi8U4ehifsen2yUdDvo4CgS3xlEEcNx-7186XRBR8sdv1udevI8VBySRbhjl8tLe4yLptIuIzs0ouPAKjYCFnzl6UdW4S-GjZgPzlo4lOTwGUqoilo1Kq3PiFhI77phJ-_c8hBxrsAtndHUz4V3e0THkJ9btiniOWJB2Azb5A2toTu6Q-K_XOEj2bEnM_mdzOxGqc9XeEfwNBQyafYp3gyNfbMeX_cthTkFo4aX-BINnEYUds3ITGvcr7htDJG4JFEeGWA==",
  "id": "rs_0664fd631a42552f016ab443609e1887d096609bb613b78dad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.01,\"right_z\":0.025},\"note\":\"The pear is now centered on the jaw column with symmetric clearance between the fingers. I am descending to grasp its lower-middle body while maintaining this lateral alignment.\"}",
  "call_id": "call_JhQUGeQ1MndyfvCumkuHzejq",
  "id": "fc_0664fd631a42552f016ab44360f01087d0a71fb0e96a7e42cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JhQUGeQ1MndyfvCumkuHzejq",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6121, -0.4271, -0.0135, -0.0307, 0.9991, 0.0223, 1.1202, 0.564, -0.1993, 0.0025, -0.0086, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1687 left_yaw=-0.0006 left_pitch=-0.0595 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3243 right_y=0.0104 right_z=0.1022 right_yaw=0.0266 right_pitch=-0.1867 right_roll=-0.0065 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.0188, 7.1453, 1.6777, -0.0317, -0.0562, -0.0122, -0.2393, -3.7538, 8.8821, 1.8144, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:374597ccdc0d3fc6b4ac47cce0fd611d5c6cf8d4ac9ab032c766f91c5ca034ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f73cfda022bfc81650a7e7df2450a1578ced17479475efd123957a66989c04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b2182dfa77049d18d91bc67a54ef7323b858dffded9d2cc14223da5652fa59",
      "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 · 1.78 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6121, -0.4236, -0.0139, -0.0307, 0.9991, -0.1543, 1.0428, 0.1238, 0.2352, -0.1123, -0.0898, 0.0113]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0003 left_pitch=-0.0553 left_roll=-0.0001 left_gripper=0.9991 right_x=0.2742 right_y=-0.019 right_z=0.0267 right_yaw=-0.0087 right_pitch=-0.1098 right_roll=0.0025 right_gripper=0.0113\nstate[joint_eff]: [-0.1846, -1.3607, 7.0222, 1.7656, -0.0611, -0.0708, -0.0122, -0.0342, -1.8667, 5.8188, 1.7118, -0.0562, -0.0415, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6121, -0.4267, -0.0139, -0.0307, 0.9991, 0.0204, 1.1202, 0.5629, -0.2035, 0.012, -0.0082, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1688 left_yaw=-0.0003 left_pitch=-0.0591 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3234 right_y=0.0081 right_z=0.101 right_yaw=0.0163 right_pitch=-0.192 right_roll=-0.0129 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.1966, 6.9812, 1.7118, -0.0806, -0.0806, -0.0122, -0.0479, -3.7128, 9.1145, 1.79, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6121, -0.4271, -0.0135, -0.0307, 0.9991, 0.0223, 1.1202, 0.564, -0.1993, 0.0025, -0.0086, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1687 left_yaw=-0.0006 left_pitch=-0.0595 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3243 right_y=0.0104 right_z=0.1022 right_yaw=0.0266 right_pitch=-0.1867 right_roll=-0.0065 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.0188, 7.1453, 1.6777, -0.0317, -0.0562, -0.0122, -0.2393, -3.7538, 8.8821, 1.8144, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:374597ccdc0d3fc6b4ac47cce0fd611d5c6cf8d4ac9ab032c766f91c5ca034ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f73cfda022bfc81650a7e7df2450a1578ced17479475efd123957a66989c04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b2182dfa77049d18d91bc67a54ef7323b858dffded9d2cc14223da5652fa59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtENnA-ggmk8vD16s00oNlU25fBq3WaViBwRfk4FgCWeVknFkdvsKOfiNCwvClLtM3jGiDcVn8fBONlQs-gSyHye2A1aOGaW3z1aCYCqfdjggILLp-DYS1s7oRn5ukG9-2SFXX2rsACRJHaloc4llPRlbLin7CKYrifeAj7ToSgpaVUg6YhGllrqbe7d94-Y2_5fYS7XNFrenDu55aajhR0wTk8g2M99SyE5DE-9MTaEyKZAMwH6NzCT7vG9VVkE5K0AdBaymkInX4c9PgJwwA9eTfp1yM0uJFtJdxWsN6ZGIY73lSxXVKJe5P5OVJRhMT6UzOpDX3eFczc4gkJrAX_93QMoHiyP_j3J-tdBNoLMyAe2RUtdo1H_FKa_Kyjh21UhmiSc69C5Ge4P_WiLLqqDUjYLb2n0r9T2TcTM23dmcgMJa84CIrz4mQQDnxKccof0JOA8bwrK5286OCSvkmyZrQxALOrAQ0yvLT2drus1nit99WUqCZqga-s1vUNuDA2ingo-hY9WUdYn6lhP8o3gyL1jMALpmVUYUUxoLOnSEYM6ILmM8J9i-zGTACmKWvn6qtJG0h0f3ynm4HQiyRCtCPZ1adWKkC-PB7YhW5Ym0_m4h5EynY50hcqMKgdJ7BJCbjPKHZjiUDT2sRgtUpspTwmo5Z4FJ955FKWUI6K_E0JZ3HB34NdXsbYIABQ5RdKfKRDvijJ1c5x8ru1h0y-L6XuZZ1D2nQPf1lOWSfM6QUywXATSgRtGrz_wOv9GRZok8AWWG5mAIDSHBJdSIeiVmZ1o2AUDxU0fpuxLkcZWc-wNDH60fHzLea59fbs9K79dpbqpl7UHcSfVmPSF56VpFcnM3vCOrYepQI_wRuSEJKxjA0UIUAVtiqxuXJZgaGRdtOUO2XgqG7nPJ5byLTRlkyzZ9bx1vwDJuVkHg_cfP-NZQCHUaBbjDV8pTDDNWVepbUq30_Td3DzT08pGtE6NcUOxIFbMSeeP2D888yUJFfvHX3U9Gl45kq-u7QlxPA9xO1xaQiN_CaVTzLbLtI5s7PpMbqg7FrvSGOq9-sgc3QXQZqJ6_I_vml4R7V730B6WuvzzpK4PlIy6bs-kzj_BItRelqP7G5i3YaDmokKGdPUZ9f_c3WBOChdEzfZGrlknQQk_nGv5NtYDk4B97k8QHj1Z6UkeHKqVrIt4UAqrG8HIQ0fLADXOQTk3Br6UHPVWIAknPtS1KNT28bK9a8tJe5UXX0PL2wj8qZfVLvQpl-zYYenUNwEmQMnZ6ahvsMUv12lc5JtnT5EcQ0AUuQJct2dh9mOX8q6zuoSFFGWnocQ6_mTHVHrosZY4bJkAw1guAb6ycqLdsS2iVKowflW9AYIpqkf-3vKaCnqTflPowbMyBqky5Jo0kUWRLeVU8N2KMfxPEkiJfAuVnr6x86gSOfKVpMBOUdEGsaPipok6Q7oIhl4j_v4WjH9s78A134_efTPawRD5DGFRn-6jFEz2J5IDY-1QgdblcKhoWXAh6PhBiVhC8L6-dTc-zAoFS2_srldHu88av0XoIQj64-ceU4KS2ttWYh0rqEJB6gMg4-8N5EfHP8YkqUmx1t7Yzeh3XvhG3UtAsbm0DAOMi18mnHqz6BwxM4ubxPR7r0f_poj3Q_yr2nvhDEUFR7DZhoZWutAUREJN_hjg5p0uiD6IENw0o-jyVlmeYmBdl6hrsF5aKd5Y1qidwyWYGqYnQKoX3-Yo94XQv0QG3NoeZX8UBPoOI8Bmhx-od2WfErY4Hb9CwUWVh6p0ZLXXZumxiaDS0xZnq-iq1zejuKfmvLrQ41S3n8WU8oEFrKlWllW6H_tekFOl4Kbpscx5He-1fkLjPQvOmb7ZcSfzKHUkJYvGKLOtjp4JVQgetXVFuoTDlRyyYlsiaJiP-DGxRAVJEp_C2hKF0Ta_GQgxiueMskschpJRlo5sH9Y9u96H1CDjA0emtieNt7Pw7JBue6Pa7O_0-IZxxBAnYNqyT2L-QpHeXCoOded_fPPicKzfYrgbvfrYgP_NrzbBZwhL0BhBOiZRV22tWz-wwXDgemxndaPTFbwIA_MdRIjJXYmiFeWWtFt0eTcj9aLvWtCFp2RwVa0C4lFkbQP27bHe2IUr3bEUsQmg61Gv750SPKxMw3Icx9SE1-FZaSW-n-fX1XOYZMoeR2FoAWa1h6usgNnEZIg7fldd3IB_Umz2Ige1zwLESAsKKhBUpuEtESB18KtZwIjG9vMUGybeJlcjtXS2-ItEE9ESpw_XzBdM0XdOi2R8R5dxzmBlFN-X_5Uw2_8s3h_hGxDwGARg0sOYiPtQwymnzQ2StBWtGhpZw3jftIcopEVhoaGbqGXlmeeXc90ohKHkoso7kS7M86SavMI_bKAcJgX_YQcVSofWDG7nVLrIo1L59nnWc_CPziRxaWQGEudQo96b3a0AhoMvem0KkVWaAlIaQnTBuwHVlCR0IzfF7mnFqkyVE_pYUzUlXv3nSCpWrjFmc2CMpkrZvkhX4GFJ23l_7Ne9Cd_M-g3y6VHf6Gw5luyhH2xBdS5PS_x5z6J5CvUv3OpMYLCEjYYAId_UpiOEi-r6QDT3ALyZFOq8wOUjBkXMnk0T6oyGmhyq9x0-ZSuYLvfz5FzIq9FHK1e6ex9XramJkne_W57yFVUYdg653hToMPxK8Qfjqjc75E9BAyPiD7F3nrHmGdmGO5uyfXg==",
  "id": "rs_0664fd631a42552f016ab44363d0e487d0bc1cd39ec7a1c1ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.01,\"right_z\":0.05,\"right_pitch\":0.4},\"note\":\"The descent stalled around 10 cm with no visual contact, indicating an awkward IK posture rather than a table touch. I am tipping the tool forward and requesting a moderate low pose to let the arm unfold while staying centered over the pear.\"}",
  "call_id": "call_c7OjtHKOR9q4D2awBFLUOnRE",
  "id": "fc_0664fd631a42552f016ab44366e6d487d0a71802562db4d54d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c7OjtHKOR9q4D2awBFLUOnRE",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6121, -0.4313, -0.0139, -0.0307, 0.9991, 0.0204, 1.842, 0.0662, 1.5307, -0.0055, -0.0113, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1674 left_yaw=-0.0003 left_pitch=-0.0656 left_roll=0.0001 left_gripper=0.9991 right_x=0.339 right_y=0.0115 right_z=0.0546 right_yaw=0.0335 right_pitch=0.3237 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4838, 7.0906, 1.746, -0.0269, -0.0122, -0.0073, -0.5402, -6.106, 2.906, 2.2686, -0.0269, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb71a95e52ddcec5b208402de4e63c9a7362dc00ae10c94303e04053a353885",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c4c33c3bf9fa1efb5dc2a9740a705acdaf7ece45f1c09ffd051a4e73761cbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6cf044c32633376d74f42f4e3aae3902c64cbac539267a65aa6435c2533c21b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.108 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8127, 0.6121, -0.4248, -0.0139, -0.0307, 0.9991, 0.1589, 0.9798, 0.5293, -0.2523, 0.1081, 0.0803, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1694 left_yaw=-0.0003 left_pitch=-0.0565 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3057 right_y=0.0333 right_z=0.1199 right_yaw=0.0252 right_pitch=-0.1291 right_roll=-0.0069 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.1282, 7.159, 1.6923, -0.0269, -0.0513, -0.0122, -0.2667, -1.9487, 8.7453, 1.5995, 0.2222, 0.2466, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6121, -0.4271, -0.0135, -0.0307, 0.9991, 0.0223, 1.1202, 0.564, -0.1993, 0.0025, -0.0086, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1687 left_yaw=-0.0006 left_pitch=-0.0595 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3243 right_y=0.0104 right_z=0.1022 right_yaw=0.0266 right_pitch=-0.1867 right_roll=-0.0065 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.0188, 7.1453, 1.6777, -0.0317, -0.0562, -0.0122, -0.2393, -3.7538, 8.8821, 1.8144, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6121, -0.4313, -0.0139, -0.0307, 0.9991, 0.0204, 1.842, 0.0662, 1.5307, -0.0055, -0.0113, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1674 left_yaw=-0.0003 left_pitch=-0.0656 left_roll=0.0001 left_gripper=0.9991 right_x=0.339 right_y=0.0115 right_z=0.0546 right_yaw=0.0335 right_pitch=0.3237 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4838, 7.0906, 1.746, -0.0269, -0.0122, -0.0073, -0.5402, -6.106, 2.906, 2.2686, -0.0269, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb71a95e52ddcec5b208402de4e63c9a7362dc00ae10c94303e04053a353885",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c4c33c3bf9fa1efb5dc2a9740a705acdaf7ece45f1c09ffd051a4e73761cbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6cf044c32633376d74f42f4e3aae3902c64cbac539267a65aa6435c2533c21b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEN3HrIcG-NeD3lt9cJRfclRdR5DKsoBDx_tkFpm6SSBwccV886IQJ8dpuveA92OJepQv2VgStBfeA_uYxIePy0_geGEUTe8kwXmk4EXghd6o60G-1y8LuMKc0bhEvUPnepjivYDXaMjXCxvcIycP0G2JMz250891RkUdqrgS99cDVJkRwbzGn59IsNCA5g-YhbDLy8J9wkub-6oUs0b_GzmWWG1qNIAAufXrso2tZkQv8fU-j4IcvH4xXeCWa8rDxKJ1RiztjLw5QlVdub4fASbf1d13bSyuU5Vj-1WB6n5PTGp3Ck-CSNzEToD2pgMEag2N3HYDWy5b33cWDO4_EoRS--mXEG321zo6lWeJ8q3p-g87ew59b2Sp2EexgneC9s2o-WJnDDKKAT4lFaNd6BG_Ex7DN1C4C35P8ifME6Rkq7iS4l-v5KynTvRTunaCUGc6gzQ-6bJ3KTD4ifgpfqf40g2WaOqjCyMW1Mz8hyxLP32Dc5rh2TA0GdvtktgbW5cUXiyCWZo6p42hHUZqAnzHOnnqQxtSeUMLrWFCh6CDxMcRmS2tAbqkUiDFb1qUL1lEuqcO6CiXDwQfCZrhCjV5rGeoZKUwvXL8lTLYX7G04qfYOpCld0JuKCcRICzJyzsyuEwYgsJgftACCBtc_c8nHld-EsHylXCt9ll0A1RqnQodl63x-eD-JV3zPq2Brf0zcJvXq5kDc-Yt1NsWPk6w72bjQgwXS3gkFD1mc_V27L_fVJ8tdYt0gUsi-PsVqjeLyyyS-XVUJtcX8Y5uvdFGTvj6V4kMugi6ncNDFg1alRD_1HH-RyasSMKBZEiDUAtZV7vHqEs7Ovk3xfMhM7TfWsjsnfMSdi-NgJyAkTq-7GwBQBlFTTmPDWgxBJHjkznImiudZhCc5bl5NtVfR3wDZOP4_3MG60bK_95RutdKRJSFGUyJL-uYYIshOc81PGfmvn_vw2YdStukFjRyg1gKgTAWMGEijKFonqmpOTcgkiUxS-EqUrEUx4mbl5Q2qUKvVvFTyyObPU9yk8c6a7Sw2xUxzezQt-N-F5Yuem7aWrtt8Q2PBAvw11Vap9tHcuhzIXPr1hETJRwVEZrb09mGwmGFbWVVK5lkLiBZ40iDMrqv4zUFw_EsO6uITTm4cW5P6eaWUgtV-I-VpKAfZXudj7SVoWDUOHKuDupuMcx6AXi622SS6UcVVUMcfMZVRHbRszFjkdr5Vjqioau5PXTckMOPvjR5QK-xlp0PkHZoFJBIKlKwVNFYTLM3wJiOpmekm8AQa3f4bYL9JC6eHnZxw==",
  "id": "rs_0664fd631a42552f016ab443769c1c87d090bd02aaaed01b6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"With the forward pitch, the arm reached the low pose and the pear is centered between the jaws at body height. I am closing to a moderate width so the rounded fruit is secured without aggressively ejecting it.\"}",
  "call_id": "call_5BFkXPhK2o1t5IlTHmKAHLlr",
  "id": "fc_0664fd631a42552f016ab44376cf8487d0b516a27272ba5fd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5BFkXPhK2o1t5IlTHmKAHLlr",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6121, -0.432, -0.0139, -0.0307, 0.9991, 0.0204, 1.8587, 0.0677, 1.5818, -0.0051, -0.0166, 0.3788]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1672 left_yaw=-0.0003 left_pitch=-0.0664 left_roll=0.0001 left_gripper=0.9991 right_x=0.3414 right_y=0.0115 right_z=0.0619 right_yaw=0.0364 right_pitch=0.3595 right_roll=-0.0155 right_gripper=0.3788\nstate[joint_eff]: [-0.1026, -1.3197, 7.1863, 1.6923, -0.0611, -0.0513, -0.0122, -0.1846, -4.4103, 1.8803, 1.7802, -0.0464, -0.0073, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77d5c0b856e06728db7b8121e34732ef5dea1e6b5e6f7ef3fb3a3de18912a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0dbd0907e7d524fc2513ef291da900ca6b72fba19eee71104d6c380753c5df2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67530fd0242f00f7cad828d73f2d2dd0f84c37cfb938c3bae49abc7331fca27",
      "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 · 4.209 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6121, -0.4267, -0.0139, -0.0307, 0.9991, 0.0204, 1.1202, 0.5629, -0.2035, 0.012, -0.0082, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1688 left_yaw=-0.0003 left_pitch=-0.0591 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3234 right_y=0.0081 right_z=0.101 right_yaw=0.0163 right_pitch=-0.192 right_roll=-0.0129 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.1966, 6.9812, 1.7118, -0.0806, -0.0806, -0.0122, -0.0479, -3.7128, 9.1145, 1.79, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6121, -0.4313, -0.0139, -0.0307, 0.9991, 0.0204, 1.842, 0.0662, 1.5307, -0.0055, -0.0113, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1674 left_yaw=-0.0003 left_pitch=-0.0656 left_roll=0.0001 left_gripper=0.9991 right_x=0.339 right_y=0.0115 right_z=0.0546 right_yaw=0.0335 right_pitch=0.3237 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4838, 7.0906, 1.746, -0.0269, -0.0122, -0.0073, -0.5402, -6.106, 2.906, 2.2686, -0.0269, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6121, -0.432, -0.0139, -0.0307, 0.9991, 0.0204, 1.8587, 0.0677, 1.5818, -0.0051, -0.0166, 0.3788]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1672 left_yaw=-0.0003 left_pitch=-0.0664 left_roll=0.0001 left_gripper=0.9991 right_x=0.3414 right_y=0.0115 right_z=0.0619 right_yaw=0.0364 right_pitch=0.3595 right_roll=-0.0155 right_gripper=0.3788\nstate[joint_eff]: [-0.1026, -1.3197, 7.1863, 1.6923, -0.0611, -0.0513, -0.0122, -0.1846, -4.4103, 1.8803, 1.7802, -0.0464, -0.0073, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77d5c0b856e06728db7b8121e34732ef5dea1e6b5e6f7ef3fb3a3de18912a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0dbd0907e7d524fc2513ef291da900ca6b72fba19eee71104d6c380753c5df2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67530fd0242f00f7cad828d73f2d2dd0f84c37cfb938c3bae49abc7331fca27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEN7fL5pjrWW17N_SJz-drZhnHTyVP8MuxVmrHTUizTVUxbt2cpvU3zIVg03_voQpLS3s4UD5bKcKy7-pKM72NplPTS4ZvrSFr0RcvvqsN30gDnsT8xEkfrPmMqlEgzX-d5biz9SR9e7LyzpjcMmwlKt_sL3rNYH59XCj_HEulm-ClQjxxFZtnvnbgxQ7jGNao6NIGzRDnswppb1562QL_BxtL2Q5cmYRYSVWhG6hilvNjmxkv331VKtJV9ImOQntg6QkEB_nkUNL8POBoBhJ8TECwnahcSCvwznpf-zXOhi8-9Yw--Dqzf8HiIwTQZda3wmVaUM_SV09INH2OYw3h5S2M0WhKfxVa3T_hWPg1bmB7nOQyMLQaYIkqbiFvZA6MkirfaxQbH5XS-7wXu5P9mAqXAL-9LvoGZRVzliQXHowcUSvqmZKxI8w4TKR7_nJ4oXSzlRNIHOdIpKevNQLUw-G1LH4_GcXc_7fC00wDLHfluj8R5VVfumbZrN5L7YWT7Y_UdSbKmFtqzGgOhrloddSr3D2xxG5X-uk_ef9rIfmD2HsXF3p6JynQMs3pHi4EHHKWDYl-PO0hVv9B1ECmkDNDPX7xAf50PlgbZ4r2UP6plQ2UzBxfQ70RyjjSOjyEM3_2v__vupmcflLJd5b2wJy_Sa_TshdRmZuGxKj5C_kds3JgPM7VgdcNKNEasJX7GhiAviVCrJuAv1sGLo3ZZS6FyYLAbHT6utv5s6zSovt4jUk-PHXfoWAbRbqtyNDHyZ1GXr4saNGazD8_LQcW1c5NgzzNVClo9TbEBgVZqh1n5wfVQhiMNWOEujYd67AFkTXEpU3cONN__NU5Z89_EnHT3VmON4UndaAprSj28fpezF3J-idBIaORMgXYSbrg2Dv9Qv_D8m6tXVeFUx9oiJsDSh9oHQEj_x4jVOU5fvk5W9HBbcPrpcSFfUDOaeKUJIUdZmivh2z9qV41zgnNJjeojh35RKzTbzCOTUyYG4HupvWs1nt88v-pJMvzZFVuI12zAyEwloEUs9teuV554tAfnFQZUpSheH37izRwRxNoB17dFTHyqIyVP0Enzy-U1kA96K4LJe9hvPZiMtbNf3nKv9zvya6-XV9q-8cXVMS2xwbZWR5iZ1RZ7hAEdnvFRlTLEDQ7uM1dxXtCekOgqhZWZDFMz28WV8uVc5iIpZxZHW3ZU6NfSyz1PyUiiRSmdWTYtRRlLHf2Qa-fUgKvYrL11basSrHSw6qlnkmDsYsKxzds4cNcKuTbOJXaYDJHJJ",
  "id": "rs_0664fd631a42552f016ab4437a3cd087d09900a0908ef85fbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The gripper stopped at 0.38 open, confirming a roughly 3.6 cm object between the jaws. I am lifting the pear well clear of the table to verify and transport it.\"}",
  "call_id": "call_7Mao2ZgUEFh3sOZ1UyaCt2z2",
  "id": "fc_0664fd631a42552f016ab4437a73a487d099f7d847f83b07e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Mao2ZgUEFh3sOZ1UyaCt2z2",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6121, -0.4393, -0.0139, -0.0307, 0.9991, 0.0212, 1.2659, 0.2741, 1.0, -0.0093, -0.0193, 0.3788]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1648 left_yaw=-0.0003 left_pitch=-0.0774 left_roll=0.0003 left_gripper=0.9991 right_x=0.3719 right_y=0.0131 right_z=0.1939 right_yaw=0.045 right_pitch=0.5769 right_roll=-0.0229 right_gripper=0.3788\nstate[joint_eff]: [-0.2256, -1.6205, 6.9675, 1.7705, -0.022, -0.0366, -0.0122, -0.3487, -3.5897, 7.3368, 1.8046, 0.0269, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0510d6e2ec1799b0b9ea259f30227d4a429b8dbf0b4130ab22f9590101b8f43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e94b49fbbf8dfff04a6101c5452edf0de599e25b49e656ac3c3899d302bd44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbd694f392aeec00bb2365ffe77d7388fa63f4bda491df00422063a2df0d96e",
      "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 11 attempt 0 · /responses · status 200 · 3.073 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6121, -0.4271, -0.0135, -0.0307, 0.9991, 0.0223, 1.1202, 0.564, -0.1993, 0.0025, -0.0086, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1687 left_yaw=-0.0006 left_pitch=-0.0595 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3243 right_y=0.0104 right_z=0.1022 right_yaw=0.0266 right_pitch=-0.1867 right_roll=-0.0065 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.0188, 7.1453, 1.6777, -0.0317, -0.0562, -0.0122, -0.2393, -3.7538, 8.8821, 1.8144, -0.0415, -0.0611, -0.0122]\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]: [-0.0212, 0.8154, 0.6121, -0.432, -0.0139, -0.0307, 0.9991, 0.0204, 1.8587, 0.0677, 1.5818, -0.0051, -0.0166, 0.3788]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1672 left_yaw=-0.0003 left_pitch=-0.0664 left_roll=0.0001 left_gripper=0.9991 right_x=0.3414 right_y=0.0115 right_z=0.0619 right_yaw=0.0364 right_pitch=0.3595 right_roll=-0.0155 right_gripper=0.3788\nstate[joint_eff]: [-0.1026, -1.3197, 7.1863, 1.6923, -0.0611, -0.0513, -0.0122, -0.1846, -4.4103, 1.8803, 1.7802, -0.0464, -0.0073, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6121, -0.4393, -0.0139, -0.0307, 0.9991, 0.0212, 1.2659, 0.2741, 1.0, -0.0093, -0.0193, 0.3788]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1648 left_yaw=-0.0003 left_pitch=-0.0774 left_roll=0.0003 left_gripper=0.9991 right_x=0.3719 right_y=0.0131 right_z=0.1939 right_yaw=0.045 right_pitch=0.5769 right_roll=-0.0229 right_gripper=0.3788\nstate[joint_eff]: [-0.2256, -1.6205, 6.9675, 1.7705, -0.022, -0.0366, -0.0122, -0.3487, -3.5897, 7.3368, 1.8046, 0.0269, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0510d6e2ec1799b0b9ea259f30227d4a429b8dbf0b4130ab22f9590101b8f43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e94b49fbbf8dfff04a6101c5452edf0de599e25b49e656ac3c3899d302bd44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbd694f392aeec00bb2365ffe77d7388fa63f4bda491df00422063a2df0d96e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOAmWybpqiE2VelUVwgpgNpVTZn7dIWzwOaSFCpNP9HS7Cs1l3FhYIsMFv8eCaoMQ-dvBeqGeF3GC10tPlFf16vKPXFQDd0EWcL3CEXCygPZeVwSDs_OgLx4lDmWaQ7f6Lstl1O8zb45Ywr8gVWmOvpL57lp8PLi2AaS98odl0F1GPaX-THS7GRlI5osH99Vjzy7AFgCWYANbo1txlpzzp3w17le3q7U3FELmX8Zro1Vayuz1zslfN4PEs757jqGClHcEjcFfjDgYAbMbUjlAPfuCFd4h6fq2Vw48_O-J35tEqGje-mGKgAv_adnFQTnQZoTAAfiHIMex_lBtNsXydQiQL6GN_zVeIzYCQdCYKE4ArYYmAzhYgxo6qusjJQewkiXxT5EJwQSR7t1YBxOkJgZRULM1d_gFz3TnFD_VeogazqucxaeqZ0rB_N9BxKwepP1r-y2idFqIZ1o5nIpJVIQj2BhPX7kkl6DTP4TkmC-jCKM11VE4FAaj31Mqj3x865Xpn4oGLCRdUnzo2fiARew1Oy9oPA15bHJ8IM_GOm_7OolakGsjYQgR7uKuQ04cvtwTHOBoYEfOerrfksNx3BjHFL2xtFucbZoBJzvxbykiY1unTn8D1kukcbX4U1cXHCLWQ3no-wQLLBPBQdPcRTWmiL9Fwn8438xIYbUvEJs4JK_VYI7UK1x90OVoI6iQuxIu-_Zvi-wURwHmJpVmddWBKH9_ffYZi9ld3LqN3jFdKO5hLcLBPrFu4mXpKoGi3UDtN3ucM-0ngjRoOjcaZgtL4Xi-6_12NPZPjK9y6Q727RO8k8oaFzHVkWHo2T5cbaslBoombkfv8b7pKohKF5efB2D99tS4WBjHiIzmst-eUvDtb6DPC6PhOhcgChl9B0MEjhby7vcRxePUmXUBdjNA7VnnfYwCUE7Xllza7m4zzEJrJvMrAlK0j3EnDT-GPp5m9k8HkKgRZ33Nc3O3FIIOhN4s2Gzd7CAszLNlpFOqUyTqy4DUOI2KJCOrk0KoghZpi78rjKbbJicp_zW5tHlhWkhLnIHHDnFLQp8DWq6xTb5E5pnDw5FAs5E9OalS9_LA81GkED6HDLBiZx_sgD6UeUgdAatiywLeN6cIADF4g3n8cbbFBe54tvDKhj9dn652RyGwb0Dr6DeGWwyKbQ0gzfq5A1ZdaJ-5Z-xzoAvbtsSRubBZpDM8l-bJfpEzsktiF7hQkLmymlYVP-cko9Diplu1XETPzqP_ZpZUjpHI9XVlkriogXf7YUhLvdm4yu7JR4GyoNqSy4de8XI6vmxPALgx8JmBmpoQyXlXM2jdp1CeU-QAM77mVCwxmYU437Wr9c7clft0NpPNiGKZ2RXwXxd2wEMsmOFEGm53TfwB5aIQKlw2PY0r_dPcaAEJYVqZ_KBTZ09NWly5uIsrwZSh4g8NG-17T1F9S59Uhy--FxO861t7N3zjwMwNomOL1582dFZPl94rNFG7sikoNxyHEyGvgYf9WykZsmMhV49TDDaFoV51kxr4U-zTmO8ww2vqsSnxh_yY5KzRHyCAUxAc1TTx4KZhydOaWrg_hMZeU9qR4JUmU2KmsdnBkJJ-MDAgAuq8M5i7Z8-N3nEGZ4a6HQBBnaZTfuK34G5dvCYPHmst9_lWOvpmaAOXYWGTvkBSLj0aIG7rNkN3lVb_Dk-aY0fGDmlTjyOT6Qr7Chvg440Kh0W4za2haAEINyu9sY7I_I4eD5xRLOFE_p4noZwgOaFz0TGax_8zTFpmy3zJaixGTTBYnS4ZhCu2zBpZTRZ9NjktdPmdnaIw_bg6fJu5oYRKH5q3SfhRy6XxmBhgo=",
  "id": "rs_0664fd631a42552f016ab4437d83d087d0b02986c5b4c26193",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.12,\"right_z\":0.2,\"right_pitch\":0.4},\"note\":\"The overhead view confirms the pear rose with the gripper. I am carrying it above the blue bowl, shifting left in the right-arm frame while maintaining generous clearance.\"}",
  "call_id": "call_iG0jS2d1GEX2fqxf91JNMI64",
  "id": "fc_0664fd631a42552f016ab4437f3c9c87d0b01bd35a75dccc44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iG0jS2d1GEX2fqxf91JNMI64",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8238, 0.6121, -0.4465, -0.0139, -0.0307, 0.9991, 0.4591, 1.3746, 0.5659, 0.5674, 0.3893, 0.0341, 0.3824]\nstate[eef_state]: left_x=0.2881 left_y=-0.0001 left_z=0.1621 left_yaw=-0.0002 left_pitch=-0.0893 left_roll=0.0006 left_gripper=0.9991 right_x=0.394 right_y=0.124 right_z=0.1796 right_yaw=0.095 right_pitch=0.3449 right_roll=-0.0604 right_gripper=0.3824\nstate[joint_eff]: [-0.1026, -1.7299, 6.9675, 1.7216, -0.0562, -0.0073, -0.0073, -0.4581, -5.6957, 9.1829, 2.0977, 0.2711, 0.0415, 0.823]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b90db655f399c1f9df5ab149c831b8b1427159d41a6123849434fec02cc5765",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1300ca864ffafbb238722caceb73cfd909ad2d1834f6b3e84ee6620b001e7b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e771aae4e6e54e1446d35924587d8aea54554e197abfb6db68fc2cd6714aa4",
      "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 · 1.934 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6121, -0.4313, -0.0139, -0.0307, 0.9991, 0.0204, 1.842, 0.0662, 1.5307, -0.0055, -0.0113, 0.9986]\nstate[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1674 left_yaw=-0.0003 left_pitch=-0.0656 left_roll=0.0001 left_gripper=0.9991 right_x=0.339 right_y=0.0115 right_z=0.0546 right_yaw=0.0335 right_pitch=0.3237 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.4838, 7.0906, 1.746, -0.0269, -0.0122, -0.0073, -0.5402, -6.106, 2.906, 2.2686, -0.0269, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6121, -0.4393, -0.0139, -0.0307, 0.9991, 0.0212, 1.2659, 0.2741, 1.0, -0.0093, -0.0193, 0.3788]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1648 left_yaw=-0.0003 left_pitch=-0.0774 left_roll=0.0003 left_gripper=0.9991 right_x=0.3719 right_y=0.0131 right_z=0.1939 right_yaw=0.045 right_pitch=0.5769 right_roll=-0.0229 right_gripper=0.3788\nstate[joint_eff]: [-0.2256, -1.6205, 6.9675, 1.7705, -0.022, -0.0366, -0.0122, -0.3487, -3.5897, 7.3368, 1.8046, 0.0269, -0.0366, 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 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]: [-0.0212, 0.8238, 0.6121, -0.4465, -0.0139, -0.0307, 0.9991, 0.4591, 1.3746, 0.5659, 0.5674, 0.3893, 0.0341, 0.3824]\nstate[eef_state]: left_x=0.2881 left_y=-0.0001 left_z=0.1621 left_yaw=-0.0002 left_pitch=-0.0893 left_roll=0.0006 left_gripper=0.9991 right_x=0.394 right_y=0.124 right_z=0.1796 right_yaw=0.095 right_pitch=0.3449 right_roll=-0.0604 right_gripper=0.3824\nstate[joint_eff]: [-0.1026, -1.7299, 6.9675, 1.7216, -0.0562, -0.0073, -0.0073, -0.4581, -5.6957, 9.1829, 2.0977, 0.2711, 0.0415, 0.823]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b90db655f399c1f9df5ab149c831b8b1427159d41a6123849434fec02cc5765",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1300ca864ffafbb238722caceb73cfd909ad2d1834f6b3e84ee6620b001e7b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e771aae4e6e54e1446d35924587d8aea54554e197abfb6db68fc2cd6714aa4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOIYYxh2vBG3Z1BTMPpLXzxMDMpkAgApy6moPZ0j_JLBcQLePy8zhXN3tWurYTvzUsaz23kTqIau3TJ2rwJEyuP4tfDmMryF3N7cFk4ByES-qTQVhAocZij23rct8OvybKIilcoia-S070ELdyBx_IFpyLMzmc6B8HWXkCPwEuQ7hMSz0UV-Gtbq8Z61kpBKOCj2l-AOcz4NqGZvbtJwh3fshEwiucczvinscBNGRYFU_knreiNnhA3lRTbJ_NiRipXTr2iv-lfHnHNOKF5c5y_WQHgNuvLrs7Lj8yA-M01jgPdwuKp1Gtlp-70MqeXx2TROQlgq_xavkioAreKEf9kNVYc2Ao_S63mCXWzM9T_DrS3qt9Faqf7-yCyl-Gzl3og1SPJ11PSzNASr8fGgEbujbEJWCKmvB-w0NGmjLBGAmENqnRIxOSLuqHn-x0GsQAZsYDk_h4uWLveHIpKEeB_Q_E0LVpBKdNbEv-KodFNOITRYcT-VqVQIVVCaxHfD3gkmNQuq9PWyRirJjnn-TanObHNfrd2qb1mc5V_uz0nGvArjHpSosf86W0MR7SchybsCqJs162EFf0EvRwJoI5oK5VXO-jRy4yS0Ei6K3Qbm6lRNZL8ELI1n7CCbU8hoQc7IEa3kJpA64MH92tEPZI3jRaHlZQCZ_OOrAnU4ChwAvcpVDYRvJKFEs5UOczzw2rNkMSN7BGJP9h9eVv2kIDWqfdgPsnu12ExrG6xfR3-vesfizUYSaN8-j5PPb2sN_-Pmd7W4J6VZbFceU4_bxt4r1EZOJZ7-nOWvcTjjd0tCzoxDRNOIHWdp-AxojP8jYA3mCbqTHTUMvlqBWlCg4VF5SV4qH6UgT33-w5MsG8hciMAaafoCEnDBzY-Lx14LWg15YZBm_xhVoPqFdSwZrctDfo6s183IaZ6gAfscj3BMKmIKTbbpEwsEO94CvYbH4ZFyMMzkh2_9HKEVxymq1VHeOMYqRU5IDIn1GtLZiPOc6UwncMaVQ27d_8y99_f7597NZyrQCozUIRL_OC5j0YrwKdJk0ygrUhamSWK8lgIKbV3JCsOF8kPertV-Z5p4r7eAxmHPMe4x3UMN3Sp9hAQqzjmcHDPcLu_Xvw8NOVuvrYlu_Ltkl5Dvsvqi8H10IBIx-CINwaJNWsyouOFHZSVipCbrEH3to02bf-gIpo0Moxe5ERc5O5gYjdIM_I-b_dyj4GL5OyI84wBPGWTXJrXFcEa-6sMA0gfbF2HYiRYBzA7UleMg8P-tF339RKv_7vWOTIKlKCmiSTeRaxLrp6fY87KZgSpl1RheeeLlqOTvb2SlbLu0-dtbaiPX2lvOunsEPoZwR8O2s8eNkvj5pOYHSzxSGwvbNUtx7Z0rurIjA0gNv5vnzXaGAEDGqJkb8kf",
  "id": "rs_0664fd631a42552f016ab4438681cc87d0a10c2c80c2380ca1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The carried pear is directly over and occluding the blue bowl in the overhead view. I am lowering it into the bowl while keeping the grasp closed.\"}",
  "call_id": "call_UbhSyyz4aKFCVQJPglveDKvC",
  "id": "fc_0664fd631a42552f016ab443873b2087d0a782864af8a8d13a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UbhSyyz4aKFCVQJPglveDKvC",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8249, 0.6121, -0.45, -0.0139, -0.0307, 0.9991, 0.458, 1.6325, 0.4347, 0.8349, 0.3874, 0.0341, 0.383]\nstate[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1611 left_yaw=-0.0002 left_pitch=-0.0938 left_roll=0.0007 left_gripper=0.9991 right_x=0.3868 right_y=0.1202 right_z=0.0865 right_yaw=0.1081 right_pitch=0.2307 right_roll=-0.1042 right_gripper=0.383\nstate[joint_eff]: [-0.253, -1.0735, 6.9675, 1.6679, -0.0513, -0.0659, -0.0122, -0.1162, -6.9265, 5.0803, 2.5617, 0.0952, -0.022, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e9bd64fa1876a33d2b3a7c4fec592faad18b2b804ed5bf6b49e44bae4867a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a41c1dfa402bc6bd685b7ef4aaa07eeb8e9cc8351d17fc3858508dfb97f6685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ccb55ce66e50701a410fbdd41e1836b42a9c447eafa37c8576a2976317b19f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.947 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6121, -0.432, -0.0139, -0.0307, 0.9991, 0.0204, 1.8587, 0.0677, 1.5818, -0.0051, -0.0166, 0.3788]\nstate[eef_state]: left_x=0.2898 left_y=-0.0001 left_z=0.1672 left_yaw=-0.0003 left_pitch=-0.0664 left_roll=0.0001 left_gripper=0.9991 right_x=0.3414 right_y=0.0115 right_z=0.0619 right_yaw=0.0364 right_pitch=0.3595 right_roll=-0.0155 right_gripper=0.3788\nstate[joint_eff]: [-0.1026, -1.3197, 7.1863, 1.6923, -0.0611, -0.0513, -0.0122, -0.1846, -4.4103, 1.8803, 1.7802, -0.0464, -0.0073, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8238, 0.6121, -0.4465, -0.0139, -0.0307, 0.9991, 0.4591, 1.3746, 0.5659, 0.5674, 0.3893, 0.0341, 0.3824]\nstate[eef_state]: left_x=0.2881 left_y=-0.0001 left_z=0.1621 left_yaw=-0.0002 left_pitch=-0.0893 left_roll=0.0006 left_gripper=0.9991 right_x=0.394 right_y=0.124 right_z=0.1796 right_yaw=0.095 right_pitch=0.3449 right_roll=-0.0604 right_gripper=0.3824\nstate[joint_eff]: [-0.1026, -1.7299, 6.9675, 1.7216, -0.0562, -0.0073, -0.0073, -0.4581, -5.6957, 9.1829, 2.0977, 0.2711, 0.0415, 0.823]\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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8249, 0.6121, -0.45, -0.0139, -0.0307, 0.9991, 0.458, 1.6325, 0.4347, 0.8349, 0.3874, 0.0341, 0.383]\nstate[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1611 left_yaw=-0.0002 left_pitch=-0.0938 left_roll=0.0007 left_gripper=0.9991 right_x=0.3868 right_y=0.1202 right_z=0.0865 right_yaw=0.1081 right_pitch=0.2307 right_roll=-0.1042 right_gripper=0.383\nstate[joint_eff]: [-0.253, -1.0735, 6.9675, 1.6679, -0.0513, -0.0659, -0.0122, -0.1162, -6.9265, 5.0803, 2.5617, 0.0952, -0.022, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e9bd64fa1876a33d2b3a7c4fec592faad18b2b804ed5bf6b49e44bae4867a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a41c1dfa402bc6bd685b7ef4aaa07eeb8e9cc8351d17fc3858508dfb97f6685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ccb55ce66e50701a410fbdd41e1836b42a9c447eafa37c8576a2976317b19f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOLtPPwXCUKVhKyDRzTg1egG_4mzl228zup8PInJyMk1iRzZ-dW4-oBUVXlHw1AQcplULfRuJyOHpySSrOLAQNs9zxXr1J8gA3BhvyvBLJ3T582lKzdln6RBdZQz_g6Mxaa5GyJU5LsZwtvoMHbEPpuJFQypZj31cPhVfycuobxFMko6Bulr7ORaV6A-gJdz_MLFZ6XEvQlKFojoSEFqJRD2ziHXlkExZK4OQGqqubhHzPa2ZbXHB2q8fbCvBn8UkzcymhLLrNBwXRun0okIpQ0eZJdQJFbM1hT2MCVYzLEXLz89lPeAK1CiliSYIOdeLJkjWII1GNV7yUy8bGHO_enLk0ITHPQYjoU9UOc11wW3PgpXK2_Nug7tqr7KByy225ouG61fa-wKXwqQn7RX-Sjw1Bw4Tzhbj-gbMhkscz3Wklq5RTj2TQhs19ETwNAGa_njB2vrelvM6lYLU-8qItDFTHyJE5Ov2CqA7fLRpIAPy03URTemTzB6czheouLFjkk8Pr1F0iUPlj0JeFIHePXdoR07cArhDIGha_7hALwwNAT_kbhKxBGk-AgfwQhJrzYiz6M2z8_7uS8oK2DzbCmBIKNvcF4SxGugTh1Zq6qxp65k4eeeM4QdG9blt970iKVvxYZyPRSh7Of8QrbMRtEHSI28Ef--ICJl_Zx1LJsxrowpT1E7f5mdW6eQNRxVmIMFspzDGdA3_oiGsBQP_oIkb06qF6vR3FoQy_IamVqfhEAbUOsUw-tuu-Ze3bREz2qJdvdgd6_NAgt3JNj2xwf7qEX3JIHek02yJ2nFxHTNqa_pauSXQyoAH1uyR5n245VmIyX9zUo4trS3Q2OtN6p4il_Cu7gh85-ws9SAfV4HsJphCvvI5GY9bwBL6A6pbkSTy_HnnWPZ9ClCrIE12HDsNwa8O6QDdq0wrnCeCPHVOhDoSSNXsa_hM2f_s-poy4oYX1OaU7dUxGxxqzTOLNSXle-q3oHti_1Av2MjITTVo_3rSobZnbFSt4J2UHaHO9GEtfAgTFLUw4e1BCjhi2Sc_7uazQ8ktT-I85SVM2dZuK0_DC6JzNt8f27eVb8N6vcm1g1mRS-9kepZTqIu3hWit0WusvM3Q9zuhwmDZCZuuYEUPcxPPD79cDv86QzW6Shi7i-8PsIswZRVmbMgmKnH3zmzszDAEM_GeiY9UdHc0-royESfYZbPoNhzi1vkePz25zDPc2V_eMOSiFSmnBt9w==",
  "id": "rs_0664fd631a42552f016ab4438b190487d0b3c4ce84b3efbb27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The blue bowl rim now surrounds the pear in the wrist view, showing it is lowered inside. I am opening the jaws to release the pear into the bowl.\"}",
  "call_id": "call_f4o1hfk5ksLD8wMKLkJnsMoZ",
  "id": "fc_0664fd631a42552f016ab4438b26b487d0a0693731ff70840a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f4o1hfk5ksLD8wMKLkJnsMoZ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8288, 0.6121, -0.4606, -0.0135, -0.0307, 0.9991, 0.4583, 1.6512, 0.4259, 0.8314, 0.3851, 0.0265, 0.9959]\nstate[eef_state]: left_x=0.2862 left_y=-0.0001 left_z=0.1581 left_yaw=-0.0005 left_pitch=-0.1083 left_roll=0.0007 left_gripper=0.9991 right_x=0.3836 right_y=0.1192 right_z=0.0754 right_yaw=0.1169 right_pitch=0.2008 right_roll=-0.1214 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.2239, 7.0085, 1.8046, -0.0269, -0.0562, -0.0122, -0.1162, -7.6786, 5.6, 1.8437, 0.0464, 0.0073, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc4f8b84d030b0d725f50c4580b5e8a22c0d7cc8d086ca3cdc253ac5f5bcb51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4366f7a57a3974d720b18acefcb2459203a43f5f17e2b0f7cf915971901283a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a718df3bec54d5bd134ef48ec4eba8d7da16c04144c9a7d4d1a434740b2a7b00",
      "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 · 3.788 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8192, 0.6121, -0.4393, -0.0139, -0.0307, 0.9991, 0.0212, 1.2659, 0.2741, 1.0, -0.0093, -0.0193, 0.3788]\nstate[eef_state]: left_x=0.289 left_y=-0.0001 left_z=0.1648 left_yaw=-0.0003 left_pitch=-0.0774 left_roll=0.0003 left_gripper=0.9991 right_x=0.3719 right_y=0.0131 right_z=0.1939 right_yaw=0.045 right_pitch=0.5769 right_roll=-0.0229 right_gripper=0.3788\nstate[joint_eff]: [-0.2256, -1.6205, 6.9675, 1.7705, -0.022, -0.0366, -0.0122, -0.3487, -3.5897, 7.3368, 1.8046, 0.0269, -0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8249, 0.6121, -0.45, -0.0139, -0.0307, 0.9991, 0.458, 1.6325, 0.4347, 0.8349, 0.3874, 0.0341, 0.383]\nstate[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1611 left_yaw=-0.0002 left_pitch=-0.0938 left_roll=0.0007 left_gripper=0.9991 right_x=0.3868 right_y=0.1202 right_z=0.0865 right_yaw=0.1081 right_pitch=0.2307 right_roll=-0.1042 right_gripper=0.383\nstate[joint_eff]: [-0.253, -1.0735, 6.9675, 1.6679, -0.0513, -0.0659, -0.0122, -0.1162, -6.9265, 5.0803, 2.5617, 0.0952, -0.022, 0.9158]\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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8288, 0.6121, -0.4606, -0.0135, -0.0307, 0.9991, 0.4583, 1.6512, 0.4259, 0.8314, 0.3851, 0.0265, 0.9959]\nstate[eef_state]: left_x=0.2862 left_y=-0.0001 left_z=0.1581 left_yaw=-0.0005 left_pitch=-0.1083 left_roll=0.0007 left_gripper=0.9991 right_x=0.3836 right_y=0.1192 right_z=0.0754 right_yaw=0.1169 right_pitch=0.2008 right_roll=-0.1214 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.2239, 7.0085, 1.8046, -0.0269, -0.0562, -0.0122, -0.1162, -7.6786, 5.6, 1.8437, 0.0464, 0.0073, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc4f8b84d030b0d725f50c4580b5e8a22c0d7cc8d086ca3cdc253ac5f5bcb51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4366f7a57a3974d720b18acefcb2459203a43f5f17e2b0f7cf915971901283a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a718df3bec54d5bd134ef48ec4eba8d7da16c04144c9a7d4d1a434740b2a7b00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOP0B0iw35he6E8a-oM9SsfDkric2HQgVxyiiBYUtB7jIIWMnA30t2TgfpeNZrB3uOFmFeDtDZOLjlmyh0RRg4lZ5gljgDkD1HcwLNn7QxeGrOuD31MAN0M-2ge-rTZhPewyyfnovL7hM1pm-LvU4ZWLjaBJCD402-GiQzCxAqtJqiQ-WaQKXtJv9kbtqhQV33oft_uIFMDr1S9GYoPQe-SJsaSTqR0H9Ruh6mp69fgELQqlSpljlnj4df6tqDMFz70rTUriowWg0GmrBCoTEJtuB-3Z81vqNQbB237liKICI-zIZzHo6bB3mpBLYAX91dTKV2eVM0wTRzdesdv6QF19P0eLLmtQaweRv83Vl0mL2T-56k2poRRuOFISQ9F7p0Yn072dXU-gL-OAkGeO9M7MD8rNwaLG5yJ9YPpiO7hgTSkSzQQIy_8ytP-jDtzAJ4H5j6FQ_0mS39jF5MnHSSsI04KbKHVfmnfPeei7czwLoP5vxW6DWWpVAdMNJTtBw5YaTipxZg21nODbWNBRax1GFjTutqdPa0bFXVlpNiuOMszKsp11bFXPaMOVroBXWyJWe8fL_Rtvxq6mrZ-QzLLaoecccP_0V02-kg9hR4L0miUluc0h-QpyvOIupft9YqYrMJX-sRq8q-t0XkjYhtxT7KAqDSB6mtn5IC6x9GHSpFI-nxQyN2HiUkQs67MNAC7b914odLcNH4rIEFUAjGZZsI9dWBmzWYEEQkv1ZMlIe1GZ_D0l4r8exXmZiF_1ZusxlQ4GDuGoQhI38HGf9ryN3vyIbLmyYjg1TNb1iRtMrMve2JOv2f06agbUCrCO_0HCfaWVylMMCbCCyqMvLp3vD9URJRKoO2zt169GkDGIdAqxHpwrCzxZjaECxt3XfVEe3kqB6dxdWPpkp_IZvgqpTPr2fnajWWgOLd4ih0c4BvgoWy8ShiyZ-AbSmcfIIkP7EN2FNc2dYpv_Jxnv5phJHuncPReMQsRzO_lMlWLyXT2Lp0AKAAXM-AxlBOsKzpDUaZWUC_yKHkZ5XeNMYAT0Vu5cVPbWGNe69eJnC0b0H5hD1sbvDYJV4bFcwSixzQtf17CVRYpeFSMTZnqIIa4lIFwrfdnxieCjUuoUQmb_SDnjipfKTe-TyFkYcRH8QyYsvsAAzwBvPRhcnF5MOSZgPzOgznR-4_KujCZJ1am7toFno5ie5DfH5qx12DUP4mQ3OqkKxcTNrFtMzL_Bu13RGkaRH36pH1UII0q7Cl7c-440_ARURVaCPYhaEoDYbK8QhtH9UsyoVS1FkHNLPBIdOBvHyiyiyoQ48OgrnDlr0E5VC0p_lbIzKNL1tMDpLq34ZdOC5pB6ackn5jgwUR4q866WsoGoqzUcvwrWYybI_egNXmlRibr03rv3L0zbbjZqqY3yoNdE22aM6ZyHe5QSspJiYxNQn1boO6f_ij1sp3oFPhXSOE4ttQBFIbtW_Z7qnPLCnVdLqW0N_kBhRknFM89KG-I9G0NLPHvMnM2fcBvPy-okVsIxnQRpv6ZJHuT2Pp5j3ChMa-zXnnJMmL9w8n97axVanDitWuSa1SUUuzDXNn5a-OxfhenHm5dcF67rWYDkXna_OT1k1QssdWVXU3V5p-YGiLGYh_ohOXbGq3rX2drqDBHg9XP8lpIfNCH",
  "id": "rs_0664fd631a42552f016ab4438d6b5887d0a03b62b770e9e907",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.05,\"right_z\":0.18,\"right_pitch\":0.4},\"note\":\"The pear is released and remains in the blue bowl. I am lifting and backing the right arm away so the remaining yellow fruit beside the bowl is visible for the next pickup.\"}",
  "call_id": "call_gwnig1YJSKyH6bYpVkcf49i8",
  "id": "fc_0664fd631a42552f016ab4438e3c5887d0ad22265906d07107",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gwnig1YJSKyH6bYpVkcf49i8",
  "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, 0.8326, 0.6121, -0.4702, -0.0139, -0.0307, 0.9991, 0.3035, 0.7517, 0.2153, 0.4305, 0.2737, -0.0589, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1552 left_yaw=-0.0009 left_pitch=-0.1217 left_roll=0.0013 left_gripper=0.9991 right_x=0.3066 right_y=0.0497 right_z=0.1936 right_yaw=0.083 right_pitch=0.4645 right_roll=-0.0971 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.1966, 6.9402, 1.7802, -0.0366, -0.0708, -0.0122, -0.1573, 0.7043, 6.9265, 1.8974, -0.0269, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b310776de578f098c82e77fa58f4ae51548021ecaf22726b0397b5399fd55a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83270d5d22e0211e73cd3dbe00bc8ac3ca24f11c12af567e6e7a504c3bfbfe47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ab951e2ff3746c73a0bd2951c2e6119811cc52fd67fc953a2d7694032719882",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.706 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]: [-0.0212, 0.8238, 0.6121, -0.4465, -0.0139, -0.0307, 0.9991, 0.4591, 1.3746, 0.5659, 0.5674, 0.3893, 0.0341, 0.3824]\nstate[eef_state]: left_x=0.2881 left_y=-0.0001 left_z=0.1621 left_yaw=-0.0002 left_pitch=-0.0893 left_roll=0.0006 left_gripper=0.9991 right_x=0.394 right_y=0.124 right_z=0.1796 right_yaw=0.095 right_pitch=0.3449 right_roll=-0.0604 right_gripper=0.3824\nstate[joint_eff]: [-0.1026, -1.7299, 6.9675, 1.7216, -0.0562, -0.0073, -0.0073, -0.4581, -5.6957, 9.1829, 2.0977, 0.2711, 0.0415, 0.823]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8288, 0.6121, -0.4606, -0.0135, -0.0307, 0.9991, 0.4583, 1.6512, 0.4259, 0.8314, 0.3851, 0.0265, 0.9959]\nstate[eef_state]: left_x=0.2862 left_y=-0.0001 left_z=0.1581 left_yaw=-0.0005 left_pitch=-0.1083 left_roll=0.0007 left_gripper=0.9991 right_x=0.3836 right_y=0.1192 right_z=0.0754 right_yaw=0.1169 right_pitch=0.2008 right_roll=-0.1214 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.2239, 7.0085, 1.8046, -0.0269, -0.0562, -0.0122, -0.1162, -7.6786, 5.6, 1.8437, 0.0464, 0.0073, -0.1783]\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 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, 0.8326, 0.6121, -0.4702, -0.0139, -0.0307, 0.9991, 0.3035, 0.7517, 0.2153, 0.4305, 0.2737, -0.0589, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1552 left_yaw=-0.0009 left_pitch=-0.1217 left_roll=0.0013 left_gripper=0.9991 right_x=0.3066 right_y=0.0497 right_z=0.1936 right_yaw=0.083 right_pitch=0.4645 right_roll=-0.0971 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.1966, 6.9402, 1.7802, -0.0366, -0.0708, -0.0122, -0.1573, 0.7043, 6.9265, 1.8974, -0.0269, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b310776de578f098c82e77fa58f4ae51548021ecaf22726b0397b5399fd55a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83270d5d22e0211e73cd3dbe00bc8ac3ca24f11c12af567e6e7a504c3bfbfe47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ab951e2ff3746c73a0bd2951c2e6119811cc52fd67fc953a2d7694032719882",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOTfqVQjaQK4RcxR2ImW20-uIRCfbFxaZ-7RX8_w8GsWUOQM4Lj_1CErsLPrwnoek1KY7tAPlOFL7dPrNG7C9TeWpdLAAEPYtdTlh6w_VjtaUmyd2MmZtmpheWkApT-h_HMLhPW0fypMJg20QmNVl9cq2WZtAdRZTvwS4k97Z1SCiSHV6KIZ3GGHYFZDozw94O1yHz3qDH4A35kakeW7kB2KDD72LChKyMNxxGnQ7TdRLOSLadBtQEVcWUA8WGfF8CGvSvxmv2-kA9c7aFSueH8egQ4qnAQGiY_z7fxDVtbZH_Pz-z-FQv8cT0hBsCNx2eQ61yp6eIx36mXC7CHF3TdssZhTY7HfkeLGMstm36JXJoZPPQfk5iANh9N3gFeqfQenTCmU_xrlb2Ns8LlTbYHU9aLvEt3MJIgtdzuqSR_3f8fgWC2ugBQp9by1ux0fCVqxkk1zSmenXYeiClvu6-2YLw07sPby99V-xAejkqmDGTC7RAgEWt_hlz1hdsHPuBLgvyCuboD6WNFpvteGKONq9YNdUDI3CzlVJnckHFcpNsk7iNOcepozDruB6kkUgi9wPPLf0BupjNoxw_H0_bgWO9U7a88qRDbqqgThxjJfsxLjjd9wsHkxeQ17NjqUPKp-ia1d1FG6grj0Nv0bvQQ7erf6Mpr4vgNG6QBOADlUfT82szZ2Pp5DBul1-eMGK81MRSt_9TISQwxw3qtHk7JTdqabD_GdXWoHEJD0ovt_4vkL7tbZf5VlIWJKEiRMZf_wv1dABtHLSJcjQj3uLbaOhTCQbBUHknbfUK5185429gic7oYNi2QAL8UDZ2_Ta_dmjxfS93DR_kITyhNBjMnuRYr7AGZvWGdPK3doA39N1Xbwp3hst3JQf5pPEj2yiRRfuHWWOjasOGXiLGjVYdsuhaFDmH_P8kBUrI2QaQmHi43sWQnAR4rewxR7K_noYUIwvvu-up3tnKzydjLDjrCSHBZn8IN4bvpz362nQTxB2-0bOJxjAQjvrGdJJ5gWr4xxRlTaJwIx-4WqQ6ogt6lBSDjo3UoZ3jHWyiPtwBqYKUrI9wb9iDpZloDXg0FnRk2UAgd42JojbKqUg0yGaNumfZz97g9wlZfo5L7SbxEdvt2vaTthCWs9K68SIOFkVvo3fi8AB390Wk5LhrGywb4Mo-ZMDBTezn950SpDOdKdejkBjYDIPg4DMsowhZ4mVyOy7ZlgdtivEyshC4KFA6S5rFvIgS1jKVWTQ9pF7ZVcEM4EvCkmHIDl2G8CNANHc7iCzMd8cxv49zvKxE49XlXGeQYm3QSVjZ2bDwisb2vSa6ySc3gfd9Oa4ccgzdD4uzCgrVl8Gc3FBIOUuFsSxCQCGkBdBEovqqItiQ3DBKcVHJE6cNlA0Oa_X5kGGPh-IZxNIiWXl6EMZ0qT48ZJjIlV5CSo-5Wtj-IchYXTmlfcku3jQg7oPXatXHenMao6GZloF77PkrXRgq0uiMJyS95vJwRMyAFfXsC9iG8BGLJCF2Pr0DVsBixvHXdG3Arhem8Ku_lxCL7bh7dnrbi8fX3vnFoLk-MXh0ROul52p-6XiBvasCAJNjqbmAohX3HHdjBeSEFjlaLgl8N9kmi0glnRqNfuiVA_Ldb5sR8kb6mKM9h4TwIFcE9-2a-_yLoc6sT3Vt7AHQHJwZBUzCp7lAU4i9ebtJzQCbv42Ac3SyLdKniAoxoGdbMXYoZtVYwkyyDpfvamI_dVFxjT6-REOGC4V071YZdwZn7HgluQTZZuyXwZPsFk4FX0f6u4MtsNjzOLIl7VvDcLmiJsDzg9AvM4KD_ESY2wI7A7ua3ueykIFyQ26bv7KAEdv7IjnZO2y57x_-srs6Mj432m1lSYR4Gc_fwljFVb9UCMtL-kq7GXXozelR93W6ZJF07gb1c4lYa",
  "id": "rs_0664fd631a42552f016ab443913d6887d08509fd0df8f01fa5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.2,\"right_z\":0.14,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"With the arm retracted, the overhead view shows a yellow fruit just below-left of the blue bowl. I am moving the right gripper inward and left to hover above that fruit.\"}",
  "call_id": "call_jL38EcvmWlNehF8ySPzFFxBA",
  "id": "fc_0664fd631a42552f016ab44392b42c87d094256e03a872ca69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jL38EcvmWlNehF8ySPzFFxBA",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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, 0.8387, 0.6121, -0.4763, -0.0139, -0.0307, 0.9991, 1.0069, 1.4345, 0.3622, 0.7338, 0.9173, 0.1192, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1525 left_yaw=-0.0009 left_pitch=-0.1339 left_roll=0.0015 left_gripper=0.9991 right_x=0.2874 right_y=0.1988 right_z=0.1283 right_yaw=0.1515 right_pitch=0.3587 right_roll=-0.1598 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.935, 7.0496, 1.6679, -0.0562, -0.0464, -0.0122, 0.1709, -5.1761, 6.735, 1.8584, 0.4225, 0.1734, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5075347fca5f7e4d1b22b1ada389e4d56f1ec0024b35b1206807e4b29d1e5d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d67a3a31d48db3c742637929a2d729031ae268b98922f478ecf4cdb6f3858076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cf788d8a9fa5219e0983508561bf5d9b6ed748e4f0e5c0028fa26d4808c0be1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 4.538 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8249, 0.6121, -0.45, -0.0139, -0.0307, 0.9991, 0.458, 1.6325, 0.4347, 0.8349, 0.3874, 0.0341, 0.383]\nstate[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1611 left_yaw=-0.0002 left_pitch=-0.0938 left_roll=0.0007 left_gripper=0.9991 right_x=0.3868 right_y=0.1202 right_z=0.0865 right_yaw=0.1081 right_pitch=0.2307 right_roll=-0.1042 right_gripper=0.383\nstate[joint_eff]: [-0.253, -1.0735, 6.9675, 1.6679, -0.0513, -0.0659, -0.0122, -0.1162, -6.9265, 5.0803, 2.5617, 0.0952, -0.022, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8326, 0.6121, -0.4702, -0.0139, -0.0307, 0.9991, 0.3035, 0.7517, 0.2153, 0.4305, 0.2737, -0.0589, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1552 left_yaw=-0.0009 left_pitch=-0.1217 left_roll=0.0013 left_gripper=0.9991 right_x=0.3066 right_y=0.0497 right_z=0.1936 right_yaw=0.083 right_pitch=0.4645 right_roll=-0.0971 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.1966, 6.9402, 1.7802, -0.0366, -0.0708, -0.0122, -0.1573, 0.7043, 6.9265, 1.8974, -0.0269, 0.0024, 0.0464]",
      "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, 0.8387, 0.6121, -0.4763, -0.0139, -0.0307, 0.9991, 1.0069, 1.4345, 0.3622, 0.7338, 0.9173, 0.1192, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1525 left_yaw=-0.0009 left_pitch=-0.1339 left_roll=0.0015 left_gripper=0.9991 right_x=0.2874 right_y=0.1988 right_z=0.1283 right_yaw=0.1515 right_pitch=0.3587 right_roll=-0.1598 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.935, 7.0496, 1.6679, -0.0562, -0.0464, -0.0122, 0.1709, -5.1761, 6.735, 1.8584, 0.4225, 0.1734, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5075347fca5f7e4d1b22b1ada389e4d56f1ec0024b35b1206807e4b29d1e5d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d67a3a31d48db3c742637929a2d729031ae268b98922f478ecf4cdb6f3858076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cf788d8a9fa5219e0983508561bf5d9b6ed748e4f0e5c0028fa26d4808c0be1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOYCWO4qkKzo3RRJgLpeh9tFPGVs9s16Q3vgPQQfIbribNAw0iTGK4D6GupCrq6lgcpVsJaZ8zJjB-ToCo9gFScUltDfSXdS_TmIh29nqY3YkaawojeulVqOeKXtoOqL3Ff5MSJpmYmn4VGvZa8UmYSPWmBKzMIQmC-uta84qXNaI4EPgJcyxqEgtEDAcMVUJqXza-FWxn_tFbbqro0P2CHZm3vp7sBDj0VU5LLARg_Wm7izqdlGZUSkfKXR4zH8SHCTlpCp_ZPiQ-MsLdYPFCrYkXxUHLBAR2I0Z0n6hLU2fWDtySPIbe0FtLWho9Z0DzOvlopqrrb4wig3JijbGSqdWzR1RuQNjxaUMYYQZFwBMcb1iMnLKjbJZ9PByu1lrmbUDGI3JPqmPR347sq1v8wxK4eAqnfUYa2PiX_rT2B-gi2yadd3PEq8CPbYti0IRtgEQZOtOtSRkeApUVHhY9K89wy5nivUnsszTnb3at1TbWAt7z7UoUucRS4KoeQXIeWHuQz9yUJj5TyaLYZRUMQ1ux4-0xqvmCtGm4oT1Dp9es7gQBWe6ql0wJbPDbG3YiVQaUrTa42sIavuiyd-SmGh4x3uIQ8lKsqV002SyTw3QT4XF8p_0xxseerDkzKUg55BDHFNCaLg2prqhOarSyrfKnt4Zc2ZES9Ho2t-INv0EyccpTyPFdHwZ3_1ygG0BOsWGeUlFpYtLY0vVoFkTa_dH-wjYPAC4xudPxbeUCnIACqDJZEG-bxhqVXoKr4WYScLnOxc-DxB7NBsF1JBwtS0vaCACdLCalDJNM4d_74GCOTW2a6svvY6Y5JOD58q2P3zOU3jV5ChmyLxaPADVDgbOtlDYlR8dc2ChBA9e1CUxis6MN1bBZ-NRPXriQ8sxko4KLZa5h67AweE3k2Mom9rbmfqr19Gz_y7yVp_YBLrsE3mch6QizNrs61oeCM2u3276r-DDVsEn9qE1IU6gN97FVC-11T_ZhwF3ZLJE0RZaBFg9zEx6I6MA2-9If6alzrGB00sGakDy0UztMF95vW0IsGl8-pp1yPq1bQ_rYzUvtnty9IzxGurbLzy8F9NsLqSv8q4Y3qiZheXKWPLKH6NOWIqEKpTzS8IB5TWAseITnalLRC7kmJc7Ey7CqGrTQC86G_s8inKjDoD22s7ZUouX8rOUhyTCOeITI7Co2qi8woIIHdW0e-OwmGMPs1pTseRW55rFXo3UQG1XvbySjOjNQJRUsSq4h2TJ9WO4tw8k1ezOOqCjvSiO4C4DbbVwQ5dDjWYJTa4DDpCk0Ya4pb3JI7kYMqE4-MfsDlmsckYtgYm-7qOwvKHddNlFwY-qg9obZVu1r5TKHLscmGgtoUY7q906YXPjxCrCfN7HShtkITl-D5KmZ6WeBrbRMlMEj3Q9qpbeKmKKAl-10eHq48wLLrattTnT3MekYNh9oY7wtcKuThE7ZiQAcSW6NcIv2BX4y_JPcYGLeCW-X6Ud1ygbO0QltxyKtctXvW0jJ1Ob0nGEwfCCUWj_x8SBwvmNW_8gpSkJiv_UTAeDaxDEU7d97Fem57cdzOf0agpZ-mUr17aEHB2wVmPQrxhCbIbHJBE6RYHNi9o8X_Mj1tSki79jyiITV3NMn5ZmA9Q5UUeH0C_kKRtvYMUMYcc1H-gNFTEVUS0xAv_DaAgOqicw12zt_hEmC_0C84o7BH_o9cxrDathHf7gg5htuUWfw18WwVVaPNIBk3xXQsn4d8E4xoy5yYeNYxvgAjx0tPrQnRa4gpYPetMUvLAfHE-1eluudM",
  "id": "rs_0664fd631a42552f016ab44396702087d09691393f14f632aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.2,\"right_z\":0.13},\"note\":\"The yellow fruit is centered laterally but partly cut off at the bottom of the wrist view, so the fingertips are slightly too far forward. I am moving inward 3 cm to bring the grasp point over it.\"}",
  "call_id": "call_7vRBhGAgjLwD3YXeUuIZ1ODj",
  "id": "fc_0664fd631a42552f016ab44397d16c87d096ffac032f94b94a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7vRBhGAgjLwD3YXeUuIZ1ODj",
  "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, 0.8406, 0.6121, -0.4759, -0.0139, -0.0307, 0.9991, 1.1049, 1.38, 0.3466, 0.6598, 0.9848, 0.1596, 0.9986]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.152 left_yaw=-0.0009 left_pitch=-0.1354 left_roll=0.0016 left_gripper=0.9991 right_x=0.2645 right_y=0.2065 right_z=0.1304 right_yaw=0.1791 right_pitch=0.3585 right_roll=-0.1627 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.1419, 6.9265, 1.663, -0.0757, -0.0415, -0.0122, 0.0889, -4.9436, 4.7111, 1.6288, 0.2613, 0.2173, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04c8524a1edab390f5ce45d566348e47c2968595fed0fc65558d6673405c391",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e9d3b9c1f3f45493309f4901f8b50301cdece46cc1776807c753e4c0047ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b94a7b9e544909a49ce7e8a77e30d9091fc1cfce9468483407d9f72cdded16ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 5.907 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8288, 0.6121, -0.4606, -0.0135, -0.0307, 0.9991, 0.4583, 1.6512, 0.4259, 0.8314, 0.3851, 0.0265, 0.9959]\nstate[eef_state]: left_x=0.2862 left_y=-0.0001 left_z=0.1581 left_yaw=-0.0005 left_pitch=-0.1083 left_roll=0.0007 left_gripper=0.9991 right_x=0.3836 right_y=0.1192 right_z=0.0754 right_yaw=0.1169 right_pitch=0.2008 right_roll=-0.1214 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.2239, 7.0085, 1.8046, -0.0269, -0.0562, -0.0122, -0.1162, -7.6786, 5.6, 1.8437, 0.0464, 0.0073, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8387, 0.6121, -0.4763, -0.0139, -0.0307, 0.9991, 1.0069, 1.4345, 0.3622, 0.7338, 0.9173, 0.1192, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1525 left_yaw=-0.0009 left_pitch=-0.1339 left_roll=0.0015 left_gripper=0.9991 right_x=0.2874 right_y=0.1988 right_z=0.1283 right_yaw=0.1515 right_pitch=0.3587 right_roll=-0.1598 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.935, 7.0496, 1.6679, -0.0562, -0.0464, -0.0122, 0.1709, -5.1761, 6.735, 1.8584, 0.4225, 0.1734, -0.1538]",
      "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, 0.8406, 0.6121, -0.4759, -0.0139, -0.0307, 0.9991, 1.1049, 1.38, 0.3466, 0.6598, 0.9848, 0.1596, 0.9986]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.152 left_yaw=-0.0009 left_pitch=-0.1354 left_roll=0.0016 left_gripper=0.9991 right_x=0.2645 right_y=0.2065 right_z=0.1304 right_yaw=0.1791 right_pitch=0.3585 right_roll=-0.1627 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.1419, 6.9265, 1.663, -0.0757, -0.0415, -0.0122, 0.0889, -4.9436, 4.7111, 1.6288, 0.2613, 0.2173, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04c8524a1edab390f5ce45d566348e47c2968595fed0fc65558d6673405c391",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e9d3b9c1f3f45493309f4901f8b50301cdece46cc1776807c753e4c0047ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b94a7b9e544909a49ce7e8a77e30d9091fc1cfce9468483407d9f72cdded16ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOd7KurSZY9qG35GbGrpDDq77ZrrQEaLRlPHTa7wyS7Dai7eoZmLMGRsMQ8DIv41o_NWp8iu1Wx9a17kFD2jTzqecOUdpKgXOKQByNb5Cychi0IU6Mftv1-2JSSGibxUgBYUE7uQXhU3bLf5LqbVfzGUcwttLO2WaydR6gmTwwiUmTM74P4QEmgH-cZKWJu57TYFyUSpzY6CyTyztcXD-wked1O-FEq6x40qi_mPBJG5AzYDgMeZV9ilNyWk6DjUHuYraMTohFOGP0PnsaMiEAbHzo_vV7EBu9RKTgwyHINGmTlKnEETBoROQdV0odZbRk5qRapz25bY_tqnQdNJk3MTuKSgIHcnJqx3YSspLrbb2kby6hqwRsc90R0MX4VOP_1lhC_VDx9blYnKIRz4F7IcwWOXDQ969FIgK1b60CJ_L3wI4w691e5FmRPjZ_cqWbWsYYb4g09sTR9Se6f3wXnY7HYEilrShJNol_WJjiGfUuOFvEDkROJEwAiCDhyYTSyBvWmhLZbQl6BVMCUKRVjFL-waim3TfdCgeSy3J2YWLSSulhxERDg6qeaJXdcQSbBm8a4fIsp9HtvwcynqU11OI5h7adBRQ8yt_pzuWcVaGOUIk-BXbVOOUPpBO8-E4kmAwWbphEj9lNeyVyapbTTlEhus0Gb7dgsKa3NXA4hvq7VksI13pM_MoRqbI4XMdsG_DbsAc39zso6x9PxCWGLOgcqjc_LyWvWqDF4l_oy_PsGa3Xed6I04k-anNdtTyPHdkyRO-IvC_Ot0V9Rb_JEvg3aEvZ1VjSgCUuumHWDYZNbvALkQ1PKumtZDjcmmTw0GllcD6FxZhnfFAyJKIeHr2QXUU1_Wo54D9-U7zL8UDptdlCbAgdo-vGDENf-HyYXBVlKDXYYgevng3tV8h67Iy2Lnl4QANL3nEA955iB7AF4JUTvE8bNSCgiUCuzujuzpPZrYrIt0l-TCsAL2hvZ9wInI3EESbduw2tiyQ_L1z-XDqX2XzkD2NCP8nd3oDHpu2zAguzZPbYcMNJp8O--eIvWLW0zngWwbONU9ZhUDiYmBDGfQdR_XxBgjkex7WMsmcfBucy_0W__kfZl25imuVhfeocM7Faec8q02nb-JTn_PAhgWGuRnW_vXNAFCFP9tOpv45mk_7YhccdBgtxLQEWSyddjD4Be7vuMmZ-Gk201ApsHtiHeBNu7FOfdQe2u1sXlVWEhld6uWA-oxcqO_651ikEa8C3K_bmVAiWirjNZ6WLrqFjRL2Qg715o1BrWQFFfUr0eIY9MXZY-oy34v4iTKAfNKAuL1upQJNauW_OagIuSCm6PuFX6rB0SmkA4nieELprI5mU8L69wfFYDsFMm60hu2IjIhZWbXsx62SrKljFBewHd1vM_P6dxIVJ_UTctllXvdR0IxkzrjtN-Y3VBCr_wlnmWL0SPl1Lj-G7hK5vg_b_L5RwO1F6jNhGqPpWFuEUeOatNw5bQ4itfIjUaXushpYT0Yb5BBreCl1rNA0HsQapsGvj_5SxyXT0MuIEMKWAbfRJq24VATYk1CIDpdu72gwfX3by5zopfimc42ZA-DwTNbCPfag6Br7p9Eb-jQDHwdgSQeuzfiXCPSWEvlheqnU-mH-0iGgyg7sADaYDxs-ayZBukPubQGEFTU1PPP5d8W8zrs-F0N_GlhSGt5e5uHQizY0lanZDFuRvbz6bgHXFvhBNvzErN6IL_Pk_nOyW4oIyseVGq7QxaWuNeeHQnkX4srkg4X18GtGKjOnMs4hhGfd8DO4plYDpE8Q27_G_waf5g-DLBjxhPIPknSsGSGp0xkHFIe1yjBbBRFVpKLDrh2YEdiM-3JNy2iYkomdSJERyddWF82OX6v6X5nPMv-1VnEHJk82T1fngbuAHRB0QFQxZriaqfG0DsPoTOuzxgqmtScdOKpiZbxJ8cJEmbYi9cxEN954fWYgtgpdvVxK5X4s2m4j6VFGDZJg6b2sMZakGsaPHae-_6a6sYK1BhGJ-1apCk1sJHFj53Sjkt8Efqgq5WtezhZd6R2KbTD8tLNWqeMJcxEMkDol-_mnbesNvZB0YCucGWrbXTGRXvOaSD9oMYJWAwhnXT0PxWphe7HnAX1Vr5Gwauk6ykbydW6pVWPuvn79PY5mg-L_oF_R6l1GNTOQq3tIwdWR5h_SjhQfS2ihlcEYnUlFG_z0yJxjTLDv-wds5gkVeoLEBpw6M-WHGwlWCncjQUwyRYdUn7mf5R8yC1-gdFoEkc-yA4n-nNyOUkEmZrnMYjnEe99vg5KGPDcYaLcvwJH7IlhRISuObA2WzMwKp54KhcKCoEDsgscRBXweaOViDtMPGuACl3jRiq4S5hJ8o3tC_m0ix3GAiA5Wlm604dgfItozmrNilFXO9FyjrgO4sbjXsEESzIOMgTqoWKAaEl2xgLAGBvDC1D69CtdGXkGg==",
  "id": "rs_0664fd631a42552f016ab44399d9d487d097fb8aa49919680b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.185,\"right_z\":0.05,\"right_pitch\":0.4},\"note\":\"The yellow fruit is now fully visible just below the jaw column and slightly to image-right. I am making a small outward/right correction and descending with the forward-pitched posture that successfully reached the table for the pear.\"}",
  "call_id": "call_V3vp4bTnspzWeOUk0k9DheEE",
  "id": "fc_0664fd631a42552f016ab4439c765087d099bd87d2e2a0ce53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V3vp4bTnspzWeOUk0k9DheEE",
  "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, 0.8406, 0.6121, -0.4763, -0.0135, -0.0307, 0.9991, 1.1221, 1.3685, 0.3466, 0.6075, 1.0023, 0.1768, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0003 left_z=0.1519 left_yaw=-0.0012 left_pitch=-0.1358 left_roll=0.0013 left_gripper=0.9991 right_x=0.2599 right_y=0.2049 right_z=0.1266 right_yaw=0.1837 right_pitch=0.3412 right_roll=-0.184 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.347, 7.1726, 1.6484, -0.0171, -0.0659, -0.0122, -0.0889, -5.0393, 4.7385, 1.6679, 0.3736, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e27adc00e50b04e1a15911ca705e76132ae11aad1f8238538e178474399a6d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98db0de5720e7ad0fa82724abb18d2e0ac6fe80ccaf24c3124288a75de63c99d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b32f7e60429e569dd6824c9c38221e80d6682dccb1e26b923d610d4743170632",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.082 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, 0.8326, 0.6121, -0.4702, -0.0139, -0.0307, 0.9991, 0.3035, 0.7517, 0.2153, 0.4305, 0.2737, -0.0589, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1552 left_yaw=-0.0009 left_pitch=-0.1217 left_roll=0.0013 left_gripper=0.9991 right_x=0.3066 right_y=0.0497 right_z=0.1936 right_yaw=0.083 right_pitch=0.4645 right_roll=-0.0971 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.1966, 6.9402, 1.7802, -0.0366, -0.0708, -0.0122, -0.1573, 0.7043, 6.9265, 1.8974, -0.0269, 0.0024, 0.0464]",
      "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, 0.8406, 0.6121, -0.4759, -0.0139, -0.0307, 0.9991, 1.1049, 1.38, 0.3466, 0.6598, 0.9848, 0.1596, 0.9986]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.152 left_yaw=-0.0009 left_pitch=-0.1354 left_roll=0.0016 left_gripper=0.9991 right_x=0.2645 right_y=0.2065 right_z=0.1304 right_yaw=0.1791 right_pitch=0.3585 right_roll=-0.1627 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.1419, 6.9265, 1.663, -0.0757, -0.0415, -0.0122, 0.0889, -4.9436, 4.7111, 1.6288, 0.2613, 0.2173, -0.0171]",
      "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, 0.8406, 0.6121, -0.4763, -0.0135, -0.0307, 0.9991, 1.1221, 1.3685, 0.3466, 0.6075, 1.0023, 0.1768, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0003 left_z=0.1519 left_yaw=-0.0012 left_pitch=-0.1358 left_roll=0.0013 left_gripper=0.9991 right_x=0.2599 right_y=0.2049 right_z=0.1266 right_yaw=0.1837 right_pitch=0.3412 right_roll=-0.184 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.347, 7.1726, 1.6484, -0.0171, -0.0659, -0.0122, -0.0889, -5.0393, 4.7385, 1.6679, 0.3736, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e27adc00e50b04e1a15911ca705e76132ae11aad1f8238538e178474399a6d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98db0de5720e7ad0fa82724abb18d2e0ac6fe80ccaf24c3124288a75de63c99d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b32f7e60429e569dd6824c9c38221e80d6682dccb1e26b923d610d4743170632",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEOj42dASvK0S8Jytpk0yhENt34HJNWDoDrLf453YgA1xpGWKTKafEiN1qXD8UhkcrNDQXLWZWYzO8qAeh2TpyXkMvQBD-apc6yrLg-SoZzKQhMNq-vJOVPDeJMM0tp2ZSokL7KcM_YtMBww9NslsIPSGcMK9sYAVGRgntoXLPPQlXpmXD7X13HL2FAeKDJNOo9DIg4HhYMuD_XCzaUuDeVSXtJuuYI-PnWG1965iQ36eNJ6FOaU2uqpb5MtEd7hbSPnx9qyt6DavOvZyZZ0oAuniG6OEfTLMJuVkW3I1wbLpG4p2l7diQevp4_jufzBY70QS92Of6JguxHZ8gWYCA0A0LOAC3iGhAeqA9blPqa1iy9UIptZxQCzR6ipQ9cYcd7tCbAKoP_n3RxLFxRU7ni2joEEbmd4WBW2FpdlGZF-0bA1EtcG_A9Ey8jseRGq89lgLnJnzPmxocNZSwWsQKvpUCSYKrqsLiMsSt53FsFmqEWHYDJDjpLsq_9UejwJ7uRJD0LRn85CqNMiQmq70Y7noN8q0ngw15_cSrVA336wnVtUlaABq43Mu9wyaqcAK9Jk2yszrsaWeQA6kXpWERTN6Tixw3Mac3pv0QUS5lEiRGf55dovfR5beIxaL3vLCfoD9sfZbiZ5Tj3H6HIJ5QvJjXbXQUl2GBhf73tTVVubwl530b7J1lS2t5t0EDfp2D4e2uF9NF2BTHoaeaBNzG_9Bpsfoe4O2_kwyDl3th1qEMFNSsHYP5Y8_-ZEZMcOUtBPp2yf1PxmKGxHeCNVro7mXnxOIavXPRSt-Q_qhu-ipC-oFEpZGKBiuDcXMRO9NRr4Oz2651fyZUhMGOwpMBaRFzPabwj5IonngWsl2-ZU7K3nkHKhJ12_WsCTowvuxG4tpON0sGYuwe8At5WoHMjxP3WUvK4NfAhtXkUJrNaovcusCta11VZOIyMFQFiyhg-D4GdTopaD6jR502ol6U4dPDvVIGSoRs6xKtx5LZEU8V5ZU_37t4-675jJIiy7RcLAu2YWR8X9MKrIJW2ooebpSxZbdE_0N_5OKjrOsYbdEtnRkoNwzpOh6RpCXrKKgG-yDeLCEBb_Ki-CmU8QwOzVyNDxiEqmpqv-6SQ0SxK3UMUwJJPXExSQRULVJyx6YSU5rDGcG8W0v0VZmmY-C4Ufc9pQTuIHVAMaRWtaQqxy5yUNtoAjYTiQmbrb-0KF4kTW5mlj0JHQnEI5j4ewHJuMEnh8w0BCTIRo1xSfBj_xXJSNPFyV6merk41CbIIeLd_lAdzwRMgU53Diazy4Kb6VGRvKGv92WawRbQlarZChfiPk8tXITHTMfU2VYxnSiNfd_muRHJF695I7aybL44tUAICDnuUb7FEsLuVswNhDgh1Hs9WJDyAFZJ7n1-oiHNJ_9Zb9oJvDnXfxWzykKGTZsInxrOk7XPbIP9DvTBYCiW1m4ExB_pFNv7CewzFh4zPMY_aPXfoJ-u2rrzDBwNxf927RRAsji5NAy3kIgPsbXmeq3tt8G_JFSn0Z9RqUPc9ZXYXbgAz04ReBSGgRa7qoJ41JErS5svc61ZYIMliuQ_LL8wDDVvEV-6HX9yzWvA669YvKrCJzZLLrOY9zI7C2e6x_n1tX3v-QwTl-F6Uvu9Xwktu8fBrDLPcSyukkA7uNKG2xlrDLyct-lBso2Kk8Oxmj0s2OeJQ50oroCwf7eOPk_2yE8Pt1K07vRZXFZLsaWhm4ZUvsU7aKkfcxDtMHmgBslVADzaiVychrkzryrwzbPHzjZy_SnwrVr9f5_xoaM-9zEiN4jpgp1LKdeVkJBS39-mSU8T3gcbnQ1xv02sUZ4ZvYU7Gl-thYO8tzzo8IxHqvo3IBiTWoI_CZIWGlxgnTTARHd0_OtEVS_8HoieZXbG_kUoZOof1BXZoP_5VLk6F3NRO0Y-ycZGPdEiQoaCgakmtfkemxZvx9Qj-Rjp9iBhwImPQ1b3D796OoZItmga9ZrMjVmwi2e592eYXm1OZTAQYonLdUN_Nen-BlFQmmNng2pID1ZZd7AsCgbCv-5rRxLW6Bp-bfOcONpJhb_W4vWzeOa-fpvfhS-sbPom7LYIWtj0koTCdVrC8ltfAffrB8UXV2vNC910MWDLBgrMsV85Q2V1V5Ab7JNpHvUeUhC5_MTcAKQWmspdNC69RetwG8ItxX3h7SwuJQ0DYEXk3EEYTBJPpTMJBWsAzO5GtZZUTLn6pvYlbq5BGs3LXUvsAdTnQdZqBg4XTyHjB3CR7J2EZq7U2hpJGIMSuxA833EBY45QuGhD1Gb00pF96sAHMrxz5guXIR_8BhaPNWWU8XYnoDNJElupYG21BPtcf1tC5mQgxKGvJAhJc9jJZYlvhAFrPYFALJzT-TU--oDGcpcG8QWOtuvmWijcYJMekKp2GqeoE9iQmo682cF3_vBgcSAMubCDkDZKLGw-hrKyzpYlDlKTOGhlUseQ1gD5xr_e7FHWNvtEUnyuGRYmMMj0748sBSGZYQhn7yU6bbgc9EVWOAmxakRnCec9PrA6DYMX84zAsdv4CUeZXSyJw6-hKzvl9KZgHcW1Cnl5o7mzE1MqzcxUDLt5AtmsfNxS_Io5jQmK39nc7suqANcYy-nSwGgNjJoHhi4ZxkYLHjqVelDAVAP3LHD0gAab_h85XA1GS__fB7nfxfEe_zEwHk82JkogD4LCk63TOshe2vj4NyAHPDMkkVy28KGK9rMiS7dd17nEzB5CuPPek-qTVhpB2zsMfAohfLSA44x_RIqITr_CnPENNpZK0AKaI9vws=",
  "id": "rs_0664fd631a42552f016ab4439f989487d0ae72f6037e4807cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.185,\"right_z\":0.05,\"right_pitch\":0.6},\"note\":\"The arm again stalled high in the folded near-base posture, not at the table. I am extending a few centimeters and using the maximum forward pitch to unfold into a reachable low configuration before refining over the fruit.\"}",
  "call_id": "call_S1S19P6FFepjAyFLiTy6KJFe",
  "id": "fc_0664fd631a42552f016ab443a2e17c87d0b5081b73863f0e9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S1S19P6FFepjAyFLiTy6KJFe",
  "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, 0.8463, 0.6121, -0.4847, -0.0135, -0.0311, 0.9991, 0.9413, 1.8935, 0.3008, 1.166, 0.8761, -0.1009, 0.9985]\nstate[eef_state]: left_x=0.2831 left_y=-0.0002 left_z=0.1489 left_yaw=-0.001 left_pitch=-0.1499 left_roll=0.0013 left_gripper=0.9991 right_x=0.2983 right_y=0.1851 right_z=0.0405 right_yaw=0.2586 right_pitch=0.2493 right_roll=-0.4338 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -1.894, 7.0906, 1.6825, -0.0659, -0.0757, -0.0122, -0.3624, -6.5983, 4.0, 2.044, 0.2418, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73da4beaf53403e9a3cb3138ab54f8f4e4efbfb8ee65926a8f79edb6f9516606",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5449ac0b82daf910a7286878e32ade9c4e24bba6db772edcf8b6e696d0f75337",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7538782b0143dcb1ef421438d3056dbf0faf396f6660a9233ac9a19140221879",
      "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 19 attempt 0 · /responses · status 200 · 2.838 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, 0.8387, 0.6121, -0.4763, -0.0139, -0.0307, 0.9991, 1.0069, 1.4345, 0.3622, 0.7338, 0.9173, 0.1192, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1525 left_yaw=-0.0009 left_pitch=-0.1339 left_roll=0.0015 left_gripper=0.9991 right_x=0.2874 right_y=0.1988 right_z=0.1283 right_yaw=0.1515 right_pitch=0.3587 right_roll=-0.1598 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.935, 7.0496, 1.6679, -0.0562, -0.0464, -0.0122, 0.1709, -5.1761, 6.735, 1.8584, 0.4225, 0.1734, -0.1538]",
      "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, 0.8406, 0.6121, -0.4763, -0.0135, -0.0307, 0.9991, 1.1221, 1.3685, 0.3466, 0.6075, 1.0023, 0.1768, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0003 left_z=0.1519 left_yaw=-0.0012 left_pitch=-0.1358 left_roll=0.0013 left_gripper=0.9991 right_x=0.2599 right_y=0.2049 right_z=0.1266 right_yaw=0.1837 right_pitch=0.3412 right_roll=-0.184 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.347, 7.1726, 1.6484, -0.0171, -0.0659, -0.0122, -0.0889, -5.0393, 4.7385, 1.6679, 0.3736, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6121, -0.4847, -0.0135, -0.0311, 0.9991, 0.9413, 1.8935, 0.3008, 1.166, 0.8761, -0.1009, 0.9985]\nstate[eef_state]: left_x=0.2831 left_y=-0.0002 left_z=0.1489 left_yaw=-0.001 left_pitch=-0.1499 left_roll=0.0013 left_gripper=0.9991 right_x=0.2983 right_y=0.1851 right_z=0.0405 right_yaw=0.2586 right_pitch=0.2493 right_roll=-0.4338 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -1.894, 7.0906, 1.6825, -0.0659, -0.0757, -0.0122, -0.3624, -6.5983, 4.0, 2.044, 0.2418, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73da4beaf53403e9a3cb3138ab54f8f4e4efbfb8ee65926a8f79edb6f9516606",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5449ac0b82daf910a7286878e32ade9c4e24bba6db772edcf8b6e696d0f75337",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7538782b0143dcb1ef421438d3056dbf0faf396f6660a9233ac9a19140221879",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOmhZ5n7Sr7IY3DbB8NJB0iYNVm_K_Wf8kJ5heHqyBXyeJ465r4Pj7yRJoPqX6AzNlhZ__3ZGQxM6dq0DETecE6tJZ7SSk1OWIiMA9_wpGQ8Jbjds77M0DhoA1ukACr-jqIypEDv4929GNh4am89A6j2Yw3yfJa9oKEMqiTeCXZMf2hpOo5RInlYPhYnAaybh4ihsPNCzDIq2LNYWNhZpTGkyisZ-P15v6MOp_HGPFimU3jUsvoa9XhPqQA12DJyXF_pyCWyxRcaKRNL5FzcBUkcPTe3iQkXHBZDZs_4yEeqTp9Swle9uQO70-emjs9Eyz7EwYZ2-r-D2ihFmHJTATvjLtIB_wxi-49BHrHSeZsohQCvzl3zDN17tNuzZX2ReyV4Yn8eueszG15jy0fup6KfRaeTPrE8M1Lh4s2pO9RfQhzwVfhF_9WxqbKYos80FJ1rp4vbaRJjK7iG3VItB15hj6EcU2Rg-KVmGTQ-DcbahEii2D03Cjio9kUzUCZJsprJC30FOMZDGmHSMpJl0Qlltbw2I0JCN_TeNTipYsIa_ocDkbzcAGXQwdlo79gvQTTTbEuQFX2BqTJZGE9jkMP4s-4aDuGPOhgci6XhbOdxn6KMHtz61sdiShAWdMy3XecUHoWMYj7LWE6wcIfEyNgyOLhQyzXODRMAkM70_YFWnsZp9aYLO1HOwJsxq4P3w5PoVli03IyShGkQoFixPDjXI5a4eHQOWpgALZ1Oxzk-YWOfYeQdKE9Td-o9QWbd-RyTFNmbQ9HBghruobK6DUqNTW2QJ0jRQI9-tIfhImvmrQfiQ6XCGNioBApcVsxHJK36-vC5uHUTXIbK3T22n0Rv_juVrzMaND9VbYnn9YKy3xKsh8aJqUr61wgp5ULalDkj7hSYSne8rz55iDEbHmqjtDgyGULZ8VhlDv93HfSYZ8Mw-LHcg62G11BhQARriXnqKcpaBDAg6N7S1cX10ZZ4EchX7_kYbjoqaUT1yW_r_x3vtQAuvsaWFlAx9H9EJVI66e0bl3vWJrSgChuc_oY7t3CSRiWiq3EkEV_eNoQ6mYNkXUKDBIdAX-0qZ1bUS3xPfDJhRlcGf2zAYqD8Bgy7UKX3aCdj6baTbn_PFqTaRaX_lnkjMVBOQC0t6Zviw-VF9jjEXJ9zvQqtqRXPytr02tdVRrdpmnWiF8GTZRkBFr9fvGx2Knq_qxhkhCLLROk0PMt0H4GmxycugeGK4QRzPpTgZS6js68C9YsqvTCHBgeHnv9R2axq77LoI4ZbToBm-K-rKsm5h0IVGM5rmL0J-MYP63Fvk3KH97768I5XW0iipY1QFquZJHTZgLrASUHYk4fi3T_yyVPp4oXGFo6Tm1OqDSKPYIrlWdgr1n_J8feTUEuyiRc632x0RnYbNw2F5eQISKvvHkqEd6NsJeUBA==",
  "id": "rs_0664fd631a42552f016ab443a5906487d0a6286a8b54b96636",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.3},\"note\":\"The unfolded pose reached 4 cm above the table, and the yellow fruit is centered tightly between the jaws. I am closing to a moderate width around it.\"}",
  "call_id": "call_Uf7QFeeKDbdpCK8ymQW2z4Kf",
  "id": "fc_0664fd631a42552f016ab443a5e90c87d0b3f92d79acb207e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Uf7QFeeKDbdpCK8ymQW2z4Kf",
  "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, 0.8471, 0.6121, -0.4881, -0.0139, -0.0307, 0.9991, 0.9497, 2.1067, 0.2817, 1.5295, 0.9073, -0.2089, 0.3048]\nstate[eef_state]: left_x=0.2826 left_y=-0.0002 left_z=0.148 left_yaw=-0.0008 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9991 right_x=0.298 right_y=0.1835 right_z=0.0349 right_yaw=0.2701 right_pitch=0.3328 right_roll=-0.4631 right_gripper=0.3048\nstate[joint_eff]: [-0.2256, -1.5795, 6.9675, 1.619, -0.0269, -0.0464, -0.0122, 0.2393, -6.4752, 1.894, 1.9463, 0.1538, 0.0513, 0.1148]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b6c4e5ba0448d6c60d856d2646d08031f7ed10b43b609356f3753283377b709",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8175eb65f34438b5392ad4acb6c2e41ee389ac651b0c694b60aea6efc7f5d741",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4b08e4b72febd3585cce9b1739413024df74f41ba3191c03665f1d77789d1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 5.861 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, 0.8406, 0.6121, -0.4759, -0.0139, -0.0307, 0.9991, 1.1049, 1.38, 0.3466, 0.6598, 0.9848, 0.1596, 0.9986]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.152 left_yaw=-0.0009 left_pitch=-0.1354 left_roll=0.0016 left_gripper=0.9991 right_x=0.2645 right_y=0.2065 right_z=0.1304 right_yaw=0.1791 right_pitch=0.3585 right_roll=-0.1627 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.1419, 6.9265, 1.663, -0.0757, -0.0415, -0.0122, 0.0889, -4.9436, 4.7111, 1.6288, 0.2613, 0.2173, -0.0171]",
      "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, 0.8463, 0.6121, -0.4847, -0.0135, -0.0311, 0.9991, 0.9413, 1.8935, 0.3008, 1.166, 0.8761, -0.1009, 0.9985]\nstate[eef_state]: left_x=0.2831 left_y=-0.0002 left_z=0.1489 left_yaw=-0.001 left_pitch=-0.1499 left_roll=0.0013 left_gripper=0.9991 right_x=0.2983 right_y=0.1851 right_z=0.0405 right_yaw=0.2586 right_pitch=0.2493 right_roll=-0.4338 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -1.894, 7.0906, 1.6825, -0.0659, -0.0757, -0.0122, -0.3624, -6.5983, 4.0, 2.044, 0.2418, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8471, 0.6121, -0.4881, -0.0139, -0.0307, 0.9991, 0.9497, 2.1067, 0.2817, 1.5295, 0.9073, -0.2089, 0.3048]\nstate[eef_state]: left_x=0.2826 left_y=-0.0002 left_z=0.148 left_yaw=-0.0008 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9991 right_x=0.298 right_y=0.1835 right_z=0.0349 right_yaw=0.2701 right_pitch=0.3328 right_roll=-0.4631 right_gripper=0.3048\nstate[joint_eff]: [-0.2256, -1.5795, 6.9675, 1.619, -0.0269, -0.0464, -0.0122, 0.2393, -6.4752, 1.894, 1.9463, 0.1538, 0.0513, 0.1148]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b6c4e5ba0448d6c60d856d2646d08031f7ed10b43b609356f3753283377b709",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8175eb65f34438b5392ad4acb6c2e41ee389ac651b0c694b60aea6efc7f5d741",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4b08e4b72febd3585cce9b1739413024df74f41ba3191c03665f1d77789d1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOquyUOoZPVeuAcZ97tyEUQmfB7sgGLSscItvn1A-VMKotphSIC0wuMzmKzwhFgLaVLspYZqP92NFw0k-SiLHPvNsJEnZ2zq8eHtQ8qw943-BvEQ7Ym6ez9t6AVJcbN5se4mbyIXOAgpoomh2ELh-sE-7ZZFwq1AIsbElRRO4rGNs6AXOFoDoCp8HIeIt5v7h3FhYFZmAsICV8ZP6f0VcGevll5N19Z89_0K3ODh0VkctdSb-ZX5yPJbYS-qKp6MDGbi6FR51oLiiBWNiWrnfiWxhREOCkvhD734HQmM52cNpQphkqaaZawD9jaK8FoCUYIlIimekd9zk9iOdgL0OejBaXebGSi4XrsPF-cuUPYHwRsGWkX5B6l5YSIWTJf1SWps700YCNlPrLAydutz8AHNHK1jJCMWu0xyemsGfb5EiWwvEmNVocANxf23SQzL7hDVPQz33lsKJi5cCQCZlCtcJtUmG15ftp0TvxFMCgCOA5ikiiHLcklLO2G2dxRWd7Ab3dEgH6zjvbMqNY2XWVLMbabKovjItKLabtpjPMu0ychER8jp6WqxzUSI1nxY63IZsumMWn-0t7NrTxfz-u6lLciSQSWm-jpwAszQeoVvC7ad3Ch907918GsY83BsOjezpEo-Hd2qpjBRk5gAYoyPSZ-wQXiW2xmwIgy1T_m8x5Mbv33ff7uGP8nLOvYWxl5_LAVO7aF7A4-Nn_fFVBro0K8u6PTvNJbEUFea9FofIg5f28QRoGm5mnHcVQ2u0KiQ2uShPCOLyjfLfetDl3_b1jSE0_VBgMXqY2zKdOLif157bkoVgGV130wXmMDqDpqTc9tl2Z_eiM6rvb6PkiA3WxiWzNX-F7DO9DuG0QjTj6RQsua8mscD0yKEagb6J0WlvPBWwRjAIaFHDeTh_MLgRckvk0YBE94HR9t5mhGDNhYtLJ5MWxGR_x2eBx9qBGFj4SbEv84Lj8dTy2iViVMhZFzBaq--3ilU5Cx8c6b2QgGmsZY5-Hzb9umUelcYmHGsdftFmFe6L_rQgRl5kW7a6Rbx3mbA-75VP-SzPESob_vIWrEgWgnobd9F285MXr4EEL3y6rVkZ8bsiAYxQ--0RoY-2uvj880NSLiUvq5uNezFV7Tug0bn9U9Z6nlMHw1uXj-M_KqxmmdVUbv3kCftG4wGdKhGAutsgeF2bSmOpwVAeDBcfOtxb1WHQjp3b-iANYownur5PPvuRcIWJArcHrrTbbhDSGO1xmMMbc-XlU1WNa1TfZDvRuEIs9kbD6RD0CRuHDh_fs3SzuK3rJ19VGRz5VqHtP83qw4v074NeElMKnkX7mEjioQuUnjUgGiQQwiPpE5uBjaMTw4va9JN2l2oEpQFVyOZDwvDKAPVVh7BkwDohoh3dH98SafYFdDbYewR-WIik_qIkEEeTeG5hwBNmLr0B72XXK9UeQMfQ88A5MXPjShe-8GPywldhe3I3sqJ4X741NdPIOcLKLn8LyXcFQd-5U7Y1u_d3Bc6zI_2igWuzuTILXyjc8P-LeWhxErKebp39Qz73Gb1pqzfrGCXyBZuwJ7s1pmfDL0rDvjuSXlunyysn1mmmHlVA3Tu4se8c36cgc_0mWXb6230TUmwqOq_tEauliRdVGO8auoyNiQXT2eayIkXixQtCfdLIOWPTyR3kTfHklAqMtcIY4QH-hN5PntcolQHY0ftkpuerhHyNvxmrnvgZv10Alq65YgAe3jCKYJXb6SOXPpxA==",
  "id": "rs_0664fd631a42552f016ab443a8834c87d09bbcca1a9012d286",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The partial close reached its commanded width without clear resistance, and the fruit remains within the jaw opening. I am completing the close to test and secure the grasp.\"}",
  "call_id": "call_WfhVHlTsMt4hC1nFiD9gbY7g",
  "id": "fc_0664fd631a42552f016ab443a992b087d08d513c956640bb21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WfhVHlTsMt4hC1nFiD9gbY7g",
  "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, 0.8471, 0.6121, -0.4915, -0.0139, -0.0307, 0.9991, 0.9497, 2.1067, 0.2821, 1.5303, 0.9073, -0.2096, 0.0103]\nstate[eef_state]: left_x=0.282 left_y=-0.0001 left_z=0.1474 left_yaw=-0.0008 left_pitch=-0.1575 left_roll=0.002 left_gripper=0.9991 right_x=0.2981 right_y=0.1836 right_z=0.0351 right_yaw=0.2703 right_pitch=0.3335 right_roll=-0.4631 right_gripper=0.0103\nstate[joint_eff]: [-0.1162, -1.5248, 7.1863, 1.5995, -0.0317, -0.0366, -0.0122, 0.212, -6.7897, 1.6889, 1.9805, 0.1783, 0.0611, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0777a9b375f0a5758f20e02179bc921d0d695c311e97b258581e212e4a5afaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4939736f340098d288e1a0ff97ab60ba1dc572bae02d2c4cc057cb4211fa4613",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1a9198919e9d84c8d770b65754ae1ea406179c3d517b2b63b3a4503f1847c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.478 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, 0.8406, 0.6121, -0.4763, -0.0135, -0.0307, 0.9991, 1.1221, 1.3685, 0.3466, 0.6075, 1.0023, 0.1768, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0003 left_z=0.1519 left_yaw=-0.0012 left_pitch=-0.1358 left_roll=0.0013 left_gripper=0.9991 right_x=0.2599 right_y=0.2049 right_z=0.1266 right_yaw=0.1837 right_pitch=0.3412 right_roll=-0.184 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.347, 7.1726, 1.6484, -0.0171, -0.0659, -0.0122, -0.0889, -5.0393, 4.7385, 1.6679, 0.3736, 0.1245, -0.0122]",
      "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, 0.8471, 0.6121, -0.4881, -0.0139, -0.0307, 0.9991, 0.9497, 2.1067, 0.2817, 1.5295, 0.9073, -0.2089, 0.3048]\nstate[eef_state]: left_x=0.2826 left_y=-0.0002 left_z=0.148 left_yaw=-0.0008 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9991 right_x=0.298 right_y=0.1835 right_z=0.0349 right_yaw=0.2701 right_pitch=0.3328 right_roll=-0.4631 right_gripper=0.3048\nstate[joint_eff]: [-0.2256, -1.5795, 6.9675, 1.619, -0.0269, -0.0464, -0.0122, 0.2393, -6.4752, 1.894, 1.9463, 0.1538, 0.0513, 0.1148]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8471, 0.6121, -0.4915, -0.0139, -0.0307, 0.9991, 0.9497, 2.1067, 0.2821, 1.5303, 0.9073, -0.2096, 0.0103]\nstate[eef_state]: left_x=0.282 left_y=-0.0001 left_z=0.1474 left_yaw=-0.0008 left_pitch=-0.1575 left_roll=0.002 left_gripper=0.9991 right_x=0.2981 right_y=0.1836 right_z=0.0351 right_yaw=0.2703 right_pitch=0.3335 right_roll=-0.4631 right_gripper=0.0103\nstate[joint_eff]: [-0.1162, -1.5248, 7.1863, 1.5995, -0.0317, -0.0366, -0.0122, 0.212, -6.7897, 1.6889, 1.9805, 0.1783, 0.0611, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0777a9b375f0a5758f20e02179bc921d0d695c311e97b258581e212e4a5afaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4939736f340098d288e1a0ff97ab60ba1dc572bae02d2c4cc057cb4211fa4613",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1a9198919e9d84c8d770b65754ae1ea406179c3d517b2b63b3a4503f1847c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEOwjVddGfR7qrdZgzHY4WisyXIFbjz_57m6mgD3vCaHZ69YDIpN4wdTdT8e3_vGZ0Jw_texxGeJmT_ouPX1TYNjMHrHz6bJh2KE9u_eQel5Q5Xq56p807efC6HAH-zGaYJ8CgOFG8pl6YSEB4kSvjkjEbuPqOktwjiZAEyFd1iMoNLRdLEha_Tlqx6mzB1rLxtCQRdto7u98xPp-G6N35Zwl6r_a-O6UXsD07Mk9vnP3VQ7wXp1vj1N2icAxbVvCjcnLQu0y-3fDn-xZc2gCn7nNFOFDS6qqpVZdVi1py829d88wLCjas3ict1iTH_JKTiD-e44ukwwVIXk1qfWFDBpgrdI5o9WSGiBkv0cZbMROB8N_qk8zpFAJMYpM6KcnYqnGwwDsHEreIKX39Y1k402Pt2mSFsCuZP31hh21fetJtJ15Fb_3GHXoyd4mf6AFGYso12vBbZAs5np-B15vocghT89eFEZfYq5yO-OFoxEhHFYqf_tnm2zU69jjXReAwMENrRbyHorCMzWg9NSzRKx4_yIOz2QMJcn2Fr3ulxIbQaCUlPyue7lddM7wZqBIo6Ng76ZIFa8_UeF84bIYTVCQCcXl2SNTAfzWk-zpyrZTb75pyFP84r-tsC-RRE1PdHLnAUZcb2CNkjmjSTjo2q5JhsaArs6hpuJDOchQRrYwj0ef9w6xx4FfeLVdWTc9_XkLIYQFT9i6zrtQ6vwRahVMmTMSi_bxPXRGDVdmrSA3kmkGKkhwBJLCTZSzvn7zrfgilcFfCgrFfUGk3lyL2OfBZI5_S0Iv3N4OZgx-uIDkXmIwRyT-BKrh3xpuBVJtYgV6ebbTwvbPNNq8ZB0LDnUixMgP-_5NtWLif1ke2tgqPhjU54NVdilams9K6XGDf51EZ7fuhMJx0cJoplMSxoqNkiEUf2bozS_Glf31vVw6K4lFwKuQu-nqfZZyDYM2VQeNlg9HSug0CAG05nB6UBC8wtHxnIyNLA9QJYegzncJ1nYeKErD3RbpQxCOjEKvvzmMhYzBtxPk060ei282oJBrSenDILwvhzCXtCjbH70z8wl4qozzVvq_KsdI37ZItn0fdffd_BVQu4U22OGu37zA_2oJN2R5Gcd5jff5FZCqWahWd1ML2CwDJEVcc3sasPq4n04efpfq3iuFJMYx11hfmPrRgcfKscPMYhoLYvN_3eVN58HE4J5tNYMdqdTYTaoMxZYTi5e_mZZCI-SuP0yCJuu22dP9NtUMEpLfwqNxSRpDfkh2B69_Yja-AXBe1sO569MFZRgmBOtSexQiA4V3EjiwmC6_MXirZeh6VyHZDDzdaRJTBkwkgyZIk90Yy33DwZmkZTtuV-G9Vx8QAD-eqw1LMhLEukQzlEmEi_zzGCboLpdqoZNQ3KT6wtNGQwoPWBK0bTi_2Fa7ea-fk2dst5WkeND_Gh-JubzBv70d4u3dnWpCigwfYAgPQPvK0d6RGIQmayQNdPzw4qelG6pyv_vnlfENZn4xmRZENE2TEAlHRWhsW5Kx2JN0jw9l2XEZVBwPSsq6nHtOblDPre5VVb72MKck4Zh5sG3O4JvGVLVVLoZmtezdipCbhW6xJ-IlmUBJ_pr81ZkMugISfouF7flkmqDMIvrBU4HunRuHAPHLshI4qlsueEF28bFqCaWsCt7QY4XnUygX9LCVfD9VOdydhUOnfvkvwec4Y4xucoQi6TKn8a_wQtHIawXVicFCxHMnuJaaNQBkGDDPC7Ag_kkTfiUhbs6cC7BOXbvkUnykAXRLjaco8psaTrunTOVmRxS9FdUckhQ3o0VqKlucjCVQXiT77u7oevIJ0jsgBUr-MZQ0JUP1_5qcbHRKgErksF2vn0EPSIZ0VJbKBB2RtGF8Rlwqrt5cQTC-JevlygyFblpiEp6bfFZxLEO8EmgIc7HHNzht0kDGUIdOcU3H8P0Al9wL9emKJ4AM0aOtqafiRgrpVn_O9YSssQRuXZYpEmZkJhZ0Z_toYJatv8t8MwiFwsMK8HxoMLti-N2_yRSHaVUgXenHCrYrYzQyhx6",
  "id": "rs_0664fd631a42552f016ab443ac42a087d09ce2dde136420b66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.155,\"right_z\":0.09,\"right_pitch\":0.6,\"right_gripper\":1.0},\"note\":\"The full close was empty and nudged the yellow fruit to the image-right of the jaw center. I am opening, lifting slightly, and shifting right for one carefully aligned retry.\"}",
  "call_id": "call_ykijaPRve6qC5aFF00lhk3vd",
  "id": "fc_0664fd631a42552f016ab443ae7bb087d0873d037be494b53e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ykijaPRve6qC5aFF00lhk3vd",
  "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, 0.8482, 0.6121, -0.4919, -0.0135, -0.0307, 0.9991, 0.8532, 1.726, 0.2085, 1.5463, 0.8356, -0.4126, 0.9953]\nstate[eef_state]: left_x=0.282 left_y=-0.0002 left_z=0.147 left_yaw=-0.0011 left_pitch=-0.1591 left_roll=0.0018 left_gripper=0.9991 right_x=0.3081 right_y=0.1592 right_z=0.1371 right_yaw=0.261 right_pitch=0.5393 right_roll=-0.4602 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.4291, 6.9812, 1.6874, -0.0269, -0.0122, -0.0122, -0.3214, -5.4222, 3.1248, 1.8877, -0.0073, -0.1538, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e482ff13ce8632d2cb9581d2c8010fd1edf0d6a91f6cfa5bf39cc2222b93c093",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b727bf67b18d19c1ff463b235c97ca473c22af16d62bae0504369f1cc3f83eeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e0233c0544536bf165a72fa3e6b1ca363227b7832baf1f43c854f8f80d7d82a",
      "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 · 2.988 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, 0.8463, 0.6121, -0.4847, -0.0135, -0.0311, 0.9991, 0.9413, 1.8935, 0.3008, 1.166, 0.8761, -0.1009, 0.9985]\nstate[eef_state]: left_x=0.2831 left_y=-0.0002 left_z=0.1489 left_yaw=-0.001 left_pitch=-0.1499 left_roll=0.0013 left_gripper=0.9991 right_x=0.2983 right_y=0.1851 right_z=0.0405 right_yaw=0.2586 right_pitch=0.2493 right_roll=-0.4338 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -1.894, 7.0906, 1.6825, -0.0659, -0.0757, -0.0122, -0.3624, -6.5983, 4.0, 2.044, 0.2418, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8471, 0.6121, -0.4915, -0.0139, -0.0307, 0.9991, 0.9497, 2.1067, 0.2821, 1.5303, 0.9073, -0.2096, 0.0103]\nstate[eef_state]: left_x=0.282 left_y=-0.0001 left_z=0.1474 left_yaw=-0.0008 left_pitch=-0.1575 left_roll=0.002 left_gripper=0.9991 right_x=0.2981 right_y=0.1836 right_z=0.0351 right_yaw=0.2703 right_pitch=0.3335 right_roll=-0.4631 right_gripper=0.0103\nstate[joint_eff]: [-0.1162, -1.5248, 7.1863, 1.5995, -0.0317, -0.0366, -0.0122, 0.212, -6.7897, 1.6889, 1.9805, 0.1783, 0.0611, 0.9402]\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 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, 0.8482, 0.6121, -0.4919, -0.0135, -0.0307, 0.9991, 0.8532, 1.726, 0.2085, 1.5463, 0.8356, -0.4126, 0.9953]\nstate[eef_state]: left_x=0.282 left_y=-0.0002 left_z=0.147 left_yaw=-0.0011 left_pitch=-0.1591 left_roll=0.0018 left_gripper=0.9991 right_x=0.3081 right_y=0.1592 right_z=0.1371 right_yaw=0.261 right_pitch=0.5393 right_roll=-0.4602 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.4291, 6.9812, 1.6874, -0.0269, -0.0122, -0.0122, -0.3214, -5.4222, 3.1248, 1.8877, -0.0073, -0.1538, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e482ff13ce8632d2cb9581d2c8010fd1edf0d6a91f6cfa5bf39cc2222b93c093",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b727bf67b18d19c1ff463b235c97ca473c22af16d62bae0504369f1cc3f83eeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e0233c0544536bf165a72fa3e6b1ca363227b7832baf1f43c854f8f80d7d82a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEO0P3Bu_3h-LUy7T9Erjw4c-urthqcXbhAv-CHRBZbPDqcUy1VPCCfqvJ-9NuwLaJkPxBIvDMp-r9iPNA9WXLimecIPFUbSf0r1tDj8KyL48L-HIknfAsoj_r5CYYmZe3H3i69yH2GJs5rr8Nwr5Eb-2nniP-Ljf4Tmo8nRQ43XLvz4vDfY1dgkNXxjTWcMqKofk2J6jbTG_-UGYLqZtU-NAvUUDyRkEr61noYD5S1tfUQX3YvcU9AaJ7hJC5eRBR3fr0YPfQxTze8BnsCRLW8hlATLUTsDbgoF37n9ne1m1pfJmAeK7XYfvn101LMBUwe8ps3S-_rDPzxjLXSAiq4oIbUDioyMjDxhfCg7mwzi4Q2sn3JUuGVQxkAI3W_Z4lWrJ6j3emS3baeaLnRsoDTnrWHLBzAPV4UEVck5O4i2ng6z9-WOIajyUmKfZnHy6a6iK3ck6Eo4rRR3-wY_mqMeLVhXvrC8D2ZG_JQ9ifIAhqBK116UesEOTZr6qQODoMUw-xhTbXmmxECpftW8BE-QzHDJiTxYYMv_6VIgZkpUNu57m15Ab6m4WIaXr-iXep1NNxasGTVQIIOJvT0fWNPVSaLlE-OBSXuT44hyW9Mr0Hjdfted27c2Esz8Gb8Yyw-vwPAjLTcK4zpW1kt50_D8SeCatMY5SaKxqyp0xwSvLStUzZ_VA5bL99WWy9hKVHS1fPgVq03BJ9U3RT0Af7zFywSJ46uFf7p5Xk8mHZqYzQSUXCqBcmmcKWBAHl7r_nnJ-QGhXEquze8nFs_y_weCqdAtc6iXf3eq9lCOcZcLlEjfaK6XeahRYd3cBfsUjQ_xwRbsBczzyQtyii8SWqRGAMVr0bWLCVXpLO7K1x2DWR1bcX0Zh5OlZeSnfHRY0niCjHVX-H-edtZZuh8uQizp9rN9JeRrwCQqzNFxfNzkgNeZldXmB8hARGfDuQdFuZ3jXGS7fNAyQD1BDBVa02B1QpVhFwdLrPZcmpF6SnjKKktxvRID0gkTS-3Ehopp90fFfJpf0a3QyoNfIC1ZsF19ZFRxnIwCUN5tU41GN_bil_eeDJIMYvahoKxMwQhQSc-JNR01cWKfrV9o2Yjmgjh8aB95rIoEbuQf9NJ4rUvVuBReNgVV-U_w6J6Tx4vx0suplSfcmLk_8JgwQmyzBCDdzK9rUtrkfnCcOqor8Sbb8yxgirYmCwQtFZ-SeqcfTlS_YwLgJ2wMRApiuVFCM5LYmu-dv5a5-KerzN_gYoXvOt82F9dSJrY1K88kPFcfTFoKFH9eCuXQTqd-J0lewc3adaEF902Zu8kVNKiwuRQMP2I7orvZt1qduMFDsTE3I0V1lcvVM-rVTbyNSB9XSV0MEr4SIgsSMgCdRZI8RJ5aNL14D9CuB7GCGCiLidpJD869UjTv98Gf05eaf_KNAnHb_yWEVmk0xO4ybZ4H2VvTdmgx2nnaqYAhbzzdRRGtzF6KnZhjqG55TGJtkT6fPqSiMhkoFD_3QHqQLdWnhHcxNspmHdGAaYNwa-LjRE-ee7OXhH2cbz8lmcvALLQAIy6GlkqxtntaMKzCzLTv5tUymqUn_oIe99cKgZoc76I1JhoFNaMy7W2VeBUzov1lj0B7lw==",
  "id": "rs_0664fd631a42552f016ab443b2fc0087d0915277062aaa23ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.155,\"right_z\":0.04,\"right_pitch\":0.6},\"note\":\"The overhead view places the open gripper directly over the yellow fruit, which is now below the wrist camera’s bottom edge. I am descending vertically in the unfolded posture for the retry.\"}",
  "call_id": "call_SNeGM8HLWnAiQ0uOuRAeRS9n",
  "id": "fc_0664fd631a42552f016ab443b3cdec87d081ed9c845e990066",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SNeGM8HLWnAiQ0uOuRAeRS9n",
  "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, 0.8482, 0.6121, -0.4942, -0.0135, -0.0307, 0.9991, 0.8188, 1.8107, 0.2768, 1.5471, 0.8055, -0.4271, 0.9963]\nstate[eef_state]: left_x=0.2816 left_y=-0.0002 left_z=0.1466 left_yaw=-0.0011 left_pitch=-0.1613 left_roll=0.0019 left_gripper=0.9991 right_x=0.3257 right_y=0.167 right_z=0.1287 right_yaw=0.2701 right_pitch=0.5229 right_roll=-0.4869 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.4974, 7.0632, 1.6142, -0.0366, -0.0611, -0.0122, -0.4581, -5.4359, 4.4376, 1.9072, -0.1343, 0.1441, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63dd8e70aec2d9a43042eb90dc498f045c013b497cf5219a3bf5c11bed45be72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad121db416c446221acab0b0ccb17c1bd33ca1764851a03d1c15b5d9bfafe4e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377a25060ec2031bfd6815444553480212a6ecaded4bde1db56e0ff4bf8532db",
      "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 · 4.202 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, 0.8471, 0.6121, -0.4881, -0.0139, -0.0307, 0.9991, 0.9497, 2.1067, 0.2817, 1.5295, 0.9073, -0.2089, 0.3048]\nstate[eef_state]: left_x=0.2826 left_y=-0.0002 left_z=0.148 left_yaw=-0.0008 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9991 right_x=0.298 right_y=0.1835 right_z=0.0349 right_yaw=0.2701 right_pitch=0.3328 right_roll=-0.4631 right_gripper=0.3048\nstate[joint_eff]: [-0.2256, -1.5795, 6.9675, 1.619, -0.0269, -0.0464, -0.0122, 0.2393, -6.4752, 1.894, 1.9463, 0.1538, 0.0513, 0.1148]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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, 0.8482, 0.6121, -0.4919, -0.0135, -0.0307, 0.9991, 0.8532, 1.726, 0.2085, 1.5463, 0.8356, -0.4126, 0.9953]\nstate[eef_state]: left_x=0.282 left_y=-0.0002 left_z=0.147 left_yaw=-0.0011 left_pitch=-0.1591 left_roll=0.0018 left_gripper=0.9991 right_x=0.3081 right_y=0.1592 right_z=0.1371 right_yaw=0.261 right_pitch=0.5393 right_roll=-0.4602 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.4291, 6.9812, 1.6874, -0.0269, -0.0122, -0.0122, -0.3214, -5.4222, 3.1248, 1.8877, -0.0073, -0.1538, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8482, 0.6121, -0.4942, -0.0135, -0.0307, 0.9991, 0.8188, 1.8107, 0.2768, 1.5471, 0.8055, -0.4271, 0.9963]\nstate[eef_state]: left_x=0.2816 left_y=-0.0002 left_z=0.1466 left_yaw=-0.0011 left_pitch=-0.1613 left_roll=0.0019 left_gripper=0.9991 right_x=0.3257 right_y=0.167 right_z=0.1287 right_yaw=0.2701 right_pitch=0.5229 right_roll=-0.4869 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.4974, 7.0632, 1.6142, -0.0366, -0.0611, -0.0122, -0.4581, -5.4359, 4.4376, 1.9072, -0.1343, 0.1441, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63dd8e70aec2d9a43042eb90dc498f045c013b497cf5219a3bf5c11bed45be72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad121db416c446221acab0b0ccb17c1bd33ca1764851a03d1c15b5d9bfafe4e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377a25060ec2031bfd6815444553480212a6ecaded4bde1db56e0ff4bf8532db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEO3ffTgprzH-zIRsZXf3OfQdKIksKAAd1RDEOhfGWUtYHWqM-FK6owSWr44qMXMJSsYbXHfPQAfPT59UZ7UTUds1Wf3reRB2amJ6qajCiOIej2jAKe_rRFmCJ1_7GYxvRqFkcmJoBDDlHh_AS1YMAaQ9_rXkLn-9odD13KJVCR-ZYGSTdLZ3_R11jsmt8nO-tZBpMLZrNYg1zrM5QqBlb8dKMxQ-zr6u10vHOvHFzpeAVXcw-hG_32TrSJlx6NK6Y-1PZlbs-nd5YbQAYE9bunl31NRyftkUFq9mzyeUwFOKHxVx_rf8adHS9lvU1P4UTRX2aZbYejRP8IWfAx5hDKLiSS166LmGh8zgBhE7afqvpy3TpJmjtV-N60FIb3fBuNGcS9mxfAC6omNtKsNugaPSQAySX5ybwWkrPdE5ACLnJuFUOCUvLj_9YgJPLfy9Wh47BA46pG2d8NEnt7eA1OAoq_7u7Li_xDkPutMEkJCE4YKAVdlHpEftcDB9_dN2rWkOUQFFlwdh4gV6cb8-wEROW5UTqfcPpKUMct91au-FASKWoSZG_2xUYoQImCbtBdh9sg8lZmiUwjV5m7P3rOuaqOP1pNaeRbYW1DiqtMQj1pXbg7wq31CmaltA4GqahiZShe3qHdvNkVaah-GU6POSHR09f1FGtiUlXj2oXSI3Kg3fU-LMJbaBzZb4gYRghViyGI_5e0cto6Uv1egONsewDDF5hooJDVQlTWamn19HTYqD5pc1WIafkHqvoSNj4tH5KI6vZluXHrrk7oMdy1mqAU8QcJKUFDdMVjT23fwgb1ie8Wir5tPKlpNwTjgd5Af9ITP9WZaU5SYJYuC1p1ayodYAMroaYAi84eVOOmhVnwyOTTWtnNSJQhSMMJDT-0zYEe1eDcOmfePHTtRyPEBOK44QODoKh9QQkJs4JueLF7s4Mqsq4RgG2m2WclyFpArn_tturVvRk1j5cIbqRcmrh3N_tjjUs8zWXkI-5astua9Sj3G8OMcFDQe8UKlDrVYDNHgZHfcp23X_DNsGMRK6YH2guYC-7iC6-12y-t_x3X9RWLsmXzHAJH8cv203tQrb8l1di9fcywkgPV0wn3a5FBwMy37hcWiYk0--CfZJwF_2o8Mog_JkC5ubBZx7Pc1Y5gUuZZPUpY7NVVm2MlCgoTeO_LL2uNimwXic5BM5LTQvp34cBbsO8Wd-IR2tK3KG1e4WaDqqTWrTNsPVrngrJgOm1Z6HuE5umH1-HYc15jkgC2cog6N6h8OZUUg06vp6BsL6irH9JDUTh0JmZLcL-IssnBBCBBBsZ5RJHpfSqRVbvlmEPp5DjvaaKJK7iLpWL2Q4HgjRBwxcHiIGYQpUms8iP0KDjgF0idFoNcmCUXa8aLrh9K3OhJM7As_hIudim9ehb4bRr7cmY702QJ9KYaze6CJHyv0WOlrdgUiKrw95rKoPWrX8pzOf4M0D3z_ojLvw5nLcqaM9iL7DX1c6w==",
  "id": "rs_0664fd631a42552f016ab443b688c887d0a08e2f50a76a90ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.155,\"right_z\":0.04,\"right_pitch\":0.6},\"note\":\"The second descent again stalled in the folded posture around 13 cm. As with the successful pear pickup, I am extending farther forward to let the arm unfold and reach the low grasp height while keeping the same lateral alignment.\"}",
  "call_id": "call_T794ZhkzEMgYB118fcBxusWD",
  "id": "fc_0664fd631a42552f016ab443b7171887d097f3800d3592f7da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T794ZhkzEMgYB118fcBxusWD",
  "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, 0.8516, 0.6121, -0.4946, -0.0139, -0.0307, 0.9991, 0.7059, 1.9614, 0.4377, 1.5478, 0.701, -0.4313, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1456 left_yaw=-0.0008 left_pitch=-0.1651 left_roll=0.0022 left_gripper=0.9991 right_x=0.374 right_y=0.1738 right_z=0.1195 right_yaw=0.2619 right_pitch=0.5324 right_roll=-0.4875 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.7983, 6.9128, 1.5604, -0.0415, -0.0317, -0.0122, -0.4444, -6.9538, 3.7812, 1.9316, 0.0757, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e829edce9f4f77eb862f02081c5364ca2bce2e334b27eaf797e04f329b610f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf08c3075ae97cc6c7895dbcd0795a9338f4c4840efa896bed3102838eb6d366",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae44675890f025804ec5ba94cb12e70a10303b268f0699c08b9041c9efd0104",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.413 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, 0.8471, 0.6121, -0.4915, -0.0139, -0.0307, 0.9991, 0.9497, 2.1067, 0.2821, 1.5303, 0.9073, -0.2096, 0.0103]\nstate[eef_state]: left_x=0.282 left_y=-0.0001 left_z=0.1474 left_yaw=-0.0008 left_pitch=-0.1575 left_roll=0.002 left_gripper=0.9991 right_x=0.2981 right_y=0.1836 right_z=0.0351 right_yaw=0.2703 right_pitch=0.3335 right_roll=-0.4631 right_gripper=0.0103\nstate[joint_eff]: [-0.1162, -1.5248, 7.1863, 1.5995, -0.0317, -0.0366, -0.0122, 0.212, -6.7897, 1.6889, 1.9805, 0.1783, 0.0611, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8482, 0.6121, -0.4942, -0.0135, -0.0307, 0.9991, 0.8188, 1.8107, 0.2768, 1.5471, 0.8055, -0.4271, 0.9963]\nstate[eef_state]: left_x=0.2816 left_y=-0.0002 left_z=0.1466 left_yaw=-0.0011 left_pitch=-0.1613 left_roll=0.0019 left_gripper=0.9991 right_x=0.3257 right_y=0.167 right_z=0.1287 right_yaw=0.2701 right_pitch=0.5229 right_roll=-0.4869 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.4974, 7.0632, 1.6142, -0.0366, -0.0611, -0.0122, -0.4581, -5.4359, 4.4376, 1.9072, -0.1343, 0.1441, 0.1001]\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 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, 0.8516, 0.6121, -0.4946, -0.0139, -0.0307, 0.9991, 0.7059, 1.9614, 0.4377, 1.5478, 0.701, -0.4313, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1456 left_yaw=-0.0008 left_pitch=-0.1651 left_roll=0.0022 left_gripper=0.9991 right_x=0.374 right_y=0.1738 right_z=0.1195 right_yaw=0.2619 right_pitch=0.5324 right_roll=-0.4875 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.7983, 6.9128, 1.5604, -0.0415, -0.0317, -0.0122, -0.4444, -6.9538, 3.7812, 1.9316, 0.0757, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e829edce9f4f77eb862f02081c5364ca2bce2e334b27eaf797e04f329b610f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf08c3075ae97cc6c7895dbcd0795a9338f4c4840efa896bed3102838eb6d366",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae44675890f025804ec5ba94cb12e70a10303b268f0699c08b9041c9efd0104",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEO9ujLN-yW1uY87F0kUqMKlJ0lXzZtItcD2WeYFTKz3VkXWbKu4t3l0n9XFai_DUEqdBXN5NPyFjiH1YySJa71PJjmMxwIDjISPhU8am94Bu7jnw-ayDQyp8qKbX0hdO3-9MiTAHclEgn3_V5e9TwjJp9kOl7pGR0KXKo46Cp5O_lVG5AxnTt0u8HW53nZXnO7nqGn5VdGhDhHLXLysbnTENvEC2KPg8GMi2qxZX97TrxTAWIxPmSGuTKSv2J3jToVFx0x4QpRiL62x9_sJKu6jc6UlG72Z53Lt_bx-xkjzF5g00fHoOhNrTCqB4OKY5wQksQmr7a_m2l9X491VckivTkfvDBzYurQfbPGUGbCculoyoO552v-BtlBmxfpnJDiMQGlR3sIQBZI1gayywK5QMgv8Y165lUrt892NlZbrYly6nXA2I9sXzwdxpXktOLrRcKEv3zm1DC1z51-282nsnJJkRiNxyNt57vH0TjsMmGEgL-GN-9krWW0iAtMBRqHKekUKFJFvXxHoDnXU3M_6RlDvcH-lOq4U8GrpJ2PmvRDAkCob9vsWRW6hD6LlmQWVpWo6fL9xDhj3eXKgnSvHKqfNFrSLsPyOm4RQ6FKuu4CbavhYIFXHHXxfgy0jI7BPFT5m4KYQhnN8bHup_v6xKuXS5-Jo8eQfQlwkR-CEqu2eF5QcT47HFy8RlQJRvIEXQ7oGMA6F-xTIv5eRad8jsfWue0vRl9g91DtM-ZCwEcRb_3wU8-3BlsuCz1BjZTlOEHJo_XyvykmLT0qf3kE_vH0jKSrlOnOMG3g6fkikKzNfjj-nQQQs1NTWkqZFPjdhFcSn6zBVj5PID0-rWTAk5kYiOFqMUscklDZHbaGdFwF129JlIeZ-D5ISfMnI74ObyMQeDoPhnoQoUn7VuZoDEniSbAED3g8EeCc960wnTrWT_G2iZpgtjg78Jq3eMQfxcodbzSQbUxWL68lBW3TiRaUFi14pUZTzYA3JKLkXdbNDnCShkh7y0ge7KQVo8OgjvGJ_P0oTo-GxTV_NcrubjZewf4fYbG2fSPkHP-1YfML-pSfzUGLDDqEl39BSIyT4o6xy0jPw9ABWVnmEqX0GVroT5ScZ_qTJ6_T7IhARktENBOJu03TmbRtWK9SahhqOizqvYk_oI5qiDVHEdHsPVKjCUPNvHqx95RzRsIwdsCv8o-lJ4ssoUrh2nri_Gmif7TNhW6T_9xtRap1s1m3U9QIKLPpBlKLy5HOl1M1AS0KgyVMZijNMXj79QcTsswGHLKs06Dwzk6mEzzDhz1Mp0rrATlD7BQvXSt31pumBuokBMJVlRIArmjNWx8GcrtNzfmc1PWJLTWvjfzz0-vEItk39eqYpSvypOwo28bzuWHxBVxGxS8MEHhuPcXVPeeGrDcKiv8c-9VZIlLDqxJTWGGIl216_vcmNB3MKxiE9p7oOrkkT1n-bVnSzgYhayMbpLxw1cDs1As9iI5GPOmdY-YxJho4xP4J-edWlqfT5HH69nrs71yaDxiAroI69h7JCSd9gdSPHIM7r32Oe5bdR9CqwJagYMlzLgANqEh-M9iuJPsmS0cCeDMUvRft0_UwBohEYs0Rn7e54YdvvSEnyAr6yYff2kWHgXzci14iHWq7EOXLVULDLpoEaXs1Ic_msbbnU7_cR1fa4Kvvt92D5tiDg6IAw1xEeo92pipF3nsrF5PiwJJK30WdAl8DmM7mRA6Y2zSLlO-rokxsQqPVmDzxCpEEPK56i4cUOxSMOZ1go4Escnz0fuVv2QwTLCJN2wHelII-frtQVvYahrlG9JLSfSR9G3fCXpfJQdf1tfyoa4jQe3CFBTjre5AXLtaIEwg1UUyHi5BogGDc9HiymDaE47IbgNXsu9nMb1k3TpUDzYGCX5gUbFZbpULc8xVltBVqYS5YnLz_sb0a7m8isj_d8-PA52LhXDU6rkHxE71VKZzPPHCciBGdhrYGDdpl_6ZtxhU9irMv42tS9JDFaJJhVYY-5QNPNBbvPJLwxmXd8Sqp6Teu_vLEfimC846sQNGOcFaqASrH2Q_Ktvj8CuQQOMQj4_8__NCuzamAojiHdOJfvbwA500Kz9-b-EhY3v6WOsmGNE-VRECapvuTAzt0ape--2bBSZFyDLXjEfBGlTLnVnzfPJDuYWanvbYtEXP3PEDRL1WriUnRBX5_1XUlywlGMabP-7-E6_Xp5uw1ygYkXFUzCfQPvMznywTGtzLA-Sp1OP6onSfqYvTKIEEtV3hSXwMvZYiKmnMTDZj7HIgH00yZ9NT_o50hVzZBOMv3CR-ViwzveIKIGds9PUJVVFAnFMF1cOXgK7f23ldruSFBrItBOi5iiq1AjFJaPK9Re7YJ27E95dqihl7etBs8M8xRgVSxDjdkePRYAPZXT45ZPD1KyMmCaFRt7nijy66oYpFgvUgFDCWxmDhSfpTJLty-XItUl6tX2GiFYF8G9n6vr3Fxi_4SkE0MhWYf-CeJmZcjn3Pheh2uq_pkcWxyly-UXJwWeXPT6QDeH6Ro=",
  "id": "rs_0664fd631a42552f016ab443b9eed887d0a71d45af926da453",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.2,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The low retry remained blocked near the bowl, and the overhead view suggests the yellow fruit may have been pushed into the blue bowl during alignment. I am retracting and parking the right arm to verify the bowl contents and clear space for the dark fruit.\"}",
  "call_id": "call_8FHsTPqzVWvpztvpZumHvFCQ",
  "id": "fc_0664fd631a42552f016ab443bc0ed087d0b729576c554becb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8FHsTPqzVWvpztvpZumHvFCQ",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8574, 0.6121, -0.4946, -0.0135, -0.0307, 0.9991, 0.0307, 0.7864, 0.5762, -0.2573, 0.0933, -0.514, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.1441 left_yaw=-0.0011 left_pitch=-0.1709 left_roll=0.0021 left_gripper=0.9991 right_x=0.3056 right_y=-0.0035 right_z=0.1958 right_yaw=0.2186 right_pitch=0.0288 right_roll=-0.4945 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -2.0308, 6.9128, 1.6142, -0.0269, -0.0464, -0.0122, -0.212, -2.0034, 9.265, 1.8974, -0.0171, -0.0611, -0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6cf557e3786c73e3fa32d4b84090d98acb7e26c4c6d2bccc925f455c23fb75b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:877c1b0d8dba97cb119a56647e0348c7cb089cedd7c458f2ea06a64e8737e362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ca7273ebb6f607651ceb651b59b4be91ae42476e6e9b73c3f01e99ccc5d88a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.719 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, 0.8482, 0.6121, -0.4919, -0.0135, -0.0307, 0.9991, 0.8532, 1.726, 0.2085, 1.5463, 0.8356, -0.4126, 0.9953]\nstate[eef_state]: left_x=0.282 left_y=-0.0002 left_z=0.147 left_yaw=-0.0011 left_pitch=-0.1591 left_roll=0.0018 left_gripper=0.9991 right_x=0.3081 right_y=0.1592 right_z=0.1371 right_yaw=0.261 right_pitch=0.5393 right_roll=-0.4602 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.4291, 6.9812, 1.6874, -0.0269, -0.0122, -0.0122, -0.3214, -5.4222, 3.1248, 1.8877, -0.0073, -0.1538, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8516, 0.6121, -0.4946, -0.0139, -0.0307, 0.9991, 0.7059, 1.9614, 0.4377, 1.5478, 0.701, -0.4313, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1456 left_yaw=-0.0008 left_pitch=-0.1651 left_roll=0.0022 left_gripper=0.9991 right_x=0.374 right_y=0.1738 right_z=0.1195 right_yaw=0.2619 right_pitch=0.5324 right_roll=-0.4875 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.7983, 6.9128, 1.5604, -0.0415, -0.0317, -0.0122, -0.4444, -6.9538, 3.7812, 1.9316, 0.0757, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8574, 0.6121, -0.4946, -0.0135, -0.0307, 0.9991, 0.0307, 0.7864, 0.5762, -0.2573, 0.0933, -0.514, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.1441 left_yaw=-0.0011 left_pitch=-0.1709 left_roll=0.0021 left_gripper=0.9991 right_x=0.3056 right_y=-0.0035 right_z=0.1958 right_yaw=0.2186 right_pitch=0.0288 right_roll=-0.4945 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -2.0308, 6.9128, 1.6142, -0.0269, -0.0464, -0.0122, -0.212, -2.0034, 9.265, 1.8974, -0.0171, -0.0611, -0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6cf557e3786c73e3fa32d4b84090d98acb7e26c4c6d2bccc925f455c23fb75b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:877c1b0d8dba97cb119a56647e0348c7cb089cedd7c458f2ea06a64e8737e362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ca7273ebb6f607651ceb651b59b4be91ae42476e6e9b73c3f01e99ccc5d88a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPCDQG1HmoGRnVx4gKACy3X_Hlc2CBXLs01zl5rl4nV61vMA0qF1XWa0OkFjUgzmMBIkwOZWqaG6mwzFqL2C2MgmgI67Oea4o2AKDz4f_VX_3V2Z-cRZrJ53WEyMtqA01yhYWp8mAci025YWtvX_QI8WfZJSu-j1qyxgMjA1jFcFij5tSPQOgLCm-0GHUXxQaRFDKMUeu5xf0OLQpvwvPQU_tC9CPZwa0pjBhClC9A9RzolDr76cYH9LUfFXx2ss8CvdC4nMo_X6ONaENzgWe7BJAxnqS6xBnPYLcQ9AzCrGXHHXgyLBC9cQiR1PwGzARtFq7W-5bta-Y8rkE4aw7stbLckO2qiuyGur9tyGE9u9ZRY7G_XBwhQb8rHSSAmr4OtKu6y8S_nRnK0iQdJbnUKrdivc7E6zhMpHHqwgSSt01KMhwXe5MJwrNpcyZWE_izuT0IvE--k7n-iYFiyiXBu6XRr1eOvpyN5dkgZS2SciHjIkn83BWwfUhuQPPg-aiBAkoWKlfqyGUs96-_oqUZhWUy2F_O9AyUX58fD9Xzd32QZ0zHSlC8j_oQOkiO61ABLKoOBoICJqUOFuLFvisg5Jt21lZYXJAEGTzjOGjh1EOWe-qDnfoDsSviOY8hB8mORWs9l--kLQpIu_KFtmeUN8UCVP5Up0-pU6hC-z9P-xWyqeLlzXumdu18r4TMB187KRAxpAwkqyJliM8HeWfYgjEdE4OP3vW1p8ur1b9GlSCOYafrINl5KLG1jmXkWu3FcDSEJR96vo4aVK6I34yW90lUt6t7yobiXtkmj5AhQ1rzKKyYcPZrvPSK-ADyQgjBvUMJnSGXgkLt6uZXWE1jV0WyDpyT36KmcjK-CLLXrt-scbpL8yGwTcS3Z1jKzl5A8hY8L6eEWQYuMT6Ch5NRGCdPSWuHNfhMV4E6QmofPlMxK5ot_Cdf-7cZ5SPoqmJy3oQtAyidOy9wMlS_GlRvxI-B8jUWP_5ee_SbMmiYJ9Yiidf0xqJAglT_zM6czEadjmaV4S01CbC1-pw6fg73BVa26FYQJcOYHCmrkJz10_Drp_bGdHjQvwlnnJ1lgelUHanb509ifEvyx_G9LFxHTf1ovxG71gJ9qUSTc6a4cfzRpfui-Ap7S3lsC74zwWOZ_PyndAYmnPT8W4nivoLMtvOoEDmptEH8X-3LSoHFtFky6bvXhJ0G25qwhoRN1hREYgy3HE5OCL8UyTpJxJQ87x1rf_L1nen-2U8HXoFZD1mz4fSdF3OK65Ac0tAIPDp0ROvBEYAnDkNzIgMBnj8p7N0GfimhDPhf0wjrYuYZrFjuCt4JbC1dSXPg9FCh-5gKxG-sS7UT0IfSKjce41YjEDOY1L0EiCNm4cdfmiQqj3GsKq3_3C8a3UyCHoBA9EPWHeCl6rokWWGMBiKu8RURJrr3mKWtzbd64zKUFo2NvlRuco0KOPLEyYOFsZPxQxVLfMiQiakciwQfB-W_MLndK0yJLDWvW0_Md67ubSisMdTao5FbLUQd6sY8m0hjrp-XCYizkJ7RAdSUlP36ZpOINAMkQWlL7nz4G3oP2rxymQm39irKvec6kjwNEZ2uOmF0GJhHlj3FcZ6yOrl8SbQjXwQMS4fJly0dlsydfcSULYJb2lDN0VMbsWZn9E3k39sgVurvkbfNGh5nhuchk21ImxdHnd_tI96cF3ev9qKXLc-4wwrodLqpEdmcNNcGYSU-XWbXoZoePZzMa2M3_cVVnQCwM6LZ9ErcQ3vH3ZuXAyScAoNlYccOBgAG_be7wooWrLPhwXRyu6l2X8cftp5SMns29J9fx6vOj90eylQbA3EU5eSBPF5FGVpdzdWG-15kCAfKDV3FnxzdMyYuaFYPW64YEjbDV0axUq7CoQitnbueSybxt5fm9LVqqtyDQp0OOWsjKcmNZAVA74L4teiuQVScBpkVc8-tiL7klNBjQHzo0WEchL7JZCj0PSXfJujpG",
  "id": "rs_0664fd631a42552f016ab443bffc6487d0b1c5ad5dcbd368fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.22,\"left_z\":0.14,\"left_pitch\":0.4,\"left_gripper\":1.0},\"note\":\"The yellow fruit is still beside the blue bowl, while a dark round fruit remains near the white bowl. I am using the left arm to hover over the dark fruit, leaving the parked right arm clear.\"}",
  "call_id": "call_MWWMN6a9nBG3JhHlZc9CW8Mt",
  "id": "fc_0664fd631a42552f016ab443c15fa887d0abddb4d427971804",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MWWMN6a9nBG3JhHlZc9CW8Mt",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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]: [-1.1999, 1.4353, 0.4252, 0.4271, -1.1156, -0.4755, 0.9992, 0.0307, 0.791, 0.5819, -0.2886, 0.0772, -0.532, 0.9985]\nstate[eef_state]: left_x=0.2559 left_y=-0.2105 left_z=0.1168 left_yaw=-0.0585 left_pitch=0.323 left_roll=0.0803 left_gripper=0.9992 right_x=0.3032 right_y=-0.0007 right_z=0.1902 right_yaw=0.2411 right_pitch=-0.0039 right_roll=-0.4965 right_gripper=0.9985\nstate[joint_eff]: [-0.3077, -5.2991, 7.6513, 1.7021, -0.6911, 0.1441, -0.0952, -0.253, -1.6068, 6.6393, 2.0586, 0.105, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9706d10432b29c66060a49a1c8606dfaaefacc1aa79628d58e510dfb06d49b70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cdd8cc04836c27f716390d099765268bdc3d1aace379e0ba5377cf51629a15d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca770be0fbbd500ca1bb80a116e47c6ef00d1359b2edc52e6ea03a7ca92d09b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.239 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, 0.8482, 0.6121, -0.4942, -0.0135, -0.0307, 0.9991, 0.8188, 1.8107, 0.2768, 1.5471, 0.8055, -0.4271, 0.9963]\nstate[eef_state]: left_x=0.2816 left_y=-0.0002 left_z=0.1466 left_yaw=-0.0011 left_pitch=-0.1613 left_roll=0.0019 left_gripper=0.9991 right_x=0.3257 right_y=0.167 right_z=0.1287 right_yaw=0.2701 right_pitch=0.5229 right_roll=-0.4869 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.4974, 7.0632, 1.6142, -0.0366, -0.0611, -0.0122, -0.4581, -5.4359, 4.4376, 1.9072, -0.1343, 0.1441, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8574, 0.6121, -0.4946, -0.0135, -0.0307, 0.9991, 0.0307, 0.7864, 0.5762, -0.2573, 0.0933, -0.514, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.1441 left_yaw=-0.0011 left_pitch=-0.1709 left_roll=0.0021 left_gripper=0.9991 right_x=0.3056 right_y=-0.0035 right_z=0.1958 right_yaw=0.2186 right_pitch=0.0288 right_roll=-0.4945 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -2.0308, 6.9128, 1.6142, -0.0269, -0.0464, -0.0122, -0.212, -2.0034, 9.265, 1.8974, -0.0171, -0.0611, -0.1587]\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 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]: [-1.1999, 1.4353, 0.4252, 0.4271, -1.1156, -0.4755, 0.9992, 0.0307, 0.791, 0.5819, -0.2886, 0.0772, -0.532, 0.9985]\nstate[eef_state]: left_x=0.2559 left_y=-0.2105 left_z=0.1168 left_yaw=-0.0585 left_pitch=0.323 left_roll=0.0803 left_gripper=0.9992 right_x=0.3032 right_y=-0.0007 right_z=0.1902 right_yaw=0.2411 right_pitch=-0.0039 right_roll=-0.4965 right_gripper=0.9985\nstate[joint_eff]: [-0.3077, -5.2991, 7.6513, 1.7021, -0.6911, 0.1441, -0.0952, -0.253, -1.6068, 6.6393, 2.0586, 0.105, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9706d10432b29c66060a49a1c8606dfaaefacc1aa79628d58e510dfb06d49b70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cdd8cc04836c27f716390d099765268bdc3d1aace379e0ba5377cf51629a15d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca770be0fbbd500ca1bb80a116e47c6ef00d1359b2edc52e6ea03a7ca92d09b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPGeT4N5W5XqiRLux8TiDTjuqpSQEdKwPRN1cmmJ1nX3awLSTsQLpvyoX9ac4gf_feyKea6ZGz8OsaLJAVxMsMZZ39LBzc1WkIf9g1Juq2YiJm7n2D0OeegG6ONm1ai1vgRlSIchtTB9-33JBPVjYEX9VGxUSXJc09_lxgdJfKyvo5FzHg6KnvVropDl9qlbCMmn9CmRHqaMqJ7pQxhDvNj5xugsbjnesCIe1NnIUyyUVCyGK_KtloaD_MVp6JvCBRrvWiS8rOuVIWcpZ_y2fSYDd3dtNkk1zFCQPmDiRqIXvmGg3qob7KX_tCsli5J2E6wvR-w526ic1hZokaGaPxN0PDn-2C3o_N5gD4vd4r1KOBuo61ADFNm5SZwYEQh4BUUYK9HTpSDTcMx__hpKXy4aoj71Q5Oy5ia6b7XNoD3GRgPL46kUw1EsPzcCaPi7xX2RXiYfGPtQMG-VR803NuHjTKiSWksGPlX04WkN5RPw4Yne8iB4aI2KPvVLvBEcuoZL8fAk3yea3Uax1tSny0vKGZE2vs9_GaNrQm3Y2Kr-ZjZQVjGhM47yZiqfmxW7Wv2dQjlHAKqzMNcE1AJqgScXorGlpLIkMiRwVd58fdw0qaRGT5jkK2-AG5leXFYH7DSnweh6IsBnICkQYyLBkLy72eko_-WoLwFTuXjNpD4S-QdMsMmDsqzxpre3Yj0LJlgfn9gomlkFGquN2YMPNqgvA5u4ZiTzNLYVdiCuuvfr0ev6YU-Atf2EPX-3yVcyl2SGM3ym-wKhPGFyHtBTm1SZ-5qSTXyMV3BUiCJZR-orwSnTvDgtfi9EnF2PpnyDx-dGhNNllkHaAca2NmIwr5_XAEoWquIShW37Rbxu7cy3hthoNeYl-o3xNeZ_RdRVpIlJ2qbz-FsBZRNc67tOA2nZLrkDDjIO_UgxdohB_4XB9VDW5qoXhpeu2jmWIed0BZtktyjBHfH0G_jIOLx5DCu6EIdlNsChGdawFjaHPQ8HzyTdqzqrSsvlI1SeOFa526fnV_gdJaiDq6hBG0UNVERBNLu8MGtTngGCrO9MnIJlobMXPVcsPyA1jIS5Ige6EhDMxSc-Jmw1jrmbaAsuvSe2cUtDbt_WVTA6h9N_BSYcPsX3UukzBp0uAEraNqRMcKgarjnvzvjh11ccvQ3tyGCKcgUewFHM69HNv6y452TOPa7dTo8bCs4AVjDOzEULr_UmcbjvILEYHA0JoZVkoarXwdZVNY0MHmO8XhiA_IKkcmgGtAxx1QUYWmm3r3fNl39SdqHCtguzf9HBBFOYNKZbnqZRNREu-d8GXOlGVa_StIUQzA4Rm7BUBHr11Ff9f7j81n1FyFddITUoqdZ4MqNnqrHmofe09H7KnkYuE4lAlub_pdcXhsza6M5rsWJ4M7Ariyg4lOGuGIzYvaeHkKOOib8f7e5EaE2kWONiQNRKf1s0d1gjuW2Rvk45_d3t22AqyhfTsNKEh06qlhaB7urrMrgHYVqYAnBqTWvrXbpyhwsMZCDpAbKr5BU5mL6-dAE53MRCAtlPW64FyK0oryo7Djn1qEN8M5CNKxgjstyhRi7AlY3nQa8PzJEgUT9u2Pm",
  "id": "rs_0664fd631a42552f016ab443c551b087d09084601730a3ee27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.22,\"left_z\":0.04,\"left_pitch\":0.6},\"note\":\"The dark fruit is centered on the left jaw column and just ahead of the fingertips. I am advancing slightly and descending with a strong forward pitch to reach its body at table level.\"}",
  "call_id": "call_4oNOwtfAPfx4SND5rG3UWxsg",
  "id": "fc_0664fd631a42552f016ab443c6126c87d0a7bee1a0d02bf6a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4oNOwtfAPfx4SND5rG3UWxsg",
  "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]: [-1.0859, 2.085, 0.4904, 1.5314, -1.0931, -0.0212, 0.9991, 0.0307, 0.7944, 0.5819, -0.2974, 0.0738, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3076 left_y=-0.2395 left_z=0.0862 left_yaw=-0.0225 left_pitch=0.5392 left_roll=0.0622 left_gripper=0.9991 right_x=0.3024 right_y=-0.0002 right_z=0.1873 right_yaw=0.246 right_pitch=-0.0165 right_roll=-0.4955 right_gripper=0.9986\nstate[joint_eff]: [0.3624, -6.2017, 3.1658, 1.6386, 0.1197, 0.1929, -0.022, -0.0479, -1.4838, 7.0632, 1.8437, 0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c6dab7a8c04e94183b4eff25c85a6b677131c67c63b87c43d07b53274cb941",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a8eba66da497c0f2017ab5eaba61d1b8a2bcf78ec088c7cfb8e5c3f93b0326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9bb7ca2524ebb44dd1f4dcc5a9d83ca889f7da7cc642ed8694281a46e4148cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 2.484 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, 0.8516, 0.6121, -0.4946, -0.0139, -0.0307, 0.9991, 0.7059, 1.9614, 0.4377, 1.5478, 0.701, -0.4313, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1456 left_yaw=-0.0008 left_pitch=-0.1651 left_roll=0.0022 left_gripper=0.9991 right_x=0.374 right_y=0.1738 right_z=0.1195 right_yaw=0.2619 right_pitch=0.5324 right_roll=-0.4875 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.7983, 6.9128, 1.5604, -0.0415, -0.0317, -0.0122, -0.4444, -6.9538, 3.7812, 1.9316, 0.0757, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1999, 1.4353, 0.4252, 0.4271, -1.1156, -0.4755, 0.9992, 0.0307, 0.791, 0.5819, -0.2886, 0.0772, -0.532, 0.9985]\nstate[eef_state]: left_x=0.2559 left_y=-0.2105 left_z=0.1168 left_yaw=-0.0585 left_pitch=0.323 left_roll=0.0803 left_gripper=0.9992 right_x=0.3032 right_y=-0.0007 right_z=0.1902 right_yaw=0.2411 right_pitch=-0.0039 right_roll=-0.4965 right_gripper=0.9985\nstate[joint_eff]: [-0.3077, -5.2991, 7.6513, 1.7021, -0.6911, 0.1441, -0.0952, -0.253, -1.6068, 6.6393, 2.0586, 0.105, 0.1197, -0.0171]",
      "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]: [-1.0859, 2.085, 0.4904, 1.5314, -1.0931, -0.0212, 0.9991, 0.0307, 0.7944, 0.5819, -0.2974, 0.0738, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3076 left_y=-0.2395 left_z=0.0862 left_yaw=-0.0225 left_pitch=0.5392 left_roll=0.0622 left_gripper=0.9991 right_x=0.3024 right_y=-0.0002 right_z=0.1873 right_yaw=0.246 right_pitch=-0.0165 right_roll=-0.4955 right_gripper=0.9986\nstate[joint_eff]: [0.3624, -6.2017, 3.1658, 1.6386, 0.1197, 0.1929, -0.022, -0.0479, -1.4838, 7.0632, 1.8437, 0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c6dab7a8c04e94183b4eff25c85a6b677131c67c63b87c43d07b53274cb941",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a8eba66da497c0f2017ab5eaba61d1b8a2bcf78ec088c7cfb8e5c3f93b0326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9bb7ca2524ebb44dd1f4dcc5a9d83ca889f7da7cc642ed8694281a46e4148cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPLinzQhDYbjh5GG95hUquIbRPH_Afu7wpo4S03Pl-tKvz-bYtYVwoEI8c3js2YrNqeSIMRTLnX9G3xpqJprN7MRhGDLsL-Xrp3PMHAWNPNKEldv6RZIWGZu3xuK6gLT-OBLqjjtMIrlcjOC2N4qYz1U3qsTWwmGHi9mKCee2k04mcnq0RQqvrlC_tQlEtT1w2IeBPbqTCUtHK4HobjMnrEKvEwWcynsOFptfNGAOzKI6dRhvtDfoiuhmayVHHFVoIgwAkAQ_GT5XAdFVOAlWMigMB5YJ3K6XFQvZ_tImc7FfEcuZaZds9-YYAUPLkQ8eJRAfGIiMSog1r3VSOUZLrMMdDzK0aRoSOqelbN_55PiGO-XRIHn-cfsP3OkhmpE-73tEFUhe3YaJ7G8DEg7sNzmJvOeBKc67V_XBCd3umE1oGs0Q34JU1fmCnjwukbM1CEXC1WX8fdc8z7rh_jtFs8SWlcrw9s9WO1arXdpiKFhumb3Dbj006_oO3OLuRh5AZsTkVlLP0iuSdT4C7VjkS4ob9OQLOwkN9m08QgSxWVbJRfm7zTvKVYAhj5rDWvmczRgH-5SC6hgYQaSwNmv8ilHsGL7WqJj3S_b3zRNPbMdyoPwE01S0lZQQgk-C4M07mHj5dsBoq4rQ9nUS2lE43zSwZeiAGUNPQAIZiTIKbwYmk56do48tqrcAgC0xLxe5aGh1rOxzDjWZJ_zGAyMChANF9KkxRbrInWap01vFbCM_HM9Z4RhyNgsvbW5P12Cm8dqmIWNEjsFrPiGLfqb7ztVqVymUA5rjGhXfZ5E--j1CDZ3s6-wPm1sdVtWyHavan5d4_BLkhROJ_sg7sOeJDr9MKEZrk_Fx3Z7m_SqoD2eIebyJY-MaEG3MLSd3nhB4HMXh2hSSDETL4MY4VhQV_Uo1XlD7PwGer2tqxwr1SStANiREfW-CPiVstpC6iw6qjQXkUEo8sa8zyAnL2pzmtJfNz1-K98A9pjHwAE8o1btLjytgOf-71Ec02Xi54B2qPsMORfp6XSooWGdiTKIdnrhrmf1hVgIH0eL8fGqnrpu3zLj9RhJ6NaTc-ebpDBc-h0Iehw2sWfXA2tOYz006q_qvhrMdokPud31VBx4GC16lylp_ZfbILz7Q9KZoeRhSWZ-6snlgULDKZ8N1fsPPVdAfJGNhhSE_xv1RI4d1MyByIs7mP4ZlIUDH1ML10gCBo6gu6B9HBp3TzFIMoOpPUuBLFea-cD90p02PwAKA_MXd5t01taX9lMacOobTIwFFCPcT6p15dAO0cHhiEntiZyv9TSrGcOEN2Jmk7_cbhiKTVdJlUdynm2MtzFQWvWUbUTSEeVY4ztKKXTUHMwVz1xAUOhs8DtRrUixhkjd4tU1H87KVfOVebHLBJ3d2SkmcjwpIFLppYsNHwiZqPbbGKBLsxebzGDlCj7Sw0LnluHZtt0UVv9svhL0k03Hlp7_ZRElJ-MK_-XZ5WXdVHS7YMSXz-uL7R41TgHLEyAPptlzc6OQMF6egmxrRqoU4Aws82C9FjTDsqtOq1Bf5J937ZdLRn5yYWlY2HtWm1cgsO8t52nZ6O1WgCKkWuAluRiPwSKbD6jvWI0B1HzUe3PO4yZiutDwRV1pmVy9yd-YECrylahH0cK6MRpdA2SvH9cI_vBV4KFEiCp5oqdFqIvNGXpI4R2m2JORbvJDzJxdOZhBOhw1IjpV1EAfnnq4zzxC0VbYHCeAisuAOSO_sts6nNLrI4wKhpyg0a9jO8mN9fmx4bugGvj_DQP8Xs-syNjsomXlvZkt3IDdXAbJwZiWWOO6Sy7o_gebQkPkWyCxMVymF0laeiQVFhlx7Xep8Vm3KsDoezU5stKHBTq755gmm1ziVTIa0LajOVFsLMk3a7k9fI=",
  "id": "rs_0664fd631a42552f016ab443c8f1ec87d0b2f084910838659c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.23,\"left_z\":0.045,\"left_pitch\":0.6},\"note\":\"The fruit has moved below the wrist camera, indicating the fingertips are directly over it, but the first descent stopped at 8.6 cm. I am requesting a smaller follow-up descent now that the arm is unfolded.\"}",
  "call_id": "call_sNDsk3wehz90ZPmxmSzmKeMU",
  "id": "fc_0664fd631a42552f016ab443ca181c87d098144e33b8849813",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sNDsk3wehz90ZPmxmSzmKeMU",
  "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]: [-1.0679, 2.1494, 0.5552, 1.5547, -1.087, 0.009, 0.9991, 0.0307, 0.7948, 0.5819, -0.2981, 0.0734, -0.5354, 0.9986]\nstate[eef_state]: left_x=0.319 left_y=-0.248 left_z=0.081 left_yaw=-0.017 left_pitch=0.5495 left_roll=0.0731 left_gripper=0.9991 right_x=0.3023 right_y=-0.0001 right_z=0.1871 right_yaw=0.2462 right_pitch=-0.0175 right_roll=-0.4947 right_gripper=0.9986\nstate[joint_eff]: [0.4581, -8.4308, 3.7812, 1.7265, 0.0611, 0.1978, -0.0122, -0.0342, -1.2786, 7.0496, 1.7705, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f526129aba66bb9f427a136277d664f99ba62e7a49d29f713b540db40c239a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4736a57a12bcedd1f3ecad59a394ab958e061c307d0b8dcbbd0bcc2b41926d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0488a890c0481d50ec952f44f262145a75d1200518efb1abc97afa321de84c57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 1.71 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8574, 0.6121, -0.4946, -0.0135, -0.0307, 0.9991, 0.0307, 0.7864, 0.5762, -0.2573, 0.0933, -0.514, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.1441 left_yaw=-0.0011 left_pitch=-0.1709 left_roll=0.0021 left_gripper=0.9991 right_x=0.3056 right_y=-0.0035 right_z=0.1958 right_yaw=0.2186 right_pitch=0.0288 right_roll=-0.4945 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -2.0308, 6.9128, 1.6142, -0.0269, -0.0464, -0.0122, -0.212, -2.0034, 9.265, 1.8974, -0.0171, -0.0611, -0.1587]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-1.0859, 2.085, 0.4904, 1.5314, -1.0931, -0.0212, 0.9991, 0.0307, 0.7944, 0.5819, -0.2974, 0.0738, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3076 left_y=-0.2395 left_z=0.0862 left_yaw=-0.0225 left_pitch=0.5392 left_roll=0.0622 left_gripper=0.9991 right_x=0.3024 right_y=-0.0002 right_z=0.1873 right_yaw=0.246 right_pitch=-0.0165 right_roll=-0.4955 right_gripper=0.9986\nstate[joint_eff]: [0.3624, -6.2017, 3.1658, 1.6386, 0.1197, 0.1929, -0.022, -0.0479, -1.4838, 7.0632, 1.8437, 0.0269, -0.0317, -0.0073]",
      "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]: [-1.0679, 2.1494, 0.5552, 1.5547, -1.087, 0.009, 0.9991, 0.0307, 0.7948, 0.5819, -0.2981, 0.0734, -0.5354, 0.9986]\nstate[eef_state]: left_x=0.319 left_y=-0.248 left_z=0.081 left_yaw=-0.017 left_pitch=0.5495 left_roll=0.0731 left_gripper=0.9991 right_x=0.3023 right_y=-0.0001 right_z=0.1871 right_yaw=0.2462 right_pitch=-0.0175 right_roll=-0.4947 right_gripper=0.9986\nstate[joint_eff]: [0.4581, -8.4308, 3.7812, 1.7265, 0.0611, 0.1978, -0.0122, -0.0342, -1.2786, 7.0496, 1.7705, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f526129aba66bb9f427a136277d664f99ba62e7a49d29f713b540db40c239a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4736a57a12bcedd1f3ecad59a394ab958e061c307d0b8dcbbd0bcc2b41926d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0488a890c0481d50ec952f44f262145a75d1200518efb1abc97afa321de84c57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPNt8ifdfh08XKwvUcJKWwOqvFIr4l1ZTxfuIRmoWqbjKyoixAUIfzd03pfVV2O93c9dcH81aa3FAewcGhcFExMBhMHrN66v3dWuOedejNrYRYlf9AA8EVHsbWZiBoU2ZR3Wx3dU3e6zHq-3tony5ma58M2pL7Qq49JbADSnLTSQwQbQ-vNGYn0zwA_RNvVadSu7o7tZXTIMyUsetPjfq77sTdPEGeg_u9GhogJJP_0u4_lW8A-PObWHbqLS02hBZyP7rNdrpI7hbCHMqmwnosDZ2qhkAOksUZHVZg7HqdL4bcBQ2xTybbUNmlqifoOCXJcrJt-whAyZYMbC3tQ58e_lmaMwwisQK6l_ufVlbWexqaLBpuq9x7kSNqgE9zDw4eVpFeI1rvdyEnGMhg7gP3JLdlQaVskfx2WV1Mywb62q0PPhoNTuTfoEqz0E0A0daZ7oOvtgO0BuRDztTe3WZxc5zwQ8-EeKS9EC_yvnA87k_S0h0n3vc-Shz9YXGrwc3jD4Ubm5zKSa6UiE4xs4-wJ0hs8nOSH4wVRLZsWFJDsgy7n6FIw1CoeGNAKzY7ogfETyXjj-Afy-l_NVMouVrHpi904mzn2SfHmbVuI3Eq1cncrtdOzQSiqvd8gyaNE5r6J0wydy4TNOBj1_GKOyoauCkyO7cEUoN0uafPAkjDO6US3m9lTen87_H4vK4eR6CHSoHevNDP_kVTzo6ddOx8zB0KCdHPogqn-gDiR4TZ5WHfRfD4eIa9QYaCIScoGQLWkeJxs0h1dO_2r537rE1dRjXx0wNU8ABfcR09IgLJPZQsiIyXLo2kv3NNoG7bW48xfHEtrXJjSK6RLDX0SI__5Q6nDtm2TU3rIR9xSwHA9FyV9oNhhqQn_8gFPa93cAQ0UdK7vlcwqjAOqG9-eC4cbdb8N7WxfJHUoTNyUPt8JIlVCmu7PV12nkpF-RbiaEnD-UKA0sr7rw9odT2O1QjjdHavm5_y4tLlBMewqc6ksSg8xtJhIc5wYAMlsH9JnF5QObY-mlxXIB_LY_RA7AL3FWiqpRVsz531OIRhUMShD62kF7BvNfiytSloUR5HUQ9Z2jfo0A3p1lEpobAyDv5q8o-IGLlFdXpLeJ8-uMMfxtcbiQ61Xzb5xCK1TzEJrCjqZVegWf4RN7zsMSMLEIpScZRJK4MqC8v_mO0zYwcX9LxPrZRcqnKb6d6znEhzQQdszMnZj_EzXwWmGk6J5VOmepFiDM1eH97jDEApG2gGnOyIW226bFj5E5Kzwg7BnGUxzFGEQHEnLnJdmXRxKpzVCNQgc4JnhHDINh0saSRDrXfdFwhvjPABdI8I505cH3gsv",
  "id": "rs_0664fd631a42552f016ab443cc694487d08084a9b19200de50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.2},\"note\":\"The low follow-up moved only slightly and the dark fruit remains directly under the jaws. I am closing around it at this height to test for a secure grasp.\"}",
  "call_id": "call_Ralq2taDTIoHz6MijG3aSVLw",
  "id": "fc_0664fd631a42552f016ab443ccd34487d0a59f6470cd88c6de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ralq2taDTIoHz6MijG3aSVLw",
  "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]: [-1.066, 2.1544, 0.5697, 1.5562, -1.0855, 0.0204, 0.205, 0.0307, 0.7948, 0.5819, -0.3042, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3212 left_y=-0.2508 left_z=0.0825 left_yaw=-0.018 left_pitch=0.5545 left_roll=0.0753 left_gripper=0.205 right_x=0.3016 right_y=-0.0001 right_z=0.1858 right_yaw=0.2464 right_pitch=-0.0235 right_roll=-0.4937 right_gripper=0.9986\nstate[joint_eff]: [0.253, -8.3077, 3.6308, 1.663, 0.0415, 0.0611, 0.1538, -0.0752, -1.2923, 7.2547, 1.873, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac22c0de150364c2082138780663438522bd1ca21446d4b2a28667112405d67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021234b3114164ef6c2603cb41dfdb91f832915cfef3a93efcc2f2ce2f5076a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9631344609d1b3b0be9442991e49542af7f5e977bede5b92a389cfab68b056f",
      "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 · 5.217 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]: [-1.1999, 1.4353, 0.4252, 0.4271, -1.1156, -0.4755, 0.9992, 0.0307, 0.791, 0.5819, -0.2886, 0.0772, -0.532, 0.9985]\nstate[eef_state]: left_x=0.2559 left_y=-0.2105 left_z=0.1168 left_yaw=-0.0585 left_pitch=0.323 left_roll=0.0803 left_gripper=0.9992 right_x=0.3032 right_y=-0.0007 right_z=0.1902 right_yaw=0.2411 right_pitch=-0.0039 right_roll=-0.4965 right_gripper=0.9985\nstate[joint_eff]: [-0.3077, -5.2991, 7.6513, 1.7021, -0.6911, 0.1441, -0.0952, -0.253, -1.6068, 6.6393, 2.0586, 0.105, 0.1197, -0.0171]",
      "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]: [-1.0679, 2.1494, 0.5552, 1.5547, -1.087, 0.009, 0.9991, 0.0307, 0.7948, 0.5819, -0.2981, 0.0734, -0.5354, 0.9986]\nstate[eef_state]: left_x=0.319 left_y=-0.248 left_z=0.081 left_yaw=-0.017 left_pitch=0.5495 left_roll=0.0731 left_gripper=0.9991 right_x=0.3023 right_y=-0.0001 right_z=0.1871 right_yaw=0.2462 right_pitch=-0.0175 right_roll=-0.4947 right_gripper=0.9986\nstate[joint_eff]: [0.4581, -8.4308, 3.7812, 1.7265, 0.0611, 0.1978, -0.0122, -0.0342, -1.2786, 7.0496, 1.7705, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-1.066, 2.1544, 0.5697, 1.5562, -1.0855, 0.0204, 0.205, 0.0307, 0.7948, 0.5819, -0.3042, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3212 left_y=-0.2508 left_z=0.0825 left_yaw=-0.018 left_pitch=0.5545 left_roll=0.0753 left_gripper=0.205 right_x=0.3016 right_y=-0.0001 right_z=0.1858 right_yaw=0.2464 right_pitch=-0.0235 right_roll=-0.4937 right_gripper=0.9986\nstate[joint_eff]: [0.253, -8.3077, 3.6308, 1.663, 0.0415, 0.0611, 0.1538, -0.0752, -1.2923, 7.2547, 1.873, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac22c0de150364c2082138780663438522bd1ca21446d4b2a28667112405d67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021234b3114164ef6c2603cb41dfdb91f832915cfef3a93efcc2f2ce2f5076a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9631344609d1b3b0be9442991e49542af7f5e977bede5b92a389cfab68b056f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPQP8iLzyX95WpmJ7EdUJVGxJGuZIbfegq9-pzsGfCJW8Q4w9QveOv96RIq0xxdyTdVCYADBroLKa8gf3aGhFuICeW8qerJcXv0FT-ck6vxI8Ma1oJHvOAuBh2iThzUiHckvdwpM9l-IR6B4E_b-POo-qUF52p4N7YemIBQaFXsM8iRZDTHQIH8To3BNBsSANsSOweOQxmD-O8emi9lqAk7vW5Z6prgdyeHGCXGvBDkxwWqG4vcqnP4TJekoW23lcooPsymepeyrqAGiIjKTldd6Me3jVgpOYKIVspncy3Xpwrj0a6jCO21QwbeT5lfXem5DNMlYEeiTkjsZiDzZYfl4PXsPbAkVXbL8x_wZ8KdUb1q3RgRuFWBGfj83R_CH90Tw1h1XOwhpWiB8y2pg8rwIAMwzgJjYGB4RRHBVplbKiDhZAAGSHds9N65C9lURXARs6qH_87g3zOL8ec40qBTK2yoIDJj4m45baRfcqTjHnqXLM2wx6UUNhNfGwCN_88Ss44VYzFTZJfTKbtm38dnmh1SYfZp95UOdxOEtMyjlcjknj3aq08Oa8AHIG9W35RQE2fE3ZDqyOySQclJ6rafyuMP9Il8BDLFbKnt0fvywzfg1SaQusQUFFSmDG9s1rwVv5UudIEFPP27qgPbuR1DvGUjgLH90aI7q3PpRbPyur3R70Ec_pZIEdzRE5P4Lvn1BbQDQfSFy1Y2fnELIBf5h1YKERWVAWugXJSCfQby3Db7sfgnN3tYmWRWmeWHFsVrdrsC1mAiIVPvQUIyEe7i94p70XL3mcowspPFhYnfsfx8wmVDijhWkl8CV5keQn3XxMO6j_dqjM3xWuwxl8pArqHfNfOgv10QfH7pelmFwH8-snM7BMgm1qHWhdM0Ur3O2vb24TeaGNDsM7tPXuR0QVFOq9XU5NmB5SsLSX1iu0a_PDgYsxfOD-aHnJ0xBR5ZyuKVpRmUn7N7o-Nt_4sRJolG45JQgF0W_RrHNRoI403hICtfkmlHzi0Sc_ktQm6DsvV2p21D_kaEyy67SfdAZhKDs1yvKFvOYxuE80VC3VeX_6suS8LNcp3LKzeM69NLeVAXnX--kLcIJSfBWOjb_lOLgqU7hz6Qr_vZzb6hSBvgQm77Y-sVQwIBbnuCcCssAbv9Qxu-TBAClYAEZfLm-EqG03y9urQU9DUf_ZWomx6xzEnr2j3gXPSTWzdp9sPuYN0ATPRTOtUfrwsFStmneQ==",
  "id": "rs_0664fd631a42552f016ab443cf927887d084b82c9d74bb8311",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The partial close reached its target without resistance, so I am completing the close while the jaws remain centered over the dark fruit.\"}",
  "call_id": "call_fe3LcPc71zTLpyXq4tp7MK3R",
  "id": "fc_0664fd631a42552f016ab443cfb0a087d096bc06d87f517e98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fe3LcPc71zTLpyXq4tp7MK3R",
  "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]: [-1.0664, 2.1544, 0.5697, 1.5562, -1.0843, 0.0216, 0.0087, 0.0307, 0.7948, 0.5819, -0.3054, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3211 left_y=-0.2511 left_z=0.0825 left_yaw=-0.0202 left_pitch=0.5545 left_roll=0.0766 left_gripper=0.0087 right_x=0.3015 right_y=-0.0001 right_z=0.1855 right_yaw=0.2464 right_pitch=-0.0246 right_roll=-0.4935 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.1709, 3.5897, 1.6581, 0.0415, 0.0611, 0.7448, -0.0205, -1.1145, 7.0632, 1.8144, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b546e3c196c81ebab10b57744865a86e7a2f4556405adb4a62bdced7b949c0ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a9df111fcb3f10f4f65709909c64c789a35b84427e821e7fe268fc375a484c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21e1a427b143161138b3b564193474ecf8a47d4a590565f75ca38c46371a67c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.444 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]: [-1.0859, 2.085, 0.4904, 1.5314, -1.0931, -0.0212, 0.9991, 0.0307, 0.7944, 0.5819, -0.2974, 0.0738, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3076 left_y=-0.2395 left_z=0.0862 left_yaw=-0.0225 left_pitch=0.5392 left_roll=0.0622 left_gripper=0.9991 right_x=0.3024 right_y=-0.0002 right_z=0.1873 right_yaw=0.246 right_pitch=-0.0165 right_roll=-0.4955 right_gripper=0.9986\nstate[joint_eff]: [0.3624, -6.2017, 3.1658, 1.6386, 0.1197, 0.1929, -0.022, -0.0479, -1.4838, 7.0632, 1.8437, 0.0269, -0.0317, -0.0073]",
      "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]: [-1.066, 2.1544, 0.5697, 1.5562, -1.0855, 0.0204, 0.205, 0.0307, 0.7948, 0.5819, -0.3042, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3212 left_y=-0.2508 left_z=0.0825 left_yaw=-0.018 left_pitch=0.5545 left_roll=0.0753 left_gripper=0.205 right_x=0.3016 right_y=-0.0001 right_z=0.1858 right_yaw=0.2464 right_pitch=-0.0235 right_roll=-0.4937 right_gripper=0.9986\nstate[joint_eff]: [0.253, -8.3077, 3.6308, 1.663, 0.0415, 0.0611, 0.1538, -0.0752, -1.2923, 7.2547, 1.873, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-1.0664, 2.1544, 0.5697, 1.5562, -1.0843, 0.0216, 0.0087, 0.0307, 0.7948, 0.5819, -0.3054, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3211 left_y=-0.2511 left_z=0.0825 left_yaw=-0.0202 left_pitch=0.5545 left_roll=0.0766 left_gripper=0.0087 right_x=0.3015 right_y=-0.0001 right_z=0.1855 right_yaw=0.2464 right_pitch=-0.0246 right_roll=-0.4935 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.1709, 3.5897, 1.6581, 0.0415, 0.0611, 0.7448, -0.0205, -1.1145, 7.0632, 1.8144, -0.022, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b546e3c196c81ebab10b57744865a86e7a2f4556405adb4a62bdced7b949c0ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a9df111fcb3f10f4f65709909c64c789a35b84427e821e7fe268fc375a484c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21e1a427b143161138b3b564193474ecf8a47d4a590565f75ca38c46371a67c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPV_nfOfc6YLMxOF4OBUjYDkb4aWe1GmjxPpdpw4h2AyNrmgAh17-s9HnQDUIdmUKrE3CuS4Odvo-N_zbToTRvgGyKxi_RVO6twlpSz_GoRpyh_iXc1-VWcE0Z1o2Fmun3ZuUCgxBBfiw9xyHxhROAVwHIzow6AbMH75NBT2abhfbSQWrvAr95tzvahbDEDfVjuaWjUg0qdLS1wzzph_ORokDX2PZeDG4Gk0L14kI6bktaFATnRZvBV1aXRJY6pcWbuwNL2bx10ELCfczq2ZJIN9jdpS4aZe0LzlnfGEelJEw72MehHaWxzlvqn7wILjCsdbZA8_hynapnW0kBcQV6VZH837QN6XM6ohJn4betVtrD-3SLsYWjINIlgkyEzl4QmbLLoexWQb9Sf5JbaFZP0r57UwlbxPESUTJTbiNZeI9j1N4LfwQnEHTtUhgIaBMcNXAqHxPuxNPQMDqmsAwtqTJknOkkvBewHAuB0_Io6be6sonszxIbMjdMdn_2xsKNiCEuflxuvJJVj5VfhQ_hS6vmOzaruT2LNXjtO8njO39Uzw0iL-UfOlox9YHcL5JVOIirGOTzOGxdmqsXHwhWtVZZIg-t0nuwg4SSEVjF1iJ-LcrY1GAtimQuPtjf1FA0EjW_R72H1DGMNHOuaED6FZDnAhhqnlr-Miq3j9krtybAKf69c4NvLAtTNpHfNG-UwaTFGGfUtKnNi_P6QbAKiu9Ln91LPshVuBa0KBo_Y_Dz7jAwOLhvnZ421hyWAr7nRwt-V_0ePsP3msoUgQ-xW_GkQfOsyaBRENkbLV8y-P0mbHXLAV5zvoS20Boc9GNqSbH4Sdqc7-Ay427y7VNiOnDQ029zED2BsDg_WRQdtPAKBJQWLYmn21wJQPPhZ8CV2FbmiICy0MkqWvqfIjaCbU7lc2lIJs5djXDlruZo4iK5PCp3aiRw-uSDFGJUCAB9zp3pyhpOSAyKH8s1_bqylfOT45A4VBmCMWrXpSkLeikYBwt8Ca2iv1a4HzsQhIKuEDSH4-_4gvc2gbxq7eH9eYkixtfIK_QF1_FEMcydnsHbfybjaPnI1mT-ARZipinGrHYts-Nsz0gf25SXO0YIfJPEC2lDj1q7EfFcx-ACoEySUH051UwtmpKlFr8o2JqbPmusmaVSaZrXqzor0Ego2stilRzRpvBGQhBLk764U8XD64fx2CW584qHTPrLF6amwEptOVnK45q15KxNdaBVz-k8SzVkjwp2f4I3IFOsanXNQj4ePngBGgMJfdFVANcdKfGno9KBxZKNTCQL7IJEND_RBxRmdHr_BzjpJNeBTJB263Bm753Vte0671JbDqTGAPDcNp8hzSURR0wZc-tqwkV9VEbrf5fgKlAUtcMVrkg__2pxhSBbZS6uNo3K-zbde95OpJeyQy1O98ydjXgBUk0fBdSlOCyHfD9lTfXHsWqT2KZyfyFQBqJVLfO10GEiV11Sng-8AJTwSU4bZ-IPdU08_Q1xF4Un-PPutsTORVIk7kRnL0bxFU1hiYdsxlJzD4kx37FVDI_tF_z5W4TgebBMMpY8JthTJk8qoB8ELX94RhdXB_WAuLKcCXHH2qgJGohCN7gvL6lC26mOTWrIMEDasufjUO9fweu4debBeGOkPWlq1P4UTf6lUCR92pXZkk-2Azo8BSND5MxG4ZNqcsSkZlBHQVxfylXq4v_K-zzFdl4wWom_hu7X9yCd-QKKkXUPaRMddf0koXBlxsCtGQMEp9EpqGibuI6g_da_xoAijFQzGSodslZEsT9LoTsNhx4r6OtxcoiS4Juoh9C-zngwTIHE1Kkb-JjogQuehuEJI84zCw2xqRK4rRYcCrzgoAZzHJw4u0fY4zcdzXJ63VnP_WBFuIW7KRK0VI_qPm4cstMr7Exgc2C8D2WuJJcknEHhpdS9DKgBK5vaEbVyKeym7kb1z92lNluZoj-zBwzaE__Kd65Ph72EyanclnaykPLlCUxKOID_yje6cGygeqvNa0QeFBhFj22VMRtxX1vu2TGbbOvOMqh2JBzcye9fCMSzc5sBxY-3m4ZX2Uhyt8CyxJ6eRMhalrjELHNN3sjl_EwiqJUwpggQUk_KSPA4KQ3HY4vtqFpZP_wMIe7TR23xhTj6fySq6wXZZ5nFul9Kt8Z1C_rfhp3n9ihtB3Ud2ZAx2rO9fmvE8BLfQnBo24yX_lJAbfcd04IWi84xsMS91AN0D_t6FU7EbhAeC2sqp0sdXv5G8tUjSG1R83iS6cHPXjQstsKGAB_eSyKAamlKa1iQCt84QVkai40wb_6aYZZzczS7qn60PEv85e82ZH1xxFODMTF2A1DhM1MYi-eCh-ZsLCsgQOJBEAwnN2hdAd4ezq1XMl4QS4gMAt-R6dr8MRLYtuCIN359iRgtWnvTwxayfIYjKn3RSi1LbfhkFZDwCWTGRNQU7IABQpx_d3n4uTeXQNG5cEut2jZLB8t52ab6IGPXj8dgDJkYPi3QhZ18bD3HxjIwIFjuevxj-RR_aeyBJ6lb8HNwCisjLcFvDK16rG8uEegJujWnrgqzq7_ikRsaKOcAydBYvTpZ-gO6xZgxij1UOTTo2KqIsn4HXT9V1v-lILOo1OilefhpTAUFr4MyJGrwWPqVOi7W6ix66JoGEbwxHxY1VT7v24PT20KfgE0edc4OFya9gBYWGHWk8E4yJcj70frrrMx0EvwiCCLF4zsa4kscGiF1xjfvv_aPY6iG5nFr9nTnWhai1rsJ0n5Apse1vUZDXEeM0gQ==",
  "id": "rs_0664fd631a42552f016ab443d1aa8487d0988b283cabcfe16d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.4,\"left_z\":0.14,\"left_pitch\":0.4,\"left_gripper\":1.0},\"note\":\"The left gripper closed empty; the dark oval in the overhead view moves with the wrist and is part of the arm, not a fruit. The only remaining loose fruit is the yellow one beside the blue bowl, so I am approaching it from the left arm’s cross-over limit for a cleaner low-reach geometry.\"}",
  "call_id": "call_OKQ4outyYrLayHX7jEdvtrRJ",
  "id": "fc_0664fd631a42552f016ab443d4570c87d0a09f10d823cfbe84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OKQ4outyYrLayHX7jEdvtrRJ",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "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]: [-1.1591, 2.1235, 1.2915, 0.4885, -1.1618, -0.3168, 0.9965, 0.0307, 0.7967, 0.5819, -0.3191, 0.0731, -0.5362, 0.9986]\nstate[eef_state]: left_x=0.352 left_y=-0.3922 left_z=0.1489 left_yaw=0.0158 left_pitch=0.4345 left_roll=0.0209 left_gripper=0.9965 right_x=0.2999 right_y=-0.0001 right_z=0.182 right_yaw=0.247 right_pitch=-0.04 right_roll=-0.4903 right_gripper=0.9986\nstate[joint_eff]: [-0.9231, -10.0308, 7.1453, 1.1209, -0.1197, -0.0611, -0.0415, -0.1162, -1.4291, 7.0496, 1.8828, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4cf356c0c1c82f4097de5ecceb2882ec91ebfaef7d2d2b344c29f7045bc4d29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:effc3ed0df8c24ace375fce132dcd331bcdc0d7567161c600fa500ca25a13a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150d867ebf8e61e28f7fb5a8118c68f36ce1bb5251bf24b5e2206e3a04817b29",
      "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 · 5.001 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]: [-1.0679, 2.1494, 0.5552, 1.5547, -1.087, 0.009, 0.9991, 0.0307, 0.7948, 0.5819, -0.2981, 0.0734, -0.5354, 0.9986]\nstate[eef_state]: left_x=0.319 left_y=-0.248 left_z=0.081 left_yaw=-0.017 left_pitch=0.5495 left_roll=0.0731 left_gripper=0.9991 right_x=0.3023 right_y=-0.0001 right_z=0.1871 right_yaw=0.2462 right_pitch=-0.0175 right_roll=-0.4947 right_gripper=0.9986\nstate[joint_eff]: [0.4581, -8.4308, 3.7812, 1.7265, 0.0611, 0.1978, -0.0122, -0.0342, -1.2786, 7.0496, 1.7705, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-1.0664, 2.1544, 0.5697, 1.5562, -1.0843, 0.0216, 0.0087, 0.0307, 0.7948, 0.5819, -0.3054, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3211 left_y=-0.2511 left_z=0.0825 left_yaw=-0.0202 left_pitch=0.5545 left_roll=0.0766 left_gripper=0.0087 right_x=0.3015 right_y=-0.0001 right_z=0.1855 right_yaw=0.2464 right_pitch=-0.0246 right_roll=-0.4935 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.1709, 3.5897, 1.6581, 0.0415, 0.0611, 0.7448, -0.0205, -1.1145, 7.0632, 1.8144, -0.022, -0.0366, -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]: [-1.1591, 2.1235, 1.2915, 0.4885, -1.1618, -0.3168, 0.9965, 0.0307, 0.7967, 0.5819, -0.3191, 0.0731, -0.5362, 0.9986]\nstate[eef_state]: left_x=0.352 left_y=-0.3922 left_z=0.1489 left_yaw=0.0158 left_pitch=0.4345 left_roll=0.0209 left_gripper=0.9965 right_x=0.2999 right_y=-0.0001 right_z=0.182 right_yaw=0.247 right_pitch=-0.04 right_roll=-0.4903 right_gripper=0.9986\nstate[joint_eff]: [-0.9231, -10.0308, 7.1453, 1.1209, -0.1197, -0.0611, -0.0415, -0.1162, -1.4291, 7.0496, 1.8828, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4cf356c0c1c82f4097de5ecceb2882ec91ebfaef7d2d2b344c29f7045bc4d29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:effc3ed0df8c24ace375fce132dcd331bcdc0d7567161c600fa500ca25a13a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150d867ebf8e61e28f7fb5a8118c68f36ce1bb5251bf24b5e2206e3a04817b29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPbgfWOj3efLrfrZYRlHhXvkdCdnGR3-Z5Zfj3W7M27xiZYv9VvF7tempbT8qQv86xfX7F8b3O6Nifujd6jrG_QPn28r8PED6WrXMpheBsKjO0DBa4DNs67dxEcYBBLe_gBY2rdSGOY7dz-PlSy2FFx88Jp_q6WhE_Agl4D05DYB4VQRxRTAHCaGXaSSP-wvZYs_btbQj9rAfF1gqS8QaJeezbsf2fYU3viUQ7sge3ZsmUDmUL75EEQUf5E4dXvvbQ-JWiyuPJDO0nx4-xHgAetc5N3lSA71tdj91jXuWhP7IZe8DzXBQmVl9-jLxn9Q9RWtvieSQ8gNRM0cpwWhmE4iZWUqOFzO4rIP-HcdSDLzdWl3ZzMJ1ik23oIutlbb323XeAYsw3WV9VLE-8kVUWgsIyKFqby3W9e-n97OcU7kX_VOypm5mStFiaxSvXas9LaqPOxXJLbTLa67WjnjdWpeWNqidh9v5KahBKzmZ0S6oBDK-pa9qKcNJ0s8-wgwC-pKHHvWN_UU-oVb9EtmWX0lo6Bc2Yqlbm7jKAUjFioHbcJlXjVKfjsEkQS_Tj1_Im1-Z3h5w4Iwv8-wkkCqtQVq7g3FeQXRqcxQxmcDFuH6oKvQ05Nn1EDHAoVq_1xt-MB7uh6juGCHxo8ihShyJp1cj6IOGk97PWBP9dfr_S_cgM9yOWxU4nLmE65hA1hnIzlDoW21LKZ6GvBTmUEJJYuB0rYDRb4lMhYr81yOO9hGygl_M6qqPxMf9RWlnjkJiTug5gdvwAWEfsopz6KcUl87lQfOaWw89G_aAhuax-gKvuJ6hlmblIQwy3ClS5hJ0pZp24fmFTWyWg0Ij9p9D35Kctk_JoS1MoGbcEazSJ3mF8Ab-30FNfbOd88DSnMNRWGLnp_b5gidwc1YSZNu0nV3VVTmZI5mXmawweJTLiaIkuszgVdp0EiVTCUrOdpew4791yFpPgOjXFz9oWiwfQYfI03XH7L4jhCMJ2gtqHNYEWRdrX4hlPrWVy7yMIvtzoqOIQ8i0KklVhPoQ5lJhPVxFCQfaN8yHIRT62q9xKwrTdW9UZg1OUIiUVr9DEXDEmoHuL5KSxTE9-g6QBsR50kx-F20_lquioMOelNB5ar9OSy_omSrRlm3pBFxAU9nlHsv3JtFkCnBh26ETFNz7BMnt54gwKHu_q3jTSPLYN9tBPU7uesu1M_7C8QqREEvcraWexD8EzGvZeYMjqyk9J_NFTm0W3ZHlLzJHer79AaG7hUGl9kfBp8ZQ9dwVGvOwffoUeqwxnUxncOVGwyHFedH4IJcRyx5-RSSZKPiXXdwJjheCrDaF5-iUWeUWiI5FwYM-Zq8_YgSIxNq62qdoUSrqz4gX-WGh-BG-b8XjFk0T6LWOgnx9RkbGaDdSvSGxeGP102D2QEs-mLdnDCcyS3WrU0IPvN8xLLZuhiQZyQGj2-I4tYCbYFFvw_oXGq6VQZ4Pt9tojiDSXAGgJHjnPk_AuHRt7ZydNa4wkNqXL2mnxbNRAVW3-GIqCVSZq-0DHk3qEKyTEj6vWW0SI5fVqg5q4RYR6Oqe46FVLg-3XdjHilMJHesF-PwMkEd23oCdYDiLAAqxq394N2G2Fmny4jYq_ekauEioyehzSy6bulnwkR-HneXQ8YA6vF4sv0HV2-NNJpmBuWgHsG0KclF4K1effFLIeVAsu0UYhQC7oP2i81v79gmcr44Jf68oLk1vinis59aHXXc0UxbE6j2TtIFejo1y1LrHeL3ye2YacpmBeY4TzLCxeNvLIZhSA5K0WN2Ot8h-TbK7HOX0R1L8720nJIhlkeL8XgJLZSmyOi5HAJAdMWjMtajyZnwK-VglwUxFtoprRrzfnkKNDaJKgS03sj-j8RXuqInSjaOWW72KkVfeZplT5fh3OT6OA9p6bUJ2H-GEj_d4hZ9m2eu2XNWYLj9ZzjjCo0PK9YNIXdu9YJr1qqEbiUfIQAR4RfTlXIBNLk5DbyBBu1SrK6SAIFNKMalK5YE0jWFeCQoZ5v51ool5bgRcqONAnAU2mStehhFLGwi249mgOCOkEhl9EJUhIjRM7nezY0KCoEdoy3AvU7fghHMpoHxM6pRQAu7fLV9T6SdgvGYBrhQeGWhBuUvoWLDPjmJAVAqqSgWPAz23zOcsNK8DXRj1QhxfyiccO8HCG2sRVGWoDEKwgTS31XnU-tTNBTH3HjyuKKm1r9P3FFsiePyLavJnb5Qe3A9mc8",
  "id": "rs_0664fd631a42552f016ab443d8369087d09b8d93c81ef2c67f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.4,\"left_z\":0.05,\"left_pitch\":0.6},\"note\":\"From the cross-over limit, the yellow fruit is partly inside the open jaw span at the lower-right of the left wrist view; the arm cannot shift farther right. I am advancing and descending in the unfolded posture so the wide-open jaws can capture it despite the small lateral offset.\"}",
  "call_id": "call_sCsh1SRDz8BwFi0fHDPwd2yU",
  "id": "fc_0664fd631a42552f016ab443da6cec87d0b798a0cf32f175bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sCsh1SRDz8BwFi0fHDPwd2yU",
  "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]: [-1.1236, 2.5343, 1.3437, 1.2217, -1.1519, -0.0235, 0.9968, 0.0307, 0.7982, 0.5819, -0.321, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.376 left_y=-0.4026 left_z=0.0621 left_yaw=0.0529 left_pitch=0.5811 left_roll=-0.0401 left_gripper=0.9968 right_x=0.2998 right_y=-0.0002 right_z=0.1812 right_yaw=0.2465 right_pitch=-0.0433 right_roll=-0.4894 right_gripper=0.9986\nstate[joint_eff]: [0.8821, -10.5641, 4.4103, 0.6325, 0.1148, 0.4567, 0.0269, -0.335, -1.4154, 7.0496, 1.7753, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f83099217d6f2b76b4882c66fe766be0efa777cf5509a2a7c189f44d592e479",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53b7443ae16e8b66f6fed4be4b160b7c4842bec5f4853d6ed7e1dc89009759b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4daeb5232e4954343c36cc5da187e016e6d9704ca16b5e4f5f91189c79ddaf2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.147 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]: [-1.066, 2.1544, 0.5697, 1.5562, -1.0855, 0.0204, 0.205, 0.0307, 0.7948, 0.5819, -0.3042, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3212 left_y=-0.2508 left_z=0.0825 left_yaw=-0.018 left_pitch=0.5545 left_roll=0.0753 left_gripper=0.205 right_x=0.3016 right_y=-0.0001 right_z=0.1858 right_yaw=0.2464 right_pitch=-0.0235 right_roll=-0.4937 right_gripper=0.9986\nstate[joint_eff]: [0.253, -8.3077, 3.6308, 1.663, 0.0415, 0.0611, 0.1538, -0.0752, -1.2923, 7.2547, 1.873, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.1591, 2.1235, 1.2915, 0.4885, -1.1618, -0.3168, 0.9965, 0.0307, 0.7967, 0.5819, -0.3191, 0.0731, -0.5362, 0.9986]\nstate[eef_state]: left_x=0.352 left_y=-0.3922 left_z=0.1489 left_yaw=0.0158 left_pitch=0.4345 left_roll=0.0209 left_gripper=0.9965 right_x=0.2999 right_y=-0.0001 right_z=0.182 right_yaw=0.247 right_pitch=-0.04 right_roll=-0.4903 right_gripper=0.9986\nstate[joint_eff]: [-0.9231, -10.0308, 7.1453, 1.1209, -0.1197, -0.0611, -0.0415, -0.1162, -1.4291, 7.0496, 1.8828, -0.0366, -0.0415, -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]: [-1.1236, 2.5343, 1.3437, 1.2217, -1.1519, -0.0235, 0.9968, 0.0307, 0.7982, 0.5819, -0.321, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.376 left_y=-0.4026 left_z=0.0621 left_yaw=0.0529 left_pitch=0.5811 left_roll=-0.0401 left_gripper=0.9968 right_x=0.2998 right_y=-0.0002 right_z=0.1812 right_yaw=0.2465 right_pitch=-0.0433 right_roll=-0.4894 right_gripper=0.9986\nstate[joint_eff]: [0.8821, -10.5641, 4.4103, 0.6325, 0.1148, 0.4567, 0.0269, -0.335, -1.4154, 7.0496, 1.7753, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f83099217d6f2b76b4882c66fe766be0efa777cf5509a2a7c189f44d592e479",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53b7443ae16e8b66f6fed4be4b160b7c4842bec5f4853d6ed7e1dc89009759b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4daeb5232e4954343c36cc5da187e016e6d9704ca16b5e4f5f91189c79ddaf2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPhCVq53UWv7CB5dVRajKB0uSCpzuxT3gcRfAgzzyK0h0JelPboec-CguIbespyRYoK9jPjOZM-JMkCXskHynb0jSRguirGSR_epQE9mRgpRNTd6jEDpPNr62IKArSxs5076POaGF3Pe1sAgElY6YQqBmGUcEpBvgyiJarLaMRPAuAxZtNB6d6FEVFet0xmre4jKm8bVEZiim0Stpxzy2wfqzhsbkK8CqZ_i8qJf9y9W9WTZD5_xFuBkNmFP-5zD4CxWgh__JRdK0WAxtcYQj8a-QfW9IB4KcsgeuIn3KNPo2SM1wNFWAtBZJPiByGnjw0eU-kggvOcxQfzUw3ab5CzVj6oYyXzvSb8AY4sxKK6JUpB7tC1OK5ODdfz7G2_6LDeHXBHleQv1y5wfmzXMZ_TONmJ_m8kRqp7A8-zvQbw4N6ANS1eo9VgFwbl-L7yQMJ7riBdgfye83Vmx4K_1y5weJkTtdbUFv_OrT-_zd-elvdU1q-q6MvahkTYMe4uaAdbcnwfgjfSwhE3v73pX3CbZ_iIr42mXvJ1NFPT-QZEUvDOOSDPtsd5uBpeIycACubxMmeV4sRPfi-pq2ipmewqo_qBDFA5cFMvN7O9MSazV_674D5gDdDG_ZtbGMyVUgV1sd5KeWL_6OTwosq7S4PmfqWSq-8nPXGVS9d10eb4cV3l3lMSrsJiqL6WDvjLBL-2JjHbdgACVkuyxnCsFmrcnJpShUpnoBm59r9sfMWxUy3A25KCKx7coW4lrUwK8yMSPCE4iaJgv30tjXS19xflL0gx8z56vhekMnOKaIcJ9laAzsevIofrTkll58j2yRSYcUOC_o24IvH0UKx4Ws0cnBBNmbmTSSB7RAmqQ21xeSnSCaI1H6oZf0_hUDiizuimIdfBA9gPnJqobjtaOry7zm5Bnbyhln08ruzi5b8VOb-Mz-IJ27nv-cBhUuvCmep_HPO_iLNQj4DgWb88YvimFdxHflL9_19-eKwLNWdlJzNKvSrufk9Gpb1XaRnKzdyxOKuG74BbRzWBqHv6okhutuZh5OslwB-WDIDkWmaK37vEsJBvwz5u2re4rNHGpV-fwYV1I4oomdWxfYQs9x7GUNTCmGjeRDpAcwpMHt_t4wiKkwNxoXj5KN-II49PCaAJmU3P2_fjQ-vuM04MDGMjMG21YA3jS3ZEHx2LejfMjecEG4Et_E3h4j-EHUNiExlPG-F10nDJisIMWCO5dTh0gqeg-A072iM4h6hWxPj4Xq082crv108zxQqX3XAe0o42sDcHKAlj1sEljiGSwHKrUp2uzQhQ44ZeS2G_Zy51KG9JQX8aKszuvPY0pnanw_Xn-b7zdKsZNEnFoYlKdGHUnKudC-GIXTKmBIGC7Q40motfsjVqcOGdqlKZILa0wTwP66wLL5V2X4_PToX9tYLgfPJjuDjplWMSbh7eWSl0GdWt5eHtP_7Aa2I1lIpPalbugISIkhw6vF9TopiFrkkAkA4HiazeW_t-lgkLf5P9nfjyarC9DNtFqtzvghLNR_SIZjKClGlGs7ip_tskUmW9bZtkqAl152jpc2wA0DvY6cWvY3falXnXj9y__QCH2F7Tq1QqOQwPplfLo-4UTKQo7V7_926ws18Cdrr2D1IXk-ntAcj6knROPdrH2R9DczarlLXVeQedSCOp1v2jK1jW6UGfP9xXxSN1POrgcIkld-aa_CjAuu4Gzg5INEe6UrxEOlkPH3hoWmsXq3KUujYOUoJNXqbq5LBjYKowKq5dJeZo05zhwxf2LOqE7u6krd2ViRtVaafHjGOZAlJ4-VtvxFEOcA_gNu_-aGRdz5p8nkP6bS2zSuEKSTJUyTekl9lQmty6NCgorMGh1IDGIS-jaPsXohOu8J4Ziz_q6t1nPjvKNBYqM3Vb66g6FNrj9mUIZDhCBmDJuxMINpyH6nWcl2yToyZfwnCbNFhoHUF1xs8fDsm5L2gwqojqRMTbL_OU-uhsfOzQD7EDL31ijfMTpxB8uCHNIHMIorVWPSfaM2YoDba01gkkghkJdnDXOqCTYztp6qhyF2ikFaFP7ktXvjAa-5jj5KlCujxEUZ_qWHeEBR69DemdxXzbsY5nyHmAKe8R8E8ktAdUToJIn6j1AuyRkb6-E50KFVJo6NCjpaAeVZ7-gbPLzQ25nbTRisd-UrQCEU-1VMqSYCe8hzFTzSILXsGgJzLgY8iKjkLWhay0AjX4EvXJavqruBGTEIuRdKuGBCq2sCHVnUD51Ma4jkZEXBkr7cw2OardTNm4gJgQatSLLESVhq73MxszwIWMqc9W4L8u3jefVObf6zX0euENbtvvhjvNDIasRE5dUoTDL6a7DEbvsVuQE5nDFJ7vBiFodlEaEBiqavB95X0n8mA88HNteTOJ2ihV2ylJWG_QYpovrJJAgzhJBkQcGQC56eoeX8TkmMdEuLWLhllPsv-b_4I7nlaStbgSPiLp64unK_kVfGtiPicuW2UwXr0TaU9KOWUjwIekBZVfsCMyofkyTap960dWGtT-Vz81Nuauc49rfuiSc8C7-n1s1Q_rLESP2KTzYvFW_nMVfsN4kt_47vnYqY_4PKoyLtdcwdw0BMo4AleQqrwcCGGr4Vhb4JXgStOUaMEiRWWkEg8EXUoVLRQ_9nenUkvbOjKn6KR2ytJkEyS5Vdo5YcmLwOQj9SoQZ6R8KsY_hPDBuWSJoz8PE92uTWSyrrTDfSziI4vGa58K1XYvpuYNFIqXm1zV9pKEKLTR3SN3EN_WcAnZI-o0rcyeXaYvgQ5cptz1Fsow8kLBC0evoYTnmxwG4ht2TO3ds_eG4JVG3ZGvLfBIV0cQ2sML3hC7V6mYxt40Z5S0MdedSGj5KQ1xNDdE1yygxX3jkXO2e1aId_--mGCc-bQsx0JKMvHZQGvNxJdRoVfRd5m_qIoT4htdd6thnFgOm2NtMLZIGr9OORoIW1d8vET5QdJh9iK0HprOmpVPVQ2hITqaKVHUsBy1nfEr38qcVrfKGNyJ-ANs-8mt5bUlJWX1R3pa4yZLdFWvwdzlJ6zFJSItOqrkHaGvqDY2q46ai7KhZo4WgWbn7gMCdgLExw==",
  "id": "rs_0664fd631a42552f016ab443dd21cc87d08c1335ed1e0e997a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.2,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"At the left arm’s lateral limit the fruit remains too far to the wrist-image right for a reliable close. I am retracting the left arm and will use the right gripper as a low pusher, since the fruit is immediately beside the blue bowl.\"}",
  "call_id": "call_XCaWlGdafh2lqHunOlr3XpCy",
  "id": "fc_0664fd631a42552f016ab443e0100c87d0a20d87424c378861",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XCaWlGdafh2lqHunOlr3XpCy",
  "output": [
    {
      "text": "executing move_to over 36 steps (3.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.078, 0.8371, 0.6518, -0.3855, -0.141, -0.1619, 0.9979, 0.0307, 0.8005, 0.5819, -0.3347, 0.0734, -0.5362, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=0.0048 left_z=0.1897 left_yaw=0.1204 left_pitch=0.0036 left_roll=-0.0437 left_gripper=0.9979 right_x=0.2982 right_y=-0.0002 right_z=0.1777 right_yaw=0.2469 right_pitch=-0.059 right_roll=-0.4863 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -2.0581, 9.9077, 1.5409, 0.0757, 0.1245, -0.232, -0.2803, -1.1966, 7.0496, 1.8535, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73817e2905be6170b797f939f3443c547f99eab22827b9da0433b4daf89100f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f749bf68bcdfb2b7822b31ea5fb1b16cdf784af7fa22cd9c9633ebfd08ae47b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a66804fcad3e646fe5ff5c1efa37448e55106d1a54ed4958405ab16c6e25d3f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 3.211 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]: [-1.0664, 2.1544, 0.5697, 1.5562, -1.0843, 0.0216, 0.0087, 0.0307, 0.7948, 0.5819, -0.3054, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.3211 left_y=-0.2511 left_z=0.0825 left_yaw=-0.0202 left_pitch=0.5545 left_roll=0.0766 left_gripper=0.0087 right_x=0.3015 right_y=-0.0001 right_z=0.1855 right_yaw=0.2464 right_pitch=-0.0246 right_roll=-0.4935 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -8.1709, 3.5897, 1.6581, 0.0415, 0.0611, 0.7448, -0.0205, -1.1145, 7.0632, 1.8144, -0.022, -0.0366, -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]: [-1.1236, 2.5343, 1.3437, 1.2217, -1.1519, -0.0235, 0.9968, 0.0307, 0.7982, 0.5819, -0.321, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.376 left_y=-0.4026 left_z=0.0621 left_yaw=0.0529 left_pitch=0.5811 left_roll=-0.0401 left_gripper=0.9968 right_x=0.2998 right_y=-0.0002 right_z=0.1812 right_yaw=0.2465 right_pitch=-0.0433 right_roll=-0.4894 right_gripper=0.9986\nstate[joint_eff]: [0.8821, -10.5641, 4.4103, 0.6325, 0.1148, 0.4567, 0.0269, -0.335, -1.4154, 7.0496, 1.7753, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.078, 0.8371, 0.6518, -0.3855, -0.141, -0.1619, 0.9979, 0.0307, 0.8005, 0.5819, -0.3347, 0.0734, -0.5362, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=0.0048 left_z=0.1897 left_yaw=0.1204 left_pitch=0.0036 left_roll=-0.0437 left_gripper=0.9979 right_x=0.2982 right_y=-0.0002 right_z=0.1777 right_yaw=0.2469 right_pitch=-0.059 right_roll=-0.4863 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -2.0581, 9.9077, 1.5409, 0.0757, 0.1245, -0.232, -0.2803, -1.1966, 7.0496, 1.8535, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73817e2905be6170b797f939f3443c547f99eab22827b9da0433b4daf89100f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f749bf68bcdfb2b7822b31ea5fb1b16cdf784af7fa22cd9c9633ebfd08ae47b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a66804fcad3e646fe5ff5c1efa37448e55106d1a54ed4958405ab16c6e25d3f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPoBZYznorYjlKKlYc6LJRYldsI3d6V3d9z01acPq1NuC4VDbVnS3aJ8a3pLuRGlpgVlJXs8vfJcIQW3grAIk6VTzybnUZUUGb16DAXDuGpQTO5RRE96Oyml4qkHgEu1n-PqCM6bh215bvMli-6IWjQtW2AKsJyi056upPICLFhzriLNh3g1472hFHMgIjj3LOLC0fDexHFptOEQ4zauWL8GgJ4jhKN9gjiJhe2d4euVkTFO2B1sz2bitkAe2qC4OfPggS1toyvMIhMvZpF0Q_iPp1AQEZE_qshAGFYpwLbykTfftIt5mOkyWN_htBjKUHLo8klxT1DmT05j8DZRSxKFuoAFKlJ0RJn5mT5ZnHm6VEnli6zvZjYX4sc30VEM0mLsW95oW3E2SoRJRnuq1iw1OeILyk6HoNv-2ORxPPyETGZaEH9gkpyneQcHo5cayEGN4Q55n7dzgL-Ur-jl1TRbI2zyzBW-2s4oTL4I5FKLDhOiKTd5ojw3uSTuQw9LRbJnIT-bTI6jshn7_71UbWc52c-NpgZnNOE-JwfxqlJAg5Ni3fUAUwYiHZHhnajUuVVWogY_caP0MOyXnQo-djLSoiiryelZv6Co8M-5qrc6ATT_ALvZQq-Oq5wN5fz_DIjZY6je6fyFRfFZCkXeN2o3GlJcEmiBx1C_uc8r9VzXt5Obuv1t_OYbTQnfG186qKxkxlPu_FbCjCyy7hPC5w302ARD_RT1j5CayIIVHe3y-mMDxQr9rrz8SjE7b6aDLlVW0wVCaC9vvEXjYWoMTAsuI55Hie99rVb3Qhg-d0kWqIdQggPTJvK1Zgx6uK82KupscjqbS7wPs3jz-8d_NcuHxPVX5025jvNcJUNcF6IxZmnLfk4DbTSV342JpY88Igy-D8eetqqNxpUg1NSUfPvx47d2R9JVyYLSMGkJfd1slKYov0gojqctCVf4p4ROFFsCD5CZavs7rNo3C5SygXbUOZCUyvGue-NuLFx_vQ2mcJY1C4qwxrgn4wmfH9vTzaaQp1Y8pSE5A-IYkxN0v_WLOGcr1PkV9_EeMpM00yqKRbUOZdtzSlQ3RfgmHqHvKspjLpIyid6RIPlxZRqp5sYyHy9K4zZBobwf8utRT0QytW_bYPwaZ8-itUHhqQkYJ3A56Lfm3H09qdsXT_dRMWEx3yaCe_f7rC0AZciC3PuZdqRSQOr40pIgUUWw9-lHR7GOMwcJ8cvyBrKUGI0vIv9ztoxMd3dDBJ4J7KHN09Ks8SjtcF1dKzFzI6LIWwrzWZ3iFGDWtxwE6faQTELlni3zS09s_JcWDn6T2Gu1y1eE-5H8wvuENDmv-1WXiCxat8EUTkyOVAyCv98jQoynRb5rEMgDFXwKqZ8CCcib5Mykuz38o0hyra42m9zcY7orbluI6l7c6Hda-7abKJusBp1ct5Oz0zRGlTC51hZUKE6dwUGcbqZnyaoaqAAXM46LADVSr48s4D4RJ6WjIwLbBLMl_zoLjSx5huGwdOaogZKE5Mc_tcGGF01fv75i-bv321G18kCV6iwkpxyjCT_iCZgdjtftL4tKRxzetvyj7KsgQ8D6wkAB8nH_M1xm9aS3jTeq0glToc1QDlCZFgJvXcl2G_qBDb0gLB05u6ciA-Yquvk9Z-eK9VMEBj9ADghBiXOfQN60bzbvmCETlWjmDfflBgGnlrp1i_rD7nHea7g9gLN_eGXQTxaEqZ5ANTGaf83gl-V8-aKfkWTYMNnd4KQGBNtVMc1-YWj24CBOTe50FySWXssy7jXDD5guGrHogdARn-JJPhHCd_oFkNT6yat6BUDbQ-Kcm_gZQaSM9n-32_B8VdFZWnNJ2D-YtWny9xAegRdY3K7HucGTGBQ787GKN7uZmmY9kgfwuikQWgaAYsLxS7bxxjzrq3HRFgClO7eETP4QUXcv3mViS-SKU-CEc76ANlutBmO6v9GzdiZmpEIPXdU1IcPUsXBiwQQDmE9ClYaEIdho7VG9v06b27RX5ElQ_cZtlzpXxR0---ZjGA=",
  "id": "rs_0664fd631a42552f016ab443e5c2f887d0b530fbcf582ff438",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.2,\"right_z\":0.05,\"right_pitch\":0.6,\"right_gripper\":0.0},\"note\":\"With both arms clear, the loose yellow fruit is directly below the blue bowl in the overhead view. I am placing the closed right gripper low just behind the fruit, ready to push it forward and slightly right into the bowl.\"}",
  "call_id": "call_NMn2nWf1OldplppuCbcNHSfY",
  "id": "fc_0664fd631a42552f016ab443e7820887d0a28bb22149a844e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NMn2nWf1OldplppuCbcNHSfY",
  "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]: [-0.0772, 0.8448, 0.6525, -0.4015, -0.141, -0.1642, 0.9977, 1.0447, 1.9064, 0.3847, 1.5326, 1.0332, -0.429, 0.0097]\nstate[eef_state]: left_x=0.3012 left_y=0.0052 left_z=0.1846 left_yaw=0.1224 left_pitch=-0.0189 left_roll=-0.0411 left_gripper=0.9977 right_x=0.2987 right_y=0.2194 right_z=0.1216 right_yaw=0.2688 right_pitch=0.5189 right_roll=-0.4882 right_gripper=0.0097\nstate[joint_eff]: [-0.1709, -2.1675, 7.2821, 1.8535, -0.0513, -0.0171, -0.0269, -0.1436, -5.8051, 3.2205, 1.8974, 0.1441, 0.0073, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4869577a05c1ade9ecb02867b1d02bb2e5c83740a391290cc76e43a05a74bc59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15223c073ecdbfe34ccd8e823571e29aab54695896679405ff92e13afce5a015",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68880be5498b0aaedd9275b419eb9e0bbc64ac6e51b7e854e93418fa59e4d707",
      "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 34 attempt 0 · /responses · status 200 · 4.929 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]: [-1.1591, 2.1235, 1.2915, 0.4885, -1.1618, -0.3168, 0.9965, 0.0307, 0.7967, 0.5819, -0.3191, 0.0731, -0.5362, 0.9986]\nstate[eef_state]: left_x=0.352 left_y=-0.3922 left_z=0.1489 left_yaw=0.0158 left_pitch=0.4345 left_roll=0.0209 left_gripper=0.9965 right_x=0.2999 right_y=-0.0001 right_z=0.182 right_yaw=0.247 right_pitch=-0.04 right_roll=-0.4903 right_gripper=0.9986\nstate[joint_eff]: [-0.9231, -10.0308, 7.1453, 1.1209, -0.1197, -0.0611, -0.0415, -0.1162, -1.4291, 7.0496, 1.8828, -0.0366, -0.0415, -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]: [-0.078, 0.8371, 0.6518, -0.3855, -0.141, -0.1619, 0.9979, 0.0307, 0.8005, 0.5819, -0.3347, 0.0734, -0.5362, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=0.0048 left_z=0.1897 left_yaw=0.1204 left_pitch=0.0036 left_roll=-0.0437 left_gripper=0.9979 right_x=0.2982 right_y=-0.0002 right_z=0.1777 right_yaw=0.2469 right_pitch=-0.059 right_roll=-0.4863 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -2.0581, 9.9077, 1.5409, 0.0757, 0.1245, -0.232, -0.2803, -1.1966, 7.0496, 1.8535, -0.0415, -0.0464, -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]: [-0.0772, 0.8448, 0.6525, -0.4015, -0.141, -0.1642, 0.9977, 1.0447, 1.9064, 0.3847, 1.5326, 1.0332, -0.429, 0.0097]\nstate[eef_state]: left_x=0.3012 left_y=0.0052 left_z=0.1846 left_yaw=0.1224 left_pitch=-0.0189 left_roll=-0.0411 left_gripper=0.9977 right_x=0.2987 right_y=0.2194 right_z=0.1216 right_yaw=0.2688 right_pitch=0.5189 right_roll=-0.4882 right_gripper=0.0097\nstate[joint_eff]: [-0.1709, -2.1675, 7.2821, 1.8535, -0.0513, -0.0171, -0.0269, -0.1436, -5.8051, 3.2205, 1.8974, 0.1441, 0.0073, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4869577a05c1ade9ecb02867b1d02bb2e5c83740a391290cc76e43a05a74bc59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15223c073ecdbfe34ccd8e823571e29aab54695896679405ff92e13afce5a015",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68880be5498b0aaedd9275b419eb9e0bbc64ac6e51b7e854e93418fa59e4d707",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPuk6-yEvNIcfBqhEqFxk8105WGYQ61OqDPTr4I7wyvUtNhk9ATcUzeaP6G1KIQTRkiXNBEA3QKeFA1A5j_Y330ks8__BI9QZAhHYgnTp1uDYsWqMMLqmOkKbAdugKMPf8TMV4scPHFBCVQ4G0UoqrxY7MHxFahE6Mi-NkEcpbTSPeb0gv8NQzhuuD5C4EXxGuIwsLbdoImDvwWMlvBvnycN1Ta_x5IGqevF1f5bxz_8H4pKDRK9nRuhmMQ0MXU8feKhUtPG8-TaiZJqR2dRQR9aKr8ZegA8aoMwZtKMTKb8vkaiG0aqUqdAhPlWv5wIyXfz-9XXJToc3JtLjuBem0PVlKXURiJxd-e6o1kEoN3xVzdqBdK-6652kmHuEjouUJTuu72665LdtrxSngq-ehygPsuxDqRyUuIDJpScbtlKcQTrj_oEgUaIKLUBcTO1DxVu9MSyZfRDdQVpv4db-6YX19XIjZv9hsefF3wwztYmGP111RuNob7IpC53sXo4_7rNVDSjWnqeWgespA9LZqATsT0WaggQnlz_4_ari64_mOb16tX9uUL3KWu8TGnG7oK6dQBK1eoZ86KkYfdlbuac1V68CCVvLuVVB3-OV07da-wcJZ_5MPYjvcp8R5zkHV4zV6gtZE4H7G_DgF50yP_ZZDkUZmw5eSmyoD_ukaQG2cLrUD1dW2iC2qDdXKXa2C6755vmFe_Sd7RRlo1m56mjHPUW0i0FsE1FO2EzQD0JW0RQsAvbuiSTg4e83L7lAUAIStFTHdtmC-Yg40c6cIJ26s_jVfGY-nOTb8Nv0-_mLJYWUjIeTGY6jq3NEdRI5ZjgHa2yFYjDu74wqUxN5IPKpjv7YgVpWRX2GS_rWOuSaQpRHwLUfvTs2WtAk4m9tgcS7f26h6li4xBvzX71vProslxeELAyY0Mp2E1b5qXtb3CnvPzOtaBSbB9G5OoB3FSqNZJ6Td6DM6Gc4qj9m8bjOSVG7euPfw-gV5HcJioDmG2LuBQOhkF1sbZDgGJl6Y2Kwh8Hfrt19LXQL6rh756VLBUzaCWLIQIjxEQVyMVvocJJB9mdRtGcapW7fKKoi342SCdlHTo1IzYcafUFEMVL2p1yWCX9Gd3Bl0U1I6q7kVHFkYK37yJWwBJuVuZLN7sY2awgsA7n3Bfm2dAjD3GL9MBMGdJTT3bWTxItv919qLMFQnXHTeNg8l-G14suzlQDZMMquSwR1-iaKC-bAvBa9TTRUOPJhz1jKQA07JxEWfP_l9HUPj8sCC6hD4-6SFEGaU8nztYL0I8q_UIMbV7Ylnak0XIz6kEdVch-fX-S5gSvU9ChlrlhVpcbdN5kOk_tX2cZDhuWOuD2O22zpakbLfp52iXFWDhq4mbIQBeEsGcpKY8L8JJREWLVUMtbrkC2NficZsRErlqzGg7lRXr0XVDsEd7FMEFJtTVJVQuK0EFauFV0VKRSL-oUT0qKjHvN-X5a4vwvTN7Pje1Tbuy6BCPhtx65KlTPDqMgrumS2f7tREViIRB7xDRoIk1EYTMOD47tv_edFIP6Y2OQ0j1eT1kbkavRGy019JQEIxJnw0=",
  "id": "rs_0664fd631a42552f016ab443ec106c87d0b038ddeb6113ffb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.17,\"right_z\":0.11,\"right_pitch\":0.6},\"note\":\"The closed right gripper is now directly behind the upright yellow fruit at about mid-body height, even though the descent stopped at 12 cm. I am beginning a short forward-right push toward the near rim of the blue bowl.\"}",
  "call_id": "call_rRpdrMbXBgQ4eoOWcHBP5MSA",
  "id": "fc_0664fd631a42552f016ab443ecf5c487d08f2d4debc31f668c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rRpdrMbXBgQ4eoOWcHBP5MSA",
  "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]: [-0.0772, 0.8459, 0.6525, -0.408, -0.1413, -0.1642, 0.9977, 0.7944, 1.8732, 0.3672, 1.5455, 0.8223, -0.4572, 0.0121]\nstate[eef_state]: left_x=0.3004 left_y=0.0053 left_z=0.183 left_yaw=0.1228 left_pitch=-0.0263 left_roll=-0.0393 left_gripper=0.9977 right_x=0.3454 right_y=0.1721 right_z=0.1312 right_yaw=0.2371 right_pitch=0.5373 right_roll=-0.5042 right_gripper=0.0121\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.7509, -0.1099, -0.0122, -0.0122, -0.1983, -7.9521, 3.9726, 1.873, -0.0269, -0.0855, 0.5641]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e8388022f79e5fd7cd8a5ef609bbfeab256f1c702bca806049a870b4707257",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9664095037df7aba7e0091e110d18149b6eebe147c9d775faa01e04d13713d97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8915cf2ab512b99e92670d610f33e6fa02de9d6a3cbdad647e9243bac2820973",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.333 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]: [-1.1236, 2.5343, 1.3437, 1.2217, -1.1519, -0.0235, 0.9968, 0.0307, 0.7982, 0.5819, -0.321, 0.0734, -0.5358, 0.9986]\nstate[eef_state]: left_x=0.376 left_y=-0.4026 left_z=0.0621 left_yaw=0.0529 left_pitch=0.5811 left_roll=-0.0401 left_gripper=0.9968 right_x=0.2998 right_y=-0.0002 right_z=0.1812 right_yaw=0.2465 right_pitch=-0.0433 right_roll=-0.4894 right_gripper=0.9986\nstate[joint_eff]: [0.8821, -10.5641, 4.4103, 0.6325, 0.1148, 0.4567, 0.0269, -0.335, -1.4154, 7.0496, 1.7753, -0.022, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0772, 0.8448, 0.6525, -0.4015, -0.141, -0.1642, 0.9977, 1.0447, 1.9064, 0.3847, 1.5326, 1.0332, -0.429, 0.0097]\nstate[eef_state]: left_x=0.3012 left_y=0.0052 left_z=0.1846 left_yaw=0.1224 left_pitch=-0.0189 left_roll=-0.0411 left_gripper=0.9977 right_x=0.2987 right_y=0.2194 right_z=0.1216 right_yaw=0.2688 right_pitch=0.5189 right_roll=-0.4882 right_gripper=0.0097\nstate[joint_eff]: [-0.1709, -2.1675, 7.2821, 1.8535, -0.0513, -0.0171, -0.0269, -0.1436, -5.8051, 3.2205, 1.8974, 0.1441, 0.0073, 0.9402]",
      "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]: [-0.0772, 0.8459, 0.6525, -0.408, -0.1413, -0.1642, 0.9977, 0.7944, 1.8732, 0.3672, 1.5455, 0.8223, -0.4572, 0.0121]\nstate[eef_state]: left_x=0.3004 left_y=0.0053 left_z=0.183 left_yaw=0.1228 left_pitch=-0.0263 left_roll=-0.0393 left_gripper=0.9977 right_x=0.3454 right_y=0.1721 right_z=0.1312 right_yaw=0.2371 right_pitch=0.5373 right_roll=-0.5042 right_gripper=0.0121\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.7509, -0.1099, -0.0122, -0.0122, -0.1983, -7.9521, 3.9726, 1.873, -0.0269, -0.0855, 0.5641]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e8388022f79e5fd7cd8a5ef609bbfeab256f1c702bca806049a870b4707257",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9664095037df7aba7e0091e110d18149b6eebe147c9d775faa01e04d13713d97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8915cf2ab512b99e92670d610f33e6fa02de9d6a3cbdad647e9243bac2820973",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPzHAvHloHn5fxa2aNUfoTonb_RwfCinf_QmrzVI88UUFBA8X40zFQaiJVRvcuDmqQkxnE3tPpLAlWEaREVGsAYoIiY_d0n3TMi_5xKJDZ0yTbwrvjSpO71ZXtx4UMKiJIUEB12eAW0cngH7zqap_rc-UGg-vJ3WZAY8gFlgptSLX7ehktRTd9QxUO526W0R4II9b2eWauEk9qO4UzcpGeodn6v_ft-daeKOlZJlFNM7ZfjZNGyuMBnMAd4T0IgPeSqE7lU5gDrjeKouSGxS6BuaUqRUVKu1B-G_GwO6vUM8-LYACWhNnboxApTXreCXEGtXuk9D-jq4fTwtMJNSlxaFqajwnEpi3OnllcX0yqJ7Jn5iCUl5EFoChFZ9KGA8t2jQcQAikjty5jswfVEtm5rMJEGevHB8u7jjvzc5cdJy4sc26T_2KNovHVrVCjKJtjnJJz71WQ_PFpW6XAXMHVqbN3urSqXHq3oiWA4Uj-aRzzNdImGADZTqG2dcv-OloUaajYHf0yGbuFBSO50XRKk8w3jYOyZxT5XvR1jAU8U_OsrpZVTgrE8k1EP1_yPjy7lTnIDOV_bPiY28-6ioU7bppFcYlqEBiEOM1ZVRKMJtVAseKRWDzVT6GRimRkKo-8xlKS1VFb2RdQIjdzQ_i5yozPmbZJYXmxjPnhJed1gqUDIHtIsAWZVc4r0FoRLBcnbXJYfSwJbFVIxPffs4PKKxTYfUyzUlIgF3IV9JRV62fBT5MwH1oOcDVyNJlujVGUV8uUYc_Sl2hSgBD_EpxnTUAUuVRwvZmwKoz6XT4AeP261iKJ8n7eVX8eZlghtyj51x79nF0YAdotfzvNlsT3OZy8KftQlaLObtJuZ7PVTryuci7k74griba_exSa0ahSkrasQEuLV303GQTkbR9W-1XvYavDhjxT4Rt4HaABGkb143GcHBzZ4bqFrSZ6chzKzdtXK1GvgzYAA0rACsA7IVA3iKXy8HSEvcHW8Gshv5J8r0xCXQ-Qt2RwDqRBrMY53wmKVKZPG9JwBPgoKPT5ialrRursnDIVenOzX3xyeeFZBDDUjcwQgQpPo3tauA7FhOYzex5q_PeX2JrY-2MZJV3PTif_gfoK9wErVUGKYENB5v48myLbyE1XY0pBe2_sGmwZWMQnBkO4qy7pG2XQY5HMAbXx2vjsqZbZ2ys_VlYjHZ5_qk8hyQQ5pCpBWBKcDVowqT16uA6gPBjwMheCODZ2W8_jUAHwVuwae68k6QN_FiEIJRwk1yTVx-ZElUqML46GPbYyqkqztJb_Om77AsprM5q7_DtQmegD23Ylug7ffCnGxTpf9VkOTt_YDPUGLjkWoveTH48FJUflavEjFfTVJyrCFtwwaj82szweYtIA6WU1x1Y6vsnpXmilmm-eeqlvc2nregvEEJ50PM7_56Mi2G3ZzvlE2SfaSijSPPIMqiby3zgq4N_wg64lj7-5WpsUG1SXD4eHzNTH3rvQPefYF4DxS5jkP-rFTtKJGypryBGhN1WZ4JYpOzHcmgQDcQY_ex_ePL5xVf1-WzmLv3j6xAflWG86ntf0k8vcsMiILL5F2RmgG3t0Y96jONIhI084cpT5ld5KSbWIAIkNfOQzC1WStSM7O5hooGaXrnfdztBGSId2y5zdUfNwiQL_Fu5_N2b-QnbOmEUskyZF8HuXOy5Zrqm76gZP9aeZ3XVuy-NzuE0Q6CP6-rgTJgKiIM6Ndll2Qmg6rbhGk9jmD6uBiQceo5j1kWnVvSEc77fDmAsu8ODKnVC2CETWB4D_-A8ntx5woAUeJqlgg5c5nNpKIR4Mhb-m1PLbKyYm_MXw-2g4824mEYSRJp7tGjZ4Xwyp2NpkOWUuAPLRtb06mrM9lqqpmit4NxzyrMOBJY3EgCKRHPBnPTxFlMLKLx5skf1KWekyP7yqkX6k2sbHjl7GfYgTH06sAU722UaMvPbyRZm_YDud7XWFZJKeZV6TMdduWB6VSgfYVoJLt-noiG7fdOVlPxhplJM3WxaHOlAD08lPWBySN_7YO6vUMw-oXUrTkWD9BgCsSWb6Al60AXL9fYx9M0hUNlkwgZRpLfKVbt83YKThEqAnb83e-jNoCWYSCeKR45WAq6_YXAKsU0FyUYJCs97VewjHif4GmtbbKhDsjwxfkuqLg54YyRYmdoo4a62qbB-nA3_Qe3FW-Zkl99kg-_P_vramPobQyj0Sr0szM26OVul62ob4Y4LDXntOWhQk75a_jB5tjWm2VNcAqWK-FNPplkGT3d4JGhx12OBz9U1HaH6IL7knRmGnRBfRnSXXem7GJ0p90MqH0bhgYPAjhko4m-jVk-5JmE2DLl1wM2brrPFIOSVKpLE3d-AWKkl0lvcI8TiX9iTh3sGgcQQmXOC4bWXDSe2u1VaEkEfXIJmIhNVt8VN1l_So8RSoHH-DSbpJJuqP0MjDZYq-1qcLdLabtGe0PUtfyGe3dqV7b1yYy8MaBiA7d9TMCnjBYqIIn6tTM6lkGnM_X3EbmuWdTzPX1rw8lVxHD0ltGB5V0R_RYaJkRlDy3gmjWNuYDvmkiG_9i_u5HH7IzByFFuxRuqnFuoWbpm6-UJeaYdU_-wqdHlLYa0wsuPzSQJukEC6FXlomWvTU_hoyQTyIJjMIe3vX2BfOs_RQYp0O4_1RxtVcQ6Y7E_h5XxFwybZuQgj9a_9CQiSWnTR-cxSfWc5547gwPMXZAeqOTiC75BtrR0fd_YBbDZvp0_ZSQAAfLoZJYCbAgomNw3Vu0B3D4Bgh5Kut3AlvG2MjYLe8k16YN6_XxB11Sbg7cDixY",
  "id": "rs_0664fd631a42552f016ab443ef8c6087d0800ac8f76aace14c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.12,\"right_z\":0.2,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The yellow fruit is no longer loose on the table; both fruits are visible inside the blue bowl. I am opening and moving the right gripper above the bowl, resetting tool tilt so I can grasp the bowl’s outside walls.\"}",
  "call_id": "call_XTA5hNDUkCcM0ceSCyb4W3zp",
  "id": "fc_0664fd631a42552f016ab443f24d6c87d08d9cf734fc757217",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XTA5hNDUkCcM0ceSCyb4W3zp",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0769, 0.8471, 0.6525, -0.416, -0.1413, -0.1642, 0.9977, 0.3325, 1.2972, 0.8898, -0.1364, 0.1135, 0.0093, 0.9972]\nstate[eef_state]: left_x=0.2993 left_y=0.0055 left_z=0.181 left_yaw=0.1232 left_pitch=-0.0353 left_roll=-0.0375 left_gripper=0.9977 right_x=0.3907 right_y=0.1175 right_z=0.1973 right_yaw=0.2335 right_pitch=0.0281 right_roll=-0.0494 right_gripper=0.9972\nstate[joint_eff]: [-0.1026, -1.6752, 6.9949, 1.7753, -0.0904, -0.0073, -0.0122, -0.294, -4.5197, 8.9778, 1.746, -0.0366, 0.1783, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859ee5671b54c1c0a8b4a9956d9ffc7b658cc461b686b1f5be440d756525871c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d5a17e84ad44c4695272a5813328e8273190a2fd7434ef5d5f7eade075ace0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12397aa87f20f7b131974df0292608e26bd4b78dbc3e13b09f2770833f074571",
      "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 · 4.221 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]: [-0.078, 0.8371, 0.6518, -0.3855, -0.141, -0.1619, 0.9979, 0.0307, 0.8005, 0.5819, -0.3347, 0.0734, -0.5362, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=0.0048 left_z=0.1897 left_yaw=0.1204 left_pitch=0.0036 left_roll=-0.0437 left_gripper=0.9979 right_x=0.2982 right_y=-0.0002 right_z=0.1777 right_yaw=0.2469 right_pitch=-0.059 right_roll=-0.4863 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -2.0581, 9.9077, 1.5409, 0.0757, 0.1245, -0.232, -0.2803, -1.1966, 7.0496, 1.8535, -0.0415, -0.0464, -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]: [-0.0772, 0.8459, 0.6525, -0.408, -0.1413, -0.1642, 0.9977, 0.7944, 1.8732, 0.3672, 1.5455, 0.8223, -0.4572, 0.0121]\nstate[eef_state]: left_x=0.3004 left_y=0.0053 left_z=0.183 left_yaw=0.1228 left_pitch=-0.0263 left_roll=-0.0393 left_gripper=0.9977 right_x=0.3454 right_y=0.1721 right_z=0.1312 right_yaw=0.2371 right_pitch=0.5373 right_roll=-0.5042 right_gripper=0.0121\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.7509, -0.1099, -0.0122, -0.0122, -0.1983, -7.9521, 3.9726, 1.873, -0.0269, -0.0855, 0.5641]\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 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]: [-0.0769, 0.8471, 0.6525, -0.416, -0.1413, -0.1642, 0.9977, 0.3325, 1.2972, 0.8898, -0.1364, 0.1135, 0.0093, 0.9972]\nstate[eef_state]: left_x=0.2993 left_y=0.0055 left_z=0.181 left_yaw=0.1232 left_pitch=-0.0353 left_roll=-0.0375 left_gripper=0.9977 right_x=0.3907 right_y=0.1175 right_z=0.1973 right_yaw=0.2335 right_pitch=0.0281 right_roll=-0.0494 right_gripper=0.9972\nstate[joint_eff]: [-0.1026, -1.6752, 6.9949, 1.7753, -0.0904, -0.0073, -0.0122, -0.294, -4.5197, 8.9778, 1.746, -0.0366, 0.1783, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859ee5671b54c1c0a8b4a9956d9ffc7b658cc461b686b1f5be440d756525871c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d5a17e84ad44c4695272a5813328e8273190a2fd7434ef5d5f7eade075ace0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12397aa87f20f7b131974df0292608e26bd4b78dbc3e13b09f2770833f074571",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEP5Rgo2WONG4qxQF9jNGTjTFi4w79QoOApBrNyVh4JoE_dNHHaagqQxDrBGt6LBjIZA6AACiZZEsPexiWFq_dwD1UcEhbaIHuxm_ZHOy-VXnwJ3EJBtsw9hXGakZRpVcedbR3kK1dt4ga-ATjs6_zCHCa7yLQ_ojmsS8UeB_ebMjnHiWwtcq7rbsnwXpmwRUNGvKAe4K1RQJWDH7Quwh4CkA-g0vkB7AEnoHapI74VR5LBuc9bo-1GzIUj35UJpLMset6yfBjemVYtrzLIZc5McyTwArO68xhT0NaK-Nm1mJWjg2jS0F9V52rwCJwp81EfTZKXf_nFGNjGDqd3dmCkI1E3dQIPBGvnXwvUfgjeo8wkwjmeDsZbdcYhFtBKxMxI8vH0OwEcwdLr4yUsoPVxsnS6uyfij7viSlKk7k6IvLSR9neaiKH_c-akOJn5PLZmvckcYJBYPAoiD1Y7kQdIavLRb-qtME53jYcPugubTehllchKeJ9jl12nfWiJODmIqK7wqEv6Rs219K7KhgOuQ7wvpYVusAOz9JOM1uAhCdWoD4JLJiD77-uDBCGhgfRrdeo75eFXKvQ_nMmh2GpRe0IS8w2UnIZlpT2qtwXoCobaasTrPckOMJV9fWnFqtlm5oiGX2XCooM7tjBoexLCM1kAv4U6N3Uxr9ucCiRlVTH7uL4ZkZy-lgLKgMgJMReI258ltntV9IeSc8D3Evter0AxRRollJJ2q7nhnPYrgqZHCpOHwEQHJWnMCHS12bdqm3BIyKXmYYO5GRTj0BcGRMbOK4cbEiSzZc-MxztsPWUVJj8_b2Vz-b5Eso--IfclbEY9XaXRIi7GAFmY2s922sLbvEmCmuwZaYG_u62ydZe7B9k-l1C4DADBahHgNGBeWAZ3jfs9Vr71MGRRmpfWq-V_hj1c-IOoYsjd_BmNuDdssRanJtfZwZ1XsbUMeufNG6yw9nTZVgUr5mEehcBxU9g5LGbed_qZTQHC_1b6Vqw324ixCK1VGtuPgyNv73ZQIlzC6tJb4Hl9jOGL4MGK4KPdgb4wbpQq2A9PI0Lz6vGd76e7pSDW93PnUaj50sQugNRIHgMRzDJTu7S_EHndvRy2TnhmS3M2iYX8dXMEbl6oXSjm5SmHnABriSDc4guVD_JD34GVQSUoJAvH-dTHNIqI7CR5Bi8lb6iGcBPzduO6AseGO4xWJxN_0XyCDQvI36MzEm4lQwc5cPe7A-eSK8kqSe_8WFJLsQ1TV62AP8zY1wmwz-3QL2hlbTUlWg6JjmXsoimqpmCHyFRjawWBh-8rlAl9cpusJaus0ySFxyhJrcUv3rtw4oV7xR3KVZn9_vYDboAx95tZ8uH7aEDf3xonYXB62UrKmFfpp9XIFamApKU0m9_zJ2vh05e-spXNMudayDSu2Ep6FJTGnvDGJn-ByG-L65fDPBbw7fle-hPRzrzXjA8VGCUTpPtIdSdmi7FXCDtnRxyFrscBGvru24JfKACMP2765a_2bt20WUAqJ08AVkpV2ALBgVnJgNZxidtapMQAaRAxkk33flp8Xpt_GMzyT-kNZndkyvGR7YjhWCTeuJZMk7_GfeWWgs6UdP_dGppID4ZarDVIJ5G03OgSwdsAuy3uEKnR_wdSZXk5RkjRzELH62gukC_QeHit8adsTHeHbVfoRWstb0gTodiQU3mLc1HnoKtPvKeBu3cF-NHsH0bbsKIG-QuyMG0HRW_sxEWXacxVMcmnsgOkPLzI6Pm_ON2hXFlAEve93eiLoIHmj15JUq-2ruWl9i0yUfizeIo-o-ng4nBuJfZGX1U2u2Xz-w5vn6gesBZUNNR7sfKjNcLNtj2zotWwSvSEzJS8eWectbYLVMVhWIuCGqLOq6iAkihZ-Wt6u0Uj1-obJP7ZWkebFSDAgFvIxvPrq",
  "id": "rs_0664fd631a42552f016ab443f6d26487d0ae49154f8a7d9e71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.17,\"right_z\":0.15,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The cleared overhead view reveals the yellow fruit rolled just below-left of the blue bowl rather than into it. From the wrist view it is down-left of the jaw column, so I am moving inward-left to center above it for a direct pickup.\"}",
  "call_id": "call_kdpa7ZamPj9W8BKN0JFp3xrh",
  "id": "fc_0664fd631a42552f016ab443f84a5087d080170f14fa09a7c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kdpa7ZamPj9W8BKN0JFp3xrh",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-0.0772, 0.8509, 0.6525, -0.4236, -0.1413, -0.1642, 0.9977, 0.6731, 1.3266, 0.3367, 0.6941, 0.4255, 0.038, 0.9986]\nstate[eef_state]: left_x=0.2985 left_y=0.0055 left_z=0.1785 left_yaw=0.1229 left_pitch=-0.0465 left_roll=-0.0352 left_gripper=0.9977 right_x=0.3262 right_y=0.1714 right_z=0.1292 right_yaw=0.2815 right_pitch=0.2979 right_roll=-0.0872 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.7299, 6.9812, 1.7265, -0.1148, -0.0269, -0.0171, 0.1709, -4.1778, 6.065, 2.2491, 0.2173, -0.0122, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:632a91a51884e5402fa49b7d299bdfff90b188b6d05646fd47aef87582298915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8682c3b6301d738357afb72ee4d03960d20d5e007a424e66b8e5e144c48fef19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d0b2c2e2fd379de62b0dee4d55cfa0152a223cb741fb85fba4c03521a4b019",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.109 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]: [-0.0772, 0.8448, 0.6525, -0.4015, -0.141, -0.1642, 0.9977, 1.0447, 1.9064, 0.3847, 1.5326, 1.0332, -0.429, 0.0097]\nstate[eef_state]: left_x=0.3012 left_y=0.0052 left_z=0.1846 left_yaw=0.1224 left_pitch=-0.0189 left_roll=-0.0411 left_gripper=0.9977 right_x=0.2987 right_y=0.2194 right_z=0.1216 right_yaw=0.2688 right_pitch=0.5189 right_roll=-0.4882 right_gripper=0.0097\nstate[joint_eff]: [-0.1709, -2.1675, 7.2821, 1.8535, -0.0513, -0.0171, -0.0269, -0.1436, -5.8051, 3.2205, 1.8974, 0.1441, 0.0073, 0.9402]",
      "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]: [-0.0769, 0.8471, 0.6525, -0.416, -0.1413, -0.1642, 0.9977, 0.3325, 1.2972, 0.8898, -0.1364, 0.1135, 0.0093, 0.9972]\nstate[eef_state]: left_x=0.2993 left_y=0.0055 left_z=0.181 left_yaw=0.1232 left_pitch=-0.0353 left_roll=-0.0375 left_gripper=0.9977 right_x=0.3907 right_y=0.1175 right_z=0.1973 right_yaw=0.2335 right_pitch=0.0281 right_roll=-0.0494 right_gripper=0.9972\nstate[joint_eff]: [-0.1026, -1.6752, 6.9949, 1.7753, -0.0904, -0.0073, -0.0122, -0.294, -4.5197, 8.9778, 1.746, -0.0366, 0.1783, -0.1245]\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 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]: [-0.0772, 0.8509, 0.6525, -0.4236, -0.1413, -0.1642, 0.9977, 0.6731, 1.3266, 0.3367, 0.6941, 0.4255, 0.038, 0.9986]\nstate[eef_state]: left_x=0.2985 left_y=0.0055 left_z=0.1785 left_yaw=0.1229 left_pitch=-0.0465 left_roll=-0.0352 left_gripper=0.9977 right_x=0.3262 right_y=0.1714 right_z=0.1292 right_yaw=0.2815 right_pitch=0.2979 right_roll=-0.0872 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.7299, 6.9812, 1.7265, -0.1148, -0.0269, -0.0171, 0.1709, -4.1778, 6.065, 2.2491, 0.2173, -0.0122, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:632a91a51884e5402fa49b7d299bdfff90b188b6d05646fd47aef87582298915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8682c3b6301d738357afb72ee4d03960d20d5e007a424e66b8e5e144c48fef19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d0b2c2e2fd379de62b0dee4d55cfa0152a223cb741fb85fba4c03521a4b019",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEP-0G7xLoJwK3Nqfv07aG8XrhB6k_aQZ_ODhpWOm7WY7UwnsL91XDZAM7kaljLZCfnP6DPTp_vVJcU3_WfUZfT1JThie7gXSnpOaYJyzEZAWixXDObg1w3eUpvFHx1in1UV_C3eotCm_kmTJZdpms-9hEH-bTd-dln1yDpuDpv0eXOOr5QIfh5t32q6cy8vA3lN03gOa5OlXx4ASUc0dS5GBm1UbYiNDDsjvEVQJaTgwP25lG-bgOMXQlfwGea3ffxbfZBnWU38OpaIIrsBmO245zMLC16hOmdLUMq-JyjYiBRRJuBbmiXIih78xX7n8xou99q4Z2fCXlWmD_8P_h1fEwCh-I8gzSvSfwin2GEEz-CvL9VjNifN_7owbkZFDYtAWKFs3VPgnBok8d1aKD362tcNlq759xXJJxN0577lfq_IjuW6seLL0TLW7Tjc_c9_Bl2mt_S82BmoypO8X4A3AdAAAAB3PVo2oF5EfaZ2BMR4uQi4ZWnEAexZQRwxzUCNXBdUhAT9VPgb1I14X9d3ZH_n8vRVmdfnd1UDVEZVi-hSHdstnyIJRkqGRbmhM1Nw3aqkmaHvVccML7hbB8g4NxdV2rdJiFy6OnR2740p_JrZ_j3Rbul5-y2OWI6LzmEmUuaU71-GEAfKXv5hvRWCqF9J5dnDYJUgANSwJ7Z7wXA1ii2vjYLn3fwhfLnLvCxscBhfqnsjWbvIIpLWnubULEyUaa28IB4AWPsOb1md4Sd6WI1yG_kvWJRnTKKaxLRYaBbdWCSuST3jo544CA44zK8YTa75FrXC0MKIWDVVY_pTIeUTo_dvcoRh4DzvS1g8wWwhX2qJ28f_CmigPVBd1nHTpiEmlv-iwrL7kqMB2KhS_YFO69TFHtGeaxITNGcSpbkpdBaY_kuYtyCwmz-6w2VaBpQn-7xQlUq1h_4TO3O2poq_iox7owyY1J05jfvFuXprQnXiW2z8l_ETyIikT_ZKFN03Iee_izZoxAHtzYzbeJhOpkoG1sgb6O2LRUd25C6P28ky8P8Wl6LCGRlOOaoULi-mEe1IfVZDTIg-G2COq9JiwIEWFiM5kM9Yfksf_9MU76w-ERGsRvm4g1sntNdAmk1iSAU2jamqa13l_WdvETIj7cLRu_rhTaWiHegLrnLjbqHPoh2XD6K8u-QFVX0boFXkvwOY9viaokNl10WQTDgc9z1aDobmiexjwXkXK3VYeTKAMLX5FXzlTEwADPqa33_py3B5xdhsk5MK0duc2ocBoC2vRyImgd-PQfcwwLljtHuAuWPagzdmtkoyrTbFpiLFdG012TFigBozV2pNc8UPOSpvy1OGLS-98ogNkltynImAfuJApLL0nfI8IOHouuABJydzTbeYGXzPK8LcNArfcibOk1dUtld_bP7S_EqGNZaLjn1BF3VcLhmKDX7bqQBjIQk0vpLS0ly5-M-myDNarXHGqzPGrQ-lM5YTEcRhYbFGP3qZRJ1PO64_sm1JdMNlHKA8NbtSviIW7h2eHaMj2i4Gnhwzys84XrPupERsaoYmmvBafMJxqSZodDp1fXRfW5-kC8TSMQ3xPSnWX36u9517fs5aYJfjUgQe1XV5FZeLaqS3_25ybaSlfwpeq8EVMjqC6cPPP4IVSznwe9n8XvMCHXqNfRiDSV2K6bZbV4IFADTeVZJJ60GnMZXoIDcw2RaZ2SvMYdNJlxiGdBdO6JErfzqTzenO1cdObIKG0_h_7H6hO3qtAwruax8rLwnkCHwiyrv8ftRNcn_eFsxFHiFzlb8FDyz0W9li",
  "id": "rs_0664fd631a42552f016ab443fc244887d097898f14b9e8253f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.2,\"right_z\":0.12,\"right_pitch\":0.5},\"note\":\"The yellow fruit is very close below the fingertips and about 25 pixels to the image-left. I am shifting inward-left a few centimeters to place it squarely on the jaw column before descending.\"}",
  "call_id": "call_UmxXgScSuJvVHSs75FZ16xCO",
  "id": "fc_0664fd631a42552f016ab443fe349c87d0b724f8226f3f75de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UmxXgScSuJvVHSs75FZ16xCO",
  "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]: [-0.0772, 0.852, 0.6525, -0.4244, -0.1413, -0.1642, 0.9977, 0.8631, 1.6585, 0.2249, 1.2285, 0.5961, -0.0082, 0.9986]\nstate[eef_state]: left_x=0.2985 left_y=0.0055 left_z=0.178 left_yaw=0.1229 left_pitch=-0.0484 left_roll=-0.0349 left_gripper=0.9977 right_x=0.2989 right_y=0.2023 right_z=0.0967 right_yaw=0.3315 right_pitch=0.3949 right_roll=-0.1323 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.6615, 6.9949, 1.6581, -0.1148, -0.0464, -0.0122, 0.1846, -5.7368, 3.412, 2.2198, 0.2662, -0.0562, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e893dd3c1159aea72b2ea9ea9675d91aeda627346a618176f0b555895f4a91d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7fe1e53548122cda447f006f2ffc12714dbd2b7d5caad855873a61116d3416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:638d6a97beb51fc8c04a754bf75bbf6327c34acfe7e60d8676a8e73e0c0531b2",
      "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 · 3.485 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]: [-0.0772, 0.8459, 0.6525, -0.408, -0.1413, -0.1642, 0.9977, 0.7944, 1.8732, 0.3672, 1.5455, 0.8223, -0.4572, 0.0121]\nstate[eef_state]: left_x=0.3004 left_y=0.0053 left_z=0.183 left_yaw=0.1228 left_pitch=-0.0263 left_roll=-0.0393 left_gripper=0.9977 right_x=0.3454 right_y=0.1721 right_z=0.1312 right_yaw=0.2371 right_pitch=0.5373 right_roll=-0.5042 right_gripper=0.0121\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.7509, -0.1099, -0.0122, -0.0122, -0.1983, -7.9521, 3.9726, 1.873, -0.0269, -0.0855, 0.5641]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0772, 0.8509, 0.6525, -0.4236, -0.1413, -0.1642, 0.9977, 0.6731, 1.3266, 0.3367, 0.6941, 0.4255, 0.038, 0.9986]\nstate[eef_state]: left_x=0.2985 left_y=0.0055 left_z=0.1785 left_yaw=0.1229 left_pitch=-0.0465 left_roll=-0.0352 left_gripper=0.9977 right_x=0.3262 right_y=0.1714 right_z=0.1292 right_yaw=0.2815 right_pitch=0.2979 right_roll=-0.0872 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.7299, 6.9812, 1.7265, -0.1148, -0.0269, -0.0171, 0.1709, -4.1778, 6.065, 2.2491, 0.2173, -0.0122, -0.1587]",
      "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]: [-0.0772, 0.852, 0.6525, -0.4244, -0.1413, -0.1642, 0.9977, 0.8631, 1.6585, 0.2249, 1.2285, 0.5961, -0.0082, 0.9986]\nstate[eef_state]: left_x=0.2985 left_y=0.0055 left_z=0.178 left_yaw=0.1229 left_pitch=-0.0484 left_roll=-0.0349 left_gripper=0.9977 right_x=0.2989 right_y=0.2023 right_z=0.0967 right_yaw=0.3315 right_pitch=0.3949 right_roll=-0.1323 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.6615, 6.9949, 1.6581, -0.1148, -0.0464, -0.0122, 0.1846, -5.7368, 3.412, 2.2198, 0.2662, -0.0562, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e893dd3c1159aea72b2ea9ea9675d91aeda627346a618176f0b555895f4a91d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7fe1e53548122cda447f006f2ffc12714dbd2b7d5caad855873a61116d3416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:638d6a97beb51fc8c04a754bf75bbf6327c34acfe7e60d8676a8e73e0c0531b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQCqQn53k3H36QGEP-73LW2Fk6lRwiXrYSmZ3OMGhbqC9XAk-UekB49F-8GXcldVPcUj3BDoIJBkfJAZCRfZsQDIF5FYbzV7nPalweM7QCj8gFcKKCWaId25PUVjDdi2E66xILcymXIH0KEvK_FOJX5jci_N7qmDmiUg_fdhich1m4hbhJgqVatfUKz6S2IFC27Ah_4CJPbLblpl0DtuwglI4cI5p3igQt5HDVTliTdcdNd-MKwt6EBWaHpw8yEO-5cQ1lD7CqmocDmn1BgM4If308l7uqVOTVG39lonEBg5-cg93UqC76uNQIoLrdQh3PY_IW3gNQDn3oHfXiAyQOjDKMkXrMpORprUZE7DH4RCLz3ZUa56h_VpMO6qFxKzu_Ko0a6q0bDRGgQRrQ_ltg_sBJqBstGK9WOzTzMnlUvjwqZNd2K-U7AHWsfvqsdUqq5NAudia4euU6F0vtOZMRdot8BS02PZr-gUCWpddpDm7dFgCcdjGolC6yA3Lm9UCrtfciRvIm8Kn440N6ZjC7pwpUMq-0045dXeuwpo7oWsnt7xBDAc4P9BQ6MzaCJsBuAWI4nGo68glFYm2fS_o-i2-6xb9pZK6PpbfM-JS91XUW3a3ML3hGRXo67gyxBADY7lW5JdHpQHqkPxez1BeharneeBsHaOJx49MuU9EmV270shlaMweOGaiNC24g-WvQUvsNwZY8YzaeVWArL1nUrOpIKNt2KftxDXxF2xGzRGxWC1JGYYMqJLlHTxONk3CrLQjlqR5IF070VPNz5xy7cxlnbkhzei-PD-Nfe8tM8M-WfXKVb2XyAaOseIBDGTm2w7NK8cdZCZY6yrUCOr1pVo9nxxF_vv2mugl23M0mEubeMaqctTTkleiqdYv3trdln8qlpp8QuycpTayIXb3KWHTl7JqcJYqpU7rtz-wn28m2U_aBPbtLU0hShfp0HCNoOf0wJmXH4THGuiqjiMSKdKbOjNTmsUPHH8yd4-QMyf7ZvQFtdGWncdgG1gz6HJOV7pfuesBsOJKhqCPzAFTlh2nC_QSlrAyMxbFI9gL0Jz5hogTJO-cqtoncaYELME92KS0sL_kEmJoxM9p7RSnlI_TSzd1TeJmt6PzgpjiK4lG8njAk4SmpZRYB7WYclu2FUuUCO4VyBc4s8dytMkFg5Zsf0lfSyehNKhvRxK5ntA_b3lsekFKDCBxbIWYam0JcJdsiVSRK0LNXGlo03me9Vt-5GJqW3M6qzBrpfoAVryt3H1naBNzAoRYPNWLQVZIx7zRa6bJ2K90MfmPJDe3PcG_MmAELJ_OHghoHXgWls8Q4dntq3TDTMj1KgLF5Q7BxfjJsdusWnOQx_qoRlbVRvr18mCXIXJU7CnmiyCFJ-FUOevVAXC8Rc7w44CT-4a5lImrTkJYcprYGf6dmBQQkypbxpUZtohq9Q45mXHwrj7DuEI0MYuxtWT6u9dazoysayUFNT7p6aOSyafoaLbsjXbrHCpYmB_bQfSf821j2_nY6B2ixa9Ed821EO4sAQH_QQRcJtMx2VM5QYJ80uxeKI8qkND1H7rg8gRhfGDYbxWXXOezRCGAibYVsYDd3vW_b_UlJ8I7MwWwZzEUS6m6e0-atE46qZNVzjtbK1CvGuAGe7ZMlVzTepBkDKPcdEGVQ7S39A_NGDedFS-DEo_6DqFGgteQstRSjt2UlFSfp5Az3oQu2A6mZ4PYmmFV5t8g5rk5bSGMzwwQuMe3ssmuj1xoz8s_AtngVKGraouneb5qhp2z4eT1TQczdJWA-0xeWGkJjSJAihCRBuzuRbhNbOdQ==",
  "id": "rs_0664fd631a42552f016ab44401352887d0833ad2a6cf59ec35",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.17,\"right_z\":0.11,\"right_pitch\":0.5},\"note\":\"The overhead view shows the gripper center just left and slightly ahead of the yellow fruit, despite the rolled wrist image. I am correcting from the overhead geometry: a few centimeters right and inward.\"}",
  "call_id": "call_R1JNtxm8HYvXa6LU83rduVhi",
  "id": "fc_0664fd631a42552f016ab44401ceb887d088302a16462e6677",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R1JNtxm8HYvXa6LU83rduVhi",
  "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]: [-0.0769, 0.8547, 0.6525, -0.424, -0.1413, -0.1642, 0.9977, 0.8734, 1.6619, 0.0422, 1.4433, 0.6132, -0.0528, 0.9986]\nstate[eef_state]: left_x=0.2987 left_y=0.0056 left_z=0.1773 left_yaw=0.1233 left_pitch=-0.0506 left_roll=-0.0344 left_gripper=0.9977 right_x=0.2701 right_y=0.1696 right_z=0.0899 right_yaw=0.3458 right_pitch=0.4175 right_roll=-0.1675 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.7299, 6.9949, 1.7411, -0.0952, -0.0269, -0.0122, 0.0205, -4.0684, 3.7402, 2.1319, 0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c02bf03bc93d0f9bb80f4d76aada3e30a352782959c44a5833234cbf7e99325e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b07b644ab121ad92d8c1f018827f7d9e6bd209c7ee11a0504e7fad7b62e2ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ecc28af977ad15f4114643c87e00472b4957a23aa85b4fe802f6caf67597e58",
      "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 · 7.266 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]: [-0.0769, 0.8471, 0.6525, -0.416, -0.1413, -0.1642, 0.9977, 0.3325, 1.2972, 0.8898, -0.1364, 0.1135, 0.0093, 0.9972]\nstate[eef_state]: left_x=0.2993 left_y=0.0055 left_z=0.181 left_yaw=0.1232 left_pitch=-0.0353 left_roll=-0.0375 left_gripper=0.9977 right_x=0.3907 right_y=0.1175 right_z=0.1973 right_yaw=0.2335 right_pitch=0.0281 right_roll=-0.0494 right_gripper=0.9972\nstate[joint_eff]: [-0.1026, -1.6752, 6.9949, 1.7753, -0.0904, -0.0073, -0.0122, -0.294, -4.5197, 8.9778, 1.746, -0.0366, 0.1783, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0772, 0.852, 0.6525, -0.4244, -0.1413, -0.1642, 0.9977, 0.8631, 1.6585, 0.2249, 1.2285, 0.5961, -0.0082, 0.9986]\nstate[eef_state]: left_x=0.2985 left_y=0.0055 left_z=0.178 left_yaw=0.1229 left_pitch=-0.0484 left_roll=-0.0349 left_gripper=0.9977 right_x=0.2989 right_y=0.2023 right_z=0.0967 right_yaw=0.3315 right_pitch=0.3949 right_roll=-0.1323 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.6615, 6.9949, 1.6581, -0.1148, -0.0464, -0.0122, 0.1846, -5.7368, 3.412, 2.2198, 0.2662, -0.0562, -0.022]\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 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]: [-0.0769, 0.8547, 0.6525, -0.424, -0.1413, -0.1642, 0.9977, 0.8734, 1.6619, 0.0422, 1.4433, 0.6132, -0.0528, 0.9986]\nstate[eef_state]: left_x=0.2987 left_y=0.0056 left_z=0.1773 left_yaw=0.1233 left_pitch=-0.0506 left_roll=-0.0344 left_gripper=0.9977 right_x=0.2701 right_y=0.1696 right_z=0.0899 right_yaw=0.3458 right_pitch=0.4175 right_roll=-0.1675 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.7299, 6.9949, 1.7411, -0.0952, -0.0269, -0.0122, 0.0205, -4.0684, 3.7402, 2.1319, 0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c02bf03bc93d0f9bb80f4d76aada3e30a352782959c44a5833234cbf7e99325e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b07b644ab121ad92d8c1f018827f7d9e6bd209c7ee11a0504e7fad7b62e2ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ecc28af977ad15f4114643c87e00472b4957a23aa85b4fe802f6caf67597e58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQGJ5fRCjpdpNan3eTjLP8dxCiXwOVoxweW_bLZSa0luzE7oFFdAoQVcf_suWklhqcMMF_muSwOc3kDY4lL4w6xgzJOzmO1E5SgaXMsdZOTyB53JyG4MvdySkJw-Iy1IJiw5FmURzrZvnyAh6Rd-pKOeGJMx6bp1oU741UGvstjhaadQ1Y1CFukpWxQ9wLGrWKxtJUDS234hmLXzh3dwZEeIWJl-iT4rgYqpS6RWgV2ArfYnIYU_SZ2ooDotaPo1DTacH3eoLV_-AdrUM9nJ4JoLjBhGC81n5CnJKpBo2SYg_wJp5PQ_cgEdYtLTXGT-74ZL8MJaJC_Ge2YxjSWOnBe5KXF2bIIT4UqtvMakIG9UUVXZcxzuIS1NG_zhygxi94DeRO-9b9gRUMHUolLE8Ql9m5o9TF9TboBka2lfwTN8SC_4PSNxmPH1ecS5AM_j7yeinVLoqhdwR6HNESD6VlAhdOQu7vGWWz2lfomKwvJwrf0CpJ_so76gVLEEfaKUc6B4IO6HeQVfByXnSMw5LMcbIHQ1USQRQXEG3jWKG9Vq7vutwlE2SBX5huwbMsQcNjE9QBNITHih_tapvn72B6mrU0hkukBwgww5fWIzDB5hqhNrYQj4RmAQYyQ0aIlsHoVKytBmF-7It0c4Pyt3liXGIGe_xdraBwbM0FVcHbaN3unbSyWhP_092Vxy8e33fSTT0AgJ6UobBLmg0uL40i26CCN4Rg9wnNZig5WxuzJNCcxFZjzlpgbNeDrD07hDrlzhIIwAXLXEkKDTeZwH5O_ZHCdZJ5LxNAG5xA0zD7AlAWJNTvqfwSQ24bHTZobVBK_5_GrJGuyilHG-8Rao85VlJNsrSpS4JA6PquhMtfP8w4yV5hy4i4XU-3yUjJ8K_KEAWlsIzS52qKvKFfUIfLdOCsLQ13cY9ohvdMTDj-eHNLJgVv5mmdG51kfUsef5geU_PqSFfLwc-5-ACbYCySWwFaRG80vf_m3jzbqujNjvxpCkv-8jva7NKsJAjzwSjq1NBAn-udC5K5UHSuLViBmSYXl0ucHOsgy7bXiC3RUYRMTHz1YM5smHNbqmHmlHjfoqLAdJad1eFn-HPOxw3EezkXEo15WGQSdyyhbC9_qUOhDPyXu_nzNVdRAZHUi5epio6HvxhcwiUTKXDJPpBM4csLsQDdRv8Dhl09iTQNk4KyZS423-bmHa6JwyJARI2tGxeNlZzVxTk-EVx2iHysAD-jlIy7iFZxFcIO3VnDdP6OeBwmeyQpGdMnq5hRsx5QpYPfyjWZn3UvjqqeE8Qo5ZUpTqr_-6lfuq8YZo1aAbV0PCY-4tlIqspIRwQr8GTcSePQLeGVyhESBb3HW23SnHhFmn9VIpxUyLAMgjhcsw5QuBg_U7idz_AIED35CUmc3MoQ1gDUwdM1DDW17QWbbhF4-nEnx5L-SB6xLeAwkWEPGhensHd_Xug9NkHNNIDBy5q89_0H4EpaZ688nBY8hpYCjCPKULO7RrtqlnotbBFRusvobu2eu8Uq1E5DxxGCRhQqN_iTHDDHW0tsG1PQPDfjC6QuwTPiuM_SdIaaiiq7RGWcXRnue93XKVr4LOsO_r9foJ42POGqrfye_ApoKiROeNgo6NCZqqpYMPcI8iikqtZ84DiJJCG597X39PKfrWF9m5FMUxmNzGRezFjGQF2HP8HAPLGCQdryT4ckdgLIOjvbpC-lvZWXW7aBu6sPqT8CdzG95DD4KvYnLWJ3lEI8EPaqRgrZbmn8pV-mNTaHUtItIgo2PmhdEOESyBzgX",
  "id": "rs_0664fd631a42552f016ab444043a2087d0a012f0bb9f7939f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.2,\"right_z\":0.1,\"right_pitch\":0.5},\"note\":\"The last correction placed the gripper just to the fruit’s right; the fruit is now fully visible about 30 pixels left of the jaw column. I am moving inward-left by a small amount to center it.\"}",
  "call_id": "call_iz8ZOJiVksfAYnopLZT1hrPa",
  "id": "fc_0664fd631a42552f016ab44405713887d099defa9360a59dc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iz8ZOJiVksfAYnopLZT1hrPa",
  "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]: [-0.0772, 0.8547, 0.6525, -0.4244, -0.1413, -0.1642, 0.9977, 0.8738, 1.6619, 0.0284, 1.5219, 0.6128, -0.0643, 0.9986]\nstate[eef_state]: left_x=0.2986 left_y=0.0054 left_z=0.1773 left_yaw=0.123 left_pitch=-0.051 left_roll=-0.0343 left_gripper=0.9977 right_x=0.2691 right_y=0.1687 right_z=0.103 right_yaw=0.3376 right_pitch=0.4724 right_roll=-0.1436 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.5795, 7.2821, 1.6581, -0.0855, -0.0171, -0.0171, 0.0889, -3.9453, 2.865, 2.0733, -0.0024, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcf87af0a78c1cd083c6badb03f95f14a2c5b760455256efb8a5c78fef48faeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75233890ca6e919cde9b83bb81e7574bdcc336c3fcd79a965d574096fa28f26c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779318488730912374de40ce6204ed520a1dc0e5c2d0b776b4379579ceacbb03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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