adhoc - adhoc_098dbfbd.json

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: 230.8 s
total steps: 313

operator

scenes

trials

errored

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

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

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

assistant

agent noteThe right wrist camera shows a green pear-like fruit nearly centered on the jaw column, with the yellow fruit farther left and the blue bowl behind it. I’ll move the right gripper slightly forward and lower above the green fruit to refine alignment before grasping.

move_to

right_x0.3500right_y0.0000right_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]: [-0.02, 0.8001, 0.6132, -0.3824, -0.0143, -0.0296, 0.9977, -0.0227, 0.7994, 0.6182, -0.3866, -0.02, -0.0124, 0.9994] state[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.182 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9977 right_x=0.296 right_y=0.0004 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3487, -1.7846, 9.6342, 1.7802, -0.1099, 0.1343, -0.2515, -0.1846, -1.6068, 9.5521, 1.8632, -0.0415, -0.0611, -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":0.35,"right_y":0.0,"right_z":0.13,"right_gripper":1.0},"note":"The right wrist camera shows a green pear-like fruit nearly centered on the jaw column, with the yellow fruit farther left and the blue bowl behind it. I’ll move the right gripper slightly forward and lower above the green fruit to refine alignment before grasping."})

tool

executing move_to over 5 steps (0.5s)

step 5

assistant

agent noteThe green fruit is now centered between the projected jaws and appears upright, with its body directly ahead of the grasp point. I’ll descend and advance a small amount so the jaws straddle the lower-middle of the fruit.

move_to

right_x0.3700right_y0.0000right_z0.0550right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.9974, -0.0189, 1.1294, 0.5278, -0.0105, -0.0235, -0.0124, 0.9994] state[eef_state]: left_x=0.2952 left_y=0.0001 left_z=0.1796 left_yaw=0.0007 left_pitch=-0.0107 left_roll=-0.0009 left_gripper=0.9974 right_x=0.3453 right_y=0.0012 right_z=0.1199 right_yaw=0.0067 right_pitch=-0.0442 right_roll=0.003 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.4701, 7.0632, 1.8486, -0.0611, -0.0659, -0.0415, -0.0889, -4.041, 6.7214, 2.044, 0.0024, -0.0024, -0.0757] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.37,"right_y":0.0,"right_z":0.055,"right_gripper":1.0},"note":"The green fruit is now centered between the projected jaws and appears upright, with its body directly ahead of the grasp point. I’ll descend and advance a small amount so the jaws straddle the lower-middle of the fruit."})

tool

executing move_to over 5 steps (0.5s)

step 10

assistant

agent noteThe green fruit fills the gap symmetrically and is centered between the open fingertips at grasp height. I’ll close the right gripper 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]: [-0.02, 0.807, 0.6132, -0.4011, -0.0139, -0.0307, 0.9973, -0.0219, 1.457, 0.432, 0.3775, -0.0315, -0.0128, 0.9994] state[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1763 left_yaw=0.0007 left_pitch=-0.0256 left_roll=-0.0006 left_gripper=0.9973 right_x=0.3654 right_y=0.0011 right_z=0.0474 right_yaw=0.0107 right_pitch=-0.0795 right_roll=0.0084 right_gripper=0.9994 state[joint_eff]: [-0.2256, -1.4291, 7.0222, 1.8437, -0.0366, -0.0611, -0.0171, -0.3761, -5.5179, 5.3949, 2.0244, -0.0122, -0.0611, -0.0757] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The green fruit fills the gap symmetrically and is centered between the open fingertips at grasp height. I’ll close the right gripper around it now."})

tool

executing move_to over 10 steps (1.0s)

step 20

assistant

agent noteThe gripper settled nearly fully closed and the fruit remains visible in the wrist camera, so the first grasp was empty; the fingertips stopped just short of it. I’ll reopen and advance 2.5 cm while staying at grasp height for one corrected attempt.

move_to

right_x0.3900right_y0.0000right_z0.0500right_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, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9973, -0.0219, 1.457, 0.432, 0.3695, -0.0315, -0.0185, 0.0089] state[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1747 left_yaw=0.0007 left_pitch=-0.0332 left_roll=-0.0005 left_gripper=0.9973 right_x=0.3642 right_y=0.0012 right_z=0.0458 right_yaw=0.0138 right_pitch=-0.0875 right_roll=0.0041 right_gripper=0.0089 state[joint_eff]: [-0.3214, -1.306, 7.0632, 1.8242, -0.022, -0.0464, -0.0073, -0.0342, -5.1214, 5.4496, 1.7216, -0.0269, 0.0464, 0.696] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.0,"right_z":0.05,"right_gripper":1.0},"note":"The gripper settled nearly fully closed and the fruit remains visible in the wrist camera, so the first grasp was empty; the fingertips stopped just short of it. I’ll reopen and advance 2.5 cm while staying at grasp height for one corrected attempt."})

tool

executing move_to over 10 steps (1.0s)

step 30

assistant

agent noteAfter the outward correction, the pear is now visibly between the two open fingertips rather than beyond them. I’ll close again, keeping the arm stationary to avoid sweeping the rounded fruit sideways.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4206, -0.0139, -0.0307, 0.9973, -0.0223, 1.5375, 0.506, 0.3389, -0.0391, -0.0311, 0.9984] state[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1721 left_yaw=0.0007 left_pitch=-0.0458 left_roll=-0.0002 left_gripper=0.9973 right_x=0.3785 right_y=0.002 right_z=0.0391 right_yaw=0.0269 right_pitch=-0.1242 right_roll=0.0006 right_gripper=0.9984 state[joint_eff]: [-0.0479, -1.2513, 7.1316, 1.8681, -0.022, -0.0415, -0.0122, -0.4308, -4.6838, 8.0752, 1.7753, 0.0513, 0.1099, -0.0269] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"After the outward correction, the pear is now visibly between the two open fingertips rather than beyond them. I’ll close again, keeping the arm stationary to avoid sweeping the rounded fruit sideways."})

tool

executing move_to over 10 steps (1.0s)

step 40

assistant

agent noteThe second close was also empty, and the wrist view shows a substantial gap from the fruit’s base to the fingertip convergence point; the previous move advanced only about 1.4 cm, less than commanded. I’ll remeasure by reopening and moving another 2.5 cm outward, slightly raised to avoid pushing the fruit.

move_to

right_x0.4050right_y0.0000right_z0.0600right_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, 0.8078, 0.6132, -0.424, -0.0139, -0.0307, 0.9974, -0.0227, 1.5375, 0.5064, 0.3313, -0.0391, -0.0349, 0.009] state[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1714 left_yaw=0.0007 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9974 right_x=0.3775 right_y=0.0019 right_z=0.0378 right_yaw=0.0286 right_pitch=-0.1315 right_roll=-0.002 right_gripper=0.009 state[joint_eff]: [-0.3487, -1.1282, 7.1453, 1.7021, -0.0562, -0.0513, -0.0073, -0.0615, -5.5863, 5.3538, 1.7509, -0.0513, 0.0269, 0.5543] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_y":0.0,"right_z":0.06,"right_gripper":1.0},"note":"The second close was also empty, and the wrist view shows a substantial gap from the fruit’s base to the fingertip convergence point; the previous move advanced only about 1.4 cm, less than commanded. I’ll remeasure by reopening and moving another 2.5 cm outward, slightly raised to avoid pushing the fruit."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteThe corrected pose now clearly places the pear’s body inside the open jaw span, with both fingertips visible on opposite sides and extending beyond it. I’ll close once more from this verified straddling position.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4248, -0.0139, -0.0307, 0.9973, -0.0227, 1.5589, 0.6281, 0.2081, -0.0467, -0.0471, 0.9961] state[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1713 left_yaw=0.0007 left_pitch=-0.05 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3965 right_y=0.0028 right_z=0.0524 right_yaw=0.0419 right_pitch=-0.154 right_roll=-0.005 right_gripper=0.9961 state[joint_eff]: [-0.0889, -1.2513, 7.1316, 1.6777, -0.0366, -0.0415, -0.0171, -0.7043, -5.4085, 7.8291, 1.663, -0.0659, 0.0659, -0.1832] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The corrected pose now clearly places the pear’s body inside the open jaw span, with both fingertips visible on opposite sides and extending beyond it. I’ll close once more from this verified straddling position."})

tool

executing move_to over 10 steps (1.0s)

step 60

assistant

agent noteThe rounded body slipped out again, so a body squeeze is unreliable. The pear has a prominent upright stem; I’ll reopen, raise to stem height, and shift slightly right to align the jaw column with that narrower, more secure feature.

move_to

right_x0.3950right_y-0.0150right_z0.1200right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4267, -0.0139, -0.0307, 0.9973, -0.0227, 1.5635, 0.6292, 0.1967, -0.0502, -0.0536, 0.0088] state[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1709 left_yaw=0.0007 left_pitch=-0.0519 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3947 right_y=0.0035 right_z=0.049 right_yaw=0.0486 right_pitch=-0.1687 right_roll=-0.0065 right_gripper=0.0088 state[joint_eff]: [-0.335, -1.3197, 6.9949, 1.7118, -0.0464, -0.0317, -0.0122, 0.0068, -6.7487, 5.6274, 1.6874, -0.0122, 0.0464, 0.6813] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.395,"right_y":-0.015,"right_z":0.12,"right_gripper":1.0},"note":"The rounded body slipped out again, so a body squeeze is unreliable. The pear has a prominent upright stem; I’ll reopen, raise to stem height, and shift slightly right to align the jaw column with that narrower, more secure feature."})

tool

executing move_to over 10 steps (1.0s)

step 70

assistant

agent noteThe stem is centered laterally, but it remains fully visible with ample space below it, indicating the fingertips are still short radially. I’ll advance about 3 cm at stem height while keeping the jaws open.

move_to

right_x0.4200right_y-0.0150right_z0.1150right_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, 0.8078, 0.6132, -0.4278, -0.0139, -0.0307, 0.9973, -0.0868, 1.4281, 0.7853, -0.1524, -0.0959, -0.1097, 0.9986] state[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1706 left_yaw=0.0007 left_pitch=-0.053 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3871 right_y=-0.0131 right_z=0.099 right_yaw=0.0557 right_pitch=-0.2228 right_roll=-0.0094 right_gripper=0.9986 state[joint_eff]: [-0.294, -1.306, 7.3778, 1.6728, -0.0611, -0.0806, -0.0122, -0.5812, -7.4735, 8.9231, 1.663, -0.1294, 0.0464, -0.1294] approver: 9 step(s) modified (delta_clamped ×9). 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_x":0.42,"right_y":-0.015,"right_z":0.115,"right_gripper":1.0},"note":"The stem is centered laterally, but it remains fully visible with ample space below it, indicating the fingertips are still short radially. I’ll advance about 3 cm at stem height while keeping the jaws open."})

tool

executing move_to over 3 steps (0.3s)

step 73

assistant

agent noteAfter advancing, the stem is at the fingertips’ depth but sits just left of the jaw centerline. I’ll make a sub-centimeter lateral correction and hold the stem-height pose before closing.

move_to

right_y-0.0050right_x0.4150right_z0.1050right_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, 0.8085, 0.6132, -0.4316, -0.0139, -0.0307, 0.9973, -0.083, 1.5299, 0.918, -0.2222, -0.1028, -0.1173, 0.9986] state[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1697 left_yaw=0.0007 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9973 right_x=0.4098 right_y=-0.0123 right_z=0.1022 right_yaw=0.0711 right_pitch=-0.2606 right_roll=-0.0038 right_gripper=0.9986 state[joint_eff]: [-0.1983, -1.2376, 7.1726, 1.7314, -0.0317, -0.0562, -0.0122, 0.0342, -6.5573, 8.4855, 1.6142, -0.0024, 0.0366, -0.1538] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":-0.005,"right_x":0.415,"right_z":0.105,"right_gripper":1.0},"note":"After advancing, the stem is at the fingertips’ depth but sits just left of the jaw centerline. I’ll make a sub-centimeter lateral correction and hold the stem-height pose before closing."})

tool

executing move_to over 1 steps (0.1s)

step 74

assistant

agent noteThe one-step nudge barely changed the readback, so the stem remains slightly left of center. I’ll complete the lateral correction with a slightly larger target, still keeping the jaws open.

move_to

right_y0.0050right_x0.4200right_z0.1050right_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, 0.8085, 0.6132, -0.432, -0.0135, -0.0307, 0.9973, -0.0807, 1.533, 0.9237, -0.2268, -0.1024, -0.1169, 0.9986] state[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1696 left_yaw=0.0004 left_pitch=-0.058 left_roll=-0.0002 left_gripper=0.9973 right_x=0.4105 right_y=-0.0115 right_z=0.1026 right_yaw=0.0729 right_pitch=-0.2625 right_roll=-0.0035 right_gripper=0.9986 state[joint_eff]: [0.0615, -1.3607, 7.0496, 1.6972, -0.0366, -0.0269, -0.0122, -0.1162, -6.5983, 8.4444, 1.6239, 0.0073, 0.022, -0.1538] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.005,"right_x":0.42,"right_z":0.105,"right_gripper":1.0},"note":"The one-step nudge barely changed the readback, so the stem remains slightly left of center. I’ll complete the lateral correction with a slightly larger target, still keeping the jaws open."})

tool

executing move_to over 2 steps (0.2s)

step 76

assistant

agent noteThe stem is now centered between the fingertips at the gripper’s depth. I’ll close on the stem, which should avoid the body’s tendency to roll out.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4343, -0.0139, -0.0307, 0.9973, -0.0364, 1.5475, 0.9333, -0.2413, -0.0834, -0.1036, 0.9986] state[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1691 left_yaw=0.0007 left_pitch=-0.0603 left_roll=0.0001 left_gripper=0.9973 right_x=0.4105 right_y=0.0033 right_z=0.0981 right_yaw=0.0939 right_pitch=-0.2838 right_roll=-0.0061 right_gripper=0.9986 state[joint_eff]: [-0.212, -1.306, 7.1043, 1.6825, -0.0513, -0.0806, -0.0122, 0.3897, -5.8872, 9.0462, 1.4872, 0.1099, 0.2271, -0.1538] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The stem is now centered between the fingertips at the gripper’s depth. I’ll close on the stem, which should avoid the body’s tendency to roll out."})

tool

executing move_to over 10 steps (1.0s)

step 86

assistant

agent noteThe stem also slipped free, so I’ll change strategy: place the open jaws deeply around the widest body, then use a controlled partial close rather than a full squeeze that ejects it. I’m moving slightly farther outward and down to ensure the fingertips pass beyond the body.

move_to

right_x0.4350right_y0.0050right_z0.0500right_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, 0.8085, 0.6132, -0.4351, -0.0139, -0.0307, 0.9973, -0.0357, 1.5616, 0.9367, -0.2527, -0.0837, -0.1097, 0.0088] state[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.169 left_yaw=0.0007 left_pitch=-0.061 left_roll=0.0001 left_gripper=0.9973 right_x=0.4091 right_y=0.0038 right_z=0.0922 right_yaw=0.0993 right_pitch=-0.3057 right_roll=-0.0069 right_gripper=0.0088 state[joint_eff]: [-0.335, -1.306, 6.9949, 1.6728, -0.0464, -0.0562, -0.0122, -0.4171, -8.1436, 6.1333, 1.5458, -0.0562, 0.0562, 0.6667] approver: 10 step(s) modified (delta_clamped ×10). 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_x":0.435,"right_y":0.005,"right_z":0.05,"right_gripper":1.0},"note":"The stem also slipped free, so I’ll change strategy: place the open jaws deeply around the widest body, then use a controlled partial close rather than a full squeeze that ejects it. I’m moving slightly farther outward and down to ensure the fingertips pass beyond the body."})

tool

executing move_to over 10 steps (1.0s)

step 96

assistant

agent noteThe fruit is now deeply enclosed between both fingertips; its widest body appears about 6–7 cm across. I’ll close only to roughly 5.7 cm jaw spacing, enough for contact without forcing the rounded body out.

move_to

right_gripper0.6000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4423, -0.0135, -0.0307, 0.9973, -0.0288, 1.7317, 0.9367, -0.1116, -0.0837, -0.1169, 0.9986] state[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1675 left_yaw=0.0004 left_pitch=-0.0683 left_roll=0.0 left_gripper=0.9973 right_x=0.4288 right_y=0.006 right_z=0.0461 right_yaw=0.1116 right_pitch=-0.3344 right_roll=-0.0075 right_gripper=0.9986 state[joint_eff]: [-0.2256, -1.3197, 7.1179, 1.7265, -0.0171, -0.0317, -0.0122, -0.3077, -7.7333, 6.188, 1.7314, -0.022, 0.0415, -0.1538] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.6},"note":"The fruit is now deeply enclosed between both fingertips; its widest body appears about 6–7 cm across. I’ll close only to roughly 5.7 cm jaw spacing, enough for contact without forcing the rounded body out."})

tool

executing move_to over 4 steps (0.4s)

step 100

assistant

agent noteAt the partial close, both fingertips remain against opposite sides of the fruit instead of snapping shut, indicating a controlled hold. I’ll lift about 8 cm while preserving that jaw spacing and verify whether the fruit rises.

move_to

right_z0.1300right_gripper0.6000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8089, 0.6132, -0.4435, -0.0135, -0.0307, 0.9973, -0.028, 1.7317, 0.9367, -0.1162, -0.0837, -0.1215, 0.6073] state[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1672 left_yaw=0.0004 left_pitch=-0.0698 left_roll=0.0001 left_gripper=0.9973 right_x=0.4279 right_y=0.0064 right_z=0.0454 right_yaw=0.1152 right_pitch=-0.339 right_roll=-0.0098 right_gripper=0.6073 state[joint_eff]: [-0.335, -1.2239, 6.9812, 1.707, -0.0317, -0.022, -0.0073, -0.1299, -8.212, 5.9829, 1.4139, -0.0562, 0.022, 0.4322] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.13,"right_gripper":0.6},"note":"At the partial close, both fingertips remain against opposite sides of the fruit instead of snapping shut, indicating a controlled hold. I’ll lift about 8 cm while preserving that jaw spacing and verify whether the fruit rises."})

tool

executing move_to over 6 steps (0.6s)

step 106

assistant

agent noteThe fruit moved with the gripper and remains supported between the fingertips during the lift, confirming the partial-width hold works. I’ll carry it leftward over the blue bowl with extra commanded height to clear the rim and compensate for load sag.

move_to

right_x0.4200right_y0.1300right_z0.2200right_gripper0.6000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6132, -0.45, -0.0135, -0.0307, 0.9973, -0.028, 1.6398, 1.1301, -0.4946, -0.0837, -0.1322, 0.6038] state[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.165 left_yaw=0.0004 left_pitch=-0.0797 left_roll=0.0003 left_gripper=0.9973 right_x=0.4138 right_y=0.0068 right_z=0.1007 right_yaw=0.127 right_pitch=-0.4311 right_roll=-0.0016 right_gripper=0.6038 state[joint_eff]: [-0.1983, -1.5932, 6.9812, 1.7656, -0.0269, -0.0464, -0.0073, -0.1846, -10.1675, 9.0735, 1.5507, -0.0757, 0.0415, 0.3834] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.13,"right_z":0.22,"right_gripper":0.6},"note":"The fruit moved with the gripper and remains supported between the fingertips during the lift, confirming the partial-width hold works. I’ll carry it leftward over the blue bowl with extra commanded height to clear the rim and compensate for load sag."})

tool

executing move_to over 11 steps (1.1s)

step 117

assistant

agent noteThe overhead view places the held pear directly over the blue bowl, and the wrist view shows the bowl centered behind it. I’ll lower the fruit into the bowl while maintaining the partial grip, stopping above the bowl floor.

move_to

right_z0.1300right_gripper0.6000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4538, -0.0135, -0.0307, 0.9973, 0.3286, 1.7237, 1.6592, -0.9703, 0.0834, 0.1181, 0.6031] state[eef_state]: left_x=0.2867 left_y=0.0002 left_z=0.164 left_yaw=0.0004 left_pitch=-0.0847 left_roll=0.0004 left_gripper=0.9973 right_x=0.4146 right_y=0.1296 right_z=0.2056 right_yaw=0.1783 right_pitch=-0.4613 right_roll=-0.0129 right_gripper=0.6031 state[joint_eff]: [-0.294, -1.4017, 6.9812, 1.6679, -0.0366, -0.0269, -0.0073, 0.1573, -8.335, 8.4991, 1.3797, 0.2418, 0.3736, 0.3101] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.13,"right_gripper":0.6},"note":"The overhead view places the held pear directly over the blue bowl, and the wrist view shows the bowl centered behind it. I’ll lower the fruit into the bowl while maintaining the partial grip, stopping above the bowl floor."})

tool

executing move_to over 5 steps (0.5s)

step 122

assistant

agent noteThe pear is lowered inside the blue bowl with the bowl walls surrounding it in the wrist view. I’ll open the jaws to release it into the bowl.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4671, -0.0135, -0.0307, 0.9973, 0.3302, 1.7233, 1.3609, -0.7723, 0.0891, 0.12, 0.6026] state[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1612 left_yaw=0.0005 left_pitch=-0.0988 left_roll=0.0006 left_gripper=0.9973 right_x=0.3959 right_y=0.1229 right_z=0.1193 right_yaw=0.1643 right_pitch=-0.5592 right_roll=-0.0356 right_gripper=0.6026 state[joint_eff]: [-0.0342, -1.388, 6.9949, 1.8242, -0.0171, -0.0757, -0.0073, -0.1846, -9.1419, 7.241, 1.4237, -0.022, -0.0855, 0.2564] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0},"note":"The pear is lowered inside the blue bowl with the bowl walls surrounding it in the wrist view. I’ll open the jaws to release it into the bowl."})

tool

executing move_to over 4 steps (0.4s)

step 126

assistant

agent noteThe pear is visibly resting inside the blue bowl. The remaining yellow fruit sits about 8–10 cm left and slightly closer to the bases, so I’ll lift clear and move the right gripper above that fruit for alignment.

move_to

right_x0.3500right_y0.2200right_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, 0.815, 0.6132, -0.4747, -0.0135, -0.0307, 0.9973, 0.3302, 1.7283, 1.3437, -0.7662, 0.0818, 0.1143, 0.9954] state[eef_state]: left_x=0.2835 left_y=0.0003 left_z=0.1595 left_yaw=0.0005 left_pitch=-0.1072 left_roll=0.0008 left_gripper=0.9973 right_x=0.3926 right_y=0.1231 right_z=0.1118 right_yaw=0.1735 right_pitch=-0.5762 right_roll=-0.0338 right_gripper=0.9954 state[joint_eff]: [-0.1709, -1.3744, 6.9538, 1.7118, -0.0464, -0.0269, -0.0122, -0.1709, -8.9504, 7.747, 1.1013, 0.0757, 0.1148, 0.0024] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.22,"right_z":0.15,"right_gripper":1.0},"note":"The pear is visibly resting inside the blue bowl. The remaining yellow fruit sits about 8–10 cm left and slightly closer to the bases, so I’ll lift clear and move the right gripper above that fruit for alignment."})

tool

executing move_to over 9 steps (0.9s)

step 135

assistant

agent noteThe yellow fruit appears low-left in the wrist view, meaning it is both leftward and slightly toward the base from the current grasp point. I’ll shift about 5 cm left, 3 cm baseward, and lower toward its mid-height.

move_to

right_x0.3200right_y0.2700right_z0.1100right_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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0307, 0.9973, 0.6258, 1.7496, 1.507, -0.9417, 0.181, 0.3508, 0.9986] state[eef_state]: left_x=0.2834 left_y=0.0003 left_z=0.1586 left_yaw=0.0005 left_pitch=-0.111 left_roll=0.0009 left_gripper=0.9973 right_x=0.3497 right_y=0.2179 right_z=0.1455 right_yaw=0.215 right_pitch=-0.5788 right_roll=-0.0332 right_gripper=0.9986 state[joint_eff]: [-0.335, -1.4838, 7.1179, 1.6532, -0.0366, -0.0708, -0.0122, 0.1573, -7.665, 8.335, 0.8864, 0.2222, 0.0806, -0.1538] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.27,"right_z":0.11,"right_gripper":1.0},"note":"The yellow fruit appears low-left in the wrist view, meaning it is both leftward and slightly toward the base from the current grasp point. I’ll shift about 5 cm left, 3 cm baseward, and lower toward its mid-height."})

tool

executing move_to over 5 steps (0.5s)

step 140

assistant

agent noteThe yellow fruit is now close but still about 3 cm left of the jaw centerline. I’ll complete that lateral correction and descend to table-level grasp height, keeping the jaws open around it.

move_to

right_x0.3250right_y0.3000right_z0.0550right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4763, -0.0135, -0.0307, 0.9973, 0.7845, 1.8057, 1.459, -0.8841, 0.2146, 0.4648, 0.9986] state[eef_state]: left_x=0.2834 left_y=0.0003 left_z=0.1586 left_yaw=0.0005 left_pitch=-0.111 left_roll=0.0009 left_gripper=0.9973 right_x=0.3164 right_y=0.2678 right_z=0.1133 right_yaw=0.2549 right_pitch=-0.604 right_roll=-0.0373 right_gripper=0.9986 state[joint_eff]: [-0.1846, -1.3197, 7.1043, 1.6923, -0.0317, -0.0317, -0.0073, 0.1573, -8.7453, 5.2444, 1.0525, 0.3394, 0.149, -0.1538] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.325,"right_y":0.3,"right_z":0.055,"right_gripper":1.0},"note":"The yellow fruit is now close but still about 3 cm left of the jaw centerline. I’ll complete that lateral correction and descend to table-level grasp height, keeping the jaws open around it."})

tool

executing move_to over 4 steps (0.4s)

step 144

assistant

agent noteThe arm barely tracked the descent because its wrist pitch had reached the forward limit. I’ll explicitly level the tool while holding the same horizontal target, which should free the arm to descend around the fruit.

move_to

right_x0.3250right_y0.3000right_z0.0550right_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]: [-0.02, 0.8173, 0.6132, -0.4763, -0.0139, -0.0307, 0.9973, 0.7948, 1.816, 1.4525, -0.8715, 0.2317, 0.4904, 0.9986] state[eef_state]: left_x=0.2834 left_y=0.0004 left_z=0.1586 left_yaw=0.0008 left_pitch=-0.111 left_roll=0.0011 left_gripper=0.9973 right_x=0.3164 right_y=0.2696 right_z=0.1087 right_yaw=0.2319 right_pitch=-0.5987 right_roll=-0.0446 right_gripper=0.9986 state[joint_eff]: [-0.3624, -1.3197, 6.9538, 1.663, -0.0611, -0.0464, -0.0122, -0.335, -9.4701, 5.8188, 1.0818, 0.1929, 0.1832, -0.1538] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.325,"right_y":0.3,"right_z":0.055,"right_pitch":0.0,"right_gripper":1.0},"note":"The arm barely tracked the descent because its wrist pitch had reached the forward limit. I’ll explicitly level the tool while holding the same horizontal target, which should free the arm to descend around the fruit."})

tool

executing move_to over 20 steps (2.0s)

step 164

assistant

agent noteWith the tool leveled, the arm reached table height; the yellow fruit is now between the open fingers but slightly left of center. I’ll make a small 2 cm leftward correction before applying a partial grip.

move_to

right_y0.3150right_x0.3200right_z0.0500right_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]: [-0.02, 0.8192, 0.6132, -0.4839, -0.0135, -0.0307, 0.9973, 0.9668, 1.8114, 0.8497, 0.1661, 0.5896, 0.4412, 0.9986] state[eef_state]: left_x=0.2823 left_y=0.0003 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.1205 left_roll=0.0011 left_gripper=0.9973 right_x=0.3188 right_y=0.2954 right_z=0.047 right_yaw=0.2436 right_pitch=-0.0691 right_roll=-0.0608 right_gripper=0.9986 state[joint_eff]: [-0.3214, -1.1829, 7.1179, 1.6777, -0.0317, -0.0317, -0.0122, 0.4718, -7.5419, 5.2171, 1.746, 0.442, -0.0611, -0.1538] 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_y":0.315,"right_x":0.32,"right_z":0.05,"right_pitch":0.0,"right_gripper":1.0},"note":"With the tool leveled, the arm reached table height; the yellow fruit is now between the open fingers but slightly left of center. I’ll make a small 2 cm leftward correction before applying a partial grip."})

tool

executing move_to over 3 steps (0.3s)

step 167

assistant

agent noteThe yellow fruit is now deeply within the open jaw span at table height. I’ll use the same partial-close strategy, stopping at about 5.2 cm spacing to hold it without squeezing it out.

move_to

right_gripper0.5500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4877, -0.0135, -0.0307, 0.9973, 1.0, 1.8515, 0.857, 0.2363, 0.622, 0.4297, 0.9986] state[eef_state]: left_x=0.2818 left_y=0.0003 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.1263 left_roll=0.0012 left_gripper=0.9973 right_x=0.3171 right_y=0.31 right_z=0.0462 right_yaw=0.2602 right_pitch=-0.0265 right_roll=-0.0621 right_gripper=0.9986 state[joint_eff]: [-0.1983, -1.4291, 6.9949, 1.6288, -0.0171, -0.0659, -0.0073, 0.3077, -7.5692, 7.0906, 1.6142, 0.5397, 0.0659, -0.1538] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.55},"note":"The yellow fruit is now deeply within the open jaw span at table height. I’ll use the same partial-close strategy, stopping at about 5.2 cm spacing to hold it without squeezing it out."})

tool

executing move_to over 5 steps (0.5s)

step 172

assistant

agent noteThe partial close leaves the fruit supported between both fingertips rather than fully closing. I’ll lift it 8 cm while preserving the jaw spacing to confirm and begin transport.

move_to

right_z0.1300right_pitch0.0000right_gripper0.5500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4911, -0.0135, -0.0307, 0.9973, 1.0115, 1.8648, 0.8593, 0.2356, 0.6357, 0.4301, 0.5542] state[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1548 left_yaw=0.0005 left_pitch=-0.1297 left_roll=0.0013 left_gripper=0.9973 right_x=0.3145 right_y=0.3114 right_z=0.0423 right_yaw=0.2611 right_pitch=-0.0287 right_roll=-0.0768 right_gripper=0.5542 state[joint_eff]: [-0.1983, -1.306, 6.9675, 1.6288, -0.0269, -0.0464, -0.0122, -0.2803, -8.3214, 6.7624, 1.5849, 0.4567, 0.0366, 0.0855] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.13,"right_pitch":0.0,"right_gripper":0.55},"note":"The partial close leaves the fruit supported between both fingertips rather than fully closing. I’ll lift it 8 cm while preserving the jaw spacing to confirm and begin transport."})

tool

executing move_to over 6 steps (0.6s)

step 178

assistant

agent noteThe vertical-only lift stalled at this cross-body pose, so I won’t repeat it. I’ll move diagonally back toward the blue bowl while raising, which should unfold the arm and lift the partially held fruit away from the table.

move_to

right_x0.3600right_y0.1700right_z0.1800right_pitch0.0000right_gripper0.5500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8249, 0.6132, -0.4942, -0.0135, -0.0303, 0.9973, 1.0115, 1.8648, 0.8597, 0.2356, 0.6353, 0.4301, 0.5514] state[eef_state]: left_x=0.2809 left_y=0.0004 left_z=0.1532 left_yaw=0.0003 left_pitch=-0.1366 left_roll=0.0017 left_gripper=0.9973 right_x=0.3145 right_y=0.3116 right_z=0.0424 right_yaw=0.2614 right_pitch=-0.0286 right_roll=-0.0763 right_gripper=0.5514 state[joint_eff]: [-0.0889, -1.5658, 6.9538, 1.6093, -0.0024, -0.0464, -0.0122, -0.1573, -8.335, 6.7487, 1.6484, 0.3736, 0.0464, 0.1294] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.17,"right_z":0.18,"right_pitch":0.0,"right_gripper":0.55},"note":"The vertical-only lift stalled at this cross-body pose, so I won’t repeat it. I’ll move diagonally back toward the blue bowl while raising, which should unfold the arm and lift the partially held fruit away from the table."})

tool

executing move_to over 12 steps (1.2s)

step 190

assistant

agent noteThe yellow fruit stayed on the table, so the prior partial close contacted it without reaching beyond it. Its overhead position is left and baseward of the bowl; I’ll return above it, then deliberately place the fingertips farther past the body before closing.

move_to

right_x0.2800right_y0.3000right_z0.1300right_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]: [-0.02, 0.8268, 0.6128, -0.4942, -0.0139, -0.0307, 0.9973, 0.5755, 1.3331, 0.8085, -0.1143, 0.3275, 0.1295, 0.5514] state[eef_state]: left_x=0.2809 left_y=0.0004 left_z=0.1525 left_yaw=0.0009 left_pitch=-0.1388 left_roll=0.0017 left_gripper=0.9973 right_x=0.3567 right_y=0.1679 right_z=0.1565 right_yaw=0.2307 right_pitch=-0.0345 right_roll=-0.087 right_gripper=0.5514 state[joint_eff]: [-0.1846, -1.3197, 6.9675, 1.6239, -0.0659, -0.0415, -0.0073, -0.1709, -6.5983, 9.9897, 1.707, 0.0562, -0.0073, 0.1294] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.28,"right_y":0.3,"right_z":0.13,"right_pitch":0.0,"right_gripper":1.0},"note":"The yellow fruit stayed on the table, so the prior partial close contacted it without reaching beyond it. Its overhead position is left and baseward of the bowl; I’ll return above it, then deliberately place the fingertips farther past the body before closing."})

tool

executing move_to over 12 steps (1.2s)

step 202

assistant

agent noteThe yellow fruit is at the bottom of the wrist view, very near the fingertip depth, and slightly left of center. I’ll descend while shifting about 1.5 cm left and 1 cm baseward so the open jaws straddle its widest part.

move_to

right_x0.2700right_y0.3150right_z0.0450right_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]: [-0.02, 0.8284, 0.6128, -0.4984, -0.0139, -0.0307, 0.9973, 1.0912, 1.5776, 0.9104, -0.1593, 0.6956, 0.469, 0.998] state[eef_state]: left_x=0.2803 left_y=0.0004 left_z=0.1513 left_yaw=0.0009 left_pitch=-0.1446 left_roll=0.0018 left_gripper=0.9973 right_x=0.2776 right_y=0.2961 right_z=0.1204 right_yaw=0.2758 right_pitch=-0.0365 right_roll=-0.1149 right_gripper=0.998 state[joint_eff]: [-0.1299, -1.4974, 6.9265, 1.6435, -0.0269, -0.0366, -0.0122, 0.1709, -7.0496, 8.1162, 1.3407, 0.5104, 0.1685, -0.0855] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.27,"right_y":0.315,"right_z":0.045,"right_pitch":0.0,"right_gripper":1.0},"note":"The yellow fruit is at the bottom of the wrist view, very near the fingertip depth, and slightly left of center. I’ll descend while shifting about 1.5 cm left and 1 cm baseward so the open jaws straddle its widest part."})

tool

executing move_to over 5 steps (0.5s)

step 207

assistant

agent noteThe corrected low pose centers the yellow fruit symmetrically, with both fingertips extending beyond its widest body. I’ll close to about 4.8 cm spacing—firm enough to support it, but not a full close that could eject it.

move_to

right_gripper0.5000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8303, 0.6128, -0.4988, -0.0139, -0.0303, 0.9973, 1.1416, 1.7992, 0.8021, 0.0956, 0.7303, 0.49, 0.9986] state[eef_state]: left_x=0.2803 left_y=0.0004 left_z=0.1508 left_yaw=0.0007 left_pitch=-0.1468 left_roll=0.0022 left_gripper=0.9973 right_x=0.2655 right_y=0.3055 right_z=0.0379 right_yaw=0.2887 right_pitch=-0.0658 right_roll=-0.1713 right_gripper=0.9986 state[joint_eff]: [-0.1436, -1.5385, 6.8991, 1.6093, -0.0269, -0.022, -0.0122, 0.2667, -8.4444, 4.8479, 1.5458, 0.5153, 0.0952, -0.1538] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.5},"note":"The corrected low pose centers the yellow fruit symmetrically, with both fingertips extending beyond its widest body. I’ll close to about 4.8 cm spacing—firm enough to support it, but not a full close that could eject it."})

tool

executing move_to over 5 steps (0.5s)

step 212

assistant

agent noteBoth fingertips visibly contact opposite sides of the yellow fruit, confirming a centered hold. I’ll lift diagonally inward and carry it over the blue bowl, avoiding the stalled straight-up configuration.

move_to

right_x0.3800right_y0.1500right_z0.2000right_pitch0.0000right_gripper0.5000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8314, 0.6128, -0.4988, -0.0135, -0.0307, 0.9973, 1.1446, 1.8233, 0.7925, 0.1783, 0.7326, 0.4904, 0.5045] state[eef_state]: left_x=0.2804 left_y=0.0004 left_z=0.1505 left_yaw=0.0006 left_pitch=-0.148 left_roll=0.0017 left_gripper=0.9973 right_x=0.268 right_y=0.3132 right_z=0.0369 right_yaw=0.2918 right_pitch=-0.0321 right_roll=-0.135 right_gripper=0.5045 state[joint_eff]: [-0.1983, -1.306, 6.9128, 1.6239, -0.0562, -0.0611, -0.0073, 0.1846, -8.8684, 5.1761, 1.5409, 0.5153, 0.0855, 0.022] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.15,"right_z":0.2,"right_pitch":0.0,"right_gripper":0.5},"note":"Both fingertips visibly contact opposite sides of the yellow fruit, confirming a centered hold. I’ll lift diagonally inward and carry it over the blue bowl, avoiding the stalled straight-up configuration."})

tool

executing move_to over 14 steps (1.4s)

step 226

assistant

agent noteThe wrist view shows the large yellow fruit now resting inside the blue bowl; the overhead view also reveals one remaining small yellow/orange fruit on the table. I’ll fully open and lift clear to confirm the second fruit is released before collecting the last one.

move_to

right_gripper1.0000right_z0.2100right_pitch0.0000

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, 0.8341, 0.6128, -0.503, -0.0139, -0.0307, 0.9973, 0.4782, 1.3441, 0.8909, -0.1761, 0.2588, 0.0086, 0.5004] state[eef_state]: left_x=0.2798 left_y=0.0004 left_z=0.149 left_yaw=0.0009 left_pitch=-0.1549 left_roll=0.0021 left_gripper=0.9973 right_x=0.3761 right_y=0.1481 right_z=0.1743 right_yaw=0.255 right_pitch=-0.0442 right_roll=-0.1447 right_gripper=0.5004 state[joint_eff]: [-0.0889, -1.6205, 6.8991, 1.6679, -0.0562, -0.0806, -0.0122, -0.1436, -7.3368, 9.265, 1.7021, 0.0855, 0.0317, 0.0366] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0,"right_z":0.21,"right_pitch":0.0},"note":"The wrist view shows the large yellow fruit now resting inside the blue bowl; the overhead view also reveals one remaining small yellow/orange fruit on the table. I’ll fully open and lift clear to confirm the second fruit is released before collecting the last one."})

tool

executing move_to over 5 steps (0.5s)

step 231

assistant

agent noteThe two larger fruits are now clearly in the blue bowl, and one small yellow/orange fruit remains at the same central pickup area. I’ll move directly to the previously calibrated low, centered grasp pose for that spot.

move_to

right_x0.2700right_y0.3150right_z0.0250right_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]: [-0.02, 0.8341, 0.6128, -0.5072, -0.0139, -0.0307, 0.9973, 0.4824, 1.3312, 0.9276, -0.2489, 0.2543, -0.0093, 0.9953] state[eef_state]: left_x=0.2791 left_y=0.0005 left_z=0.1482 left_yaw=0.0009 left_pitch=-0.159 left_roll=0.0022 left_gripper=0.9973 right_x=0.3714 right_y=0.1484 right_z=0.1812 right_yaw=0.2723 right_pitch=-0.069 right_roll=-0.1616 right_gripper=0.9953 state[joint_eff]: [-0.1573, -1.1966, 6.8991, 1.6386, -0.0513, -0.0269, -0.0122, -0.1846, -7.5829, 10.1812, 1.8535, 0.1538, 0.1685, 0.105] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.27,"right_y":0.315,"right_z":0.025,"right_pitch":0.0,"right_gripper":1.0},"note":"The two larger fruits are now clearly in the blue bowl, and one small yellow/orange fruit remains at the same central pickup area. I’ll move directly to the previously calibrated low, centered grasp pose for that spot."})

tool

executing move_to over 14 steps (1.4s)

step 245

assistant

agent noteThe descent contacted the table before reaching the intended horizontal pose, and the small fruit is at the far left edge of the wrist view. I’ll back off 4 cm, shift left about 5 cm, and keep the gripper open to center it safely.

move_to

right_x0.2900right_y0.3300right_z0.0550right_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]: [-0.02, 0.8371, 0.6128, -0.5152, -0.0135, -0.0307, 0.9973, 0.9985, 1.8587, 0.7918, 0.1402, 0.6582, 0.3508, 0.9984] state[eef_state]: left_x=0.2779 left_y=0.0004 left_z=0.146 left_yaw=0.0007 left_pitch=-0.1701 left_roll=0.0021 left_gripper=0.9973 right_x=0.3 right_y=0.2728 right_z=0.0119 right_yaw=0.2655 right_pitch=-0.1401 right_roll=-0.2589 right_gripper=0.9984 state[joint_eff]: [-0.0068, -1.3744, 7.0496, 1.7363, -0.0806, -0.022, -0.0122, -0.759, -13.0803, 5.9145, -1.033, -2.7863, -1.2723, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.33,"right_z":0.055,"right_pitch":0.0,"right_gripper":1.0},"note":"The descent contacted the table before reaching the intended horizontal pose, and the small fruit is at the far left edge of the wrist view. I’ll back off 4 cm, shift left about 5 cm, and keep the gripper open to center it safely."})

tool

executing move_to over 5 steps (0.5s)

step 250

assistant

agent noteThe small fruit was pushed toward the left base and is now outside the right arm’s practical cross-body pose but well within the left arm’s workspace. I’ll park the right arm and bring the left gripper above the fruit at its near-left table position.

move_to

left_x0.1800left_y-0.1000left_z0.0700left_pitch0.0000left_gripper1.0000right_x0.2960right_y0.0000right_z0.1800right_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]: [-0.0212, 0.8398, 0.6128, -0.5201, -0.0135, -0.0307, 0.9973, 1.1301, 1.8946, 0.9344, 0.0776, 0.7811, 0.408, 0.9987] state[eef_state]: left_x=0.2771 left_y=0.0001 left_z=0.1444 left_yaw=-0.0005 left_pitch=-0.1777 left_roll=0.0023 left_gripper=0.9973 right_x=0.2875 right_y=0.3264 right_z=0.0451 right_yaw=0.288 right_pitch=-0.0327 right_roll=-0.2502 right_gripper=0.9987 state[joint_eff]: [0.0068, -1.4974, 7.159, 1.6728, -0.0464, -0.0366, -0.0122, 0.1573, -8.2256, 6.9812, 1.2772, 0.4567, 0.0757, -0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.18,"left_y":-0.1,"left_z":0.07,"left_pitch":0.0,"left_gripper":1.0,"right_x":0.296,"right_y":0.0,"right_z":0.18,"right_pitch":0.0,"right_gripper":1.0},"note":"The small fruit was pushed toward the left base and is now outside the right arm’s practical cross-body pose but well within the left arm’s workspace. I’ll park the right arm and bring the left gripper above the fruit at its near-left table position."})

tool

executing move_to over 28 steps (2.8s)

step 278

assistant

agent noteThe left wrist camera sees the small fruit ahead and to the arm’s right, while the overhead view is occluded by the gripper. I’ll advance about 4 cm, shift right about 5 cm, and descend to straddle it at table height.

move_to

left_x0.2200left_y-0.1600left_z0.0250left_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]: [-1.2812, 0.7799, 0.2745, -0.6323, -0.8948, -1.0252, 0.9977, -0.1303, 0.8036, 0.5575, -0.3447, -0.1677, -0.4053, 0.9987] state[eef_state]: left_x=0.1787 left_y=-0.1048 left_z=0.0677 left_yaw=-0.0484 left_pitch=-0.0349 left_roll=0.0256 left_gripper=0.9977 right_x=0.2938 right_y=-0.0051 right_z=0.1647 right_yaw=0.2264 right_pitch=-0.0327 right_roll=-0.245 right_gripper=0.9987 state[joint_eff]: [-0.1299, 0.1299, 6.065, 0.8962, -0.7009, -0.2027, -0.2564, -0.1573, -0.9641, 9.5658, 1.6337, -0.2466, 0.0024, -0.149] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.22,"left_y":-0.16,"left_z":0.025,"left_pitch":0.0,"left_gripper":1.0},"note":"The left wrist camera sees the small fruit ahead and to the arm’s right, while the overhead view is occluded by the gripper. I’ll advance about 4 cm, shift right about 5 cm, and descend to straddle it at table height."})

tool

executing move_to over 5 steps (0.5s)

step 283

assistant

agent noteAt table height the small fruit is mostly below the wrist frame, consistent with being under the fingertips; its edge remains just to the right. I’ll close to roughly 2.9 cm spacing, appropriate for this small fruit, rather than risk pushing it farther.

move_to

left_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]: [-1.1687, 1.3361, 0.2527, -0.0532, -0.8669, -0.8875, 0.9977, -0.1303, 0.8085, 0.5625, -0.3645, -0.1802, -0.4263, 0.9986] state[eef_state]: left_x=0.207 left_y=-0.1335 left_z=0.0132 left_yaw=-0.0221 left_pitch=-0.0632 left_roll=0.1276 left_gripper=0.9977 right_x=0.292 right_y=-0.0027 right_z=0.1618 right_yaw=0.2483 right_pitch=-0.0514 right_roll=-0.2484 right_gripper=0.9986 state[joint_eff]: [0.335, -5.0393, 5.8188, 1.0769, -0.5934, 0.0855, -0.2515, -0.1846, -1.5385, 6.6667, 1.8779, -0.0659, 0.188, -0.022] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.3},"note":"At table height the small fruit is mostly below the wrist frame, consistent with being under the fingertips; its edge remains just to the right. I’ll close to roughly 2.9 cm spacing, appropriate for this small fruit, rather than risk pushing it farther."})

tool

executing move_to over 7 steps (0.7s)

step 290

assistant

agent noteThe overhead view confirms the close was empty: the fruit remains about 11 cm farther forward and slightly right of the left gripper. I’ll reopen and move directly above that measured position, raised enough to avoid another table push.

move_to

left_x0.3200left_y-0.1800left_z0.0500left_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]: [-1.1671, 1.346, 0.2543, -0.0486, -0.8589, -0.889, 0.3054, -0.1299, 0.8097, 0.5617, -0.3649, -0.1772, -0.4274, 0.9986] state[eef_state]: left_x=0.2067 left_y=-0.1343 left_z=0.0112 left_yaw=-0.0231 left_pitch=-0.0713 left_roll=0.1268 left_gripper=0.3054 right_x=0.2919 right_y=-0.0031 right_z=0.161 right_yaw=0.2468 right_pitch=-0.0543 right_roll=-0.2502 right_gripper=0.9986 state[joint_eff]: [-0.2803, -3.7402, 4.4376, 0.9353, -0.5739, -0.0073, 0.1294, -0.1026, -1.4154, 7.0769, 1.707, -0.1099, 0.0122, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.18,"left_z":0.05,"left_pitch":0.0,"left_gripper":1.0},"note":"The overhead view confirms the close was empty: the fruit remains about 11 cm farther forward and slightly right of the left gripper. I’ll reopen and move directly above that measured position, raised enough to avoid another table push."})

tool

executing move_to over 9 steps (0.9s)

step 299

assistant

agent noteThe last fruit is a dark plum now clearly between the left fingertips, just slightly right of center. I’ll make the final small alignment while closing to about 3.3 cm spacing so it is captured in one controlled motion.

move_to

left_x0.3200left_y-0.1850left_z0.0250left_pitch0.0000left_gripper0.3500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8577, 1.5978, 0.5304, 0.2111, -0.7391, -0.5159, 0.9961, -0.1299, 0.8143, 0.5617, -0.3725, -0.1772, -0.4309, 0.9986] state[eef_state]: left_x=0.3082 left_y=-0.169 left_z=0.0388 left_yaw=0.0046 left_pitch=-0.0286 left_roll=0.1366 left_gripper=0.9961 right_x=0.291 right_y=-0.003 right_z=0.1583 right_yaw=0.2488 right_pitch=-0.0661 right_roll=-0.2484 right_gripper=0.9986 state[joint_eff]: [0.2256, -5.8051, 6.5436, 1.536, -0.2222, 0.1538, -0.1636, -0.2393, -1.6615, 7.0496, 1.7167, -0.0806, 0.0122, -0.0073] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.185,"left_z":0.025,"left_pitch":0.0,"left_gripper":0.35},"note":"The last fruit is a dark plum now clearly between the left fingertips, just slightly right of center. I’ll make the final small alignment while closing to about 3.3 cm spacing so it is captured in one controlled motion."})

tool

executing move_to over 7 steps (0.7s)

step 306

assistant

agent noteThe plum remains visible ahead of the fingertips, so the jaws are still short radially despite good lateral alignment. I’ll advance 3 cm around it while tightening to about 1.9 cm spacing for a secure hold.

move_to

left_x0.3450left_y-0.1850left_z0.0250left_pitch0.0000left_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]: [-0.8665, 1.7191, 0.5491, 0.2966, -0.7475, -0.5171, 0.3548, -0.1299, 0.8154, 0.5617, -0.3805, -0.1772, -0.4309, 0.9986] state[eef_state]: left_x=0.3132 left_y=-0.1776 left_z=0.018 left_yaw=0.0024 left_pitch=-0.0348 left_roll=0.1529 left_gripper=0.3548 right_x=0.2899 right_y=-0.0029 right_z=0.1564 right_yaw=0.2491 right_pitch=-0.0746 right_roll=-0.245 right_gripper=0.9986 state[joint_eff]: [-0.5128, -5.7094, 6.653, 1.6679, -0.4518, 0.0171, 0.1294, -0.1573, -1.4291, 6.9812, 1.7851, -0.1099, 0.0024, -0.0122] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.345,"left_y":-0.185,"left_z":0.025,"left_pitch":0.0,"left_gripper":0.2},"note":"The plum remains visible ahead of the fingertips, so the jaws are still short radially despite good lateral alignment. I’ll advance 3 cm around it while tightening to about 1.9 cm spacing for a secure hold."})

tool

executing move_to over 3 steps (0.3s)

step 309

assistant

agent noteThe latest move advanced only about 2 cm in readback, and the plum is still just beyond the fingertip convergence. I’ll advance the remaining 3 cm while keeping the narrow jaw spacing fixed.

move_to

left_x0.3700left_y-0.1850left_z0.0250left_pitch0.0000left_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]: [-0.8154, 1.7809, 0.5983, 0.3222, -0.7387, -0.4767, 0.2032, -0.1299, 0.8162, 0.5617, -0.3847, -0.1772, -0.4309, 0.9986] state[eef_state]: left_x=0.3321 left_y=-0.1739 left_z=0.0141 left_yaw=0.0258 left_pitch=-0.0347 left_roll=0.172 left_gripper=0.2032 right_x=0.2894 right_y=-0.0028 right_z=0.1554 right_yaw=0.2492 right_pitch=-0.0792 right_roll=-0.2432 right_gripper=0.9986 state[joint_eff]: [0.0479, -6.9538, 6.4752, 1.663, -0.2173, 0.1245, -0.0024, -0.1846, -1.1282, 6.9812, 1.7509, -0.1294, -0.0562, -0.0073] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.185,"left_z":0.025,"left_pitch":0.0,"left_gripper":0.2},"note":"The latest move advanced only about 2 cm in readback, and the plum is still just beyond the fingertip convergence. I’ll advance the remaining 3 cm while keeping the narrow jaw spacing fixed."})

tool

executing move_to over 3 steps (0.3s)

step 312

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]: [-0.8055, 1.7885, 0.6132, 0.3416, -0.7387, -0.4522, 0.2003, -0.1299, 0.8162, 0.5617, -0.387, -0.1772, -0.4309, 0.9986] state[eef_state]: left_x=0.339 left_y=-0.176 left_z=0.0183 left_yaw=0.0222 left_pitch=-0.019 left_roll=0.1724 left_gripper=0.2003 right_x=0.289 right_y=-0.0027 right_z=0.1549 right_yaw=0.2493 right_pitch=-0.0814 right_roll=-0.2424 right_gripper=0.9986 state[joint_eff]: [-0.1436, -7.0496, 5.9556, 1.6142, -0.1685, 0.1587, 0.0171, -0.2256, -1.2103, 6.9812, 1.7118, -0.1099, -0.0562, -0.0073] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [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 · 6.249 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, 0.6132, -0.3824, -0.0143, -0.0296, 0.9977, -0.0227, 0.7994, 0.6182, -0.3866, -0.02, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.182 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9977 right_x=0.296 right_y=0.0004 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7846, 9.6342, 1.7802, -0.1099, 0.1343, -0.2515, -0.1846, -1.6068, 9.5521, 1.8632, -0.0415, -0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:374ce722416d3a3b3ee734052ca4e69f2a395c0a66d579e66670fb616f54de2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62691fabf6d3f56f27c4eabcf9c6dec465847b959df47bd7aa8dbf3ccb54f182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b69dc09d981e6a71a1d24da785a9215c386d644678db8be3f039b91ce05d5f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 3.57 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

{
  "content": [],
  "encrypted_content": "gAAAAABqtE0YmM6FUzgnPFqoS9b9erJxJMiuoUUc-L8jvcUDOEczh_xtGQw7tLZaHO1M2fY5fERY1QpmRHs3KHVlrWf6XPygU1BQateHj-QmCIWWzXOIrFmQiBUgT9Ui0ETN0H51U-bpXxzDMmxSpr_5XLQ8abVnAjYcVCPIUVw3b8qExC-dcx-bUs1FIvizUwrFo3uqhjSZhYmRSuWBYyFYHluAyghjkkTFc72VhFE_I2BmOv_RDRAWW7fYBf1NFW54I3JIyY3_cZ6KcHu4TxlYKdQ1nfQCttmLPuChivLd8Rbi_S-1-y43jLkeffDJwp9IDN_0EGnDb_nKoWeEVbFFV7ck5ADLocPA0sNqwyN3RMRQKpbEx9Wwcoub26ph9gqLKM_q_0GcBmYgKk2oeL3dxR8KpXPZ9j90rfIKHV9XOnp5f1DyK5hkZeWlL8iv-9iA9Hx-i-gtLXUg6lLF1JsefYpMZBEfhFFTrpbO3VxBs5_8QMHYO-0y3EeK6uCs7DmUQS705Wnd8LQBxk2QA6w6wf1kG0dVg3bl7-3IVbNm3mJ_EqJzz8N5qzvEB8RtNssJyiNfr7X870bNQWlabA1HnskpSnovcF85mCkC7p6aBlxWr47rCyObGOw9xMJ4pdVsWIXthvcnwWhgAWq152m0FWP_xf_ViFShd67IIuBBlXdgxXTLTmLhSe1avxTV8UP7G5QMxG-IQnTAYyPrva1lwmqZsFaQ32W44rBhuAngReEHRGx3ZDVtz-_zVbLZP8zJwcn_lVl83BOmUupg_eKIB6DjlAkZzCFACZFlhh5v35ejlATk-1HCK8Bg_B3G0Vi9LDYgVxpXumv8JAfDfyRUCyBRz0Mf27bxK8L4GSo40Hf-5ocZnRILDeuexX3RvWdj-AI2xe4sfXjH-5NnT5c5wXLXMX3-JsT_Px8xskY9dKLBCZ1cYPwNreeaMMu_Jfv6PDJWKCQocPCbXUNOMMNtVDRM2mjbH2UP-q5nxQb3tDN62mZvdwdi_cnTPMham4BMqgs3UAUdNekkc5b6UCi0EITcrTNSkjL5q8uM4OgE0K41bHarEbjF0bw6lWKp97T9I4ee6qyKPq-wwylg7TK1AODaNZpaALkAluhsU-TTTauKykobKvY91fwclgiGhi9RGIwSiH6m-DJrtsRXje5WOckbYiqCqHOu1V2f7l4GlMUhcodJYfK9OL2B4HlRwgfPG8FdwOh8W_MOyad1QBsGdYDjZwkODvVU2Fw2MzzPyjIvDxASmJ1VA4ApyvuuWi-QUjPVSz6kro6p5KzcAlXE3iWFytHWuoPP2kPw0SBQymTEeevXqVDPFv7XZNt_0Oghwf1DMOnbHwqG5aPySVAXrZLAGazZdz6NRXFPRNQuIALyAjWBFxZI17bva3Gp4S2SQwKQy6uh52u-8T2DD77TJ-3fWa7U6ybvK_s_e8XeWsNAs8pbaBgCfaXpv2RP9HKkX5znlZYBGfraqe-9hHf0400Of6-K8nRdrLey-oGcM4yiG5eAUwst3pnnorDgil1FFubCZYgz2cohcdIJowzaLwDzboYfRDkAAS-UO_RKW73sR8rRITv24BN5PmKXBFoTm9pG_TPOQTjKM6AIM8bkZrIK14K7jTrlHNd9NhrsU_p4SHTRHf3b4XCa79X2gTeBh2RisDsJqgkyM9_edd0B4w-QibPCHIMVEyy_KFEgZ9gmoiJUEWnaeHxvrxntVj5IJFWXfsd-j8Od1GdqdXd03kL5XRoQ4c_4T0G7ADbNK7Il2mXNHvqrrR4lhqy632HKv_Ow2GRjxeEi2jqllW14ksDmm9iDk0g5w7pLn8hKda_ZxRDU0BcoFOUGCakZKRVNNZdrEm8YxXeLdwmcjX0DGbo-35zW9-8J8S89_3AXk7YnecFTNq_ANdNcRDVMC5uYt9K9bEsr-tSCPN3YYuhi2yDZDkE-QXTtrwpDwDutGbwBmOKbZM7f5vb-PUXi4PE15H6yNpXW9aaNYg-xIZCC4E0fTCaAyPnjZVGLfP6WvT7tmx8BQZpUttUunZr-48w86StGrYK4Hlw0EKFmo_8lgIi5U3b5FyYAhvW1uCI5Zg4Qko0RpZsmrbniaehKj3jbqGe6JhonPa_YcdK0TXsG274RFG63kqNfH9tdKs0tXrLp_L8eqZwrj4iC5RHjd90RMKTrKdTuWz2xQSXrmw-Cp8f1miO7GM36FBpWYo4xJ6Klvn5kebisnEFPSZqStpJDn9oN-se2Z8HcBQfWDjzMxYi58tgF3JUm3HQeUWyV2a0z3N3ntJ9tLzEghqsZDBR9SMRiswinJLLJNFCU9N79Re7o5hAIoSQBaV8WPDYrp4XycyRPnSt1mbYz2_5U1Pz7Akv8OBtnW6XeFCpJ91xPxvjkIr_Dws3E2KWuR-TG5pV68BSEXsqxBN4FVsRT2XucgZ-2RaagLv4OxOF374Xi1FvYhquElK94K1AZAwhtgAdcy_e5ky0eeqcM_vmF6091TWMEYPTA7w5KGOig7jlSZqm6xGoTBtYOYFqpB0nCZ1aUyKpg1X4NK58V2HnKPBSo8JeJFDAaXPc3ooE2rnliy7JpPYsqxlcb77kFcXWVCtxiGqwwvCj-YPeLKaZvLe7mWz2vuQjl7jDQonyusz9isDcjXcWMWhjKXuFrSRBUlF1CEKDiacpZfVFwBtjhMQryaXLJSR5UH5-zLS-z2gQcf7j1Jb4r3nCJsvp-35MoykGIRnG8yreJ9Bbl3Bl9XZ4hP1WROl3ZlZ--O9x2qYmjE_vf7z4u7SyXPMakMl4Emr0PuhkaHlZy2XORlap0H1Y6GckuAyn0Gk6aUI0idb-O3v8Ylrjg9gjOT7pe6FqR8U7PHFZlfXHDrggC4Eta8xm3VFABDZFkGvsvPvWVFuP8SFvknNfGmA8Aim7QaKeHNI-aQ9U28s0_Ntkp6x0SWtajFbcXqRK0u_VP-isaiucO4Vd4f3sVATqSZyD1hnk8IYTZ1kZP4j7nXYhk568RuBKRmVv0XPHXf6g_ajY0RdVTbaR9sSxfh6KP9Z5xrHAU92R6Rdh22HMGh3AIOmCfYRGSpQzM1SX3bJPaZnZJ15PU6YjSEpLz2Z4972BeQyHuMSbS4ISyPhduw1Oiu_ug2R7_Q0hcFaHvic9nbZF3OIKL_tCJVSLYG3wcciSVv0eQYB5gvl2XUlgSS4OXMHpc15Me4E44OkFYQCxybLlgkf4QM7ZoypwSE4dAobEPVV7-icL28TNvviltZrAIanko44M2Uqk1DFZFAQSMK4mZN3yF5gOcnnOGISAUMLDWP-ikUloQsOQFycCGe8gSfMf_HJrjRnSetthUaZ1rh4ACP09FWvr0Vak0BQ==",
  "id": "rs_0d632b2c375c04e0016ab44d135efc87d0b219bca641463792",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.0,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The right wrist camera shows a green pear-like fruit nearly centered on the jaw column, with the yellow fruit farther left and the blue bowl behind it. I’ll move the right gripper slightly forward and lower above the green fruit to refine alignment before grasping.\"}",
  "call_id": "call_V8FfK4a8NjEzl9MXhZOojHYq",
  "id": "fc_0d632b2c375c04e0016ab44d17c1c487d0b2c83824b8276969",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V8FfK4a8NjEzl9MXhZOojHYq",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.9974, -0.0189, 1.1294, 0.5278, -0.0105, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0001 left_z=0.1796 left_yaw=0.0007 left_pitch=-0.0107 left_roll=-0.0009 left_gripper=0.9974 right_x=0.3453 right_y=0.0012 right_z=0.1199 right_yaw=0.0067 right_pitch=-0.0442 right_roll=0.003 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4701, 7.0632, 1.8486, -0.0611, -0.0659, -0.0415, -0.0889, -4.041, 6.7214, 2.044, 0.0024, -0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2632c2d8b44edf7c5dadad8f858d97ce8ea6b7d57b8e0017705fc28cda6f0e79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2177d18930cf1d6ba4a2cbd5c47403bdf5281df2cd9c9ebe099925153f1c851a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e356588e0a0f956b8f7ab3d9d974870c39e9dc5ee92962e4c6053637e45e210",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 2.192 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 6 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, 0.6132, -0.3824, -0.0143, -0.0296, 0.9977, -0.0227, 0.7994, 0.6182, -0.3866, -0.02, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.182 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9977 right_x=0.296 right_y=0.0004 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7846, 9.6342, 1.7802, -0.1099, 0.1343, -0.2515, -0.1846, -1.6068, 9.5521, 1.8632, -0.0415, -0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.9974, -0.0189, 1.1294, 0.5278, -0.0105, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0001 left_z=0.1796 left_yaw=0.0007 left_pitch=-0.0107 left_roll=-0.0009 left_gripper=0.9974 right_x=0.3453 right_y=0.0012 right_z=0.1199 right_yaw=0.0067 right_pitch=-0.0442 right_roll=0.003 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4701, 7.0632, 1.8486, -0.0611, -0.0659, -0.0415, -0.0889, -4.041, 6.7214, 2.044, 0.0024, -0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2632c2d8b44edf7c5dadad8f858d97ce8ea6b7d57b8e0017705fc28cda6f0e79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2177d18930cf1d6ba4a2cbd5c47403bdf5281df2cd9c9ebe099925153f1c851a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e356588e0a0f956b8f7ab3d9d974870c39e9dc5ee92962e4c6053637e45e210",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE0hhA_WkO2Q1hmtztvzhys64vaxBAAX_e6HZf7Da5MHyltVdOnLQdH5_fUT6e8ekE1aajiVNtXaiB6pWrBlFQ9p_IFWArbsrbyN4eR2RXPj9DWIy7DmdYtnzse8fwIwbNXo9lVth9Brcn5boTYchohVBPLOnWgGkwdFKk_gjXm4vhIVym3po3IalYjPiU6jEgBZivkp-wKWSPxNpJn3r9PWU3gPx3VOj3uRmPftBVONqKwdIZc2xanx2t9zVUAj6Z1MWIxdKcqgnUpnBxVCylli4XLtUOW3YO6PgacfNSI6PYHhcFUCK0d_rdZjE8bwuj7m0WDcGh1B_dEZ4Iwnq4nQ_OkHaOxxONVZGMdLSjkNATfZxbRCq2GB7obhQ50qU2U1XQanKqPzUF_SwTCnebYp_SvXiW6nNNoMfeslCUfbNNHlaLFro5eAeWvnqeZ7K8HTDVte6j9Lw7hNduLQbD-DZ3vhs8NwmQCqari-0Hkg15_tEFsN8Js9QnvcHSK0S0UkeKKpKYTM6ze2FyBAibNlAg16tQwCkbqp1xhi_xlsHlGqSSdoSamU2OJW5Inlq9K4Ig4jC5WVfe2llYWGV6aPNdSHl1Clbcizg6CvR2TQg_tHpF23f4w0Pz4W9f4_03_Dz1Nqh1HM0CHcaHYtN0FKk2-jtuZeEHrz2IgIg6NjK5nOuAoGZ9KrNLW_sJ20qVPX2sV_FMwoRrU5h7bjyq2akJa-MJtuDo7ouKiBbdApPeTKRk2iK3Ye8ubUrSGhvatQFX4GQylYhzbBR4tGzOfyoLIYjh1N6m08CyFX9h8Af4sFVdSj5NcEpGeyMAZQahWdCBUBdMBzhrV27IHiFhySpD4Sx5p_Lh-imbKx_678YRTld_Q-Vw4oCmspJs1Qv2Qis8o0sD55X2oyjggMokw7kdzbgBqBHePxjY2LJxey-DlcEtGVJh3wmUNws6JQ8pYyVX4mAnxIj5xyyKsFjgR9pQNvN3_5IXB6vFm7yog2_bBRV58D4CCh0e_KbQX764394c_d8OyzCzx9ekZ7oO8Hh_nkURYkAJi0PqmeOZwcgoWPDBKw9-9tA17PlxYMzJ8Y-qwRR3Xwy3p-fny-OF92Ma6LpAo2qMyGph3smP6E_ZY5PJlxptZ881L0Xvyqi2yYQlUrbhQqfr5fjF56ADDyjWws7Xk6AcgaNJ1IJ6OAKyozuQn8M_6BmiX-YhnQYS_FkBzyBdi_ZkPn-X2dcHXNAcZ9-0swVI3vGE7S0r9nvsCCSfFGr0AjDzv7eZeWwM-4pCR2dN71BreTHp183TvnVKmGEXMCvWyS0FUbHgmN3Ap86_5QOOICGuNaFr7J-i3jDqPS2zlmnUp1SWV0B9zmZKDi3PrhtVhoUaYlAFsIYj-oCZuX7BTU2oTHdsPbEyYsNqXcrlcUkEbuvrGv-knNTFeIsHXmI0H46ZzljNuGyiroXDP7gpnYAcJBcbz7X3wIz_S8RFOUrZO6COOYV_r8D_eJIlcQaPTp_MTb3wmLyGkOM9y79XpytWkB2JdZfM7MWyerp7zDiKHNYYAI9uzPQ_eIxA9Rx2wDvLrX4KpQdw_8SoUrImwtapEWhUlpCnGladECJUrOkvd0aufvB9q3xiYWDc1Bilu0KNT_eaCd8ULhINNAXOiAQZPHFWmviUQRHAY6srC0WH8LYB19GIe2Llmx6qphv2DOjwFjzNWY8ft5oOdlojLPXav1phgiJHljNk9bP4TMPclGYxfv4fVzVtWhrYmPkQ6HG2TcXybk8Bj-6lD15SCbLdT9mtxErPuf",
  "id": "rs_0d632b2c375c04e0016ab44d1ee0f087d0b2b6d313e839c1c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.0,\"right_z\":0.055,\"right_gripper\":1.0},\"note\":\"The green fruit is now centered between the projected jaws and appears upright, with its body directly ahead of the grasp point. I’ll descend and advance a small amount so the jaws straddle the lower-middle of the fruit.\"}",
  "call_id": "call_LuiWj4m6cGx9aP42RqTke3Dz",
  "id": "fc_0d632b2c375c04e0016ab44d2040d487d0a3f8472755898125",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LuiWj4m6cGx9aP42RqTke3Dz",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4011, -0.0139, -0.0307, 0.9973, -0.0219, 1.457, 0.432, 0.3775, -0.0315, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1763 left_yaw=0.0007 left_pitch=-0.0256 left_roll=-0.0006 left_gripper=0.9973 right_x=0.3654 right_y=0.0011 right_z=0.0474 right_yaw=0.0107 right_pitch=-0.0795 right_roll=0.0084 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4291, 7.0222, 1.8437, -0.0366, -0.0611, -0.0171, -0.3761, -5.5179, 5.3949, 2.0244, -0.0122, -0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3a108d72a192225f72e99275c6aa2d3c93d04da51c83eb1538fb965861fb22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28c9a5f5ae05e734f7b1c87ea2a105a168524b1fe9bd8537c0764d61405c9ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8438982424309a96c92c14e5b79b88ec6db61807dd32bee44bb874fa991dcab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.456 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.9974, -0.0189, 1.1294, 0.5278, -0.0105, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0001 left_z=0.1796 left_yaw=0.0007 left_pitch=-0.0107 left_roll=-0.0009 left_gripper=0.9974 right_x=0.3453 right_y=0.0012 right_z=0.1199 right_yaw=0.0067 right_pitch=-0.0442 right_roll=0.003 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4701, 7.0632, 1.8486, -0.0611, -0.0659, -0.0415, -0.0889, -4.041, 6.7214, 2.044, 0.0024, -0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.807, 0.6132, -0.4011, -0.0139, -0.0307, 0.9973, -0.0219, 1.457, 0.432, 0.3775, -0.0315, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1763 left_yaw=0.0007 left_pitch=-0.0256 left_roll=-0.0006 left_gripper=0.9973 right_x=0.3654 right_y=0.0011 right_z=0.0474 right_yaw=0.0107 right_pitch=-0.0795 right_roll=0.0084 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4291, 7.0222, 1.8437, -0.0366, -0.0611, -0.0171, -0.3761, -5.5179, 5.3949, 2.0244, -0.0122, -0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3a108d72a192225f72e99275c6aa2d3c93d04da51c83eb1538fb965861fb22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28c9a5f5ae05e734f7b1c87ea2a105a168524b1fe9bd8537c0764d61405c9ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8438982424309a96c92c14e5b79b88ec6db61807dd32bee44bb874fa991dcab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE0nfjZR63JZTAGMYrqr7hZOUEFXAPEaQ23nJAqD7UwaBq5jv58Vmnt_SNirvx1Vk6yPFQ7djT0zhAm6ornulaIZJZB6gXlz_LaBgtuLX79_RjdbsgSSUD7WfUuryija0LWx8VrKi0it4kGXVnqhrVasSxESV3_v6nk1FwYXbPxiOxyjdqZHyBAPH5tTm4crccy4NwByOqH8_A-ImnB9N3IfZNZjIo8yH1feG98HsfC0h7xJ8xO4CqioyobDpnyIeLrr51vv3dGEyIyTU91GFN7Epp5a140JvGsds6NBan6b2ayZ4Cj7GtTNeqFUVjUY9kHSFpr9SwC8xi8RfqNiBMOrPmc8RQivFe-0u23ZYpiq5LxteyD5G0iNgrXMslWpWdYFv3Qwq_kMUeIIRdgpbEgXIM804gKjZMBuT5fOMxATBJrnejM7HSHULQpk7TkPRB9b-l_b6s5AAmxPJ4mDEJt1-Q1XQReVD335DiVthLNTEP38i92qaztCcPG5L7vCn0ga-bi7NnvnemMsEhnQrTFqfkPjm733uKG_1qVSX4nNPwdmhhIKTZYO-v-GDvn9wT8w8AGOudZVTJbG_r1M8QbkNWNs9kQ2uRN650nZ5hRokE3QJksVFWzfWYGuoB553W_PVCbZ8mnePwlxwqzCCXFwW-Dp6z-FDc5mQNi88y0q1Ge4RTV3FRWhoQ5DX0dqI3-Ir-N0LA_En6_Sd1fR0zt9UA9voUzE_Ka9BBhAuaZGKmqlyZReRNPz51degiwEusNDXbeMViG6X9OfC4HNf5pzxpqaXaX8hmIhT-TaIYaAIYkIbo8xTrk73Rj_8JZigjl1r-d_S6qFhYjAOQoCQ_8w646_gBDiNVEFPRPL8yhBFGiy68olqdKCCN9QkdlqZHVSGAbcEB7FU-eMfdag_mKabhqJB_PEiGhBHjgbcsPIxIxyp3Agh_How7O-oG5iE2s3IzFr-Uj70iOCLTR06ozWgPgyVjxKGNFQ17kKE40puSRK_cr31HfOkSI7Rcpa7oq7loa_pgZ8HPauOuxUmI-9IPKtP9iOVpuhllIxvnfDZpgYqRLSGBAJeQDFPfglFp16bSAydeHChiepep9F05-lww-E6NPj-d7J4HjtKCU5A8aoXYh8Jg-OX0-9IoMcWYExvEZBeY-4g61FzqP5MjdQUQ3iALwbh7LPZTX_tRT7_36HpZP6rtkJnyqtnDVZ3Pr4kJH2PPhgV8vW2MsJ7fk6sA==",
  "id": "rs_0d632b2c375c04e0016ab44d265dc087d0a6b7a38facae112b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The green fruit fills the gap symmetrically and is centered between the open fingertips at grasp height. I’ll close the right gripper around it now.\"}",
  "call_id": "call_7Rpqes2XsQqJwymeV1zHKQBa",
  "id": "fc_0d632b2c375c04e0016ab44d268e5c87d09b2df17f042e128c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7Rpqes2XsQqJwymeV1zHKQBa",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9973, -0.0219, 1.457, 0.432, 0.3695, -0.0315, -0.0185, 0.0089]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1747 left_yaw=0.0007 left_pitch=-0.0332 left_roll=-0.0005 left_gripper=0.9973 right_x=0.3642 right_y=0.0012 right_z=0.0458 right_yaw=0.0138 right_pitch=-0.0875 right_roll=0.0041 right_gripper=0.0089\nstate[joint_eff]: [-0.3214, -1.306, 7.0632, 1.8242, -0.022, -0.0464, -0.0073, -0.0342, -5.1214, 5.4496, 1.7216, -0.0269, 0.0464, 0.696]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a222b29f553938e8bd68843f0623fe4436629fea297f1eaee05347964466283f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b2f74479ee1f400ba738644937db9c0529de31ade83d86ff340c29302d16c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e076d012e7e89a6934366a5e3af062a13dfd81c4c23ee9f71989a79d9ed86dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.232 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 10 changed as sent

message 14 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, 0.6132, -0.3824, -0.0143, -0.0296, 0.9977, -0.0227, 0.7994, 0.6182, -0.3866, -0.02, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.182 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9977 right_x=0.296 right_y=0.0004 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7846, 9.6342, 1.7802, -0.1099, 0.1343, -0.2515, -0.1846, -1.6068, 9.5521, 1.8632, -0.0415, -0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.807, 0.6132, -0.4011, -0.0139, -0.0307, 0.9973, -0.0219, 1.457, 0.432, 0.3775, -0.0315, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1763 left_yaw=0.0007 left_pitch=-0.0256 left_roll=-0.0006 left_gripper=0.9973 right_x=0.3654 right_y=0.0011 right_z=0.0474 right_yaw=0.0107 right_pitch=-0.0795 right_roll=0.0084 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4291, 7.0222, 1.8437, -0.0366, -0.0611, -0.0171, -0.3761, -5.5179, 5.3949, 2.0244, -0.0122, -0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9973, -0.0219, 1.457, 0.432, 0.3695, -0.0315, -0.0185, 0.0089]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1747 left_yaw=0.0007 left_pitch=-0.0332 left_roll=-0.0005 left_gripper=0.9973 right_x=0.3642 right_y=0.0012 right_z=0.0458 right_yaw=0.0138 right_pitch=-0.0875 right_roll=0.0041 right_gripper=0.0089\nstate[joint_eff]: [-0.3214, -1.306, 7.0632, 1.8242, -0.022, -0.0464, -0.0073, -0.0342, -5.1214, 5.4496, 1.7216, -0.0269, 0.0464, 0.696]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a222b29f553938e8bd68843f0623fe4436629fea297f1eaee05347964466283f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b2f74479ee1f400ba738644937db9c0529de31ade83d86ff340c29302d16c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e076d012e7e89a6934366a5e3af062a13dfd81c4c23ee9f71989a79d9ed86dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE0r29cm88mxXcZM_ap5l_7LEBF9vVFT4vACxjPFk_f-xfSdD2sB7J0XLvuyM-qff7ZHAetEaDW7etB_VHcRST6L672p-dITbGVxMD5YeXwzuthBSXI74VOdBzfUnvroFikoz99sgj_HPjb1bvAfbtZmbK-msuub4SLLDzkv0FDta0sgJJik1GFwZMfDbySUtbpa8qbGfdUfBlkgwCFXBNZ0daVLud3ILbE4O4H3vZ3_PiroZwV0IGdA23Iv3BX4Zsj3ixnwE6zxBsX_n0GmC_euDXbewirP3jN3iVD-0e_eFoYi-am0d7KTrRlC8wYdQPzpytcQpPgcquqSLCDVlDJ5tL89l8LKo-McqngZB3YRbrSBdyGMotcf_u25XGBR5HFS98DdTXRC8X1YbJfPscRuXv6JxyQ4S4Now7PMQHCj-V1HbwuEUfQdRkRCgdCVBASjYb_CAsYvR9683XsFAKw4KzOYnkWiVdISeH6AM5frp1YyszWs9vBDWpDDZzEuuoUBFNac7D56r9dGcLh_RUI5OQ4X2Jjd0PvlnlnUKLguHX0cVYjHJ5VrLufm1AZBfLZ5T_D5TgWS9uqarpEVB72oEWqHFswHoTkKbF2Ab_mdbf4atxNmA6sA4rhF7rAYAa7ZY_zDZAOgr8XSH0PvNS7Xy7VaOL1RoZCjoxLMPmrGfOIYjApF61-anPisOeEKKfwfEWXITadS5NHXMN9gVaDqg15PgjMgQ_mdpOhkNRAMw5XVJeKWcKwfW75iAWxGK0Gc3Xu_sW97cTD3dNx2CZXFhDEy78Gl2i3gTJykEbKtKfPB8Rae6TEbvGneFliBu3vUD5s7hkRNiFXn0b8yw4QvAEL6BqNIFmbJWQQHlzaOFGAy1K_tDeIrB_-7PGqzyEcuEO4EKc0EEngKnAaJpnzgakcwU61yb5dAECPBc9IGdNtbW9d3r7au306XLGbRgnU-tEeVx5hB6ChD2l18NbaL0vGW93OTCIrCb6Jbo3T7NDlpB1uSFpFpdVwXZyI5encGx5VuKLAPuqRwsAWzTOevgv66b_IXxQ4_k_2fR-JXGNIJyAFmHgUuNnN0STlSKhjlJa5O08nI3en1W4EDq-zrFAd4QovK1sd3AiHpo6znJsabBXQVZJ6UjToiUv2T4uUryj5x8nJNFcdkQ7uo1ci6w1PrV4-LKGXafQNg9MZjri1k49bePtUdP3514HFvs0Ll0kfmIBU78ILrlrbRVACRzSqZYCi8imjBNWK6cfh-r0F0fqZ8pn6GAsWic5r5kGqvDQ6apSFtQoCd0I0HIy_HMXmGH-XrEB2rqkr_i7TW5EaqHjJRZwLjwsEXTnFIQVEu6s8FA8zGGzFwWqqY92qgVuhXttgcrHzDBrLhdBYZBePm_wBmorx_nMUGpKqchIeOzHBiIBhfafCKOOvuDSPr59p__PI1ucu7CoX7YV9xILEpALaOcGDM2ayfqwDrp3EYPJeVEEpBraJHRBou1PPlDx5yVaGwNTvtf6WzhVH7O_W2RJ8XJDlLkcK2dNZbo5xk4O1INpMRDwP4yHXoBH8buf5bhTbUN-zNO4T3ye8vi1MD168_49XlKjT7olGl3zphult5KbeH8MSx8KqGlJeZoLzyTxxal0FjF392T9oX382rq8HX5tH_CxsqJQXiLTlVvL7sU0xVsCyA2TLt4QPfEJsNYD3IjNjKp4-8s3aAhQQWZGUwXfQ9MweFXpjIG378J_Caoy2m7ufUE59EdyCa0ksEwfN0RhkHZpEZU-wGWKrlUNHLrBEJ0--ocpCOzJET",
  "id": "rs_0d632b2c375c04e0016ab44d29d00487d0a7db1cd1e122c27f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.0,\"right_z\":0.05,\"right_gripper\":1.0},\"note\":\"The gripper settled nearly fully closed and the fruit remains visible in the wrist camera, so the first grasp was empty; the fingertips stopped just short of it. I’ll reopen and advance 2.5 cm while staying at grasp height for one corrected attempt.\"}",
  "call_id": "call_UbXs5zfS18Obexi9Yl0Vjzxs",
  "id": "fc_0d632b2c375c04e0016ab44d2ae73c87d0b75aa16451027068",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UbXs5zfS18Obexi9Yl0Vjzxs",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4206, -0.0139, -0.0307, 0.9973, -0.0223, 1.5375, 0.506, 0.3389, -0.0391, -0.0311, 0.9984]\nstate[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1721 left_yaw=0.0007 left_pitch=-0.0458 left_roll=-0.0002 left_gripper=0.9973 right_x=0.3785 right_y=0.002 right_z=0.0391 right_yaw=0.0269 right_pitch=-0.1242 right_roll=0.0006 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -1.2513, 7.1316, 1.8681, -0.022, -0.0415, -0.0122, -0.4308, -4.6838, 8.0752, 1.7753, 0.0513, 0.1099, -0.0269]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81cca1f22d6c736dbc8d3d303f5cd50528f08b193024df69e8be3a3c395e3ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23d0d7c38ed2ff8f44364ce1cf33df7273fe4838ed9ca3e9ed9078d190ed2f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11efdf9d52e4c0722f4e0d6f86bd50368fcba9500eae2e31d02475b80cddb67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 4.286 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.9974, -0.0189, 1.1294, 0.5278, -0.0105, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0001 left_z=0.1796 left_yaw=0.0007 left_pitch=-0.0107 left_roll=-0.0009 left_gripper=0.9974 right_x=0.3453 right_y=0.0012 right_z=0.1199 right_yaw=0.0067 right_pitch=-0.0442 right_roll=0.003 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4701, 7.0632, 1.8486, -0.0611, -0.0659, -0.0415, -0.0889, -4.041, 6.7214, 2.044, 0.0024, -0.0024, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9973, -0.0219, 1.457, 0.432, 0.3695, -0.0315, -0.0185, 0.0089]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1747 left_yaw=0.0007 left_pitch=-0.0332 left_roll=-0.0005 left_gripper=0.9973 right_x=0.3642 right_y=0.0012 right_z=0.0458 right_yaw=0.0138 right_pitch=-0.0875 right_roll=0.0041 right_gripper=0.0089\nstate[joint_eff]: [-0.3214, -1.306, 7.0632, 1.8242, -0.022, -0.0464, -0.0073, -0.0342, -5.1214, 5.4496, 1.7216, -0.0269, 0.0464, 0.696]\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 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4206, -0.0139, -0.0307, 0.9973, -0.0223, 1.5375, 0.506, 0.3389, -0.0391, -0.0311, 0.9984]\nstate[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1721 left_yaw=0.0007 left_pitch=-0.0458 left_roll=-0.0002 left_gripper=0.9973 right_x=0.3785 right_y=0.002 right_z=0.0391 right_yaw=0.0269 right_pitch=-0.1242 right_roll=0.0006 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -1.2513, 7.1316, 1.8681, -0.022, -0.0415, -0.0122, -0.4308, -4.6838, 8.0752, 1.7753, 0.0513, 0.1099, -0.0269]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81cca1f22d6c736dbc8d3d303f5cd50528f08b193024df69e8be3a3c395e3ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23d0d7c38ed2ff8f44364ce1cf33df7273fe4838ed9ca3e9ed9078d190ed2f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11efdf9d52e4c0722f4e0d6f86bd50368fcba9500eae2e31d02475b80cddb67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE0vcd-Tqq7JCTHPRhO0ocbfW1KEgl-hp4bu-2WmAsBT95YSEuAKmYylu60wC6qoLqgzFRKUsXQgOQSg2LyxwmEifNSPdIqWEsxlDkrcO5m7tVEpjpWNhEevl7Cc0DBMwtZza_pN0zGGRxwNzz_q5cBmRQx9jCb9rbajmuxczSfkodMgkg8QkE0p6jrcfmX5vR96FG-JQ40itWm-QGriTVinLdMZMQIpdO_SVBen6Dyfqwl_8u2zdqnlnq3UfU-B9bE4tILwgk7KCB-G6YEawNJ167IEJYeGeeeld1ciZrYS5x15uxqm763T-KvbI8P804NVrQxdVU3_QylVhvmxM_eUdsMI3zPHY-aX5ZkFo8KGJVdihvAcGQlIBKhniPnLUlTVz0BOVmjs-yvSmnhJGKQx127i1h8JSZcFA91dzZrhQeA_GqcY2AIfYXw465wr9R_i4E6u_swvAvSgQauaw0ArZNq7lmV7zxNndr7zij3qyYeasU4TgjEi8l2xQgg_2e0qY7zFuVsIciqxpioKXNiqDJ_Gc-gZEIfrH_q6DfpBApryGKJSIddrBipiwESZpjdu_q6J0O2MrcLPYcQQ73dNT6KJVWTNcMo7I0toAXPT2_6tKYCH7uoFPXYCfNjx1GMsyvPoMRLc25IdLHghHsUAopM6vCgzfZldZHlasjpMcw6-Fn6TrSPMEgHVBWNQMEWg4hvz-R8Qzr6IfZEr4HeCngsBYr6EbNfVDLHHFFgnfKWPq0n3MM7q22oSHjf0vdlH55sqJwwHqEgfWOll4LVyIJeEkgvSePZfejKaQ-rDU5i-8Id8ml5ABvKBPHqqSM4K9nso4K_8NWaBwuu1ScNW_7W-vNziFxq0Z16_ayQIHcAwAkS4MwiZYBEURhKufBsuBXJfn4xbQj6WwEF0Ysj7V1DLmNBfqMYnLdpWPydAkSFs_ZE0mN2eELkQ7NPEzZ8vbW6Ay3c_7p24ahTRzmIFP-ff-R_fpcQbKpdhB7lpcKY53zGccXoJbGOXsjT3E86wUuL-D1F12d6Y5cwKWx9g9MzYxWNsLuklJttTjGmRPzB9D8m5PxF6Dr-k4uzSnbpAxszQwV3eAOfmUabb-Z5R_YoFzoFnU68BGINbvbwtQOTD2n5SKN_VgpyGivmpB4vZCHqhEiOMo_Tltk9nRf5KUONF0a7tjrrJyD5y0Z-1EHHznMs3bMmNtQJwKc0NFKTN",
  "id": "rs_0d632b2c375c04e0016ab44d2e1a9087d0bbb2cc49144560a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the outward correction, the pear is now visibly between the two open fingertips rather than beyond them. I’ll close again, keeping the arm stationary to avoid sweeping the rounded fruit sideways.\"}",
  "call_id": "call_RWuyFhT6O7Vq8poyvc5M7KQ9",
  "id": "fc_0d632b2c375c04e0016ab44d2e319887d09ff77e1308d1cb3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RWuyFhT6O7Vq8poyvc5M7KQ9",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.424, -0.0139, -0.0307, 0.9974, -0.0227, 1.5375, 0.5064, 0.3313, -0.0391, -0.0349, 0.009]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1714 left_yaw=0.0007 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9974 right_x=0.3775 right_y=0.0019 right_z=0.0378 right_yaw=0.0286 right_pitch=-0.1315 right_roll=-0.002 right_gripper=0.009\nstate[joint_eff]: [-0.3487, -1.1282, 7.1453, 1.7021, -0.0562, -0.0513, -0.0073, -0.0615, -5.5863, 5.3538, 1.7509, -0.0513, 0.0269, 0.5543]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e40460fd0b821d74b753d7bbaba101d4def443b2b0019b2c027cb2be3430e53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e086849479d327568c758266a56fa59254d440123a6b4979e8d9783e46b027",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1371a12a0c5c879d95d715d1a4ba1a46f83c08ddf4511c5e24555d1b0e5e7d9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 1.875 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.807, 0.6132, -0.4011, -0.0139, -0.0307, 0.9973, -0.0219, 1.457, 0.432, 0.3775, -0.0315, -0.0128, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1763 left_yaw=0.0007 left_pitch=-0.0256 left_roll=-0.0006 left_gripper=0.9973 right_x=0.3654 right_y=0.0011 right_z=0.0474 right_yaw=0.0107 right_pitch=-0.0795 right_roll=0.0084 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4291, 7.0222, 1.8437, -0.0366, -0.0611, -0.0171, -0.3761, -5.5179, 5.3949, 2.0244, -0.0122, -0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4206, -0.0139, -0.0307, 0.9973, -0.0223, 1.5375, 0.506, 0.3389, -0.0391, -0.0311, 0.9984]\nstate[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1721 left_yaw=0.0007 left_pitch=-0.0458 left_roll=-0.0002 left_gripper=0.9973 right_x=0.3785 right_y=0.002 right_z=0.0391 right_yaw=0.0269 right_pitch=-0.1242 right_roll=0.0006 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -1.2513, 7.1316, 1.8681, -0.022, -0.0415, -0.0122, -0.4308, -4.6838, 8.0752, 1.7753, 0.0513, 0.1099, -0.0269]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.424, -0.0139, -0.0307, 0.9974, -0.0227, 1.5375, 0.5064, 0.3313, -0.0391, -0.0349, 0.009]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1714 left_yaw=0.0007 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9974 right_x=0.3775 right_y=0.0019 right_z=0.0378 right_yaw=0.0286 right_pitch=-0.1315 right_roll=-0.002 right_gripper=0.009\nstate[joint_eff]: [-0.3487, -1.1282, 7.1453, 1.7021, -0.0562, -0.0513, -0.0073, -0.0615, -5.5863, 5.3538, 1.7509, -0.0513, 0.0269, 0.5543]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e40460fd0b821d74b753d7bbaba101d4def443b2b0019b2c027cb2be3430e53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e086849479d327568c758266a56fa59254d440123a6b4979e8d9783e46b027",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1371a12a0c5c879d95d715d1a4ba1a46f83c08ddf4511c5e24555d1b0e5e7d9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE00SfrkUx7gcyDYmffFxrYH1op3-Ri-AlgRwgmQL_294NNgghNVOm2UWJZwLIvLlPQCKhLwH2rLNX3Xtl04kiSb5Uzqb2pUB-qcV6AX9uLJVIyMTDNxsnJxriZx1dqlW8rOY-iQvh3L8P37QPuG4ZceI9UTm2HR_kTKSwtWlhrGJ421AKQnid8Nfg4aXHl4UM3pOxagmWrg3O04_JmyhQhLo2QlnGQLCbfPmlGOCL3-5NKPnpw8-H0sjQm2ispNZTIA0S08JWGs7zNIo5aTUQ3loxo_dXVQ_A7UqNjhJkWDWM0NomUaoOoKK-JBLjvza0ANuqiD1C9mdC1nDHmEVoAD5y_4zmq22EnPb-fNqWdXjYkny8xL2m_San7g7x4d9A8PNeRecFwUWjEakgUkXdfyhLpzf3qQFJRegg8dTPAVbA3-s6sW0_boMc6Td_vFgxPZ0oUzLL341v2eNWy2JixM71Ts1rJ8TuM58f_CQmOOrEituhb21aU5vfnY-_4fVaFlSUKPEC9_nv1sGvzQFJTCoeejYzpMJHr--g9Nc0KADyTBdd4Yx51X5nKYcsM8X5Hw0eD8yjtcaDkyczUw2Mo9P1oZlFPw-OzO_xv4cD7NI1vznwNH5R1p60WfrdGoIvOo7OkP_pspMTVNG3wgxdqS-vMAs7ZmbDFXVB0_6-1jJF0j1FG94qMMCmbjaWqfalSjl3oxKg5-h2QDzHOaiiAV6YslPmn5-qPM19-_-_X8aHToXAn0dR4M4egtTJAqFSsNkW8vN2MzUC8P8aKWPFVgJ4kvF2y5RJ7TjARCeRNGV7W7fGYp-Ymi1wO0zbpMQggF6pJqnKV6Z-yWx2WKPXjKTBNnpyjhXzPH4tIS9f1jW2NGycYJBM2V4VZzxqSx8hXLBif-zCfSm7PLZm8riWZSs7yje_rtQGg3xJN1dQ9_rsT-6WBiAZ0IsTqONhBGvdfUTRG6olRmPd9BmX64YpL4PaWutBhRB_M2q5hZtvk2rQkx_2Q2ryT2ttY2rCWnZh-5AKq3gRFhgy4dK7Xm2MWdYqkrf8-CowIRcjoXP6YEoH8-bDhZIKPiFnCl2-iYnkX-syXIzKDS9qYQBVI-MGTq1_AsKIBtVK_Tgn8WMQMz2xDGfB0TD23LuAy57vGdMAMYY1X3FODjMTJ9IOFZkpOz4-_2isht1UuNLFRFKVUiFegamJwmuxZVW5Gt2o4n2VTCt6RAEFkZPI5sDRg3kiZ50Mc0qGbq2FIAgwR2uRfyd9XzmmpL9fnOlx2gVUyE1MQh7BLEKeiDsbV2He0qL8vlPMi9lMffUgnjGHbQea10OG7OjytemBp0gFDo9KP1iiSqY2NP2L6CJV5zuMQkN4Dk9wSs22RhqBt3e2QXB3UrEAp89hLd9FjQlSzo7Z-IMbjZpPrEj8BVajZAJcFT0ixAu69rsiLwIX1FyWYiFeJ_yhIXMdLlDf48o8TZKyB_uq6DU4BndIVEcvL8YYQoZ6Oof_fXZ6945ekKMuAkofzJVuR9GXpVTFzu6aRRjZ5U0k2DUmSVF0UZKuX_cteQKlhHxEJx88tRdklJqebcR-rfGNXnSnrngVNaVwEPVvzIqCQ2Ra2f80nhO8tsamMBS7vr3HTdoq_tpt6Lv2NaEEnqCu-w3borxBotSDFrZcTuw3zwFY9zHlN2rO-IcyZlGYehK6maiMrdfkWTAI6_lBBKlXV86bjE8VTOht66MpMMpR2YxaxJOVWsfAPFzy1By2VhCTwCmoLNXkybtO-5wkyVktpTqAFfl9S2SWYEnw4z34lu6qQ2GjU8wv37SQeUOWDZjKS688pX4uIJJJO94TKa0buVycn-7Q2GGIH53iiz_Rt0TIoIlm01jIQvAVFfYFwfBOq_jKz-ZFrJcziKC9A4hBI3ccVYTGeSwj4a5_AF6NkVHPBQFkKtKAQsVZZ8nfL9w2He7BLoRaRIYKzjDbKPF_IGaPNvqMhC8dSL4voZKhLY5noaJMrE8bqurrkmuzDErgkr68B_9ROWxI1sX0t9sv-a7er6YLUwzKQ_zEN8ygM4tanlf3S7DEhQWV5YX0IyGahiJ0bWbrNV0zUyc3qBsWCOK4jfLgdUJqMtIH7Bk71PO4erkUk9_dckurt5LolVS7ilnNa7Ljuc5DBEa2ueMlR7m0SorIP3ePcBkK35xGlNDQHlDiYteddCOwMPqPgrD8L8S_0WCSKf2LvX3ZDvE6UnAAbRmbsIYiupu1DAf0V88rYoHEvudd4MNIpEVi2FNO2mLvYfJ1NXbvK-1apo-hOrsxHYuYdpVLn5oE0OE78iajZFW4OfiHTuvSInF3Oaul2v3ZvnjxXh7cPcsjcYifRXgMtJVME8-TZwZJsCPSp7d7MZCON81F2_JQ8ZYCmNvFroL68G6NGPIzxaQgMCzWrTGsNsFBI-rU-eY7PHl3Poi2iMH2TNsJm8S7IHT1LbfXHhaFHcH3TenKmo9IKrKJrALyOUKrRJhj-j4mLTV9ZfZ-mKZhkrCmkFr5zA1yaTE9-tVGY8sklKEgiaMCugYGVmGIS8lTbTvLJab4E_z2MdmFuI7hQvEf15Zq5dHz_WJ1Q0cZGMi4KtqAjHNuHnucw=",
  "id": "rs_0d632b2c375c04e0016ab44d30e6a487d0b7c35bab2654bb81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.0,\"right_z\":0.06,\"right_gripper\":1.0},\"note\":\"The second close was also empty, and the wrist view shows a substantial gap from the fruit’s base to the fingertip convergence point; the previous move advanced only about 1.4 cm, less than commanded. I’ll remeasure by reopening and moving another 2.5 cm outward, slightly raised to avoid pushing the fruit.\"}",
  "call_id": "call_UNJGorBejKOEt0RkqATSnXFR",
  "id": "fc_0d632b2c375c04e0016ab44d3347e087d09a774787b6bf0aa3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UNJGorBejKOEt0RkqATSnXFR",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4248, -0.0139, -0.0307, 0.9973, -0.0227, 1.5589, 0.6281, 0.2081, -0.0467, -0.0471, 0.9961]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1713 left_yaw=0.0007 left_pitch=-0.05 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3965 right_y=0.0028 right_z=0.0524 right_yaw=0.0419 right_pitch=-0.154 right_roll=-0.005 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.2513, 7.1316, 1.6777, -0.0366, -0.0415, -0.0171, -0.7043, -5.4085, 7.8291, 1.663, -0.0659, 0.0659, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8c80d56111c993bd32d0eaf942ddbd49f411f57d7b98e5afd5fb5983f98eb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1751f4d4c58f6db2ba5e93615b936cccac932e5436fc7c8119dea6bc0d8357ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602c48b263f68aea4724334da4d55245a79f5adf1281e51275f53fc1d8fcf32f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 5.648 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9973, -0.0219, 1.457, 0.432, 0.3695, -0.0315, -0.0185, 0.0089]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1747 left_yaw=0.0007 left_pitch=-0.0332 left_roll=-0.0005 left_gripper=0.9973 right_x=0.3642 right_y=0.0012 right_z=0.0458 right_yaw=0.0138 right_pitch=-0.0875 right_roll=0.0041 right_gripper=0.0089\nstate[joint_eff]: [-0.3214, -1.306, 7.0632, 1.8242, -0.022, -0.0464, -0.0073, -0.0342, -5.1214, 5.4496, 1.7216, -0.0269, 0.0464, 0.696]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.424, -0.0139, -0.0307, 0.9974, -0.0227, 1.5375, 0.5064, 0.3313, -0.0391, -0.0349, 0.009]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1714 left_yaw=0.0007 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9974 right_x=0.3775 right_y=0.0019 right_z=0.0378 right_yaw=0.0286 right_pitch=-0.1315 right_roll=-0.002 right_gripper=0.009\nstate[joint_eff]: [-0.3487, -1.1282, 7.1453, 1.7021, -0.0562, -0.0513, -0.0073, -0.0615, -5.5863, 5.3538, 1.7509, -0.0513, 0.0269, 0.5543]\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 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4248, -0.0139, -0.0307, 0.9973, -0.0227, 1.5589, 0.6281, 0.2081, -0.0467, -0.0471, 0.9961]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1713 left_yaw=0.0007 left_pitch=-0.05 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3965 right_y=0.0028 right_z=0.0524 right_yaw=0.0419 right_pitch=-0.154 right_roll=-0.005 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.2513, 7.1316, 1.6777, -0.0366, -0.0415, -0.0171, -0.7043, -5.4085, 7.8291, 1.663, -0.0659, 0.0659, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8c80d56111c993bd32d0eaf942ddbd49f411f57d7b98e5afd5fb5983f98eb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1751f4d4c58f6db2ba5e93615b936cccac932e5436fc7c8119dea6bc0d8357ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602c48b263f68aea4724334da4d55245a79f5adf1281e51275f53fc1d8fcf32f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE03nmaqhO-Vz1GUXW_Peg-JE63h-Vgd4UDH1RedS3Hf1yN1AnO3rAeEEsSX5CSgRz9UfF8seb4omFkB7hXE1KiTjqIYmEKMxAUtiv586RXPyXC57GnvV7aj0FQORFB2j2XGAFALxEKVPYPDBEjLqHBjl0lBc3UThlsyCNGl_OuwIheRYSzDUo-ogNoTyMn-40Y-V3yjLPuF70nQRiKhuHQ1nvduQptfot8WNIwRUHm_6kQWSOjy2kR5F28IhfY8mDXa_hO6OkInf-6OK0t_CF7oFGVN82pIHhWCRgLcORYkIgxff_BpAlVIL57eskoI2aom7dL-ZDx8izyLVisayWB99kM88ul5ejWIjeP6uOpaZLpyX5gIH0hZ7uy2L2WNwrsDmt5tsRMeaPUvf_IvLmyyYl_YA40YYGUpRPfplCYqifKl9eAaXuQBmBFYBxR9mbAQHrcGvvtzqR6dYCXUzt0Z6MCyqH7pzT7rd93Mb49qp1z8F2iyju3hfXgPQnhoAOd1I-__dWwIEo1RBHhRC-pEJxTEBbZfUiEZbSunJHg9HHVhjLKn0S8eaWiPHWyRJd8hmaVj2KJRrRJ5RmQimzQkWoMJYxsR7A31dxC7dS328o9Iu2WHtM8yFii82WWdoyzr0AKpqpebkQeBjA1wgd1e7fBO2FdsOw3piqYoGfL5DNmIg48-Yrr2rFCAKbo997MopD86orUp2HIpkp0yGQ0bHTNhxB7s5F7O-aYZg3-iFsEFPbVxEOiKhiKX7Tyh2ACXBMDrpYPx3PBgL22OSFODn0GI0zCW5BnUaEyqwtZv-_wsYKM1h_gmc-exPfNTwt4WeBwMbfg14ihi6W8CmYIlvpwOi-ovJGdUWNCaPvE8N1hHgRsSoOeAqj2t9zzyJMqkfNEvc0CCJeCxbYlS62FZTKEjdTB4D7Y3CgbtVN5ccC5VLEQZq5tyobmbbOLzTgALEwcTqeJ7zzyMsuTLWRz58SeNEpLG6eSobY7vMGMneDQEmas4Pl56P2tXQR8xkI7u68FQk9oyHnxqsLXJi3yPUqng-IWC65cxFMHZ6MGKseBc34NisMK6aKFvCY_X8v3uW6iWcR1AjgxyszyECkcBYte5ylcZThE70tGSG5sR59du7aBrBV06BFcIXuA4hczd3D_hLT6OR0FBBvwnzhNFEOv7k96ENh7smXUsXrWvTrmV1OfXTO5T1JKD3bM1l0iV2b2mxHvQMVhCCwZ7P1mFAMGzncoRy2uWKa20G5o3za8s17tWGQ88TRUbN80tqW4H9Vw0U6ZQORRXZi29JOsD-i1lCeQ7v6mPn4VZlsGNhhs-Bnq00nDuGpx-jpVzsrdt",
  "id": "rs_0d632b2c375c04e0016ab44d364d8c87d081c418e32d01fea3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The corrected pose now clearly places the pear’s body inside the open jaw span, with both fingertips visible on opposite sides and extending beyond it. I’ll close once more from this verified straddling position.\"}",
  "call_id": "call_K8Rr9OkIIKiGJnzy6NxB9CrL",
  "id": "fc_0d632b2c375c04e0016ab44d3678b087d0bc355b5c186234e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K8Rr9OkIIKiGJnzy6NxB9CrL",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4267, -0.0139, -0.0307, 0.9973, -0.0227, 1.5635, 0.6292, 0.1967, -0.0502, -0.0536, 0.0088]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1709 left_yaw=0.0007 left_pitch=-0.0519 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3947 right_y=0.0035 right_z=0.049 right_yaw=0.0486 right_pitch=-0.1687 right_roll=-0.0065 right_gripper=0.0088\nstate[joint_eff]: [-0.335, -1.3197, 6.9949, 1.7118, -0.0464, -0.0317, -0.0122, 0.0068, -6.7487, 5.6274, 1.6874, -0.0122, 0.0464, 0.6813]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a75c00f55da06d899de79864e2145e9b0a8db0370d67e4651c6f01b3c19595",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597fdc32a29947926a1a061c6f09c3b5387f5fa5c7d861494bc518f43ab3872b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98c4a7d7bff412ee7d2d43b19fd31a6cb190522df333c01d44c894cb57c9dc38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 3.209 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4206, -0.0139, -0.0307, 0.9973, -0.0223, 1.5375, 0.506, 0.3389, -0.0391, -0.0311, 0.9984]\nstate[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1721 left_yaw=0.0007 left_pitch=-0.0458 left_roll=-0.0002 left_gripper=0.9973 right_x=0.3785 right_y=0.002 right_z=0.0391 right_yaw=0.0269 right_pitch=-0.1242 right_roll=0.0006 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -1.2513, 7.1316, 1.8681, -0.022, -0.0415, -0.0122, -0.4308, -4.6838, 8.0752, 1.7753, 0.0513, 0.1099, -0.0269]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4248, -0.0139, -0.0307, 0.9973, -0.0227, 1.5589, 0.6281, 0.2081, -0.0467, -0.0471, 0.9961]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1713 left_yaw=0.0007 left_pitch=-0.05 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3965 right_y=0.0028 right_z=0.0524 right_yaw=0.0419 right_pitch=-0.154 right_roll=-0.005 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.2513, 7.1316, 1.6777, -0.0366, -0.0415, -0.0171, -0.7043, -5.4085, 7.8291, 1.663, -0.0659, 0.0659, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4267, -0.0139, -0.0307, 0.9973, -0.0227, 1.5635, 0.6292, 0.1967, -0.0502, -0.0536, 0.0088]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1709 left_yaw=0.0007 left_pitch=-0.0519 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3947 right_y=0.0035 right_z=0.049 right_yaw=0.0486 right_pitch=-0.1687 right_roll=-0.0065 right_gripper=0.0088\nstate[joint_eff]: [-0.335, -1.3197, 6.9949, 1.7118, -0.0464, -0.0317, -0.0122, 0.0068, -6.7487, 5.6274, 1.6874, -0.0122, 0.0464, 0.6813]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a75c00f55da06d899de79864e2145e9b0a8db0370d67e4651c6f01b3c19595",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597fdc32a29947926a1a061c6f09c3b5387f5fa5c7d861494bc518f43ab3872b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98c4a7d7bff412ee7d2d43b19fd31a6cb190522df333c01d44c894cb57c9dc38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE09YdGLrpYP0A00LmS7qhn4WuyppkhqowPmC51lxV_JwlQT5mU60bO7-6x-ZblSkyZsyEPoi0gyxrJR25tZ4VxeOk2XebGTVDrM4gM5179wunM77TxjRbxI1Rq3uGbKxJuBgkg9oWraAyKFdM91mHZ9V1ljoc8EAhvyTvaO4OxYbNO6aVrQyr3WN7n2yQNCpj1uBtDLXxAt2SexSH_PTevxoz9jFswtDwyhvFAAFDWhoz8tmHSR36snkbmfXyUUxwfiXClS1yVf5XQAy_GbCMao0fneG2AcjF2CzU7zb9yFLNadsfjHOgiiLK9Tq0neHyMTU1VzRRQp1nK5i0PrpJRDBnVaYd_9kXoQzRsfNmcbyAT3sliSdA4A0WUVqjzGnYw0G6S8LLmd1UjO_6JlZ1fy15XroVFYLXXD5VhNGUFjyBrzz9lcIYkZTFwygfjuu24JhY0YYgKu8MT_R5Ec3j8Z3v3d77sliPkEjoOqwBkd5XzOmABT9ERWPA0W0Py_MNr_oqZryJlpQXxxm25cSiOtOnOSIObyH8j3PpMR-FtXdg4RVVAfLxNXDGNfiXS1xZuZhDDr75Nm92yC-QoucenNtauJg3e60W5Ds5XtF-2-OAqO4gQ6rnDBSAQR3UmxR3rql0e_0Z_lCiKGlLaI3i4kymMDifjJA_UJ3MtC8L_J_4BI6VTB7SOqo1Z-0q4w7pdBp5OTou8bNYtMQqRc0ccXrPOxMTDolLEQlpGVgJeMvIlIOuKBPyEKlfTuqwwKga7gj0YMdiNoRWgkIPCUtPaK6hvlfGThZ53enF9dPRmZkRfQbBbMPGE5yHh5MvlMMgzPHZPjeTFj7A-N8a91Knq6uqeGynuUD0DD1-Hu3A3H5Vw5leJj5bI6AsePpv2w_gfhipERJEqNssJRe5SRcFRYAAmj6db2jwgM7m9qFGNULV_8grTGAscIr9PCBAfUqND_yYU1NEj1FF1M6B2AiUtOgUL7QFxqbsrNeC2Q-e5uDBMYuoVM4rNEKweJ-og2ykeztENsIW8nb-tdLH-eUxenOiPCrXI-9jrmEgfcKPNLD_fw7hzaZKXTddSnL2rdouB4lpMsZhpKD18QfeO8MysXA0pZbisWpi8dMGWi5JABT59IPIvhgdD9jo1pZSSt3Zt80-m4DhkZzXGp0s-FtE9I82rYWNSiPtg9ydilBSjhDZzH0ZkEd7r26sVLFvLVBBVectMeUUre_vRqnE402sqjLOSU1rkFU49BGpdUKRT8BJIm5N1lhst6wtxBy2a3MB8OjQcgebDmbAHkNKEzYvbxOWfuU9OxJXycwMIbRXrt-ztI31wPUx-1B0YZavT58tMH5z8ywdzXoW0qCkTUJgmKPYHoTQ7Y5ot608OJPNvWRciufmCL3DQxYnHvRUrobOnourMFogFLCdLg8r4ljD982jK8mAGHB_OvZsJS7-B4tT2lIZh_IOIfZ4tAMGFFffVJq3OesBV88l55Jekia9QaDyx3PucnenwJ9XWKW2L1LQinZUfZPzVuxeJFQZbXs8fzU2Kw6x1Pd2tZ7OQH2yoKb-4n5ufHPL1f4rBqrHaaamllS8_m3ZSjJBaqR24gcC-NrkQ5Bhkdpcm-C0Pdw1x5jyDNbQT53kt8dj-42fnW6amNIPz1YSYoxYMMmYn47nm9DgbkKypYQMsYCaFPwPXjFoVLnya6a7P_WYM0sm1RU56VJ-3ET3lVurnbZ39wFj0vmeZ5e6wTYEqqwnHOsBorLq0V9WpcaODuey74lDiAzfaC0Mkp2NrgMT1ddclfgu6P4j9-qT1BFBLBTFbBjCVrlTpBs6IUD8F5ejFcOfCIIQfxluXu2FTmy5wHRl_bMSWLjjI8SGseyQfNdVLpizwPswlKs585HqZkQ0xDUSteCPu41uz_GG26pszhBTOY8-a7aQ_X4m1B1XKWy-kN8mbqYE6I2qmPDuPvKXnNRHUmpBLa-JCezyz076fz3l3y7bJ4DtxJNNdTsOUg5QoNTmZLLIet6m8qCCR8YDwDNfIY0JDEmX9W-WKRneYhqmwQ0CE9Y0UK5ANxx-PR8Nv3XZhVyvcz0-_gtWjDuIShefpHcu26fBfV0vrifONIszGIIk72SXmlnVjhZnJILc-sRDCI64n8pPtIrRHf3bAq_g6gim8R0cpli0w-A3T5Djm849bkfagMZI8eosHE9Yb4bNTCitmBJHtk1-UDhz1fKBhbu8h_BEPM8fShmlY0_Lu8GDs7BfQdWs65rNBUw4Q8uGEOTSqbwilMRN1o0brkyiy0UUcvvU5uX-F43rxW44QcEyKuSs0Q83pHthyLvr92lwpfjWLErGKUojq9tMcPyUd5tUBAKESjpEmgXINN6sgaVCOy6Ghq79WHQmWRu4elcgBzoG-kM3_DlbbvUv3Zi4qI0QGN4IT-_eB1cpWCwS3ock0gXCPsyiS_MGM5yexPtThkjBXBhWDhF3yANUve65Rne6PS2UckCrbQvI4sY41ViZKlQkasncUwQHnsthcr8CbEpcSjxbBbXEg7BQRWUeymsz7KSFuus1lwsn6kwdhxQw04f2ocbHz3I9AU6Ti1HI39YOiwKHVnWIkJlZ1VJAJzpmSFcbkB4k5FyiNDkbQTVJv2QJrk9kiNOif4p-octLbPXIm2pONJr5lBLhiJGzDdcUT8Mx1aOagAw7B93saLBKzaZ-qX0TjJK9fEEBoFkrfyX_Md9WyUlaAqxdsjR8-RF3B_mN7Nzk8swheXePg-L1QiJzstRVy6qgs_4wXAxt3It6YwLqOMSl3ZqiXZ_4zhHuL9qfHs3C4mhqmV_GNPVg0epHT4MB7vKPsc5ZHq907y9b-4P9cLT2FANHf-4rGjziU0PWPOFRsDdjqFyA5mCsvhXLBgbXhG-qK2Mfoddsw1KrKMx-36-OnjtHKJS6dJ19MVLjpxChE2ZoJSrUzm3TlQazgLUEODRhDAWWF_3U7tboMrPgdLBG2ZKtZ4sH78djIAxuO2w3JxhrIcKQ1vFpiYlSmL27BbV1MxIoaUHTHudZQ_guTBR-MnsMBUuTkaqx7TUboDfEw_jKCfcbRz709GCLhxHTkgrZU3jF-aml0CSEnrZph-lcKF2De1ksDk2kcxSZaFFvFgY4CBij61DpRm3vR-b-h_Of8N4q9c5ab-lRssNrkteIh50mh4ZxRyXidpAExZsUPzpWesKpnXlVNAefOlf_P_e_FQNN17en0jXQ==",
  "id": "rs_0d632b2c375c04e0016ab44d3917d887d096155cd43c731c26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":-0.015,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The rounded body slipped out again, so a body squeeze is unreliable. The pear has a prominent upright stem; I’ll reopen, raise to stem height, and shift slightly right to align the jaw column with that narrower, more secure feature.\"}",
  "call_id": "call_RBYQUFFafeXQOa8zQtxndBAl",
  "id": "fc_0d632b2c375c04e0016ab44d3cd88887d0a2995c0cd8d96699",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RBYQUFFafeXQOa8zQtxndBAl",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4278, -0.0139, -0.0307, 0.9973, -0.0868, 1.4281, 0.7853, -0.1524, -0.0959, -0.1097, 0.9986]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1706 left_yaw=0.0007 left_pitch=-0.053 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3871 right_y=-0.0131 right_z=0.099 right_yaw=0.0557 right_pitch=-0.2228 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -1.306, 7.3778, 1.6728, -0.0611, -0.0806, -0.0122, -0.5812, -7.4735, 8.9231, 1.663, -0.1294, 0.0464, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac5b943d1f5e63e5a4b7ab9abc6b24d36a5480361bf18170982994e42063b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c412bae887132a1adadd8f5e8d59341459d1b4db17c9b37cb40dd4258ba01325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:659da3498ecdb98af0f621036803ace7c0157057cd929d3a7e720a5ba1eadbba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.118 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.424, -0.0139, -0.0307, 0.9974, -0.0227, 1.5375, 0.5064, 0.3313, -0.0391, -0.0349, 0.009]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1714 left_yaw=0.0007 left_pitch=-0.0492 left_roll=-0.0001 left_gripper=0.9974 right_x=0.3775 right_y=0.0019 right_z=0.0378 right_yaw=0.0286 right_pitch=-0.1315 right_roll=-0.002 right_gripper=0.009\nstate[joint_eff]: [-0.3487, -1.1282, 7.1453, 1.7021, -0.0562, -0.0513, -0.0073, -0.0615, -5.5863, 5.3538, 1.7509, -0.0513, 0.0269, 0.5543]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4267, -0.0139, -0.0307, 0.9973, -0.0227, 1.5635, 0.6292, 0.1967, -0.0502, -0.0536, 0.0088]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1709 left_yaw=0.0007 left_pitch=-0.0519 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3947 right_y=0.0035 right_z=0.049 right_yaw=0.0486 right_pitch=-0.1687 right_roll=-0.0065 right_gripper=0.0088\nstate[joint_eff]: [-0.335, -1.3197, 6.9949, 1.7118, -0.0464, -0.0317, -0.0122, 0.0068, -6.7487, 5.6274, 1.6874, -0.0122, 0.0464, 0.6813]\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 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4278, -0.0139, -0.0307, 0.9973, -0.0868, 1.4281, 0.7853, -0.1524, -0.0959, -0.1097, 0.9986]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1706 left_yaw=0.0007 left_pitch=-0.053 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3871 right_y=-0.0131 right_z=0.099 right_yaw=0.0557 right_pitch=-0.2228 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -1.306, 7.3778, 1.6728, -0.0611, -0.0806, -0.0122, -0.5812, -7.4735, 8.9231, 1.663, -0.1294, 0.0464, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fac5b943d1f5e63e5a4b7ab9abc6b24d36a5480361bf18170982994e42063b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c412bae887132a1adadd8f5e8d59341459d1b4db17c9b37cb40dd4258ba01325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:659da3498ecdb98af0f621036803ace7c0157057cd929d3a7e720a5ba1eadbba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1CN1IEXU6dkQjqIPpVRklu4kW2UPTipuadR3giw4Bi5XSK2sAKVFnnU8teqmZ1Cx4kQdStfwRidsClXGheCQui-1nJmieyalHRD9UeAR0I-PgMnMw_7gJQIMMc1TJjYNQ3BV0iGr-SW7-jyOvI8na7PPeU7litMedHfUf6QQvOLIz0eRXiCdXGyeThkaSuqqZgfdLrpNO9vDDpGMT-tDgPmALzzsHwDgJ_mp5JeguL7Q6oGk77Bgzd4n0t0wI8zDcmFAI2KCVRs324i-urLfpww6KNvmxZPVS0HEPeTpjG0zEvgcK0xkGhqTkHql34rtUxpxwmq29RLZUJPtFKO-Q4w0EXZQJdu2vARJLjrzlLr3AqgiEVIeGUK1jshUSGhDaolGsLlDl7PnnP9iiottsjhf8pitC5zELWAp9I61Wjg6H5VgClPNw97N7toRURlBKWnoaDIn2JuKnD3IFV4Iaw3X9Z26OiNoivCnHITPXHzkjTKWnaCOQ-HQHxeLEHe_3FYFRwDja3Y-KzjvyVxAk3WcsWzoqMDqvjw10aJoAdCmaz8BbuVQgAvbmq0eiQE_4V2hlFSAxxydAKiFtl6l5M0IXs6JfEMXQzgBGio8qBavSf9Z-fZhsorGl6gnmY_e4icJ8pECnCygQ9zxAhRxrOJtrTezUnBxU_Du9QEUhESKgBFbT1Lra-lPmrThpBUjIVa61ALUH0JJOxoh892hGiTh_6OaTotLy0IT9NUzfvuyRGW8MwSQFS47eRqpz1SIevOVi8659OaMQ6gxT3ccbBjbT9OCG3q3qXZeh1DMB-g3Shl0ctCTLBR3dlHp8DvgU9ksU6W96w4LPtjB_MWBNTwvN9u9ersabUcTI1QARXSXtmiKsyA-kQHI74O3V1qFW3l4qdJ_3G8jKsbX7SwdyWSHg0nW9jj8BXXgeLqg7bdmJhw626E8lVGpeMKSlJlmsQ6gSmA_E55rKY9izufOToL6A-9Z36F9N4NLZdwWLlPb0GVEhRwiht5QdqtR6sx9bE613P1lpj_G6XkMm_D4F-eqEuthSbUrw5O1e26l5jhWJP_8tT-Sc7JObDY5XerifOGkt6csMrmjqGwvOxtgRqp0rW5nAbNFU7QXrVX-AEdt9d3CUwNzD2Vk-jdqzQjtO0RwisPtaTHZpanALgf3eaukV9GPK-u9yR5Yw22DC1WIUbAM4TueYUcvqhvswyD8VCBaRKuOyzfYLimJ--18oSM8irJ4UBugnN6DXClCgPWYUKUBObbAwh0spxzS5TiCKkWu33jByCnOQzs26WSVm5Qb73V_gILS2zX7NC8IIbGZ23Pb9AA1HhX4KmiwcQjo55fD8cEGUjHXYLhYIZ22_w126da8P4y6-QW0jnTuzeBEjMMOOBVs_Kc2WXz1PA7btARG8FLqH32o-0yrmxXKlNWO661xw0be7grEYoVCIM4UAhU8dwwAlev7qLqPL2v9pmKoIZ8ZtkFYaZ0CNn3u0D9BAJwzqboTe7G-5-Uid90NWxACQiD8KxVVEXcAhY0pk2iARONCuXbMwruJefZHdVGVQvomQ66KqjalJc0hNL_53lkXDNF-4vOQ5mwh3oIaCKQP1iCEIBlq54MdloKVC9fghhmd9fgxS9pRMmJe0CypQ1F3kou0O39qKGYDqKWC0YcJVPFHgB5tdlReySnBTPpuDcmsT63mfcUylv6XXMsqrlaRjuJ6l_Yjy9QfRjC62ASWVUET8PPFskwlwFFhJOwQ==",
  "id": "rs_0d632b2c375c04e0016ab44d40ac1887d0bbb4ba5d00367d52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":-0.015,\"right_z\":0.115,\"right_gripper\":1.0},\"note\":\"The stem is centered laterally, but it remains fully visible with ample space below it, indicating the fingertips are still short radially. I’ll advance about 3 cm at stem height while keeping the jaws open.\"}",
  "call_id": "call_06JKCBJjfLW50gC5Kj7roJLm",
  "id": "fc_0d632b2c375c04e0016ab44d41ebc087d09a4c280d7d805193",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_06JKCBJjfLW50gC5Kj7roJLm",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4316, -0.0139, -0.0307, 0.9973, -0.083, 1.5299, 0.918, -0.2222, -0.1028, -0.1173, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1697 left_yaw=0.0007 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9973 right_x=0.4098 right_y=-0.0123 right_z=0.1022 right_yaw=0.0711 right_pitch=-0.2606 right_roll=-0.0038 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.2376, 7.1726, 1.7314, -0.0317, -0.0562, -0.0122, 0.0342, -6.5573, 8.4855, 1.6142, -0.0024, 0.0366, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3c95c36dfa123669bde42c45332325214d5e14daf3bf83990fb3ba71c29cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6836dad551179c63e0eef2a3266af0e4e502a722f64d7ce87bba025717dfc8d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65ba9ffc682d51662078dd6d81da8a925d7ce5349b67771c0d64b0462c71070",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 3.497 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4248, -0.0139, -0.0307, 0.9973, -0.0227, 1.5589, 0.6281, 0.2081, -0.0467, -0.0471, 0.9961]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1713 left_yaw=0.0007 left_pitch=-0.05 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3965 right_y=0.0028 right_z=0.0524 right_yaw=0.0419 right_pitch=-0.154 right_roll=-0.005 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.2513, 7.1316, 1.6777, -0.0366, -0.0415, -0.0171, -0.7043, -5.4085, 7.8291, 1.663, -0.0659, 0.0659, -0.1832]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4278, -0.0139, -0.0307, 0.9973, -0.0868, 1.4281, 0.7853, -0.1524, -0.0959, -0.1097, 0.9986]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1706 left_yaw=0.0007 left_pitch=-0.053 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3871 right_y=-0.0131 right_z=0.099 right_yaw=0.0557 right_pitch=-0.2228 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -1.306, 7.3778, 1.6728, -0.0611, -0.0806, -0.0122, -0.5812, -7.4735, 8.9231, 1.663, -0.1294, 0.0464, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4316, -0.0139, -0.0307, 0.9973, -0.083, 1.5299, 0.918, -0.2222, -0.1028, -0.1173, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1697 left_yaw=0.0007 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9973 right_x=0.4098 right_y=-0.0123 right_z=0.1022 right_yaw=0.0711 right_pitch=-0.2606 right_roll=-0.0038 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.2376, 7.1726, 1.7314, -0.0317, -0.0562, -0.0122, 0.0342, -6.5573, 8.4855, 1.6142, -0.0024, 0.0366, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3c95c36dfa123669bde42c45332325214d5e14daf3bf83990fb3ba71c29cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6836dad551179c63e0eef2a3266af0e4e502a722f64d7ce87bba025717dfc8d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65ba9ffc682d51662078dd6d81da8a925d7ce5349b67771c0d64b0462c71070",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]

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  "id": "rs_0d632b2c375c04e0016ab44d45804887d08decee826fda0d24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":-0.005,\"right_x\":0.415,\"right_z\":0.105,\"right_gripper\":1.0},\"note\":\"After advancing, the stem is at the fingertips’ depth but sits just left of the jaw centerline. I’ll make a sub-centimeter lateral correction and hold the stem-height pose before closing.\"}",
  "call_id": "call_kxTGm5wocNvK9L63iitublmQ",
  "id": "fc_0d632b2c375c04e0016ab44d4677d887d0aa908a9db0cbdd89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kxTGm5wocNvK9L63iitublmQ",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.432, -0.0135, -0.0307, 0.9973, -0.0807, 1.533, 0.9237, -0.2268, -0.1024, -0.1169, 0.9986]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1696 left_yaw=0.0004 left_pitch=-0.058 left_roll=-0.0002 left_gripper=0.9973 right_x=0.4105 right_y=-0.0115 right_z=0.1026 right_yaw=0.0729 right_pitch=-0.2625 right_roll=-0.0035 right_gripper=0.9986\nstate[joint_eff]: [0.0615, -1.3607, 7.0496, 1.6972, -0.0366, -0.0269, -0.0122, -0.1162, -6.5983, 8.4444, 1.6239, 0.0073, 0.022, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4429236b24dc5a562b666645e8230993d38fe3eccf67ba6232b18ce8f49510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29e2ce6240b6f44e494d0c0b7741e813508da1c809297c2b02f48936d7403d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92fb8a98cc8a82b7b70b89a490d6571844bb8542ab768f9043273df9945ef8d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.595 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4267, -0.0139, -0.0307, 0.9973, -0.0227, 1.5635, 0.6292, 0.1967, -0.0502, -0.0536, 0.0088]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1709 left_yaw=0.0007 left_pitch=-0.0519 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3947 right_y=0.0035 right_z=0.049 right_yaw=0.0486 right_pitch=-0.1687 right_roll=-0.0065 right_gripper=0.0088\nstate[joint_eff]: [-0.335, -1.3197, 6.9949, 1.7118, -0.0464, -0.0317, -0.0122, 0.0068, -6.7487, 5.6274, 1.6874, -0.0122, 0.0464, 0.6813]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4316, -0.0139, -0.0307, 0.9973, -0.083, 1.5299, 0.918, -0.2222, -0.1028, -0.1173, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1697 left_yaw=0.0007 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9973 right_x=0.4098 right_y=-0.0123 right_z=0.1022 right_yaw=0.0711 right_pitch=-0.2606 right_roll=-0.0038 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.2376, 7.1726, 1.7314, -0.0317, -0.0562, -0.0122, 0.0342, -6.5573, 8.4855, 1.6142, -0.0024, 0.0366, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.432, -0.0135, -0.0307, 0.9973, -0.0807, 1.533, 0.9237, -0.2268, -0.1024, -0.1169, 0.9986]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1696 left_yaw=0.0004 left_pitch=-0.058 left_roll=-0.0002 left_gripper=0.9973 right_x=0.4105 right_y=-0.0115 right_z=0.1026 right_yaw=0.0729 right_pitch=-0.2625 right_roll=-0.0035 right_gripper=0.9986\nstate[joint_eff]: [0.0615, -1.3607, 7.0496, 1.6972, -0.0366, -0.0269, -0.0122, -0.1162, -6.5983, 8.4444, 1.6239, 0.0073, 0.022, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4429236b24dc5a562b666645e8230993d38fe3eccf67ba6232b18ce8f49510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29e2ce6240b6f44e494d0c0b7741e813508da1c809297c2b02f48936d7403d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92fb8a98cc8a82b7b70b89a490d6571844bb8542ab768f9043273df9945ef8d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1KU_kjirQevFxUbjJvMhEGxJsziD9rmGh9USYbYyk3GibMwUl0luADeecfxTHiD7vdElhlVlCtSjF_OIG7W00lqlUsRhY0Oxhc3exuQQAzWy1K6xkGLzX-3WlbDgIr0IyyoAfBsvqnmqQjA1iX-O5AZzhAreAgLJ3-JYkPthgMF4Zo0XbGcx9lftkuQsh06tKGohz_HMt32MP-A7bOGRdiWo00oaMCOT0LUtRf5OTTn52luK1rNVJzUB2Q9pUBhLWApshvD_sw4NZqjQfd2Ao2TAsFe3PDZ7BtU1vxy2JnaF0JZv7UlXRHPIipKKXSDbKUkWIelPDlI5TlmJxj5v__CH9xuMAuH70kjj7yZKLmiUfyrWhzykEaftf1z6d6eN5UZoes5JU35DulbuJ7K_CyxLczbZPDO3EYfj3p4VjoExmExAq5HlnKiW45RHfQHZRPYdcS7m34ZQ4ZWkaK-oQbN5Tv0FdCcRS8cMWaT1bza0i8uMXT_PsL3c05rITmUEffEDiojpvRa9PPnKaEdkS1xQcGdSYeRz43x0tMkq3YoegrsFBGhADN7JQQ7UlySrwlxHfbvuvuP6Y_AAaSDzRZLo37n5Rowl-KtmS2Go1El6_WvU-9SIFvpwADRGv2jAky0psKh-zr50bZgcEuAPaIo08TWcnomNhksrwfVEBLuS_AXQJdGCQuLW7zfNcE6-v00e-3DobqlsvMTIrahZRdGE0gVDqeUgFdRSdCw6t2mCveHn2H_kHyHTF8ih5fTbOfnancDiWZw0podpqoAxhI0dAferqhRPOY93v3270MJATA1mtH-ZKWOj9jTaY_U4tClMtnXJgOYWhMK7I1iQlr_0G5rYP1HLkyRoiWNo0G0nIuivqihFFV8i88MEj3QbbOmXmO21teZXBdZb2Kd1NhD2GLRKIPEailoaTK9GyX0kyhP9iAMydQxVRNhs3z7lYngirCZgosgKGB_M9GFYxRR8R78SbAsdKrHxfiRbV7a06TO0_LhmjX95dMBO8kYi_He38tpOrMlQjTEuu1kAYG_BKiQsE3pSzOmjWK39JV1TW4PDFWtkRGvlNvMh2jG7H4KRrukSc51uXskdkVTyZVkgQDBXuiMgOGLV_mWCtK7Zj6tBJbu0VbA6x6Eb81n4bEyao-vmFN4UOs41QumLowOCWT7DC6AXItictAfJvp3Xn4nt92UHu_A4UUUv-TFlnLWsgzFgHdaQnTj6EdtXvTHI2G3EuY8D00HF8-plTmjw4EYHSJ0bgw_RUgryRoDWJELA-BHcqZijrkMxKEdtD_bIwOvZ-mtlqG0w1NaNYQZ0pTiPCYEVtW1uPfeCogQ2eM_8vXPnBAojKH26yoUGUVug==",
  "id": "rs_0d632b2c375c04e0016ab44d486b0887d082d577f4a13ef184",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.005,\"right_x\":0.42,\"right_z\":0.105,\"right_gripper\":1.0},\"note\":\"The one-step nudge barely changed the readback, so the stem remains slightly left of center. I’ll complete the lateral correction with a slightly larger target, still keeping the jaws open.\"}",
  "call_id": "call_3aoLxAb6c5K5zQPgH8xhv6XV",
  "id": "fc_0d632b2c375c04e0016ab44d48e03c87d08c2bc125623ecad9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3aoLxAb6c5K5zQPgH8xhv6XV",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4343, -0.0139, -0.0307, 0.9973, -0.0364, 1.5475, 0.9333, -0.2413, -0.0834, -0.1036, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1691 left_yaw=0.0007 left_pitch=-0.0603 left_roll=0.0001 left_gripper=0.9973 right_x=0.4105 right_y=0.0033 right_z=0.0981 right_yaw=0.0939 right_pitch=-0.2838 right_roll=-0.0061 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.306, 7.1043, 1.6825, -0.0513, -0.0806, -0.0122, 0.3897, -5.8872, 9.0462, 1.4872, 0.1099, 0.2271, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9553d0cc6610f2fbb792a4b34f4ae6f05d11443597ae1205cd77ec1487b03da9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f40d35b7f70d40da7d41e7a94db3f35b82782f83ab6c797eedf25556aa4f3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d801930b754d4806433e0291d6532ccb3bf5b028299b43b9d8284b055daf6f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 4.318 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8078, 0.6132, -0.4278, -0.0139, -0.0307, 0.9973, -0.0868, 1.4281, 0.7853, -0.1524, -0.0959, -0.1097, 0.9986]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1706 left_yaw=0.0007 left_pitch=-0.053 left_roll=-0.0001 left_gripper=0.9973 right_x=0.3871 right_y=-0.0131 right_z=0.099 right_yaw=0.0557 right_pitch=-0.2228 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -1.306, 7.3778, 1.6728, -0.0611, -0.0806, -0.0122, -0.5812, -7.4735, 8.9231, 1.663, -0.1294, 0.0464, -0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.432, -0.0135, -0.0307, 0.9973, -0.0807, 1.533, 0.9237, -0.2268, -0.1024, -0.1169, 0.9986]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1696 left_yaw=0.0004 left_pitch=-0.058 left_roll=-0.0002 left_gripper=0.9973 right_x=0.4105 right_y=-0.0115 right_z=0.1026 right_yaw=0.0729 right_pitch=-0.2625 right_roll=-0.0035 right_gripper=0.9986\nstate[joint_eff]: [0.0615, -1.3607, 7.0496, 1.6972, -0.0366, -0.0269, -0.0122, -0.1162, -6.5983, 8.4444, 1.6239, 0.0073, 0.022, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4343, -0.0139, -0.0307, 0.9973, -0.0364, 1.5475, 0.9333, -0.2413, -0.0834, -0.1036, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1691 left_yaw=0.0007 left_pitch=-0.0603 left_roll=0.0001 left_gripper=0.9973 right_x=0.4105 right_y=0.0033 right_z=0.0981 right_yaw=0.0939 right_pitch=-0.2838 right_roll=-0.0061 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.306, 7.1043, 1.6825, -0.0513, -0.0806, -0.0122, 0.3897, -5.8872, 9.0462, 1.4872, 0.1099, 0.2271, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9553d0cc6610f2fbb792a4b34f4ae6f05d11443597ae1205cd77ec1487b03da9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f40d35b7f70d40da7d41e7a94db3f35b82782f83ab6c797eedf25556aa4f3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d801930b754d4806433e0291d6532ccb3bf5b028299b43b9d8284b055daf6f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0d632b2c375c04e0016ab44d4cd32087d0962540e476c80801",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The stem is now centered between the fingertips at the gripper’s depth. I’ll close on the stem, which should avoid the body’s tendency to roll out.\"}",
  "call_id": "call_VLJFIrwR61ICdzBXXToGjzWu",
  "id": "fc_0d632b2c375c04e0016ab44d4ced0887d0be65de4e66366afe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VLJFIrwR61ICdzBXXToGjzWu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4351, -0.0139, -0.0307, 0.9973, -0.0357, 1.5616, 0.9367, -0.2527, -0.0837, -0.1097, 0.0088]\nstate[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.169 left_yaw=0.0007 left_pitch=-0.061 left_roll=0.0001 left_gripper=0.9973 right_x=0.4091 right_y=0.0038 right_z=0.0922 right_yaw=0.0993 right_pitch=-0.3057 right_roll=-0.0069 right_gripper=0.0088\nstate[joint_eff]: [-0.335, -1.306, 6.9949, 1.6728, -0.0464, -0.0562, -0.0122, -0.4171, -8.1436, 6.1333, 1.5458, -0.0562, 0.0562, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863ea5d2cfced51a05aa683dbf7b640fe5efd2fb4938c9988bea93139ada06cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9d4f49397dd67d321e5d4b73a56dcb9c3d12ea29be1ab007ac33a52b987bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e382c25655a1becb977c48be9f8a08395766ef13421953b8ac8904f5c8923dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.506 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4316, -0.0139, -0.0307, 0.9973, -0.083, 1.5299, 0.918, -0.2222, -0.1028, -0.1173, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1697 left_yaw=0.0007 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9973 right_x=0.4098 right_y=-0.0123 right_z=0.1022 right_yaw=0.0711 right_pitch=-0.2606 right_roll=-0.0038 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.2376, 7.1726, 1.7314, -0.0317, -0.0562, -0.0122, 0.0342, -6.5573, 8.4855, 1.6142, -0.0024, 0.0366, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4343, -0.0139, -0.0307, 0.9973, -0.0364, 1.5475, 0.9333, -0.2413, -0.0834, -0.1036, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1691 left_yaw=0.0007 left_pitch=-0.0603 left_roll=0.0001 left_gripper=0.9973 right_x=0.4105 right_y=0.0033 right_z=0.0981 right_yaw=0.0939 right_pitch=-0.2838 right_roll=-0.0061 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.306, 7.1043, 1.6825, -0.0513, -0.0806, -0.0122, 0.3897, -5.8872, 9.0462, 1.4872, 0.1099, 0.2271, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4351, -0.0139, -0.0307, 0.9973, -0.0357, 1.5616, 0.9367, -0.2527, -0.0837, -0.1097, 0.0088]\nstate[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.169 left_yaw=0.0007 left_pitch=-0.061 left_roll=0.0001 left_gripper=0.9973 right_x=0.4091 right_y=0.0038 right_z=0.0922 right_yaw=0.0993 right_pitch=-0.3057 right_roll=-0.0069 right_gripper=0.0088\nstate[joint_eff]: [-0.335, -1.306, 6.9949, 1.6728, -0.0464, -0.0562, -0.0122, -0.4171, -8.1436, 6.1333, 1.5458, -0.0562, 0.0562, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863ea5d2cfced51a05aa683dbf7b640fe5efd2fb4938c9988bea93139ada06cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9d4f49397dd67d321e5d4b73a56dcb9c3d12ea29be1ab007ac33a52b987bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e382c25655a1becb977c48be9f8a08395766ef13421953b8ac8904f5c8923dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtE1S_7PN4noR9qbuB9ziQTUgJmEXj2k_W8zksEjaGaFNDue8b0LeGRsExrPbHJY6zkkkBa1JvlM9BJolOxnuvTkATqkFAjpujmbeuqlKj-2qzECOANc3eMfgf9-gonVe8XPyY9NQfUn0_nNX4-7lrB2PbfmmpCLlrBb23adquSh8ZQWBHB861uG0Bj6dp1NdPblh9q5lkZaqn7UyqGwzpxeo6Whr2kRbxt8BmbrJtMmcPiNHzZlKJ1kpBTKojJv6s8HLK4Qug07NC6ovo9f8uLSR8cum9Hg8HiJxrcC-HeSzpgy82I53gPW4XlXmoSHbRMIt7TPQZL2vb27JXfm4G6QpAvXsmvKVcycs94m27xn6kbfdUGAQVaV4K6IGhiDr2HOXZh47p5WCWpZ7jg_88tpI2heT9KgD-3LpidWu-kOvRghJ02QAJoYzFnwqiVXvzfrTV6F_qIp8ZN6uJU1hkr0gyWcWOpA_w8kMlWOj5Ncof68T8G7DcZo6_RWeBkxUdFwnaDqb-z7O-FYSoOvNx160oVj4cWexGCSBEcbxttK_Op_reUUnTdqECDehjI38VFiZvmS5CLcuB-5ht-N7BpIPlBKXeCOczHrl4gMyXdZk9pL9u5rr5OIIwDnJwG0aBP8F-iy6oxeYVjoeP7qzKxDZ4_L2JYeB5d9sAOLEaYRRrm0gBv4dErabHW5nexqckOmm2DpvojlIObTOFlCz9qHOT1TNjvGMPVbD8hiw5S0_VMpYjQPlkVVxNvJiUteOt83b_yhDyNONaNiO83C3mG-R2LSodNTwP5amPfjuR6OuGGTOUhVJoBqK4kvldD1YrKHKS1tqVtZ7u-hnSIgBV7tlvnDI7hsVZJt9o-ygjMaUrYqLhJzDcGvo14xDUi-hCsqK926gyq_nBK0VlC04mVjvm34Hb31-B2gNIEegPKK7Jf4WbxP6S12nz1wTlZBhKNEhGIrDr-GzdzqAWxdTMqjBjMHb92Mo2lawcPD8euSugGGEKa5sJmrKQlGwlizLjqvVMLU8Gx29BS9qV4xINKbX5Hy93-3Bus2mUNbiVd8g92W-InJgOkjb1FsVc7_75o4W7-Xt4cEEIBwUNE7_s2UdzYARhafxLxoEp9fHRE6aIZJjMHjoOEm1RrC7KusKP4upPhM853n0dQqnkxMLVROTqnDdWhYrYV9VUcSc4TQZDvSIK-FpcMGlg4HTZF9307jkU80mYk1N0UhdZck7rcZAZYx28DR3G4ldbsmvQAqSVy4V9cOetnGo255M5rLbGziDoOLIZwuuzYyiirK43wvO-hUpfIxur7c_e1pm9HC-2DP0XfYttwb-K5HtK8BM54tA1DO3VpG2N0_dcOJig3rqxjQswfU2ptOTvm7pCj6pp7KruNXQko0GRL4qWLdnMKFx4OOMUBpCRLO0MCcw8PNpHMwPCAcVFKQyqfbcl5DWj0oaN0t8oXMoBj6jJKw3M3-gQjveG4bmffG30VkqfcCnA8qmH6vQrxgMM0hnB3QYKovZ5uQuSYKS-5Ornw7B1keycaN7W3rba2QpbtSakj22_EzUmc3f3zSWcfgyLiUxkMRhfPgYU3h0Y5eJlAJlHcB69NULAbFmoYaGJs7A3Qn27rxXqcQjB938T8tAXf-2j_gcCxnV6VAhIe1kpnC2rWdfIdzvVg_JNa5XLs4IUqSjaTRF-DgA_wLRRvmjAx2PMybcI5YiUY41vKgrjYQw-mtUSFlEC5gzl7oBflIUhw1McTA9ITlG4dwKUnVC-UeEUGqa6cg5G-q17HwA_0MJc11Kcj7PDK471gvlL5Y0t4KS5kHa8FKysjI9b6l2mVushdcXALOyRJmJFAKm8LwaW06NcYIFRpY30ksktMB8s6umrCVcD7Xp0jK942LWtgoBfsi99rhTsnQUXYL6ws7ifWtKCpkNem6bGE19Ej2P6HoaJrHIHsY_SN75UUf3Def-MCvjCGTb_Dw2EaAlDcguIfB_0i6069INHON8x2-MO9ZL3OouC-r1ZT8065PV2R2GIDXXosC7sPJu_FRxRI7Mt1jNS8vXBqLwkrYZrtbrSA-CUGAO2OrmyTvrzIYnHUVjAGRSfwOOei9H_sLJcWa6F4Z6jRRgx9uB9auoOXudDOYomdjtK3psTaGv0LSRsL2Qfg_C03Z3elDlOfC1e_1rC4fQMLwtVohZ6Myrf8Ll-hwnjWcnmNHTItq2i_mJsLF3knuDCaqPpKOZyroJK-xLWYOZRtbFj6H447L60NweS_-iLmTMmncVOC5isOEXxxVz47fbh5HTpdDhka4Rodsp7oCnEbeu-_2b1uO22OIxJ4ERoJWrDodgwVMbXqPz1ewXuLQ=",
  "id": "rs_0d632b2c375c04e0016ab44d4f78fc87d0ba62c0b8253b23a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.005,\"right_z\":0.05,\"right_gripper\":1.0},\"note\":\"The stem also slipped free, so I’ll change strategy: place the open jaws deeply around the widest body, then use a controlled partial close rather than a full squeeze that ejects it. I’m moving slightly farther outward and down to ensure the fingertips pass beyond the body.\"}",
  "call_id": "call_ji28faEkqjECAR5zkomsbQM5",
  "id": "fc_0d632b2c375c04e0016ab44d51ac3487d0834c1e83ee7d7e93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ji28faEkqjECAR5zkomsbQM5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4423, -0.0135, -0.0307, 0.9973, -0.0288, 1.7317, 0.9367, -0.1116, -0.0837, -0.1169, 0.9986]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1675 left_yaw=0.0004 left_pitch=-0.0683 left_roll=0.0 left_gripper=0.9973 right_x=0.4288 right_y=0.006 right_z=0.0461 right_yaw=0.1116 right_pitch=-0.3344 right_roll=-0.0075 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.3197, 7.1179, 1.7265, -0.0171, -0.0317, -0.0122, -0.3077, -7.7333, 6.188, 1.7314, -0.022, 0.0415, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca7f59d566eae9722c1eeece1e2157328ebc596720735b717d9cfbcb1c1f558",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d032122258f61559046d22f50e315ccda54a76a91357b48395c8a7922b6f5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba78ad4ebdc93f5dd614a0be341a218f5943d1404fb53ebadb8fdd14688836cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 2.784 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.432, -0.0135, -0.0307, 0.9973, -0.0807, 1.533, 0.9237, -0.2268, -0.1024, -0.1169, 0.9986]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1696 left_yaw=0.0004 left_pitch=-0.058 left_roll=-0.0002 left_gripper=0.9973 right_x=0.4105 right_y=-0.0115 right_z=0.1026 right_yaw=0.0729 right_pitch=-0.2625 right_roll=-0.0035 right_gripper=0.9986\nstate[joint_eff]: [0.0615, -1.3607, 7.0496, 1.6972, -0.0366, -0.0269, -0.0122, -0.1162, -6.5983, 8.4444, 1.6239, 0.0073, 0.022, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4351, -0.0139, -0.0307, 0.9973, -0.0357, 1.5616, 0.9367, -0.2527, -0.0837, -0.1097, 0.0088]\nstate[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.169 left_yaw=0.0007 left_pitch=-0.061 left_roll=0.0001 left_gripper=0.9973 right_x=0.4091 right_y=0.0038 right_z=0.0922 right_yaw=0.0993 right_pitch=-0.3057 right_roll=-0.0069 right_gripper=0.0088\nstate[joint_eff]: [-0.335, -1.306, 6.9949, 1.6728, -0.0464, -0.0562, -0.0122, -0.4171, -8.1436, 6.1333, 1.5458, -0.0562, 0.0562, 0.6667]\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 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4423, -0.0135, -0.0307, 0.9973, -0.0288, 1.7317, 0.9367, -0.1116, -0.0837, -0.1169, 0.9986]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1675 left_yaw=0.0004 left_pitch=-0.0683 left_roll=0.0 left_gripper=0.9973 right_x=0.4288 right_y=0.006 right_z=0.0461 right_yaw=0.1116 right_pitch=-0.3344 right_roll=-0.0075 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.3197, 7.1179, 1.7265, -0.0171, -0.0317, -0.0122, -0.3077, -7.7333, 6.188, 1.7314, -0.022, 0.0415, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca7f59d566eae9722c1eeece1e2157328ebc596720735b717d9cfbcb1c1f558",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d032122258f61559046d22f50e315ccda54a76a91357b48395c8a7922b6f5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba78ad4ebdc93f5dd614a0be341a218f5943d1404fb53ebadb8fdd14688836cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1c2yVhnmJNq7jKCcs2q6pJooGfd7wCXo8RIcC6_C4uez5bQaAfrjBf1ORcYIGBWMY7hmEy6RtBVPhMBzB1qPSs12wfRGAeT1OUx1YwbuUWkvukHQvlhbVjCubDvw_Of1gegK-1h3a9M_7lE_st4uN1LdPYEN31V7ts7Qk2mw_9aRdvOcAk-akpDff0CnqnLPCx6ejRcZG5qxcw6KBomP1wB0hc4aYkO0CwOj6TZ-pto88n-taMIyf9kL3mEoG-vBMidflxPdM92aQg6ZcrKSUQgoX84PiJEgpyPVttQGKLB1DQoDTC5qfKsb55yAGXWtROX-Tjg82wGedM0iIpadGCKXPZk2CnFLw2sLXBQdN5FMH_b3Csy5Qa5DPUoi1cOVfX7RFM_TFWItTv1yEnAlLKBFUQxoQGqwR4EYcICEoyaG44wx9Z51E-R5OVzyhPaJualeZyjylCIoJzamMQsVKrQhTt7osaEU3U1yUT2_8LL9rQ59K8OPxH0oER-3FNZjPukDA4nbN4UBWiLRmh-8fKRV8yCCyk30qLaQr1VaTv_nRbJRUXHzzRiSjOZJhLxwcyoh_9Hy2sAg1baThcw3D4H9hk1e_uFN1qRLG9aQb4pKCCj-4XTUehf0QR0LKAC8hwHNZyRkwzQrGeXpfawuuCH9LLIes7cDft2DEs3KprN_MoD4-wHbZh5HcoT-1HnGomeDrwhHSthspisPOFXlPjkDmOgMX-_OWvziB5OblNiwYw9JH55NR_XHn_yHSAkwwmVFaPQOm3XWs45pmUfqUtzqF62Cwh1Sn7GfxESDYI2Y1GMX_Svhfp9_G5Zkgk2HavGaDxoSYq4zSZoAYviKmYWODCsJ74Qql5I6eZE0r4HdtqBRNSfwANDFEPFGIQ-tQIrb0EnixXmaFTC29XB1Ol3Ve5FPqrGsvW8_312p1Ny2P31gHW3nwPRnOg13DMZol3ya5lwJIiYAmZduuLSJt6ZPF-ZWVuRwDLsgiuuDadlQk3PUk9QaOd3Hb3ty08OLT9bYAGZvLrICLMSdXwAmcRSEMALmRdlUEg6TxjOx7qpyoJDuA1yRIP-Qj_B9eF8kySCQ10iuqYQC1Jcjwo2Rwr1QxK8fjmWCz4NE93taTVJLRhHFar22TEXhPsKIE1R9gS94b4X-zS4DvUlwoB24rPUhatnygiUe5X7dRbIAuj4Pi2kpvO1CjOJG-bPWE7XhwQN2-BJ2Ot54uEQKmeLGjA5iDGfF7O3J6phux8DxMQOMuFoEbCcLKFUhvrmyJ1PYN6pLVfEq--bB3pYdYkM-gdIjKWBsKhJWhlISb3vdPBVx6tiwssbx7ngoy3qE0p5hSw",
  "id": "rs_0d632b2c375c04e0016ab44d5b1f7c87d08c298ba1ef375872",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.6},\"note\":\"The fruit is now deeply enclosed between both fingertips; its widest body appears about 6–7 cm across. I’ll close only to roughly 5.7 cm jaw spacing, enough for contact without forcing the rounded body out.\"}",
  "call_id": "call_N5WTpCLpZ9cl5JTyQSXnhntg",
  "id": "fc_0d632b2c375c04e0016ab44d5b820c87d0be5ad8dfc9b0951e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N5WTpCLpZ9cl5JTyQSXnhntg",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6132, -0.4435, -0.0135, -0.0307, 0.9973, -0.028, 1.7317, 0.9367, -0.1162, -0.0837, -0.1215, 0.6073]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1672 left_yaw=0.0004 left_pitch=-0.0698 left_roll=0.0001 left_gripper=0.9973 right_x=0.4279 right_y=0.0064 right_z=0.0454 right_yaw=0.1152 right_pitch=-0.339 right_roll=-0.0098 right_gripper=0.6073\nstate[joint_eff]: [-0.335, -1.2239, 6.9812, 1.707, -0.0317, -0.022, -0.0073, -0.1299, -8.212, 5.9829, 1.4139, -0.0562, 0.022, 0.4322]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81af3c1d0383a1856d271f467faf331693a11153ccd5bfb19e886eb3f31a0ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e177edbb51a90870b735b7182181814bb53346f40211af2487a33d2834b309e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1cdb284e62dc7db47dee7c9379232aabe85259ec185f3d60278f8960def962",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 4.843 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4343, -0.0139, -0.0307, 0.9973, -0.0364, 1.5475, 0.9333, -0.2413, -0.0834, -0.1036, 0.9986]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1691 left_yaw=0.0007 left_pitch=-0.0603 left_roll=0.0001 left_gripper=0.9973 right_x=0.4105 right_y=0.0033 right_z=0.0981 right_yaw=0.0939 right_pitch=-0.2838 right_roll=-0.0061 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.306, 7.1043, 1.6825, -0.0513, -0.0806, -0.0122, 0.3897, -5.8872, 9.0462, 1.4872, 0.1099, 0.2271, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4423, -0.0135, -0.0307, 0.9973, -0.0288, 1.7317, 0.9367, -0.1116, -0.0837, -0.1169, 0.9986]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1675 left_yaw=0.0004 left_pitch=-0.0683 left_roll=0.0 left_gripper=0.9973 right_x=0.4288 right_y=0.006 right_z=0.0461 right_yaw=0.1116 right_pitch=-0.3344 right_roll=-0.0075 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.3197, 7.1179, 1.7265, -0.0171, -0.0317, -0.0122, -0.3077, -7.7333, 6.188, 1.7314, -0.022, 0.0415, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8089, 0.6132, -0.4435, -0.0135, -0.0307, 0.9973, -0.028, 1.7317, 0.9367, -0.1162, -0.0837, -0.1215, 0.6073]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1672 left_yaw=0.0004 left_pitch=-0.0698 left_roll=0.0001 left_gripper=0.9973 right_x=0.4279 right_y=0.0064 right_z=0.0454 right_yaw=0.1152 right_pitch=-0.339 right_roll=-0.0098 right_gripper=0.6073\nstate[joint_eff]: [-0.335, -1.2239, 6.9812, 1.707, -0.0317, -0.022, -0.0073, -0.1299, -8.212, 5.9829, 1.4139, -0.0562, 0.022, 0.4322]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81af3c1d0383a1856d271f467faf331693a11153ccd5bfb19e886eb3f31a0ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e177edbb51a90870b735b7182181814bb53346f40211af2487a33d2834b309e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1cdb284e62dc7db47dee7c9379232aabe85259ec185f3d60278f8960def962",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1fSqx7U4iSDfz-h8uTufzbouXwVcy7RMk-zKBkqDJndwUoafsotv-YFUnTLnY0e6E1teVsRezcb4H2Op2z10Gxqy_sT1eLWHEbyYRrotgjyb1Fdzs3VyFxSCH7Tgxo9gpNlbi8F1nwwm-MnGqJve3fy7-_VVlzYbRecrocqZh38LLR0NHndpJhkSBBcUmAPD6OWBfryj3pKNsIK9qfY9XxhwwZQasGqWgcpMlCldsPdycKtaJ_Z0GBy9z-pL_aAv5kwUde2IMr-uR3Q59ADFdjNgEzLq6X9tbFNsjDMq248E8eHaIknGZQOWGCJgivGw28lbGX6RIwnZqej4LhY-1-OiVnDm1tfypBmpiVl40aMpWmBJr_iaXsFaXnwnvJI5DNLQV-awoQXmRwvjNIdfkGJhedi34xEzKqtwA1600_ZvKxVzXDJPFaMurYUSM0QI5TqUnJnomS6qf-E0xjGx0fDPOPsJLRkQJkNGYvzLb85gajRO9QNhgMtL-0MlpwagMe8SvyV4hr85mm8UKymBLnuLVHOQaKj5h8AFeldztwjncNgPNRp9p4b1N1X_f48X4cSdDlD8ffypM32BxuKO8LPzqtDJuUz68ozwyI-YEqa6rAjtwKdZFxH-UB3vIvN4M3e2yOK96HY2iBvF0fc2zHmKOU7zVxU3IuWQhX6Snp81gTIjD55BG4FsmYjclRFMq3uArMtNQAfO9dkLqr8LetYSBPG4TPbhWJ387MH76L4vbSgltYE94bdNBddmNUg8uG1gaRFBwP7Pj3KnVpAP0agIgv_PiXySu_d0lj_Uduc00tNTtrm0AWlJuMiZF7GVoxqUIfqM4admyRtlv_VkQYbsITjDF1r24tBXwkDDr4o1Vkpf3EezqFMntnV5hz4q0CSMbgd8Wft7o0iPbuwwgzle1EeqI9gAjR3EihziwlkpW9Dl2aOYTavOgklbFY4UtS2v3s6gA5dIBUTodow6fG0zkvBw0mR-8mEB5R6qzCe53zDma_vWUTgdNCZSoCy6m_aXukJ5dIEYp4VYyoQ8yAaxrKJz5vxqyPiF6AihX8lNM1k3llU2mbhpclUAsjDA3l8Dw1xZ9hZ2KTEHVNr0ZtLSvLT0wKOs2b2UR4VSn4FCzTkrPUZN320Gr0wVdgUxm5VemJs7sSegtADFTDF1V_khWtYT_XP0fvWv_wplYbqWDG0J0bIcTsdO9YXDgkCPEw87yr00Vn1kHGbCtykVSsw77tePIXBPL5G3tnJWqXRpY=",
  "id": "rs_0d632b2c375c04e0016ab44d5e68c887d089998ba0307a972c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_gripper\":0.6},\"note\":\"At the partial close, both fingertips remain against opposite sides of the fruit instead of snapping shut, indicating a controlled hold. I’ll lift about 8 cm while preserving that jaw spacing and verify whether the fruit rises.\"}",
  "call_id": "call_O65S03d7E3t8dnd2IFufHyIR",
  "id": "fc_0d632b2c375c04e0016ab44d5e979087d085626227f3f0ab35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O65S03d7E3t8dnd2IFufHyIR",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.45, -0.0135, -0.0307, 0.9973, -0.028, 1.6398, 1.1301, -0.4946, -0.0837, -0.1322, 0.6038]\nstate[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.165 left_yaw=0.0004 left_pitch=-0.0797 left_roll=0.0003 left_gripper=0.9973 right_x=0.4138 right_y=0.0068 right_z=0.1007 right_yaw=0.127 right_pitch=-0.4311 right_roll=-0.0016 right_gripper=0.6038\nstate[joint_eff]: [-0.1983, -1.5932, 6.9812, 1.7656, -0.0269, -0.0464, -0.0073, -0.1846, -10.1675, 9.0735, 1.5507, -0.0757, 0.0415, 0.3834]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25bd211eae6d758e412f830bb863fe395e43483463493cb8792631fe81f9c355",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fadafe2f9beb67f4946f5f77755163a055463d6b285c72614e7ee7f3a7ea3a94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49827c5fadb7e45c73f9787dd166880529f3aa4da7429279ebddb0caa9d27fdb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 4.085 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4351, -0.0139, -0.0307, 0.9973, -0.0357, 1.5616, 0.9367, -0.2527, -0.0837, -0.1097, 0.0088]\nstate[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.169 left_yaw=0.0007 left_pitch=-0.061 left_roll=0.0001 left_gripper=0.9973 right_x=0.4091 right_y=0.0038 right_z=0.0922 right_yaw=0.0993 right_pitch=-0.3057 right_roll=-0.0069 right_gripper=0.0088\nstate[joint_eff]: [-0.335, -1.306, 6.9949, 1.6728, -0.0464, -0.0562, -0.0122, -0.4171, -8.1436, 6.1333, 1.5458, -0.0562, 0.0562, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8089, 0.6132, -0.4435, -0.0135, -0.0307, 0.9973, -0.028, 1.7317, 0.9367, -0.1162, -0.0837, -0.1215, 0.6073]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1672 left_yaw=0.0004 left_pitch=-0.0698 left_roll=0.0001 left_gripper=0.9973 right_x=0.4279 right_y=0.0064 right_z=0.0454 right_yaw=0.1152 right_pitch=-0.339 right_roll=-0.0098 right_gripper=0.6073\nstate[joint_eff]: [-0.335, -1.2239, 6.9812, 1.707, -0.0317, -0.022, -0.0073, -0.1299, -8.212, 5.9829, 1.4139, -0.0562, 0.022, 0.4322]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8124, 0.6132, -0.45, -0.0135, -0.0307, 0.9973, -0.028, 1.6398, 1.1301, -0.4946, -0.0837, -0.1322, 0.6038]\nstate[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.165 left_yaw=0.0004 left_pitch=-0.0797 left_roll=0.0003 left_gripper=0.9973 right_x=0.4138 right_y=0.0068 right_z=0.1007 right_yaw=0.127 right_pitch=-0.4311 right_roll=-0.0016 right_gripper=0.6038\nstate[joint_eff]: [-0.1983, -1.5932, 6.9812, 1.7656, -0.0269, -0.0464, -0.0073, -0.1846, -10.1675, 9.0735, 1.5507, -0.0757, 0.0415, 0.3834]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25bd211eae6d758e412f830bb863fe395e43483463493cb8792631fe81f9c355",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fadafe2f9beb67f4946f5f77755163a055463d6b285c72614e7ee7f3a7ea3a94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49827c5fadb7e45c73f9787dd166880529f3aa4da7429279ebddb0caa9d27fdb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1oxKedz_kCGOr3vCgzOWo2okaaKRAD60ZOOwuEJ--fHes3Q7FfoKDM_JQHevUn-CAjDGaL8SX1t-47erCZax3WnKyqbmv3KExCnIeC42uLR-NdnvhwU4ZzUPdUtiooauH9ToblEvzKvXJTY9LU5-KN334SlapsJFNm6J79l4jIG4BJii_0uxMAANZIjbXs5lq-JeGgUEq7_2Eg2RZPlXov9d1-Sq9WnrdGzy6TSCMhJf8TZru8M_45JJviAmnOZDMtpH0SiR3ONcvv38bCpN95RQs0E9LFXp9EyTGy3ZSdmj_uF8uadfIj7fp4Tvf0RzCfgDP6tMTbFOi3D_BfGPh53QMXgr1t1Qam78fHBbMw20or1sICFhE3R_sg-kLsi3znHg7Myr8ml6mi7UR6DTbP92_m5KJDUeeJftRBDONBp03s6iYD47_tJkAKuMmOYmeAovmSR8yooHjSz9ynl4lGZoR5vxZ3E6rBYOjHIjl3YEzpGoOvNLIEOTzQmHmjplI6yGrsLtR5mOCp5jHpcWiLPHrrh1a0kpoJbl2nSd17mJpsfaheqHKrfpkpMpE1Q5_ZJABUC8WpE5N47oH8nFISWg7_IPH2fGlRjpk6QVSQj7UmC0qaRDLYSn6w4T0_wCWuvovXHkyse60CwKU1zSAkCsd04Jal0zLMTueHxceLiiX7qM20-Xjz5FZA9Weg-osT9rOraR20WAr659Leak3DQ11y_NuMAZZrvbZDK-iudSmM7Aa2Z2We6QMGtw6d8V0Vmp_nOYuS-u-27mL9CFVmW8VdAU6Dcnp56ch4BXpr3eirszZQD6y-OYqQl8ZR91jb17IPZhQZn8xM5cqIBy9IrOO3z9J7NvtMkjylKE6QIuhpHZfVkEPbLy3j3b1mPnn1Jlb7n31d2GS67nlFWtaQUvvvFIbbqAmaQRlB4zUSiVxGTbajbylVGOUiVPW4Onc2EbeUct_o8LE6YVNg2XN9gPTQ63Vb5zO7B3MUEu9kQyg3wwFodoJitXundvnCUVnKLrN_Hqxok9YbLsqoAZj7YJ3i7yLS1eQOTmhLUWdtVRHgbeggDzfXF6Aw6IQj1ECMAKd9scAPcjg40wYN7NQIyR28edWRRw9vB5EUXunPgkyPTk3hGr5hNGBlibAKFLO2pECCGBxWkdRUd3ZyZB_Qvhmk8gagHYI0l1qTtkFw8Xg7fmdSVvS98IyoGyk_bkEjUtrqyi-Z-S1JTWmicMFTua-PyKeN2HAcE7tgkJGkJ-4YbCMV1I2pRxQKz2Xlkmz55d37cP-yQEZ0yXqoqOqLgAAYd1_qFsGjboC3rBlRRI3ZBogGbB0r0d5YSh_r3lF3RziWkZiXNFzUz7z3zGAuQalyVa5dV3akaPcT9uIEqhfH2W0_Xp2tUug9jalm-zsACpZTc7tR9vgm1zv9r0QGBhO-eUHCf_o1TRbdY4EfyMCw-zRr-2m7DorE4JgPiGYxRTmOc-qgTet4z9R56MgEZtEyh42C4Y9_XXEcisadlL-wFjcMGpTy2ZOuum1wKQ4gDs0lxRKA8yyODlkadqaHYmv9KRRpByKoO54Phme7ULltZ2XXK1VUB3jZIp8dUmgocVJaDLVwn0kNGR-mW7Nreo6v9zxza4Es8fXjjrx5BbBPNKDf6-0rorpHKsLebjuLBZ3MnF1T5YTH5AQEyA7KuzoJlU_PkBAZVQrwqGQWC4FIzNkH5J7SCmU1Qtz2bOiQscAQGKNWEMrMAObkYyhnLTWYuskN2JVg7DizytwHBLyyW09_qU5e_kNb1RajFtiXUK8saHAsF-RBgvffseT8QcFdblBEY-4JEJ-eOvk7pkH5eRXN_ZT-yKdjUoZjlkwbSwknjNZsKMU3VCZwg9vdGBK0xUBD5Fs6vdVmpNy1iwqBULHMGH_u6g6KyIHnPqRFXQAZ4MQXK9iKmImuZU-ya1r96TUv5ByYggMhpyJLG7Yk0aPvSsbU-2zdn1P8VAbmWy9NjBdxVn_Lyh8sC7_D_de53_9H4CMFW-POye0HObKCdfHK4MDmnZ8kk_uIYZsfZ7wCHm2T0CrZ5YUuomZEKYUZ8cO1xMO1H3VBxwPp8ouKAYncSsOo4YAcWI9Zy1CEQTMC-9EeB3gdtA7fQWanajnjZMIXYKFfyMLw9TVP9o3Qt2oOzORzPk3PGXcxf9yAD5V2HgOcoFzpZ2cgBqDSfPwlNofB6D6iGTfNGa6Wt6xm9WiU1O-ngJjLJA6nyjozArX_dgNAZlU71qIM0VVVx9aDAgUcLTg_MCYAA4zqGs2mIz64SUs2P-ub5w36xFqx5s1XbOou98dkO81hybGRug==",
  "id": "rs_0d632b2c375c04e0016ab44d65250c87d0b207d8f5cdd2e546",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.13,\"right_z\":0.22,\"right_gripper\":0.6},\"note\":\"The fruit moved with the gripper and remains supported between the fingertips during the lift, confirming the partial-width hold works. I’ll carry it leftward over the blue bowl with extra commanded height to clear the rim and compensate for load sag.\"}",
  "call_id": "call_BV9zbj6CnST4j7W01wHwftAq",
  "id": "fc_0d632b2c375c04e0016ab44d6742f487d0972b21a29b8b0fc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BV9zbj6CnST4j7W01wHwftAq",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.4538, -0.0135, -0.0307, 0.9973, 0.3286, 1.7237, 1.6592, -0.9703, 0.0834, 0.1181, 0.6031]\nstate[eef_state]: left_x=0.2867 left_y=0.0002 left_z=0.164 left_yaw=0.0004 left_pitch=-0.0847 left_roll=0.0004 left_gripper=0.9973 right_x=0.4146 right_y=0.1296 right_z=0.2056 right_yaw=0.1783 right_pitch=-0.4613 right_roll=-0.0129 right_gripper=0.6031\nstate[joint_eff]: [-0.294, -1.4017, 6.9812, 1.6679, -0.0366, -0.0269, -0.0073, 0.1573, -8.335, 8.4991, 1.3797, 0.2418, 0.3736, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9985b72f0dd2d809544c732a9a8eac72b215feac587357eb41cb9577573e2c58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:218e474abc72ba48f72d26aefa1a9e9678ca2848db2397580399419a02ec7105",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274b093ed1c6fce591d6278b91033666b18e692eddbc8818d8594239c841c7d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 1.94 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8085, 0.6132, -0.4423, -0.0135, -0.0307, 0.9973, -0.0288, 1.7317, 0.9367, -0.1116, -0.0837, -0.1169, 0.9986]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1675 left_yaw=0.0004 left_pitch=-0.0683 left_roll=0.0 left_gripper=0.9973 right_x=0.4288 right_y=0.006 right_z=0.0461 right_yaw=0.1116 right_pitch=-0.3344 right_roll=-0.0075 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.3197, 7.1179, 1.7265, -0.0171, -0.0317, -0.0122, -0.3077, -7.7333, 6.188, 1.7314, -0.022, 0.0415, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8124, 0.6132, -0.45, -0.0135, -0.0307, 0.9973, -0.028, 1.6398, 1.1301, -0.4946, -0.0837, -0.1322, 0.6038]\nstate[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.165 left_yaw=0.0004 left_pitch=-0.0797 left_roll=0.0003 left_gripper=0.9973 right_x=0.4138 right_y=0.0068 right_z=0.1007 right_yaw=0.127 right_pitch=-0.4311 right_roll=-0.0016 right_gripper=0.6038\nstate[joint_eff]: [-0.1983, -1.5932, 6.9812, 1.7656, -0.0269, -0.0464, -0.0073, -0.1846, -10.1675, 9.0735, 1.5507, -0.0757, 0.0415, 0.3834]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8135, 0.6132, -0.4538, -0.0135, -0.0307, 0.9973, 0.3286, 1.7237, 1.6592, -0.9703, 0.0834, 0.1181, 0.6031]\nstate[eef_state]: left_x=0.2867 left_y=0.0002 left_z=0.164 left_yaw=0.0004 left_pitch=-0.0847 left_roll=0.0004 left_gripper=0.9973 right_x=0.4146 right_y=0.1296 right_z=0.2056 right_yaw=0.1783 right_pitch=-0.4613 right_roll=-0.0129 right_gripper=0.6031\nstate[joint_eff]: [-0.294, -1.4017, 6.9812, 1.6679, -0.0366, -0.0269, -0.0073, 0.1573, -8.335, 8.4991, 1.3797, 0.2418, 0.3736, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9985b72f0dd2d809544c732a9a8eac72b215feac587357eb41cb9577573e2c58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:218e474abc72ba48f72d26aefa1a9e9678ca2848db2397580399419a02ec7105",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274b093ed1c6fce591d6278b91033666b18e692eddbc8818d8594239c841c7d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1tM4YmSWIbPfR-T8-w1F_agAMYwB8E0WWUCtnzZrj_JWICjvJM_S3c_bA9_ZYW607-KXNWcLWYZ-7hOJe35Jd9_7YWJ2YPu2jUljoOHPYrT8aVgCUAY-HroYSANKfNBb10PkE-Z-IqRczWU0aigpLqJZ6NX4aNt3BXnEbDGk_91liqH3PypTlJ-JRnw1vAxYM3Lr4xtNh4iser8-oVKNj7OV6-Jqwp5AL3qAjzNnKukXsq3dLmA0b0ltQuL1NCIbLscM-WQQHdCsMuDDPz7vBkvgj_OLP0Oj5k7yPiMdPiHTPp1qS-WqwdmyS22gx_3xmdLnJ66Gn8LyZQWACC7Kav3onozM_ioVa0M-JG3jkCo_u-1SKcZ1PAhd7OHM3v140-681grqbKfCNeUsXDOacAhXPBu81mpIjgtO1JrXYoceNx21Iz_qrH-DQc4bemYx7nFpU7MeNNXzZUjZ_mU0096ZDTbEwRfs14v2SFgS6wDj3UNPONTuBBjlDvhSo-oWpGhcSwpeoSh_jB03EYPyNguZR-e9QvLT4gY5lnlFh7BTHRJYnEe-_JJHHOsmKXvCSIAhmwLWWDhK2GzvYxc_Gfpz7yroKiIMg0oEaiItPuDymuoPs2SUoyud6-UJ6JU8Gg04nrk2bLSjROmTFafkNMCR22WUAFaiWGE0KOGwnROlsQEOR9JJmN4pxT6EvR6hk-RrG-i5qCPWBYYnl0WEseS5ca0SrDoLLPIY-ZtMu3kuOVjVtHezRiTy3-CpXs7w5Ft5r0oRm19WlKX81q_AFBH4_buE2VV22zkeYCncCp22LUtehieMI-Ud8mbZzm0iM3Dbe1bJaXAyTy_z4ZKkhI9hNqThwiQttLab1uU-D-8t9LF_j0tJ3BraJL2aCkxa77oVaHuY42SjBR7G0w_PUtjE3WzJz9LwCVPdAmhNWO2z7c7TlawUeNtSX2W8bCvexcWrDcFRHgt40vX8dBwhHjsvGPBx8UwuBESl-C7RbBw9QiSbCKzqSF_iHgyE50OrFjkAKpBK86ZSyzM4UGS1QpDF4mUsPVQtt3JYRE0yYQqKAZxm-WRRxlyKuBe1xK2FxSJ-RJkNbQdgYcsnysuDipte8WFh7OQUnW1m9oIY5DodH8ZgVlEHLQsrtBzTA1FcLujPy6bbcYFVjbXJ5svW5_oEGIOkhKcwndqOq7bBJTxA_dxD3Q6yr2nPhF4jeRkrynwfIkV3oWdtpw8v2635I13ZjHw1UskEY2BCPss8FMJNGELD2VeGg2zSamYbFmZENmBAFMO5_9u66j_Yspw0ou7jqd36y353bUqhx-8oZOVH-oxKTmWi0xqXctakfqW9SCN6hxdUIU4_QnTGd8t4RH5E7vXQhaDxr5v1rcxLURPsitDQHCEb0e450e-mHw7szaZDRaaRyn_NxfaSGfpIEvOTuqdDM9NilY1Nq63WHT1RH5xeqzDx80waMncNj0GC-aIr_1bWB6eLEl0zfgi5ZF3zShmY2LkLlVWruuC09QJ5oGGM9uwP909i1szGfaINf4zA4pFSlCmXVPEWMKw-lmZZw3Jfeg8TNNVSFpFSbm4gtGuTjGYOBcnMOv-Adh4DtAnjuf06ix7FQ_ug_WSypj8ncWcsF3A2YTT2DWIUWEMrg=",
  "id": "rs_0d632b2c375c04e0016ab44d6bef3c87d092000e63232279b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_gripper\":0.6},\"note\":\"The overhead view places the held pear directly over the blue bowl, and the wrist view shows the bowl centered behind it. I’ll lower the fruit into the bowl while maintaining the partial grip, stopping above the bowl floor.\"}",
  "call_id": "call_WXVlBa7ifZuzI2bu8JdKatCf",
  "id": "fc_0d632b2c375c04e0016ab44d6cf14887d08326f99f3caf9858",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WXVlBa7ifZuzI2bu8JdKatCf",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4671, -0.0135, -0.0307, 0.9973, 0.3302, 1.7233, 1.3609, -0.7723, 0.0891, 0.12, 0.6026]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1612 left_yaw=0.0005 left_pitch=-0.0988 left_roll=0.0006 left_gripper=0.9973 right_x=0.3959 right_y=0.1229 right_z=0.1193 right_yaw=0.1643 right_pitch=-0.5592 right_roll=-0.0356 right_gripper=0.6026\nstate[joint_eff]: [-0.0342, -1.388, 6.9949, 1.8242, -0.0171, -0.0757, -0.0073, -0.1846, -9.1419, 7.241, 1.4237, -0.022, -0.0855, 0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a35f513cc75fb1392ebc95a850ca7db158eb6e2465935279ab78d71ac4c83da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1411b8710be2271c34257033eee7fa611a99eded08f2ff7fb9b92758018acd83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0eb240fecdad8ce34224bc6ed1daa432fefeedf5cb4d088b001e554b7525d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 3.593 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8089, 0.6132, -0.4435, -0.0135, -0.0307, 0.9973, -0.028, 1.7317, 0.9367, -0.1162, -0.0837, -0.1215, 0.6073]\nstate[eef_state]: left_x=0.288 left_y=0.0002 left_z=0.1672 left_yaw=0.0004 left_pitch=-0.0698 left_roll=0.0001 left_gripper=0.9973 right_x=0.4279 right_y=0.0064 right_z=0.0454 right_yaw=0.1152 right_pitch=-0.339 right_roll=-0.0098 right_gripper=0.6073\nstate[joint_eff]: [-0.335, -1.2239, 6.9812, 1.707, -0.0317, -0.022, -0.0073, -0.1299, -8.212, 5.9829, 1.4139, -0.0562, 0.022, 0.4322]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8135, 0.6132, -0.4538, -0.0135, -0.0307, 0.9973, 0.3286, 1.7237, 1.6592, -0.9703, 0.0834, 0.1181, 0.6031]\nstate[eef_state]: left_x=0.2867 left_y=0.0002 left_z=0.164 left_yaw=0.0004 left_pitch=-0.0847 left_roll=0.0004 left_gripper=0.9973 right_x=0.4146 right_y=0.1296 right_z=0.2056 right_yaw=0.1783 right_pitch=-0.4613 right_roll=-0.0129 right_gripper=0.6031\nstate[joint_eff]: [-0.294, -1.4017, 6.9812, 1.6679, -0.0366, -0.0269, -0.0073, 0.1573, -8.335, 8.4991, 1.3797, 0.2418, 0.3736, 0.3101]\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 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4671, -0.0135, -0.0307, 0.9973, 0.3302, 1.7233, 1.3609, -0.7723, 0.0891, 0.12, 0.6026]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1612 left_yaw=0.0005 left_pitch=-0.0988 left_roll=0.0006 left_gripper=0.9973 right_x=0.3959 right_y=0.1229 right_z=0.1193 right_yaw=0.1643 right_pitch=-0.5592 right_roll=-0.0356 right_gripper=0.6026\nstate[joint_eff]: [-0.0342, -1.388, 6.9949, 1.8242, -0.0171, -0.0757, -0.0073, -0.1846, -9.1419, 7.241, 1.4237, -0.022, -0.0855, 0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a35f513cc75fb1392ebc95a850ca7db158eb6e2465935279ab78d71ac4c83da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1411b8710be2271c34257033eee7fa611a99eded08f2ff7fb9b92758018acd83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0eb240fecdad8ce34224bc6ed1daa432fefeedf5cb4d088b001e554b7525d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1wom_HeWzrsF3DAI0-rtqH75GLKhPzsM2-J-59VuvJX50zg_WTvZsts4Rhp5UGCPgJoY3fC3xDz3KgkH5TPRQ4qehehjaIkZEb6YdJhIUWKgoaaH5t4IZkkfy6k-Gl649TYW8MJD1dwIwx7-qc6hR14Or8D9sosM8rtinR2pekM1SdqzkCfmitjR3CM7T7313LyOHPDVHppy0HUd85Yo1mFQ2_dnFh5QlYdVTXv0_LO7OwH-kcLCGthEMjk-fn9CvwkDFwtK8E8LwxL0FXkNjkY5RGazgFWdnJkj5uispinB_QeyUCdNccnBzxf_Qt3b00lo2epzPNEEtHUA5U87PjHOCgj8WPWClCktpr2wAGrWPAaI2FCo5dLBNmzLu3Q9imt0qCPnoaqsg3OiJpPFbyyFk1X8ooj8_HyLtuxyVBOflPahMbjCvIFupq9_WPscyyS33-3RnvcIXKjeljL7tblBmi5x1CXIm-C44SXZ5zs-T9cEWXxAen_yEux-6QUrALAbykrWauZwpIxLSvAcyxs_r-ehtjFaRyaos1uw5aXuMJpHiHDxJ20L80yvNsmbnjmLe-ZuQn7tWQRznWZbtFod8irlRDVvEckqGuDxdveJCIV_zpHkc-aL1r-jhmbhBWJTQlmC_nP65wU4APPF_cMPcvEsOkx3jQM5_90kOZC_E0xneZKyS-oT09e520EOhfBrscyoq7YeCEZ6wu2kxmeiJh02_mxkD0YiXzgMahooTfAPI6H3C6xrqVjSJyZ6wqK7cfe_HZdsQPlmMguZsXb3Pa1oKgl20iGsEnzqCD39rfjvEBhrc4jgO856U1-smGN13VYwpj9Jc1zCirsgiE-N88nRvkqG01j-8ejfpifCJBF_Ddr6drYXoV2psmfZR2xHT-g3Ow3ku8vgP0vqeuRRrar0BUzA0JtD5sVTJEytW5qKzgHwesBe7g3hxeFZMwiN_qYxDh1R0Nx-md_daFSg5eKAUp778BVOQB5JCnzagCSeHcdjfwZFaci_j1UdAhNTfphTi9URInniF_nwBmyrENGPS9v19UIPCBTKfp_T56pOGo0swh82tVX0742zqgkH36YVl6W7Gxt_NQ3er8zWl_V8fMpBIsPl6caA8235ZoGMUXd76hKLV49FvtsyIiKBB_Dw4qt8P8KRnUv23aPDk4mk0ko9Uz8tC8Aerirelh5XctZp8lHxReL8uIsqnopcMwvkujmRB3mKqMk5tjxQ==",
  "id": "rs_0d632b2c375c04e0016ab44d6f7a2487d0a3738a50215fa33b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The pear is lowered inside the blue bowl with the bowl walls surrounding it in the wrist view. I’ll open the jaws to release it into the bowl.\"}",
  "call_id": "call_NBrqLHD0M20eMJMKlZWKuOur",
  "id": "fc_0d632b2c375c04e0016ab44d6fa28087d0a6a2b7f030b85d17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NBrqLHD0M20eMJMKlZWKuOur",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.815, 0.6132, -0.4747, -0.0135, -0.0307, 0.9973, 0.3302, 1.7283, 1.3437, -0.7662, 0.0818, 0.1143, 0.9954]\nstate[eef_state]: left_x=0.2835 left_y=0.0003 left_z=0.1595 left_yaw=0.0005 left_pitch=-0.1072 left_roll=0.0008 left_gripper=0.9973 right_x=0.3926 right_y=0.1231 right_z=0.1118 right_yaw=0.1735 right_pitch=-0.5762 right_roll=-0.0338 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.3744, 6.9538, 1.7118, -0.0464, -0.0269, -0.0122, -0.1709, -8.9504, 7.747, 1.1013, 0.0757, 0.1148, 0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd03bd4c8c93afc8c4c4a057739c71f7ea7dfd603d74a9c17aaa0542437a4a56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e859cffeba4cf7ade07b61faf6230c65b7ca566fece33e905456ba78d4d879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85eb67b5c0533f072e8dc9a966b4ab0aa1b2b3e1de22631e4172e4da458fa9b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 3.662 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8124, 0.6132, -0.45, -0.0135, -0.0307, 0.9973, -0.028, 1.6398, 1.1301, -0.4946, -0.0837, -0.1322, 0.6038]\nstate[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.165 left_yaw=0.0004 left_pitch=-0.0797 left_roll=0.0003 left_gripper=0.9973 right_x=0.4138 right_y=0.0068 right_z=0.1007 right_yaw=0.127 right_pitch=-0.4311 right_roll=-0.0016 right_gripper=0.6038\nstate[joint_eff]: [-0.1983, -1.5932, 6.9812, 1.7656, -0.0269, -0.0464, -0.0073, -0.1846, -10.1675, 9.0735, 1.5507, -0.0757, 0.0415, 0.3834]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4671, -0.0135, -0.0307, 0.9973, 0.3302, 1.7233, 1.3609, -0.7723, 0.0891, 0.12, 0.6026]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1612 left_yaw=0.0005 left_pitch=-0.0988 left_roll=0.0006 left_gripper=0.9973 right_x=0.3959 right_y=0.1229 right_z=0.1193 right_yaw=0.1643 right_pitch=-0.5592 right_roll=-0.0356 right_gripper=0.6026\nstate[joint_eff]: [-0.0342, -1.388, 6.9949, 1.8242, -0.0171, -0.0757, -0.0073, -0.1846, -9.1419, 7.241, 1.4237, -0.022, -0.0855, 0.2564]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.815, 0.6132, -0.4747, -0.0135, -0.0307, 0.9973, 0.3302, 1.7283, 1.3437, -0.7662, 0.0818, 0.1143, 0.9954]\nstate[eef_state]: left_x=0.2835 left_y=0.0003 left_z=0.1595 left_yaw=0.0005 left_pitch=-0.1072 left_roll=0.0008 left_gripper=0.9973 right_x=0.3926 right_y=0.1231 right_z=0.1118 right_yaw=0.1735 right_pitch=-0.5762 right_roll=-0.0338 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.3744, 6.9538, 1.7118, -0.0464, -0.0269, -0.0122, -0.1709, -8.9504, 7.747, 1.1013, 0.0757, 0.1148, 0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd03bd4c8c93afc8c4c4a057739c71f7ea7dfd603d74a9c17aaa0542437a4a56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e859cffeba4cf7ade07b61faf6230c65b7ca566fece33e905456ba78d4d879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85eb67b5c0533f072e8dc9a966b4ab0aa1b2b3e1de22631e4172e4da458fa9b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtE10eGBbjfXVsVqt1HOrGnqiKM5FlWfrGCCpif_7N8sGGkJw4hLTK8EOal70b5aMyNRUeuxaoZ87oiPeIhavjMYFQSlVZ46dDj5OT4RtPUWmM_iT3bh3ZE7yMFqgYQSMKQBz8sCdRHN7hqlH_rv8kB41nNsw4x2Sv_coWR0YVMXkhfCzfp8fKhdqxoscTcl4FLvf-l2gJF9e4YbI-LzsU8rDZ7ADVMR_VXd3JNATLQwX8FknEzFLQVhlYYxh00sDhJo95yftnX46mVArjkSSSF1uBIac8P9wusFeCA32WYSvj1q6Yy1zTSoh1-JQqz9o3l2-qTjbWeJN8dRphb_qrRcY9ZmZGR7thURYn3ab6X19QxmHq0tw0HNTZ31RLtzSfkilJgFSSgb81F2qU2kBwUAbiBq3Xc3Mh-0icSPv0aUWwkS5QqPohme8Qi1S6SSkuV-NRX7D-HnQYJEY4nfS7koKldfgPT5vRxR3i9mLZJLygS7WbVwsy4NSwHQw26BYtkWf0VCrruaDGtyzcfDX_8elNs-SW3n2pgzz9b7mTTcisPHbxMuq3LnRDKjMsSh2P3ZrFzXTqsP7ZtLnfhp9XK7SvD8eF-AarAgql6eJILwY8d3gpbyruc8koItLTL251859kzCtY8vIJ1E5rnd44_QfyPhjl3gt0xc3Gk250e6dPtvtYNhP5e3XA1Np1ostEFLx0xJakMJ2aeArWaTopJfS6oZkXvrm2ulG191uigyu4Yk5g7a4J2WcxxsTgMXdbXXpf9KNFdfQwEif5TuSHhiGpuGrh3crQgy96VT6mlsFlRxudkkXMPWqKevn25dyxrjwB_ngrHw6OV9Qadon9z-N-0zQFrwcuwdRUbu-37sZbIIimOWrQryOAIqw5EtBbO-Z0nKTV1CgLrl_nBrlxW0sm2_fsICoaOvgtdBzG6uOH58-dE2s-pSGA_nfa5xOfO3EXJWcjHwFjhIJMJ6qxESmfaqVHpGT__yh2-cHGJMXJJTtpFZGOTyEdI5l_ilIW8AGJh76SaJhH1_L9k58TvC6eA9GPtEREgSumc5Bm4PYIA5RDOXHHnEzCnqh3z31hA0tHzm-rMISxwJgQwYPeId71sKeQcENcfhgqU4G3PXz_EXbW49592pqONMU0eJwstQ8Tal1FRKi28dSNET0DYiRfYq8nBr5xfkjceVd_9PAyqSKHo88yzm7KbnLnw6b03SAojI9u-jj95242wW86pZxVWUbV57uCB7G4YY1ubfZBiPdOu-6kKfJROtFb6t3HmnXffU3fHeKKESAa9jJQhkCSCvCkflL2x9L-UVa_VamhEecnBA7qjk5sgqwfJp_liDJD6W1Iz5BPbuXsAfR9KKkE7HrKVHmyT3GCbaAdXwyBtXTBE2GCpuuSsq3_wTwPvWJnkUu6KKVNHrmzusuX1QGFfDSNhEgApmewCjWe3Ie16scVOKDnAkRfrCRzeNq2rwJ9JbLFRh7yPpEHgA9PcbeyeXD2FLgSS257Hw1kjRLRhkhraMzq_UMWzV1nmBPKnXQcuNNYDBxqjbjeFhy709uZteKZjLASJePmF8UhckEQQa25I1CIfpuKYEzWY_nxQBnuGnMkkrps_MwmZ7o5lQgIbzmfIv4hLH4Z6qaIjMJwN5UE_Hk5TNMpJq-k3bMa5_F0HO9O0QCActzn0JFm9DMNa97mB-fIRAtSYLR1yrXs4QhkCpTB-04LLTAY6ogu7u314fsq4fuwgZ6mPy2AH_hBcYSUTaMweJEntZl1vbiGI1wdP_8Os0lMdEHsrfZNz0OW4oGvmeDN2vICVSm7IGfDS-CjG2_W3nHEkoWrwb1Hyd_Y-sW31kzi77fhKNgsF89cccRU9zFiYmJcej5l3TQz4SdvW5p4ikgjYwnaubXa584HYSkAYqDxVpKhDYr85wNAmw_lw8mofrOp7Gutuurprr4Ajw2AtJOFmCtjqWD2lDfCLBb9NgAadlTX64rLX5K5T54n0Q4ybQTZALTvma8wjYgit0NKBoUfjHspDXys_YapVfLEGsVdsr0FP2dlEI4dC7Ve-2trjNgiuxZQIXEta0WMDJpunNB-9hC8db4qpd4XVHnUCgEIt9FwDKGLOlyvTIXqcYcD5U96eLDcZc3V8x2_FSw0FXM1Nl3Ym-OmTAazKaeXpIwFkLrrf5oLybv",
  "id": "rs_0d632b2c375c04e0016ab44d71918887d0a23d7e262dbe6139",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.22,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The pear is visibly resting inside the blue bowl. The remaining yellow fruit sits about 8–10 cm left and slightly closer to the bases, so I’ll lift clear and move the right gripper above that fruit for alignment.\"}",
  "call_id": "call_KGhY4iwtMm6338fRWCgj1SNx",
  "id": "fc_0d632b2c375c04e0016ab44d73582487d0a1960b3b72d46e26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KGhY4iwtMm6338fRWCgj1SNx",
  "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]: [-0.02, 0.8173, 0.6132, -0.4763, -0.0135, -0.0307, 0.9973, 0.6258, 1.7496, 1.507, -0.9417, 0.181, 0.3508, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0003 left_z=0.1586 left_yaw=0.0005 left_pitch=-0.111 left_roll=0.0009 left_gripper=0.9973 right_x=0.3497 right_y=0.2179 right_z=0.1455 right_yaw=0.215 right_pitch=-0.5788 right_roll=-0.0332 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.4838, 7.1179, 1.6532, -0.0366, -0.0708, -0.0122, 0.1573, -7.665, 8.335, 0.8864, 0.2222, 0.0806, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1f7ab2bf47fe76bddc37cb61fa7d85c29d01c5b52b97240fd00642dda9e4b79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c39772768a01bcab7c0b625ea04003295577849bb6f3a7a4eefd2dd905ab1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a48f10c91438b23cb5a30828f67ba3b2aa151bbd4a7007b8df472e32d624011a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 6.968 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8135, 0.6132, -0.4538, -0.0135, -0.0307, 0.9973, 0.3286, 1.7237, 1.6592, -0.9703, 0.0834, 0.1181, 0.6031]\nstate[eef_state]: left_x=0.2867 left_y=0.0002 left_z=0.164 left_yaw=0.0004 left_pitch=-0.0847 left_roll=0.0004 left_gripper=0.9973 right_x=0.4146 right_y=0.1296 right_z=0.2056 right_yaw=0.1783 right_pitch=-0.4613 right_roll=-0.0129 right_gripper=0.6031\nstate[joint_eff]: [-0.294, -1.4017, 6.9812, 1.6679, -0.0366, -0.0269, -0.0073, 0.1573, -8.335, 8.4991, 1.3797, 0.2418, 0.3736, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.815, 0.6132, -0.4747, -0.0135, -0.0307, 0.9973, 0.3302, 1.7283, 1.3437, -0.7662, 0.0818, 0.1143, 0.9954]\nstate[eef_state]: left_x=0.2835 left_y=0.0003 left_z=0.1595 left_yaw=0.0005 left_pitch=-0.1072 left_roll=0.0008 left_gripper=0.9973 right_x=0.3926 right_y=0.1231 right_z=0.1118 right_yaw=0.1735 right_pitch=-0.5762 right_roll=-0.0338 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.3744, 6.9538, 1.7118, -0.0464, -0.0269, -0.0122, -0.1709, -8.9504, 7.747, 1.1013, 0.0757, 0.1148, 0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0307, 0.9973, 0.6258, 1.7496, 1.507, -0.9417, 0.181, 0.3508, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0003 left_z=0.1586 left_yaw=0.0005 left_pitch=-0.111 left_roll=0.0009 left_gripper=0.9973 right_x=0.3497 right_y=0.2179 right_z=0.1455 right_yaw=0.215 right_pitch=-0.5788 right_roll=-0.0332 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.4838, 7.1179, 1.6532, -0.0366, -0.0708, -0.0122, 0.1573, -7.665, 8.335, 0.8864, 0.2222, 0.0806, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1f7ab2bf47fe76bddc37cb61fa7d85c29d01c5b52b97240fd00642dda9e4b79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c39772768a01bcab7c0b625ea04003295577849bb6f3a7a4eefd2dd905ab1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a48f10c91438b23cb5a30828f67ba3b2aa151bbd4a7007b8df472e32d624011a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0d632b2c375c04e0016ab44d76444087d0ab82145a0f8a623c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.27,\"right_z\":0.11,\"right_gripper\":1.0},\"note\":\"The yellow fruit appears low-left in the wrist view, meaning it is both leftward and slightly toward the base from the current grasp point. I’ll shift about 5 cm left, 3 cm baseward, and lower toward its mid-height.\"}",
  "call_id": "call_PcQD8DURaToPAw7403lkvEif",
  "id": "fc_0d632b2c375c04e0016ab44d77cad487d0a692c731a5429300",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PcQD8DURaToPAw7403lkvEif",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4763, -0.0135, -0.0307, 0.9973, 0.7845, 1.8057, 1.459, -0.8841, 0.2146, 0.4648, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0003 left_z=0.1586 left_yaw=0.0005 left_pitch=-0.111 left_roll=0.0009 left_gripper=0.9973 right_x=0.3164 right_y=0.2678 right_z=0.1133 right_yaw=0.2549 right_pitch=-0.604 right_roll=-0.0373 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3197, 7.1043, 1.6923, -0.0317, -0.0317, -0.0073, 0.1573, -8.7453, 5.2444, 1.0525, 0.3394, 0.149, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19dfc7cbf8fbd8557bc074a86e22cabb7f4af82a6f9d3148c23d1e238998cb1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:153b70f8b030506fcce1fb04685fab936295a3b6508d594e895e2493257c4a11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac0a61093d4381dfa553cb9a7e2ecfdd211906f1aa255214902a65719d169e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 4.117 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4671, -0.0135, -0.0307, 0.9973, 0.3302, 1.7233, 1.3609, -0.7723, 0.0891, 0.12, 0.6026]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1612 left_yaw=0.0005 left_pitch=-0.0988 left_roll=0.0006 left_gripper=0.9973 right_x=0.3959 right_y=0.1229 right_z=0.1193 right_yaw=0.1643 right_pitch=-0.5592 right_roll=-0.0356 right_gripper=0.6026\nstate[joint_eff]: [-0.0342, -1.388, 6.9949, 1.8242, -0.0171, -0.0757, -0.0073, -0.1846, -9.1419, 7.241, 1.4237, -0.022, -0.0855, 0.2564]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0307, 0.9973, 0.6258, 1.7496, 1.507, -0.9417, 0.181, 0.3508, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0003 left_z=0.1586 left_yaw=0.0005 left_pitch=-0.111 left_roll=0.0009 left_gripper=0.9973 right_x=0.3497 right_y=0.2179 right_z=0.1455 right_yaw=0.215 right_pitch=-0.5788 right_roll=-0.0332 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.4838, 7.1179, 1.6532, -0.0366, -0.0708, -0.0122, 0.1573, -7.665, 8.335, 0.8864, 0.2222, 0.0806, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0307, 0.9973, 0.7845, 1.8057, 1.459, -0.8841, 0.2146, 0.4648, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0003 left_z=0.1586 left_yaw=0.0005 left_pitch=-0.111 left_roll=0.0009 left_gripper=0.9973 right_x=0.3164 right_y=0.2678 right_z=0.1133 right_yaw=0.2549 right_pitch=-0.604 right_roll=-0.0373 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3197, 7.1043, 1.6923, -0.0317, -0.0317, -0.0073, 0.1573, -8.7453, 5.2444, 1.0525, 0.3394, 0.149, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19dfc7cbf8fbd8557bc074a86e22cabb7f4af82a6f9d3148c23d1e238998cb1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:153b70f8b030506fcce1fb04685fab936295a3b6508d594e895e2493257c4a11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac0a61093d4381dfa553cb9a7e2ecfdd211906f1aa255214902a65719d169e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1_A2cPyhbcQuXa2KP4s5vnpqPmM5KaCF-wBAVkvZCpKqlBFMbZ7uyIqXvuhwAsw_pFTg5Ixa007l63qQDQwtpc8hM9mWu5ML1mhWCquTH48sVEwxc9qIA-XPCSa6C7cepBcTOfXPGnmSBAnkflTux6AwxC4rUmFKviZTM4ByXfps09a6IbhjD3jn9ca-WRL4YtSePfMicVw3zwhVnzbjrjx-BkfcVN_CTN88lW7gxbR_mm3IJ7lo_OdrHlAAf2zim0qfrBjwEiw3P-OiYcVJ8AxOff8g9R1-JKgUDVMQqHGA5XfAgvLsU5YgtPjwYwA1IUzMqOSDLPsTSvq1pl2YNvcPNojJjWU7Q1KquklrUROq_bRAoXckVZ_T4-AwngGCsgkCK7XhR32NisqmfPNIALdyv-zHhJTegFlO0QunzThawLzV2ZknnIfUErw4D615pN8pLgwg4IbSaTRVBt_w54jdrpgtIVlmms5eAKufHzLDILNTYDh-469hIgd1XfhwiBNo0n1opzlcNoW0hoZP0ntCO1IM_O1Wm0DlMw7GVuE_V6LdDDR_W4QzBavMYLCMN5cQOnx6DlRbfv8V1a82LyMgspIdcGupa6QPD4Jdk_2pqtiQQoNUsXkjDlxARn-AVU3vP9GEH36HKxw3CLSvctPs9c96sE5s33Z4PyoTgWjYVPUdECeE90dnpTMJRFNk4rofO9FWuS6P18tNZyZRLpFlzTeUteEWEUZRibFsWspb5D2FGfttHxtMfnVaZ4uo2cNsbcCKpyNqioEiMFrkO_GQWI59Um2goiBPWj0ejMkJis7TPe6aWFresSo12oYToLvWPhTuXNGUWO1w4nYmCvxxEOEAUQbLDbxtACZenM7JRRaF2DtH6ySuynFwud7sVhWGFn4mGajYC6UqbEJckZrK3Sg15ui_vR0somPFUs_-mtPhK_oEkZCugFgysZBX8WZFvMgFDDaS7r_OlG0NKAIf_P0vw7bx7SpmThE77g9EmU2LDPefOEEwpbrl5ppGW1yWFZDQCrJtrqxO5qcLRNElACSoJwuAp6F9bePlzpdMcN6BQ86dPowmbNvk05RwBn_bVFCoS616H6bmRGiLdd3ICK5BvRajpILVyuBqRahWcUDa72-5f1JWsTYQZzy3jo1krt-5cg_lgG38l0T3LZBS3duaNE--mzwrgvKVThAao1OvaFMnTZ7Wsr1f88jfh_XzDzk0IzcxGNMWspJU3nzXLVKyo5mMVdIzq-qK_vt8eL5dBl9tGiWgjqSUDbfAnJfCI7JSqlsoy4S68428K-UNbPvmBX2Aicgqeg4Je5IJfrdETqmn0fjYxM5_b8VmzOyTioQMwi0iwcgfGJh2jAncHqqTGF2ltGbX7cCmIURqlqRDZmy2cDIDLOPr2XCXfMY5S1scw8XIauwI-AvLF9loG4OlY1BxeQgPnf73DQMe4SE_vrxXBlEHDtPCRbkxXLXQuo5c42DMdrnqDerCBHRYXSAjP14ZpSw86f9XJE-04opolyIHgX7ssYEyn3SJvN_gHJXBCH_s0g8B4pDSxN-oI4_tMEERYgk033DuGl98fFk8TKKcyssUaIONIoknlPHjEamnZDvUym0QDqDaCNrkUUDZikIdwItnTT0v2AOleuBYeao2kY95aswEipod-Tr1ZWkn5JMepJNEghJDQ3Yd_8UTQdQpk4oQatlJzu_4JgDPsgkUd5ljSeXuxM_gLIor094k-0bKnc8XpOXSzdN3KJTpN89AhJHX4z51451nO6tKweJWsf_UM7ni80G7ckkIJxGIB7Cij-LW0emBn_N0dbMBprQ7kcvNzBXIzPLtPCQD5wdJRCzo-uGOHUPP7ZilVVZ01xgDyk2utY3o8zFw==",
  "id": "rs_0d632b2c375c04e0016ab44d7a484887d090d2823901d20af4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.3,\"right_z\":0.055,\"right_gripper\":1.0},\"note\":\"The yellow fruit is now close but still about 3 cm left of the jaw centerline. I’ll complete that lateral correction and descend to table-level grasp height, keeping the jaws open around it.\"}",
  "call_id": "call_tXlRw7A68NHaLxOgAaC8MU1F",
  "id": "fc_0d632b2c375c04e0016ab44d7ead7887d09e6e9378f9e4fcda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tXlRw7A68NHaLxOgAaC8MU1F",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8173, 0.6132, -0.4763, -0.0139, -0.0307, 0.9973, 0.7948, 1.816, 1.4525, -0.8715, 0.2317, 0.4904, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0004 left_z=0.1586 left_yaw=0.0008 left_pitch=-0.111 left_roll=0.0011 left_gripper=0.9973 right_x=0.3164 right_y=0.2696 right_z=0.1087 right_yaw=0.2319 right_pitch=-0.5987 right_roll=-0.0446 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.3197, 6.9538, 1.663, -0.0611, -0.0464, -0.0122, -0.335, -9.4701, 5.8188, 1.0818, 0.1929, 0.1832, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d875bdd30a7d9ab3a5d654d5e705948ccb575febb4fd83af1eb90bd89cba514c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6912bef3295683b57f7e004e28c3f3ec9081c98c199dd52206dd3c8e84194f31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f89cbd1603612a92eeb7dd5807ed390f9f56fb4089d2ca5e8aeb6c97318782b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.968 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.815, 0.6132, -0.4747, -0.0135, -0.0307, 0.9973, 0.3302, 1.7283, 1.3437, -0.7662, 0.0818, 0.1143, 0.9954]\nstate[eef_state]: left_x=0.2835 left_y=0.0003 left_z=0.1595 left_yaw=0.0005 left_pitch=-0.1072 left_roll=0.0008 left_gripper=0.9973 right_x=0.3926 right_y=0.1231 right_z=0.1118 right_yaw=0.1735 right_pitch=-0.5762 right_roll=-0.0338 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.3744, 6.9538, 1.7118, -0.0464, -0.0269, -0.0122, -0.1709, -8.9504, 7.747, 1.1013, 0.0757, 0.1148, 0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0307, 0.9973, 0.7845, 1.8057, 1.459, -0.8841, 0.2146, 0.4648, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0003 left_z=0.1586 left_yaw=0.0005 left_pitch=-0.111 left_roll=0.0009 left_gripper=0.9973 right_x=0.3164 right_y=0.2678 right_z=0.1133 right_yaw=0.2549 right_pitch=-0.604 right_roll=-0.0373 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3197, 7.1043, 1.6923, -0.0317, -0.0317, -0.0073, 0.1573, -8.7453, 5.2444, 1.0525, 0.3394, 0.149, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8173, 0.6132, -0.4763, -0.0139, -0.0307, 0.9973, 0.7948, 1.816, 1.4525, -0.8715, 0.2317, 0.4904, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0004 left_z=0.1586 left_yaw=0.0008 left_pitch=-0.111 left_roll=0.0011 left_gripper=0.9973 right_x=0.3164 right_y=0.2696 right_z=0.1087 right_yaw=0.2319 right_pitch=-0.5987 right_roll=-0.0446 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.3197, 6.9538, 1.663, -0.0611, -0.0464, -0.0122, -0.335, -9.4701, 5.8188, 1.0818, 0.1929, 0.1832, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d875bdd30a7d9ab3a5d654d5e705948ccb575febb4fd83af1eb90bd89cba514c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6912bef3295683b57f7e004e28c3f3ec9081c98c199dd52206dd3c8e84194f31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f89cbd1603612a92eeb7dd5807ed390f9f56fb4089d2ca5e8aeb6c97318782b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2EymJPTS9eZ-vPTUQd7bgfoOmTSVGSs2K-v1GpIZa4-3EVv_mVVzQFcwWgU9uSX8NT5WJdGg5XRQosRpMRP8GsVS7F-vthl2Deu7l79E1TOxwgu8eYrNuuNIrQXnKlwpRDRjZoB2lGn-RWD3LxPSk__2E3YgCh4GAJStsFtZo3jLzG0Oj0CMlRC6tT9bYOLw0BLbCSlLLHIbgb-A3SzrAQSjyML7o1WyMkpS76px2hefbnnRmHmMeYUJqcKq_u9P38yOsV665mVklmwpxxcsxtG5qMfq9U3cvJ0Vy-TBmCoLKWD3glHe67rdQYB-nc07YxxaDWEnayPl2CUfNKE_wQ43f17B629nhAA99Xl_VZawHB-5gYre5gWg_ZCSqJmuoRpODRPAY2mrL5Kve35sLXOh9XtFFrVmjrKiaKSeGHWQyiRNAhPjnpL831mSS6svyqKomevKCpPvT5nHtcz3xYHwph53VJdM4O7q0qmZFcZRsp-aZGr5I_8Qy5ipSn-JpaQXWBN9REq2foiyr_nBu07eWXZc1whPV0hvSZ54kbj9q10cvh9HjPDsgjF01HF4dzt0bRxdn99-XiwDkqaUh6s8SkHkDiyJ10cWUU-cHfPrbMAKNEWebk8xZ5VTUSjgyWuYo-QUPyaYqs-2ybg5Tw4QQSWIzaRzUyZctNzKhU6EsAKb1VCd9x1pdgWqKM76-Jrsjr_2YIh_xREp7JiLujRBz-hk4DPBVe7cW7k4xdQU7b0DlI74MIN6DxTXBRINPu2CIDBPf0OlbXxaDXpUdD2CzNfxgi8dX-pZWlj-H3P8Q5lSLXgQPX_IMIA7pRds24Jjrm_fE_KPzGWNaV19UxUcDHTwjTaKHDuIowyIM8eoezTDvYhEk5x2_sdrujS4I_Evlsrb8G81SyunQFs5Gs2g0B03YPiAMXk8QSvYfkrOSYJ_THdLrPcZdUgVO-IHVTog-yIWmiblC4R4yhYTq2JvHPh3ovghH6fhc_HYgaxqJX2w4gqJo6gqHm7-dvTrMitv-Jy3LnMOXNGVAp5A8Paeq9ZkrCP2nLIuLRhLHszm-eJaxd6dQtlhvGRs3363rX564DYd5DNInr0QpDQ19iYVnAZFKx6BdfUc4KpxWLcFeSbzVVCR-8eCuxgcZbX14npx0lcmjVjPUayB0TrWuhFaAozXDbjdW-4fpUwDK79BPKTLu-3A0n-B36JVetUFrDKOy8VE7-eiG-pY7bCMVEShKPNCTk2feqOyjarWmpArggZBc0mmBgt0o4EWdWXFWPlIlyAvkHZkNlkqLejtfZmklsDfhu-ZDNsIvXvrMDypIQO4GDCsYBETipmnPlQiNZfz8zPG9XaKGzecFXM1rrqJSd3jp8AsNERbk9CcaUmu1ShDOnSzl4NsC-xJyTc_Xd8Lx2A37APY7EAf5znk6o7WcVZK9WO9auuzFhxwgn2lgQJzDx2bvMVTv7-JItCvu3MMMFBMDzrC7FRwjSAwuYtnbwgAbaU_imP5Wk1O67YC0HiOY2IxMjoePkFg6IW2G8qAKjrE8Ac2Uz4mQ1Kcvao_Y_S_8uw7ZPifxVlNVaLzmSd3gyw9975f77rFSDjSUIOJZEnhQfQzMRq206S0EjAoiUZHr4hRnYB8eRC8mxHF-yzvEDdXVZRsK6mDhrbQcOMN42Q2KOH9WplL7QxSavFlSAZn8ECV0PBSFQoDeZWga2S1YCO_gNmPtLqodXM_RjMhrbsVg-_KvTDATu-edSeFv-AMSUTGM8NqAc-wru-sJ8at2rM5JNSG-JH35d8xvUdI8XTnP5la00p6xhyF9PmjJwpuF8JNqNBI6QhpFV4rflAXZRLMLBj3NOoAQCdv9bUBUbV7MOJ7pwJ3eOgqSBLo2fKqu5-0lm4r8hjLJv5B06AQP6F6r6QW1bNNdMq6Z5FqPOYhT3MjxiSCyrbbb5dp6kzOrupBblaQTEG-n0244RRoc8QDZ9Gd3rFjBVM5hW0N-4ttD01S2CtEVBBhq1IOU-1Zt64tCDa0PAi1xn84UuICBwMuRHdH_bsj16hk6xHlVyknjA_ELnbca1M_l8TYEzXzhl9YyUC26HF-BWQONmRcYFANk_ndmgA5InavH6vlCiylqRw9ENthLCWGZKVLv99p5TqPLfi1Y866oO13o3W0X_R2aKPsc8y0F5L4XpGcuI-rAU-NGA7emA0rUC-w==",
  "id": "rs_0d632b2c375c04e0016ab44d818abc87d08f54626c5ba734fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.3,\"right_z\":0.055,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The arm barely tracked the descent because its wrist pitch had reached the forward limit. I’ll explicitly level the tool while holding the same horizontal target, which should free the arm to descend around the fruit.\"}",
  "call_id": "call_7rmilk9td6ECGftRu3vPdzSe",
  "id": "fc_0d632b2c375c04e0016ab44d83acdc87d081514767702bd6bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7rmilk9td6ECGftRu3vPdzSe",
  "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]: [-0.02, 0.8192, 0.6132, -0.4839, -0.0135, -0.0307, 0.9973, 0.9668, 1.8114, 0.8497, 0.1661, 0.5896, 0.4412, 0.9986]\nstate[eef_state]: left_x=0.2823 left_y=0.0003 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.1205 left_roll=0.0011 left_gripper=0.9973 right_x=0.3188 right_y=0.2954 right_z=0.047 right_yaw=0.2436 right_pitch=-0.0691 right_roll=-0.0608 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.1829, 7.1179, 1.6777, -0.0317, -0.0317, -0.0122, 0.4718, -7.5419, 5.2171, 1.746, 0.442, -0.0611, -0.1538]\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,$blob:f24fa748ccbd23276334e13a7271d6bb56ecf74d7d83eb578e4447662914196c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74409723f0c415d6ca471a465d55110eb30bb10c04e7a3c189c23c4007da9de4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffd298be174ea36ca33568e423a6f6077e028f6c605bd2dde9d0ab96bb2e47ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 5.299 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0307, 0.9973, 0.6258, 1.7496, 1.507, -0.9417, 0.181, 0.3508, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0003 left_z=0.1586 left_yaw=0.0005 left_pitch=-0.111 left_roll=0.0009 left_gripper=0.9973 right_x=0.3497 right_y=0.2179 right_z=0.1455 right_yaw=0.215 right_pitch=-0.5788 right_roll=-0.0332 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -1.4838, 7.1179, 1.6532, -0.0366, -0.0708, -0.0122, 0.1573, -7.665, 8.335, 0.8864, 0.2222, 0.0806, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8173, 0.6132, -0.4763, -0.0139, -0.0307, 0.9973, 0.7948, 1.816, 1.4525, -0.8715, 0.2317, 0.4904, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0004 left_z=0.1586 left_yaw=0.0008 left_pitch=-0.111 left_roll=0.0011 left_gripper=0.9973 right_x=0.3164 right_y=0.2696 right_z=0.1087 right_yaw=0.2319 right_pitch=-0.5987 right_roll=-0.0446 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.3197, 6.9538, 1.663, -0.0611, -0.0464, -0.0122, -0.335, -9.4701, 5.8188, 1.0818, 0.1929, 0.1832, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8192, 0.6132, -0.4839, -0.0135, -0.0307, 0.9973, 0.9668, 1.8114, 0.8497, 0.1661, 0.5896, 0.4412, 0.9986]\nstate[eef_state]: left_x=0.2823 left_y=0.0003 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.1205 left_roll=0.0011 left_gripper=0.9973 right_x=0.3188 right_y=0.2954 right_z=0.047 right_yaw=0.2436 right_pitch=-0.0691 right_roll=-0.0608 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.1829, 7.1179, 1.6777, -0.0317, -0.0317, -0.0122, 0.4718, -7.5419, 5.2171, 1.746, 0.442, -0.0611, -0.1538]\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,$blob:f24fa748ccbd23276334e13a7271d6bb56ecf74d7d83eb578e4447662914196c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74409723f0c415d6ca471a465d55110eb30bb10c04e7a3c189c23c4007da9de4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffd298be174ea36ca33568e423a6f6077e028f6c605bd2dde9d0ab96bb2e47ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2K4n1-OCgXYySJxQzaCDHfUHZjtxmytHK8CLKaEcRNYJIgljpIqXX2yPF9HrGRJNsduZec3a81ix7malQS109Y4wdAPeid9S2cKRTGexr6G-shqMd9SMM15pYPlHx0qr_jALRyDy3jT5aIZPw5KUx4TP7MAo8CbiQ2BMkxvZAA4Wxy9GsG3OBhK86v7khGjXIqidaEEybaFIzxFWcNBVlsi8g_zwDu2UtC4KwJY-poVNPsTjNclgCdX-y2B4gmu8eMrxnSBiofPkNfDt5Ed5ZqlLUBSbu1W8giW-sjwszipGP_HwJd-a96kBIosk2BnFqr0w4mSulQUiaf7JMqZsCfajzhdVClPGJ7HDSyD9gPqec6TNvttoL3t4xCK_Kk3huim_DI0_ezKsUG8QXraygo_5aSdV9oGaMNICteVYaSn1pti9np4eEHTJ5dAkAC5n3p-wn7mManHNX485KbhKUya-7AZ0yqQQJuzLUF42AA5e77FamSYJqK3aDIO6yK_oII9Slyj9zoZKr7vaDf3uJ9nbC067K4zUVZZPAuYGrRWThEhv6AYiAZhMaqYNAvnRPM52L2OmThuST3EVIrFteYDdlQR6fDo3knJyy1NrFSQyH9yQysXwK5BSeMev4K6ZXODFjzLsdB6WnO88VEJstBH66br2CzIlqavMhgMFhWvXhc3Q2QOvImXlxJLHUZ61XBHhLP-YtzAe8_rPSF1O7ko2CeFLwmgPrqZwIEs1peJCZGOepnVGWkqc8wq9VsGPSMX4g3pNfJ0gyy8BSQ3wtev5Wcv19Ttv9o_2RxH7YT-S8-S7gUZWQpiz5LMIvRj5L98tv76odzlCLIbEuSxlUAT1pcXX5SLBVscv6GlUhSfSLvsA6bULPpCxU4whcuMfpBttmtlwpgcL9wg3zCCE3wlhBsKHMFRQfPL1ubYvmEfSahMn6EjdGDy_PrVlgRWoHzMpJJuz4IteqybipwpOEVh6rVvWDVS-Wd4moUZ7yl8MaKLW2ayECDNX4bS7ihpwjwdoXTXWASC7R7d3dbkffuxHC9lufLtX2ywkRtERuxvjaNqY-C4OqDsuGjAIsmdq1o-UVH-TOqS7NIDjs7JNLR2nrBTKo_ST_WMv7ZVCatXykFkRWoVTAYPRzwswmpyxfTYtCW5HDnFlOzHCMfanT-9QrP8E85wJK4cY5_cd1VMSkIWgj6u9BsS1md5zGZavgKWH_yj34TLVYXUuFq-ay2QjTxK5u47ikQKdvZWkDyX-nUnqSXw4gpgyO2ytAwwBdzbDDA_setfnZwzttOU2thDUBfrdHyqFnrZYEZ5dMbRzkKJ2GKdIfrqZ2njhZQm4_coTx5dyk_ZTsrv_tpvCg4h1GobdOWcyvE6qqofkzYedO6KWil8E3arOPkjNu5AlEWbGeCXrbaN_-VcxlPfXjHBH1blMv4c1SasWCZFrjbYEUr-a50Cn55s6atVXc2BveO6EZASc2QJyieTw2NISaAMEwIk3TRPsVVTHKGEBwaf_m8jjOPVcM9-XSbEqxriVxayu79AMW-me-r8ReEdNZW7mSnly_gz2LXnQ90Lk3m-rkwbVI_UKwXrpFoWTKsYEDvmog_BSlhhcCn5cUD71x4eN4quP0k6UfdepaNacXMNd1A9FZumC4fwtz1fmU2ymRS",
  "id": "rs_0d632b2c375c04e0016ab44d889a0887d0a521a0ce3c4b3b4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.315,\"right_x\":0.32,\"right_z\":0.05,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"With the tool leveled, the arm reached table height; the yellow fruit is now between the open fingers but slightly left of center. I’ll make a small 2 cm leftward correction before applying a partial grip.\"}",
  "call_id": "call_JhlYqc778eTsvVNsI2ICNfWq",
  "id": "fc_0d632b2c375c04e0016ab44d899e8487d09be8b1a33404c834",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JhlYqc778eTsvVNsI2ICNfWq",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4877, -0.0135, -0.0307, 0.9973, 1.0, 1.8515, 0.857, 0.2363, 0.622, 0.4297, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=0.0003 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.1263 left_roll=0.0012 left_gripper=0.9973 right_x=0.3171 right_y=0.31 right_z=0.0462 right_yaw=0.2602 right_pitch=-0.0265 right_roll=-0.0621 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4291, 6.9949, 1.6288, -0.0171, -0.0659, -0.0073, 0.3077, -7.5692, 7.0906, 1.6142, 0.5397, 0.0659, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304e5d631653855837b0659ace116ea8cf3f76360dfda696dfb9dc1c183ef752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6323230ee7150a9d2157ae71013fe9697917b8616af044413878bc47bea4a548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f62f320889da392dfe5995bf89d55084a9aea27e2519ebb8ba81cb632209cc9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 6.008 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8173, 0.6132, -0.4763, -0.0135, -0.0307, 0.9973, 0.7845, 1.8057, 1.459, -0.8841, 0.2146, 0.4648, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0003 left_z=0.1586 left_yaw=0.0005 left_pitch=-0.111 left_roll=0.0009 left_gripper=0.9973 right_x=0.3164 right_y=0.2678 right_z=0.1133 right_yaw=0.2549 right_pitch=-0.604 right_roll=-0.0373 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3197, 7.1043, 1.6923, -0.0317, -0.0317, -0.0073, 0.1573, -8.7453, 5.2444, 1.0525, 0.3394, 0.149, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8192, 0.6132, -0.4839, -0.0135, -0.0307, 0.9973, 0.9668, 1.8114, 0.8497, 0.1661, 0.5896, 0.4412, 0.9986]\nstate[eef_state]: left_x=0.2823 left_y=0.0003 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.1205 left_roll=0.0011 left_gripper=0.9973 right_x=0.3188 right_y=0.2954 right_z=0.047 right_yaw=0.2436 right_pitch=-0.0691 right_roll=-0.0608 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.1829, 7.1179, 1.6777, -0.0317, -0.0317, -0.0122, 0.4718, -7.5419, 5.2171, 1.746, 0.442, -0.0611, -0.1538]\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 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8211, 0.6132, -0.4877, -0.0135, -0.0307, 0.9973, 1.0, 1.8515, 0.857, 0.2363, 0.622, 0.4297, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=0.0003 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.1263 left_roll=0.0012 left_gripper=0.9973 right_x=0.3171 right_y=0.31 right_z=0.0462 right_yaw=0.2602 right_pitch=-0.0265 right_roll=-0.0621 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4291, 6.9949, 1.6288, -0.0171, -0.0659, -0.0073, 0.3077, -7.5692, 7.0906, 1.6142, 0.5397, 0.0659, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304e5d631653855837b0659ace116ea8cf3f76360dfda696dfb9dc1c183ef752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6323230ee7150a9d2157ae71013fe9697917b8616af044413878bc47bea4a548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f62f320889da392dfe5995bf89d55084a9aea27e2519ebb8ba81cb632209cc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2PNuL2UtPrSEkI25-nP4G4uhvvmUXAnFSN10jvZh9At1E5uPKx4nYLDRbprl6oQj7rqX_4i1ElMRurbi0AMiXb1PDIXpT2szalVh1SvigBFHuH7O7uVprV-zFRw0qwE9Z5a_9SUJgWAVN98TYMlQWxOF1yB41H0I3m53RQi_U1RUmkZWL_Syxr4WQ-Daw3PV1oy4urjI7p-kfPTXiACZ0gWQZhgaLQMAsjftEhUxBUE7IMpaww-aKZppeMMMzN1hzBSQ0ekBcXxL7BOFe-0VCYy1QRYl4JTGUtIy7yVnDHvLl2uPvjc-MTtWogiawye-0-tiT-MKxRcVjo0JrVitCdqaBQhLUPOauW_-hPqnI8YaNXctljIyYtInEmyCUESCbt7rhzZciwYKLYSLO9pO6k9IQTwDmB9oCLUUVGn9d0GDAI1muXmUO0XALzQH4oDlIT7fatkx10cNbRsEo666pD94pC0fRS-qm2C_3kdBopVIfxaCDhFkQy16oDIC4HCJLB-YKG61tJxjyOjgm7c-M3hA4lgmJYf2mnvMoKTRc618t1g2wv8bWR9MG6PWA6hAhvZEDfRlnr61ip8ZP_OHJCpwWiku_EZbaERJ8cTD74FwQW2Gbw_S4xsh9xmkfB4ZRdwsYdetij5k1HrXt2_oKaXvNn6tVG3rZNa-RJCU0Q4hRIaYwgjqDxuCLsppclW_sBxL39XxSZAqYuRJXkn3y2C7cMqLDgNCQD4-LwNWPnYlW0FWJ5Z4-MTIojwOEg_4shp1LGlEvUcROF92zG3wQnO4GwVWH9RJvRYPtp7PBWyKLIH5-SFk5GiDrg3x7FHOtfvIXbeccwJiXCmYl55MwnLO2bhtSh7ZQmMkVzQdxIMT0rdieo0rTa5vg3DGj4Eu_XaSqP0idv98BnC1cic-yAxSrTcZZaXHjP1_iks6wHq0ohEo4UN8eFdIhxoEOCya7_dtMzuL4IfyF1JlaIGwhsGQyzQi-8mO4rl55KB2J-Y53GI40ocDjU-Oaa5WglRijl6VLhP5M731XIMNqSrV_kU-EKpzJozJsrYGVXEK9z9M64lhoyXICMTr-01HzHHk6VgHMT21xGTB6IiYTtsjRWtde3LOx-X9KctwL-5mpPya7qPP9IkOrgHVdUNNtGxwWz6SzAMFbiG41570AyiHZ67oC5CkpBtKHLUwxGqN3-04pNESdta8DJqmSI4pv64pK6AR91kXokw9d9EWkHxcXfPOIcHrysxRREzqhCpUkrIlt6tSB3Y8Cu03j74q-nR6bHiWzhJXSePLLwQRYjYMvSRtJLpe0OzAv5dszENsc3VQ4ZE_xFASW7MT1_TFp3l-7x",
  "id": "rs_0d632b2c375c04e0016ab44d8e930887d08736b3bed8325093",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.55},\"note\":\"The yellow fruit is now deeply within the open jaw span at table height. I’ll use the same partial-close strategy, stopping at about 5.2 cm spacing to hold it without squeezing it out.\"}",
  "call_id": "call_Zd7mkz35kvoIMlBoRD1fwC8n",
  "id": "fc_0d632b2c375c04e0016ab44d8eed7887d0a4eb4038f0a96f26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Zd7mkz35kvoIMlBoRD1fwC8n",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6132, -0.4911, -0.0135, -0.0307, 0.9973, 1.0115, 1.8648, 0.8593, 0.2356, 0.6357, 0.4301, 0.5542]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1548 left_yaw=0.0005 left_pitch=-0.1297 left_roll=0.0013 left_gripper=0.9973 right_x=0.3145 right_y=0.3114 right_z=0.0423 right_yaw=0.2611 right_pitch=-0.0287 right_roll=-0.0768 right_gripper=0.5542\nstate[joint_eff]: [-0.1983, -1.306, 6.9675, 1.6288, -0.0269, -0.0464, -0.0122, -0.2803, -8.3214, 6.7624, 1.5849, 0.4567, 0.0366, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c51d3c950708f5434850c7b91d68256605b4d4879d0e0227df80a17a42c1d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e466984b2f2a55ff29908f70f99f1397eaf8c127d13bcf7b4f0cfce20f7331a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd64bcef6a73ac6caf5b648a30f9c3ecae6b9715a24ee89e4edb5d7c02d66aad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.338 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8173, 0.6132, -0.4763, -0.0139, -0.0307, 0.9973, 0.7948, 1.816, 1.4525, -0.8715, 0.2317, 0.4904, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=0.0004 left_z=0.1586 left_yaw=0.0008 left_pitch=-0.111 left_roll=0.0011 left_gripper=0.9973 right_x=0.3164 right_y=0.2696 right_z=0.1087 right_yaw=0.2319 right_pitch=-0.5987 right_roll=-0.0446 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -1.3197, 6.9538, 1.663, -0.0611, -0.0464, -0.0122, -0.335, -9.4701, 5.8188, 1.0818, 0.1929, 0.1832, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8211, 0.6132, -0.4877, -0.0135, -0.0307, 0.9973, 1.0, 1.8515, 0.857, 0.2363, 0.622, 0.4297, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=0.0003 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.1263 left_roll=0.0012 left_gripper=0.9973 right_x=0.3171 right_y=0.31 right_z=0.0462 right_yaw=0.2602 right_pitch=-0.0265 right_roll=-0.0621 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4291, 6.9949, 1.6288, -0.0171, -0.0659, -0.0073, 0.3077, -7.5692, 7.0906, 1.6142, 0.5397, 0.0659, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8211, 0.6132, -0.4911, -0.0135, -0.0307, 0.9973, 1.0115, 1.8648, 0.8593, 0.2356, 0.6357, 0.4301, 0.5542]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1548 left_yaw=0.0005 left_pitch=-0.1297 left_roll=0.0013 left_gripper=0.9973 right_x=0.3145 right_y=0.3114 right_z=0.0423 right_yaw=0.2611 right_pitch=-0.0287 right_roll=-0.0768 right_gripper=0.5542\nstate[joint_eff]: [-0.1983, -1.306, 6.9675, 1.6288, -0.0269, -0.0464, -0.0122, -0.2803, -8.3214, 6.7624, 1.5849, 0.4567, 0.0366, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c51d3c950708f5434850c7b91d68256605b4d4879d0e0227df80a17a42c1d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e466984b2f2a55ff29908f70f99f1397eaf8c127d13bcf7b4f0cfce20f7331a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd64bcef6a73ac6caf5b648a30f9c3ecae6b9715a24ee89e4edb5d7c02d66aad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2WAZam5J1dEk63ElEsnoZGf1N0xxP7RqhCYEXbw19OvYUSomG2GlkS6dpQPn0eD1od-JphtI3j-Yx8XIk0M6yb8Ejrc76Fsf6cVRJxYYMuPdPgAMbffDaKnbO1wmMf65E2bD2mTfOqv1MDjsl77Fa8jGvV0EWg-J6o7HDUmBP7O4UZOXOOiBKhLXglc2K64wJhUuBaNecWIMlT6mWWhrRQMF3mZJHwIEqjck3RsFdvcabnxC8bABhnStnF4og9O1P0eHij2lxIhgZDjBKWuTjVNoOyspjLFfv83INAHpzhwHzRGLoBSiMfJrlUFQ150RbKpraO6r-VUQOQtH_k6krCKvyiIQlBscyekhPmUCPGtn0rTRj2_6yG780KwpuQG1l0-Z-tzEepq8fjw-jaVhoVsspab_t5cwHn1juMtK8tOR7WIYzg1IM65yhwELcWqHIQ0litWdZZm61R76bgvB0ZKEhN1atZjDiuswQt5rIcLsrmbTVEHWVyTX_YHkERYVzEVsliLIXBHM0Wh1FVUSQ5DFA7tYBUqmVxIJ-8dX1bKspZbWtfkTe0Z5c2na-31NEvlV5dPuuXCvCIREguovDmvoVLmYEpruqOIEe1h-k3rAmN4dt8QYcRqChzIHVCa_QVdkgmpIU4t2IEyijAwFgIqUlw3TNiVwlEbuOTXlN5l4uQOFwkUSK2hLRINr9v5kswCtP8zB5UhubLCAcV_pV-u7HqbrFTv72bwNcqx7QWu1MdMlbUK8WuROiUmy04aQa_wDd1WDVgG5P8mep3Cdd4V8AKl0L9KaVMtdYla0vSlufND77nRxQ0iqw9LFNKNg4oweEFeiKub0BVwGqW6OERTz0yQySjlla4kGjOL_6LSpplvsVursIaWEh2LutD5QNinmgzguTLhbzGbviqDm0YoZ7AX5eIupfwddc6luFGjbEk-k6X_D_QwvXOFWVUJNuHHhpX71db4vhvC5Nhnxr2pRBgZMUiYYIGFabxK4Pssgj49iz_50VMXCt9DK4YQiW40Ks7P1U2mNbjw-e8w1dZJoBxuG3Ta2fduQCr3nARqEplcTrjfEpD6uTj-4KAx_zAJsNju6-rdgZ7xOzb1FpTuHzeCx5C7z6Bupt_q-iC4gj0636x4r8Yuhd82J-AC71j1v0ChnQLhzLn2qpOqg4uGRq88kyHP7UT46ytOy5NGzGhPXHYur37Ya73PuWgYr53YRaamdVoziCKU3u5hDVZ5MS8iLv7DIqaKujhXhPwmYU4Vkho9HHfYZE1O6RoRtEgffWyqBTpvt9OacKMsE5fEmswtDRo-1ZMF384-g2EDwI1nAy5b_uGKfcxfvVxZBAgO1eBMFQ5lZSXffWEmAqFxA==",
  "id": "rs_0d632b2c375c04e0016ab44d953c2087d0b32527d3675c008e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_pitch\":0.0,\"right_gripper\":0.55},\"note\":\"The partial close leaves the fruit supported between both fingertips rather than fully closing. I’ll lift it 8 cm while preserving the jaw spacing to confirm and begin transport.\"}",
  "call_id": "call_ZCJ6AgfFHaxheUPTAlgp5UUs",
  "id": "fc_0d632b2c375c04e0016ab44d957fe487d0b63e8ab6cc82f79f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZCJ6AgfFHaxheUPTAlgp5UUs",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8249, 0.6132, -0.4942, -0.0135, -0.0303, 0.9973, 1.0115, 1.8648, 0.8597, 0.2356, 0.6353, 0.4301, 0.5514]\nstate[eef_state]: left_x=0.2809 left_y=0.0004 left_z=0.1532 left_yaw=0.0003 left_pitch=-0.1366 left_roll=0.0017 left_gripper=0.9973 right_x=0.3145 right_y=0.3116 right_z=0.0424 right_yaw=0.2614 right_pitch=-0.0286 right_roll=-0.0763 right_gripper=0.5514\nstate[joint_eff]: [-0.0889, -1.5658, 6.9538, 1.6093, -0.0024, -0.0464, -0.0122, -0.1573, -8.335, 6.7487, 1.6484, 0.3736, 0.0464, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd3d72f9fffd07c1690437c2567c4c63fa16303b359ee1147909091bab110d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdea5606b51ec9b082864e88c15a1a18ba592ba02c180ccf21b866126b4dafb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb56408aa577d99e27ae95c067751f436e1c95f1b0fd431971e321e495ce2c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 5.106 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8192, 0.6132, -0.4839, -0.0135, -0.0307, 0.9973, 0.9668, 1.8114, 0.8497, 0.1661, 0.5896, 0.4412, 0.9986]\nstate[eef_state]: left_x=0.2823 left_y=0.0003 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.1205 left_roll=0.0011 left_gripper=0.9973 right_x=0.3188 right_y=0.2954 right_z=0.047 right_yaw=0.2436 right_pitch=-0.0691 right_roll=-0.0608 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.1829, 7.1179, 1.6777, -0.0317, -0.0317, -0.0122, 0.4718, -7.5419, 5.2171, 1.746, 0.442, -0.0611, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8211, 0.6132, -0.4911, -0.0135, -0.0307, 0.9973, 1.0115, 1.8648, 0.8593, 0.2356, 0.6357, 0.4301, 0.5542]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1548 left_yaw=0.0005 left_pitch=-0.1297 left_roll=0.0013 left_gripper=0.9973 right_x=0.3145 right_y=0.3114 right_z=0.0423 right_yaw=0.2611 right_pitch=-0.0287 right_roll=-0.0768 right_gripper=0.5542\nstate[joint_eff]: [-0.1983, -1.306, 6.9675, 1.6288, -0.0269, -0.0464, -0.0122, -0.2803, -8.3214, 6.7624, 1.5849, 0.4567, 0.0366, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8249, 0.6132, -0.4942, -0.0135, -0.0303, 0.9973, 1.0115, 1.8648, 0.8597, 0.2356, 0.6353, 0.4301, 0.5514]\nstate[eef_state]: left_x=0.2809 left_y=0.0004 left_z=0.1532 left_yaw=0.0003 left_pitch=-0.1366 left_roll=0.0017 left_gripper=0.9973 right_x=0.3145 right_y=0.3116 right_z=0.0424 right_yaw=0.2614 right_pitch=-0.0286 right_roll=-0.0763 right_gripper=0.5514\nstate[joint_eff]: [-0.0889, -1.5658, 6.9538, 1.6093, -0.0024, -0.0464, -0.0122, -0.1573, -8.335, 6.7487, 1.6484, 0.3736, 0.0464, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd3d72f9fffd07c1690437c2567c4c63fa16303b359ee1147909091bab110d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdea5606b51ec9b082864e88c15a1a18ba592ba02c180ccf21b866126b4dafb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb56408aa577d99e27ae95c067751f436e1c95f1b0fd431971e321e495ce2c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2ai1ylVVTog7B8LTPnmbVvQPremacQQIf8JLN87TNYrBJ2O6zUefYF6vMmxXJyyChKWRBBVJtT7y8fsXaRXY8EtFalw8iz3jR2W7C5b-32a_ONBlnuwas-VJmGLo7za0T4srzPTiRxveAIVfSYSSsj5hWZcMEW4Xdpwvc5A2AAJXYfstQg0ZOVTiRjSjUrsStnFL7-D-z67dVFz1G5dKK8Efi0zSWJx95Van4Rcm5pI1E0BmhB-I3oM7uWTi54mbC_pyC_Cvy8pODTW4PIY6nYfYa92brPb1mvFosV1128Jwiz3WQ3MdgC5k4kb_iBKqIwFeCHqYBdLpO9YCCtTVzKIE9axQQB508sRhpfWiz4AexgfNCIEf5fswOE3HhbLIZYb3x2KqLzDQtonSUSksUAld-NrzPmbP-D9HypiLK0AECvgYW2whFdpvqGqH24G3SNZr41r5DNC2VA0YbC3vNbdJC2NRdgnVmg6p-Auba3Kjz5Y5QF0TRVHcRy8rpqyaCwWMDJsJNNz4590FMhXOFjLK5p_LapaR-O1tP0r6GINN8lZZtVTIa5e0BFskelUcRTq_ZAS_YPUB9wWFxWTbUf62NWPyGGm_iQm5ETjRfujr59vHKw58F5ZqF_KUwaz_9JBjm4UL2fCYD-2k6X7lKaVCwJOj2PyZJs2zxNJoLceDrw6NN96MS6AzI_wW2wi4yrg-ewbDvRNsjHnnYGf4tDX6o8xdGlrtkj7cv1N9Mri4uJRURFHlpPre1K_PrgvpK7y5xXv5N-cYOMxp59QkyZ3a_nuAOAqR4EJH82S9crUumvU80UJSqQfK5GUda3QQNAyS1GK_GPJn7dwIX9nQW0g-ioMSmnstYE46PNWzYiuoZy4obyeeJBOJhNSg9tWqblO9-dKXe3Anr9L2r680w0ITHYZDU9gAofawU0-tnZp-L2jpmyBovkg-PeyW_wShkAMjEtZZ29PHK2ZwkSpbA4609AwHgFtbFjVTUG9PASERhcwhp_OrZ823dBSta1QW8q_tZLE4p5t6zfz1C_s37Tj8VWmy15w5COTchoRoAUSB8ynO-PZtgcZzMaa6aqJ_jwHffDgA_zWG3NVZLrQMoVgDD4cxPCzrijgKpFhl9ZgKwGcZ466SYNDMbjiJjMkONSDKVRWCHKqk-tnM8L0RnZU5F1qFeBZFNlcwIbRjJvEbMtugOW9kwiF4q65r4VINg24z7JUdWOYSx_gxKUU_Rjcz8X48u_vE4G-kputoTdk21ZzcmDue_mi2bvzkD7u2L2MCISClwdhlqteaOXMfXtsQrTCCCYQ_-8yY5aeRaXTWf36pz2FiiGanpFsispU_jx0AByIqbu2kMEer-A9iJA4LmjAkRMKb4KGMfbE9sR422I99wMj2_o5InDnCYftTAzOQCJ33AI-CIlSdX8tq5rMYqWyQN9JfwvGA3vEki4yo3n5oush2ewOyT1vUuvfPZcLN3oDqGxDX7UpL4TChoen_6MTWCehY0Zz3bLkDkG1l3PhDg_XsKyX7oya2MlpKr3DntocWGnnW92hwE6xQDg_UuMyznvh43hX4zkgxRyIyzGOQnM_rTe1DNpNaHZpJ0t00sKrLjRbY3o2y63boF33mbl50mzI0vBWs329Xx--trH_jBDuc9yBrADjuLUovLgUdieNtYoHYXAySJh6d8BelyaUfhrBqZMT5cAWnkew1WJH-r9iEAcIIW2CSJZpj6HShZLidfJMIA35XKXZbvCiGnTxktHIiuBVWuVMT6z1UiIkdrMG1PQaYVSSL_wu0Om",
  "id": "rs_0d632b2c375c04e0016ab44d9802b487d097da909e351c4991",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.17,\"right_z\":0.18,\"right_pitch\":0.0,\"right_gripper\":0.55},\"note\":\"The vertical-only lift stalled at this cross-body pose, so I won’t repeat it. I’ll move diagonally back toward the blue bowl while raising, which should unfold the arm and lift the partially held fruit away from the table.\"}",
  "call_id": "call_1EkJyLsnlGl6BRYIB0TfcXbd",
  "id": "fc_0d632b2c375c04e0016ab44d99479887d095729d7963907f8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1EkJyLsnlGl6BRYIB0TfcXbd",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8268, 0.6128, -0.4942, -0.0139, -0.0307, 0.9973, 0.5755, 1.3331, 0.8085, -0.1143, 0.3275, 0.1295, 0.5514]\nstate[eef_state]: left_x=0.2809 left_y=0.0004 left_z=0.1525 left_yaw=0.0009 left_pitch=-0.1388 left_roll=0.0017 left_gripper=0.9973 right_x=0.3567 right_y=0.1679 right_z=0.1565 right_yaw=0.2307 right_pitch=-0.0345 right_roll=-0.087 right_gripper=0.5514\nstate[joint_eff]: [-0.1846, -1.3197, 6.9675, 1.6239, -0.0659, -0.0415, -0.0073, -0.1709, -6.5983, 9.9897, 1.707, 0.0562, -0.0073, 0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b1343554e3d237a77c0b835e5f5d1ba1dd518e500cc2691623160a1153b38f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5affc2544ce65cb526802117e9c220a65ad67dad5f3f6ca4800cd4a6890212",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:416a735ad483745181ecf45e56c1ed60e7dd8044fc0c0d16348ba960248fdc2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 4.197 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8211, 0.6132, -0.4877, -0.0135, -0.0307, 0.9973, 1.0, 1.8515, 0.857, 0.2363, 0.622, 0.4297, 0.9986]\nstate[eef_state]: left_x=0.2818 left_y=0.0003 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.1263 left_roll=0.0012 left_gripper=0.9973 right_x=0.3171 right_y=0.31 right_z=0.0462 right_yaw=0.2602 right_pitch=-0.0265 right_roll=-0.0621 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.4291, 6.9949, 1.6288, -0.0171, -0.0659, -0.0073, 0.3077, -7.5692, 7.0906, 1.6142, 0.5397, 0.0659, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8249, 0.6132, -0.4942, -0.0135, -0.0303, 0.9973, 1.0115, 1.8648, 0.8597, 0.2356, 0.6353, 0.4301, 0.5514]\nstate[eef_state]: left_x=0.2809 left_y=0.0004 left_z=0.1532 left_yaw=0.0003 left_pitch=-0.1366 left_roll=0.0017 left_gripper=0.9973 right_x=0.3145 right_y=0.3116 right_z=0.0424 right_yaw=0.2614 right_pitch=-0.0286 right_roll=-0.0763 right_gripper=0.5514\nstate[joint_eff]: [-0.0889, -1.5658, 6.9538, 1.6093, -0.0024, -0.0464, -0.0122, -0.1573, -8.335, 6.7487, 1.6484, 0.3736, 0.0464, 0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8268, 0.6128, -0.4942, -0.0139, -0.0307, 0.9973, 0.5755, 1.3331, 0.8085, -0.1143, 0.3275, 0.1295, 0.5514]\nstate[eef_state]: left_x=0.2809 left_y=0.0004 left_z=0.1525 left_yaw=0.0009 left_pitch=-0.1388 left_roll=0.0017 left_gripper=0.9973 right_x=0.3567 right_y=0.1679 right_z=0.1565 right_yaw=0.2307 right_pitch=-0.0345 right_roll=-0.087 right_gripper=0.5514\nstate[joint_eff]: [-0.1846, -1.3197, 6.9675, 1.6239, -0.0659, -0.0415, -0.0073, -0.1709, -6.5983, 9.9897, 1.707, 0.0562, -0.0073, 0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b1343554e3d237a77c0b835e5f5d1ba1dd518e500cc2691623160a1153b38f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5affc2544ce65cb526802117e9c220a65ad67dad5f3f6ca4800cd4a6890212",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:416a735ad483745181ecf45e56c1ed60e7dd8044fc0c0d16348ba960248fdc2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2g-N75XNnqRNIW1eGutlVHpD5Pi6H-5MM3TOOMyoWp_yZJjOWrdoNiQSRTIdxVl244iAsnEc8A9KCZ9AE6PTbvOINk8wrCC5vaTwxgyVust1UP87MEwwuMqx1rLK0KA7rW5niqqBpeoZ-huamwyI8mgPthDvg4guzdGoeVXuHFskJ5jtTXx_jctmh3zavbBkAm1JSf1JqgqDofJ_x6338DME-3nnQy2ngIzgISK5pwjBreq5u7ebCHl7BsPu-0cQ4iF3RyPNaSBRnZW1CqSMb5Pjw8asKFfU4_n30zrgab2ZGZrZUjvt52xl-h0VmrTn6_T00bO1uw7Dbwqr1JR3Ze71ctru6JWftVoKnsqcyxMaMkF_OPTvMRKNdgK3dgLT9NZofpK_k25gViwBeHwAgk2Ayo-3gO0oGVi3I-GFuysK5ML2GuXaPP8L7W_WVKxI4VpHMASx86kuFaWiqi2XIEuGcnf10_7AWr5pQGJMTv5tJObyv-4FRykBdQ9msY7xLtn2grhHib7dEXfzyj5-uf0yP_4cmWz1VvPqQ_9Uh0NNMR7A99qp4GZjH5-4XlkQDxwEYYreC4YtW6T6vh6mPdB18ih53NZWdCmpwjdpVmGJTX6smYAEQU72csn3k_XdLsL6gkm8OHVyBnn_rG3x9Q9_018Y6FWtjt2zjvKP6hYQ6TMs5osdYWkwoJsowuKEM5YQpA7GU4ZLvaEb8Tr8HRkEsdhYjCf4IbWTYxfYckA6FxgzkXLn6OfrHF8P98gSWMbMsXEQg30h9ZrKHakCj6NJtruhMZTU3uzMtVbf5BRg9PMJKz4cUyV-WLuimIwQq_-ZjEiV-DmHgBpuVF-xU2p1xWZUZUUPuJNiePaeHuTK_-axXtYqXFoKoLbvUEiKvxsDPfwzZH8CTBZA8hCq5P3cSKou6JBr0lP4KlO-rfoCKMMUQ2UFTI73h23Of97QCcupvke48GEbM-TtKZktGpgKIVMH3mmZKAC7NKfqq8Sghmn6sudEFIAeTB9wO3O-Sl_M-CyOorjpIBzocIcbwo6UkSi9gI5oV599OldnAKkcWSvSVi7lz-7f7EPd-8JfQOfj1h0pBUgQtrR5bqXU2YEMAI5jOptd0NdVzhkXi0hAW-vmyo5sP77DYFlLiI_jMPybzJMqNHMjezUZP8SYoMX1_VgFGYDEw9K419jPMtmwGQdQwxDTYc8Ha1rb2SiVQmYDie03YuYMfPdn23eAjjX-xJ2_sphZdpqfcWdZKIQckFiumf0uKr-cBl-1vNqhmQje9ggUZ9p3lHxzzz5puggqrXcVdESgxlNShv3GflnehMibnpiVo2FyvPFwDatqwDycqx0vbnUyMHmXOTfkjmIF_hHCfcIWBe7lDEfu1RTPrtxYNAW-x2EOrClVNigvbR7wPwwOgXZla-rB8I0bSmt704clLzoKPbUj0Ev-PojXtCE4pvwj6voh-8dmiEMk-zgL8B4zEF-kRbMYTeomeSaceZmxiqFMRgPC-YEpdeDau48Mor1HwqUau5NEzrgZqxL9ZBaGelHyKLhgEL0fiuUAmpY8JS_YQgINXOb6ztstBRvuXfg7apvnWM1vUC8huRZBo3MTqWopFBf0uxGNoOAEOvFhNN6jtxi2_kq3UUDwz7VG6QmhkxMHdCvjJJnGjLnwnFay4Dn83H0LMt9CS2ePhHOvrQniQ3hdO83LSHnj6BOtl0TjbiMKzHXyWUKoNR9YjtHSJvH02Hem60Cy8q-ZFFX-T63s84YxQcB_uHc3ZQZ99X5DmiEBUQpvpp3ZYhoW6Sj7Zo-HlO8ZTxJ9xIdCSyodM0U1WsuF9dpI6luwH3ShPQUfK4Gg220atPMFmbc6RZvSXdSpwf_Vrx7tNz5dIQR9I7sTUK3HpnEZUNRim5rjXf0hGejXnF1RUPGoFMhgkpPklUUkCO2tlKQUA_OKOwpKASH5k7-heJKGkZPkF5DfYH-OQVnk1BFZm2akNnjzmKS6r2HHazjvoAWLKCi7bOvCe2RqXPB56udmcsH1YAdW9qQ2FrIsWuRrg_pMjfS5wfCb-40chq7idM6sVpUeg0OOgtVgwvludJrkUsK8r7f2L6IywclxUH874QKSuhfzWKrzy0-pcj3M7c8KbeaqoavR22mwfMay8CyWLTj2roBlFZY1OjegfRZMbX33JQLxF9toJYOZSdNihDhA5VPyQtz3DfvXENZaw05NagVGrcun-6dP8rxEtiYOgV33_NTg2q_Blg_rlh-asjIcLjC8k0AGT5WiKKSKW-uT-w33zdmhcCF1esg7_ucTYQp7dtmhBWHaPdswHjSf_ISQBraEonS7sWtt22jgonEblCswcPNDl_a-fsxeoH72oFQCkDbAYJTgfp8pMUNY_ARfw0IzTuyEkGcJk-reFyiYVW-DlFDoM3LLUn66Tb-FCD3-13yy0c_WOV8yoohxwSB8x0xatJhNTVMzCd7fioskjcLMiT6Pts2GVllmfky9X_2R92GN2khnB4Wj-oCRsj8pRSjivONp771dHLtEt2tMROUAhDjkV30oMuzQ2Y5B5aaSUxpOffpxm5LSQsyvUPi78nWhryjhwlhY3ZiGf0mDAHdZRTV-2gBIUI2XKWnUUh1LiT8si74dM-P6L3iiNAcOE5XEbi9uw5MOyx0zQfY_W91MGiXlbApEwyDUCu1d4rC3eEw3wRVq-NFyDw9WF7jaDC3WgQagFuBt_CR2AW--H5f1t9tim_IOY1as64qJg2g0PJveaDATJGMqzO8cOMT2Dsp9SZBjqndOHN195q1c7KP5sv9-BDCa9gRp66xSrtBDUoppo8C0jhZZF3gVecA4PVqTpUXCCCc7duCLJ27r8fgfO5Qo0QYvOvFkcLlKQPf5Zq",
  "id": "rs_0d632b2c375c04e0016ab44d9c868887d09f9db2e83d10a584",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.3,\"right_z\":0.13,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The yellow fruit stayed on the table, so the prior partial close contacted it without reaching beyond it. Its overhead position is left and baseward of the bowl; I’ll return above it, then deliberately place the fingertips farther past the body before closing.\"}",
  "call_id": "call_kaobaNPa7zFdvUfZlctUCTQc",
  "id": "fc_0d632b2c375c04e0016ab44d9f809c87d099247a4c9daaeb57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kaobaNPa7zFdvUfZlctUCTQc",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6128, -0.4984, -0.0139, -0.0307, 0.9973, 1.0912, 1.5776, 0.9104, -0.1593, 0.6956, 0.469, 0.998]\nstate[eef_state]: left_x=0.2803 left_y=0.0004 left_z=0.1513 left_yaw=0.0009 left_pitch=-0.1446 left_roll=0.0018 left_gripper=0.9973 right_x=0.2776 right_y=0.2961 right_z=0.1204 right_yaw=0.2758 right_pitch=-0.0365 right_roll=-0.1149 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -1.4974, 6.9265, 1.6435, -0.0269, -0.0366, -0.0122, 0.1709, -7.0496, 8.1162, 1.3407, 0.5104, 0.1685, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e01eba2fe09294ddc138d8c408aae2eda55377ce947dcd1d8516dec67c5b0ad4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6873605699808c7e254745197d707d95cb3d776c640fc74c9064facac61d5358",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:454b34dcdd1d754c84b30b2d8c2e4b62cf6cff674fcd05d4b75150fb643e43e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.495 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8211, 0.6132, -0.4911, -0.0135, -0.0307, 0.9973, 1.0115, 1.8648, 0.8593, 0.2356, 0.6357, 0.4301, 0.5542]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1548 left_yaw=0.0005 left_pitch=-0.1297 left_roll=0.0013 left_gripper=0.9973 right_x=0.3145 right_y=0.3114 right_z=0.0423 right_yaw=0.2611 right_pitch=-0.0287 right_roll=-0.0768 right_gripper=0.5542\nstate[joint_eff]: [-0.1983, -1.306, 6.9675, 1.6288, -0.0269, -0.0464, -0.0122, -0.2803, -8.3214, 6.7624, 1.5849, 0.4567, 0.0366, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8268, 0.6128, -0.4942, -0.0139, -0.0307, 0.9973, 0.5755, 1.3331, 0.8085, -0.1143, 0.3275, 0.1295, 0.5514]\nstate[eef_state]: left_x=0.2809 left_y=0.0004 left_z=0.1525 left_yaw=0.0009 left_pitch=-0.1388 left_roll=0.0017 left_gripper=0.9973 right_x=0.3567 right_y=0.1679 right_z=0.1565 right_yaw=0.2307 right_pitch=-0.0345 right_roll=-0.087 right_gripper=0.5514\nstate[joint_eff]: [-0.1846, -1.3197, 6.9675, 1.6239, -0.0659, -0.0415, -0.0073, -0.1709, -6.5983, 9.9897, 1.707, 0.0562, -0.0073, 0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6128, -0.4984, -0.0139, -0.0307, 0.9973, 1.0912, 1.5776, 0.9104, -0.1593, 0.6956, 0.469, 0.998]\nstate[eef_state]: left_x=0.2803 left_y=0.0004 left_z=0.1513 left_yaw=0.0009 left_pitch=-0.1446 left_roll=0.0018 left_gripper=0.9973 right_x=0.2776 right_y=0.2961 right_z=0.1204 right_yaw=0.2758 right_pitch=-0.0365 right_roll=-0.1149 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -1.4974, 6.9265, 1.6435, -0.0269, -0.0366, -0.0122, 0.1709, -7.0496, 8.1162, 1.3407, 0.5104, 0.1685, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e01eba2fe09294ddc138d8c408aae2eda55377ce947dcd1d8516dec67c5b0ad4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6873605699808c7e254745197d707d95cb3d776c640fc74c9064facac61d5358",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:454b34dcdd1d754c84b30b2d8c2e4b62cf6cff674fcd05d4b75150fb643e43e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2lG3_ba_mfhLohKdI0XrRxteNMsaoqVUmTW2o2oHZFrXZr4U6WFVjIScjRClmiCS28Gb2XwWMU-OZjeKaESpqDSvDdEb23Xu5qVhYk-LLjBNg6yxHBoWXrPImxoaXtMBDMXBp0XbsazQpYytgj4Hcstc61OxmPKOzVt0n-LkaaoF4Od-2s-GBvXs2Dv74qsW49v_8curwzO7J_GU3iKcWs1glGuFnq_-y2PBk4YCAuulmXjW3YDIczJTM91IVrNnrPFKBPdHgIMk2gAJunZ_XzRBeB3US1GSH_RO_MllahDOAK1hXIxX2FxmrYKkBEfCP5RrkjOzWSB0xGQsWx1X4HH0fXc1of4TNU37uZZVPY-nb87qO51gomRwhVK4fVKKD5Mb1HCQWi1WNdfX8Z0jvlyUT_RCK6kQViCNvnvHt12S7_XNjUQHNqKdwm2t7DDBvZ_6BGCBE78pPXYgwtiuWO5FC43fuXpfqxNUD0ibV8C4FxmMvDEpoWCXUQxJuWZm89zlexfLY104bUcR86XZRhHahVlZZWn6xx4pZLUy_gwCiDc-9eZCbBBmzwBOBjgjcnGtKm8FXf2gR0eUMvXDYMHAzLdQ7WWoXVv-ym26XrmGIfSusBsX3yD3mLrtYUfgvjkiXy1Lhm-9QaieAfD7FSJkUVohf2LkpfTgvaNsyCxyBu_ZE7AvxgkY-662nh8nV6Bdzy_u39_BWta0KuBKmHZNYxnrPVpH-nBA9W4raqm8z9rXdcQ9I-IhZmHtchRLMeOiNBpM5OW5PSAtdHj1kv1Myy0EzBi0LJoTLKecyNY2NSGVvhXc8XlzdTXxjm7Zt1S2esTKvWayUmGQrRFPdK4zoB6_g0QV4K9v_r6Cj8EIx4to5srn2DOrEBH6De44OpVzTvGAFvyephXSDoPyfMBMrLGadPuWmg9zC7Vj_BQjlpDnE_eJNSmNF1WAQuvplgru7Qj9bLV8-XCUpPzF7qVgpmLKhWQMyIp-afISIZfjC9grlYWe8PmNVzG7Ezf_X-FEx5kCB6LqhxV5R-ZLJnKvGSP0OwMVMW-iIpI9RAPsIWMBRkwxIFqRlkVzKj1R4ObHJV1Zkaxv557F07cKVeLHdbznyNdjSqXjG1-WdnP8wWmd91dc4z0Vi7aF5C-sOfXjlkAFR9E2GriVAfpmvGBIAoCKK9FgsovXfVzrBgCK92mq6ZlHqmlHxrbYa5R62O3ZSy8Cuj-5OseRpOqf0H0ZkZoiRUMBU-6nn1gPp5VafuSMp140U6KphT4BODffIzz6BLMR6Hit7EMKZvO3Mr7pusSx6RVrWArvBdWre_9NtJEmZ-hJtlfqTYJ5tI-UwaofaXS_Xo8OCv5OmP6qiqLWJnCcUvUwB32LcPSUvns33oJPv1Pe4PvywBE9oMv_lFHBOI97iicOkcTNqwokf198LE-Vmr0iFtOa6sdvkr-gKjNFOohceRZdMBYFeKpzNtl8uCHSfVCOUSLHpQIYbnTyoxDTOkurTrPGg20bxHez0w38-_fghZ6zsenjB-wLZQWIErlmx4mVjps-lgn1LwIGPWYnR3wNftt0P1JxaTbC1pYWqKRNElBvKElgjPVO-5uBw04mWtAQB90y5aW4YLDU3gnjxkUClT90jk74uxxA3FsnqIRxvD7AuqooHk4gCj__iiZ5IcmbJDbFCMghGG8FX9gK3lMiRYnMh0H2ypeOjsJ5LhOAqtwC4pi5ooA6GuUvf5Qeb5_4QrbMV250HWvNPBnXbjNzZkwMtVRz8MqRGh8Z0H6cnTaig5iKMzpwNFg0OkGBLucHvr6CDIa-dCe6PcDlPu0y_vJnDSlg8vB3LeJeFDXS2LaTTGyI4JQxjgo1pJ-BEj5hKh8wUjucgx8RyMeD931F7SMXmvtlDFqCNouJKcqo_jnWYQjes_ndwLv6RlW0hCSBFxjus9NfaDSRHepxzB9ygzih6KjI_OPcy3wNvb5aAmR5exmVlWlhmif4-mloKOXUOyUZSGTpQjFBWRlFSa5reVxkE5FEO3cBr9NNJwcrG8ciR6WNFqHUJuUAqCwIVKCeCesIOMfODnHA==",
  "id": "rs_0d632b2c375c04e0016ab44da3015c87d0891622d14a1b0dae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.315,\"right_z\":0.045,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The yellow fruit is at the bottom of the wrist view, very near the fingertip depth, and slightly left of center. I’ll descend while shifting about 1.5 cm left and 1 cm baseward so the open jaws straddle its widest part.\"}",
  "call_id": "call_tiibR6uh0y5JTFzMEeuUCoVg",
  "id": "fc_0d632b2c375c04e0016ab44da4b61c87d0adebd0a9b4285914",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tiibR6uh0y5JTFzMEeuUCoVg",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6128, -0.4988, -0.0139, -0.0303, 0.9973, 1.1416, 1.7992, 0.8021, 0.0956, 0.7303, 0.49, 0.9986]\nstate[eef_state]: left_x=0.2803 left_y=0.0004 left_z=0.1508 left_yaw=0.0007 left_pitch=-0.1468 left_roll=0.0022 left_gripper=0.9973 right_x=0.2655 right_y=0.3055 right_z=0.0379 right_yaw=0.2887 right_pitch=-0.0658 right_roll=-0.1713 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5385, 6.8991, 1.6093, -0.0269, -0.022, -0.0122, 0.2667, -8.4444, 4.8479, 1.5458, 0.5153, 0.0952, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a521cc2bb3bb72f2092042495a16418044de273fcdfb058bb066565d51301d32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1a0b34657503f5e087f8d2b988ae5edb771e92fd702b199d0c96374078cd14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0363335132339f5184319652e7f9792cbeb2ce1fb8c72d07ff8f2e2ba97678c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 2.8 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8249, 0.6132, -0.4942, -0.0135, -0.0303, 0.9973, 1.0115, 1.8648, 0.8597, 0.2356, 0.6353, 0.4301, 0.5514]\nstate[eef_state]: left_x=0.2809 left_y=0.0004 left_z=0.1532 left_yaw=0.0003 left_pitch=-0.1366 left_roll=0.0017 left_gripper=0.9973 right_x=0.3145 right_y=0.3116 right_z=0.0424 right_yaw=0.2614 right_pitch=-0.0286 right_roll=-0.0763 right_gripper=0.5514\nstate[joint_eff]: [-0.0889, -1.5658, 6.9538, 1.6093, -0.0024, -0.0464, -0.0122, -0.1573, -8.335, 6.7487, 1.6484, 0.3736, 0.0464, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6128, -0.4984, -0.0139, -0.0307, 0.9973, 1.0912, 1.5776, 0.9104, -0.1593, 0.6956, 0.469, 0.998]\nstate[eef_state]: left_x=0.2803 left_y=0.0004 left_z=0.1513 left_yaw=0.0009 left_pitch=-0.1446 left_roll=0.0018 left_gripper=0.9973 right_x=0.2776 right_y=0.2961 right_z=0.1204 right_yaw=0.2758 right_pitch=-0.0365 right_roll=-0.1149 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -1.4974, 6.9265, 1.6435, -0.0269, -0.0366, -0.0122, 0.1709, -7.0496, 8.1162, 1.3407, 0.5104, 0.1685, -0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6128, -0.4988, -0.0139, -0.0303, 0.9973, 1.1416, 1.7992, 0.8021, 0.0956, 0.7303, 0.49, 0.9986]\nstate[eef_state]: left_x=0.2803 left_y=0.0004 left_z=0.1508 left_yaw=0.0007 left_pitch=-0.1468 left_roll=0.0022 left_gripper=0.9973 right_x=0.2655 right_y=0.3055 right_z=0.0379 right_yaw=0.2887 right_pitch=-0.0658 right_roll=-0.1713 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5385, 6.8991, 1.6093, -0.0269, -0.022, -0.0122, 0.2667, -8.4444, 4.8479, 1.5458, 0.5153, 0.0952, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a521cc2bb3bb72f2092042495a16418044de273fcdfb058bb066565d51301d32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1a0b34657503f5e087f8d2b988ae5edb771e92fd702b199d0c96374078cd14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0363335132339f5184319652e7f9792cbeb2ce1fb8c72d07ff8f2e2ba97678c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]

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  "id": "rs_0d632b2c375c04e0016ab44da7f2ac87d0bc688a1acc6bb32e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.5},\"note\":\"The corrected low pose centers the yellow fruit symmetrically, with both fingertips extending beyond its widest body. I’ll close to about 4.8 cm spacing—firm enough to support it, but not a full close that could eject it.\"}",
  "call_id": "call_7wBPCAhPctfxAMO0wHbnXwNJ",
  "id": "fc_0d632b2c375c04e0016ab44da8e07887d0889c19ca3beece56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7wBPCAhPctfxAMO0wHbnXwNJ",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8314, 0.6128, -0.4988, -0.0135, -0.0307, 0.9973, 1.1446, 1.8233, 0.7925, 0.1783, 0.7326, 0.4904, 0.5045]\nstate[eef_state]: left_x=0.2804 left_y=0.0004 left_z=0.1505 left_yaw=0.0006 left_pitch=-0.148 left_roll=0.0017 left_gripper=0.9973 right_x=0.268 right_y=0.3132 right_z=0.0369 right_yaw=0.2918 right_pitch=-0.0321 right_roll=-0.135 right_gripper=0.5045\nstate[joint_eff]: [-0.1983, -1.306, 6.9128, 1.6239, -0.0562, -0.0611, -0.0073, 0.1846, -8.8684, 5.1761, 1.5409, 0.5153, 0.0855, 0.022]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa204a80828b2891d4bc04b91ed11b58e130341aef336632c2c0975f5e17d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d634f5f36429f11f2d916a3aff49a2447432e7904df885c20706618de04dec8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f72135dcfbd85fbcf1cafe250371a2d8e24122ac2c0d4f7839427d77eee5ac04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 5.103 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8268, 0.6128, -0.4942, -0.0139, -0.0307, 0.9973, 0.5755, 1.3331, 0.8085, -0.1143, 0.3275, 0.1295, 0.5514]\nstate[eef_state]: left_x=0.2809 left_y=0.0004 left_z=0.1525 left_yaw=0.0009 left_pitch=-0.1388 left_roll=0.0017 left_gripper=0.9973 right_x=0.3567 right_y=0.1679 right_z=0.1565 right_yaw=0.2307 right_pitch=-0.0345 right_roll=-0.087 right_gripper=0.5514\nstate[joint_eff]: [-0.1846, -1.3197, 6.9675, 1.6239, -0.0659, -0.0415, -0.0073, -0.1709, -6.5983, 9.9897, 1.707, 0.0562, -0.0073, 0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6128, -0.4988, -0.0139, -0.0303, 0.9973, 1.1416, 1.7992, 0.8021, 0.0956, 0.7303, 0.49, 0.9986]\nstate[eef_state]: left_x=0.2803 left_y=0.0004 left_z=0.1508 left_yaw=0.0007 left_pitch=-0.1468 left_roll=0.0022 left_gripper=0.9973 right_x=0.2655 right_y=0.3055 right_z=0.0379 right_yaw=0.2887 right_pitch=-0.0658 right_roll=-0.1713 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5385, 6.8991, 1.6093, -0.0269, -0.022, -0.0122, 0.2667, -8.4444, 4.8479, 1.5458, 0.5153, 0.0952, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8314, 0.6128, -0.4988, -0.0135, -0.0307, 0.9973, 1.1446, 1.8233, 0.7925, 0.1783, 0.7326, 0.4904, 0.5045]\nstate[eef_state]: left_x=0.2804 left_y=0.0004 left_z=0.1505 left_yaw=0.0006 left_pitch=-0.148 left_roll=0.0017 left_gripper=0.9973 right_x=0.268 right_y=0.3132 right_z=0.0369 right_yaw=0.2918 right_pitch=-0.0321 right_roll=-0.135 right_gripper=0.5045\nstate[joint_eff]: [-0.1983, -1.306, 6.9128, 1.6239, -0.0562, -0.0611, -0.0073, 0.1846, -8.8684, 5.1761, 1.5409, 0.5153, 0.0855, 0.022]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa204a80828b2891d4bc04b91ed11b58e130341aef336632c2c0975f5e17d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d634f5f36429f11f2d916a3aff49a2447432e7904df885c20706618de04dec8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f72135dcfbd85fbcf1cafe250371a2d8e24122ac2c0d4f7839427d77eee5ac04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtE2s-yhNYGRO9SUEXj8ZQLefaIooKbYIZ6IqW54_bASZTg8ggYTKt0g1Sw8Ao1E-bN_UM1w-cqZv56rVGj-6sviyzKMt5cd78UYp1XWZYDJgU_KyNVU40Es98xew2WC2pMiX4ukikh3Y_wlUMjxegkImrsZbQxUAwtouawDJZQ6I25DrnX_NczvFFyi7CJnc7vsC9BqfX7BjAFqZQoDY7cP83uxIG-BAalAkzHqwVEOpTiLhxcn7DvWWGQNYuVsfgF6u-X7BGvX7mS9k-WMCotN_EzOYb20xuYdEgLuEmR6eeyRN0iVi6XiNMQ8NC0R1LHgzoC5luReeGInx_-q0bcxbv_Q3USaJ0w3iIbwo2uSyCWCWgmbJ43jd8IR4-8qYr989yzwWnBG1oRqY-67p4p6xpt-0S56Fc_lpx_iRdqvfsgF-ozEgHhayw75Wjw3sl6N95ki4zNkdulW3Tag2mYH8IC7G4TIqCIzRDvJCArNuBPwWmFg2eB8HMKEtzZpCX_vpdJzdTybK8S6zWjKCKpQkf9LYBOkzL3CK5NQbT68HJBTUIrhAUtoEcuzG1OU6tAOAdE14QriLPyZTRqtjx97vWnucoKojhyz_0HDk4yXWr1DAmdZ7aEBs5ARNxOBq7TWVA5WLJLYyQ4chX9SV6tRjWytoAI0ybbRd4XGaQAu8BS_QpqhANTBvb0PWWNE0HOoznQxsibQQ54ZmycKOTepls9StNGfhIxc7L-RZwpPuipr-ZQ7LXN5p9HZOKwdfmFy_kIBt0srOnqu47cVdqVdU-a5wmg8zbkrpTnPiQzCdNBKzTSQcjQDE4RklR0Q7mymAXPV-VTTGCDIayPbfKBPlXi9Yv2_MjJPhkiSi8SPhK9bhFu5jdwegrZzuwt_yAcQj-t03PkvNErCOR3eQ_d6ZgBbQP2iOyqJdenvUid1HSXep4PDyzZYh4amvrsVtgGWfDX8aFZgjjPip-NLsgCuHRRVk6JtnEKmVA-LMhC3fs4sll1AhrR4e7NAzNWlPCsKF6FiJ_jHPg9a7u3SUdSOAH32n9J--p1xy2o_KjUO3gfvVuZh4QhCcetl4Zwd3VIJvf8XmhQwYIj8_i_TrEBUWnQPPM0ZKeIjKsQ-hT6ZGGETdSeXwrs8Z1JOjYB5nnV-Xp5sryTWHRVM-NGdQHMArIBubmqP9Aj93ohoftX-JeRx32Up9h4lKU1otlczZ-nVJfQOqI8iTTdoFeJppu2EaDGH_guhd5dX0K1x1-W5zd3fl55TMtTSkTRI7cymd-770r-amcqwDuVQBX248EpYNYw==",
  "id": "rs_0d632b2c375c04e0016ab44dab9f4887d0bd0ea7af9cacbce4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.15,\"right_z\":0.2,\"right_pitch\":0.0,\"right_gripper\":0.5},\"note\":\"Both fingertips visibly contact opposite sides of the yellow fruit, confirming a centered hold. I’ll lift diagonally inward and carry it over the blue bowl, avoiding the stalled straight-up configuration.\"}",
  "call_id": "call_Pv9DhoaN2efVFjAa6ByQ9SRV",
  "id": "fc_0d632b2c375c04e0016ab44dabe8b887d09894850307e1353b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pv9DhoaN2efVFjAa6ByQ9SRV",
  "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]: [-0.02, 0.8341, 0.6128, -0.503, -0.0139, -0.0307, 0.9973, 0.4782, 1.3441, 0.8909, -0.1761, 0.2588, 0.0086, 0.5004]\nstate[eef_state]: left_x=0.2798 left_y=0.0004 left_z=0.149 left_yaw=0.0009 left_pitch=-0.1549 left_roll=0.0021 left_gripper=0.9973 right_x=0.3761 right_y=0.1481 right_z=0.1743 right_yaw=0.255 right_pitch=-0.0442 right_roll=-0.1447 right_gripper=0.5004\nstate[joint_eff]: [-0.0889, -1.6205, 6.8991, 1.6679, -0.0562, -0.0806, -0.0122, -0.1436, -7.3368, 9.265, 1.7021, 0.0855, 0.0317, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97090cec6e08fde5914215a2c0a59bb48d78be2092fab6caf3b8f7997cae9ce1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a338aa19eb678b424d268d4039951ad69483dd32f5750dc1b5649c7083cebbec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33db7127ff8c1c440ad256183b4e996bcf21a5c545ad931b7fb3fc2f378a5e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 6.139 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6128, -0.4984, -0.0139, -0.0307, 0.9973, 1.0912, 1.5776, 0.9104, -0.1593, 0.6956, 0.469, 0.998]\nstate[eef_state]: left_x=0.2803 left_y=0.0004 left_z=0.1513 left_yaw=0.0009 left_pitch=-0.1446 left_roll=0.0018 left_gripper=0.9973 right_x=0.2776 right_y=0.2961 right_z=0.1204 right_yaw=0.2758 right_pitch=-0.0365 right_roll=-0.1149 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -1.4974, 6.9265, 1.6435, -0.0269, -0.0366, -0.0122, 0.1709, -7.0496, 8.1162, 1.3407, 0.5104, 0.1685, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8314, 0.6128, -0.4988, -0.0135, -0.0307, 0.9973, 1.1446, 1.8233, 0.7925, 0.1783, 0.7326, 0.4904, 0.5045]\nstate[eef_state]: left_x=0.2804 left_y=0.0004 left_z=0.1505 left_yaw=0.0006 left_pitch=-0.148 left_roll=0.0017 left_gripper=0.9973 right_x=0.268 right_y=0.3132 right_z=0.0369 right_yaw=0.2918 right_pitch=-0.0321 right_roll=-0.135 right_gripper=0.5045\nstate[joint_eff]: [-0.1983, -1.306, 6.9128, 1.6239, -0.0562, -0.0611, -0.0073, 0.1846, -8.8684, 5.1761, 1.5409, 0.5153, 0.0855, 0.022]\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 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8341, 0.6128, -0.503, -0.0139, -0.0307, 0.9973, 0.4782, 1.3441, 0.8909, -0.1761, 0.2588, 0.0086, 0.5004]\nstate[eef_state]: left_x=0.2798 left_y=0.0004 left_z=0.149 left_yaw=0.0009 left_pitch=-0.1549 left_roll=0.0021 left_gripper=0.9973 right_x=0.3761 right_y=0.1481 right_z=0.1743 right_yaw=0.255 right_pitch=-0.0442 right_roll=-0.1447 right_gripper=0.5004\nstate[joint_eff]: [-0.0889, -1.6205, 6.8991, 1.6679, -0.0562, -0.0806, -0.0122, -0.1436, -7.3368, 9.265, 1.7021, 0.0855, 0.0317, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97090cec6e08fde5914215a2c0a59bb48d78be2092fab6caf3b8f7997cae9ce1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a338aa19eb678b424d268d4039951ad69483dd32f5750dc1b5649c7083cebbec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33db7127ff8c1c440ad256183b4e996bcf21a5c545ad931b7fb3fc2f378a5e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0d632b2c375c04e0016ab44dafb6b087d0a3572d7645a75aa2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_z\":0.21,\"right_pitch\":0.0},\"note\":\"The wrist view shows the large yellow fruit now resting inside the blue bowl; the overhead view also reveals one remaining small yellow/orange fruit on the table. I’ll fully open and lift clear to confirm the second fruit is released before collecting the last one.\"}",
  "call_id": "call_pR5DJPnbpYqjtX6MBeKbHw5Y",
  "id": "fc_0d632b2c375c04e0016ab44db2780887d0ac2439ceecf91a22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pR5DJPnbpYqjtX6MBeKbHw5Y",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6128, -0.5072, -0.0139, -0.0307, 0.9973, 0.4824, 1.3312, 0.9276, -0.2489, 0.2543, -0.0093, 0.9953]\nstate[eef_state]: left_x=0.2791 left_y=0.0005 left_z=0.1482 left_yaw=0.0009 left_pitch=-0.159 left_roll=0.0022 left_gripper=0.9973 right_x=0.3714 right_y=0.1484 right_z=0.1812 right_yaw=0.2723 right_pitch=-0.069 right_roll=-0.1616 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.1966, 6.8991, 1.6386, -0.0513, -0.0269, -0.0122, -0.1846, -7.5829, 10.1812, 1.8535, 0.1538, 0.1685, 0.105]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c2e2b46cbbe8d507d07abda5423a30f7faae0051d5c883b46aa37d1fdb1dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612761d83325d73c525df9c3f756b03e75dcc4f3a04280da9fa7a41bf74959c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147a911e4622fdc3602d88f5dcdb5b11d4560bf9887cda9596a862b42fc4b968",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.804 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6128, -0.4988, -0.0139, -0.0303, 0.9973, 1.1416, 1.7992, 0.8021, 0.0956, 0.7303, 0.49, 0.9986]\nstate[eef_state]: left_x=0.2803 left_y=0.0004 left_z=0.1508 left_yaw=0.0007 left_pitch=-0.1468 left_roll=0.0022 left_gripper=0.9973 right_x=0.2655 right_y=0.3055 right_z=0.0379 right_yaw=0.2887 right_pitch=-0.0658 right_roll=-0.1713 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5385, 6.8991, 1.6093, -0.0269, -0.022, -0.0122, 0.2667, -8.4444, 4.8479, 1.5458, 0.5153, 0.0952, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8341, 0.6128, -0.503, -0.0139, -0.0307, 0.9973, 0.4782, 1.3441, 0.8909, -0.1761, 0.2588, 0.0086, 0.5004]\nstate[eef_state]: left_x=0.2798 left_y=0.0004 left_z=0.149 left_yaw=0.0009 left_pitch=-0.1549 left_roll=0.0021 left_gripper=0.9973 right_x=0.3761 right_y=0.1481 right_z=0.1743 right_yaw=0.255 right_pitch=-0.0442 right_roll=-0.1447 right_gripper=0.5004\nstate[joint_eff]: [-0.0889, -1.6205, 6.8991, 1.6679, -0.0562, -0.0806, -0.0122, -0.1436, -7.3368, 9.265, 1.7021, 0.0855, 0.0317, 0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8341, 0.6128, -0.5072, -0.0139, -0.0307, 0.9973, 0.4824, 1.3312, 0.9276, -0.2489, 0.2543, -0.0093, 0.9953]\nstate[eef_state]: left_x=0.2791 left_y=0.0005 left_z=0.1482 left_yaw=0.0009 left_pitch=-0.159 left_roll=0.0022 left_gripper=0.9973 right_x=0.3714 right_y=0.1484 right_z=0.1812 right_yaw=0.2723 right_pitch=-0.069 right_roll=-0.1616 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.1966, 6.8991, 1.6386, -0.0513, -0.0269, -0.0122, -0.1846, -7.5829, 10.1812, 1.8535, 0.1538, 0.1685, 0.105]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c2e2b46cbbe8d507d07abda5423a30f7faae0051d5c883b46aa37d1fdb1dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612761d83325d73c525df9c3f756b03e75dcc4f3a04280da9fa7a41bf74959c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147a911e4622fdc3602d88f5dcdb5b11d4560bf9887cda9596a862b42fc4b968",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE25LEaHH9ZYnyQHm4OCQz2tdHrHKCrpNyTbcecYLh4yb9Brlm0AjwR0OCdtM8N0So77zZhNoKY1FoGkXoZIkDowfOoK41dyFuIjDCg1K6kGj5MhTOwCH3py2o6PMQsss-2t_d9KMVcyq6-iJbtQOxPrjilhLkNWqtgKuLowCNHHxyqLtJpZkTGaaGg2c8zSVZ6HsCOLus9MF1dikHQoG82vGOacmSt_zoeAVy3opWSAV3kTbr_AKYNSFw1wV0AH1sT67X_zDPiXYIjZtzKVC3A0uS5OTUKYcL6RLg0A1YoFQybryKzznczdOvjSgtT9lkt3r2KsnVagxzbIfd2fxZM69EfePnluGWbiC6pd5Kx-NzEh4G9wSs0pCgaJQpHB268rP0j10D7R0TwwFKZoM8BRw2SlGSOyEliO9ddnOcGTqwxxOR4vYu3G_uJbpEjPjr1ip94KWxiL_0vDe_HJsVsDafiB-eeHvcrOwOaGW9vo-ScynlsO-ysg6sYAWWqQsyyw2jav_hPGeJaXMWeoZVLvNwt8dQ-33xlQxiTEz9dynyMImcf-tU5DzxQ_FbSyrLdRf8xlWP4r5SYAVSE2O_QYJsCl-buUPtXbjZ1ieKFcrC7jQxQ7QqiRv2ZqHHF7mSMuArck4bdjg7lpT1iT73feC9Bf1W-qLr0LnTVsSJlPLCjbPT6Iz0Wn-vwWg6X_gwipAFWxQOg2SFflv3scd_Jg1MCmp48di8jnIhUcn9H3tk7r8Wpn-f6PJNrt0fKiEg9tStm3ICzuCketHfVj0l3kWsqIxQhPw5Lk2No5fqWwjeNj0-sWamziDrmO_BT8zs8_3HjmUPneJE-Zt8J1GqJu4HznWLlovGwkvSPMxgqmOtO1pJgZMGCiAiLhB5YxyQj4XTBda8mRpTofPn_EfHeD7mGz6xVW5jeqFyHXKR9Hxmo865rvMctIggfEioOo9ClBdTyWBv-3kmqytYPjK0VMBCP0Vk_maEzn1fKliyc7jDvJT9U2laUd4Zk2eTdqpLRG6-r4-nga_lsIDmgx3-iuh4_zREmCuYZtXDrWfw1BG3ij4edXkUGVlRuufmoZHlVETSTe4GRbaNzyHGhtW2uLUpneJQdocuSskAV0BcPjgVU3A9B82AsQC8ivY5kApu4R2KenZzfvllq9fLnyW1rneWX4E7mn9PHAPEbteeIMxe3q-kVF_mvJ0q5fGpDiOP6_63xwH6A1XtThyf__zj_oR5-RpjVgEYfFt3jOQJgDSDzNV8e3o6BOSaS_7OnNCZvW0nCIdnFeXR8lfzwnekOZeUQFvF5V-VAXcHjZ3-JFCh7mcaWNSUPeX0invTf8EDmUHXP9RpQP-cQvqP5cv7-vRhMSL4k9zhaXsFk65th68QD58ZrOzGTh8rh-6jklZRVJYekGljwH7yjQx1VZ86CWNldgFXAy5XeBpwfvDDgwaQY_YJJi9avDGE1uHUMhx-KxpDIJMsgvS6oCKo8RlZ1yUaGwWsWsCnO-hswG828tzUkJQfU7BSSHDT3qEockart0RWAjKW3df4EvwzW_baPH_ZIxosSPoMcRW-1hz100a2EdDTHzSalTjwFWpLgQwHXu5pJCD7o1XsWydnGne4N4WJ1l_3s2S4Ys6sKSewV4CNGh55FudQwKcc6vBbLNR1B86aHKDYAai3uxLdXw5eguViDb8VD8d_6fGeLUJ2cqmarv027IkM5zkIJljt8bzoujDr56MIXNw3TuBmV6IoOJn2YJwbjVVQx7q0xjgewexHuhhe_hK27o0KmMth6ciuDNsubk1Cz-dDGak-tx6YYP8n9tVqR1xJIXhGMqtzjwHQN2O7nyFpBhcpuz2SDEHj_2SnKJYfC1n7RTu4yJ1j5tFhaRYqjdOeJjSdsAdtIgfyaIT_tBoZ4cNCXrmUbRmMWWRbUv5ROIoN003VWwcZNG2HB0_fxRy887FO-Sg0M_03SsLowndNQGg9YCLpSpcHF-H5BCT5xkHhxZNF6_s3wQQOX0SevWDXmhoqE_nUDHsgGQAwN4N5tOHAQMRpwuqMuRbiAULenGe1ip8EHjdEjB5n6FJ1iRxysWj0UN3D0Q957M4N7LkUBzdwa_Lid-s2NdhAp1ryMaYmNlYu14jbAYdKHk5QgSXzPySQqfiMCYvUavmVj-ofz4Q1IUzyrMDGYxaMOiVyNZGk4lkbi2Jsa16CSkvwW1SI7X4y-ZgTK_k-rrrdZB1zB0dmUjtOWmFi6n5KjwCO15caqhQwrbSdoa7v3a9Djg8z7sSrsCJiZ74NvIum0BxcN_p2OIHv-cd18YogXCqpd-HyW4m_NRBm8RTgDy9x5AGnN4jDq49XjYxWytbtDNTp1nZKCr1-beYlzjCjI3lY7E5uB-oKo4avPyv9xScXUgBTVT3zg2ZBgbtoA0kC3NVhUqpL4XZBbc-KUPHJ30i3L2JqxP8lfxCnwZrRoyOxD58w3d9-J-0QGCILoTSYHDHFSPjM3Yx8gXR4Yip4XYTr1JQPjsXz5174eU1IBIpDqr96LoXI-r8W0d6HDPmvpnrCQV4OFyualHiLd0QAtjj9ur3Cq-j8pvbn_c2drq5y43YcPX10-TUisQfjdbyCS_WEcodwgzQdI5woqO",
  "id": "rs_0d632b2c375c04e0016ab44db5118c87d0b0573077c26c46df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.315,\"right_z\":0.025,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The two larger fruits are now clearly in the blue bowl, and one small yellow/orange fruit remains at the same central pickup area. I’ll move directly to the previously calibrated low, centered grasp pose for that spot.\"}",
  "call_id": "call_FHIZzdYDF6OcSSb7XqXbBWCo",
  "id": "fc_0d632b2c375c04e0016ab44db8164887d0a9f4d7d1b9390430",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FHIZzdYDF6OcSSb7XqXbBWCo",
  "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]: [-0.02, 0.8371, 0.6128, -0.5152, -0.0135, -0.0307, 0.9973, 0.9985, 1.8587, 0.7918, 0.1402, 0.6582, 0.3508, 0.9984]\nstate[eef_state]: left_x=0.2779 left_y=0.0004 left_z=0.146 left_yaw=0.0007 left_pitch=-0.1701 left_roll=0.0021 left_gripper=0.9973 right_x=0.3 right_y=0.2728 right_z=0.0119 right_yaw=0.2655 right_pitch=-0.1401 right_roll=-0.2589 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -1.3744, 7.0496, 1.7363, -0.0806, -0.022, -0.0122, -0.759, -13.0803, 5.9145, -1.033, -2.7863, -1.2723, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4f3e3d5406b09efec89ce4b41449d09b762aacbfcc8f3fa595577583cb1db1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b042962d350d8d769f23376fc3cfba03b910067a1a42efab548a7800b1a0c6a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f71af52040bcd6a3f7a7f2ba9fc6b9a4b884158dec2bf049e56029c89fb024b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 4.867 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8314, 0.6128, -0.4988, -0.0135, -0.0307, 0.9973, 1.1446, 1.8233, 0.7925, 0.1783, 0.7326, 0.4904, 0.5045]\nstate[eef_state]: left_x=0.2804 left_y=0.0004 left_z=0.1505 left_yaw=0.0006 left_pitch=-0.148 left_roll=0.0017 left_gripper=0.9973 right_x=0.268 right_y=0.3132 right_z=0.0369 right_yaw=0.2918 right_pitch=-0.0321 right_roll=-0.135 right_gripper=0.5045\nstate[joint_eff]: [-0.1983, -1.306, 6.9128, 1.6239, -0.0562, -0.0611, -0.0073, 0.1846, -8.8684, 5.1761, 1.5409, 0.5153, 0.0855, 0.022]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8341, 0.6128, -0.5072, -0.0139, -0.0307, 0.9973, 0.4824, 1.3312, 0.9276, -0.2489, 0.2543, -0.0093, 0.9953]\nstate[eef_state]: left_x=0.2791 left_y=0.0005 left_z=0.1482 left_yaw=0.0009 left_pitch=-0.159 left_roll=0.0022 left_gripper=0.9973 right_x=0.3714 right_y=0.1484 right_z=0.1812 right_yaw=0.2723 right_pitch=-0.069 right_roll=-0.1616 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.1966, 6.8991, 1.6386, -0.0513, -0.0269, -0.0122, -0.1846, -7.5829, 10.1812, 1.8535, 0.1538, 0.1685, 0.105]\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 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8371, 0.6128, -0.5152, -0.0135, -0.0307, 0.9973, 0.9985, 1.8587, 0.7918, 0.1402, 0.6582, 0.3508, 0.9984]\nstate[eef_state]: left_x=0.2779 left_y=0.0004 left_z=0.146 left_yaw=0.0007 left_pitch=-0.1701 left_roll=0.0021 left_gripper=0.9973 right_x=0.3 right_y=0.2728 right_z=0.0119 right_yaw=0.2655 right_pitch=-0.1401 right_roll=-0.2589 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -1.3744, 7.0496, 1.7363, -0.0806, -0.022, -0.0122, -0.759, -13.0803, 5.9145, -1.033, -2.7863, -1.2723, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4f3e3d5406b09efec89ce4b41449d09b762aacbfcc8f3fa595577583cb1db1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b042962d350d8d769f23376fc3cfba03b910067a1a42efab548a7800b1a0c6a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f71af52040bcd6a3f7a7f2ba9fc6b9a4b884158dec2bf049e56029c89fb024b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2_rI7HqC3-DbjX8F0bxSWjT8uTYiJp_au3kn8eFG1VaxegIHmeYWhaUF93EqY7lBdV6CvKG48H-Y4HW_qssmSm8AgdfRXSi15wUsEiw6QmAq-b9h0yYgkr-Bk4g7OvOt3VkzIWhr-1aVOupScswc0yfNxwa5C_j3UbrIIHcrMKRcInYU_B341AZPSpbMbk0a88Wm1D5--cJZzbkxGQDhR52GfzRnLX1iGgPVrovMHQnGERP3dmJOyhiSfkSs6S47kvuLI-hwhUy_9m4lyFNeLNo2OyP6834AeUhkHubTRBB39gNVt1nJFsF72IZQzPLaKytEDhET_JF6zAY-y6OxFMezEjBM3NBtC97ThcfEgzGEC0SXrEopZ8mEvmk81W5c0BvWqT7FoT_DOboYs9TsPeT8-0KBLqOoJ8vWhvndosX6J_OVwBekrxqG_vWlXABUVtOZMiFc9c02Ah2nq7K6pGoUBT2nGDqq68f7qLZRkm2i8Tfv8PXBnXs1iO0Bi78PGZENjpXiWvLaWG5_Wh9UUcDCc53ME-F9i-MRnjC7vmuSC3vPrhjIdgBTSEXQZtKKYiN9-hwziOQzbdmYQjGdsLshJ894f1zhaqJ4r8v3hZ6-lcIWcJzPnLBJTp7SzPSoeVe5bG_V9Wq6JKJAk1XJDDIE7VsCuZWAaz2hEI6yDN7hxHCp4WJxVRmLPa6pVOCD-fZZKxQjnvngtqFTwWMnIyrGvTHIQ6PClcqop-ypQZTbxtfwTfyrXzIyJuyiW1RIQwEOF2ti0jD2Kyyz3Dc2hKVLrBn98GXyVsYoL_VisVACDszr45ApU7_QRB8AiWBp6NHDNhsWNbxm6npYhJuRAGS_ijveq-ouF7Sdbv1lFD8esA9r7Jmr6TJRr01Kma91is-qFa7n4XaRVflfT-EIUJFzhILIRedxS5knLvVd1pn_Rp_LeEfWt2JMe03NUngU-mWtWgSNN4rT5ZBK7gYNtdRzPOBi_3lL9uGphwhDHDFQXZJ9MhjR9FrMIZJsE6z3Rou_cY3wwDzyvm8WX519Ym26HQeyjcQyKGC4d3fyxZ9OPfP_I4DygArf-jPfoyeu5eAV6NNxGnUoXvaoZhmQnKPg3dFGnMqmb1uWIyfHS5PL-WnTGR7-VJj1s_6pIhPWm0wvTpcL3cukXOz-QtwqNNQ4XydnRpIcDiGPFD7gDGgMpDlBOKBUOfLp_yFUE0XF9SGF5uio5q6kG8pygDdm9c1MaDrzesjdLjFtmwu_mRDjxZgiVBlobdTubMZDVYNE1FTOiEuABLBzibes3H0xE9Eh40-viG28XVrfjYJqLeba-WDyLohP1HHg8R_YDudEdY4JDVzuPZnG_Wg0lZFRwkfaQnlxpjDKofFUQIIF7LcI6Vp5ef-G8oVUaIk8LvMvXMjad8cdv6YceLCCcTrkIs-SNr_XT_oyPD3r5z18YymgY5YHbWceg67cXNP63juHE0ssS1pFjxIQtv5MPtlTKPG-POyYGYx3RBZDdQ2hj2C69wngnhKi3s0s6TybI1oNRYTxETNcMWMylG0eh48oNm1oyKZRFsStZu27cKzLUbA3hHTOCzoL9YLybBjGb7UvSDDQwocmXuqcaVwdjM3MW6YhfUfaZzj9x_1lP0p0VH4l6NpoW9jsnFGik8-Ax9u7jmBIBV7u4ptbLoI54S8t4AP6t47H1Ap1pMqi27Du7kU1t40q_pdbq-2ICwRmrD37oiD1qiP11P9fhAW-pUfpdbWeJPDU70aQ961IWarI0BSihNATJkS0IGCnOtRkjBV-b1XBaLpNcZsNE5xx8QW3tVAQoDLFRQ66kNLGLUbdxxvos=",
  "id": "rs_0d632b2c375c04e0016ab44dbc98c087d085dc82ebeb8bd002",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.33,\"right_z\":0.055,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The descent contacted the table before reaching the intended horizontal pose, and the small fruit is at the far left edge of the wrist view. I’ll back off 4 cm, shift left about 5 cm, and keep the gripper open to center it safely.\"}",
  "call_id": "call_sLK25xVH3Z7qy1yQ0mui0Js8",
  "id": "fc_0d632b2c375c04e0016ab44dbdf73c87d099b9e01899b40bff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sLK25xVH3Z7qy1yQ0mui0Js8",
  "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, 0.8398, 0.6128, -0.5201, -0.0135, -0.0307, 0.9973, 1.1301, 1.8946, 0.9344, 0.0776, 0.7811, 0.408, 0.9987]\nstate[eef_state]: left_x=0.2771 left_y=0.0001 left_z=0.1444 left_yaw=-0.0005 left_pitch=-0.1777 left_roll=0.0023 left_gripper=0.9973 right_x=0.2875 right_y=0.3264 right_z=0.0451 right_yaw=0.288 right_pitch=-0.0327 right_roll=-0.2502 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -1.4974, 7.159, 1.6728, -0.0464, -0.0366, -0.0122, 0.1573, -8.2256, 6.9812, 1.2772, 0.4567, 0.0757, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d54085c935fcfcdd57e9ce48fdf2fe29b9aefa6d5eb2fa5d486f5d2d6aa100c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd3cf3fd17d222dc4702dbb4443f521a5007ae796841c5a4527f3337d24ee87e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff2172a34cfd41f96a0832f321a721672eb22088d426f6074543cbe5cbdfad2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 15.55 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8341, 0.6128, -0.503, -0.0139, -0.0307, 0.9973, 0.4782, 1.3441, 0.8909, -0.1761, 0.2588, 0.0086, 0.5004]\nstate[eef_state]: left_x=0.2798 left_y=0.0004 left_z=0.149 left_yaw=0.0009 left_pitch=-0.1549 left_roll=0.0021 left_gripper=0.9973 right_x=0.3761 right_y=0.1481 right_z=0.1743 right_yaw=0.255 right_pitch=-0.0442 right_roll=-0.1447 right_gripper=0.5004\nstate[joint_eff]: [-0.0889, -1.6205, 6.8991, 1.6679, -0.0562, -0.0806, -0.0122, -0.1436, -7.3368, 9.265, 1.7021, 0.0855, 0.0317, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8371, 0.6128, -0.5152, -0.0135, -0.0307, 0.9973, 0.9985, 1.8587, 0.7918, 0.1402, 0.6582, 0.3508, 0.9984]\nstate[eef_state]: left_x=0.2779 left_y=0.0004 left_z=0.146 left_yaw=0.0007 left_pitch=-0.1701 left_roll=0.0021 left_gripper=0.9973 right_x=0.3 right_y=0.2728 right_z=0.0119 right_yaw=0.2655 right_pitch=-0.1401 right_roll=-0.2589 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -1.3744, 7.0496, 1.7363, -0.0806, -0.022, -0.0122, -0.759, -13.0803, 5.9145, -1.033, -2.7863, -1.2723, -0.188]\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 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8398, 0.6128, -0.5201, -0.0135, -0.0307, 0.9973, 1.1301, 1.8946, 0.9344, 0.0776, 0.7811, 0.408, 0.9987]\nstate[eef_state]: left_x=0.2771 left_y=0.0001 left_z=0.1444 left_yaw=-0.0005 left_pitch=-0.1777 left_roll=0.0023 left_gripper=0.9973 right_x=0.2875 right_y=0.3264 right_z=0.0451 right_yaw=0.288 right_pitch=-0.0327 right_roll=-0.2502 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -1.4974, 7.159, 1.6728, -0.0464, -0.0366, -0.0122, 0.1573, -8.2256, 6.9812, 1.2772, 0.4567, 0.0757, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d54085c935fcfcdd57e9ce48fdf2fe29b9aefa6d5eb2fa5d486f5d2d6aa100c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd3cf3fd17d222dc4702dbb4443f521a5007ae796841c5a4527f3337d24ee87e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff2172a34cfd41f96a0832f321a721672eb22088d426f6074543cbe5cbdfad2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d632b2c375c04e0016ab44dc096e887d088274b5c0165595e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.18,\"left_y\":-0.1,\"left_z\":0.07,\"left_pitch\":0.0,\"left_gripper\":1.0,\"right_x\":0.296,\"right_y\":0.0,\"right_z\":0.18,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The small fruit was pushed toward the left base and is now outside the right arm’s practical cross-body pose but well within the left arm’s workspace. I’ll park the right arm and bring the left gripper above the fruit at its near-left table position.\"}",
  "call_id": "call_IdmMuRDO0rztsMUe5yUwQUQX",
  "id": "fc_0d632b2c375c04e0016ab44dc33e2087d08996635b51d7298d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IdmMuRDO0rztsMUe5yUwQUQX",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2812, 0.7799, 0.2745, -0.6323, -0.8948, -1.0252, 0.9977, -0.1303, 0.8036, 0.5575, -0.3447, -0.1677, -0.4053, 0.9987]\nstate[eef_state]: left_x=0.1787 left_y=-0.1048 left_z=0.0677 left_yaw=-0.0484 left_pitch=-0.0349 left_roll=0.0256 left_gripper=0.9977 right_x=0.2938 right_y=-0.0051 right_z=0.1647 right_yaw=0.2264 right_pitch=-0.0327 right_roll=-0.245 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, 0.1299, 6.065, 0.8962, -0.7009, -0.2027, -0.2564, -0.1573, -0.9641, 9.5658, 1.6337, -0.2466, 0.0024, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31bd81e6c6c74e3e4b0a1e25c220a714b7b3f64fe3cf71fda13686f16d6aac02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f585076df59ed7c3537b2085706cfc205c5ade7ddbcafb8b321a15e99bc265",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0415365ba1c4a08cfbca5b9ad88a2220c7365784a841cd06e945d97dff926653",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 5.413 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8341, 0.6128, -0.5072, -0.0139, -0.0307, 0.9973, 0.4824, 1.3312, 0.9276, -0.2489, 0.2543, -0.0093, 0.9953]\nstate[eef_state]: left_x=0.2791 left_y=0.0005 left_z=0.1482 left_yaw=0.0009 left_pitch=-0.159 left_roll=0.0022 left_gripper=0.9973 right_x=0.3714 right_y=0.1484 right_z=0.1812 right_yaw=0.2723 right_pitch=-0.069 right_roll=-0.1616 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.1966, 6.8991, 1.6386, -0.0513, -0.0269, -0.0122, -0.1846, -7.5829, 10.1812, 1.8535, 0.1538, 0.1685, 0.105]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8398, 0.6128, -0.5201, -0.0135, -0.0307, 0.9973, 1.1301, 1.8946, 0.9344, 0.0776, 0.7811, 0.408, 0.9987]\nstate[eef_state]: left_x=0.2771 left_y=0.0001 left_z=0.1444 left_yaw=-0.0005 left_pitch=-0.1777 left_roll=0.0023 left_gripper=0.9973 right_x=0.2875 right_y=0.3264 right_z=0.0451 right_yaw=0.288 right_pitch=-0.0327 right_roll=-0.2502 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -1.4974, 7.159, 1.6728, -0.0464, -0.0366, -0.0122, 0.1573, -8.2256, 6.9812, 1.2772, 0.4567, 0.0757, -0.1538]\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 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2812, 0.7799, 0.2745, -0.6323, -0.8948, -1.0252, 0.9977, -0.1303, 0.8036, 0.5575, -0.3447, -0.1677, -0.4053, 0.9987]\nstate[eef_state]: left_x=0.1787 left_y=-0.1048 left_z=0.0677 left_yaw=-0.0484 left_pitch=-0.0349 left_roll=0.0256 left_gripper=0.9977 right_x=0.2938 right_y=-0.0051 right_z=0.1647 right_yaw=0.2264 right_pitch=-0.0327 right_roll=-0.245 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, 0.1299, 6.065, 0.8962, -0.7009, -0.2027, -0.2564, -0.1573, -0.9641, 9.5658, 1.6337, -0.2466, 0.0024, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31bd81e6c6c74e3e4b0a1e25c220a714b7b3f64fe3cf71fda13686f16d6aac02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f585076df59ed7c3537b2085706cfc205c5ade7ddbcafb8b321a15e99bc265",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0415365ba1c4a08cfbca5b9ad88a2220c7365784a841cd06e945d97dff926653",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3WoVrilkFAef0_4remoK8naQVfvOW0_lHBNr4B0BnvvD53XliAz-joZbX2oBVmzTvrI6v__nfoXO3HTZM9WZkXUYdCPslpwuhgvtysUmjQhiMyaJo3McnNNzW1pMLVnVjVN_-OOarxXcQbO1bBiWDVmP2m4x8Yi77UHAdzRlDyIhocZ2slYUmxvF7W-lIHEWbAfWWDmA9kUvXX50HvU65SuwbmWbzaCGKIB0i0n8eQt8tNUa__TLMN8_mOuzglawQ1YKBTQrYLBZI29fMHA_obdFK6MLJPrwvj2vzMkV6YO6AP_zDvtCjiUwVUgLNrZv9AZz9H7flEOCru7AF9qOWa5x8j2B1qYR5LI0NBPmeMuRCBguDM2wsa-2tLxuH82nsGxmEivLtdYTvJ6I8g2HdRiEZnbPKcGlfm-fKgObY7sg9PZiwJuk7xfIP1nVp2kntVQ-F9s12YNe9SzvU_xDcBnKSc5rxQ2IcQ7NYf6c8dT52Sf1bPBJ6RWfmAD3p0rWxzWW_qm9ZY25-TSjk-hZig5Xm2MzIImLwqXeK8zzQMbr4VN6BYKy_bS2uQozxodx1vxELO2fbV5C_8JXcL0ebPy1G-11LJeeOrA7byHAfFqqYTm4Vf9M75BzxDvJ7p_McZ4siVQGdqOGHpLV4b1Ua4jRfGe6ADSnXU6etpmYqmZmqKkgM5RxYdJTikNHK8Kmlqd29qw0_CdPOKInpXfD8OsOkKUZ4D0IeCd6IEwtSk_LAXtqO54RkHbZY9RYbGFZpXkojmBKh5cZg5matT2gCEwaqrdj8LD0lA7zjpu7Yv4RzTcVD6OObLM47o0tnrHIOyCyBWaeAd8T0K_vsdJA2I6xmcYUNYRGNYVDHy5Ghh987nZTt9DVDoTacJ42GUfmV6C4IhKJy8bWrcTnpq6kglwsQ6QFiXT52o79xzTCrlsCVzF3HKFgE77aaI65oKazPbORI5ot4_08bkYc8NvHEX68ipfpO_3JJhGZqijP_6YPDyJVr1rTOeIbs0KAbfv6-c_U2PQnjRS8X-seOCYmGvv5mOx0cmv7Pt_ucqI0kM9fiRaWhdiGusIvc0azb0_w6GatvRtjY-faSyC68n6Nzgd3nE59mytlxXM0kysiRKTH6r9ZTdafHH218BfenI3ehAQgkU8ysDlzqcvxj5I5RwoC0e7OM8joLIr1a2mloZn-DMGcuFTIPxcViue0IuJIJCi6tZdzGY30CJj7TNYuoFKLl_1yLlmIR9y1E-ILZxI_XFVHBXDXvImSvvBvK1txYgU5k2Jv4b0nY9_F6WB4T1Qsv87U9_1w93YZ2FrUQqgjYsGrf9J8ExIEVx314k_VkuvaE43DhpvRFdNdLKubmIOpfgnZuJA5a0PyQl90vET8z2KktNFyhzsi_gxVVdAe7UEY1yk-yHPipypa147h0IQnWH6RFkvbZiC2XrU7K8P08p5tYBUO18lh1G0A13ZvMc13aB_CxqYAKvEeeV2frxHmLN-5ioiEmEvnTCQEc6XpOsSwFfknS4bMJU0XMv7f-KPX5ks2BZccnf3FgGSo4M228SlfhMbJWOB3jSeXkdDV4t8_ocP1vjAGmxLh3pwA0VKsN1jrz1_VS903BAyUEFQ-DFvRDiCbKlbSBhtLHhfsrajCluXkcW-Ia3F6eOWabLtLI7oaC3lzWGYM3-KpuvFLaVmLeUUpF08FyY_vklqynffeykgycXl9JldHMkUQF4FNV7V7P3mTVozBfZY-1dHmoT82x3kACDgVP0QIj4OcWn6ge7jbAb1blxjC30MCmn_Z_ft0jT3aa7ZRwqJ8-27_4ci_QRZk3CIo8Fl-zNHrIFJEv-3apvYbe_H0ryz2kq3kMR5BXMTBLyZVc8tZYz7UwjlM8PyhckAwyDoa0B-9Pf2TcWzQjJmHgupviUTIyFv-lydj_25r-_g1KgGl1ctp6h0aumP79SbFvIrJzWRn1BjtQP2itOJgvqdwDAK2myjTtzR8_90QHyJFAZBSL0eXfquYOsfB3AnwJqIH1vVgSyj0nGY6IBAinVAaxk3qbWOkZtyjRRu-Hu-BzwXD9Ts4YSzQcFcs1HpIPLbOQGzK0=",
  "id": "rs_0d632b2c375c04e0016ab44dc8990887d08037ce6213d88a15",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.16,\"left_z\":0.025,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"The left wrist camera sees the small fruit ahead and to the arm’s right, while the overhead view is occluded by the gripper. I’ll advance about 4 cm, shift right about 5 cm, and descend to straddle it at table height.\"}",
  "call_id": "call_CLRlAXOoINRcbGTAH7ezV82e",
  "id": "fc_0d632b2c375c04e0016ab44dd3d68887d08b58314379631570",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CLRlAXOoINRcbGTAH7ezV82e",
  "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]: [-1.1687, 1.3361, 0.2527, -0.0532, -0.8669, -0.8875, 0.9977, -0.1303, 0.8085, 0.5625, -0.3645, -0.1802, -0.4263, 0.9986]\nstate[eef_state]: left_x=0.207 left_y=-0.1335 left_z=0.0132 left_yaw=-0.0221 left_pitch=-0.0632 left_roll=0.1276 left_gripper=0.9977 right_x=0.292 right_y=-0.0027 right_z=0.1618 right_yaw=0.2483 right_pitch=-0.0514 right_roll=-0.2484 right_gripper=0.9986\nstate[joint_eff]: [0.335, -5.0393, 5.8188, 1.0769, -0.5934, 0.0855, -0.2515, -0.1846, -1.5385, 6.6667, 1.8779, -0.0659, 0.188, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4121e5a5911a38413c96b72619dc4896d31f383ae011bd5967bf7659147cd3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfc259b1b6403dc4f36a4282b24289b1812f9ac1cbd928db3c7ab442d0b1a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8cd8412d5b88181f07319f023a1c79407b2ddfd7706437e0eff3e6bcac414e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 4.507 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8371, 0.6128, -0.5152, -0.0135, -0.0307, 0.9973, 0.9985, 1.8587, 0.7918, 0.1402, 0.6582, 0.3508, 0.9984]\nstate[eef_state]: left_x=0.2779 left_y=0.0004 left_z=0.146 left_yaw=0.0007 left_pitch=-0.1701 left_roll=0.0021 left_gripper=0.9973 right_x=0.3 right_y=0.2728 right_z=0.0119 right_yaw=0.2655 right_pitch=-0.1401 right_roll=-0.2589 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -1.3744, 7.0496, 1.7363, -0.0806, -0.022, -0.0122, -0.759, -13.0803, 5.9145, -1.033, -2.7863, -1.2723, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2812, 0.7799, 0.2745, -0.6323, -0.8948, -1.0252, 0.9977, -0.1303, 0.8036, 0.5575, -0.3447, -0.1677, -0.4053, 0.9987]\nstate[eef_state]: left_x=0.1787 left_y=-0.1048 left_z=0.0677 left_yaw=-0.0484 left_pitch=-0.0349 left_roll=0.0256 left_gripper=0.9977 right_x=0.2938 right_y=-0.0051 right_z=0.1647 right_yaw=0.2264 right_pitch=-0.0327 right_roll=-0.245 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, 0.1299, 6.065, 0.8962, -0.7009, -0.2027, -0.2564, -0.1573, -0.9641, 9.5658, 1.6337, -0.2466, 0.0024, -0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1687, 1.3361, 0.2527, -0.0532, -0.8669, -0.8875, 0.9977, -0.1303, 0.8085, 0.5625, -0.3645, -0.1802, -0.4263, 0.9986]\nstate[eef_state]: left_x=0.207 left_y=-0.1335 left_z=0.0132 left_yaw=-0.0221 left_pitch=-0.0632 left_roll=0.1276 left_gripper=0.9977 right_x=0.292 right_y=-0.0027 right_z=0.1618 right_yaw=0.2483 right_pitch=-0.0514 right_roll=-0.2484 right_gripper=0.9986\nstate[joint_eff]: [0.335, -5.0393, 5.8188, 1.0769, -0.5934, 0.0855, -0.2515, -0.1846, -1.5385, 6.6667, 1.8779, -0.0659, 0.188, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4121e5a5911a38413c96b72619dc4896d31f383ae011bd5967bf7659147cd3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfc259b1b6403dc4f36a4282b24289b1812f9ac1cbd928db3c7ab442d0b1a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8cd8412d5b88181f07319f023a1c79407b2ddfd7706437e0eff3e6bcac414e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0d632b2c375c04e0016ab44dd83e6087d0bbb8ab953c1559c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.3},\"note\":\"At table height the small fruit is mostly below the wrist frame, consistent with being under the fingertips; its edge remains just to the right. I’ll close to roughly 2.9 cm spacing, appropriate for this small fruit, rather than risk pushing it farther.\"}",
  "call_id": "call_iwfRHPo3h5F0C7bCjyGK7dBF",
  "id": "fc_0d632b2c375c04e0016ab44ddb697087d08eff32a6c489b6d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iwfRHPo3h5F0C7bCjyGK7dBF",
  "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]: [-1.1671, 1.346, 0.2543, -0.0486, -0.8589, -0.889, 0.3054, -0.1299, 0.8097, 0.5617, -0.3649, -0.1772, -0.4274, 0.9986]\nstate[eef_state]: left_x=0.2067 left_y=-0.1343 left_z=0.0112 left_yaw=-0.0231 left_pitch=-0.0713 left_roll=0.1268 left_gripper=0.3054 right_x=0.2919 right_y=-0.0031 right_z=0.161 right_yaw=0.2468 right_pitch=-0.0543 right_roll=-0.2502 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -3.7402, 4.4376, 0.9353, -0.5739, -0.0073, 0.1294, -0.1026, -1.4154, 7.0769, 1.707, -0.1099, 0.0122, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c3d074b7988bb6352e8ed8b408f3899133c84762a4946ad7d25701962e2975",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6d659954efdd60ac6062b089067915ca861ab2a8d4fb7eccaa43b8ff287937",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa705c3767d12347d6e9bf6e0ed283f54ad52749357d21d085a25118f5473af5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 4.982 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8398, 0.6128, -0.5201, -0.0135, -0.0307, 0.9973, 1.1301, 1.8946, 0.9344, 0.0776, 0.7811, 0.408, 0.9987]\nstate[eef_state]: left_x=0.2771 left_y=0.0001 left_z=0.1444 left_yaw=-0.0005 left_pitch=-0.1777 left_roll=0.0023 left_gripper=0.9973 right_x=0.2875 right_y=0.3264 right_z=0.0451 right_yaw=0.288 right_pitch=-0.0327 right_roll=-0.2502 right_gripper=0.9987\nstate[joint_eff]: [0.0068, -1.4974, 7.159, 1.6728, -0.0464, -0.0366, -0.0122, 0.1573, -8.2256, 6.9812, 1.2772, 0.4567, 0.0757, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1687, 1.3361, 0.2527, -0.0532, -0.8669, -0.8875, 0.9977, -0.1303, 0.8085, 0.5625, -0.3645, -0.1802, -0.4263, 0.9986]\nstate[eef_state]: left_x=0.207 left_y=-0.1335 left_z=0.0132 left_yaw=-0.0221 left_pitch=-0.0632 left_roll=0.1276 left_gripper=0.9977 right_x=0.292 right_y=-0.0027 right_z=0.1618 right_yaw=0.2483 right_pitch=-0.0514 right_roll=-0.2484 right_gripper=0.9986\nstate[joint_eff]: [0.335, -5.0393, 5.8188, 1.0769, -0.5934, 0.0855, -0.2515, -0.1846, -1.5385, 6.6667, 1.8779, -0.0659, 0.188, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1671, 1.346, 0.2543, -0.0486, -0.8589, -0.889, 0.3054, -0.1299, 0.8097, 0.5617, -0.3649, -0.1772, -0.4274, 0.9986]\nstate[eef_state]: left_x=0.2067 left_y=-0.1343 left_z=0.0112 left_yaw=-0.0231 left_pitch=-0.0713 left_roll=0.1268 left_gripper=0.3054 right_x=0.2919 right_y=-0.0031 right_z=0.161 right_yaw=0.2468 right_pitch=-0.0543 right_roll=-0.2502 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -3.7402, 4.4376, 0.9353, -0.5739, -0.0073, 0.1294, -0.1026, -1.4154, 7.0769, 1.707, -0.1099, 0.0122, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c3d074b7988bb6352e8ed8b408f3899133c84762a4946ad7d25701962e2975",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6d659954efdd60ac6062b089067915ca861ab2a8d4fb7eccaa43b8ff287937",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa705c3767d12347d6e9bf6e0ed283f54ad52749357d21d085a25118f5473af5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3hv9Wm381RvT4T-JQGxoo4UhjoGwrK8XhGtO9oR0xealY-1oxrQnp9olYlZWkLB7T8kKyBt_736LTynoH8RlAI_usAbeDN8YlAsvEuUkKlwlI2yejljhhod6hSgPxpCNTUxBwyLH-dyjarQn4qvZvAAcCzNSr7S1QtU3mm6HvWeCnGtGECxcsim7_tSOLdvEPxmKRIlcx4ZVvFqYv3aohCC0HnUyn_LB-qFxAaIgZ2y9frAhRGZAfh6UGzosQuLGcgEVFeY96reur7b5bt_mhF8RfhMoB9EimVeV-FpMNxdfsLbHX8BKbAOLslRPmuMSJPrmJSGkGxeqiLxMKz7IAkf3FJuJXQG2cToyus-0Ew9kmyEP3UAu7y1z1Fi3-LIYBpsixoIC-nrn7i_BqHLndi0MHErFOew2rIBT-3fPCbKBXJmwaomWB9qs6lIU63bEZIDwsNHPfVjxS4fSMgYTCgwbJIXMa-rtKUPStkrFrS64a71Ge--2E0__sobJrAHrylAgqU4wbZmJqLtMsvQ_Idz-DEBUybHRvZEJXUmkh_df68Pl_6iIXBcn4IuKBa6RRRP2cQmlWacXFU89yROb-CQSpISsJeyqafev4Wm8uWIotD5zsw-r7BqMq6pXl_qhnggGHppwAMEZZvQ7IHQF6GEgiUsgaiFLVEFsGdYioe5y-rSBI-2y_MMU5kdcJsEX7iagYs8ESzZAY-ozaDYBk9aKga6EjEp3aaUgr2lJ7AHbuQNqFxaQ279Xy0II7lFVnh_8FEsA2cQY1sscEhbj-FIc4IuvjTWE4GP9SgwGRpqZjuGfbue7xiadFT79rNe14Km1v6qqtUxr0YmooC9CszIx3piyvmCrnOdtChZ8ZyrOOuf5s2zXJOlaKD8qlXFiFVDgDnUUjGqf-lUBSbCZavESFSq52L32Y1aQGSjSU8UvXoYMZtyqoZTJzjG3c3FBwQ-hucy2aAxuBdRWwNyV5o6iDwVUAseb5UYs5yEQx34EgwzRGuvlxpjnM2_v2Z7Ln89pq5MiEhD4cM583dUaWHIrkbkyNB_qWPI9t7Y133SCrNLGLUgok9SAPcLMhabWj1py1m0b8b0EYwtsv72HvjzlcQnBt9YYmrW01HGfs1i5nsnbvq6j251D2dSS-aclBTiaHLTp_ZhmpdeVrRG9fxkrcWcReem12f32XiGa1mmBAsPM6Vm1eZbPRKDJ-oj1ME6stcgy5sneo_beF09bPvvQIu1BHvde2u3MQzX6Da1y9wM31HYyL_cDvVjSQxiOezSm4gCzwVXdjJ0fOHkuiRRencuxZUzW795UZXyM-Wgsrr0BP3G_OZiWuOp7q6WYX10yjnzlA60tkB6KmLBuDUlOE3QMFF21OGUD9NsM-OVC9eEwxfSNA2xbVDrjJ2ED4KUQP3uTcnWu1VIOgUWsrnG6uhj9FCxCfq8sFtgOm6Dm__pJyM_qNSvYJwDh9HtC6WidxWuACIfVoT8gVk6_Hb-MLu4UcR-MyfPx2QbQba2Ad0VqdWzGfjQu0ILj0ORsHpUhCtc8H4YQfF6DHCPWTN-Q60QxVUf21btYOlMPl3ZbOoo7UF94wuPpIEblno21nj5tq1eIemZsEBk0W9cQ99R29ZqwFkqkSpN74IoSTyWO8SRxPmjuflG5O7nj4jZPV8b9NLPPlpm2ypXGu9JHIpC31eaey2NSoRSGsToUIKpNhpmi7XvDUrmvViQrv9yu83vbd39RzvpVnsTVGdy6Qjoq_WYNNoiQaW2W0kGRbh2cgxh0ee7f8KX_T20GqTqulKdNYkZlD1cLInLvlxrOiE9ulDzIKUI0SBbN32_azl78R72aMMhLvGGfDu36-LQYQjxPXLKTeBZ4_b1KF9-ns7Yg3cmMKlQVkAWK_MZ2E6o4Y=",
  "id": "rs_0d632b2c375c04e0016ab44ddf1d9c87d0b37f6de0e958d30b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.18,\"left_z\":0.05,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"The overhead view confirms the close was empty: the fruit remains about 11 cm farther forward and slightly right of the left gripper. I’ll reopen and move directly above that measured position, raised enough to avoid another table push.\"}",
  "call_id": "call_F5dlTbf933r0YwxQr4iP73rD",
  "id": "fc_0d632b2c375c04e0016ab44de0c65887d08e02605f35bba201",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F5dlTbf933r0YwxQr4iP73rD",
  "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]: [-0.8577, 1.5978, 0.5304, 0.2111, -0.7391, -0.5159, 0.9961, -0.1299, 0.8143, 0.5617, -0.3725, -0.1772, -0.4309, 0.9986]\nstate[eef_state]: left_x=0.3082 left_y=-0.169 left_z=0.0388 left_yaw=0.0046 left_pitch=-0.0286 left_roll=0.1366 left_gripper=0.9961 right_x=0.291 right_y=-0.003 right_z=0.1583 right_yaw=0.2488 right_pitch=-0.0661 right_roll=-0.2484 right_gripper=0.9986\nstate[joint_eff]: [0.2256, -5.8051, 6.5436, 1.536, -0.2222, 0.1538, -0.1636, -0.2393, -1.6615, 7.0496, 1.7167, -0.0806, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cdcf20262e7d65b564e4a8600c1e5a087ce9cb284ca262103bcd181e38253da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b297ec18361cf96bec98d5f3e8cec043a98330932cf1590235d75154eba324",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e64527467b5bcaec1f147f775ab9c2f0139541f34042f3d5a932ceda956b79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 5.004 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2812, 0.7799, 0.2745, -0.6323, -0.8948, -1.0252, 0.9977, -0.1303, 0.8036, 0.5575, -0.3447, -0.1677, -0.4053, 0.9987]\nstate[eef_state]: left_x=0.1787 left_y=-0.1048 left_z=0.0677 left_yaw=-0.0484 left_pitch=-0.0349 left_roll=0.0256 left_gripper=0.9977 right_x=0.2938 right_y=-0.0051 right_z=0.1647 right_yaw=0.2264 right_pitch=-0.0327 right_roll=-0.245 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, 0.1299, 6.065, 0.8962, -0.7009, -0.2027, -0.2564, -0.1573, -0.9641, 9.5658, 1.6337, -0.2466, 0.0024, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1671, 1.346, 0.2543, -0.0486, -0.8589, -0.889, 0.3054, -0.1299, 0.8097, 0.5617, -0.3649, -0.1772, -0.4274, 0.9986]\nstate[eef_state]: left_x=0.2067 left_y=-0.1343 left_z=0.0112 left_yaw=-0.0231 left_pitch=-0.0713 left_roll=0.1268 left_gripper=0.3054 right_x=0.2919 right_y=-0.0031 right_z=0.161 right_yaw=0.2468 right_pitch=-0.0543 right_roll=-0.2502 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -3.7402, 4.4376, 0.9353, -0.5739, -0.0073, 0.1294, -0.1026, -1.4154, 7.0769, 1.707, -0.1099, 0.0122, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8577, 1.5978, 0.5304, 0.2111, -0.7391, -0.5159, 0.9961, -0.1299, 0.8143, 0.5617, -0.3725, -0.1772, -0.4309, 0.9986]\nstate[eef_state]: left_x=0.3082 left_y=-0.169 left_z=0.0388 left_yaw=0.0046 left_pitch=-0.0286 left_roll=0.1366 left_gripper=0.9961 right_x=0.291 right_y=-0.003 right_z=0.1583 right_yaw=0.2488 right_pitch=-0.0661 right_roll=-0.2484 right_gripper=0.9986\nstate[joint_eff]: [0.2256, -5.8051, 6.5436, 1.536, -0.2222, 0.1538, -0.1636, -0.2393, -1.6615, 7.0496, 1.7167, -0.0806, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cdcf20262e7d65b564e4a8600c1e5a087ce9cb284ca262103bcd181e38253da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b297ec18361cf96bec98d5f3e8cec043a98330932cf1590235d75154eba324",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e64527467b5bcaec1f147f775ab9c2f0139541f34042f3d5a932ceda956b79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3nDpxoJ__YXn7hjXWbVmDunXLd-0_HcDHixAXNGkrN5md_F7POErQZjVHXcGyUZcwr_ONgcIFZzfgNXKCDDj2t49DtLlAwjWXgyH09oe2JK-NiP-PVkvrkFTpMb7QcZXV1e3-iqDMY36eXXZbh6U_5sy2gGDG6yanv6_03osB0bRjohCybyeo_GUoxc9nn4JwY444glv7az2h18SlvuhBhm-7DPYb3JCMMrJIYA1ZVOmSFeDJksVFLE75R8d-PV2LPmWmO4lVz1JdbvzTBVydx9ei77zzUi8XQCAV2jAqfmuOv2izLQvQJ5PT2dt392vwj8-hYWTuweambI2QjMai3QDkoyvZ9K_lsCtD2enSlafb68Ca749xTLYFb9_Qb4Dx6nODgeRQUEX54i5nTb6lJmCx1DVpGvaweIk_cTKZ7ehmsILbgCJnDV9-OK5F0BHKuktPmwy3pmrVNLeNaUoA5sqaabv3zW6gOWgJ9Q7c6vJdrEhA0XV1FFXTvgay0fD-b2GvUPF9BZMcWJb78nke5EHpXrLkKwf1C-ao0N0NSrCTyL2g0fcFyQK6n8G7ClrDpoy7IxwEKkB7Pk8AVeYEAXOTUnx49KHtTtgFPzMXLlLhdprJeA7WlpLgfdVdwbKASBbKI-S1wX2BmT8X9IUMBOSDYyg7C3_enNHgAQhgoeWSjgP_SDcid-fG3LH1zJ1B3L4knpEdTO-STpOz5fStdesrfRrp5Bv76yp3C37OYvG3rFZRIvyEsv3Tq0KhN4PXPmWoZY2P72BtsaFfy-1ZM5cz1_dlg6VGfaQhOY0I0R1g5nWiHJcX2G2lIWQM-l_saysmtxH1Axiu0XIeGczMkSsa4S7H3k7bHJrHjTowgpPx1SPCzMoBaPkuq2OCfl1USQdDal2ek0QgRq8GZKWy0w3yQIbr5ZSHkX3EZ3W0BASU0zTM8gWiX8nbW2_c18rYfoc9lJLBVmqzj5ehiHnGWrCup_8ilHA77RZj_48dSSera2NeSwqT2WWMVUUHNksWhulAsvHCyLjIFOi6GJ86Rvj0dyTcwES5eCvHBm2ZZyGUkI40rQh7x14lwv6OJCGffly23jM9hnvUUdEoiIpcPxREtlC79XKRA0v6Rvuo9iBeKWTTaLHarevqTPCWc5traZ2PD4dk_miVT__s6fc6vorXCGtLT66ZC9kKdgmh9H6VRbe_1MF_1fhJf6fO4md5uVLaRPPUVp-ONoZ9u8mVsXqY_fWZnIZuc2hK30SPsq22HvHKe0xPABat73anws-67mVV_CdSm0YlXTd3H_w4aOcNUNVcN_b6KdeaoeSE_CDk2mf-iH2SgfIvdcgWhDCFHe51LYL3_MskQyAMWNIaxfMvy7XYPGWPj3Uc3N3DeeczI-1UExedBXt4XIzcGeLljzNan-ar-Y4MAXUdOBxML6rcpyjzuzy6VmriSy2LSzeKs-NY8Ohnd6yo10LVfTJF8J7cmk5WA8upHHPSYBfN4JdG7zS6l3tvfMu30TIZPNbivlJFO6Xs4NK9Fm1C3YrXoE5k-3SsWOvP8hGjtWXJ5UConfq9eQrlUA-dCJXqfOvI7IqgygDHrj4TINNctGYhbOCZbxHcCN2u-LRcxzNR0RxVfpna0h5D6O3QG7sDCqn6s5SBtDR_AhexDZvbmGDFEREg8x4UpxUz2dkE2twohMvLgHY-PuopzjFSpHkjugEZ1Yd4whyc9qVgiHLjRJ8EJtEcxOibq3eibnklTSPvpXg==",
  "id": "rs_0d632b2c375c04e0016ab44de44e6487d091aa7b5c27626b4a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.185,\"left_z\":0.025,\"left_pitch\":0.0,\"left_gripper\":0.35},\"note\":\"The last fruit is a dark plum now clearly between the left fingertips, just slightly right of center. I’ll make the final small alignment while closing to about 3.3 cm spacing so it is captured in one controlled motion.\"}",
  "call_id": "call_AqVr6ObmTxcfNRuVu9mq3YXG",
  "id": "fc_0d632b2c375c04e0016ab44de5643087d083f1edb445ef48e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AqVr6ObmTxcfNRuVu9mq3YXG",
  "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]: [-0.8665, 1.7191, 0.5491, 0.2966, -0.7475, -0.5171, 0.3548, -0.1299, 0.8154, 0.5617, -0.3805, -0.1772, -0.4309, 0.9986]\nstate[eef_state]: left_x=0.3132 left_y=-0.1776 left_z=0.018 left_yaw=0.0024 left_pitch=-0.0348 left_roll=0.1529 left_gripper=0.3548 right_x=0.2899 right_y=-0.0029 right_z=0.1564 right_yaw=0.2491 right_pitch=-0.0746 right_roll=-0.245 right_gripper=0.9986\nstate[joint_eff]: [-0.5128, -5.7094, 6.653, 1.6679, -0.4518, 0.0171, 0.1294, -0.1573, -1.4291, 6.9812, 1.7851, -0.1099, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234aa26ccadd531a259eb2280d896f234b1a833fcc4b51b6156808fb9af9dd29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d791b9c1b4740e9fc37bfde9c1dbe3b093df1f9a271582553cfcc1387ea11a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad10c78eb0fa3909bec41036a12d4c5127e787cfebb20521842373257a5943b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 2.632 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1687, 1.3361, 0.2527, -0.0532, -0.8669, -0.8875, 0.9977, -0.1303, 0.8085, 0.5625, -0.3645, -0.1802, -0.4263, 0.9986]\nstate[eef_state]: left_x=0.207 left_y=-0.1335 left_z=0.0132 left_yaw=-0.0221 left_pitch=-0.0632 left_roll=0.1276 left_gripper=0.9977 right_x=0.292 right_y=-0.0027 right_z=0.1618 right_yaw=0.2483 right_pitch=-0.0514 right_roll=-0.2484 right_gripper=0.9986\nstate[joint_eff]: [0.335, -5.0393, 5.8188, 1.0769, -0.5934, 0.0855, -0.2515, -0.1846, -1.5385, 6.6667, 1.8779, -0.0659, 0.188, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8577, 1.5978, 0.5304, 0.2111, -0.7391, -0.5159, 0.9961, -0.1299, 0.8143, 0.5617, -0.3725, -0.1772, -0.4309, 0.9986]\nstate[eef_state]: left_x=0.3082 left_y=-0.169 left_z=0.0388 left_yaw=0.0046 left_pitch=-0.0286 left_roll=0.1366 left_gripper=0.9961 right_x=0.291 right_y=-0.003 right_z=0.1583 right_yaw=0.2488 right_pitch=-0.0661 right_roll=-0.2484 right_gripper=0.9986\nstate[joint_eff]: [0.2256, -5.8051, 6.5436, 1.536, -0.2222, 0.1538, -0.1636, -0.2393, -1.6615, 7.0496, 1.7167, -0.0806, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8665, 1.7191, 0.5491, 0.2966, -0.7475, -0.5171, 0.3548, -0.1299, 0.8154, 0.5617, -0.3805, -0.1772, -0.4309, 0.9986]\nstate[eef_state]: left_x=0.3132 left_y=-0.1776 left_z=0.018 left_yaw=0.0024 left_pitch=-0.0348 left_roll=0.1529 left_gripper=0.3548 right_x=0.2899 right_y=-0.0029 right_z=0.1564 right_yaw=0.2491 right_pitch=-0.0746 right_roll=-0.245 right_gripper=0.9986\nstate[joint_eff]: [-0.5128, -5.7094, 6.653, 1.6679, -0.4518, 0.0171, 0.1294, -0.1573, -1.4291, 6.9812, 1.7851, -0.1099, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234aa26ccadd531a259eb2280d896f234b1a833fcc4b51b6156808fb9af9dd29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d791b9c1b4740e9fc37bfde9c1dbe3b093df1f9a271582553cfcc1387ea11a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad10c78eb0fa3909bec41036a12d4c5127e787cfebb20521842373257a5943b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3s5U8qR1t26JIM5L3eHnrORanEwpnfX4rYuc0KF80qwRZJBt3Zy_qseXDtg_mO9GasGPetALFKZH941uEUggqxzpoD1J3j4tPYhLz9JEECAmcAiSAyU_ozjhA3Mm4qvcH4lkUSynLFRkn7O9dBxMqAKnkSD7G2np_K2lH-8T3jcQ9Soog_UQsUgNh75seIf2AFlVyoatHU4syqhc5c4005SeMCtGX45SJPWv1iRCLutIkoI-49MP235VNluisg51Yfq8CUIZ2dh8twgoeRona02oKd3IOuRuaCUuuXZ7iJK92ujkI8Bl143DZ4pueZjGXRe0_0-7qD1w0C2OaG6iG6is-6W4if-1O67vEqCdWN9L50ZIjLxZdAaSSyX44zR2_5YK4yvLc0ZPRBoBaN02oXBNJ2fBKp0ZTpRBFZXtxQyKfDs3BAb3A7j0oUbYKdcW0VuFpQLJvIYmMlik_GfoedSErJpNJKfGbOVrxPb_1r-Kd3QBb-w_dfoBUGNz6v1PxFrFxq8_M4dX5dzR6S1ACM3y3kSgHIPwM8BnAw6rSYXZiendaeTg9HecV1kECHy4fLQTfVhVLjF-qTbinaYZgzVE9NtNNqtkDeQZXEfctdnojJJ693ysydU6qp4GR0C_EZa7eF9UTl4sfemgiIMMknhxcb_XhM1Tctyj6UHWum2gKdDQsLXZ1dPrYOviUILG8fTOTMd5YgFuVrLwCqjMrT9GuHQEx42IlabfS92ESP3V2FywH9MlAjYI9cc6zhJyHLYry17CviuuV20qgnGDqp1UPxKe7BgRca4rB0XMefXFjgVrKpvtn2EHe0OlOtXkLbVFZ0xw-zuxQytnJrFvNl1qtMwAICazCYVQU7fQ81dNt08r5erq5xD_JvJ6HmeKRC1480adSRd632XprS4v5PrzuK4Ldb8kdR3aIw9Z5hcNLaujkJsQ5nrErwKYtUVzQ8jH14cIM5EcImadnQbSzLgz3smdg42-NfflIB1ef63Y-cW0JXtLGPb_pGT8tNTPugxM4x4jU9yhzDuDSOo6LTNKpaQysciUV5xsu8ZlMZwrOUG1UcGdOOIWuJ4WgZ3XM9pZvqFcRQur8oYZEZfinoCX4gbK-2dUPt8i-xBcgIdLEhU2ML8WtQQH4FzqwUrxZcX3HT5N0tjH7m2XEo9nb9B2Id_3RDHa6cCnFLoUSb832rw0h6N2fpAPuzFznuY9A9B7UfxQz7z_lvXaxRm9euX1Yf_5RVykBJ0Yxro-7Xu3WOSBNyvtqf5LHLgK542gJ7D1yj852r2lL4X_RreDuhgCUgxcr_1uCtiXUk-sbfQa4SJ8B55XloDCoBT7LSWr-N_2DYcecFuMd69xmnIYSHDE2EXX7nIR4Xz-hY-XfzknW3an4QL66rZy5O_REicJlKloJ3SvUR7igloO0T2n9CAmCvDL_0gtAeyE2cOkVvRQyzzvIUpPwwSJDjZ3YLDyDW2ABNIYUSqhWO590fvA0YqSlpnyYYggcweHj9IqYzlVEGmHJazmgcqGVnMrkrMKAPlLk7vyWsLf_uNblGRjykgL3fjPO_hz2p9ABAF5lQGxpRzkYtOAefACntj3OqkRZn9WCc6AaME-1LI9FbVOMpQQ7yEu0M_3kTxk-92NMuPmqAzY293FFwR_ylswakXZ4eSiT5y9o8Hh6pQg-hOSRA2hKtWXNC8_dIPzYn4eWTWeWMh4_ihDtya_SFBj5pG9zwlckay49jNTvGFKbs0Y_Hm6aBZ5yHPQGF_MhQDFzhyaYLpO4r_VFg_8eQrS-U8B_pBAYncgTgvL5cfctHZYWACmDwXJXKNq6KAL8wmfSaFBY=",
  "id": "rs_0d632b2c375c04e0016ab44dea0b5887d0b86b6618520bfcc5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.185,\"left_z\":0.025,\"left_pitch\":0.0,\"left_gripper\":0.2},\"note\":\"The plum remains visible ahead of the fingertips, so the jaws are still short radially despite good lateral alignment. I’ll advance 3 cm around it while tightening to about 1.9 cm spacing for a secure hold.\"}",
  "call_id": "call_XLo7NwWHdzcMBjisi1ikymKb",
  "id": "fc_0d632b2c375c04e0016ab44deb277c87d08e3faf54ca638d73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XLo7NwWHdzcMBjisi1ikymKb",
  "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]: [-0.8154, 1.7809, 0.5983, 0.3222, -0.7387, -0.4767, 0.2032, -0.1299, 0.8162, 0.5617, -0.3847, -0.1772, -0.4309, 0.9986]\nstate[eef_state]: left_x=0.3321 left_y=-0.1739 left_z=0.0141 left_yaw=0.0258 left_pitch=-0.0347 left_roll=0.172 left_gripper=0.2032 right_x=0.2894 right_y=-0.0028 right_z=0.1554 right_yaw=0.2492 right_pitch=-0.0792 right_roll=-0.2432 right_gripper=0.9986\nstate[joint_eff]: [0.0479, -6.9538, 6.4752, 1.663, -0.2173, 0.1245, -0.0024, -0.1846, -1.1282, 6.9812, 1.7509, -0.1294, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c328a1f25d4726ed8bc54c543bc026532f41e2ec79c1945068c92d6efea2347b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c3b133e4d71b7679bc6d5f6849b78451f7575e9ce03a33b10c41dbd5c59abf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d58f07d1c7688b75f604d1dab3dedc5ed38ce5bc1f52662d28b4eccf7964e54",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]