adhoc - adhoc_0b48256e.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-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: 245.2 s
total steps: 327

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 blue bowl is beside two fruits on the right, and a dark fruit sits nearer the left arm. I’ll approach the green fruit with the right gripper open, keeping above the table before descending.

move_to

right_x0.3400right_y0.1100right_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8001, 0.614, -0.382, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.0208, -0.0261, 0.9994] state[eef_state]: left_x=0.2961 left_y=-0.0029 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=0.0005 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [0.3214, -1.7709, 9.7026, 1.8046, -0.1001, 0.105, -0.0855, -0.3077, -1.5385, 9.0598, 1.8339, -0.0366, 0.1148, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.11,"right_z":0.15},"note":"The blue bowl is beside two fruits on the right, and a dark fruit sits nearer the left arm. I’ll approach the green fruit with the right gripper open, keeping above the table before descending."})

tool

executing move_to over 10 steps (1.0s)

step 10

assistant

agent noteThe green fruit appears to the right of the right gripper’s jaw line in the wrist view. I’ll shift the open gripper toward it and slightly forward, then check alignment before lowering.

move_to

right_x0.3500right_y0.0700right_z0.1200

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8013, 0.614, -0.3866, -0.0139, -0.0311, 0.9993, 0.5072, 1.1942, 0.6365, -0.1337, 0.3923, 0.2516, 0.9994] state[eef_state]: left_x=0.2956 left_y=-0.0029 left_z=0.1812 left_yaw=0.0006 left_pitch=-0.0057 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3303 right_y=0.1104 right_z=0.1301 right_yaw=0.0349 right_pitch=-0.0627 right_roll=-0.0342 right_gripper=0.9994 state[joint_eff]: [-0.0205, -1.2513, 7.0632, 1.8046, -0.0757, -0.022, -0.0171, -0.1846, -3.9863, 9.4154, 1.8535, 0.3736, 0.0952, -0.0171] 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_x":0.35,"right_y":0.07,"right_z":0.12},"note":"The green fruit appears to the right of the right gripper’s jaw line in the wrist view. I’ll shift the open gripper toward it and slightly forward, then check alignment before lowering."})

tool

executing move_to over 4 steps (0.4s)

step 14

assistant

agent noteThe green fruit is now centered between the open jaws in the wrist view. I’ll lower the gripper around its middle to prepare for a controlled grasp.

move_to

right_x0.3500right_y0.0680right_z0.0330

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]: [-0.0303, 0.8017, 0.614, -0.3901, -0.0139, -0.0334, 0.9993, 0.2989, 1.214, 0.6006, -0.062, 0.2298, 0.1188, 0.9994] state[eef_state]: left_x=0.2951 left_y=-0.0029 left_z=0.1804 left_yaw=0.0018 left_pitch=-0.0096 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3469 right_y=0.0685 right_z=0.1162 right_yaw=0.032 right_pitch=-0.0873 right_roll=-0.039 right_gripper=0.9994 state[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.7607, -0.0513, -0.0464, -0.0122, 0.0068, -3.9453, 6.2564, 1.9414, 0.022, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.068,"right_z":0.033},"note":"The green fruit is now centered between the open jaws in the wrist view. I’ll lower the gripper around its middle to prepare for a controlled grasp."})

tool

executing move_to over 6 steps (0.6s)

step 20

assistant

agent noteThe open jaws now straddle the green fruit near table height. I’ll close the right gripper and check whether it holds the fruit before lifting.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4011, -0.0135, -0.0334, 0.9993, 0.2951, 1.5009, 0.3996, 0.3965, 0.2226, 0.1184, 0.9994] state[eef_state]: left_x=0.2936 left_y=-0.0029 left_z=0.1781 left_yaw=0.0015 left_pitch=-0.0206 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3458 right_y=0.0681 right_z=0.0271 right_yaw=0.0336 right_pitch=-0.1168 right_roll=-0.0426 right_gripper=0.9994 state[joint_eff]: [-0.0615, -1.1966, 7.1316, 1.8584, -0.0366, -0.0562, -0.0171, -0.3077, -5.3675, 5.2171, 1.8046, 0.1392, -0.0611, -0.0122] 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_gripper":0},"note":"The open jaws now straddle the green fruit near table height. I’ll close the right gripper and check whether it holds the fruit before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 30

assistant

agent noteThe green fruit slipped sideways when the jaws closed and is now beside the yellow fruit, outside the gripper. I’ll reopen and reposition above the two fruits for a better-centered attempt.

move_to

right_gripper1.0000right_x0.3500right_y0.2000right_z0.1300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4084, -0.0139, -0.0334, 0.9993, 0.2951, 1.4948, 0.4046, 0.424, 0.2268, 0.1188, 0.6182] state[eef_state]: left_x=0.2926 left_y=-0.0028 left_z=0.1766 left_yaw=0.0019 left_pitch=-0.0279 left_roll=-0.002 left_gripper=0.9993 right_x=0.352 right_y=0.0692 right_z=0.0362 right_yaw=0.0309 right_pitch=-0.0789 right_roll=-0.0348 right_gripper=0.6182 state[joint_eff]: [-0.0479, -1.1966, 7.0085, 1.8339, -0.0464, -0.0415, -0.0122, -0.2256, -4.4923, 4.9573, 1.3748, -0.022, -0.0366, 1.0281] 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":1,"right_x":0.35,"right_y":0.2,"right_z":0.13},"note":"The green fruit slipped sideways when the jaws closed and is now beside the yellow fruit, outside the gripper. I’ll reopen and reposition above the two fruits for a better-centered attempt."})

tool

executing move_to over 11 steps (1.1s)

step 41

assistant

agent noteBoth fruits are visible below the right wrist camera, with the yellow fruit left of the jaw line and the green fruit right of it. I’ll align the jaws with the yellow fruit first.

move_to

right_x0.3700right_y0.2470right_z0.1100

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4198, -0.0139, -0.0334, 0.9993, 0.7437, 1.5055, 0.8825, -0.1822, 0.5411, 0.4152, 0.9986] state[eef_state]: left_x=0.291 left_y=-0.0028 left_z=0.1743 left_yaw=0.0019 left_pitch=-0.0393 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3464 right_y=0.1999 right_z=0.1217 right_yaw=0.0618 right_pitch=-0.0992 right_roll=-0.0506 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.265, 6.9949, 1.7949, -0.022, -0.0464, -0.0122, 0.1573, -5.8735, 8.294, 1.4335, 0.3687, 0.1978, -0.1538] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.37,"right_y":0.247,"right_z":0.11},"note":"Both fruits are visible below the right wrist camera, with the yellow fruit left of the jaw line and the green fruit right of it. I’ll align the jaws with the yellow fruit first."})

tool

executing move_to over 4 steps (0.4s)

step 45

assistant

agent noteThe yellow fruit is nearly centered at the bottom of the wrist view, beneath the open jaws. I’ll descend to its lower half before closing, to avoid knocking it sideways.

move_to

right_x0.3750right_y0.2450right_z0.0240

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]: [-0.0303, 0.8051, 0.614, -0.424, -0.0139, -0.0334, 0.9993, 0.7967, 1.7077, 1.0256, -0.1986, 0.5529, 0.4385, 0.9986] state[eef_state]: left_x=0.2906 left_y=-0.0028 left_z=0.1725 left_yaw=0.0019 left_pitch=-0.0469 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3605 right_y=0.2411 right_z=0.0958 right_yaw=0.0874 right_pitch=-0.1507 right_roll=-0.0881 right_gripper=0.9986 state[joint_eff]: [-0.1436, -1.5932, 7.2137, 1.7118, -0.0513, -0.0513, -0.0122, 0.2803, -8.212, 7.9111, 1.5507, 0.4811, 0.2613, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.375,"right_y":0.245,"right_z":0.024},"note":"The yellow fruit is nearly centered at the bottom of the wrist view, beneath the open jaws. I’ll descend to its lower half before closing, to avoid knocking it sideways."})

tool

executing move_to over 5 steps (0.5s)

step 50

assistant

agent noteThe right arm stopped well above the requested grasp height, with the blue bowl directly beside its jaws. I’ll lift and shift farther to the fruit’s side so the next descent clears the bowl.

move_to

right_x0.3600right_y0.2900right_z0.1200

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8059, 0.614, -0.4244, -0.0139, -0.0334, 0.9993, 0.7986, 1.7149, 1.0317, -0.1917, 0.5537, 0.4385, 0.9986] state[eef_state]: left_x=0.2906 left_y=-0.0028 left_z=0.1722 left_yaw=0.0019 left_pitch=-0.0481 left_roll=-0.0013 left_gripper=0.9993 right_x=0.362 right_y=0.2437 right_z=0.0962 right_yaw=0.0893 right_pitch=-0.1459 right_roll=-0.0848 right_gripper=0.9986 state[joint_eff]: [-0.1573, -1.3333, 6.9812, 1.6923, -0.0513, -0.0024, -0.0122, -0.0479, -8.2256, 8.0889, 1.5507, 0.4567, 0.188, -0.0073] 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_x":0.36,"right_y":0.29,"right_z":0.12},"note":"The right arm stopped well above the requested grasp height, with the blue bowl directly beside its jaws. I’ll lift and shift farther to the fruit’s side so the next descent clears the bowl."})

tool

executing move_to over 4 steps (0.4s)

step 54

assistant

agent noteThe right arm has barely moved, suggesting the open gripper may be caught against the bowl. I’ll try a straight upward retreat before approaching the fruit from another direction.

move_to

right_x0.3600right_y0.2440right_z0.2500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8078, 0.6136, -0.4316, -0.0139, -0.0334, 0.9993, 0.7986, 1.7149, 1.0317, -0.1879, 0.5537, 0.4385, 0.9986] state[eef_state]: left_x=0.2897 left_y=-0.0027 left_z=0.1701 left_yaw=0.0019 left_pitch=-0.0576 left_roll=-0.001 left_gripper=0.9993 right_x=0.3624 right_y=0.2441 right_z=0.0967 right_yaw=0.0897 right_pitch=-0.143 right_roll=-0.0823 right_gripper=0.9986 state[joint_eff]: [-0.1026, -1.4564, 7.2, 1.7558, -0.0659, -0.0659, -0.0122, -0.1026, -8.3214, 8.0889, 1.5311, 0.4225, 0.2271, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.244,"right_z":0.25},"note":"The right arm has barely moved, suggesting the open gripper may be caught against the bowl. I’ll try a straight upward retreat before approaching the fruit from another direction."})

tool

executing move_to over 10 steps (1.0s)

step 64

assistant

agent noteThe gripper has lifted free. The wrist view shows the yellow fruit closer to the robot than the bowl, so I’ll move back and slightly left over the fruit rather than descending across the bowl rim.

move_to

right_x0.3000right_y0.2850right_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8078, 0.6132, -0.4347, -0.0135, -0.0334, 0.9993, 0.8032, 1.6413, 1.5318, -0.7872, 0.5457, 0.4343, 0.9986] state[eef_state]: left_x=0.2892 left_y=-0.0028 left_z=0.1693 left_yaw=0.0016 left_pitch=-0.0611 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3597 right_y=0.2459 right_z=0.2356 right_yaw=0.0998 right_pitch=-0.1667 right_roll=-0.0975 right_gripper=0.9986 state[joint_eff]: [-0.1709, -1.306, 7.1179, 1.7021, -0.0366, -0.0366, -0.0122, -0.2803, -8.7863, 8.0615, 1.3944, 0.3639, 0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.285,"right_z":0.17},"note":"The gripper has lifted free. The wrist view shows the yellow fruit closer to the robot than the bowl, so I’ll move back and slightly left over the fruit rather than descending across the bowl rim."})

tool

executing move_to over 5 steps (0.5s)

step 69

assistant

agent noteThe yellow fruit is now clearly separated from the bowl in the wrist view, but sits a little ahead and right of the fingertips. I’ll advance and make a small sideways correction before descending.

move_to

right_x0.3300right_y0.2700right_z0.1400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8124, 0.6132, -0.4465, -0.0139, -0.0334, 0.9993, 1.0153, 1.6447, 1.3006, -0.6926, 0.6437, 0.6212, 0.9986] state[eef_state]: left_x=0.2877 left_y=-0.0027 left_z=0.1657 left_yaw=0.0019 left_pitch=-0.0774 left_roll=-0.0004 left_gripper=0.9993 right_x=0.2969 right_y=0.2841 right_z=0.1673 right_yaw=0.1253 right_pitch=-0.1964 right_roll=-0.1174 right_gripper=0.9986 state[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7851, -0.0317, -0.0513, -0.0122, 0.1709, -7.4462, 6.3385, 1.3504, 0.525, 0.1245, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.33,"right_y":0.27,"right_z":0.14},"note":"The yellow fruit is now clearly separated from the bowl in the wrist view, but sits a little ahead and right of the fingertips. I’ll advance and make a small sideways correction before descending."})

tool

executing move_to over 3 steps (0.3s)

step 72

assistant

agent noteThe yellow fruit is centered at the jaws and the bowl is farther forward. I’ll lower straight down at this offset so the gripper can reach the fruit without crossing the bowl’s rim.

move_to

right_x0.3260right_y0.2690right_z0.0220

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]: [-0.0303, 0.8127, 0.6132, -0.45, -0.0139, -0.0334, 0.9993, 0.9092, 1.6741, 1.2121, -0.5419, 0.5743, 0.5037, 0.9986] state[eef_state]: left_x=0.2872 left_y=-0.0027 left_z=0.1649 left_yaw=0.002 left_pitch=-0.0813 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3251 right_y=0.2672 right_z=0.135 right_yaw=0.1335 right_pitch=-0.226 right_roll=-0.1375 right_gripper=0.9986 state[joint_eff]: [-0.1299, -1.306, 6.9949, 1.7216, -0.0806, -0.0562, -0.0122, -0.4171, -8.0615, 6.8444, 1.4969, 0.3101, -0.0073, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.326,"right_y":0.269,"right_z":0.022},"note":"The yellow fruit is centered at the jaws and the bowl is farther forward. I’ll lower straight down at this offset so the gripper can reach the fruit without crossing the bowl’s rim."})

tool

executing move_to over 8 steps (0.8s)

step 80

assistant

agent noteAt grasp height, the wrist view shows the yellow fruit right of the jaw center; the camera perspective changed during descent. I’ll make a short sideways correction before closing to avoid pushing it away.

move_to

right_y0.2400right_x0.3260right_z0.0220

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]: [-0.0303, 0.8135, 0.6132, -0.4675, -0.0139, -0.0334, 0.9993, 0.9085, 1.874, 0.968, -0.1173, 0.5674, 0.5037, 0.9986] state[eef_state]: left_x=0.2846 left_y=-0.0026 left_z=0.1613 left_yaw=0.002 left_pitch=-0.0996 left_roll=0.0003 left_gripper=0.9993 right_x=0.3249 right_y=0.2681 right_z=0.0213 right_yaw=0.1341 right_pitch=-0.244 right_roll=-0.1473 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.1966, 6.9675, 1.8535, -0.0659, -0.0415, -0.0122, 0.0752, -8.4991, 4.6017, 1.4237, 0.2808, -0.0317, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.24,"right_x":0.326,"right_z":0.022},"note":"At grasp height, the wrist view shows the yellow fruit right of the jaw center; the camera perspective changed during descent. I’ll make a short sideways correction before closing to avoid pushing it away."})

tool

executing move_to over 3 steps (0.3s)

step 83

assistant

agent noteThe yellow fruit is now centered between the fingertips at table height. I’ll close carefully and use the resulting jaw opening to check whether it has been caught.

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]: [-0.0303, 0.8135, 0.6132, -0.4694, -0.0135, -0.0334, 0.9993, 0.8486, 1.8309, 0.8688, -0.0727, 0.5373, 0.4515, 0.9986] state[eef_state]: left_x=0.2843 left_y=-0.0026 left_z=0.1609 left_yaw=0.0017 left_pitch=-0.1015 left_roll=0.0001 left_gripper=0.9993 right_x=0.3233 right_y=0.2356 right_z=0.0099 right_yaw=0.1214 right_pitch=-0.2743 right_roll=-0.1725 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.2786, 6.9675, 1.6874, -0.022, -0.0415, -0.0122, 0.3214, -10.6051, 5.1214, 1.3065, 0.2418, -0.1001, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now centered between the fingertips at table height. I’ll close carefully and use the resulting jaw opening to check whether it has been caught."})

tool

executing move_to over 10 steps (1.0s)

step 93

assistant

agent noteThe jaws stopped partly closed around something, but the wrist image alone cannot confirm a secure grasp. I’ll lift a short distance and check whether the yellow fruit moves with the gripper.

move_to

right_z0.1000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4755, -0.0135, -0.0334, 0.9993, 0.8486, 1.8305, 0.8688, -0.0715, 0.5327, 0.4438, 0.5251] state[eef_state]: left_x=0.2833 left_y=-0.0026 left_z=0.1597 left_yaw=0.0017 left_pitch=-0.1076 left_roll=0.0003 left_gripper=0.9993 right_x=0.3231 right_y=0.2364 right_z=0.0098 right_yaw=0.1291 right_pitch=-0.2765 right_roll=-0.1737 right_gripper=0.5251 state[joint_eff]: [-0.212, -1.1145, 6.9402, 1.7216, -0.0269, -0.0269, -0.0122, 0.0615, -10.4274, 5.2991, 1.2918, 0.232, -0.0024, 1.033] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.1},"note":"The jaws stopped partly closed around something, but the wrist image alone cannot confirm a secure grasp. I’ll lift a short distance and check whether the yellow fruit moves with the gripper."})

tool

executing move_to over 6 steps (0.6s)

step 99

assistant

agent noteThe yellow fruit remains on the table after the lift, so that grasp failed. I’ll park the right arm clear of the bowl and use the left arm to approach the isolated dark fruit.

move_to

right_x0.2900right_y0.0000right_z0.1900right_gripper1.0000left_x0.2800left_y-0.2800left_z0.1400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4759, -0.0139, -0.0334, 0.9993, 0.8486, 1.673, 1.0367, -0.4229, 0.519, 0.4435, 0.5285] state[eef_state]: left_x=0.2833 left_y=-0.0025 left_z=0.1597 left_yaw=0.002 left_pitch=-0.1079 left_roll=0.0006 left_gripper=0.9993 right_x=0.3202 right_y=0.2363 right_z=0.0826 right_yaw=0.1337 right_pitch=-0.3039 right_roll=-0.1824 right_gripper=0.5285 state[joint_eff]: [-0.0752, -1.1556, 6.9812, 1.6825, -0.0366, -0.0366, -0.0171, -0.2667, -9.4154, 8.4855, 1.033, 0.359, -0.0317, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.19,"right_gripper":1,"left_x":0.28,"left_y":-0.28,"left_z":0.14},"note":"The yellow fruit remains on the table after the lift, so that grasp failed. I’ll park the right arm clear of the bowl and use the left arm to approach the isolated dark fruit."})

tool

executing move_to over 25 steps (2.5s)

step 124

assistant

agent noteThe dark fruit is visible in the left wrist camera just left of the jaw line. I’ll shift the left gripper toward it and slightly forward, then reassess before descending.

move_to

left_x0.3040left_y-0.2500left_z0.1100

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1057, 1.6272, 1.1, -0.5552, -0.7448, -0.9005, 0.9993, -0.0124, 1.0283, 0.9043, -0.7879, 0.02, -0.2707, 0.9986] state[eef_state]: left_x=0.2764 left_y=-0.2759 left_z=0.1277 left_yaw=-0.0062 left_pitch=-0.1383 left_roll=0.0224 left_gripper=0.9993 right_x=0.2853 right_y=-0.0035 right_z=0.1724 right_yaw=0.1142 right_pitch=-0.3576 right_roll=-0.1847 right_gripper=0.9986 state[joint_eff]: [-0.3624, -7.2274, 8.4171, 1.072, -0.6178, -0.1197, -0.0122, 0.1709, -3.9316, 9.4701, 1.4139, -0.2222, 0.0024, -0.1538] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.304,"left_y":-0.25,"left_z":0.11},"note":"The dark fruit is visible in the left wrist camera just left of the jaw line. I’ll shift the left gripper toward it and slightly forward, then reassess before descending."})

tool

executing move_to over 3 steps (0.3s)

step 127

assistant

agent noteThe dark fruit is centered between the open left jaws near the bottom of the wrist image. I’ll advance slightly and lower the gripper to the fruit’s grasp height.

move_to

left_x0.3150left_y-0.2460left_z0.0140

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]: [-0.9821, 1.6234, 0.9897, -0.4049, -0.6872, -0.7879, 0.9993, -0.0109, 1.0302, 0.9051, -0.7883, 0.0105, -0.2737, 0.9986] state[eef_state]: left_x=0.3026 left_y=-0.2449 left_z=0.101 left_yaw=0.0185 left_pitch=-0.1608 left_roll=0.0443 left_gripper=0.9993 right_x=0.2855 right_y=-0.0014 right_z=0.1721 right_yaw=0.1262 right_pitch=-0.3584 right_roll=-0.1785 right_gripper=0.9986 state[joint_eff]: [-0.1026, -8.9231, 5.9145, 1.326, -0.315, 0.2027, -0.0122, -0.3077, -2.7419, 6.6256, 1.3993, 0.0513, -0.0024, -0.0122] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.315,"left_y":-0.246,"left_z":0.014},"note":"The dark fruit is centered between the open left jaws near the bottom of the wrist image. I’ll advance slightly and lower the gripper to the fruit’s grasp height."})

tool

executing move_to over 6 steps (0.6s)

step 133

assistant

agent noteThe left arm stopped around 8 cm high instead of reaching the fruit, suggesting contact or a difficult approach. I’ll back away slightly while lowering, rather than forcing the same blocked path.

move_to

left_x0.2900left_y-0.2450left_z0.0280

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]: [-0.981, 1.6524, 0.9592, -0.3546, -0.6868, -0.786, 0.9993, -0.0105, 1.0302, 0.9051, -0.791, 0.0097, -0.2737, 0.9986] state[eef_state]: left_x=0.3027 left_y=-0.2445 left_z=0.0858 left_yaw=0.0197 left_pitch=-0.1661 left_roll=0.0534 left_gripper=0.9993 right_x=0.285 right_y=-0.0011 right_z=0.1717 right_yaw=0.1274 right_pitch=-0.361 right_roll=-0.1775 right_gripper=0.9986 state[joint_eff]: [0.212, -7.5282, 5.8188, 1.2869, -0.3541, -0.0024, -0.0122, -0.0342, -2.6188, 6.694, 1.3651, -0.0269, -0.0464, -0.0171] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.245,"left_z":0.028},"note":"The left arm stopped around 8 cm high instead of reaching the fruit, suggesting contact or a difficult approach. I’ll back away slightly while lowering, rather than forcing the same blocked path."})

tool

executing move_to over 4 steps (0.4s)

step 137

assistant

agent noteThe left gripper is also blocked: its wide-open jaw appears to overlap the nearby white bowl. I’ll lift clear before changing the gripper angle to approach the dark fruit without sweeping the bowl rim.

move_to

left_z0.2300

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]: [-0.9813, 1.6524, 0.9592, -0.3538, -0.6872, -0.7856, 0.9993, -0.0105, 1.0321, 0.9047, -0.7918, 0.0097, -0.2741, 0.9986] state[eef_state]: left_x=0.3027 left_y=-0.2446 left_z=0.0859 left_yaw=0.0192 left_pitch=-0.1654 left_roll=0.0532 left_gripper=0.9993 right_x=0.2849 right_y=-0.0011 right_z=0.171 right_yaw=0.1277 right_pitch=-0.3641 right_roll=-0.1773 right_gripper=0.9986 state[joint_eff]: [0.212, -7.4872, 5.8462, 1.2186, -0.3443, -0.0073, -0.0122, 0.0205, -2.7556, 6.6667, 1.3748, -0.0024, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.23},"note":"The left gripper is also blocked: its wide-open jaw appears to overlap the nearby white bowl. I’ll lift clear before changing the gripper angle to approach the dark fruit without sweeping the bowl rim."})

tool

executing move_to over 10 steps (1.0s)

step 147

assistant

agent noteThe left gripper is clear of the white bowl, and the dark fruit is directly ahead in its wrist camera. I’ll rotate the jaw opening nearly front-to-back and narrow it slightly so it can descend beside the bowl.

move_to

left_yaw1.4800left_gripper0.7800

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]: [-0.9821, 1.5768, 1.4273, -0.9077, -0.6765, -0.7929, 0.9993, -0.0105, 1.0321, 0.9047, -0.7918, 0.0093, -0.2737, 0.9986] state[eef_state]: left_x=0.3031 left_y=-0.2484 left_z=0.2179 left_yaw=0.0177 left_pitch=-0.1786 left_roll=0.0515 left_gripper=0.9993 right_x=0.2849 right_y=-0.0011 right_z=0.171 right_yaw=0.1279 right_pitch=-0.364 right_roll=-0.1767 right_gripper=0.9986 state[joint_eff]: [-0.1299, -8.2256, 8.4308, 0.9597, -0.4225, 0.0317, -0.0171, -0.1709, -2.441, 6.6393, 1.4042, 0.0024, -0.0562, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":1.48,"left_gripper":0.78},"note":"The left gripper is clear of the white bowl, and the dark fruit is directly ahead in its wrist camera. I’ll rotate the jaw opening nearly front-to-back and narrow it slightly so it can descend beside the bowl."})

tool

executing move_to over 10 steps (1.0s)

step 157

assistant

agent noteRotating near the bowl pulled the left arm far off its intended pose, so this approach is unreliable. I’ll return to a high, straight orientation and use a narrower jaw opening instead.

move_to

left_x0.2900left_y-0.2400left_z0.2400left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6613, 2.104, 1.7313, -1.5528, -0.7212, -2.0766, 0.7821, -0.0109, 1.0359, 0.9047, -0.7952, 0.0093, -0.2737, 0.9986] state[eef_state]: left_x=0.337 left_y=-0.1099 left_z=0.1162 left_yaw=1.2853 left_pitch=-0.2131 left_roll=0.0222 left_gripper=0.7821 right_x=0.2844 right_y=-0.0012 right_z=0.1694 right_yaw=0.1279 right_pitch=-0.3712 right_roll=-0.1756 right_gripper=0.9986 state[joint_eff]: [-2.0855, -10.0991, 5.3675, -0.5641, -0.3639, -0.2369, 0.0952, -0.2256, -2.9197, 6.7761, 1.3651, -0.0659, -0.0464, -0.0171] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.24,"left_z":0.24,"left_yaw":0},"note":"Rotating near the bowl pulled the left arm far off its intended pose, so this approach is unreliable. I’ll return to a high, straight orientation and use a narrower jaw opening instead."})

tool

executing move_to over 12 steps (1.2s)

step 169

assistant

agent noteThe left arm is partway back toward its original orientation but still over the dark fruit. I’ll finish straightening and lifting it before the next descent.

move_to

left_yaw0.0000left_z0.2700

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]: [-0.9817, 1.7023, 1.4853, -1.187, -0.6304, -1.7237, 0.7822, -0.0105, 1.0416, 0.9043, -0.8024, 0.0097, -0.2737, 0.9986] state[eef_state]: left_x=0.2796 left_y=-0.2245 left_z=0.1699 left_yaw=0.6131 left_pitch=-0.3859 left_roll=-0.2574 left_gripper=0.7822 right_x=0.2832 right_y=-0.0011 right_z=0.1667 right_yaw=0.1286 right_pitch=-0.3844 right_roll=-0.174 right_gripper=0.9986 state[joint_eff]: [-0.0752, -7.2274, 6.2974, 0.652, -0.4029, 0.1636, -0.0073, -0.0068, -2.6872, 6.6667, 1.4335, 0.0269, -0.0562, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_yaw":0,"left_z":0.27},"note":"The left arm is partway back toward its original orientation but still over the dark fruit. I’ll finish straightening and lifting it before the next descent."})

tool

executing move_to over 7 steps (0.7s)

step 176

assistant

agent noteThe dark fruit remains just behind the white bowl, and the left gripper is upright again with a narrower opening. I’ll descend from slightly nearer the robot so its jaws stay clear of the bowl rim.

move_to

left_x0.2500left_y-0.2300left_z0.1100left_gripper0.7800

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, 1.4948, 1.5974, -1.1679, -0.3492, -0.9691, 0.7822, -0.0105, 1.0428, 0.9043, -0.807, 0.0097, -0.2737, 0.9986] state[eef_state]: left_x=0.2786 left_y=-0.2242 left_z=0.2536 left_yaw=0.0304 left_pitch=-0.4259 left_roll=-0.2362 left_gripper=0.7822 right_x=0.2824 right_y=-0.0011 right_z=0.1658 right_yaw=0.129 right_pitch=-0.3901 right_roll=-0.1731 right_gripper=0.9986 state[joint_eff]: [-0.0752, -7.5556, 8.0479, 1.1893, -0.1929, 0.2222, -0.0171, -0.0479, -2.5504, 6.7761, 1.3504, -0.0317, -0.0708, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.25,"left_y":-0.23,"left_z":0.11,"left_gripper":0.78},"note":"The dark fruit remains just behind the white bowl, and the left gripper is upright again with a narrower opening. I’ll descend from slightly nearer the robot so its jaws stay clear of the bowl rim."})

tool

executing move_to over 10 steps (1.0s)

step 186

assistant

agent noteThe dark fruit is centered laterally but still ahead of the fingertips in the wrist image. I’ll advance about 3 cm while lowering toward its middle; the narrower jaws should fit beside the bowl.

move_to

left_x0.2800left_y-0.2300left_z0.0550

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9524, 1.4193, 0.96, -0.6674, -0.3809, -1.0557, 0.7814, -0.0105, 1.0428, 0.9043, -0.8104, 0.0093, -0.2737, 0.9986] state[eef_state]: left_x=0.2459 left_y=-0.2262 left_z=0.1069 left_yaw=0.0313 left_pitch=-0.451 left_roll=-0.2149 left_gripper=0.7814 right_x=0.2817 right_y=-0.001 right_z=0.1653 right_yaw=0.1295 right_pitch=-0.3934 right_roll=-0.1723 right_gripper=0.9986 state[joint_eff]: [-0.6632, -5.0393, 6.147, 1.2918, -0.3541, -0.1197, 0.1294, -0.0479, -2.6325, 6.8308, 1.3358, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.28,"left_y":-0.23,"left_z":0.055},"note":"The dark fruit is centered laterally but still ahead of the fingertips in the wrist image. I’ll advance about 3 cm while lowering toward its middle; the narrower jaws should fit beside the bowl."})

tool

executing move_to over 4 steps (0.4s)

step 190

assistant

agent noteThe dark fruit now sits between the left fingertips rather than beyond them. I’ll lower a few more centimetres for a low, centered grasp.

move_to

left_x0.2800left_y-0.2300left_z0.0090

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]: [-0.8616, 1.5829, 0.8871, -0.4297, -0.3462, -0.9871, 0.7815, -0.0105, 1.0447, 0.9043, -0.8135, 0.0097, -0.2737, 0.9986] state[eef_state]: left_x=0.2771 left_y=-0.2253 left_z=0.0519 left_yaw=0.0575 left_pitch=-0.4676 left_roll=-0.1961 left_gripper=0.7815 right_x=0.2812 right_y=-0.0011 right_z=0.1643 right_yaw=0.1294 right_pitch=-0.3984 right_roll=-0.1719 right_gripper=0.9986 state[joint_eff]: [-0.0205, -6.7487, 5.7094, 1.2674, -0.188, 0.1929, -0.0024, -0.0342, -2.7966, 6.612, 1.3358, -0.0171, -0.0366, -0.0122] 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":{"left_x":0.28,"left_y":-0.23,"left_z":0.009},"note":"The dark fruit now sits between the left fingertips rather than beyond them. I’ll lower a few more centimetres for a low, centered grasp."})

tool

executing move_to over 3 steps (0.3s)

step 193

assistant

agent noteThe dark fruit is centered low between the jaws at table height. I’ll close the left gripper and then verify the grasp with a short lift.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8623, 1.6985, 0.8196, -0.2707, -0.3462, -0.992, 0.7815, -0.0105, 1.0447, 0.9043, -0.8135, 0.0093, -0.2737, 0.9986] state[eef_state]: left_x=0.2777 left_y=-0.2265 left_z=0.008 left_yaw=0.0695 left_pitch=-0.4826 left_roll=-0.1774 left_gripper=0.7815 right_x=0.2812 right_y=-0.001 right_z=0.1643 right_yaw=0.1298 right_pitch=-0.3984 right_roll=-0.1715 right_gripper=0.9986 state[joint_eff]: [-0.4034, -6.8718, 5.2581, 1.1941, -0.2271, 0.0024, -0.0171, -0.0342, -2.6735, 6.7214, 1.3162, -0.0366, -0.0806, -0.0171] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The dark fruit is centered low between the jaws at table height. I’ll close the left gripper and then verify the grasp with a short lift."})

tool

executing move_to over 8 steps (0.8s)

step 201

assistant

agent noteThe left jaws stopped around the width of the dark fruit. I’ll lift it about 8 cm and confirm in the overhead camera that the fruit rises with the gripper.

move_to

left_z0.0950

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]: [-0.8623, 1.6993, 0.8158, -0.2653, -0.3462, -0.9947, 0.5263, -0.0105, 1.0447, 0.9043, -0.8135, 0.0093, -0.2737, 0.9986] state[eef_state]: left_x=0.2775 left_y=-0.2262 left_z=0.0071 left_yaw=0.0708 left_pitch=-0.4824 left_roll=-0.1796 left_gripper=0.5263 right_x=0.2812 right_y=-0.001 right_z=0.1643 right_yaw=0.1298 right_pitch=-0.3984 right_roll=-0.1715 right_gripper=0.9986 state[joint_eff]: [-0.0752, -7.2274, 5.641, 1.0134, -0.2125, -0.022, 1.0281, -0.0342, -2.4547, 6.7897, 1.3065, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.095},"note":"The left jaws stopped around the width of the dark fruit. I’ll lift it about 8 cm and confirm in the overhead camera that the fruit rises with the gripper."})

tool

executing move_to over 6 steps (0.6s)

step 207

assistant

agent noteThe dark fruit appears to have risen with the closed left gripper, and it is no longer visible at its original spot on the table. I’ll carry it high over the blue bowl for release.

move_to

left_x0.3650left_y-0.3900left_z0.2100

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]: [-0.8623, 1.5688, 1.0096, -0.6178, -0.3428, -0.9993, 0.5269, -0.0105, 1.0447, 0.9043, -0.8135, 0.0097, -0.2737, 0.9986] state[eef_state]: left_x=0.2753 left_y=-0.2245 left_z=0.0787 left_yaw=0.0834 left_pitch=-0.5021 left_roll=-0.1584 left_gripper=0.5269 right_x=0.2812 right_y=-0.0011 right_z=0.1643 right_yaw=0.1294 right_pitch=-0.3984 right_roll=-0.1719 right_gripper=0.9986 state[joint_eff]: [-0.1162, -8.9231, 8.0479, 0.8132, -0.232, -0.0024, 0.9841, 0.0068, -2.3179, 6.8034, 1.3114, -0.0464, -0.0659, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). 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":{"left_x":0.365,"left_y":-0.39,"left_z":0.21},"note":"The dark fruit appears to have risen with the closed left gripper, and it is no longer visible at its original spot on the table. I’ll carry it high over the blue bowl for release."})

tool

executing move_to over 15 steps (1.5s)

step 222

assistant

agent noteThe dark fruit is secure, but the blue bowl is still ahead of the left fingertips in the wrist view. I’ll bring the fruit farther forward over the bowl before opening the gripper.

move_to

left_x0.4250left_y-0.3900left_z0.1900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9379, 2.4889, 2.7064, -1.4647, -0.3573, -1.0878, 0.5289, -0.0109, 1.0454, 0.9043, -0.8211, 0.0063, -0.2741, 0.9986] state[eef_state]: left_x=0.3667 left_y=-0.3893 left_z=0.1606 left_yaw=0.105 left_pitch=-0.5369 left_roll=-0.1298 left_gripper=0.5289 right_x=0.2797 right_y=-0.0006 right_z=0.163 right_yaw=0.133 right_pitch=-0.4063 right_roll=-0.1678 right_gripper=0.9986 state[joint_eff]: [-0.7453, -17.7846, 9.5521, 0.2125, -0.3541, 0.0855, 0.8425, -0.294, -2.6872, 6.8855, 1.3797, 0.022, -0.0659, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.425,"left_y":-0.39,"left_z":0.19},"note":"The dark fruit is secure, but the blue bowl is still ahead of the left fingertips in the wrist view. I’ll bring the fruit farther forward over the bowl before opening the gripper."})

tool

executing move_to over 5 steps (0.5s)

step 227

assistant

agent noteThe dark fruit is still held, and the bowl is now directly ahead but slightly right in the wrist view. I’ll lower and shift toward its center while staying inside the arm’s reachable area.

move_to

left_x0.3900left_y-0.3900left_z0.1150

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]: [-0.8471, 2.5542, 2.8517, -1.541, -0.3267, -1.0321, 0.5292, -0.0105, 1.0454, 0.9043, -0.8219, 0.0059, -0.2737, 0.9986] state[eef_state]: left_x=0.3979 left_y=-0.3592 left_z=0.1629 left_yaw=0.1401 left_pitch=-0.555 left_roll=-0.1225 left_gripper=0.5292 right_x=0.2795 right_y=-0.0004 right_z=0.1629 right_yaw=0.1335 right_pitch=-0.407 right_roll=-0.1671 right_gripper=0.9986 state[joint_eff]: [-0.4171, -12.6564, 7.5282, 0.8864, -0.2222, 0.2125, 0.4127, -0.1026, -2.5641, 6.6256, 1.2918, -0.0513, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.39,"left_z":0.115},"note":"The dark fruit is still held, and the bowl is now directly ahead but slightly right in the wrist view. I’ll lower and shift toward its center while staying inside the arm’s reachable area."})

tool

executing move_to over 4 steps (0.4s)

step 231

assistant

agent noteThe bowl’s interior is visible just in front of the held fruit. I’ll make a small forward and sideways adjustment so the fruit drops inside rather than against the near rim.

move_to

left_x0.4180left_y-0.4000left_z0.1150

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]: [-0.889, 2.7499, 3.0364, -1.5646, -0.3275, -1.0714, 0.5304, -0.0105, 1.0454, 0.9043, -0.8249, 0.0059, -0.2737, 0.9986] state[eef_state]: left_x=0.3938 left_y=-0.3893 left_z=0.1125 left_yaw=0.1421 left_pitch=-0.5758 left_roll=-0.1071 left_gripper=0.5304 right_x=0.2789 right_y=-0.0004 right_z=0.1625 right_yaw=0.1337 right_pitch=-0.41 right_roll=-0.1666 right_gripper=0.9986 state[joint_eff]: [-0.4034, -15.4462, 7.8427, 0.7888, -0.3199, -0.1099, 0.5055, -0.1983, -2.6598, 6.7761, 1.3016, -0.0464, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.418,"left_y":-0.4,"left_z":0.115},"note":"The bowl’s interior is visible just in front of the held fruit. I’ll make a small forward and sideways adjustment so the fruit drops inside rather than against the near rim."})

tool

executing move_to over 2 steps (0.2s)

step 233

assistant

agent noteThe held fruit is over the visible blue bowl interior, close to its near rim. I’ll open the left gripper now and then withdraw to check whether it settled inside.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8906, 2.7808, 3.0287, -1.557, -0.3195, -1.0706, 0.5327, -0.0105, 1.0454, 0.9043, -0.8291, 0.0059, -0.2737, 0.9986] state[eef_state]: left_x=0.3926 left_y=-0.3914 left_z=0.094 left_yaw=0.153 left_pitch=-0.5981 left_roll=-0.0794 left_gripper=0.5327 right_x=0.278 right_y=-0.0004 right_z=0.1619 right_yaw=0.134 right_pitch=-0.4142 right_roll=-0.166 right_gripper=0.9986 state[joint_eff]: [1.6615, -14.1607, 8.3897, 0.7448, -0.2564, 0.0952, 0.6471, -0.1846, -2.6462, 6.5983, 1.3993, -0.0024, -0.0513, -0.0171] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The held fruit is over the visible blue bowl interior, close to its near rim. I’ll open the left gripper now and then withdraw to check whether it settled inside."})

tool

executing move_to over 5 steps (0.5s)

step 238

assistant

agent noteThe dark fruit is resting inside the blue bowl. I’ll withdraw the left arm and bring the open right gripper back above the two remaining fruits.

move_to

left_x0.2900left_y0.0000left_z0.1900right_x0.2900right_y0.1900right_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8623, 2.7815, 3.0467, -1.5604, -0.3199, -1.0618, 0.9954, -0.0105, 1.0454, 0.9043, -0.833, 0.0059, -0.2737, 0.9986] state[eef_state]: left_x=0.4043 left_y=-0.381 left_z=0.0985 left_yaw=0.1678 left_pitch=-0.5903 left_roll=-0.0893 left_gripper=0.9954 right_x=0.2773 right_y=-0.0004 right_z=0.1614 right_yaw=0.1342 right_pitch=-0.418 right_roll=-0.1654 right_gripper=0.9986 state[joint_eff]: [-0.294, -14.3385, 7.1863, 0.7937, -0.2369, 0.1197, -0.149, -0.212, -2.6735, 6.653, 1.3504, -0.0757, -0.0611, -0.0122] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.19,"right_x":0.29,"right_y":0.19,"right_z":0.16},"note":"The dark fruit is resting inside the blue bowl. I’ll withdraw the left arm and bring the open right gripper back above the two remaining fruits."})

tool

executing move_to over 34 steps (3.4s)

step 272

assistant

agent noteThe right wrist view shows the yellow fruit centered below the jaws, with the green fruit farther ahead and to the right. I’ll advance slightly toward the yellow fruit while lowering, keeping clear of the bowl.

move_to

right_x0.3120right_y0.1900right_z0.0900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0479, 1.2972, 1.2381, -1.0981, -0.0437, -0.3313, 0.9963, 0.7704, 1.4471, 1.1622, -0.8711, 0.3893, 0.3859, 0.9986] state[eef_state]: left_x=0.296 left_y=-0.0029 left_z=0.186 left_yaw=0.2134 left_pitch=-0.594 left_roll=-0.0929 left_gripper=0.9963 right_x=0.2835 right_y=0.1867 right_z=0.1491 right_yaw=0.1593 right_pitch=-0.4572 right_roll=-0.1844 right_gripper=0.9986 state[joint_eff]: [0.3214, -5.8051, 6.2427, 1.0427, -0.0024, 0.2076, 0.0806, 0.1983, -5.6957, 8.8, 1.0037, 0.3932, 0.1978, -0.0122] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.312,"right_y":0.19,"right_z":0.09},"note":"The right wrist view shows the yellow fruit centered below the jaws, with the green fruit farther ahead and to the right. I’ll advance slightly toward the yellow fruit while lowering, keeping clear of the bowl."})

tool

executing move_to over 4 steps (0.4s)

step 276

assistant

agent noteThe yellow fruit is now centered near the right fingertips, with the blue bowl well ahead. I’ll lower nearly to table height and re-check its position before closing.

move_to

right_x0.3000right_y0.1800right_z0.0180

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]: [-0.0444, 1.2919, 1.2381, -1.1114, -0.036, -0.3222, 0.9964, 0.7128, 1.5677, 1.0428, -0.6914, 0.3656, 0.3466, 0.9986] state[eef_state]: left_x=0.2926 left_y=-0.003 left_z=0.1861 left_yaw=0.2046 left_pitch=-0.603 left_roll=-0.0943 left_gripper=0.9964 right_x=0.2983 right_y=0.1791 right_z=0.0848 right_yaw=0.1256 right_pitch=-0.5236 right_roll=-0.2245 right_gripper=0.9986 state[joint_eff]: [-0.6359, -3.7538, 6.2017, 1.1404, -0.1392, -0.1441, -0.0073, 0.0615, -7.8154, 6.8034, 1.2821, 0.1832, -0.1783, -0.0122] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.18,"right_z":0.018},"note":"The yellow fruit is now centered near the right fingertips, with the blue bowl well ahead. I’ll lower nearly to table height and re-check its position before closing."})

tool

executing move_to over 5 steps (0.5s)

step 281

assistant

agent noteAt grasp height, the yellow fruit remains centered between the right jaws, while the green fruit is off to the side. I’ll close on the yellow fruit and check the opening before lifting.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0444, 1.2919, 1.2381, -1.1156, -0.0357, -0.3294, 0.9964, 0.7113, 1.6829, 0.8852, -0.4744, 0.3614, 0.3325, 0.9986] state[eef_state]: left_x=0.2916 left_y=-0.0031 left_z=0.1857 left_yaw=0.2097 left_pitch=-0.6076 left_roll=-0.0969 left_gripper=0.9964 right_x=0.2905 right_y=0.1726 right_z=0.0162 right_yaw=0.1171 right_pitch=-0.5738 right_roll=-0.2644 right_gripper=0.9986 state[joint_eff]: [-0.1299, -4.5607, 5.9966, 1.0818, -0.0513, 0.0562, -0.0122, -0.0342, -7.6103, 6.188, 1.1209, 0.1636, 0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"At grasp height, the yellow fruit remains centered between the right jaws, while the green fruit is off to the side. I’ll close on the yellow fruit and check the opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 291

assistant

agent noteThe right gripper closed empty and knocked the yellow fruit aside. With the dark fruit already in the blue bowl, I’ll clear the right arm and position the left gripper to try transferring the bowl toward the white one.

move_to

right_x0.2900right_y0.0000right_z0.1900right_gripper1.0000left_x0.3900left_y-0.3900left_z0.1200left_gripper0.9200

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]: [-0.0444, 1.2919, 1.2354, -1.1152, -0.036, -0.3298, 0.9964, 0.7113, 1.6955, 0.8738, -0.4187, 0.3618, 0.3328, 0.0113] state[eef_state]: left_x=0.2912 left_y=-0.003 left_z=0.1848 left_yaw=0.2107 left_pitch=-0.6098 left_roll=-0.0959 left_gripper=0.9964 right_x=0.2959 right_y=0.1772 right_z=0.013 right_yaw=0.1276 right_pitch=-0.5473 right_roll=-0.2438 right_gripper=0.0113 state[joint_eff]: [-0.3487, -4.9299, 5.8462, 1.0427, -0.0806, -0.0269, -0.0122, -0.1709, -7.9385, 5.7504, 0.9939, 0.2076, 0.1294, 0.9841] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.19,"right_gripper":1,"left_x":0.39,"left_y":-0.39,"left_z":0.12,"left_gripper":0.92},"note":"The right gripper closed empty and knocked the yellow fruit aside. With the dark fruit already in the blue bowl, I’ll clear the right arm and position the left gripper to try transferring the bowl toward the white one."})

tool

executing move_to over 35 steps (3.5s)

step 326

assistant

agent noteI placed the dark fruit in the blue bowl, but both remaining fruits are still on the table. Attempts to grasp them pushed them sideways, and I cannot complete the required fruit transfer and bowl pour in this trial.

give_up

hindsightThe blue bowl is near the left arm’s crossover limit (left_y about −0.39); at left_x≈0.39 the arm reaches only about z≈0.09–0.16 reliably. The large white bowl blocks wide-open-jaw descents onto the nearby dark fruit; narrowing the jaws to about 0.78 allowed a grasp at left_x≈0.28, left_y≈−0.23, z≈0.01. Rotating left yaw by ~1.5 rad near the bowl caused major Cartesian position errors, so rotate only when well clear. The right arm’s off-center closes on the remaining fruits ejected them; a partially closed reading during the first close was not proof of a grasp—verify with a lift and overhead view.

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]: [-0.8848, 2.6934, 2.8529, -1.4895, -0.3065, -1.1378, 0.9214, 0.0536, 1.2339, 1.137, -1.037, 0.104, -0.2783, 0.9982] state[eef_state]: left_x=0.3905 left_y=-0.3873 left_z=0.0931 left_yaw=0.208 left_pitch=-0.6231 left_roll=-0.0958 left_gripper=0.9214 right_x=0.2867 right_y=0.0006 right_z=0.1746 right_yaw=0.1147 right_pitch=-0.5862 right_roll=-0.2459 right_gripper=0.9982 state[joint_eff]: [-0.8547, -17.6205, 8.8, 0.2369, -0.4664, -0.0464, 0.1245, -0.4718, -5.0393, 8.8274, 1.1697, -0.022, 0.0513, -0.0122] camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I placed the dark fruit in the blue bowl, but both remaining fruits are still on the table. Attempts to grasp them pushed them sideways, and I cannot complete the required fruit transfer and bowl pour in this trial.","hindsight":"The blue bowl is near the left arm’s crossover limit (left_y about −0.39); at left_x≈0.39 the arm reaches only about z≈0.09–0.16 reliably. The large white bowl blocks wide-open-jaw descents onto the nearby dark fruit; narrowing the jaws to about 0.78 allowed a grasp at left_x≈0.28, left_y≈−0.23, z≈0.01. Rotating left yaw by ~1.5 rad near the bowl caused major Cartesian position errors, so rotate only when well clear. The right arm’s off-center closes on the remaining fruits ejected them; a partially closed reading during the first close was not proof of a grasp—verify with a lift and overhead view."})

tool

give_up: I placed the dark fruit in the blue bowl, but both remaining fruits are still on the table. Attempts to grasp them pushed them sideways, and I cannot complete the required fruit transfer and bowl pour in this trial.

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]

call 0 attempt 0 · /responses · status 200 · 7.079 s

model: gpt-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]: [-0.0303, 0.8001, 0.614, -0.382, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.0208, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0029 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=0.0005 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -1.7709, 9.7026, 1.8046, -0.1001, 0.105, -0.0855, -0.3077, -1.5385, 9.0598, 1.8339, -0.0366, 0.1148, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a71eaa1c17695f8cf238bd9f07bf5b58c387c296267e53adc9c789f0e279d253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb3caaa73e3adcb0fd1fb8917108205c4b8a46f71cff0a95c178bdb3b7b6cec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09690287cb68fd3e9e5dfb31b066617c1cdbbefed8799c9aa1653e138e90eb3f",
      "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 · 3.472 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

{
  "content": [],
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  "id": "rs_0cdee9c582865efc016ab41cd1e8a887d0b821267ee40d9ec3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBzY-QdhXl9Uu5YL8rImUjsf5tsmvI9IGPZNbWXyoJfjuhLOVHHMKiEeswUHJbv2C7SIdOnXbyBotzDN9gWIhw5iAnj9r6y5pzbkqWeh8Kq4WY2ixTeTOnspI3WoMlTHnHGK2z5d9b3LqusOm2AGjB4E6s9bhPmEIfbTpVPEJFqnu-drifhYKtzhUDOBNrDqLc-f9gUG-ysNsZzJGvmcCldpJp0QEDg2CBnc4fmjpxUAz0j6bVRaM9TljDgfTY5PMCs4drZYOjVmzvlw7aKATWh7onQ7vN8QcGSkvQJH-PM_fo4nWgIv3fKkTCv1cBEm0h0cVkkeFlZypjE6tX3E1tIbGtS4u4Hx3AXalULQO2MI02IlCIYgvbPBLe52Uf-VrxcCnxFvoQyvxZRNlzx4iuZmnT4WV0rrVRDGHcreRh1k-D4brep8GC0R7Cm4Ir81aNsR6QWLzqWYJn4lrxzJL4WdRZgu2ENqE5UQMikdfpKlHPnQlmdyr_hS-8c8kwKaa_HbgF7uftu42FLK0DFhMpyBRFDg8ikLUelWdsQRc33cHZRXEkQUuEQO-16J7BKP_jlADrmZ6EVyq6Jl2WNE0wbqUiyQIWXByXrXFGWMz2493GfXRnVxK4RImd7cA5460Q8J2HbUlEXvxWoY2QtK4V_oIqNytc28Dn8F1FHc1luEuTnOHcY35uLcRAUhqjG5ccOJiCsdRmI2yjgWo8VD7FdGC9lnytXTEtQQr0pherWR4KDqGgzMRg2D798_D-W8DA46DaYCWa-VxMgS_sLbtqX3SIDg2pUWYgzfIw0rTStvh-mNRoc1AHNueupvDL6uVi27ZzL7uFpmwnjr8Bp2innwPKhF3zI9fj6UmmDBilzYDxQGXjAxBKzaMz3KbruyDB5la1wopLApp0c5-Fs9H3hYnfE1ZAezhFG-sCaudVZbV08WpI79JCyFoHoQbPOie6QpX2y8qRJWRyqzm2XI55gia5UJHOI2YiVRFIbaZR1IS61bBFKToIVdhholT08PpsXL8jZ1-tQnDFSNKOQnoP8u8Is6bVzHIj0tY0E0MVsBpH_OMRTudg6jdKcPlVlpOPFqux2sjIGyJ3FNkwC_YC3Cu74Nga-WyJlX6QCZMifgDvueBB1hOkzyIkiO2T-3Zu-Em-V_cTzYQKBVdpjAg35iu3cA72PuFgS3qUCq0-_d5jUqG1uXQ7zc8oIpufT1QPALhTKth1doEWqjIuI-SS25VmnHwSuz9oBdcZ37DqYs-tV8eQWy-P-rbNCHEotPQlMeB-T0I0zErMmWgPZBJ_wA23YZqburs1N6Mkfj_NYOSKh904RTwGMkRFL0Lb6oftPbDkf0h4A3kUxuN2Ay5vtACwxkzAmdzyfNRjGCE0ooYywUicd_OvOCGlPw5sDIbtnGbRVFlAXvV9MZS3-A6uIpkxVLJc8JHp3WKdKB-56iFKek5qL0EN0IuTtXIbWZEBI9fNRy2r7aJDIVuuV6TNVVpmvHxIjWOAI99Lg2JmgaIK9qkeebCO2YnvMwtVMb_0kc6epKzpLiDlB78irPJVm6tgoTxM9Ipah0R8TyLqtgTwo=",
  "id": "rs_0cdee9c582865efc016ab41cd6aa2087d08f740c89cf83edad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.11,\"right_z\":0.15},\"note\":\"The blue bowl is beside two fruits on the right, and a dark fruit sits nearer the left arm. I’ll approach the green fruit with the right gripper open, keeping above the table before descending.\"}",
  "call_id": "call_kJHk1VQLRBtss4Ez3zp9cyzJ",
  "id": "fc_0cdee9c582865efc016ab41cd764a887d096b8b4ddc6721ae3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kJHk1VQLRBtss4Ez3zp9cyzJ",
  "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]: [-0.0303, 0.8013, 0.614, -0.3866, -0.0139, -0.0311, 0.9993, 0.5072, 1.1942, 0.6365, -0.1337, 0.3923, 0.2516, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0029 left_z=0.1812 left_yaw=0.0006 left_pitch=-0.0057 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3303 right_y=0.1104 right_z=0.1301 right_yaw=0.0349 right_pitch=-0.0627 right_roll=-0.0342 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.2513, 7.0632, 1.8046, -0.0757, -0.022, -0.0171, -0.1846, -3.9863, 9.4154, 1.8535, 0.3736, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5540be7f27c6478699997ff20fe6674c27d2f2f234feafe4cf702b45bb91b32e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dadcb4bb12d7530b374f53ff69c5cb7536a73a2da63018c6c646477397e97cf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c3c27581427ba0c343046542f3d29bd7d8bb8ce35a5c540e3521942fc29524",
      "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 · 3.137 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8001, 0.614, -0.382, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.0208, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0029 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=0.0005 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -1.7709, 9.7026, 1.8046, -0.1001, 0.105, -0.0855, -0.3077, -1.5385, 9.0598, 1.8339, -0.0366, 0.1148, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8013, 0.614, -0.3866, -0.0139, -0.0311, 0.9993, 0.5072, 1.1942, 0.6365, -0.1337, 0.3923, 0.2516, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0029 left_z=0.1812 left_yaw=0.0006 left_pitch=-0.0057 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3303 right_y=0.1104 right_z=0.1301 right_yaw=0.0349 right_pitch=-0.0627 right_roll=-0.0342 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.2513, 7.0632, 1.8046, -0.0757, -0.022, -0.0171, -0.1846, -3.9863, 9.4154, 1.8535, 0.3736, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5540be7f27c6478699997ff20fe6674c27d2f2f234feafe4cf702b45bb91b32e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dadcb4bb12d7530b374f53ff69c5cb7536a73a2da63018c6c646477397e97cf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c3c27581427ba0c343046542f3d29bd7d8bb8ce35a5c540e3521942fc29524",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBzjpHa6Pw03vMff3_XIqWOrgCcJX-heeSxTNHejgdcK2b74Sf47XZixEULWwxl8PuQYGX3-kqLvvE3nsU5UValcXawFeUZ9txpntf3XStSK-6iWol9pWuCJpk8CYL14tYDnC1BTefLOR55D_fI4TClfYD_P1nujr1K3VyEBbub0PaVhk10bFr0RBU8Od1QJpl8VWF2zZ1qGUmTEnjFsNeV7zlyWHnKZ3AfGafb3sM4ij05Syda8RX5Os7uGf2nSvyXCkcoavx22VTSYbqPcInzFPSPTVl8fW5mBc66WS-_-Nck5rdmhjcYHuDtPOLw1Y0P7ZSDh0b0SiJjaxn0b1VJxsKoBqgke026-5BtXpdqg0CUbZMhcI7j78SXTc-IHKgQNncLvW06zPXlcuQpRbZ45iMubIr8vFD-G3uuY6Unw6pf1tHIV8A0YV_1DZ9zBugFOCmB70iNRFddauhG_ihx9HqRgN8TAUpEp5Crjt4LkPNNzwK89wiv_MsC4Xx4vk1TGOCOO0xyM7yUmLSYO5v-eCxtX8qKTIDlkKtWih9pb98kg7u6DqdUh_JkqDbydMTZRAMs5s3EyTVZSy6ogT2kRFneCQR4wm6y5Cz-NXenmf-IuItlIGVi0_343ysvM-2Wzp_oJrS9C4dbXTdKq1jjPV6fPv8WcFzlg_kCxDzl2mE_tfkg02n1vy-T8V1MiD16JofhiTA8zYxcqQQGWHlhYfEXsg3M9J03pYWvuyarcIvT6TqkW8L9N4ah0PqeuJdwo6yDCge2TiggJdeLyvI9Dt2bN1FCGXaFTciXAzyB33kFSMQHuwAP3jrO-vUnQhPXjuOLvC_qc9-XeLxMjrW2TM6rRit2NipCwaOnNYBQqHXYJ2ODZKdO_q8WKZhUf408QHdGuHwrAseN2-xknGy0Gx7oTFV7dUYNfNP3ZVZ1mGZJQw1vBs6P2uO-eqwxdNW8Hk5ZXbU6XiODJ8xtJ1lWZvqLcENct30SXVR96hBSuniXdtVihqeSdqHCjIHqfRHboJ-0mCXQlbzFGyI65N3uBtYhsI2naqRjDpr9bvesL75MAk3z_Kti9bCn2RhWMZA1y2gmb9-rqOrzaKVopWrGKFWNx0ZjmrwyQgVTulVV-GCcdLnx0dPshDcGDpN6W3J1MYtm5NdvNNZ6qX1yK3eCUB3FxmIlvznAF4goSAQVryCchPxDVetXeu8jXoMnt1OiwSKDvUyzT0ct_xcfl6FO4KeGppRfa6uPiyQxaSC2BshLeoYFRi-vsUmpdZOO1hASfgwWUmzjkj-28WEahQSCVrk7YcWQqIJqN-iTv2w_r2xQ0NqhCKAicCOX_k91imsh4wNUpu3MoLQ8EuqDIlETHtaLgnj7FBQMXIpynip8u4PJJ8GQpyhmvbsfioTdnyUYxPbeWEP1-CrxTiPSj3_KWYWComYFTjvIwIAlDoxVKnhIgKgPsEWqJ3SWYVSY5e6SntxlAyQOhDSgRq5MKXEgMU9CCGrSMsPTUTFcjEG4QspTBKK_POqfyNeia9IdlHVtmS3TRgY4yQWGBTkWkwfyMBpi1YluJMrlo9pL1Z9waCv9REs86XKmjoU4pyegR6Q-c609F1-lllI5iB7ooroWy0KMcZjtVpBkv2Gm8j8eM29yDiP_LZNPDmdd3qt4_B7S4x8TV454MUksJhSE8AtQUKwJRd0-kVATznIHGDenujQpUcgv8-ArIEKzXIBJOfonE_mBY-UlQ1gd3pqqcaw2s2-1xEbBO9M78SZFRWGRzhASSmPtepPFMx9nDAlzdXmFWvKqP7VkJkx-q_W5s1g6tXGoy1ZFgaJwMJiJnIbyNj_Or5GUfjHy3wlX4x1uT8riBgfT8-75oiF9G_2_86AacKbMOhtx4iSLm42LfT5LrV49awGlJIiJYhMKEyAy6GrdYvLuV68wRdYLhCKwag3ytZ9RNSFHD-CMeraxKDt70FyGyXOaOqDNykbiLF8i_8wE-zOeqnchC9GhdvfYe8MRjc8Nf2n9L5kUPXvRIhYcoQn163lXwcvUrxM0Ujv_6o-9g",
  "id": "rs_0cdee9c582865efc016ab41ce0ef9887d08f16ce418f96b79d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.07,\"right_z\":0.12},\"note\":\"The green fruit appears to the right of the right gripper’s jaw line in the wrist view. I’ll shift the open gripper toward it and slightly forward, then check alignment before lowering.\"}",
  "call_id": "call_m0hpxhwlc4nlI9xHPdVelOwK",
  "id": "fc_0cdee9c582865efc016ab41ce28c8087d0b1a450fca65eb956",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m0hpxhwlc4nlI9xHPdVelOwK",
  "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]: [-0.0303, 0.8017, 0.614, -0.3901, -0.0139, -0.0334, 0.9993, 0.2989, 1.214, 0.6006, -0.062, 0.2298, 0.1188, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0029 left_z=0.1804 left_yaw=0.0018 left_pitch=-0.0096 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3469 right_y=0.0685 right_z=0.1162 right_yaw=0.032 right_pitch=-0.0873 right_roll=-0.039 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.7607, -0.0513, -0.0464, -0.0122, 0.0068, -3.9453, 6.2564, 1.9414, 0.022, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cf5a5043e64eb6ad8f6a20c778cea42fe2bdfb45c736835c35646f65981e12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f873846d456659f320e6f4b45f1c6b9a1e0d6799fb4de7baf54498cd15bb4a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:841246d556f93490a26e6bf0200cd030cc0c9326b06046e749415f9d94a2423e",
      "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 · 2.246 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8013, 0.614, -0.3866, -0.0139, -0.0311, 0.9993, 0.5072, 1.1942, 0.6365, -0.1337, 0.3923, 0.2516, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0029 left_z=0.1812 left_yaw=0.0006 left_pitch=-0.0057 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3303 right_y=0.1104 right_z=0.1301 right_yaw=0.0349 right_pitch=-0.0627 right_roll=-0.0342 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.2513, 7.0632, 1.8046, -0.0757, -0.022, -0.0171, -0.1846, -3.9863, 9.4154, 1.8535, 0.3736, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.3901, -0.0139, -0.0334, 0.9993, 0.2989, 1.214, 0.6006, -0.062, 0.2298, 0.1188, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0029 left_z=0.1804 left_yaw=0.0018 left_pitch=-0.0096 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3469 right_y=0.0685 right_z=0.1162 right_yaw=0.032 right_pitch=-0.0873 right_roll=-0.039 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.7607, -0.0513, -0.0464, -0.0122, 0.0068, -3.9453, 6.2564, 1.9414, 0.022, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cf5a5043e64eb6ad8f6a20c778cea42fe2bdfb45c736835c35646f65981e12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f873846d456659f320e6f4b45f1c6b9a1e0d6799fb4de7baf54498cd15bb4a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:841246d556f93490a26e6bf0200cd030cc0c9326b06046e749415f9d94a2423e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBzoiNczFXywc14Ehiu7YlqZ4tWvzb6xav9Ubp2SYzS48729sju-pDkiTUlsULvShz6M7scsaptE7qBYN6UlR6qMt-9hwdpJQV1Fd9FlUS7Ub9f4uI14GXOpF5egwKgBQkvWpJOOkO3pa1va73NKxcXvPf_aPIHUsx5fYnrb6iRzO9QqlH5Dh2VkdJrzBqYe6bOPZJ9CJiXHsWlfFPXEKhnMotBl9dL2Q_maRDgtJgsFWosvKZyAfuY7_QJzFqpXL7wslQ6-o4CL8tYYmrPN04a1vXGfchnCmVuN57ejDddNjySK-hSyfa_lM1kmHMUQ5LyTXaTxf8eEP-4EWUEqf_LCTqEZmmft-KImmVs3bkSRSwEH_XaOmMe8k2azOkoLqMASWtZiLzx2Z5jwGGNBjfHCSVjyOVgrbfn7IDArzBONOyCQbX6jA3kWmqHknyPfU7NC0ptlQ5oCzKzUyFjOblrT5ZV2HrQdqMvmhPfpXMljBGo8o8YAHE4l4x4z68_DTW3v9hw36HJTRhm_ygcKD04Te9uGELcE-cNLl-CDUylostl43lO7Rnthr7Zat1c2htqPN8TsKVkaW9Ja34tMqbRnLjoVy4V9hthFZ6yKu_M4A3oGBMb3vNm3UhYLTagT13wV2uGMBNbPdWv76XyP3tUyudpZOTf9TospQkaBFb9DP2eHhalKafzjvK0t1vXwlOufbGZcg5iS-7TgUd7Ad88WckRmZyq02n78Ztk-Cqd8edj4MWtdL_LV05ZsS24dxG4--Oa8tCLMPRl2zGwN4emc7cS-jLEa2v6cVMi5Ozmx3wYq88qyMtORHgIJ-cEaBPNDgqAhm1_UnRPHjnNtPkIRHkQUkoatxTkUuCP2aQGvBdYDSU0EEkDMXkvmw8IJUkd1_g6Hem5dkzVxtxfU6GdmB2vIsuMr8piT-qM4f1M9TnAM4vPYiH-C_0nA2plNbkaqwFMtmuWW8yJ4DKPw7CbiySwRFAf1NXvZQVwKw3VtkP52XbOZ0NCpeyxs2QxYFKHOXBZ3C3yqUNiZND67TN8Y31QsEoi7GLoYGf93S8NC5X9g-9dPpJyrhAkVpoPBZ9SEO-1U9SF3VOIpQIfpJ0Ahn1dsdRtqt5yV1QOEt1iOw1rh0OQKeUIwX7hnshthrHNqtrtTi8ywg6fSqc6H247lPJXCGX511R7KtqbKAnh4c6kUj32B0H3ZoCU6avgu5D3higJoSC3j_lCN1Bo7FOXVRf1NjPAodyIGFozK6teh-XC-Z3qTDv-Q_zJotxd3SE6QJrrZZMpDwVQzFEHCmPwWGvZfzREKE1vfDEGRJFX9a-c_sz5mB8KB71KNEOeaJAPhbaBQ-XShS17EEILeIp9WqNGZWlnWR478IMZEo-BjgEQHuppcDOQLeeAcZ35bxwNI73ykO2-se3XRHwA5-zjqvV6dXy2ycWRZ-s6CzyrazrPkv2OqzFGREicI1wo4-MX5SUwtTnwUNfMnLSOwHnSdyqWtejhn_tLCVkg7rgVHihzgC1j9iUG5BvouqyLRg8OkLxbXwK08GjImQOf17IiP792QdhfYNR_ue_FLqkUyOrfhJmMyBWAVvwA5ReFUlZG11IxsNhkLJ73MoD9BRF7N6mRaZeu-krl9F2IiyGtQdkof5s34Nbbs5W_ShVqE_7x6HuufDTIC-Jk9cH64cyInZtr1c1iUeTI4aWn63l5agNCpp_UIQDz-DY8vq3jV_Ar19Ob6J01elOFNWlCeImgdp_X3WftfUgloWUhbmgqhoXk=",
  "id": "rs_0cdee9c582865efc016ab41ce6280487d0adace65eef3f6b43",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.068,\"right_z\":0.033},\"note\":\"The green fruit is now centered between the open jaws in the wrist view. I’ll lower the gripper around its middle to prepare for a controlled grasp.\"}",
  "call_id": "call_xs4jutt2ubIY6pLljhFAe65q",
  "id": "fc_0cdee9c582865efc016ab41ce784dc87d08fefa642fef80f2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xs4jutt2ubIY6pLljhFAe65q",
  "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]: [-0.0303, 0.8017, 0.614, -0.4011, -0.0135, -0.0334, 0.9993, 0.2951, 1.5009, 0.3996, 0.3965, 0.2226, 0.1184, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0029 left_z=0.1781 left_yaw=0.0015 left_pitch=-0.0206 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3458 right_y=0.0681 right_z=0.0271 right_yaw=0.0336 right_pitch=-0.1168 right_roll=-0.0426 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.1966, 7.1316, 1.8584, -0.0366, -0.0562, -0.0171, -0.3077, -5.3675, 5.2171, 1.8046, 0.1392, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0feb3389bf8f1f6cd9de3328ada667e4f9dcf1d8e1b48fdaeba9ca35ff575c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f911d5f4208324182f603adcdb879468a98e75d8eac92649145e1f3b4b2c6709",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e67fd615f984e7fd35d96f6dbd2f13258ec4dac5f18cb726a82790c30902547f",
      "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 · 4.451 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8001, 0.614, -0.382, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.0208, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0029 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=0.0005 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -1.7709, 9.7026, 1.8046, -0.1001, 0.105, -0.0855, -0.3077, -1.5385, 9.0598, 1.8339, -0.0366, 0.1148, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.3901, -0.0139, -0.0334, 0.9993, 0.2989, 1.214, 0.6006, -0.062, 0.2298, 0.1188, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0029 left_z=0.1804 left_yaw=0.0018 left_pitch=-0.0096 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3469 right_y=0.0685 right_z=0.1162 right_yaw=0.032 right_pitch=-0.0873 right_roll=-0.039 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.7607, -0.0513, -0.0464, -0.0122, 0.0068, -3.9453, 6.2564, 1.9414, 0.022, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4011, -0.0135, -0.0334, 0.9993, 0.2951, 1.5009, 0.3996, 0.3965, 0.2226, 0.1184, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0029 left_z=0.1781 left_yaw=0.0015 left_pitch=-0.0206 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3458 right_y=0.0681 right_z=0.0271 right_yaw=0.0336 right_pitch=-0.1168 right_roll=-0.0426 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.1966, 7.1316, 1.8584, -0.0366, -0.0562, -0.0171, -0.3077, -5.3675, 5.2171, 1.8046, 0.1392, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0feb3389bf8f1f6cd9de3328ada667e4f9dcf1d8e1b48fdaeba9ca35ff575c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f911d5f4208324182f603adcdb879468a98e75d8eac92649145e1f3b4b2c6709",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e67fd615f984e7fd35d96f6dbd2f13258ec4dac5f18cb726a82790c30902547f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBzuApmkO9EiGnfgtR1WCb-mMbbuyh8tfqtMYkIFSc8yR21r0YgX-55X4dwsPVJRG1o8KjUGqNG-GUnSVwpq3YA4POxbtxpTCGhYM2NDlWxxKk5nuWFdiVm4J4wRguzVN8ENDtNV-7QkbKEj8XrbnSa4U9YYoKlSHac2HiVI9EfMCgHo6wxm15rDvPn1eJinqmu0vfRXzIFiSoPHyagRH02hOpPvkUuXQisjdDLKLy2AsTHYaTllxqTq2q7k-thlx4TsVLr5EdVtqVE7J0HqwSYNgV2rGh6tlHl9yPCPZhipFTp51BQCPKqo_6_SoK3Xfwa4U8pgNyLCKUi2W3VWUbQxQbvEEfb1RGx0kydloeTKJo0mv5yrqBjL6jwyhUFuO3iiz1WLCSZDyZgAx5LOkAwJCAWJSmJ44lm9qiyR-CKNZWNkBTFlL_5OhZ3ITOdGwD-HdAqsOqugYOoOQthNxZ6Ldi85pJwzMEiR1oQNAXTcKjVsz0tkJOB9dHk-Va9xjPpJQQkODVquPZocYYuNIOK0RAcwffxmpJw-_7rW6iqK9fgUchmUuxiK9TgiYCRWivi486OiH7z0f_TRAzCR7H8xhxUlnWKggatbH7BND0Mti0HVk36eaIToV8-j_RSUl4m0f7Lo1DrEayzcjK61BEolWvWzMUSmq4qNqaOJ6UVIyCPEATfGY4sRr3Pw4Jk0iSFNcDN7owbHlWAUF7NPH8JAMYQIc8lVt39uNhfM5fQuf8eFXivTSffmpC53aS_HXYNNfxgv_zX5RrKssbC52DmlJGHJV-FtYn6fpZBY-auDyRWjcyZ_QBxhMgQ8k9FlYkA0rEjnw1GM_xP7M-UaRHTzZ9xtSmYVsfYYZLkXDCZ3ADvir1zbpFbjtmhR7wB2faw1jED_GTNePxWwDgWFzSHBtkudUtznXRj4nCAEb_RXT-GhQzbELoAGrPt5U0MP41fJ5m6gCYt37oDjy_y4nmcI-vZPoizcNwh6cMtGEx_rZA0SWZpl4ZBcJmhk4HZIGHJFpV5kK5gCWJViEKg1_yfl_uJCqAYFGAOheiduIkNWBUepqDr5lpY5WUkzMrsqv11ccikFifENXzL9suVoJQmNyGeLLHUlmEAGyLy_RhNaKI5iN1t3uZwgvEZShnEbF2jSc_AI_wcDFQDW_ce_pqUULAxTkYl6OTCB-0LwngtQbfCSG233p765B-Tpqz2elM8dBmwGEiRkUdafYPQ8pxLVW1MxQXKJZ3n8OxQmA18wxMW50uvYvKe-aVNVpFLHnwh9gxObZF5FMMZZcHqPSIXUn1UI4_jTTh80D3JMfaE-ugnrcsbYNUYepfOgr02DvEBvSM_Pcqap3AbwdoQ9bNYtbAAXmAdkc4cO4nFlRZDfzqu29ksl11EDSv-F2nsVZdCELrtjO4ixZL6CMnufzG2Lhg63B1qE5dqRB5sqEdGUAoxsvgl5EG0ntqixEK_vvl4E24ocRSvepgFeqXibGLtNdw==",
  "id": "rs_0cdee9c582865efc016ab41ced701887d09bf6cb3be0f0824a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now straddle the green fruit near table height. I’ll close the right gripper and check whether it holds the fruit before lifting.\"}",
  "call_id": "call_BBlGTi1b6Uk8pL3nxJYJSMnK",
  "id": "fc_0cdee9c582865efc016ab41cedf96887d0a83da07bf4630070",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BBlGTi1b6Uk8pL3nxJYJSMnK",
  "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]: [-0.0303, 0.8017, 0.614, -0.4084, -0.0139, -0.0334, 0.9993, 0.2951, 1.4948, 0.4046, 0.424, 0.2268, 0.1188, 0.6182]\nstate[eef_state]: left_x=0.2926 left_y=-0.0028 left_z=0.1766 left_yaw=0.0019 left_pitch=-0.0279 left_roll=-0.002 left_gripper=0.9993 right_x=0.352 right_y=0.0692 right_z=0.0362 right_yaw=0.0309 right_pitch=-0.0789 right_roll=-0.0348 right_gripper=0.6182\nstate[joint_eff]: [-0.0479, -1.1966, 7.0085, 1.8339, -0.0464, -0.0415, -0.0122, -0.2256, -4.4923, 4.9573, 1.3748, -0.022, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208f4672f343dc4036f798ec91858dba000929f232a7152beab7f08853c012c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa907b49d501581a59588ce22db81e4d4a4d97d40bb4fb46876cd68bb75eb4fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b013a0ad3069038dc2edee1052a687fe4339211dc06bb64deaef7282d795a02",
      "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 · 3.054 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8013, 0.614, -0.3866, -0.0139, -0.0311, 0.9993, 0.5072, 1.1942, 0.6365, -0.1337, 0.3923, 0.2516, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=-0.0029 left_z=0.1812 left_yaw=0.0006 left_pitch=-0.0057 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3303 right_y=0.1104 right_z=0.1301 right_yaw=0.0349 right_pitch=-0.0627 right_roll=-0.0342 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.2513, 7.0632, 1.8046, -0.0757, -0.022, -0.0171, -0.1846, -3.9863, 9.4154, 1.8535, 0.3736, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4011, -0.0135, -0.0334, 0.9993, 0.2951, 1.5009, 0.3996, 0.3965, 0.2226, 0.1184, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0029 left_z=0.1781 left_yaw=0.0015 left_pitch=-0.0206 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3458 right_y=0.0681 right_z=0.0271 right_yaw=0.0336 right_pitch=-0.1168 right_roll=-0.0426 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.1966, 7.1316, 1.8584, -0.0366, -0.0562, -0.0171, -0.3077, -5.3675, 5.2171, 1.8046, 0.1392, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4084, -0.0139, -0.0334, 0.9993, 0.2951, 1.4948, 0.4046, 0.424, 0.2268, 0.1188, 0.6182]\nstate[eef_state]: left_x=0.2926 left_y=-0.0028 left_z=0.1766 left_yaw=0.0019 left_pitch=-0.0279 left_roll=-0.002 left_gripper=0.9993 right_x=0.352 right_y=0.0692 right_z=0.0362 right_yaw=0.0309 right_pitch=-0.0789 right_roll=-0.0348 right_gripper=0.6182\nstate[joint_eff]: [-0.0479, -1.1966, 7.0085, 1.8339, -0.0464, -0.0415, -0.0122, -0.2256, -4.4923, 4.9573, 1.3748, -0.022, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208f4672f343dc4036f798ec91858dba000929f232a7152beab7f08853c012c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa907b49d501581a59588ce22db81e4d4a4d97d40bb4fb46876cd68bb75eb4fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b013a0ad3069038dc2edee1052a687fe4339211dc06bb64deaef7282d795a02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0cdee9c582865efc016ab41cf086f487d09cbee60d23d10234",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.13},\"note\":\"The green fruit slipped sideways when the jaws closed and is now beside the yellow fruit, outside the gripper. I’ll reopen and reposition above the two fruits for a better-centered attempt.\"}",
  "call_id": "call_fnT2dA5t6NUWKpP3RRYANMXf",
  "id": "fc_0cdee9c582865efc016ab41cf349c087d0a82d13cb856ff80b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fnT2dA5t6NUWKpP3RRYANMXf",
  "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]: [-0.0303, 0.8017, 0.614, -0.4198, -0.0139, -0.0334, 0.9993, 0.7437, 1.5055, 0.8825, -0.1822, 0.5411, 0.4152, 0.9986]\nstate[eef_state]: left_x=0.291 left_y=-0.0028 left_z=0.1743 left_yaw=0.0019 left_pitch=-0.0393 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3464 right_y=0.1999 right_z=0.1217 right_yaw=0.0618 right_pitch=-0.0992 right_roll=-0.0506 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.265, 6.9949, 1.7949, -0.022, -0.0464, -0.0122, 0.1573, -5.8735, 8.294, 1.4335, 0.3687, 0.1978, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e34dcd61e8053715be4eb840b8bcf3e039dc222887712cc8324584719b47f7f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02f38128c1467bb8f7edbd1e5e0e483e34e78d6e6e3108a7f0f1ccec611c767",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0720e9715ed178a6811c1ff8a58cc3d616086244de91f33a499a4a624f15533",
      "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 · 3.378 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.3901, -0.0139, -0.0334, 0.9993, 0.2989, 1.214, 0.6006, -0.062, 0.2298, 0.1188, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0029 left_z=0.1804 left_yaw=0.0018 left_pitch=-0.0096 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3469 right_y=0.0685 right_z=0.1162 right_yaw=0.032 right_pitch=-0.0873 right_roll=-0.039 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.7607, -0.0513, -0.0464, -0.0122, 0.0068, -3.9453, 6.2564, 1.9414, 0.022, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4084, -0.0139, -0.0334, 0.9993, 0.2951, 1.4948, 0.4046, 0.424, 0.2268, 0.1188, 0.6182]\nstate[eef_state]: left_x=0.2926 left_y=-0.0028 left_z=0.1766 left_yaw=0.0019 left_pitch=-0.0279 left_roll=-0.002 left_gripper=0.9993 right_x=0.352 right_y=0.0692 right_z=0.0362 right_yaw=0.0309 right_pitch=-0.0789 right_roll=-0.0348 right_gripper=0.6182\nstate[joint_eff]: [-0.0479, -1.1966, 7.0085, 1.8339, -0.0464, -0.0415, -0.0122, -0.2256, -4.4923, 4.9573, 1.3748, -0.022, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4198, -0.0139, -0.0334, 0.9993, 0.7437, 1.5055, 0.8825, -0.1822, 0.5411, 0.4152, 0.9986]\nstate[eef_state]: left_x=0.291 left_y=-0.0028 left_z=0.1743 left_yaw=0.0019 left_pitch=-0.0393 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3464 right_y=0.1999 right_z=0.1217 right_yaw=0.0618 right_pitch=-0.0992 right_roll=-0.0506 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.265, 6.9949, 1.7949, -0.022, -0.0464, -0.0122, 0.1573, -5.8735, 8.294, 1.4335, 0.3687, 0.1978, -0.1538]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e34dcd61e8053715be4eb840b8bcf3e039dc222887712cc8324584719b47f7f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02f38128c1467bb8f7edbd1e5e0e483e34e78d6e6e3108a7f0f1ccec611c767",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0720e9715ed178a6811c1ff8a58cc3d616086244de91f33a499a4a624f15533",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBz5IQzwhWo6tVJW-RbbuBK8jUv5UVVA45uhG0y_9NM3yk7vhMTRIhNSODRUsiFisbjAVrIy1rowxo96m4i0f1chgkaINSwB8uOcbjJ6sgqvMPDrLS2hkc-PqfDe4sssTt0_jLFYeFBGtu7aSMdaEhR6wHpRzzC-ssiirCIUMd9dIO6ZSjKTfLkS4BHXkT3srqcvFYpdUB6cjEvo4p76Y3raYHVJ10z4BgcDVrBB5UW2asdOAgDC0rHPpETTJRMZi43ZVqCDqRyYS-wy8U_amZFV87lVpGfdzlsoCRA3-fS9QZ4NpEciUuPhhlloFXWKSmgIjY5atQb5MAcdXDQr71N2oCTUTeAWL_OLz9l_oqc7f_JxlWJXrM5DHvwNOEqLttjc6dcLybC_RcAaQX57ot6PgEaReDysqX1yFqZyLQRf9pjb5MVz1gci5TL8rE32CK2HrrOCp1aSQHzJekJWvKQypEOegP6WO9NAxZ1lLQlob_rYUbTRD4rWIx8YsSdIa8zRIykzVITm0-715cpyInylwdy_HDWxl9TBarz8r43yvBIxe1oAwlgkjNk5-LBR1vzd5TrvHiWn-7LwFyNpOvuLP0V5hP_-lQRCCDaIGKYXADuUekPYUCOMNVnkPv5FzPDdRLQEzb5cgOEnreWKc6IMjecoaaIDDjom4JCOgXtyKkDiuo5znFPrSPg-61LkZUf4lrHa2KLReRMtYBGqWctnh_20aWz1zyyz410iDXKoA0Lo68KaRsquX08OcQJriG6b02nCJYBylizTsBmtbMKtJrpZTCJ3Z8ELgnQCW3TIaK05nQGu3cuc2wtL4P2PVJV9vj4K0cFEpyNQ3jyktxJXLOxvwxufaJiyy6yLtSgCG-0J6pokoUc4Jj2Oh7OIKGzxcsArG-cHMZgLjhpuOSSnq-0Dd3wsdK9vKLxNQjaMRSZjom3kr_9cVm7OGYyvoZ9HbxmU-fXlsRi8dvDz7s4LohLm3FNz94uNRK7hky8ZGR0G-FjoE0p2YXCExslYv7YyUNzrWricrbs2RATAn7qJuVumfxa4VxKo_sYFSKBfq6Tabnie1r1xMht44LxvK4DdcrxvvJTZ_QHnUPKvddfTC5wKg7Rfk0JRdKvhvAPgDtUoHDjWrTVFG2XtuzMl22EuI-AM-L6s79Ax8Y92W69G6V0k5LfH-DpF3xnNt6Icp3BZkBwtgUdlq0IwzysgfI2Fugfqa_Bnz8_EhUi9yCMS_xTXsOVXv1op-2SxQgvIuWCzFmdt_96oxK2aLF5qgR___SIyNgOSy6E2LWOiO6cVTBgqFM9nN1EPJXTQtriP9ZLqRVKR76gXM4IPbetEHOik__qbuyHTzppW5Mf5ogN2P6szdLiDqAWj88O9H7q0uB8hLh4pP7p6xpQ1tFFnC4tiB5AorYnly0aHTpgozU26_KU9QYEESHV4lVXmeseCg2FvsFtKRYx_8Byj963J4Mtz-VRhwjAQh6h-P30iNiIk3d_NbZ8mIYY3fSCRYF2Su5uOlKf_-Dm_PlusvEYVZDItYv82XTRWPvPahhi7_tF7KyiCTqGAD56bx_twfT3Xh3Y0sK55FfoWZ1orxQdEptpIeuYV9yigBifZPFVE4HYq2hG4Z7lh8R56vX7EK3HvV25mGslOSY-7hBLY-yU2GXCgK_KNjtr65kCdPTRX52E9WIzO_ofxhKT5EJz2c8a8ay9U0xrjrbdxXT7_Qx8vLqkLSAgNsxue04BOlWKguwhzF5QHHa8eAuO7bdvnGneHAkVDQa7hfI7T4WFaT-bmpgeArqcdZxDSLsF5d6HLA-ILk05UIsY3NRXaKMcHweBLtY3UNxw4zdEPzFKuedODMLcSe928w5TkvhbzPId3edfOXKXd7-U6KAvsV_ObEVlZB68=",
  "id": "rs_0cdee9c582865efc016ab41cf78f7487d09261e3159d52f665",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.247,\"right_z\":0.11},\"note\":\"Both fruits are visible below the right wrist camera, with the yellow fruit left of the jaw line and the green fruit right of it. I’ll align the jaws with the yellow fruit first.\"}",
  "call_id": "call_J7DQD49wLYbJEES8EG5Qt4ev",
  "id": "fc_0cdee9c582865efc016ab41cf8d3d487d0987d864318e9a33c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J7DQD49wLYbJEES8EG5Qt4ev",
  "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]: [-0.0303, 0.8051, 0.614, -0.424, -0.0139, -0.0334, 0.9993, 0.7967, 1.7077, 1.0256, -0.1986, 0.5529, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=-0.0028 left_z=0.1725 left_yaw=0.0019 left_pitch=-0.0469 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3605 right_y=0.2411 right_z=0.0958 right_yaw=0.0874 right_pitch=-0.1507 right_roll=-0.0881 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5932, 7.2137, 1.7118, -0.0513, -0.0513, -0.0122, 0.2803, -8.212, 7.9111, 1.5507, 0.4811, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7218ce947d91aadbbf24648e51b66213b496c3dce4c8ecc4b7b375a620f079",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a651cdd8f213206807a4b8f3a200320b28ad3a7b85cdc8cd021ffbe10e884b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1214f167a34361cfbad86d6ca475f1bc7a336f250da1ac516639c9fb992e5b",
      "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 · 5.478 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4011, -0.0135, -0.0334, 0.9993, 0.2951, 1.5009, 0.3996, 0.3965, 0.2226, 0.1184, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0029 left_z=0.1781 left_yaw=0.0015 left_pitch=-0.0206 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3458 right_y=0.0681 right_z=0.0271 right_yaw=0.0336 right_pitch=-0.1168 right_roll=-0.0426 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.1966, 7.1316, 1.8584, -0.0366, -0.0562, -0.0171, -0.3077, -5.3675, 5.2171, 1.8046, 0.1392, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4198, -0.0139, -0.0334, 0.9993, 0.7437, 1.5055, 0.8825, -0.1822, 0.5411, 0.4152, 0.9986]\nstate[eef_state]: left_x=0.291 left_y=-0.0028 left_z=0.1743 left_yaw=0.0019 left_pitch=-0.0393 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3464 right_y=0.1999 right_z=0.1217 right_yaw=0.0618 right_pitch=-0.0992 right_roll=-0.0506 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.265, 6.9949, 1.7949, -0.022, -0.0464, -0.0122, 0.1573, -5.8735, 8.294, 1.4335, 0.3687, 0.1978, -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 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8051, 0.614, -0.424, -0.0139, -0.0334, 0.9993, 0.7967, 1.7077, 1.0256, -0.1986, 0.5529, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=-0.0028 left_z=0.1725 left_yaw=0.0019 left_pitch=-0.0469 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3605 right_y=0.2411 right_z=0.0958 right_yaw=0.0874 right_pitch=-0.1507 right_roll=-0.0881 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5932, 7.2137, 1.7118, -0.0513, -0.0513, -0.0122, 0.2803, -8.212, 7.9111, 1.5507, 0.4811, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7218ce947d91aadbbf24648e51b66213b496c3dce4c8ecc4b7b375a620f079",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a651cdd8f213206807a4b8f3a200320b28ad3a7b85cdc8cd021ffbe10e884b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1214f167a34361cfbad86d6ca475f1bc7a336f250da1ac516639c9fb992e5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtBz9ksu0hUy-_UpbWevFCCA9pQQj4erSuYprixRcLMczPO0qDbrQbcY-pr_c5eX5MGA7X21wzUOVRRJHCZSYJqy-W-Gr2cxDGvO_m2al9cf8H4LrWrX4RYPdz_vJDTmcnB7wwrywNUtEGsx5g5WOYxoimTWbHMdTfXD59-jjYmBKVy10zWB8h7D0EoOFa58qk4qpq7gw3Ec7UYzNTNpXYKDU2_5skf6cs5Sw6fzvSGuXKVkEbp7laeyF7X40vZ7XBuwTKNl3Z_DbfRqNp3-TJrrRSzdafKkJiibFJ659P8U4fIMY6VvyX4Gr_IeG_uGWhrmoffKyqlGTluZzgLYbTBujM8Gdmaa3u6yz6-fuUmyHzbPbVb3Y_M8XC0j9OPybFSMlNjb8MKvFaMtNIt1n04SaOlTFcVNh5NbZLnFdbMkzMFwanK74V0xMbub8mXvhJnbNX4YSHesOG05hSZEACl4pd_-Uniir7JNywqvmlfE3OU_FlHbauZnEzWKHqI71pEkW-lTQscG2_R3SYUzYqsYVjJDYb0w608jWF92IG3n6i8IWt5yuVNvHc5WtsXtMITdjmXGlUKe_SqO7lxnxj4wzDZi_6oktQEKKf8_1ZeGvBoixOKSuvXvXdyBeZ_-wp0IMtt8IzTLvDiPfNWpwnXNPg4N6_IaenYBPnOzN86KIj3jHpjhlIAK7F6JIu8DWK12A0FmXS9NcLhFYdwjcGaUkpDhRRLL0fsthjRv1lM22fUUrus3sWGKXwrKbPNBLgxqwpAq3fl6i7_wS4UMr3gwUKPcgrDaGXkBn1AkHi9jytJQEFP9JbmWD2l7gczGnKuXwl6aconwI3Mq5X604XEsD-l80tMXYZbbeyPBuhBUOdG9Fpx1l4wMW0tzUP2cD1_IUSzhY4d5qBmJFbHzlaAUUz8P5NHAAnUZ1guf9iX_XY3dEagTpJSPkLeTuCvIAO9zCvd5H87cIacjFgB6EfbR2klTAcYj4hsxBIByxflzpq19hI11PAhCco129fpvDQFmfVNcVoMp1pX_ZY0rHNOiGpSqDEvUSuUP5MABN_gTdzwvElHesVAezPtP2KA4OrmwZRDnHYvKL1MH7IWthHNlSaCdPmcWU-nN8AqeAOwQuCXR3Nrtme0263tMctTXMc56wQd6THOAk3vT6setClbmoqNQXC_TjXgkER-sgUg2sadPjo5IKG4sDs3i4deYycDYDaVDfxmV8foPx5wL6HyD7nfwx2ZSE4F0ULesG6MKTinrjuSKy5Wv5-xWOeiQqajYGRmlGBt4W1ZOdFR0cwQZrx8k55il5SO8LEe2urA2ADknxFxzSGsYbaS4fRPYfpbXFfxtZrjtZqzJT6TTvOfrnK_ltI6gjN2SSIJ1G2jHbbDrh3pm3qVRyKVBx-53e4c0tEPWPIhb_ks-mD_igr3cbQoZsEseTqyuXkXanepTO4c-TRs01OAh6L9MbK9YtonudwqoiWb6p4HXcFO1tb_Ra7FDaWt4QoEQKEGZCyepn0GWWVAeRmkx24NXWDS_NBWZIPyC22n-h8BLZ71FrSFv3pe0dyms0PmyLAPa66cXW60My7t54WgVTcfc6MiYfA95o3QdDT0cKEKhIxozQ7_6naACNp-n32-G5eue-5oHHP9oqIXdyxsf5Qybkoq6kKVEwZSRBIBO-ce_8Z0IKP54bcp3CgoXi8Pbw0IGe3w9Xn8LU-lMqOZk6iGtD1Io998WUOoMDBb_ZCOcvvJhkXK4HmqLYSqLKX0G5bjHbk6Azseyot-Q93a0dLAI7NXSBHeAIF9LONBjmPjGCqonraw6_s3KoUiSwpyIWhWOMZYpe73aI09NIBT7gBNyEq9wAf7JQuQQnPLUGUV0XKdYCJKk21J7GzwifyKqN2akeE2WASRswU-aPjLLsmJGcpcFj2LvFXjtddtzsPpOvIRzEnaZeuaqztTPkw-aNjTxaJx1IMe1lE-vUZFrqPqAm6l5msywJwHZhCDYNW9NED4H02FQYmGswssNO6vCVKfL_cor23UjXFD9xGUtgNA8l2CMFRZQQWP9b-Z9mRCkEUnFNkJid4SNU3Xf5d6n4SvCxU3x_LH7KnsuqA-UB13WOY36t5YeInKl2V20qzht2posbL0PY78H7Bhb2m2jQrp8CjAWch_U=",
  "id": "rs_0cdee9c582865efc016ab41cfb24b887d0a76776ccfc020c5e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.245,\"right_z\":0.024},\"note\":\"The yellow fruit is nearly centered at the bottom of the wrist view, beneath the open jaws. I’ll descend to its lower half before closing, to avoid knocking it sideways.\"}",
  "call_id": "call_5ZfxYszyrw97u7Aus5BnZ9mR",
  "id": "fc_0cdee9c582865efc016ab41cfcbd6c87d09f5dbf76edfc8213",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5ZfxYszyrw97u7Aus5BnZ9mR",
  "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]: [-0.0303, 0.8059, 0.614, -0.4244, -0.0139, -0.0334, 0.9993, 0.7986, 1.7149, 1.0317, -0.1917, 0.5537, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=-0.0028 left_z=0.1722 left_yaw=0.0019 left_pitch=-0.0481 left_roll=-0.0013 left_gripper=0.9993 right_x=0.362 right_y=0.2437 right_z=0.0962 right_yaw=0.0893 right_pitch=-0.1459 right_roll=-0.0848 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.3333, 6.9812, 1.6923, -0.0513, -0.0024, -0.0122, -0.0479, -8.2256, 8.0889, 1.5507, 0.4567, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9819b90b35e90f036e63b4ae05dafa615d417b28c0734b3bc08dd1c878f56768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f829cbc4b62b5c2b261ab056c9d5e71b107f131a382e9e7a940c405be7f6df4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c34829730fc096d903ad46d66d4cf728ba6b1b712b9e57624f6dbb6c4f4e2e",
      "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 · 3.616 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4084, -0.0139, -0.0334, 0.9993, 0.2951, 1.4948, 0.4046, 0.424, 0.2268, 0.1188, 0.6182]\nstate[eef_state]: left_x=0.2926 left_y=-0.0028 left_z=0.1766 left_yaw=0.0019 left_pitch=-0.0279 left_roll=-0.002 left_gripper=0.9993 right_x=0.352 right_y=0.0692 right_z=0.0362 right_yaw=0.0309 right_pitch=-0.0789 right_roll=-0.0348 right_gripper=0.6182\nstate[joint_eff]: [-0.0479, -1.1966, 7.0085, 1.8339, -0.0464, -0.0415, -0.0122, -0.2256, -4.4923, 4.9573, 1.3748, -0.022, -0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8051, 0.614, -0.424, -0.0139, -0.0334, 0.9993, 0.7967, 1.7077, 1.0256, -0.1986, 0.5529, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=-0.0028 left_z=0.1725 left_yaw=0.0019 left_pitch=-0.0469 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3605 right_y=0.2411 right_z=0.0958 right_yaw=0.0874 right_pitch=-0.1507 right_roll=-0.0881 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5932, 7.2137, 1.7118, -0.0513, -0.0513, -0.0122, 0.2803, -8.212, 7.9111, 1.5507, 0.4811, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8059, 0.614, -0.4244, -0.0139, -0.0334, 0.9993, 0.7986, 1.7149, 1.0317, -0.1917, 0.5537, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=-0.0028 left_z=0.1722 left_yaw=0.0019 left_pitch=-0.0481 left_roll=-0.0013 left_gripper=0.9993 right_x=0.362 right_y=0.2437 right_z=0.0962 right_yaw=0.0893 right_pitch=-0.1459 right_roll=-0.0848 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.3333, 6.9812, 1.6923, -0.0513, -0.0024, -0.0122, -0.0479, -8.2256, 8.0889, 1.5507, 0.4567, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9819b90b35e90f036e63b4ae05dafa615d417b28c0734b3bc08dd1c878f56768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f829cbc4b62b5c2b261ab056c9d5e71b107f131a382e9e7a940c405be7f6df4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c34829730fc096d903ad46d66d4cf728ba6b1b712b9e57624f6dbb6c4f4e2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0DqtHLCWQH_n8uO9QvsyyhpfVYnAvWQRbDvt1y1Ykjg88bVa3OUpXculRYShXaGVrttqKdJu2mGe-DM1YwpVFoZVXzXT4gvdevOnUIYZA_6NnGSZWXhsSJSFYLb-n8xD45hpepsEs7tPFRcVqYHRwJy0SwzHCSEwJwE6JgFS9SIR6HCTonla1D0w8p7s9B0cPEn2oddp0GYguu7ZdVdX0VfSQOtCwxkoLb-lnat4x7w17RJ9LCnME6fdYCjnosbt7H2xat36pkP57B505MLI64gmibQk2PXNJdEo2-I_hRfxw7SWNnzfO-jbOmXgn5e1pXmpoEhVKDg2bNfvb2ddUtbXWzQSsKToQYKJ8c0i6VSSRFv2WmWHDiyg_HcFzyxubwUj-zV2-G9TNEaP2TuI8iLeu9_jWGVi9oI6MkB8ke33U-TBTQetzR85iLhnIjCf8-dpDgTGqUdo887AbnbJa1H4YOwOnxvoEavCR4ujqaGPmEw1thHoJHes-4szuj8BV5oCpt1SXAx2GECZeON4KIKTBHd38wbEHJ7XBKw7Ivnq8_tEuCQzUZehkhKNk0AlJNP6epNTNFfuawDDOREeQoV5HGpdboKlUKIDWoqoCpbKo45WQTyOHiSm6xS7wQ-7lLA0fFx9dUyzJ5yHBbd9iaULmAfKNi2sSGVRSGsKLzt3L4i3CjX5UzEqUhR2Q4tCnOx0lDUtPXJ2VQgfwsn_nAcGTBe_mJ6d08lZQdDLPCu94fzG-mYLDbnneOe7Erg4EHInYH-OXO6o-V9KBlP3-334OOlsXU4zUfbpRcPXzSWMColugVp_IVGFL4l1tf6lS8i64YrxGeTojEFsU4o5K1GlTMEd-b2mRTLuR35Fi3_yo20KeH585JfcvGIwOw_PURkmadzUIr2xSKZ_n_54nFRwiDm10FMPMNiYaXzt6Qi1PAMglHewZbQ-rNHPmFN9I0mS-4TVWtctF21qwKnVjKO8HGp-Wa9nqaT9glrK_v8E0js8v6wUEc1rxQGr-LdPEGhIdynU2p4bxDX7khdNs27BM7kPamd-o-OzHYJYfVuIy6_2sOPLibuRVt_f4CVCse7QAVLyj8cS0enoV9vUpx41DhREOr4_AmuQgzucT2y9V4xrKtHZivva1WCNQqc0zHpswN_kmA_ptf0Po6DSWJ696AeJW-ViDN8VY2qf5qA71T_3NN1Z31rvxWRMasiGJT4dWp3boZUpckNUzujVl8Iny8v0uZl9kYI7oGYLGya43o1-JXA588U3sL-fRUTscj9n27Nui5mlYEh8J2oqIJdghp12nJMykHdBSmcbHnfMDpkcdgBUMWkvAWhAHZh6RhlHkLyiMnkJuYLi4jWemvdbqc1LAPcRdbuizncJ4uD84lu21xyws8xrSA1V_Q5d0yzKzZbQk7xNXIAmMcQEkHnYmOV7hPguPDpncENejNrFzjA7AptYWO49ga27nnf1J0weGBfzyLsBXU3mO6dTQUh-_Jz5cH8OkKpWCky6mKFbr1Wu505iJ93K22BVO7EQws8Jx6GVREKzgx_05EKvoWi-Vt8Ki-xIb4wOG5UoefdxUU3nyGQuRWqQr6HNKvSUeI54SWkJSugVHGRdMOBHYxDTa9zxA0ioKVzNltSpH5GX4B0SFJ7vCxR3CXkCz2eRoQWt7fTbfRji9B2M789WwG4F5xNgVkFf1fb-ZTK9TrSsbdWGs6XpAlVKi0qeL6Y3AVLObrKXruXqj-Ha--5n1vbqpSn5oo1Dp0SK9SgGMqrJghqyaTVpTXZKmMd7T9e23fOYfEpshLbK9YplREhzzM1Cz-Sry0ssjNfnO6-YrlTtC1y4aARrzdDrXP74bvLa-VZG17SQ2nbuXQzIsVENFm-buUBshj6GrptZy7lXpN1rLT8JSNjwk84-atYsqnIALWVO3j1POjsv61-PPd5-lPD2lqbWegdjokFIopmid7RccRGzOxqrBC_HsMPolLZTVLfKX_aXTVGAS7OV4J-o0Y1_LY2B38uW973dVL1e7bymZQPa1JZSwfDf3XB53AtEuHUBSYWXVkxcqUA-mDyKU0n2qv73UwMDYB8CUh-ElU0ckYPUcPsP0Mo6Sm87XCeRm4_qhQmaSaS5aqic3kHdOZyEXUayK_2M_3OGIavec4az6KC-buUEsWuAXOSTRBzBl-mMTZIOq4kEUReTpKf3ipH4BPYNqe1cU5lthaUje14br0hBO-jIsw_dwtVRhhZqg-agLN4IaXBqcQhiWoGi13yrLq0V-sSrYTCPgmzDgUZjcSLAXiaJhAA6LOBF-4C0ADS8CR78tSYps60sy8daIVrNYP34kb9-CNaNeYYi2UEs1gzy3IpZlC34fmzDR1av54KeT_WJoBjEWV722-CdoksgxwIwnykMdqu4mu_Kfky7YpMQf0fIqFBe2SX5VNNDVe2RIozIJV40NVV3hjLnNSo_eJN4GVQsHrS1UFzver-eZTKn4wfYD9svnZjNV6ngETf1ME_1mf6D0u6MrB__tbqqazEuhbJfRU8ZxH0FyTbzWItf_UKXgH9QLOkLNtiL0HeTHY47AwtaaJpwZ0XKCpz-TRGeqgN9AUfmkN0Vf5B_Lbn_NUThFVvrqeOdahPstYySnaIXmmLa4N7nbX81FX0rdeC5c2QtFDu-_vugYrYdX0PcEFDQfgL1pErIcxoIamVwSRyOMpiB2vntBb8hNEcvy7PyimokO49Gaal4vuqNn_XUa1sfM09QZ2cQ_klBXLLEQ7qMQLs02JPvsGSTtCFA8ZufDos3ULuJZzscNZsiuHe0LuDd4sjW-Pgqu-eNRn9c8u5G1u4BPcQ-8w_77FFOlDS6GG1r7kgqvV8xqE5NHUCINkoEG73HAe-Pk5ypiXJmTBkLVjNcfvd4cn9uMaGepX0qWQIBFMn8es7OhaC22g6dsjGkD5P_piN-q3ge-Jt7cEYILrfsvLfQCv1D9VwDY9zLQNLkyiDFRD2vllX04J8Dl1ofsOKgzWSzM6TLtR",
  "id": "rs_0cdee9c582865efc016ab41cfef62887d0b932f4039b0d91ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.29,\"right_z\":0.12},\"note\":\"The right arm stopped well above the requested grasp height, with the blue bowl directly beside its jaws. I’ll lift and shift farther to the fruit’s side so the next descent clears the bowl.\"}",
  "call_id": "call_8XHNnOQxo8Lxfh2ZoTVf6bDR",
  "id": "fc_0cdee9c582865efc016ab41d02084c87d084a02840c7fe603b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8XHNnOQxo8Lxfh2ZoTVf6bDR",
  "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]: [-0.0303, 0.8078, 0.6136, -0.4316, -0.0139, -0.0334, 0.9993, 0.7986, 1.7149, 1.0317, -0.1879, 0.5537, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0027 left_z=0.1701 left_yaw=0.0019 left_pitch=-0.0576 left_roll=-0.001 left_gripper=0.9993 right_x=0.3624 right_y=0.2441 right_z=0.0967 right_yaw=0.0897 right_pitch=-0.143 right_roll=-0.0823 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.4564, 7.2, 1.7558, -0.0659, -0.0659, -0.0122, -0.1026, -8.3214, 8.0889, 1.5311, 0.4225, 0.2271, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c242dd9a313b07aa3e67a5222445084cd1c8dba5b37342ea50cf2781226ffd13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3307369f45d6f366c8120cb8809e5411b09a632973b23626fa3341b7a878bf8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d300a08a5fb6f09f1a069dd3498bf98f63b28ee31f654ce7e0b09a52c183d52",
      "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 · 7.177 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8017, 0.614, -0.4198, -0.0139, -0.0334, 0.9993, 0.7437, 1.5055, 0.8825, -0.1822, 0.5411, 0.4152, 0.9986]\nstate[eef_state]: left_x=0.291 left_y=-0.0028 left_z=0.1743 left_yaw=0.0019 left_pitch=-0.0393 left_roll=-0.0016 left_gripper=0.9993 right_x=0.3464 right_y=0.1999 right_z=0.1217 right_yaw=0.0618 right_pitch=-0.0992 right_roll=-0.0506 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.265, 6.9949, 1.7949, -0.022, -0.0464, -0.0122, 0.1573, -5.8735, 8.294, 1.4335, 0.3687, 0.1978, -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 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8059, 0.614, -0.4244, -0.0139, -0.0334, 0.9993, 0.7986, 1.7149, 1.0317, -0.1917, 0.5537, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=-0.0028 left_z=0.1722 left_yaw=0.0019 left_pitch=-0.0481 left_roll=-0.0013 left_gripper=0.9993 right_x=0.362 right_y=0.2437 right_z=0.0962 right_yaw=0.0893 right_pitch=-0.1459 right_roll=-0.0848 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.3333, 6.9812, 1.6923, -0.0513, -0.0024, -0.0122, -0.0479, -8.2256, 8.0889, 1.5507, 0.4567, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8078, 0.6136, -0.4316, -0.0139, -0.0334, 0.9993, 0.7986, 1.7149, 1.0317, -0.1879, 0.5537, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0027 left_z=0.1701 left_yaw=0.0019 left_pitch=-0.0576 left_roll=-0.001 left_gripper=0.9993 right_x=0.3624 right_y=0.2441 right_z=0.0967 right_yaw=0.0897 right_pitch=-0.143 right_roll=-0.0823 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.4564, 7.2, 1.7558, -0.0659, -0.0659, -0.0122, -0.1026, -8.3214, 8.0889, 1.5311, 0.4225, 0.2271, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c242dd9a313b07aa3e67a5222445084cd1c8dba5b37342ea50cf2781226ffd13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3307369f45d6f366c8120cb8809e5411b09a632973b23626fa3341b7a878bf8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d300a08a5fb6f09f1a069dd3498bf98f63b28ee31f654ce7e0b09a52c183d52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0H-eqfF1sbLKzbx0HG-8UDnc_2WOdK1FM4_Y1ccuz-B2IL7cS0BcQ1LUeRC4k4Bn7cVlFIuQLeNeFnkPBKJYEOR51RptZkQgoAR7ZWwFjc1n8KhrJTptAVAxJZTVoodVDzHuWSDl_g0PCswGyzbduXQohw0Wm9OwpCoEXKv4kNzWgCoRnX8knMIwE06fjfhDz--8DtrHHWCLQ_F53bYjl02fowD2UQkSQqIrPzOdjQo0FFveMvZns723XAXrpJFQdUHVYFbsYOGg-sya02M_1f8y-EAWjeUh4pYBVfx7ixHJl-EMsw5ookin376dqeuzUFYJOZm4oP94p6PZmaPzLbWxrGh1_QZJ5_Yv1Dc-FwO8nXfwd4kasuinQCizqRjmANEsB1RlxStXUe3GqTzPaWtiMuELTLjzeDz4bv8fnUd72AmRLPp0oUoSL1XBZD4k8Qj2PqwB8n6b9FubdPIs6lkywD4dD453fxuKDE-qj8XZYGj8ibr2DEs3FEgur5fWzBdnZ1c6XyJ-lBacrBXTyK6uI9E8KnTH54off9Wlec5th3_uwvgglRgubbg1yyVnHQd1eSbonIM7AZ0aW219hpHQ7XzcES1hdsxMhxcoF42bm2UVqygtmOk6O1OQlBKCob9SV18JMkAUMtQjGKJjG1o18-UJLYSdb1FrPJsX7E2Fy3kyd370wKn6yRyFyuOlag70ZsFSiUaW6yOz8jJ1UzIWPp4WKpHDDpCnF4qSKiHDlHCkGV02VS83BbdIe_pRdH76pz0I_r97FN32e-mtsqf-dJJf0X__iz3xdfSMq5Z45USnngQoRn97LyXVL0E9Qpbv3Os_IIpCh_kVDu27z4V8cAsVwNvEZboclZBpO58SHINgA4ciiyjchTNmjA9dsLIq2UDmBydUWIQLzPxBdqIDG48_AsrPRBODU0Ylf_sI7J6Np0MHHdC7-8hG6qBTYXM4Cr12IUafYAGR_hfNK07hIa1de0b68q4LzXibskwPBJp8ZZC_u36PDys_c19YpahhwsxaZ2t8wrYeJJtY21g8KQbxX5Qbqw6PM3J2uDhvIPur7DJxjLXqaJzjqwWBu2RmwOZ7-p2qKKvJIHC2jBui6t7V4MlamssWQ3aW0kxs-R8K95mpQOxY-a4PZUkqw8Y6RRerzPWDVp1r--0YhQWdNdstoEQQUk_czQoSZxHxHYVVWiMp8MtkkcG0QtVsPvZd8K9fg01fPBOkmsL3bOoFIX15GaN0gvIuS7YkvTOdPUS-igKVbnkE6K4R01vzTNkjRODpUPe9bkaBiq3HGo2yZ6QapOcR1WAB_Ml3rSlWMHHEJhxQbsepymKvdiyVKd7GWS0kQELmHyfyeZJ9MxxCVjArZAsaDW-rBe8eG8lIr6iGRmLXd4VB5fiU10FVmZ3iTlMhMLA2vygUhbeXfdWJHe_XtetbgULILLekBV5fHwZI7eR8CpnFfC6Y8b-6k7VVNin4hZ7tVcSgtFBLd2HsGbyClAnM8j_RMxC0hnZYXpu8yHMLM2DVPiUhIpQYygK2fJB98GZQ2q0_JVYBevHrEpdeAIT9JOXqXAYNqup0x0DGaMa4HGQJz7QKZ85x3O9EdAu7RRxAyrN_sfDKSeBQ==",
  "id": "rs_0cdee9c582865efc016ab41d05954c87d09d893413539c9694",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.244,\"right_z\":0.25},\"note\":\"The right arm has barely moved, suggesting the open gripper may be caught against the bowl. I’ll try a straight upward retreat before approaching the fruit from another direction.\"}",
  "call_id": "call_Oxqh2A85SndYm9t2SXKveTVy",
  "id": "fc_0cdee9c582865efc016ab41d0682b487d08682d58794e3ef0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Oxqh2A85SndYm9t2SXKveTVy",
  "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]: [-0.0303, 0.8078, 0.6132, -0.4347, -0.0135, -0.0334, 0.9993, 0.8032, 1.6413, 1.5318, -0.7872, 0.5457, 0.4343, 0.9986]\nstate[eef_state]: left_x=0.2892 left_y=-0.0028 left_z=0.1693 left_yaw=0.0016 left_pitch=-0.0611 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3597 right_y=0.2459 right_z=0.2356 right_yaw=0.0998 right_pitch=-0.1667 right_roll=-0.0975 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.306, 7.1179, 1.7021, -0.0366, -0.0366, -0.0122, -0.2803, -8.7863, 8.0615, 1.3944, 0.3639, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:153a59aeef486b336b7a191eac09e1a7a82b9e3f5f97454036f7675fca3abf41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb24e666709bdfe17a0f4df320db310f6a858e1f2f7c8625d13a018173324531",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81e03ad05579005a809de05e7d7782170df4100230aa0c5d99a53eabed0c9acf",
      "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 · 2.494 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8051, 0.614, -0.424, -0.0139, -0.0334, 0.9993, 0.7967, 1.7077, 1.0256, -0.1986, 0.5529, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=-0.0028 left_z=0.1725 left_yaw=0.0019 left_pitch=-0.0469 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3605 right_y=0.2411 right_z=0.0958 right_yaw=0.0874 right_pitch=-0.1507 right_roll=-0.0881 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.5932, 7.2137, 1.7118, -0.0513, -0.0513, -0.0122, 0.2803, -8.212, 7.9111, 1.5507, 0.4811, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8078, 0.6136, -0.4316, -0.0139, -0.0334, 0.9993, 0.7986, 1.7149, 1.0317, -0.1879, 0.5537, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0027 left_z=0.1701 left_yaw=0.0019 left_pitch=-0.0576 left_roll=-0.001 left_gripper=0.9993 right_x=0.3624 right_y=0.2441 right_z=0.0967 right_yaw=0.0897 right_pitch=-0.143 right_roll=-0.0823 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.4564, 7.2, 1.7558, -0.0659, -0.0659, -0.0122, -0.1026, -8.3214, 8.0889, 1.5311, 0.4225, 0.2271, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8078, 0.6132, -0.4347, -0.0135, -0.0334, 0.9993, 0.8032, 1.6413, 1.5318, -0.7872, 0.5457, 0.4343, 0.9986]\nstate[eef_state]: left_x=0.2892 left_y=-0.0028 left_z=0.1693 left_yaw=0.0016 left_pitch=-0.0611 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3597 right_y=0.2459 right_z=0.2356 right_yaw=0.0998 right_pitch=-0.1667 right_roll=-0.0975 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.306, 7.1179, 1.7021, -0.0366, -0.0366, -0.0122, -0.2803, -8.7863, 8.0615, 1.3944, 0.3639, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:153a59aeef486b336b7a191eac09e1a7a82b9e3f5f97454036f7675fca3abf41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb24e666709bdfe17a0f4df320db310f6a858e1f2f7c8625d13a018173324531",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81e03ad05579005a809de05e7d7782170df4100230aa0c5d99a53eabed0c9acf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0Q7ZGtVAYPdK8oURoL-gC-1YvKiA42qYMoOY7IKTkAEUfz_1u6MhVdcClROCrrVhKxbvj7zYqzle0I0WjkiWJdQgqxKlrAAlzShUxy27A1QLeO6Yv1zqy4cJmDof7KU7nptVdCmDNGpYYveNt_pSrpUJekNH0YER-uoygNr7Gask14p49vHv_8l-9h4G_NaFzgQf5ZCvllFC94ZDzDcQW15kKyWGHxVzYCHKnj3W402KYtQt1kdUVhuk7CnjByYnt8Ocw_4CUz9tuqk95WeJlQLVfiXGV24PfAefkaNxESyNT7fA3rPrf6BzpIdZlqvPCOTaMTfFGiJyJvYlk9y996AofFh8eu8M-C8TF4-q2kAN1pelVQj7TPjTsfsmGWMN0HCIRZW85wfs1TbIKArHWHUomGCLh6yo0BNdDgHhR4TLL-YHRVJr1tZyQhVvDwp7RY9i0ecDDWmdcxVxW1Jj6YOSq61ntvTsXya30vsmbcS9GVFPSQ7EkM71vqdMcmwjP3wCgKK6T-UoVGqXtjuDgfVHhIUFCxrh04mWcBTb-AKlKL0G9uvAUHlmqIQenNw8OhkCLKzCHm00YUohvlOS7IygpmCv2B-nsWAZl5mBzn7sl2MX086AHR6dfKAdisQSfyZsid9r53f3UlYO5nVk1e4giLlbsGuz_k7Bgwz3UexVRJG6hridmW5-KJNNvq88ksW35SCfNJ_Ai2iUWq34wW_165iQ-X7OwEatrdZSQZTSSgLxVr7brsHCgQpY88ar8Z6PIXD0lScXPUPH9g1hp94_e6l7voLL_ZXSpTkY5anYgxufFmcfik5YQnNZjBgc9yFFcDALi0nnrcTPuzSDTlfNV50z5O6nfjyfJUvA-kO46VwTMX1DZnwl4cm61Dbjd4R54UjQUL1hm5l0eL56g_YhQG2-fytRPXR3bmvIPmJAWOeiXdbOnCk6su-1lN4-5HP43QhOKpbPU9DckxLF9srvDFHm1EePa8F3p9-ukmoZMSyIi8fmrFTkv2WkaBe0Pf4L1C9ZUMH_XNuCEERXhrD68yGqqxy8DHx2RkS3dIZ1tOLU6GpE9e3oj9NJs9gcCFjJWsTI3QTaThzMUmS8XiGhg4js5q9zy4_AL53lfMuc8ZT_iSXx2ktvP-auEti4fCZnsHFojN40fL4yzZ-0pa9x4RzJc7vcPRqn2ZH8M2GyL80QtoYAaoEcspp8r3QzfPiYSyOOqe9xhXWP_03iTfHmG54Rbl-485d6eK_S-SYGz6_P-nnsP6ZA_2O2dT4jCoND4d8Yeh482mUJaOWnU8Fi3pXcKDz74593bem6Py_glSdQS0_VOa3t-1mHnfthMyBFt31Q7-0UePSDV45pVXEp3xoCYX8upAFMkYKLGkhCnVjfFmBQ2IELGdV1mpToJZHuXMuQ5e01h3ms2hWldFSWXAcLyBzLsS9bE5zDZf04dxVMeSVdNns2WX4QxGQS6ouo4o6jUb-xuuw7_WcsT0pO7QA1QdBhiO3ZKyIXz9EluAFIEu--KiLAldYJxH9CzPPycGOp_D1ubrVEQPrmRbFtMTyd1xdszU5UEfvlhVWYiRoj78tBND9Ll1kWHpQ2rKv5BdQnay0SWtf5wCoecaIE3LwaNR8gxgCOj-H5iFRRWk-VP5E64iG5He2D7GE-U1OY7hFELGyyGadDXCEybHix85SR7QW9cMNlH70D6qRpV_XezcgqtLjwq3cLVRXB0iPC2yYk1WqK-Qk8INa6WbMQviJ0hqaoWJkdByU823U5h9SxHh0eIqknAVUIK__RyT1KYNFPy6dxwrrcYOdYvoWNezYAkSnGONqRCOTxmIkPdAJMBmBhLZiceuW15vTEKChQpRKVUXtAMtn2gvv8NFeG5Y_zRoYYpgrxpUY9aSL5oJAUKudArCpMvfaJUeqXJDUTIknJ7TOh0C96SrMqDb4nufQPVZJZEPkcTau_MOzhnd03cEcwq0JAhfJC0sJlN5jCiYKFw7bFTedG5TocwyLUqMYZ8wRX1Y43QJfZ-ZWnd0q0UjDB1X_PYJX_WnTm4nceJjMDJZo3AIXeAtTGvU0VYeILs7g5jhp4iG3eaUZq5Mpbk0WVoAgT_P1D9-P-zbgzEw3nRfuRYQF5cIBnTUrqESFj9lbyk0kDshtNEz12uiYZvsdsI-41YGLLhyUkSo6959VKq_TpfcAal-s4LSoCiRdmw1g65UGL2jjyBHLZ3XY2IJTMTjZVxjQun6U4QOxDoZ8-_oTbijMQ9JCREIy0TPx4R_QE0BIFJdQj20Dyzv6nrJ2KzDC5EWucdmnhCO-naHvfxV4bhy_CqDxndMiQsAfjen8mGKIzIdg61mjaO5PsASZkWvtHSvQ-LVOh5ZUmNXa4B4fSXr_tcK1XDUGC_oj9n9f7Rn7ICR7P6oAadJURirQAvAm7un-2nqqaCe2BJkMI09IGAokTVeuGMn7nDbIRrSUnnfgpp-Qbb921bo4eQhsPzrToZ16xAq3FyTHt8SdgBJV05AAB3XzyNdn0qw-qbQiZ9j4p9C7F-LJHhFEMi_gyyd5hiNK3LEK7qyJ06AuSZTWzDVnYQmb0vJfU4yTX6zUskwQsQd2tQLdXg0nnVrjnbiLbpZRXcTXwiLoS43LUWjlvGQpv3A4GtNFSWb1xHIgSs7EIctjFSQFo_yNBJqZ9w0z6NUAnhY7RA9FiJowY3u8Kb6l8WKhDNS3A569UKIfUm_Y4Eq3sp8H7ct3KViCHSmAKJSq2XQz6Zts3nnyyo4BdMFYdma4WVxhtv7AN9TG7YPl0lEk1Ibm7nY7Gn6kqXuLzDWZt44zMeCtgFKQZDDz7QjrBkEUqL8KIaIV_5Ck6d1OhN7tbF9nO0Sho1R_YlyuzH2h824h_OEyF0V5ZnhM_qyKddh99dwFrEK7Bz4R1EVCrzJzhJhvLb1uo_2lH5hj9Xd3hDV75-0r2FzAPjhJpBHElYkWSWofihzyk6G3QZOgE_GY0p9PWPDeXA3Acw7NjRyteWwPWBaijwcaNDsXIe9ArRv3JJ4LoW-CyTxl0CIiAnSAyyHPcBB0niWkn8lRcxz80b9Vt1GceW4pI1w6CDIJcJ8ScGj1pF9Gqwrt0lbmbgDsqU5PA09nnGs_rbwuR2st99tDWNDlQx04gqRVXQhY8JSiI9oGGfoSdngmSMWigW_k1aw59TkTXJkjgwQfZg3k2QeHMg__bSidQRfcRR6IwfMppBOhrvhiPSNxSJlueUNq4DcqYBZHeCEhFR2yjfpw6syKdFmt1vAyc1EuXtmJ0UeLfp5Qb61AdOO-fDPFfKi4cj1BDxBNV9DLy679HusXNcC2q2SO2vBJyiXSOymmjPYqOGO9QV-IYwe9RbpGXOY9M6J6wvQvX3f3B5ncbu7GvlBYF8ZHucyHVHEqRVeawQ1OIr5QKfuIsd8Zc2FvzNrqHcW-3EhPFa9ELluFBnRznnbzZEHrqh7l3TDJ0y195_lOOQGJx6auP8_KaFJr3ihYxhVrGqgRrT9sc7KFKgLL41ezWAdTb72OJ3Ubdpx5mCTxzSumfdZiLB-rQKljfu8T5nCkpAbzktLOuhzf2HDb2N2d0gMJBLGhqbiy47ZCWlh6Ujfi_I3ZHR-5mJuPaDZiilmhLQaOde-PB94C9H-4YIRoUwWKuQcTQTyGCBsJwL1WtHGY5ya6vwivSdfMMCvj4-o10_o0fyspQtE--E6LYp1SseOc83jMWGEb5nnvvnqSOfqXMLO80jtqEjbwEeOTOiiC0tQ0prrTBEAoExLNn7XV3SGQBVpqMbgac17wHP0_-_52ipsNyKRizLr2pVGjQMc7nPRPGSu9pzq1OVU3JreoxCn_Q-1rfWeIVD6YDYuoBatTTqFT3pOVXgB08KHQ1_Ge1E9_G7CRP4RrbS2uaKjLvCey1m-pOnZ_hNjrOuVrz_3QtA5NCyYugFOw7cn4meVWb0=",
  "id": "rs_0cdee9c582865efc016ab41d0a137c87d0b055ec607e3118d6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0QMb7gEn8zK2i1WErubNfvo4kR9_bFchRe0ydgoBlRjgmbvTtsPKzSQNTSVnU_K4pxyQrM_LsHVdq7MEcrdwk_cxM9RaJ0lwPGJqer1E4DJSrj8Ah9xu2GRh3Lb-LXWD2w2xMiHvXUP7SswsFGYCqfNgbvFDpS4KKy-meyCsscqCuLQO2ttDh2C-J_T4j0WNwjilJhmu0XZqKFtjCRST8MX2q-NoUTg3SMHAUGKYA8LuhfGs_Gniq4t_u7M39EqtBYUDarN9JtcxRGEKWeF-SGN77QD3A1vBkxUiZCqhdopcFED0XYmXD7ljZ_TdraNjiX3jhqlFbehIekx0R8BgtFbMSJp5onfS2FEOBVGXt8ArTqN064zyM8sgvm3zE3BBJMU67ManzC53EnKpW1wR6MoVQGAu6uRfa-nIZHZQMxOZ7j90FujEHzR9AWYXBeMy8MYYoRlcoLW7KdPKULTu5bYbyWiyNUL3Z3Neaj5_f7vC_JxeBB6rQVtoQgYCOfKdyoy3aEZZNI7xMFc_EEdjcP_AQ3D4ylGLTi5TlkO1bi3pQHzxf8MdHgSS0c_SjkjdO2e6s0XhknBAI-Bil3ge1icbmx_zU3gY16-QPzEV7uUzZmSi7c-uMUoF_fN5_IuQVEFCzZQBEw2exfk7oNI2ss1IntpKSkhuRQOxv6rZgMWZZLYJyTSKbRsgEfVjJsVBVLcw8KgL0fAGUVgYPL4535KFugL06-I_5iWJCBfRrd4Ka5iQSlWLhRxxyME1YcZFdmDUpjNVo3vkIjc2kZvh2AR9dqsA3dSI8of6IIo9f3qLZKGR1l-7OyZ6uJXX-7FWzqfChLLqxklEvOPb1xEUA4fpDM5UxAyajguXROKEyRMFC60n7EkxNIXr7ffiTFkGI6UIFlFKR1Kq2FZ84d11WqNqsrXoeROh3DuWo2UUKm8Iic5TOd5VM-rTYnKVHi4OUEwz-RzP7dN0KpX10gdD_3TRjbO4yYUjI4KyI2h-RteuxFEtuU_d52JpmmuE5ygYMkBQ8WQB-eFQQQNi53WPAb5s7A37CC-ZFYGEFLXGm_Kvn1Dat59i0foEfeqd7cEozgqlJ_X8I1SZyFi7m7hYHp7ZiIPL7TWUx2mgo6SWNwC0jyMTwsI23mT-iIn_ESeC-TjC8NPx7-Bbmb9vvNAomaSPcIk-k3bRC6oQ17WoIR3o07lOTqD7HBM4xlRipTIaJK2MIOtRsz7y1OeBLoshkPmrrcEdmCD5hfVcF4eMshIgCg_G9DNWNzAPtE1BwoRhQYL-5iXIMU4AwG4iKSP3GO7yT90xo_0yatJ9s8KdCjrFeX8P7vR_M23Gp3pdV6ffJuJ_Dfe1z1d5xYYOPKzzMe2A==",
  "id": "rs_0cdee9c582865efc016ab41d0ee03487d0b498fe03bb871504",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.285,\"right_z\":0.17},\"note\":\"The gripper has lifted free. The wrist view shows the yellow fruit closer to the robot than the bowl, so I’ll move back and slightly left over the fruit rather than descending across the bowl rim.\"}",
  "call_id": "call_gkxqhyRGlgsuLmCWUvk9fwiu",
  "id": "fc_0cdee9c582865efc016ab41d0f42d087d084b202ae4e68b07e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gkxqhyRGlgsuLmCWUvk9fwiu",
  "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]: [-0.0303, 0.8124, 0.6132, -0.4465, -0.0139, -0.0334, 0.9993, 1.0153, 1.6447, 1.3006, -0.6926, 0.6437, 0.6212, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0027 left_z=0.1657 left_yaw=0.0019 left_pitch=-0.0774 left_roll=-0.0004 left_gripper=0.9993 right_x=0.2969 right_y=0.2841 right_z=0.1673 right_yaw=0.1253 right_pitch=-0.1964 right_roll=-0.1174 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7851, -0.0317, -0.0513, -0.0122, 0.1709, -7.4462, 6.3385, 1.3504, 0.525, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ff89ca17f8332cc77f70a966df9f25838b9a66f8de1bf43d4d0e927d3639d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7570e0543ef237e31a2d2c07f72929ca9de7d13a4720a5265a38945837ee6020",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0354b96a59d94b6d6ab5f32497d4c039aadeb00db11308021a25329851fced3",
      "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 · 3.147 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 31 changed as sent

message 39 changed as sent

message 44 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8059, 0.614, -0.4244, -0.0139, -0.0334, 0.9993, 0.7986, 1.7149, 1.0317, -0.1917, 0.5537, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2906 left_y=-0.0028 left_z=0.1722 left_yaw=0.0019 left_pitch=-0.0481 left_roll=-0.0013 left_gripper=0.9993 right_x=0.362 right_y=0.2437 right_z=0.0962 right_yaw=0.0893 right_pitch=-0.1459 right_roll=-0.0848 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.3333, 6.9812, 1.6923, -0.0513, -0.0024, -0.0122, -0.0479, -8.2256, 8.0889, 1.5507, 0.4567, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8078, 0.6132, -0.4347, -0.0135, -0.0334, 0.9993, 0.8032, 1.6413, 1.5318, -0.7872, 0.5457, 0.4343, 0.9986]\nstate[eef_state]: left_x=0.2892 left_y=-0.0028 left_z=0.1693 left_yaw=0.0016 left_pitch=-0.0611 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3597 right_y=0.2459 right_z=0.2356 right_yaw=0.0998 right_pitch=-0.1667 right_roll=-0.0975 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.306, 7.1179, 1.7021, -0.0366, -0.0366, -0.0122, -0.2803, -8.7863, 8.0615, 1.3944, 0.3639, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8124, 0.6132, -0.4465, -0.0139, -0.0334, 0.9993, 1.0153, 1.6447, 1.3006, -0.6926, 0.6437, 0.6212, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0027 left_z=0.1657 left_yaw=0.0019 left_pitch=-0.0774 left_roll=-0.0004 left_gripper=0.9993 right_x=0.2969 right_y=0.2841 right_z=0.1673 right_yaw=0.1253 right_pitch=-0.1964 right_roll=-0.1174 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7851, -0.0317, -0.0513, -0.0122, 0.1709, -7.4462, 6.3385, 1.3504, 0.525, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ff89ca17f8332cc77f70a966df9f25838b9a66f8de1bf43d4d0e927d3639d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7570e0543ef237e31a2d2c07f72929ca9de7d13a4720a5265a38945837ee6020",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0354b96a59d94b6d6ab5f32497d4c039aadeb00db11308021a25329851fced3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0TgRIHPnWd6iiEBpD3wUbclYLPqBvzIWtQoi7XedrJl8GZXs8PC52vx7_-39q-Rn_PEi0K46dEZiVCrpb7aptxpPk3uLlF-Inh0UYxCEZBQ-qh1FWPtFTK_8aUtse-6JvyIkhn5Fg7vbXq8JhDiMokyVPgwEkUnkpw2ploGlI_oj8htVLciGoFdPg1PPnLVGI7rVfdNHLlHmxK4cUhtBoILlr-rks3m74GaythylifwvV2crg4z3d2E8FSC-AwK9dLam9Hr5XinVpBpNPlctiJBwOMraTAN8TYgHly4-g6g15dGKs29Dwk0Ry1DZJEuG9_bDk1Mxl7a8q1JwAcvEqh514JE8a7x8fLhzIYU4KV1C49krQAH6pQhGgFfok_tF23quq3R0bcDJmD1k5t2_x1CEWcNvpxl0m7ZhQM1B4bAApf6wfi7iDgiGBc6oUXiqJZXxVm24ZlPtHTlJxnTSGzo4zQlZ_ImxJ_XuuU-rJcdg7FB5rT0_yUtwLIMlmMMec_rqTdOVRTDVu4Z1pKdEuDDpG-cERBEpphAdsEJf3B00IXWE_EP7rmY81ugeJce7dxwBE4G2h0IAzLnvJRP3DnERiq5Re3yAlVpl2ySF5MBMs7N3fQ73-oZ9oR0DoFhY4wJh70aS7fRXih3jhnEUqMO4qux_VwV5GMqTcuPXs7u-9O3CoRv3kmbZgAzgEqafOK1lCejjywNxLbLtzhEFcaIDtZxJZlLjrbVcstnRCJLRT2Vhbvdl9-V71gKhEViX-c7Tp0gjqiY8m6Ok_PEBPAXC6UAXmDRcQd7gbJESEShF-rA-GmXIZ2IwRLbwHMLB7sxaGXISdVLJq6efdQM5lrM1Hp0tAWXYV3tuEgli2ndxvOn6pU0DCuQH9R-XS5yXx30JuELuAitWajxkXbQXP0rHcnsTEBnpnXmueE8hwTFKKw7iuYGbPxMNpN1SbFNdRwAOPO48wZhzk8YDZjuy_C7RvHf4KmxXqryS-XxGSjAiEHw7RlNT3wzMPUQXjelVd_afL0OrvBT2zE05iJfhTsqcs4ZK7miTd35TI8Wp7nCcctO1ksA7qXcyOgaSOxmosU38Kdwv0eZ1A99TcuKTviMeQr6b5GrLIWGeimTP3dbc9RbIRUh9Yvh9Qhu7KaDEW9w-8Nd_UyC9cvkPLreVDIZIoTHtoGGWdaBO6uWykFfGsEsuW0ydzrKY4mH486kicE9j9rYddzWFeDp2NyoyJAZ3nx0rVrpdHXCPZQwNJnfdTxj9_jxIvgxP79yXzxAuAp7VyFKa9uoXgQOqIl6ixAO1mHsB8BgAnG3J4UVGm9xmxwPvRTT76RZRMJsTppCGZMFyicaX2-Rsm8_n3FLq0gj8NvTKrYC8P8x35xgUBqEGZzr_kG00ok9SHlOSueaOuBOlE-L-sNT5eOZd7aITzP0UfD_3M3eTD88oOVpQCyjMucJ8pi8zQqcOjPgT7J-kJ46wukDAAGLqqq0qJPmNiZYR7rb10E1hT2UQ1-Wgo6zF4VgiulTZZ2e14k130cBDDcDo4WmsJsLBh-kl960GrBbRoePRTWW3c-FwdNh0Z73g5T6678hkaUjuZVBe4lnR62DgzIomHb6MObItjfwmKj8gLgbxP7yrnG3zK7q_334GpTcBoevZVodlK2-g6u0uEP",
  "id": "rs_0cdee9c582865efc016ab41d123d5887d0a5243ca186b5159f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.27,\"right_z\":0.14},\"note\":\"The yellow fruit is now clearly separated from the bowl in the wrist view, but sits a little ahead and right of the fingertips. I’ll advance and make a small sideways correction before descending.\"}",
  "call_id": "call_YfNLGPR7Lg299XnbkrGwnBc7",
  "id": "fc_0cdee9c582865efc016ab41d1315e087d0a48bd98a980bccd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YfNLGPR7Lg299XnbkrGwnBc7",
  "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]: [-0.0303, 0.8127, 0.6132, -0.45, -0.0139, -0.0334, 0.9993, 0.9092, 1.6741, 1.2121, -0.5419, 0.5743, 0.5037, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0027 left_z=0.1649 left_yaw=0.002 left_pitch=-0.0813 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3251 right_y=0.2672 right_z=0.135 right_yaw=0.1335 right_pitch=-0.226 right_roll=-0.1375 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.306, 6.9949, 1.7216, -0.0806, -0.0562, -0.0122, -0.4171, -8.0615, 6.8444, 1.4969, 0.3101, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d37448b6027a57df5fc7c2fddcd9a3691ae8bf642742a647a448b2be84298f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca7db084b11bbeb38649e362436fa8bebbf9165f649c5daba067587606381b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d17c8c144050c6ffc810e849a34c8739eb95592e8f52a3eb27decc467491cb3",
      "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 · 3.386 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 35 changed as sent

message 44 changed as sent

message 48 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8078, 0.6136, -0.4316, -0.0139, -0.0334, 0.9993, 0.7986, 1.7149, 1.0317, -0.1879, 0.5537, 0.4385, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0027 left_z=0.1701 left_yaw=0.0019 left_pitch=-0.0576 left_roll=-0.001 left_gripper=0.9993 right_x=0.3624 right_y=0.2441 right_z=0.0967 right_yaw=0.0897 right_pitch=-0.143 right_roll=-0.0823 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.4564, 7.2, 1.7558, -0.0659, -0.0659, -0.0122, -0.1026, -8.3214, 8.0889, 1.5311, 0.4225, 0.2271, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8124, 0.6132, -0.4465, -0.0139, -0.0334, 0.9993, 1.0153, 1.6447, 1.3006, -0.6926, 0.6437, 0.6212, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0027 left_z=0.1657 left_yaw=0.0019 left_pitch=-0.0774 left_roll=-0.0004 left_gripper=0.9993 right_x=0.2969 right_y=0.2841 right_z=0.1673 right_yaw=0.1253 right_pitch=-0.1964 right_roll=-0.1174 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7851, -0.0317, -0.0513, -0.0122, 0.1709, -7.4462, 6.3385, 1.3504, 0.525, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8127, 0.6132, -0.45, -0.0139, -0.0334, 0.9993, 0.9092, 1.6741, 1.2121, -0.5419, 0.5743, 0.5037, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0027 left_z=0.1649 left_yaw=0.002 left_pitch=-0.0813 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3251 right_y=0.2672 right_z=0.135 right_yaw=0.1335 right_pitch=-0.226 right_roll=-0.1375 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.306, 6.9949, 1.7216, -0.0806, -0.0562, -0.0122, -0.4171, -8.0615, 6.8444, 1.4969, 0.3101, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d37448b6027a57df5fc7c2fddcd9a3691ae8bf642742a647a448b2be84298f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca7db084b11bbeb38649e362436fa8bebbf9165f649c5daba067587606381b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d17c8c144050c6ffc810e849a34c8739eb95592e8f52a3eb27decc467491cb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtB0YpJhcld6WO-XrU9fLaNgLQR8tHaRmaIzd-9dKG1SQn8trTIARb6TAUd3W2pegCUprRGQ6lgSmivtXysOaxOPvMVl2P_sUX2nGu3Cj34w6f1j36QNALZL5WBKIPjoovVSSGSQi7AXtsMNjvGZJifJY4lSnfxKhJL6jZmNY_K9lUjK83o_gsJ93fzitLrD5h7C3b_UV1S__b2T89IRZ-EDErVVV5X1ZGBHdp9UYRYQfx1suNmpC-lBhnc89RIPXJJ0ugvNa_M6hkanDzng4m8YhCr74iaXLV7Vfpl0eVflENWrq2I7yFtGj5jZ4HwCDDSixiTUxvp1DNaIEZWF6_XdDE7t16sj4nFYUCy8tYV6QnL-fWOvcMTpSX25tUS2sCqL9m95n_7aqsvCoSuvKNiAGXDS8Oz4FCGgrwL6hrjyMQxgzCPd-T_BcANXnlqwdyIDU0xL5nNxoQW_qkO5EzVJVtBK1O_ocwDXB8V-ZaKTQ4CKTPIWRhEIUQPAmQjwNzX24dYj9UopHGFGQFWr2u4HYXCRPP0QwgSMo19jEBsdMypBdk410TkcJsbMv9uha2x9oZbPWNZkEr8K6x5XvcL8wQXwG0_tb7vwS9749pTC6Vs0jFXXMXZBPiXV448Ha_KKLPoxn5SvZzhL-HOTXW-Nk6QOC-YgcSuOzuxdhLzUHrNKp0DnCp9nhoDt0EHs8YhkWtjhjtqVctrNV-9mnsv0HXxtQqFYbumCcKyVHV4yxvP2dsvF8DOZLDy4wZRW7IatTWYkrwT4FVXwoqR3F2lxD29GCy3a49zpgSLgJMnggs_-OOMaPOaZoL5P1Gg_achdtvI41ckNApKGpB1Y50xEwT98ImQqLV2OEr-kYDJeu1w8CcTv_v_eQNp-qxxrhzaDd7yqRvNCHr5ceull9vaO-jYephE6Ck8fzmqXVI7ZRl_i76vpYFpeX7-dSXys2i6F7GNTM6iEDHxlRoIC-ZpMyUljet1svdQpyP_iBbOBkzkhtlikzg5WVoEdDCi7Vtcu9mLDAXgRA3c47NmfwRYMNr5OP3hvJ5WoeA4MUTAQgqnoWdWpoUypYo3df0XjMvgfc3JiBBZPynIPip7vU9EZTCFlmfiRftdpw0s6KTnT7UmEC1FKsYLooKibf7TIgUzKqkek4KnjOiOEQEOROpNojq6pfcfcqhfBSdtW_qZNR0v0KhzEQsjgUaQOdmB6tPcoDKWB_jDavdCYpX501FdtV5VzE29DNL8TVBYQzN-MIroW2tpTTWu_495LkFe82opbPkB3G36F6Z8kCtyPjXs3zVYGrbTY-Osj8NyffZsk-NFcY34JpUunxK7L1rhq3Y57vMQeKZmjI4UMqrTGNT-rbe-pnyAP95ChKjDqAcEb7Va1MAHHhEI_sFg0o1qfgMEXEiVc7zsfPaP28UxNigOeRjzrX_jo1SE8pt-tiesR6vQQg6oqNR9P8oekMvbkZ38RC4jGv8_8CvdKmaiWz01JwACu9bMTm1J7j2cuaKWarEa5lG2GlKlmWb1iC4GMAZQiqlnPd72jXnIItpAZpFsATyPqj0NOSTNSb0dVRU1aYMphoz9Yfpx3l1i3mpEO3nAe6PODKbxhOXMIgCBAWqnA_UYbRsbB_OFcNzgnaA64nnRqpmhhnaxMf5gJ6JdXWjLCoyjeXlDGRusSJNw7cifKVZ25ogxjJJ9wD4xZgnBWCh6XoGoxuH_FyvEDR55lYhhaPkKQM-IuCQwveb9PfzKWklxpFwZW2RsP0Lxoa4dnz-e752G_GoXpYXDOloCX5xBDxUeEKst5NAC4V2YXTrc5c1gELGXyUTFQoLRLnlw21tDuKaMZDc1Py5SYyt-C7MJZIWy7-KFkY7LknX6k55HmRTtRvcSs6v3svpvdMZoOtDs8X0gF0_G8vjAuqQKlPL7CtcuErRI0L6zvK_dmZvMQTNg==",
  "id": "rs_0cdee9c582865efc016ab41d16af9487d0a2c2fe5b9c1407ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.326,\"right_y\":0.269,\"right_z\":0.022},\"note\":\"The yellow fruit is centered at the jaws and the bowl is farther forward. I’ll lower straight down at this offset so the gripper can reach the fruit without crossing the bowl’s rim.\"}",
  "call_id": "call_ERySo8g53lyEKfNtR67PDNSG",
  "id": "fc_0cdee9c582865efc016ab41d18317887d0a7434ad02330a4cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ERySo8g53lyEKfNtR67PDNSG",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4675, -0.0139, -0.0334, 0.9993, 0.9085, 1.874, 0.968, -0.1173, 0.5674, 0.5037, 0.9986]\nstate[eef_state]: left_x=0.2846 left_y=-0.0026 left_z=0.1613 left_yaw=0.002 left_pitch=-0.0996 left_roll=0.0003 left_gripper=0.9993 right_x=0.3249 right_y=0.2681 right_z=0.0213 right_yaw=0.1341 right_pitch=-0.244 right_roll=-0.1473 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.1966, 6.9675, 1.8535, -0.0659, -0.0415, -0.0122, 0.0752, -8.4991, 4.6017, 1.4237, 0.2808, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8766a91ba156f6bdd5c9f42d40ff1cb2f2201a97b63a39741a8d04f6cf0aaa26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a06540d066bc9a869eef9b85f857de44d3a26ad682ff70ed41fe3da944c13cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd27516d9eda977ad7308d0dfada49af213ff618b55cc9d0f09cd01e378fe78",
      "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 · 3.691 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 39 changed as sent

message 48 changed as sent

message 52 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8078, 0.6132, -0.4347, -0.0135, -0.0334, 0.9993, 0.8032, 1.6413, 1.5318, -0.7872, 0.5457, 0.4343, 0.9986]\nstate[eef_state]: left_x=0.2892 left_y=-0.0028 left_z=0.1693 left_yaw=0.0016 left_pitch=-0.0611 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3597 right_y=0.2459 right_z=0.2356 right_yaw=0.0998 right_pitch=-0.1667 right_roll=-0.0975 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.306, 7.1179, 1.7021, -0.0366, -0.0366, -0.0122, -0.2803, -8.7863, 8.0615, 1.3944, 0.3639, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8127, 0.6132, -0.45, -0.0139, -0.0334, 0.9993, 0.9092, 1.6741, 1.2121, -0.5419, 0.5743, 0.5037, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0027 left_z=0.1649 left_yaw=0.002 left_pitch=-0.0813 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3251 right_y=0.2672 right_z=0.135 right_yaw=0.1335 right_pitch=-0.226 right_roll=-0.1375 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.306, 6.9949, 1.7216, -0.0806, -0.0562, -0.0122, -0.4171, -8.0615, 6.8444, 1.4969, 0.3101, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4675, -0.0139, -0.0334, 0.9993, 0.9085, 1.874, 0.968, -0.1173, 0.5674, 0.5037, 0.9986]\nstate[eef_state]: left_x=0.2846 left_y=-0.0026 left_z=0.1613 left_yaw=0.002 left_pitch=-0.0996 left_roll=0.0003 left_gripper=0.9993 right_x=0.3249 right_y=0.2681 right_z=0.0213 right_yaw=0.1341 right_pitch=-0.244 right_roll=-0.1473 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.1966, 6.9675, 1.8535, -0.0659, -0.0415, -0.0122, 0.0752, -8.4991, 4.6017, 1.4237, 0.2808, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8766a91ba156f6bdd5c9f42d40ff1cb2f2201a97b63a39741a8d04f6cf0aaa26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a06540d066bc9a869eef9b85f857de44d3a26ad682ff70ed41fe3da944c13cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd27516d9eda977ad7308d0dfada49af213ff618b55cc9d0f09cd01e378fe78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0e0ap2Fc5VKodyYY2XnZ0Rn--L1DIqjqMveHYl9tWEJeHH3Lb9cI3uf7OfuFFI00ahB-4aTL3HiEqf5ZzyxtfQlU_mRMB9tBGckvItUxEMNiXHNyHFpGTJFLe92KZXDS6CNmYP6wtGeSLC1s_K2PXL-tHuUD44TDxgACKDqdjX9Lx5GSJ7kFgjzy2D20hMnzD11Bh-iWDhb6WcfpkdEu3czBrFkzX3JtnZo3X6Fp2okGdqS4pwllLcCso9g1un6cfx1JO6G-Q4-FwSN68PZZHyzjl2ccL6GGri7eoM3Mg3ZO6Z7NRWH2s44ryjb2_p-JYnMeCmhkBHn70rdIpgOOeAmCGPFX8ZG-hU-NJmRibTTZ3CgDus41A6Xfu53h3jA0AU3igxmGJU1sXjyfowm3YT2TPFEXhpYUq352yZWu2VRmX8DK1h1MmRnvwg5mYVtkv1glVqNjZe5NQxhnLDeR9FfRGj0uQJvBb5j8nDzs2XiQPggkIJKw43-p60cDgXH5h0sbrrXjtBUThPh4KLI4FuM4KixW2s0DGEnC1NjHE1A8iN7KihfqbKvDzG4FdiPqmXLM_CqH4KzYIx0oWNR8GGEGxRexcGLj124HM-kWsco9HLqN8j-pZN8pf4gtypQFt8V4Kgl2TxVjIHrcBm1hG9_tNY-fst2t5TJZ8edcKC-xo7L_aj38w7ppGJkJ6TsgPqcsEdszDg3NEy9lh2AdSpsZdI4HuVYHfsiDDoPBApLc6volVC7c2sPFAQ48-5mNYxZRdj4xnXA8AZcXVKmk_n3TqSXapRKIZGaxz6u9yU0DZjMs7YLiX4VXjnkRTDUhzlgd61v3twWwTf72O3jjLPhfQhDWmWPVG2XD-SUNePvLGorF2Izkqv3hMV__GCdLJP0tS2-yJRUztHiwM5_h-qclJIbZEGd1Bc5wzdxNd_eyBmpXyld99uiXNGcCsEU6LCgrOp9LGzb_O77VKhCl0lVBW16DtRbewK4sYmEvZWQVQlMMlNYCaY6-UowEUhkzcWGOpX4ft0JWa1rfCPcUXB7CJTHS4tbJQ9aXnbyjZm6rjxH1tYatI13zNnkGCxRKfhts2EEAVgYnwPsA2jIo0cQ2zUr4U-O1v4TLCmniMtw8OigG4JeE0zmgbSvrL6BBXSc0g7F1UdmgfmuNryCGlM_YJ_v6B9SV9Lw2U9dkxlBLXiHcHlLZxVA8-GTnfNmla-Mf1dl3pmjRzmPt-_1U63UHN0a8Y7wBQhkwBdQ4P1AB9UIOCT2ClMtABfAXMD8miIBj90UhDPQRa8IrRol9Mvafh1_F-IZ3JrhWWuTNkQs_xyZZvhottZvmkrk_Syf0wepYUD3YR4C0a77cEN3UwpLGwofRpdLgIOqIQiVBA6fTv2eAWVM8HFX4pmF0Oeh0bBj1n--H_mCRj_yQ8Rq0WEZmVbRgsjP-RvA6qkB-Ze7_OdwCua9C-ew4WcyttSo3Yy7q4svX4SSSyfnDqquhMNg55_253MR529JEGqp1AZx2D6oRdkk0gDyS4vyzE7qDtHmym8cfmuXqPqh_jc9AeYntt8wzIwOrtZRrE4BFj-lf-p4JftfVEZhRV36RODxixi7vxER0V_ke-cFcVnjuSbvcSkw7kGTrOJZliQUhsH4dSX7lUIupxj-egfrVJWkPS6x0t3zS7mNWtO0T-4MN4tdA_hc_NfI_eTZWvF1RyKUpSMqN4NhlLOJQL-32WYJTxp4aT_eB0_6YE35F3HCvPVObMVM6Ggn9yNhJi0f6aWfwYfHj86thFgad5ECeoXreuG",
  "id": "rs_0cdee9c582865efc016ab41d1c359c87d096442a3a572851cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.24,\"right_x\":0.326,\"right_z\":0.022},\"note\":\"At grasp height, the wrist view shows the yellow fruit right of the jaw center; the camera perspective changed during descent. I’ll make a short sideways correction before closing to avoid pushing it away.\"}",
  "call_id": "call_uvBS0L8fV3xcrJU2dJSEHTmW",
  "id": "fc_0cdee9c582865efc016ab41d1dafb487d09c0bfb6ef6453b94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uvBS0L8fV3xcrJU2dJSEHTmW",
  "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]: [-0.0303, 0.8135, 0.6132, -0.4694, -0.0135, -0.0334, 0.9993, 0.8486, 1.8309, 0.8688, -0.0727, 0.5373, 0.4515, 0.9986]\nstate[eef_state]: left_x=0.2843 left_y=-0.0026 left_z=0.1609 left_yaw=0.0017 left_pitch=-0.1015 left_roll=0.0001 left_gripper=0.9993 right_x=0.3233 right_y=0.2356 right_z=0.0099 right_yaw=0.1214 right_pitch=-0.2743 right_roll=-0.1725 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2786, 6.9675, 1.6874, -0.022, -0.0415, -0.0122, 0.3214, -10.6051, 5.1214, 1.3065, 0.2418, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23af0411adac60ba710b9af8a20779fc560b65ccf4f08e9622753f41831cb2f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a41b1e2f6ccb707871a83b8853dd54d0d868bcbc903dec8092ab8537af935faf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d1636b5a2b8400aae900074ecf00ea04604230e1ac9062311f177b003b4329",
      "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 · 5.185 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8124, 0.6132, -0.4465, -0.0139, -0.0334, 0.9993, 1.0153, 1.6447, 1.3006, -0.6926, 0.6437, 0.6212, 0.9986]\nstate[eef_state]: left_x=0.2877 left_y=-0.0027 left_z=0.1657 left_yaw=0.0019 left_pitch=-0.0774 left_roll=-0.0004 left_gripper=0.9993 right_x=0.2969 right_y=0.2841 right_z=0.1673 right_yaw=0.1253 right_pitch=-0.1964 right_roll=-0.1174 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7851, -0.0317, -0.0513, -0.0122, 0.1709, -7.4462, 6.3385, 1.3504, 0.525, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4675, -0.0139, -0.0334, 0.9993, 0.9085, 1.874, 0.968, -0.1173, 0.5674, 0.5037, 0.9986]\nstate[eef_state]: left_x=0.2846 left_y=-0.0026 left_z=0.1613 left_yaw=0.002 left_pitch=-0.0996 left_roll=0.0003 left_gripper=0.9993 right_x=0.3249 right_y=0.2681 right_z=0.0213 right_yaw=0.1341 right_pitch=-0.244 right_roll=-0.1473 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.1966, 6.9675, 1.8535, -0.0659, -0.0415, -0.0122, 0.0752, -8.4991, 4.6017, 1.4237, 0.2808, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4694, -0.0135, -0.0334, 0.9993, 0.8486, 1.8309, 0.8688, -0.0727, 0.5373, 0.4515, 0.9986]\nstate[eef_state]: left_x=0.2843 left_y=-0.0026 left_z=0.1609 left_yaw=0.0017 left_pitch=-0.1015 left_roll=0.0001 left_gripper=0.9993 right_x=0.3233 right_y=0.2356 right_z=0.0099 right_yaw=0.1214 right_pitch=-0.2743 right_roll=-0.1725 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2786, 6.9675, 1.6874, -0.022, -0.0415, -0.0122, 0.3214, -10.6051, 5.1214, 1.3065, 0.2418, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23af0411adac60ba710b9af8a20779fc560b65ccf4f08e9622753f41831cb2f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a41b1e2f6ccb707871a83b8853dd54d0d868bcbc903dec8092ab8537af935faf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d1636b5a2b8400aae900074ecf00ea04604230e1ac9062311f177b003b4329",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0iVHe7lyurp6_W98SnxkLKPi206GRgJJjZCNuJnRoaslUFnCpLW1jLK38GYovRSPWcYa8204_BkVullKeXdxt06pdl24NeDT23Uj07e4pvzr6ozq8FN-2zKb_DRYfyEFkHSLOutSqwbAZqHE8ZH-DTOFxt2FL4Z7Gb46EAKJhCZ6YCMZwP942Z_RpswjoqcqtpdRiFhE4ol4-2_JFHqVfV2o2fyhjfeZhdaOLxcb2gicDKDN3a0hUzkybvMK1Bm7eTKdPog5KGRPyNhMCOtr0jv_MvHYVWWbsg0W0pRNkBjdOupbw1orSm4UzqJ01uu1v1lLKgE8ISmpGYUUpjc7LZPThebP9Li4nn2qCcXC7Ynufw7WCWLlQekcttiZAY_kAzhMvQGASyzPpC2aufQLdSvrCCdCi2q6pMHlAGG0DFsbmdGkyQ7b0tcQvjgaFDOTLQH20OdKTH4i7WzkP5nRjkFNuu6ohkuNJ48YAVVTRQ46AZ87vVV5KXPGxttoJKBF-zR7dapt1MjTEEfHbzWxe7z5O2IePcnTqHUyT6IJjfLw88Y8FLfBXpf0U0SpTxo8LRA_xzqJG2dMDHfEExyivoB3UmLwtHDgB3KUK_IjBR2eMRFDykGk29LERSPUdPyFtIDg6xj4kFfFzpKCcqc0UPqDb0IIZKwb3dcFYwhj9DSnp7HiLKnPuP8XbpskRpbd1GyTeG7wt5X24cY5TpunxoNBZ_Mrs1gLb6uEdNRjAeHyAUQO9wUkfkm1h8tHAfcKd-0lJepjDAAJozu86o6NDMexwuIZFR-nIjR4CyoTOSdUM1dRn2xO9-IhPjyez704Q5tD-mZ2fp1pfl5ojojhxCo4NyjJ8yPKGrDw7M7c-Dlojd6xIkUs02koKckVogpvmyZ5Ztjh-FjyVk3Wf1THrlN5oFom-PTo_r4EGlo_YZnFIbEdfbdcKaQDBg4cHSwCY40xn7-lvrpMDD5bS-GjyYv8nt3fdXTSzyr4nVzHotC6aDHXUqNj0VFh5L8AW7Catw12MbRfh2LX4tIYf2KpWW9celg7--oj8KVEihRThWSGUayMGUJNQee-xdtfTUHIBnM-daNC3FYia8N56ioSkx45w2lmIqQ8rH_5Aqujdf84EfaBvlp0YzkElBlfzBERouQt7_NwQeVB8KTB6IRRYUjTjhN4-9WrLoFag9_1c2P0oKh0n8itSJgt_3jgUoyHJHPWhwHnVRTpXEUVfJfHffw_EylXo-V26M1nCM6D3pYaXvTVGwVs61TWPzAbGtMpz_-OeKiPPNSL9sHgCgiFbPBIe3iYa8AwLPeGszne0ArFbe9c4yT4GWqPy15T_Eo4Bj62r5VJkggpEYGkGGy78mLhFsEo1mWPCybF92mGEs3JJMv5GqYhWRl5NKCScHcET-Qv3NAwep2e4VzXQJ353k2hh-h4IRcvAf_s_D-vSsm-2wjswuB88Id0NG7oNmqlstuTrdzDM2P5qNzMC_aA37MUp-coIIMEML1erOG2zUCmBepOGP6UkZvC1BxDfgAYUp2w4Jf8xsJi13ajeVFPHhVQztHwxRJHKi_TIpbsp62K0=",
  "id": "rs_0cdee9c582865efc016ab41d203df887d098c3854606672ffe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now centered between the fingertips at table height. I’ll close carefully and use the resulting jaw opening to check whether it has been caught.\"}",
  "call_id": "call_iESOAjQwdipWVOdZ5QFv2Yj7",
  "id": "fc_0cdee9c582865efc016ab41d21324487d0b7ef5763478e694f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iESOAjQwdipWVOdZ5QFv2Yj7",
  "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]: [-0.0303, 0.8135, 0.6132, -0.4755, -0.0135, -0.0334, 0.9993, 0.8486, 1.8305, 0.8688, -0.0715, 0.5327, 0.4438, 0.5251]\nstate[eef_state]: left_x=0.2833 left_y=-0.0026 left_z=0.1597 left_yaw=0.0017 left_pitch=-0.1076 left_roll=0.0003 left_gripper=0.9993 right_x=0.3231 right_y=0.2364 right_z=0.0098 right_yaw=0.1291 right_pitch=-0.2765 right_roll=-0.1737 right_gripper=0.5251\nstate[joint_eff]: [-0.212, -1.1145, 6.9402, 1.7216, -0.0269, -0.0269, -0.0122, 0.0615, -10.4274, 5.2991, 1.2918, 0.232, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:502807a39e3bd320ab46b00e7b91b680d26da5d1839fb415b1d30ff05d73c42d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f2a347708b9d0da512f51bde19aabc44be6d85a3942bd26bba79458df89b2b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d26ba25041696e0a922b17eee82f97d30a36e1d691c62a96601541c82766c94",
      "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 · 6.986 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8127, 0.6132, -0.45, -0.0139, -0.0334, 0.9993, 0.9092, 1.6741, 1.2121, -0.5419, 0.5743, 0.5037, 0.9986]\nstate[eef_state]: left_x=0.2872 left_y=-0.0027 left_z=0.1649 left_yaw=0.002 left_pitch=-0.0813 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3251 right_y=0.2672 right_z=0.135 right_yaw=0.1335 right_pitch=-0.226 right_roll=-0.1375 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.306, 6.9949, 1.7216, -0.0806, -0.0562, -0.0122, -0.4171, -8.0615, 6.8444, 1.4969, 0.3101, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4694, -0.0135, -0.0334, 0.9993, 0.8486, 1.8309, 0.8688, -0.0727, 0.5373, 0.4515, 0.9986]\nstate[eef_state]: left_x=0.2843 left_y=-0.0026 left_z=0.1609 left_yaw=0.0017 left_pitch=-0.1015 left_roll=0.0001 left_gripper=0.9993 right_x=0.3233 right_y=0.2356 right_z=0.0099 right_yaw=0.1214 right_pitch=-0.2743 right_roll=-0.1725 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2786, 6.9675, 1.6874, -0.022, -0.0415, -0.0122, 0.3214, -10.6051, 5.1214, 1.3065, 0.2418, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4755, -0.0135, -0.0334, 0.9993, 0.8486, 1.8305, 0.8688, -0.0715, 0.5327, 0.4438, 0.5251]\nstate[eef_state]: left_x=0.2833 left_y=-0.0026 left_z=0.1597 left_yaw=0.0017 left_pitch=-0.1076 left_roll=0.0003 left_gripper=0.9993 right_x=0.3231 right_y=0.2364 right_z=0.0098 right_yaw=0.1291 right_pitch=-0.2765 right_roll=-0.1737 right_gripper=0.5251\nstate[joint_eff]: [-0.212, -1.1145, 6.9402, 1.7216, -0.0269, -0.0269, -0.0122, 0.0615, -10.4274, 5.2991, 1.2918, 0.232, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:502807a39e3bd320ab46b00e7b91b680d26da5d1839fb415b1d30ff05d73c42d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f2a347708b9d0da512f51bde19aabc44be6d85a3942bd26bba79458df89b2b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d26ba25041696e0a922b17eee82f97d30a36e1d691c62a96601541c82766c94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0cdee9c582865efc016ab41d24e10087d0a9279196ec1b6c64",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The jaws stopped partly closed around something, but the wrist image alone cannot confirm a secure grasp. I’ll lift a short distance and check whether the yellow fruit moves with the gripper.\"}",
  "call_id": "call_GRIqV8T6plvMB7RGULLrcNaI",
  "id": "fc_0cdee9c582865efc016ab41d27ea1087d09849f4d8084cd026",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GRIqV8T6plvMB7RGULLrcNaI",
  "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]: [-0.0303, 0.8135, 0.6132, -0.4759, -0.0139, -0.0334, 0.9993, 0.8486, 1.673, 1.0367, -0.4229, 0.519, 0.4435, 0.5285]\nstate[eef_state]: left_x=0.2833 left_y=-0.0025 left_z=0.1597 left_yaw=0.002 left_pitch=-0.1079 left_roll=0.0006 left_gripper=0.9993 right_x=0.3202 right_y=0.2363 right_z=0.0826 right_yaw=0.1337 right_pitch=-0.3039 right_roll=-0.1824 right_gripper=0.5285\nstate[joint_eff]: [-0.0752, -1.1556, 6.9812, 1.6825, -0.0366, -0.0366, -0.0171, -0.2667, -9.4154, 8.4855, 1.033, 0.359, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b125d596a3fb61629cccd5657499a7da00ec1c13b2fc2ca290613a4c11e82a87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d6fd209a7e4fd16c4ce6debb598e4333ae9cfb2f3d66025c1399a44d40542c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eabbfe0a36bd709f3b56bd726dbd6deb8939957d610315d08fdcd3ec2034dd0",
      "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 · 3.706 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4675, -0.0139, -0.0334, 0.9993, 0.9085, 1.874, 0.968, -0.1173, 0.5674, 0.5037, 0.9986]\nstate[eef_state]: left_x=0.2846 left_y=-0.0026 left_z=0.1613 left_yaw=0.002 left_pitch=-0.0996 left_roll=0.0003 left_gripper=0.9993 right_x=0.3249 right_y=0.2681 right_z=0.0213 right_yaw=0.1341 right_pitch=-0.244 right_roll=-0.1473 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.1966, 6.9675, 1.8535, -0.0659, -0.0415, -0.0122, 0.0752, -8.4991, 4.6017, 1.4237, 0.2808, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4755, -0.0135, -0.0334, 0.9993, 0.8486, 1.8305, 0.8688, -0.0715, 0.5327, 0.4438, 0.5251]\nstate[eef_state]: left_x=0.2833 left_y=-0.0026 left_z=0.1597 left_yaw=0.0017 left_pitch=-0.1076 left_roll=0.0003 left_gripper=0.9993 right_x=0.3231 right_y=0.2364 right_z=0.0098 right_yaw=0.1291 right_pitch=-0.2765 right_roll=-0.1737 right_gripper=0.5251\nstate[joint_eff]: [-0.212, -1.1145, 6.9402, 1.7216, -0.0269, -0.0269, -0.0122, 0.0615, -10.4274, 5.2991, 1.2918, 0.232, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4759, -0.0139, -0.0334, 0.9993, 0.8486, 1.673, 1.0367, -0.4229, 0.519, 0.4435, 0.5285]\nstate[eef_state]: left_x=0.2833 left_y=-0.0025 left_z=0.1597 left_yaw=0.002 left_pitch=-0.1079 left_roll=0.0006 left_gripper=0.9993 right_x=0.3202 right_y=0.2363 right_z=0.0826 right_yaw=0.1337 right_pitch=-0.3039 right_roll=-0.1824 right_gripper=0.5285\nstate[joint_eff]: [-0.0752, -1.1556, 6.9812, 1.6825, -0.0366, -0.0366, -0.0171, -0.2667, -9.4154, 8.4855, 1.033, 0.359, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b125d596a3fb61629cccd5657499a7da00ec1c13b2fc2ca290613a4c11e82a87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d6fd209a7e4fd16c4ce6debb598e4333ae9cfb2f3d66025c1399a44d40542c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eabbfe0a36bd709f3b56bd726dbd6deb8939957d610315d08fdcd3ec2034dd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0wCMIAYUfG49GrIoqX3f9nMvrfY6jx7LIDYpUP6U96oPuso11tMxFnOTBi10T4C8vfbo1z3JXs9l8ZkltcepGnMopIUVlb0UhKIdghKnHOxd6SSaQLIOdOpJrBUTpF0Bx7Ds9_KXCBipHVTgpMXygY1sF2zSKyuDIgAIcA1yFJHwN16fqzY4goL8IpOji4rkPMYIkakuQPX8-uvpuo3VoTOumj5w-sETXpE_5QRpz85gIvS5fOHGfccS7WFrxv8NKLUjAGF7aVZtcy1tWDbkmpkWlMC2_hAUadDaovprlwtMlprtjGSTtCoW__PwqvdFUo4fGSAhNh34ex3fIv5BhPhCReha_dJiMWM_JgoeazGKPLmlVzcCvbIwhNJmd4LW7lj-FW4KibP5ECzGCyJb4ypDuUogvujRwTMOpzyNnQ1P0ucN5gv4Eto-vrVm0YVdU0QqlulRFnW95wNLM_YXAekd-1aQDZqX0m4xyXfFN9-us73PlkeBW-O6ZYyaFvgIfud9_whJTh1tp24kRYxMvj8rO3sAUbq7Z4Oev6wYrkJdDqUR_ZLlhlI2m90R3nxBLenS5Ix9i7SRPOQa8K94apqk5_PSQ2tB1SLcgSjSAV4Jdrg4funRUjqjxBmgtEEUZ3_b2y6yHQozXlhxXurIDfZ20MOgVRmhNC6V_oHtHnPY8dJBx4452vRhRefc0vQJZfqzcq--snHHzJ0pkj-fxCGsnvB1zjXUzCyeGhXdsh8qJjMY4q6RswJ-nh9JQN-1rmxJDEoiHrpz3LfKWWNmORC35VHRmGaTv4dGCI2yxvYX6vuoHQJhFlXZPiq8ABHkZlHeHf80dwL88PP8VuMF3FhuIGwqu9bXDwDWC7_4_WESi1zM2k-dZKPwMUEfYAzE5_fvBoMNx7ivaPhZoGKcUXCe1wxTNupZ0nunjstBbsKOxS3awuJEBpedNs51eviqB2HjF4IYyj8owEwb5V6ZhARD2p0X48REi3mpENrAUUJZUuNJ6Ned1UBCJN8lDitn3DWsKOQo1Pj0BODvheMS73FuOmwXhzQzSCgfMCSFVTks8JaYsOPTVIng1qNbiSSP0fsewq55HPcXaE8LYvrqaMATLtsV9uobOrsoiYFGd4tWmbFW63TIKAy3xP-GpYzD_C0zDcUlyZJ5rIWx2W6FM7d3sd97boMB8Xb0ei9Db9TCsuHpVxoI-g_moeaw9GR_0O9izZGLZ5IxxbUW69L3QGA8nN74vkk3DfNAdhmETN8qMDqoqF4C-BJEBn7YUzXEWVCwQ-QiIS6CKhIKbTksDOlZhq-Zc85WZZ6zpsbUqcfWi-vfxDKCqWfkFxMY59vN44Qm7SZWq-Jpt-WoCZf9VbPv62DirThj7Xfjbrbbsvt_w8s6a4mOq0oiUNL5m1z0yj-u4CU_jzTxaPxS_IP1pPkIjUta2d9jov8wZYDFqNFBEmsJx_qNZB_SD1z2LjWkFE72axHbBlOUE8TWbokRilvaJyX8yDE6cVdyZGLwhB3rF2UHCW5ZTdsZjzrKoe0iKQkG6Kmb1bmjDRapYrQLyPqwsdU1npQTP4HCTdnYdHADBzFfM7bDbq3tiOa1Ifmv3CeqrnR_n98wIVysQRmuR2fHDupltY0a6vaYNFqN6RtwzTr8yeoF7uE7CYGTYSo_6ucWxSCTa5aIBFGd7Ebj5dMdKWAEaHNqqiQTJd1RfWUoLzmNgAK_5f9InQ3a7g5qkodXoHP5OtWWeAhGPtxPbV9rlH_mcQLPu7vLc6jC9hLRiHx2npLqlFMRj0orIhAB2GMZOJQ3vfCGNZhMaGlluXsGr_cDdGJ6SpNRMO1UE4db39xjeeaHbh9QhFreRs0hsvR73WKty2m03Du7KTjiAsnQOp9OHx6wKKZMJSs1K9gP928tfFJmov49zgpvAp6EO4yo0mh5anT9i1MbO6aTIJlU2IjvXwkJew67z4QP9UwvkY7nnPuvN_TybNS1QLGBrG2Y7OthddVCIhnqE3bPByuFkF5IGmrXSLQJbbz2uQoad36ACsx9d_OO3aFFX_rbGOB3PdtiSQ3UndCPQM2c6F5wpFCtWlp84p0w5QtGJm8UoSi4X7nFmdL7NnSWPBYii2xvRAXzG8V0GPfHNtMDiq02rPwqWZC4rmm5TdlzMRoMSUwF2W-z-b34X76gng31fFUX27ZmTBuFbIfj8d2q6D8m8BII8hiW4H8o3jU06RF6eWXWtkRH2eTY-EmjCfxx-F8n2f_W_sOoPxTotM0v673xa-Y0o00H2_-v7-5TVJIR2BYlqKuIleg4q1Al_d7fSPWkI6qPz7UH3epWdBghNdnaC_sJJtZJq-2F4fyXKUP-LIky74SaxiQYCuBcFXhaNHd9tHXeAJgtHK9jFDy-YIxrXOacQeqFSKLCxXmU04boP9SYLaiz1Z-nzapu3FVnS2nfaUaxLhJdYzftD5EE2Jyy4zhnWCvSugfqYQK_VqFkB6N88reB6cFawRuFl3_6mY2gf2UOfHMN2hNvdjcSpI6aZvqheh3APH7EhjI77oVAdVahvGtER889zWFLn3_HGs6APPe2GuuL1L0L7DXEFHgeR0bVJgsysZg3P6z_yY8clEPC6DOmiOvAYrBRCUIrfMHurI6_86XOW5sSu4DYpN-GqiFmM9jQwQF8sJshd0IPgXKZ064-fVrTXvvy5LB7EdgTRjiPAHD_EEod1LUQXKLab5xo64UVPclhZ9fwptnly3ewoHxLd7UIsRBFtVYpzHpd49DME3pOhP_7bSbU-IEH64Tye7aUqpIzz0VjoZOHPmeN01ClUBFKa64vwiKamOwDNme-MsdNbfuJTWVPSj8SjbhzZpTqGRuSvGhirMDKDI4RKSvrQpSYf2SpIdYwGvlR1qwp0AdTjc43B9RelK0bD193D4sqXusNqXuS3nX7fXYi1j6w-UAOZdBPOPnDeWBW5l-JhQaXjW4IuwmP5p1NwARmFFH_2Tj60oX9cOdlpj2l05tDHU56XUZZ4zm7-O1oTvXEXHVU1rDGuA6QIVt8HGAwCPnmxwDLs3wRvTNduN8rQl3KOLWyOhjiacXaVBaELrIepKOZOgM8FrD9Cq4Y7I-5bI42wc84Dq3FRqSJpeq9U8Vm1Y7HG-5wUy79k_plqxEcg_7nRxTjnv80rwVUf_eNkQVWvlUT0ePqvJ6hwGo3PyZ3QyYp2KwU0icjChHwct87gvAeoOJTtBpvOO9AWmJxyEUJA-20EcAJmqw_FVOAfoYDNj933LX3hUsf-p3ZJBFZ2OE5J9sRPk6xEE0n8pV7S_MZsaw6kJCVaH5RBK83_83Gz4zl8urzLjulEHffYO1DgSMDo7NCfNHSE_G3BpfiiQmYxNXsSuEsd8ScYzlykSNCmcQuPnzGjzHZ36o0GpyGy5LtVX54mfCUIlHqLABAMcBCenUZuAjoMBmZz0a2F_NZ4BzrVs7gvMc3-N7UbW0U5-lnHoUsCdpf328M1dPsPBXvwGsIWCmNdZ_Oa1zUXTTw8dxO7wjlkLEae9HmR4ABiAZp-3msU0G1MYVQ==",
  "id": "rs_0cdee9c582865efc016ab41d2b70bc87d0ba49d48554857c01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.19,\"right_gripper\":1,\"left_x\":0.28,\"left_y\":-0.28,\"left_z\":0.14},\"note\":\"The yellow fruit remains on the table after the lift, so that grasp failed. I’ll park the right arm clear of the bowl and use the left arm to approach the isolated dark fruit.\"}",
  "call_id": "call_nDMw9HRCIyqo0cx1p60FWJ50",
  "id": "fc_0cdee9c582865efc016ab41d2fa51487d09c6e324025cc740a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nDMw9HRCIyqo0cx1p60FWJ50",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-1.1057, 1.6272, 1.1, -0.5552, -0.7448, -0.9005, 0.9993, -0.0124, 1.0283, 0.9043, -0.7879, 0.02, -0.2707, 0.9986]\nstate[eef_state]: left_x=0.2764 left_y=-0.2759 left_z=0.1277 left_yaw=-0.0062 left_pitch=-0.1383 left_roll=0.0224 left_gripper=0.9993 right_x=0.2853 right_y=-0.0035 right_z=0.1724 right_yaw=0.1142 right_pitch=-0.3576 right_roll=-0.1847 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -7.2274, 8.4171, 1.072, -0.6178, -0.1197, -0.0122, 0.1709, -3.9316, 9.4701, 1.4139, -0.2222, 0.0024, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71209e7ae38e124aba455eac932e98bd68e168542396f7488655cd5ae19f60f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd668ed1615c38f1d8997fb50d07f87c7631faca874a8006267292497650affb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2dcc60e78d26203a4569729ae94d050223bab58be7a5992123b1b1fbe382ff",
      "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 · 3.447 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4694, -0.0135, -0.0334, 0.9993, 0.8486, 1.8309, 0.8688, -0.0727, 0.5373, 0.4515, 0.9986]\nstate[eef_state]: left_x=0.2843 left_y=-0.0026 left_z=0.1609 left_yaw=0.0017 left_pitch=-0.1015 left_roll=0.0001 left_gripper=0.9993 right_x=0.3233 right_y=0.2356 right_z=0.0099 right_yaw=0.1214 right_pitch=-0.2743 right_roll=-0.1725 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2786, 6.9675, 1.6874, -0.022, -0.0415, -0.0122, 0.3214, -10.6051, 5.1214, 1.3065, 0.2418, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4759, -0.0139, -0.0334, 0.9993, 0.8486, 1.673, 1.0367, -0.4229, 0.519, 0.4435, 0.5285]\nstate[eef_state]: left_x=0.2833 left_y=-0.0025 left_z=0.1597 left_yaw=0.002 left_pitch=-0.1079 left_roll=0.0006 left_gripper=0.9993 right_x=0.3202 right_y=0.2363 right_z=0.0826 right_yaw=0.1337 right_pitch=-0.3039 right_roll=-0.1824 right_gripper=0.5285\nstate[joint_eff]: [-0.0752, -1.1556, 6.9812, 1.6825, -0.0366, -0.0366, -0.0171, -0.2667, -9.4154, 8.4855, 1.033, 0.359, -0.0317, 1.0281]\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 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1057, 1.6272, 1.1, -0.5552, -0.7448, -0.9005, 0.9993, -0.0124, 1.0283, 0.9043, -0.7879, 0.02, -0.2707, 0.9986]\nstate[eef_state]: left_x=0.2764 left_y=-0.2759 left_z=0.1277 left_yaw=-0.0062 left_pitch=-0.1383 left_roll=0.0224 left_gripper=0.9993 right_x=0.2853 right_y=-0.0035 right_z=0.1724 right_yaw=0.1142 right_pitch=-0.3576 right_roll=-0.1847 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -7.2274, 8.4171, 1.072, -0.6178, -0.1197, -0.0122, 0.1709, -3.9316, 9.4701, 1.4139, -0.2222, 0.0024, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71209e7ae38e124aba455eac932e98bd68e168542396f7488655cd5ae19f60f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd668ed1615c38f1d8997fb50d07f87c7631faca874a8006267292497650affb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2dcc60e78d26203a4569729ae94d050223bab58be7a5992123b1b1fbe382ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0-R_9RX4R1iGOXyU1vQZ3HC9zs9H3dTE9lTOkwyxVTRJUByDF5xxkz_BlwTgMUVW4rIisi0GljgpqsvgDz0-SMZKZNK2bG5RfvsnAM6hkSzrvSthHJZahUG4k9mP056HAQOegBuBn3kRtlCATIGPlxrapvYMnX_vcZCLA-S9tuLhWxhuUautz3VWMI9MBIknLvS_gRTsYmY9ng998YgeHS4J7E387f_U7eksH33-Intvyu7IlY4_5nWostTOlTPIakSD_7hDbRLz1Sn4hS8eO4dxtGrlwbH78t69h7Q5hLBGSMUP2Uq7Yelh1eX2yLmIeNHj6FTHcybylQpuT6FrAvdTGVUgkozLTvQS-1fieMneESIrSTvoxPEfOzK2FANkWHXkqAHzqbkCZVYSfXMHO8S1vYTo83PaLlkeRYIs9v7cyw4obCruQrY3YI5JBfQU1kIv3xxdbnK6W23GxcqJ0x6vk3vO1k0bEL4hRo9ldznB2M8ZNpS6aMxWpdXN47jB9kcjXCVLVkqPRMcLp7LjPnymrTq6emDCx9PBDH3Dsy47JwvjCuuC2YG4QGv6DTrxCLcpy6vH1Z14xxvOuHU2k14KIm3kseP8zYJqb92kt3sd00nj8uzfTe76nf0WXjyMCdFhlSDGzkpH6JTy0ubgdkaQm5PkB1n5A3tvzpYs6CSkXo6BHxi0iTEyqhyk2GfnR9BUWiLYuUrvvNBRIk1-VVu1J_if-QLu5Et9vl1Fb98k0QdYPCxRy6Eq-g0tvhEDV2fzeLpFq9Y084p-CLNeGwYn44e06lyRGLIRQDmSQab-zZ6kjD00cQsspSkqqFxKUrYqFfZWdktiCVZLFoJ3hvlu-pYI1wmM4ITLLK8elDRkQ29NA9cfxpruQMrMn-_BW71Xvi1IHCqWvZEdrksn7-AklP8Co8BbM0iy5m1ekzAmEqxK1Y4EYmqE_GSvLJ0KE6qmMznESBpbgppous89uwXn9UyuZ0IuH_4sEhgCLq65cYHWU2NAMKffpLt4YbFEYZ5SD3Z8K3XCxN54RO1-hds6DThDBEJDU7vOr3P_oMmONiQT86cOAHIhovALvVKjmcXuCwBvFAU78qjbmslI3_1eLAed2Xcn1MuSQneEgSKZBwJC3cRT3apQ_PCgWPuDe7oVuct_Cc2nYkUm1YIvVviB4QqbIxWrxcdT9dsFvdpGhIdmBg0QJbDLSKM8pcOkgsr67Trm4NIzkzX_H1zkB_PZ4-gwnxCKpg-xBoba4lWom5q1_SRGdgOo5Z7dDByZaGx43IZleYl4yndIzjh6eYy7ldNZnMs-oxXEVwRiETcbU1LwMveLdIzH_yUgbKzSYmaQ5EtBQOla9unZSCtyWtMROHK7UuJ4f85Ml7ssjXIZvtydIBd7febDSVVE3HXH0CV4W6MDekhJoSYQHuBfzwNGjeQ1GnftKQC9YTYLCg7hMYSfr3Q7zyuIpxe6yBCwI2BFJrt6yOm2XlAV4dzJbRpBa_W_ZXZXZlYr9CIOpphXJ-gOCDutGSId7B1LyY1KitU6kdUJZb6KIXn8ohGFfImEVVJbQfiQfJfbaawXExtxwXoe2oud-DkpXFb91JE6ohuMJ7N3ySndUtotu_ugIdaB551WOty2Zlpe4PLAMiWGDRz_vsci7hS2ZUTywns2C4",
  "id": "rs_0cdee9c582865efc016ab41d3c4df887d0992288afe98aa03a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.304,\"left_y\":-0.25,\"left_z\":0.11},\"note\":\"The dark fruit is visible in the left wrist camera just left of the jaw line. I’ll shift the left gripper toward it and slightly forward, then reassess before descending.\"}",
  "call_id": "call_foqyiEkAyUIUWwjucVCWbEUv",
  "id": "fc_0cdee9c582865efc016ab41d3d554887d092af6b38a9d7d539",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_foqyiEkAyUIUWwjucVCWbEUv",
  "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]: [-0.9821, 1.6234, 0.9897, -0.4049, -0.6872, -0.7879, 0.9993, -0.0109, 1.0302, 0.9051, -0.7883, 0.0105, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3026 left_y=-0.2449 left_z=0.101 left_yaw=0.0185 left_pitch=-0.1608 left_roll=0.0443 left_gripper=0.9993 right_x=0.2855 right_y=-0.0014 right_z=0.1721 right_yaw=0.1262 right_pitch=-0.3584 right_roll=-0.1785 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -8.9231, 5.9145, 1.326, -0.315, 0.2027, -0.0122, -0.3077, -2.7419, 6.6256, 1.3993, 0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc215fdf92693b3b756c75e4f80041235a7ed1fa8d9a1b4fff26b6060a97a2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd8e191c2644987a389999de3c6632f012c5472aae0dc153cc27aef26f93516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ef40cd6102e6ffa2e37de9d23990d69ef681bd7f572fa27d338ab3d867a25f",
      "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 · 3.969 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4755, -0.0135, -0.0334, 0.9993, 0.8486, 1.8305, 0.8688, -0.0715, 0.5327, 0.4438, 0.5251]\nstate[eef_state]: left_x=0.2833 left_y=-0.0026 left_z=0.1597 left_yaw=0.0017 left_pitch=-0.1076 left_roll=0.0003 left_gripper=0.9993 right_x=0.3231 right_y=0.2364 right_z=0.0098 right_yaw=0.1291 right_pitch=-0.2765 right_roll=-0.1737 right_gripper=0.5251\nstate[joint_eff]: [-0.212, -1.1145, 6.9402, 1.7216, -0.0269, -0.0269, -0.0122, 0.0615, -10.4274, 5.2991, 1.2918, 0.232, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1057, 1.6272, 1.1, -0.5552, -0.7448, -0.9005, 0.9993, -0.0124, 1.0283, 0.9043, -0.7879, 0.02, -0.2707, 0.9986]\nstate[eef_state]: left_x=0.2764 left_y=-0.2759 left_z=0.1277 left_yaw=-0.0062 left_pitch=-0.1383 left_roll=0.0224 left_gripper=0.9993 right_x=0.2853 right_y=-0.0035 right_z=0.1724 right_yaw=0.1142 right_pitch=-0.3576 right_roll=-0.1847 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -7.2274, 8.4171, 1.072, -0.6178, -0.1197, -0.0122, 0.1709, -3.9316, 9.4701, 1.4139, -0.2222, 0.0024, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9821, 1.6234, 0.9897, -0.4049, -0.6872, -0.7879, 0.9993, -0.0109, 1.0302, 0.9051, -0.7883, 0.0105, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3026 left_y=-0.2449 left_z=0.101 left_yaw=0.0185 left_pitch=-0.1608 left_roll=0.0443 left_gripper=0.9993 right_x=0.2855 right_y=-0.0014 right_z=0.1721 right_yaw=0.1262 right_pitch=-0.3584 right_roll=-0.1785 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -8.9231, 5.9145, 1.326, -0.315, 0.2027, -0.0122, -0.3077, -2.7419, 6.6256, 1.3993, 0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc215fdf92693b3b756c75e4f80041235a7ed1fa8d9a1b4fff26b6060a97a2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd8e191c2644987a389999de3c6632f012c5472aae0dc153cc27aef26f93516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ef40cd6102e6ffa2e37de9d23990d69ef681bd7f572fa27d338ab3d867a25f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtB1Ccw4qya6IyG-gqPDGitNKvMZqpE3Stg-AimqTxeuxRWklZ2i1UK_1CYIo5QX1grPtm_q2Oh1e6w-WN1AEY8vYoReVMxaZBH19qo9b9OecS8cEUOTM0W6It65KOngbYQrf72QOG1MlW2UW4M6rDQxl9Sb_IoowHD8S5RLyPkj0PhdRfExf-ZZuVbXRYILm1szdVDAnDM265xRsyM7Qv7aONfoHKawXB3-xP5LiXm5JpbZxBBEMvOyBfaTTcDt_l35wXvurKdjx0jRCxSWofXSq1OZMMwTjXb0UoErBNssDPw6aap5N-zBg9GDy0KhD5qDVsEAbXVuffOwURSIDRICPhvLAizEaRhp4uyNbhbfZpF80TQfyRpSTrZ3foJqfccFRHrN04-gL72lAPeRMhwiLZlaq8wqPiTbUVyjZ_c72rFOvAJksYoSjUeZt0CeVl7NFGmkfB0nbiwq10mpzRUB7ffbhult50GB2P6vyRo2wsNMMla2A7qCys-ipj0-DBckGAzroD_tpgfgdAsSMgiO9MtfuUL7ZWJo9mnJpLG_eXBg5hug_ndhZBy-BMQT9N1skPK_piMjqoq86X20fv76dXNmVEfV1AW93JmYvwklgKgpRLqCBiESBgvr4miT7RZ21z2RuUXh11GIn1DVyg4X1Peb_2y0l3Mtp3w6g1ak1dY2wOUL2nEBqnxiIASuqFvxftGfmGy3vG-KlidU33RzyMfT1lss8wKd_4_CYqEDIkCxEURIYSgvy_RXwly7jcWXmSCSfJ__R9xKUpNER1UPXhgHvRryJ9g-YcVOLjYYGnV1DSKMgLygivU_tFNsJQo62krxc4Jqhh_5CBWXB4XQM0rjO31jcWM2upCpsclid0wg5SPlB5Hs6jaAUkYJKj4z-OkEXufTQY3WrNt0ELgc12FGhMBZm5Kg9hg4MIblZMWbtsxiukNe1H2_dqs3ICdS7UVOah4SXP20fwKGhKP-PTNOj00JP1AJGzPIbPnjOgpNDXnk1nFPFnlzxNvx1aRKsRiUPMaKDDfZPbA5obbJ7IT8UcVzE-9ms9GkRjyLZsn4JHCMP1HhON1-NF6rA6ljcE2ifkqVrJJkRFJv2hPWvhD2EqG0vTADTHeWSdStDHIFXphxmOiCvSaYBoyupPwVXrWVCANXjaPCA40w9NDFJfAKWBIg61lC8y3bQCfEJae5BsI6ty0oAzRPXYqX3Cv0uPtoTKBLRUN1QgS-2Gu5Cq6Yg6uRF4NCZpbFesULwGG6lG9ckUDAzre6UA_VOxGEF6OdyeCv3cKqLHtae-9JDvIRhJEIw_gsl58mzXK33m0FP7lZDzBZqfYetgea6pUzKNzKHcXNayYEp--lMTmzBlpU1SHa8UtsJ9NsGvOIe2W0zhviMHWPLDNKrO4oJJCo-GCDpJPUUsD_-r5fjW9RwzHNEfIso7cvrmw5R1-ZJxROIkUUSRsC-9050IT5BPKrSAaG3g4idm1NUTFTn3H_VjA==",
  "id": "rs_0cdee9c582865efc016ab41d40743887d0a0cc1226b338b0e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.246,\"left_z\":0.014},\"note\":\"The dark fruit is centered between the open left jaws near the bottom of the wrist image. I’ll advance slightly and lower the gripper to the fruit’s grasp height.\"}",
  "call_id": "call_5FTShTlBd4G4RItXmLEOsvwO",
  "id": "fc_0cdee9c582865efc016ab41d4152c087d0981ae39b7bef561d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5FTShTlBd4G4RItXmLEOsvwO",
  "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]: [-0.981, 1.6524, 0.9592, -0.3546, -0.6868, -0.786, 0.9993, -0.0105, 1.0302, 0.9051, -0.791, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=-0.2445 left_z=0.0858 left_yaw=0.0197 left_pitch=-0.1661 left_roll=0.0534 left_gripper=0.9993 right_x=0.285 right_y=-0.0011 right_z=0.1717 right_yaw=0.1274 right_pitch=-0.361 right_roll=-0.1775 right_gripper=0.9986\nstate[joint_eff]: [0.212, -7.5282, 5.8188, 1.2869, -0.3541, -0.0024, -0.0122, -0.0342, -2.6188, 6.694, 1.3651, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0aa33bc4ea724a6701b4b3af2118ea4edb9f3cc94079a470af5de744a63a856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8001baa4bea5545db47fb7f56c5316bcfb02afc996fcb6a4e1b63b68b06bb4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e591c879cd0a007e1cd804bd87417a8be86fe1301183c4543a43710180de57cf",
      "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 · 3.959 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8135, 0.6132, -0.4759, -0.0139, -0.0334, 0.9993, 0.8486, 1.673, 1.0367, -0.4229, 0.519, 0.4435, 0.5285]\nstate[eef_state]: left_x=0.2833 left_y=-0.0025 left_z=0.1597 left_yaw=0.002 left_pitch=-0.1079 left_roll=0.0006 left_gripper=0.9993 right_x=0.3202 right_y=0.2363 right_z=0.0826 right_yaw=0.1337 right_pitch=-0.3039 right_roll=-0.1824 right_gripper=0.5285\nstate[joint_eff]: [-0.0752, -1.1556, 6.9812, 1.6825, -0.0366, -0.0366, -0.0171, -0.2667, -9.4154, 8.4855, 1.033, 0.359, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9821, 1.6234, 0.9897, -0.4049, -0.6872, -0.7879, 0.9993, -0.0109, 1.0302, 0.9051, -0.7883, 0.0105, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3026 left_y=-0.2449 left_z=0.101 left_yaw=0.0185 left_pitch=-0.1608 left_roll=0.0443 left_gripper=0.9993 right_x=0.2855 right_y=-0.0014 right_z=0.1721 right_yaw=0.1262 right_pitch=-0.3584 right_roll=-0.1785 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -8.9231, 5.9145, 1.326, -0.315, 0.2027, -0.0122, -0.3077, -2.7419, 6.6256, 1.3993, 0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.981, 1.6524, 0.9592, -0.3546, -0.6868, -0.786, 0.9993, -0.0105, 1.0302, 0.9051, -0.791, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=-0.2445 left_z=0.0858 left_yaw=0.0197 left_pitch=-0.1661 left_roll=0.0534 left_gripper=0.9993 right_x=0.285 right_y=-0.0011 right_z=0.1717 right_yaw=0.1274 right_pitch=-0.361 right_roll=-0.1775 right_gripper=0.9986\nstate[joint_eff]: [0.212, -7.5282, 5.8188, 1.2869, -0.3541, -0.0024, -0.0122, -0.0342, -2.6188, 6.694, 1.3651, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0aa33bc4ea724a6701b4b3af2118ea4edb9f3cc94079a470af5de744a63a856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8001baa4bea5545db47fb7f56c5316bcfb02afc996fcb6a4e1b63b68b06bb4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e591c879cd0a007e1cd804bd87417a8be86fe1301183c4543a43710180de57cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1HaGbJiWNb9_4MA5v6B3MypEGY8f51oaquB9mxxjaBa3aeAtpjJ7t8b_Tqs0_u5bX26DnIwzgZwuvvdIUTKavLKWuepfBpkQs-qhWCpHiWRNuVopXFVVhKTVnOKI4ZKbjezdDwR3o5WPJJh0W95TwIolR6TNib4fi5z2RyfjxIiGbKkX3iePXTZoG7gjHNAx6YvpWXAqAC0f4jkk_4ACL3WTgvc0LLOV7uURCYPaYpFrwlcazbP73p4ARt5cF8a2SlgsTj_-egwjdg_QgyGX1pfxUUu14EJbu9itpJg4fQriKDL4Azu7O4cT87tXd7996G-FlW5igalrIzrzDc-Ijxn4FLAC5pVqohchcWzjz3fMImZbv0oYO9AXLxiwyZjLyPrtdp3gZEq4kupvzV33crmDLTbdy6Gn2IOripqdMOLFcqNBqKgN0fFa8zBvBLoiIRXDjrEWOD84zIYJOwvFY_ns1thjz1Hz12tvrdZsMkMI7Yc9UafR8SQ_W3hFb4ZNRe-1D7W6dIM3vB_Qj9si7jM8mvGXoABkeBvLTKpWvLO9NWNxrLHMNgRjkI5UnXmQu_BS7fF_rftjj8DrxRs7vXbzmbNaIriATjf79tP7jISBynDer6mshBTqm-I3V4YDrvN1_MPdEaIhTHh2vTQJ2xTphTpDwzWbPlfoDGw8Kq4OIxGg8RSv0E3172Ib-f-SJaJQ0XtisE3a6zT_kuEXcM-FVPRicuTU-aFtjF-jN5cyc9CTapdYIo3bjPLQE43jJDm_tRKk6ns2WiqOABOl5P7bQBcQTNNjCslClV3yqQ3FTqz37RFSYEuqEiJDN921gWNZgmkqWroaFyQlgazwGu_1m2gpiNydoJv-8fMmzYDapHxXGv-HgHUiSmnq33kejfMzlZ5PWGXAT1P0gfQmZafG9ktKk4uGWxOREbPrBzij4oqi5pmfFkEFV4L6oyDeoH3QZkbD-6nqapUWrsAfnQEXiOnzHw-czBaiY5Pjhi9ZtLZOq11Nbgs9tYz_ZxXqEQhSD8GnV153a5U7NY7dsP2dXdNGKkRO3ZxYO1RLmmKTFh2BD-XLEpKLUvPnZk38_EWaYYDCjd6r4jclGCX7UU0LQdSvlezjgPEx5zUzk7KcWdYjOCfEviTLWrLNnSsdPzc3TiqRGxjcvJe1WnvwaPmDY8S5ILRe2eKKAUfMF9Z3_7fzUNy17Rn9AujtKo3EWHcBlK4rssp-TRRV4i_lmCpXBTnpFjSK6suk66oZExVyHnxsXtY7PMi9kI-PUDyIM81N5-wfeu6oMMV5v5PM9gDPSYhg9N5T78Fl10T3x43BM0C9JQxY_AxnrAjUGMjptEUexxMQs4sDUJHO0Zv_rn8DtjSkcy316VWbZY5BXFieldzdhc9NB9qnrZEVC6ITrTv6xurMAeFWyuM5_pJlvrdzBJXSPOnwGoevpIGmWT8l35w_3hT_QQUx3ktPk3kskha56oZNgcB_B9ViqHSQtoLoGzJE2RgeFJRHq7MzaweRkrUOpW2G9Av-TSxHJeBu6KB1lVr_ucKo-1hggakVoWhWZfNQeWRnBsvVLCThwaf13uIuN-1kHjWMYsG4r-DARUW5OWZ4_cj-1iZPFzwS7XtZGa1kBImm_oV0ZT1r_BBl8GkzXO4hu9BkW72_Dug83Dv3S3bzuj_u2KZQQddmun3WaEbFPsyAkdMYwP1WG5Da1VSg5xhVAqeOztNHZrv9Sz7EXW7rvyxrCQ4WuY9kC84aqTd44BO5I8BZevN6CS9KZrVTOdki5Q91YVKnbswX6jRu_uM4c7Dxd4BmIe1WyMAyKfvdvHE3KWdEOimwXlx3gBKwNLHM4FTW1XHSdMhniHij-a56QsE2LQKS8fIibn1j4c3VZ84DOon_ejo7byOIyKBzQLEBdhzeCx5hZ2HgGLBAzDb4c1pFNHW1VvzRyQ8FiH19ZUmgrEKNJAlgpBuyVmyB4T09umu7kse3Ce4OTUAN6cRX2R_QlNz8OJLE_vMOEhFYVpDj6tm_1QfG_89IeWGVKW00CWr5REWxbvmW3iZco6g-7behpdew9YeqEud_CjPJWWbdlvxgo_bz1DquM6rYjpLTb5ZVi8nqXwAc6x9lJ83apLToWzc9VJpWXYdO7YeY-10WeWo3WCWgxQvMI_x_N-V6zVgBoP-cTCY1Ha-sc_mAwD1fokfCpZe1tjVw==",
  "id": "rs_0cdee9c582865efc016ab41d448b5087d0bbf74294fdedb82a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.245,\"left_z\":0.028},\"note\":\"The left arm stopped around 8 cm high instead of reaching the fruit, suggesting contact or a difficult approach. I’ll back away slightly while lowering, rather than forcing the same blocked path.\"}",
  "call_id": "call_ZGgrxaAo4lPxGt7HB8gNyaN7",
  "id": "fc_0cdee9c582865efc016ab41d467acc87d0a046b21b3a85f5ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZGgrxaAo4lPxGt7HB8gNyaN7",
  "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]: [-0.9813, 1.6524, 0.9592, -0.3538, -0.6872, -0.7856, 0.9993, -0.0105, 1.0321, 0.9047, -0.7918, 0.0097, -0.2741, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=-0.2446 left_z=0.0859 left_yaw=0.0192 left_pitch=-0.1654 left_roll=0.0532 left_gripper=0.9993 right_x=0.2849 right_y=-0.0011 right_z=0.171 right_yaw=0.1277 right_pitch=-0.3641 right_roll=-0.1773 right_gripper=0.9986\nstate[joint_eff]: [0.212, -7.4872, 5.8462, 1.2186, -0.3443, -0.0073, -0.0122, 0.0205, -2.7556, 6.6667, 1.3748, -0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3401a60fe73422ed4c8f294e1bbc0df06f1926a7d1b9f90d900da11fdbfd98c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2efa9a3fb1fbed4f4d9baa69189b83872e5aad6783fb046dfd5812952b6f9731",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daabd58a620a2fbc49fec5899b47d6536638278b2dc97c6eaca21e732be2e2b6",
      "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 · 3.13 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1057, 1.6272, 1.1, -0.5552, -0.7448, -0.9005, 0.9993, -0.0124, 1.0283, 0.9043, -0.7879, 0.02, -0.2707, 0.9986]\nstate[eef_state]: left_x=0.2764 left_y=-0.2759 left_z=0.1277 left_yaw=-0.0062 left_pitch=-0.1383 left_roll=0.0224 left_gripper=0.9993 right_x=0.2853 right_y=-0.0035 right_z=0.1724 right_yaw=0.1142 right_pitch=-0.3576 right_roll=-0.1847 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -7.2274, 8.4171, 1.072, -0.6178, -0.1197, -0.0122, 0.1709, -3.9316, 9.4701, 1.4139, -0.2222, 0.0024, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.981, 1.6524, 0.9592, -0.3546, -0.6868, -0.786, 0.9993, -0.0105, 1.0302, 0.9051, -0.791, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=-0.2445 left_z=0.0858 left_yaw=0.0197 left_pitch=-0.1661 left_roll=0.0534 left_gripper=0.9993 right_x=0.285 right_y=-0.0011 right_z=0.1717 right_yaw=0.1274 right_pitch=-0.361 right_roll=-0.1775 right_gripper=0.9986\nstate[joint_eff]: [0.212, -7.5282, 5.8188, 1.2869, -0.3541, -0.0024, -0.0122, -0.0342, -2.6188, 6.694, 1.3651, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9813, 1.6524, 0.9592, -0.3538, -0.6872, -0.7856, 0.9993, -0.0105, 1.0321, 0.9047, -0.7918, 0.0097, -0.2741, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=-0.2446 left_z=0.0859 left_yaw=0.0192 left_pitch=-0.1654 left_roll=0.0532 left_gripper=0.9993 right_x=0.2849 right_y=-0.0011 right_z=0.171 right_yaw=0.1277 right_pitch=-0.3641 right_roll=-0.1773 right_gripper=0.9986\nstate[joint_eff]: [0.212, -7.4872, 5.8462, 1.2186, -0.3443, -0.0073, -0.0122, 0.0205, -2.7556, 6.6667, 1.3748, -0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3401a60fe73422ed4c8f294e1bbc0df06f1926a7d1b9f90d900da11fdbfd98c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2efa9a3fb1fbed4f4d9baa69189b83872e5aad6783fb046dfd5812952b6f9731",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daabd58a620a2fbc49fec5899b47d6536638278b2dc97c6eaca21e732be2e2b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0cdee9c582865efc016ab41d48d15487d0ba1352e0ad52980e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23},\"note\":\"The left gripper is also blocked: its wide-open jaw appears to overlap the nearby white bowl. I’ll lift clear before changing the gripper angle to approach the dark fruit without sweeping the bowl rim.\"}",
  "call_id": "call_oHTm573pod62EvtyLplcSKqp",
  "id": "fc_0cdee9c582865efc016ab41d4ab48087d0a0682712ff07ed01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oHTm573pod62EvtyLplcSKqp",
  "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]: [-0.9821, 1.5768, 1.4273, -0.9077, -0.6765, -0.7929, 0.9993, -0.0105, 1.0321, 0.9047, -0.7918, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3031 left_y=-0.2484 left_z=0.2179 left_yaw=0.0177 left_pitch=-0.1786 left_roll=0.0515 left_gripper=0.9993 right_x=0.2849 right_y=-0.0011 right_z=0.171 right_yaw=0.1279 right_pitch=-0.364 right_roll=-0.1767 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -8.2256, 8.4308, 0.9597, -0.4225, 0.0317, -0.0171, -0.1709, -2.441, 6.6393, 1.4042, 0.0024, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933983ba6f27c608b3abe90370a8821c6edab935fe28baa779ea325d05cf02ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3ccf45a394e17eaff55733a65d7cad5e342cd862b576b042355acb716d43b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337d01031b1bcf6b435d41539d0e592985fa541ac905ebce5bf32c9597cbf946",
      "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 · 4.55 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9821, 1.6234, 0.9897, -0.4049, -0.6872, -0.7879, 0.9993, -0.0109, 1.0302, 0.9051, -0.7883, 0.0105, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3026 left_y=-0.2449 left_z=0.101 left_yaw=0.0185 left_pitch=-0.1608 left_roll=0.0443 left_gripper=0.9993 right_x=0.2855 right_y=-0.0014 right_z=0.1721 right_yaw=0.1262 right_pitch=-0.3584 right_roll=-0.1785 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -8.9231, 5.9145, 1.326, -0.315, 0.2027, -0.0122, -0.3077, -2.7419, 6.6256, 1.3993, 0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9813, 1.6524, 0.9592, -0.3538, -0.6872, -0.7856, 0.9993, -0.0105, 1.0321, 0.9047, -0.7918, 0.0097, -0.2741, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=-0.2446 left_z=0.0859 left_yaw=0.0192 left_pitch=-0.1654 left_roll=0.0532 left_gripper=0.9993 right_x=0.2849 right_y=-0.0011 right_z=0.171 right_yaw=0.1277 right_pitch=-0.3641 right_roll=-0.1773 right_gripper=0.9986\nstate[joint_eff]: [0.212, -7.4872, 5.8462, 1.2186, -0.3443, -0.0073, -0.0122, 0.0205, -2.7556, 6.6667, 1.3748, -0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9821, 1.5768, 1.4273, -0.9077, -0.6765, -0.7929, 0.9993, -0.0105, 1.0321, 0.9047, -0.7918, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3031 left_y=-0.2484 left_z=0.2179 left_yaw=0.0177 left_pitch=-0.1786 left_roll=0.0515 left_gripper=0.9993 right_x=0.2849 right_y=-0.0011 right_z=0.171 right_yaw=0.1279 right_pitch=-0.364 right_roll=-0.1767 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -8.2256, 8.4308, 0.9597, -0.4225, 0.0317, -0.0171, -0.1709, -2.441, 6.6393, 1.4042, 0.0024, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933983ba6f27c608b3abe90370a8821c6edab935fe28baa779ea325d05cf02ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3ccf45a394e17eaff55733a65d7cad5e342cd862b576b042355acb716d43b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337d01031b1bcf6b435d41539d0e592985fa541ac905ebce5bf32c9597cbf946",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0cdee9c582865efc016ab41d4e81f887d083f6100778902b0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":1.48,\"left_gripper\":0.78},\"note\":\"The left gripper is clear of the white bowl, and the dark fruit is directly ahead in its wrist camera. I’ll rotate the jaw opening nearly front-to-back and narrow it slightly so it can descend beside the bowl.\"}",
  "call_id": "call_X0kenvbea7V7AXKpC20FnTPD",
  "id": "fc_0cdee9c582865efc016ab41d4f9c8887d086156125f4815b99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X0kenvbea7V7AXKpC20FnTPD",
  "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]: [-0.6613, 2.104, 1.7313, -1.5528, -0.7212, -2.0766, 0.7821, -0.0109, 1.0359, 0.9047, -0.7952, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.337 left_y=-0.1099 left_z=0.1162 left_yaw=1.2853 left_pitch=-0.2131 left_roll=0.0222 left_gripper=0.7821 right_x=0.2844 right_y=-0.0012 right_z=0.1694 right_yaw=0.1279 right_pitch=-0.3712 right_roll=-0.1756 right_gripper=0.9986\nstate[joint_eff]: [-2.0855, -10.0991, 5.3675, -0.5641, -0.3639, -0.2369, 0.0952, -0.2256, -2.9197, 6.7761, 1.3651, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110fe87f426a46ab51a22074a42024ee177a74e99552eceebce3b8903161cf9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d3eb47724907b481593ab4c65a3578739250db661675dba1b9d2f38fb110df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a915eefdbcff25e2b56dd224dc9d09f492b58df02802258f42ca49414342f6",
      "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 · 2.961 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.981, 1.6524, 0.9592, -0.3546, -0.6868, -0.786, 0.9993, -0.0105, 1.0302, 0.9051, -0.791, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=-0.2445 left_z=0.0858 left_yaw=0.0197 left_pitch=-0.1661 left_roll=0.0534 left_gripper=0.9993 right_x=0.285 right_y=-0.0011 right_z=0.1717 right_yaw=0.1274 right_pitch=-0.361 right_roll=-0.1775 right_gripper=0.9986\nstate[joint_eff]: [0.212, -7.5282, 5.8188, 1.2869, -0.3541, -0.0024, -0.0122, -0.0342, -2.6188, 6.694, 1.3651, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9821, 1.5768, 1.4273, -0.9077, -0.6765, -0.7929, 0.9993, -0.0105, 1.0321, 0.9047, -0.7918, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3031 left_y=-0.2484 left_z=0.2179 left_yaw=0.0177 left_pitch=-0.1786 left_roll=0.0515 left_gripper=0.9993 right_x=0.2849 right_y=-0.0011 right_z=0.171 right_yaw=0.1279 right_pitch=-0.364 right_roll=-0.1767 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -8.2256, 8.4308, 0.9597, -0.4225, 0.0317, -0.0171, -0.1709, -2.441, 6.6393, 1.4042, 0.0024, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6613, 2.104, 1.7313, -1.5528, -0.7212, -2.0766, 0.7821, -0.0109, 1.0359, 0.9047, -0.7952, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.337 left_y=-0.1099 left_z=0.1162 left_yaw=1.2853 left_pitch=-0.2131 left_roll=0.0222 left_gripper=0.7821 right_x=0.2844 right_y=-0.0012 right_z=0.1694 right_yaw=0.1279 right_pitch=-0.3712 right_roll=-0.1756 right_gripper=0.9986\nstate[joint_eff]: [-2.0855, -10.0991, 5.3675, -0.5641, -0.3639, -0.2369, 0.0952, -0.2256, -2.9197, 6.7761, 1.3651, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110fe87f426a46ab51a22074a42024ee177a74e99552eceebce3b8903161cf9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d3eb47724907b481593ab4c65a3578739250db661675dba1b9d2f38fb110df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a915eefdbcff25e2b56dd224dc9d09f492b58df02802258f42ca49414342f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0cdee9c582865efc016ab41d5522b487d09b0999dbdaaa7961",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.24,\"left_z\":0.24,\"left_yaw\":0},\"note\":\"Rotating near the bowl pulled the left arm far off its intended pose, so this approach is unreliable. I’ll return to a high, straight orientation and use a narrower jaw opening instead.\"}",
  "call_id": "call_LzS9V6BXOjZJlH3g6ptixacp",
  "id": "fc_0cdee9c582865efc016ab41d57caac87d09b52d1d4d8e984a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LzS9V6BXOjZJlH3g6ptixacp",
  "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]: [-0.9817, 1.7023, 1.4853, -1.187, -0.6304, -1.7237, 0.7822, -0.0105, 1.0416, 0.9043, -0.8024, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2796 left_y=-0.2245 left_z=0.1699 left_yaw=0.6131 left_pitch=-0.3859 left_roll=-0.2574 left_gripper=0.7822 right_x=0.2832 right_y=-0.0011 right_z=0.1667 right_yaw=0.1286 right_pitch=-0.3844 right_roll=-0.174 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.2274, 6.2974, 0.652, -0.4029, 0.1636, -0.0073, -0.0068, -2.6872, 6.6667, 1.4335, 0.0269, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8615b811e7d15060f3031e565e661b46c0c44b820089017064ee09a5e6dc1a61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d016a4e8ffab49b613fe2a1e4bca997c8521471bb6a6975277adb55c5e4232",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2560b3b16cde4e9801a70305a04580292b16af68cf6036b255aec9080119d0b",
      "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 · 6.146 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9813, 1.6524, 0.9592, -0.3538, -0.6872, -0.7856, 0.9993, -0.0105, 1.0321, 0.9047, -0.7918, 0.0097, -0.2741, 0.9986]\nstate[eef_state]: left_x=0.3027 left_y=-0.2446 left_z=0.0859 left_yaw=0.0192 left_pitch=-0.1654 left_roll=0.0532 left_gripper=0.9993 right_x=0.2849 right_y=-0.0011 right_z=0.171 right_yaw=0.1277 right_pitch=-0.3641 right_roll=-0.1773 right_gripper=0.9986\nstate[joint_eff]: [0.212, -7.4872, 5.8462, 1.2186, -0.3443, -0.0073, -0.0122, 0.0205, -2.7556, 6.6667, 1.3748, -0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6613, 2.104, 1.7313, -1.5528, -0.7212, -2.0766, 0.7821, -0.0109, 1.0359, 0.9047, -0.7952, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.337 left_y=-0.1099 left_z=0.1162 left_yaw=1.2853 left_pitch=-0.2131 left_roll=0.0222 left_gripper=0.7821 right_x=0.2844 right_y=-0.0012 right_z=0.1694 right_yaw=0.1279 right_pitch=-0.3712 right_roll=-0.1756 right_gripper=0.9986\nstate[joint_eff]: [-2.0855, -10.0991, 5.3675, -0.5641, -0.3639, -0.2369, 0.0952, -0.2256, -2.9197, 6.7761, 1.3651, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9817, 1.7023, 1.4853, -1.187, -0.6304, -1.7237, 0.7822, -0.0105, 1.0416, 0.9043, -0.8024, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2796 left_y=-0.2245 left_z=0.1699 left_yaw=0.6131 left_pitch=-0.3859 left_roll=-0.2574 left_gripper=0.7822 right_x=0.2832 right_y=-0.0011 right_z=0.1667 right_yaw=0.1286 right_pitch=-0.3844 right_roll=-0.174 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.2274, 6.2974, 0.652, -0.4029, 0.1636, -0.0073, -0.0068, -2.6872, 6.6667, 1.4335, 0.0269, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8615b811e7d15060f3031e565e661b46c0c44b820089017064ee09a5e6dc1a61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d016a4e8ffab49b613fe2a1e4bca997c8521471bb6a6975277adb55c5e4232",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2560b3b16cde4e9801a70305a04580292b16af68cf6036b255aec9080119d0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1dNha-kssINNQOeWjktwr_SpIZ41NxrAR-q7XtDa_6U35gkWDrpDheEG7CdnI-JkSg--Kw4qKteYRR_G-w2MmN-ucCgylPVSBuFBhCmWw02noAcT6hseiLaRP58jw2FsIIP5VEHY4pyKhwyPdAOywmxNj-ehmg5JOEuuTtCThk5-s3uBpQSVwkQ1DMU3hIduAQ2EUKU0Dnj3COQNB9_4PyY5YW3W6uc6ddvhrKTpU3FmYafJ-8OMpamIrCeBj-qsWDFEEDA5AMM9AM3EnanXlODeS-Amwu3uAY1M22G4qiQMjJfZOyIWMNPVUJPQtD2EA7g6tEdbcQXZlB30q5E9-5O_FUAucjelYLKid2SoZsx-8rEYZBGIAxjR9lCTylBtp1p6jS8l9SrL4KGIUDlHofIb-rYBeOIYhHB0hX0h7tAE5vFi7t_3_YV37blzOUsIeFeJ95-rpPmLkx8hP3yxGqJzfqtgZOnMkMNcQb8AyekRj-SBd_N-V8O6AiXbAOoNPgbdWNL2jRpdlg0dxJ4PRcOmUOAWBfOC5yLHrEzSN_MnibuhWCz7h9CelTZRG0hl4dcjmnAnCdZZqG4TpyAxqIZurtJGR1LNn9hBHoVUL4xVXENBv-fk3jUXmkwOm4emFvwjhpskV2HU6WvXtzlAJ0dNpN8hMYP5gmyo-i2OJ37rMl60ni5mGjqrZ7znXGiA71FeM7Rzvf-73NJ4g0m9Nf0k_i5oj8K9wbd-3lBwqvazhJFmjqViH6U0-aSm0Vzh0ChZrrBgdNyy6JJM2MkWTCZeYyBj2psbbQZooWoQ1myFY_BfsttNL-IUTyaJaGM1lurN6aAnqOEzUOp5i5K-Pe1Ho6talovaO6CHjeRKbA_K2Z1wE-Fh5j726Qtfvo6BBUQLN4hR2hauNKjSXidd52WLJZSyvAtUpWpapDiSb05UetUe1Qp8OTy1X7e4diU454IP53TF968hlRP-MyYlHcEvLNaRKA7m9prI9Swqa5SE8IPLGwSgl2zWuaRuldQZA2BwPbwnUzQtQ2KDBbdQe6H54h5DceLPOSfDp-lRPfzOxm-9JqbWsznBXqzo2J-__DaO3lz7Jw14A_DBWFtluBOnGCFzE_GaAwZpK4UX6GSoCKWGMQ6Jf-gUERI6itPjDpxBSRM0kp2l1-ixOAqsoPmDGUkU5IU1m3FpkqMWkefUlDJ2yuOR1-D1UOteyvFbM8rQc2WAA4767y-G0YVOT6PyUZcJGJCp_DFCuD8eURcEMnbQ7TnvNInJfdVpA78dracnec1AzpKIEYmIukpA3h4Yv7ptThMgOe7q1RPajW6zS27Tl8gAeWrjZhWefBeLWXB1mXWF1ZmHnarbb5HasMfoKCSo2sMEaFCK2gsgPP40_Bj7ZGbVs6hkeCVd9BumBWMdoY-C4yPynyymJ3SovDee7GfZPNym9zIcKIf2je_xGXD1JCpLhepjtIuRMvSGSvS9A0WSN3gIAjnyqEnBzVH0KzGhjYd6I3ekJOxjkRl51lZxB5vceTVTXZ08yzOMlNfc80eIKGLVxxpVFFUK5MHEEVd-ehCm3NF_bUtwnQ-7-OGKA0U5NbfbB0M7N2z662S8dLJIPpO_cJeNdFmimJR7OvfO9sgGiiOvpxCgYd6aAYJ1nSio1A_tcNYI4LBVXaN0WbxP8g014KZf5Tenp-qA==",
  "id": "rs_0cdee9c582865efc016ab41d5b983887d0b23cfa0d1ba4f398",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":0,\"left_z\":0.27},\"note\":\"The left arm is partway back toward its original orientation but still over the dark fruit. I’ll finish straightening and lifting it before the next descent.\"}",
  "call_id": "call_r2feTQCTSeeI5wKxuVfgnHCT",
  "id": "fc_0cdee9c582865efc016ab41d5c8ca087d0bf95a97f10b724de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r2feTQCTSeeI5wKxuVfgnHCT",
  "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]: [-0.8577, 1.4948, 1.5974, -1.1679, -0.3492, -0.9691, 0.7822, -0.0105, 1.0428, 0.9043, -0.807, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2786 left_y=-0.2242 left_z=0.2536 left_yaw=0.0304 left_pitch=-0.4259 left_roll=-0.2362 left_gripper=0.7822 right_x=0.2824 right_y=-0.0011 right_z=0.1658 right_yaw=0.129 right_pitch=-0.3901 right_roll=-0.1731 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.5556, 8.0479, 1.1893, -0.1929, 0.2222, -0.0171, -0.0479, -2.5504, 6.7761, 1.3504, -0.0317, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95b8b47d10c642357eb66cb014cc117155703b4ecdf1e536ac304e2ad70d804",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213b2aa0da0d508c939722d11d79b28d9a923dea0e941c92cf526b84bb3868e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e92ae0c22d6b0a3cb2074b15f0f7eb1a3d0181307fd0208b3b4b1dae73193d4e",
      "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 · 3.48 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9821, 1.5768, 1.4273, -0.9077, -0.6765, -0.7929, 0.9993, -0.0105, 1.0321, 0.9047, -0.7918, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3031 left_y=-0.2484 left_z=0.2179 left_yaw=0.0177 left_pitch=-0.1786 left_roll=0.0515 left_gripper=0.9993 right_x=0.2849 right_y=-0.0011 right_z=0.171 right_yaw=0.1279 right_pitch=-0.364 right_roll=-0.1767 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -8.2256, 8.4308, 0.9597, -0.4225, 0.0317, -0.0171, -0.1709, -2.441, 6.6393, 1.4042, 0.0024, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9817, 1.7023, 1.4853, -1.187, -0.6304, -1.7237, 0.7822, -0.0105, 1.0416, 0.9043, -0.8024, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2796 left_y=-0.2245 left_z=0.1699 left_yaw=0.6131 left_pitch=-0.3859 left_roll=-0.2574 left_gripper=0.7822 right_x=0.2832 right_y=-0.0011 right_z=0.1667 right_yaw=0.1286 right_pitch=-0.3844 right_roll=-0.174 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.2274, 6.2974, 0.652, -0.4029, 0.1636, -0.0073, -0.0068, -2.6872, 6.6667, 1.4335, 0.0269, -0.0562, -0.0122]\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 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.4948, 1.5974, -1.1679, -0.3492, -0.9691, 0.7822, -0.0105, 1.0428, 0.9043, -0.807, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2786 left_y=-0.2242 left_z=0.2536 left_yaw=0.0304 left_pitch=-0.4259 left_roll=-0.2362 left_gripper=0.7822 right_x=0.2824 right_y=-0.0011 right_z=0.1658 right_yaw=0.129 right_pitch=-0.3901 right_roll=-0.1731 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.5556, 8.0479, 1.1893, -0.1929, 0.2222, -0.0171, -0.0479, -2.5504, 6.7761, 1.3504, -0.0317, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95b8b47d10c642357eb66cb014cc117155703b4ecdf1e536ac304e2ad70d804",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213b2aa0da0d508c939722d11d79b28d9a923dea0e941c92cf526b84bb3868e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e92ae0c22d6b0a3cb2074b15f0f7eb1a3d0181307fd0208b3b4b1dae73193d4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1nenAqPkozgBRY7x4M9Ixb_ha_ZNPJ0rY-YF7QDf0wr0N086Zhlnzmd5sE7k5Lkzz8box-Wr750_BBeRoB0daH3GamXO-PDu2R2DWdbfmFrBs-UmKpp7HjhayUESGvMG5MbmpzTMleqdCVLLq1DmwaitWTl0bJwXJRYR77TLbX9aiIMYzVA7PEYsOBRWlpsbbxvRykXxQsmSXPvdrRjul6nCixTB3BlJ5dqptGvPDymJKlEyWN8jT87iDlhRZeOQWiiGZ1YuV70yYdSw_6ytR4DGUO1dRYOZ0iQ4Ppb6cHabFQEueCph5RuWuU2Pe94DNjXysCQvRh7921-PfhlixL3gXqd3iNg7rAA_DVGEGEP2p-CqVh3VYmmex_I-6n9s5N-TZyPhiISRpINwIL8Y_h3mJc5bca-hbfkUjz8x2aGlNIQhCmF64GPryCStFdGjhyYU1hBpqXyUkuxgEw9VeT-77UPDH_-sL2Kcq_AtabkEG6wxoIFtOIKrX2-rZgcruyiuR64r9RlamZO8_LXHpBykLJWNpBOBSLfohjyTfponGd5iqSiOyUbyAuxvKtS8qrLAJmUn6xQCiu0vQNjl5_LHfu06K8jfi4AUqJqNt7KiQsEKFAipekdUnZkWJx8v1zCgXThMxZiXDWKHWSYAmBLXqWPqdZ4qt-Itqj2FIWw-7h-nLuP8PY4kNjU8FYzAi0Tg4HaAAIZliZe8V8v2TxfcmUO4-igUqcwoXs5p8U559PB6QsCVRhnpTFI1w7yUn1wyBNssjvI5N9PIEEVODm7Gdf231wfdZdI44oD4TICV3uJZTUQtc42HYXnjq7-0Dx-yrcy_q7hE89NrS_2lniXI5nR3PazRWKelFFgtKwBAIfIM9GEEk6wVU13cjgmCxVnwc5pW2UkU2rTxRVcDXDSYs2vzwfIYHb3FzHiFBUolEMM_VvDAieek_KJcii6DIJSqE_yqWvff51VUkob10lLC8AglPZGSgsbCbxdfCoB8P3iIKNDvMzkuXAmLkQjYrUFv4XHS6X5r0O3SgVRSg2-jOzRvNkDrxIo148xODGGXBGrCjoqQbiRVv-Igx1O4q3dnt6cxulnSDcb-4v7bpvBh4-vzBW-rQJYBnVSqfy-NBXXdUcdNzpYi79aM0FIo56Lo5FsensSrMJKZMjmAOVg26lYvSJIBpcDekReX1b8kBIj95oGRQDuiWqZW3KB9TpOgPKfRFqeu2W0tY0-cBr287FtdVMErwHO6oV1vSZm2PhSrQX4rxnf-zbWxr_cjro4hCdgAVW0rqa2MSEroeLXopqkfuic4OLI5AdDtfl4Q9VEjh5h5ePSG3X6SHSxjol91PefkmndNf57bo2286nG0NxERdNZUD2bZGVRiHEelN1egvHVmYqhbyxVMp7X7g694Lf18MaecdKMTex5klCjZT2vIHtxvfXLeUmXVCQlg7J4eJpC3X-AihR5R6KNXdNoQC4CXDKnxFatvbVAwXW7HeX6PnhYuHQT6Pxnn87dR4-WCUfGH0TrVUlzSJdMwSDELhjGkBx464_vQyMFpT9r0XrjE7aQ64VoPvm71IBjIKfYC3txwkEZKO8o46I8bbU2wLjNmxI1JN18J3-R1a5neJCsxLW8YPBz4OahPH3uyHIvHvqYgQdUZ4man21mslhTl4WTZTclSrM7qyZgcC8x2Ez26N9aZqKNqjP8gTLusCndpfSWHGe4KMbfz1gNDLBaQHCS05TXB4mtPeN8GaGZPZ6zwxCZFsKT1r6VBPwZo1LgBXoAgh1Dp6JmeovsRk04k9QM-MzIuXedcwZYX69jMJUQD5DDhUk4VHGT5gzTT06nZAQ_cR1KBpIEF-pnyjujeDFIT26S_1aeL0RLIf2JG8uPMAvryBkNCh-o0kEDP2ZX3BIBlgetf4NgJmvLIwKwg3cL8RkXSlHYQXaBcBAoETYNqP4STC8i7ZTlaCptvJ3qCG5BwAdN_ZR-lzKTr1fAKfe9vktBKDdWtEpNx1w39xTiaU4XwWfsU1EE4l3ca9F_EJfe88K6z91wwghONJ4rtLYN0h59kBQhBqsyeyCEoY4AGXVeYF5Yo_hdoQWv1woULutm8Cjc2VgYWmL4Y8nMEJvzYbMne9HFQoyOw_l6G1glzws6G1FI3dk0-wgZFfHOb8LCNe-PrHq-4NBu_saUqMYRA5lHj4g8f0qXzHPtzr95Yavl13JvJ6ECP85a8FZVZGlMK7vXhq4iqzyljx9y2FhsfnOxk9lDKnexzRmiP3tf4VXv_BeL22FDcYb05RWpJf06vf0u-gdELMdw8IFBEGpQBzo46pMm8iXp7YSHfQ4cfyIVvi9nNp2z6exs-ovj6k424hWhNqSP2oGJ-xWxoyu3YUUHvjOT1UwJLGd65s33RNp462Z3TZwkm26S66g4-v_LJhaMmDfnmqOE4ghjo_M2QzohVQkaNLHxJFco2_J8F2zxk36AvMnNVutLYt4mVMin5TuUVWk6dab9wNe5l292U_Rr6frh7HxHx7GemJUvHqEtdbL6FC6N-EC6eJbhT_McdR-ogpsBTb6dJRTmWLtA8LWvRU4b0fLUrBqw_R1hoyhOiFiNqHFw10we3-7bRmhPrS0Fcd0Bbxd0miHXFKMb6wWAmkvvm13qihTMP1ILgkYV9_yLheauLuPggcbOJTA0FPjxbTKrhWZBMdCDA0qcog_EGgl3LdTQRVhsLSo1fMCfLus4Szpa-UhP6aWdbJSzaZ-U5jre93U2NCofMLaIvO8geY7ingVKY-l4HIxxY0JwDIPDQr5x5Vjl0j8qqW9OngOEoFMFnX4fh-G6CoiW51_kTRWrHWqhUBH0V6MslnzTkgHaOQFXbeNVXAwx3WIrQVUEPyYfG-TBWyIu-di1FvsNi3kluiLWsjYOnsMFGDBua15I_k1tKPu9nFwhD6yUDVqqxo3PaF8f25C",
  "id": "rs_0cdee9c582865efc016ab41d62446c87d08e5a6e04540a4025",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.23,\"left_z\":0.11,\"left_gripper\":0.78},\"note\":\"The dark fruit remains just behind the white bowl, and the left gripper is upright again with a narrower opening. I’ll descend from slightly nearer the robot so its jaws stay clear of the bowl rim.\"}",
  "call_id": "call_uYANPzwE8ReilgLBocFJYHlK",
  "id": "fc_0cdee9c582865efc016ab41d65a87c87d08ce26d01074adfdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uYANPzwE8ReilgLBocFJYHlK",
  "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]: [-0.9524, 1.4193, 0.96, -0.6674, -0.3809, -1.0557, 0.7814, -0.0105, 1.0428, 0.9043, -0.8104, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2459 left_y=-0.2262 left_z=0.1069 left_yaw=0.0313 left_pitch=-0.451 left_roll=-0.2149 left_gripper=0.7814 right_x=0.2817 right_y=-0.001 right_z=0.1653 right_yaw=0.1295 right_pitch=-0.3934 right_roll=-0.1723 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -5.0393, 6.147, 1.2918, -0.3541, -0.1197, 0.1294, -0.0479, -2.6325, 6.8308, 1.3358, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0c03ab553ca3771e081b777474d54a843e993720c88c3d0aff40a8d2148893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c026d6db61cc20147a7ee5b04043bd690c514168c332cf298febcfb3496daf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9336848bca7c371f73a4670cd2c0a939959a8196e9fe5e86caaabe5aa6172d",
      "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 · 2.412 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6613, 2.104, 1.7313, -1.5528, -0.7212, -2.0766, 0.7821, -0.0109, 1.0359, 0.9047, -0.7952, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.337 left_y=-0.1099 left_z=0.1162 left_yaw=1.2853 left_pitch=-0.2131 left_roll=0.0222 left_gripper=0.7821 right_x=0.2844 right_y=-0.0012 right_z=0.1694 right_yaw=0.1279 right_pitch=-0.3712 right_roll=-0.1756 right_gripper=0.9986\nstate[joint_eff]: [-2.0855, -10.0991, 5.3675, -0.5641, -0.3639, -0.2369, 0.0952, -0.2256, -2.9197, 6.7761, 1.3651, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.4948, 1.5974, -1.1679, -0.3492, -0.9691, 0.7822, -0.0105, 1.0428, 0.9043, -0.807, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2786 left_y=-0.2242 left_z=0.2536 left_yaw=0.0304 left_pitch=-0.4259 left_roll=-0.2362 left_gripper=0.7822 right_x=0.2824 right_y=-0.0011 right_z=0.1658 right_yaw=0.129 right_pitch=-0.3901 right_roll=-0.1731 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.5556, 8.0479, 1.1893, -0.1929, 0.2222, -0.0171, -0.0479, -2.5504, 6.7761, 1.3504, -0.0317, -0.0708, -0.0171]\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 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9524, 1.4193, 0.96, -0.6674, -0.3809, -1.0557, 0.7814, -0.0105, 1.0428, 0.9043, -0.8104, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2459 left_y=-0.2262 left_z=0.1069 left_yaw=0.0313 left_pitch=-0.451 left_roll=-0.2149 left_gripper=0.7814 right_x=0.2817 right_y=-0.001 right_z=0.1653 right_yaw=0.1295 right_pitch=-0.3934 right_roll=-0.1723 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -5.0393, 6.147, 1.2918, -0.3541, -0.1197, 0.1294, -0.0479, -2.6325, 6.8308, 1.3358, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0c03ab553ca3771e081b777474d54a843e993720c88c3d0aff40a8d2148893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c026d6db61cc20147a7ee5b04043bd690c514168c332cf298febcfb3496daf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9336848bca7c371f73a4670cd2c0a939959a8196e9fe5e86caaabe5aa6172d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1sHoCKpQ3t_l51D_OQInC3RGJWVYHzyU4q_VQ6VKLyQMhTMBnww4-s0dVRo6tJgvCSYOgELlG8IviBO1tdlGUr4FGZIxDLfcszVyQjuyB2fRLnWkAwuQexk65BPSl390sT9C4lGtks_0WU9IY8IV5VAw8dvhOuoHuS26sIf844FtJVYRZVtlg1lyvxm5mZi1FMiO0WszwQfy0Nl7oxYsZk6CcVpYLgAfcpswbQZ1tnNTuLpnrEOx0XvlAVqg75XhoeTHkqnW1V4YkGaYv7TWTICxy4IUdS6adp6OcQAnLW91bu-QmG3SysL-ou_640x2DQ9XQX8joYfbRsP6S6C7e9r6lEos73bLrSRc3n711w8TOD7vx2RFHdBJan-IXr5guxNLg3jmmAnB-hC1GYZnHBh-EgYKcplcdYaKczn5Iq3hhPApcfb7a1Xjehd1295lDDKzPKi2c49fWFquuexizmWrhlpDe0og4YXedTisi058uc8Yu8Ior5zAW9jxZwfUSYDPJTQhO2S_7SC68VvhNw7M5dJAuxPuU36BHcdQe_NStXx5k-KQdqfsAj7gQiohk3HhmVNI6T3eVgYHigg0J81qCpHr-eMbWrSA7xAE5Q7ePEgm4P700PtEPgA70WL-cUT9ljGXkbtJDdQHWCnXPjw8JYyabL7hO7QQQ7Ysp69ika3vY82p2KBqp4zi_zRrPooPQUIInFIVoyGnu_pmfUNU5WomRmDL_hNOcDKf1z8iEzYyNyyw4k-oONsS4-FkvOC40Y6-zTIFL6xTr1YfgEZmRjemLEa0foKMySCFyOFU9GzJ9Peg6l10kvFt0BpDb8c0bWEYjDboZDOt-IJJUY4I8-wNs7Q_4aZmrfH07GRaQKWwmtmkp6Hi-SB1QVq-c3EDWN85lNfNZ6mAp0hinT3PvGd_B-5659l-G80qZjc7UAOHqjBzRERCuyleapGrozjUy2D040czD2VcjPaCf_lyiblS1B3cAQIStn7RL_AlNzS--tusXZYQTTklBqKVpvzcv6vnlMeiEJ85rWeC9H4xjyb5VSTx0QVW9pSBWomdKPJvrWeSlAn8-YqJVmISU_wr1kpcAc671QpWSf34gBXz3EjrcqzfB-IV7UeIiTilemaGhZduIKQ99eBhz-SC_vQD7GwL3BpzD7LKZEEU1Yrq04pZ_5OzjPcvOcMrqTS8k82dcXnK7YeFovCsnU17XIK6cmDRCGa-Gf4voYKNOmsagjIoGeP2MJThkEbfT2NAIWUI9S8FvtDOaUOhADuRhs_vJR5D8gwha9ca7jkFtaCwGnfNjRLWZuE015VfZ3uQMv9BmNdS22EKSy5hP4duoR8UJd-N4kDbTYaoNJovKvfdlHeRLmPd5SwSup226SxiiiOHAl4p2Xdxf6VL42Z8oClhbN3bjmqY1EqoArLeJ2Gt7Odd8TzGD0TFSil4azKlGIbfKXdvWdB7pfCkDlO1eQXx0qKNsG6VXl2hyZ7LySHsFkyMHAzRGMJm3Opsgb8mhlTygLTfuoHQ2TBXZ2Hkic111vrQ-TjF_KumgYhe5x1Z3-Jrhgabvt5IySHOCftpXH-cyMlzCSJUJDyTogrUFslZTjJKjCqUUtL5iW1Qxz6_liwdU9rc-ME5MrB2BdwOYOTxRM-Ldf_XwaHWmTYrHnDz5nLKlMwEX0x-J2lq_fig6vT6iK04HoX-L882khagPUyyqCfSKJ4VjLQWjafG_UMXvvh-DwpOmx90hjEcO00L6NcxpHxYwuo0-by3K9oBfZY7ednasJclJG24ZreL_TVWiBQtGhRiewhzEdEWHfBeamFfRQHeY3EBIcOO825G25hwx7tdIU7gGpwie-Rui-6p6t1RxsfgGfJ0vfjwABfCosWokVU3n7dKDtYSAxosj_cnqOJS-n2ZWk9GBSYkSIOnaJv3WWD89-o3GnBqs52oywBazkVFBSDdLQsB3ItgdhPJhEYwzFQNjbP78Bn4CI77WW7oGgKOureGwzwls_dw==",
  "id": "rs_0cdee9c582865efc016ab41d6ac20c87d0b1f74e60e1d9a911",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.23,\"left_z\":0.055},\"note\":\"The dark fruit is centered laterally but still ahead of the fingertips in the wrist image. I’ll advance about 3 cm while lowering toward its middle; the narrower jaws should fit beside the bowl.\"}",
  "call_id": "call_inIKZSzICVep5ZJXQTPNTGw6",
  "id": "fc_0cdee9c582865efc016ab41d6c2b2c87d0ad00839209aa817b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_inIKZSzICVep5ZJXQTPNTGw6",
  "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]: [-0.8616, 1.5829, 0.8871, -0.4297, -0.3462, -0.9871, 0.7815, -0.0105, 1.0447, 0.9043, -0.8135, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2771 left_y=-0.2253 left_z=0.0519 left_yaw=0.0575 left_pitch=-0.4676 left_roll=-0.1961 left_gripper=0.7815 right_x=0.2812 right_y=-0.0011 right_z=0.1643 right_yaw=0.1294 right_pitch=-0.3984 right_roll=-0.1719 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -6.7487, 5.7094, 1.2674, -0.188, 0.1929, -0.0024, -0.0342, -2.7966, 6.612, 1.3358, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:663eea73ada1be906638ccd987510b8fe4107f196745cac38ca8442320e68276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c130aa65397615df1da4ea43404a7e4d3deebdee80d0fff948e67a12d59d95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fff9f957e6381712957b62e363b046aca63e196679efd286b3d2e114423f8ff1",
      "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 · 2.671 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9817, 1.7023, 1.4853, -1.187, -0.6304, -1.7237, 0.7822, -0.0105, 1.0416, 0.9043, -0.8024, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2796 left_y=-0.2245 left_z=0.1699 left_yaw=0.6131 left_pitch=-0.3859 left_roll=-0.2574 left_gripper=0.7822 right_x=0.2832 right_y=-0.0011 right_z=0.1667 right_yaw=0.1286 right_pitch=-0.3844 right_roll=-0.174 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.2274, 6.2974, 0.652, -0.4029, 0.1636, -0.0073, -0.0068, -2.6872, 6.6667, 1.4335, 0.0269, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9524, 1.4193, 0.96, -0.6674, -0.3809, -1.0557, 0.7814, -0.0105, 1.0428, 0.9043, -0.8104, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2459 left_y=-0.2262 left_z=0.1069 left_yaw=0.0313 left_pitch=-0.451 left_roll=-0.2149 left_gripper=0.7814 right_x=0.2817 right_y=-0.001 right_z=0.1653 right_yaw=0.1295 right_pitch=-0.3934 right_roll=-0.1723 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -5.0393, 6.147, 1.2918, -0.3541, -0.1197, 0.1294, -0.0479, -2.6325, 6.8308, 1.3358, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8616, 1.5829, 0.8871, -0.4297, -0.3462, -0.9871, 0.7815, -0.0105, 1.0447, 0.9043, -0.8135, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2771 left_y=-0.2253 left_z=0.0519 left_yaw=0.0575 left_pitch=-0.4676 left_roll=-0.1961 left_gripper=0.7815 right_x=0.2812 right_y=-0.0011 right_z=0.1643 right_yaw=0.1294 right_pitch=-0.3984 right_roll=-0.1719 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -6.7487, 5.7094, 1.2674, -0.188, 0.1929, -0.0024, -0.0342, -2.7966, 6.612, 1.3358, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:663eea73ada1be906638ccd987510b8fe4107f196745cac38ca8442320e68276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c130aa65397615df1da4ea43404a7e4d3deebdee80d0fff948e67a12d59d95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fff9f957e6381712957b62e363b046aca63e196679efd286b3d2e114423f8ff1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1wrdBaG2YWpkZuSCp789fQQD8sAMYsnIl0-F080-4U55SS0G8jQuFi11q-KJ99sQ3O7MNmqFPgt9bRTST5ux7tpLBFgeHJORZoX0djdp-jW63-xT1RpS2tu6w7eNHJf_5bY3w2KZ_K1goRDSY1Y2w8bYd6itMRvVLfL6kStFi79REKVXsFlW9tIIiTlJzMh3Y2gqmyJg0xLZWOTCPv_fMXgBJvwgRExMF4pGjErDDTTMSdD5IG42JY3akWR3M-M9bDF6BfKXupY9GZw3exIrRRxeSrmBFQ6i354TaYnmSfF_ke3HU8-8sjmLFuTmVe9uO_ysTGEgVNsQ7dXm0v7e-jQQs1yWr-P-Sc57HLY4numOFXVceIUss8Ubw3G0BWdkO3aojiuchVmQdwlLs1N8DSsH3pHm1jiiiUz-GMYW2u1MDY-p6AEf5v-sbY6BhWJVvEw_y6f-A5DAclaMA_H1zAOe9wfrmlFLL_Kp6o61_00_FooXkBdNx7EPl6oG4eEZ8UT4u-n4Tj5V6Zs9CLybF_DZ7d4KiaMx9Qnu_9izUyXFQ2b6eQd-cepU04WrFxZHl7vLxNaPgx6_HFq7qms368bj5YH3Fy1CDOcAItC-GOmqVJDz2fkGVNoCtG-L8fPbCeMJk-GIDJmLr7XPQKF0CQYBS28QQNbbSb8UUHziqwPMXVASI0gBtMVG57SMh_lJyYmj4dPB39yqHFbu2rQThYzR1TV3bbSWydEeRDy8h7Hj2ggl9ITx6ZXGAtvmE7zdnz8R7BeQ37S7ltFBrDYKpPZZk2kHo4ZB6Yp_XKnC_A5XgrtHWLDewqFlKPthy26FlbTZYc7JicJoSprq0yRAojN6HtZV5F3GVc2xHIFfy8ANGSbBIb8oTDnOKpj8j4hSu8YGi7193DjLBfaKrGWWTMUqgTa2ZOt4qtmBSjdujBq18S1MKgxzRHWgSvjePwZUPn5l9VnVWfJgcOi7TBwTBl9M2px3MKOViaFCu42JxXmkifaC1Ma-eQFsVlqpU03PIDIyM9jR4PqNN3FC2HkZKhH01m7PNkk9l8U2YcV2JPGeEP-OUas_dRPah2pChgl7Ud4AHdja7_0MNlS9Z00dzeLlhK4fUvk66rab6e_qlzGYc3MmMvAeLtVmK-MFtIWSJfWG19oLMiv-53hXHmTrPj8w10zpYnG5HREZXzbU1zpH14bP-v3P-eVolbM7V7MEsQ-YuiFSeQrZrhhZRLXEP2vk6ZV9WGFc4e9d6d_1Zryk7-auKiZmAE6EiWOdpjS2nRshbCywfhwfnoZjp1k0XBWrUaGe4wzg4w0lVtAme-TgnCPwQuuXLM8bpQ42R9oq88o-AfrYgI09591__RIA6msi9H0jLq3dPBS_G0ls5pTE54w3PQ_JVc6Uo-cRJri2Y_nGSujbs30T80DiURtRnOAw==",
  "id": "rs_0cdee9c582865efc016ab41d6f15a887d0a7ab72602604aec2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.23,\"left_z\":0.009},\"note\":\"The dark fruit now sits between the left fingertips rather than beyond them. I’ll lower a few more centimetres for a low, centered grasp.\"}",
  "call_id": "call_cKKIrdofo5acNI6WRZhBQk98",
  "id": "fc_0cdee9c582865efc016ab41d6fc3e087d0946e32b6311f476b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cKKIrdofo5acNI6WRZhBQk98",
  "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]: [-0.8623, 1.6985, 0.8196, -0.2707, -0.3462, -0.992, 0.7815, -0.0105, 1.0447, 0.9043, -0.8135, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.2265 left_z=0.008 left_yaw=0.0695 left_pitch=-0.4826 left_roll=-0.1774 left_gripper=0.7815 right_x=0.2812 right_y=-0.001 right_z=0.1643 right_yaw=0.1298 right_pitch=-0.3984 right_roll=-0.1715 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -6.8718, 5.2581, 1.1941, -0.2271, 0.0024, -0.0171, -0.0342, -2.6735, 6.7214, 1.3162, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2457105313c7a7c825ea449846a3b7fdcff7c51f3e64b130d020300141b12f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebeee90453b9fd683c6e380d1a51324c044e35e0541124dc4f09c83dd5598df2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a08b7bade19f2f678d8dbe81f0b4eb6b1dc499f3e38e79aaf675359fdcfe78",
      "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 · 2.257 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.4948, 1.5974, -1.1679, -0.3492, -0.9691, 0.7822, -0.0105, 1.0428, 0.9043, -0.807, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2786 left_y=-0.2242 left_z=0.2536 left_yaw=0.0304 left_pitch=-0.4259 left_roll=-0.2362 left_gripper=0.7822 right_x=0.2824 right_y=-0.0011 right_z=0.1658 right_yaw=0.129 right_pitch=-0.3901 right_roll=-0.1731 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.5556, 8.0479, 1.1893, -0.1929, 0.2222, -0.0171, -0.0479, -2.5504, 6.7761, 1.3504, -0.0317, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8616, 1.5829, 0.8871, -0.4297, -0.3462, -0.9871, 0.7815, -0.0105, 1.0447, 0.9043, -0.8135, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2771 left_y=-0.2253 left_z=0.0519 left_yaw=0.0575 left_pitch=-0.4676 left_roll=-0.1961 left_gripper=0.7815 right_x=0.2812 right_y=-0.0011 right_z=0.1643 right_yaw=0.1294 right_pitch=-0.3984 right_roll=-0.1719 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -6.7487, 5.7094, 1.2674, -0.188, 0.1929, -0.0024, -0.0342, -2.7966, 6.612, 1.3358, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 1.6985, 0.8196, -0.2707, -0.3462, -0.992, 0.7815, -0.0105, 1.0447, 0.9043, -0.8135, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.2265 left_z=0.008 left_yaw=0.0695 left_pitch=-0.4826 left_roll=-0.1774 left_gripper=0.7815 right_x=0.2812 right_y=-0.001 right_z=0.1643 right_yaw=0.1298 right_pitch=-0.3984 right_roll=-0.1715 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -6.8718, 5.2581, 1.1941, -0.2271, 0.0024, -0.0171, -0.0342, -2.6735, 6.7214, 1.3162, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2457105313c7a7c825ea449846a3b7fdcff7c51f3e64b130d020300141b12f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebeee90453b9fd683c6e380d1a51324c044e35e0541124dc4f09c83dd5598df2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a08b7bade19f2f678d8dbe81f0b4eb6b1dc499f3e38e79aaf675359fdcfe78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0cdee9c582865efc016ab41d72eeb087d094fb5a90a948cf93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit is centered low between the jaws at table height. I’ll close the left gripper and then verify the grasp with a short lift.\"}",
  "call_id": "call_GDvmHYTfoaeFKfvzja4ouBIj",
  "id": "fc_0cdee9c582865efc016ab41d731fd887d09713f62fb3c954f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GDvmHYTfoaeFKfvzja4ouBIj",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 1.6993, 0.8158, -0.2653, -0.3462, -0.9947, 0.5263, -0.0105, 1.0447, 0.9043, -0.8135, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2775 left_y=-0.2262 left_z=0.0071 left_yaw=0.0708 left_pitch=-0.4824 left_roll=-0.1796 left_gripper=0.5263 right_x=0.2812 right_y=-0.001 right_z=0.1643 right_yaw=0.1298 right_pitch=-0.3984 right_roll=-0.1715 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.2274, 5.641, 1.0134, -0.2125, -0.022, 1.0281, -0.0342, -2.4547, 6.7897, 1.3065, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa21542aec58feb87e30917ba7d996acbb4a0ead7fb619143a6ab6a1d4578d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa94fb3bae6ca8b258857d77ca01e48e30d4fcbe6f277bbfe34332bfcf0d369a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a5f3058cec7d73f523c93d6cade7ab0969615ac700a73d0f84ade42ea25308c",
      "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 · 4.208 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9524, 1.4193, 0.96, -0.6674, -0.3809, -1.0557, 0.7814, -0.0105, 1.0428, 0.9043, -0.8104, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2459 left_y=-0.2262 left_z=0.1069 left_yaw=0.0313 left_pitch=-0.451 left_roll=-0.2149 left_gripper=0.7814 right_x=0.2817 right_y=-0.001 right_z=0.1653 right_yaw=0.1295 right_pitch=-0.3934 right_roll=-0.1723 right_gripper=0.9986\nstate[joint_eff]: [-0.6632, -5.0393, 6.147, 1.2918, -0.3541, -0.1197, 0.1294, -0.0479, -2.6325, 6.8308, 1.3358, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 1.6985, 0.8196, -0.2707, -0.3462, -0.992, 0.7815, -0.0105, 1.0447, 0.9043, -0.8135, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.2265 left_z=0.008 left_yaw=0.0695 left_pitch=-0.4826 left_roll=-0.1774 left_gripper=0.7815 right_x=0.2812 right_y=-0.001 right_z=0.1643 right_yaw=0.1298 right_pitch=-0.3984 right_roll=-0.1715 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -6.8718, 5.2581, 1.1941, -0.2271, 0.0024, -0.0171, -0.0342, -2.6735, 6.7214, 1.3162, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 1.6993, 0.8158, -0.2653, -0.3462, -0.9947, 0.5263, -0.0105, 1.0447, 0.9043, -0.8135, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2775 left_y=-0.2262 left_z=0.0071 left_yaw=0.0708 left_pitch=-0.4824 left_roll=-0.1796 left_gripper=0.5263 right_x=0.2812 right_y=-0.001 right_z=0.1643 right_yaw=0.1298 right_pitch=-0.3984 right_roll=-0.1715 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.2274, 5.641, 1.0134, -0.2125, -0.022, 1.0281, -0.0342, -2.4547, 6.7897, 1.3065, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa21542aec58feb87e30917ba7d996acbb4a0ead7fb619143a6ab6a1d4578d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa94fb3bae6ca8b258857d77ca01e48e30d4fcbe6f277bbfe34332bfcf0d369a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a5f3058cec7d73f523c93d6cade7ab0969615ac700a73d0f84ade42ea25308c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtB12X5yX4b19N3peeJlVTD57CM8R7ZFilpkODY2ZU5NPB5gDVqjPf8HnbL5EHFseYuEuyUuoM-CN8V_z2D87n_SVecQJUDiuq5w4tadBKXu_mNqiwo-y2ItgfDo8R2mx-5s7bAlfgciOAJtoc6Gw9XUYScaMe85iKGSGyr1rX1RJONOzaU6NnvpHTEumPSJ7aKL8B9bXcnSMZV_2RYCOJ6YTzEWSAr0Pv_4lXthaZ_KWvdI3Lm0GhlGtxpVxhMO-7eQnef-3spuSyH7YSrRbIS7lPke5Ncitn4WF1j1WbU8sTIsFfRUWJVCLxs0aELId_m5e96XkQEqhJBlyWK-8u9O_DgQa6idRR6z9gRXfZTRNTpPz6xG5T0GXTg-qyNgGNI4i0W06QRjljQ571ai4WnSH56TJJqkWf5r5LoQ94Kzb9nFmIOnScQ78YRUcKu4MQNRFM9klU2k6hl7CejHSl56eTZ8ItpgPguqp4xei_-TXGLOc0gLsq2ufewy3Lc-OMCZx9EXXQiQE88pDAFqr_08JsPEYMtVgzzwL9VumqtM_5N73QTglXM0Tj85GtRBqfi0ocATodU82FSNF9K3xcROkPl4Nhd4628rYKyAvljkxke-KmSEw5HqBjKDYhxt47DPOj_6TVgh9pyuPfMmnXLX0PCTV4yKxIoacQvRN830whtHbYL-9JjFI-qbQ-3mryhsu2erPTW7GiX3mLQXDlgXhsUh2f9Mfr098AczOEp75EFs4gkQLELwbACKz4-vp63QWyyMoCtBBsJyNzGSyNRAa3XetFNlt7QdTxFWD-BbmTmaJyg4A07asJc2cksVKxZaBTa368AtolpDCvV2-kjfyiz-1CTb18WwdupfG6XAGrZED5JCGBiPPKYYEK44-292lVhPOz3HY8ucZnP5RCFCAXG4sCIc_eRW8mwlkrW9CiSbFCGyQ0_-NRS1KWNAar2INjFv5cEZypz4TZWufyzBG0DFnNDjFokjXo0vEMU7-XE1LTd1ArA6C5Tmmb3czb1oWCqzRGcTYpSwTUlE-AbZQAolOKQ2ZSaQRRkWb4EjpiNEp_5ZbVU3_EBojeMdPo-jLMX9w2sVchmNozCAy6idhWg0vSGjCHyEo2t6297wgiMn1v0Imsm6CMY7kHadSD9GixeuI-VN7NvwLOZYg0rOCViuPRUBEbvEFNX6yOklN4LkfD0uW0aXVDTGhrQOkmPVvnJgti4BFWLHsmJpJvol3KJatsKxPBHDX6PapWi_CO43EQAktKomvqB2KwBRIzrMTgKzT0vM2ljo2sPOfrJaI9kfq8LvKDPJY03KMngoOILSJa9BcqtNq7LMgHCg5HbhYGPcqldE3cN_Akl5QRbpqkGySPEid_fbJ7AlECf-4UY1Twn-r9kOnfVluN2w_ry03",
  "id": "rs_0cdee9c582865efc016ab41d75ab4887d0bd83a15fae43a33c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The left jaws stopped around the width of the dark fruit. I’ll lift it about 8 cm and confirm in the overhead camera that the fruit rises with the gripper.\"}",
  "call_id": "call_OoiJEAITKBPxSB2MfZlhwggr",
  "id": "fc_0cdee9c582865efc016ab41d76086087d084b26fa75941ba2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OoiJEAITKBPxSB2MfZlhwggr",
  "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]: [-0.8623, 1.5688, 1.0096, -0.6178, -0.3428, -0.9993, 0.5269, -0.0105, 1.0447, 0.9043, -0.8135, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2753 left_y=-0.2245 left_z=0.0787 left_yaw=0.0834 left_pitch=-0.5021 left_roll=-0.1584 left_gripper=0.5269 right_x=0.2812 right_y=-0.0011 right_z=0.1643 right_yaw=0.1294 right_pitch=-0.3984 right_roll=-0.1719 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -8.9231, 8.0479, 0.8132, -0.232, -0.0024, 0.9841, 0.0068, -2.3179, 6.8034, 1.3114, -0.0464, -0.0659, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2709fa1ca3d2f58e8d59ac013d144eb702eb242521cecbed40df90b3e65ec60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:258646d6e7b23c5b4ad7c25bd66389281a419f2410d63471b9197181b2bf0fd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c98583bf9bd7d13946cfdb23077a0d8085e49f2fdfe1d3a01cfac795df4f2d5e",
      "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 · 4.15 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8616, 1.5829, 0.8871, -0.4297, -0.3462, -0.9871, 0.7815, -0.0105, 1.0447, 0.9043, -0.8135, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2771 left_y=-0.2253 left_z=0.0519 left_yaw=0.0575 left_pitch=-0.4676 left_roll=-0.1961 left_gripper=0.7815 right_x=0.2812 right_y=-0.0011 right_z=0.1643 right_yaw=0.1294 right_pitch=-0.3984 right_roll=-0.1719 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -6.7487, 5.7094, 1.2674, -0.188, 0.1929, -0.0024, -0.0342, -2.7966, 6.612, 1.3358, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 1.6993, 0.8158, -0.2653, -0.3462, -0.9947, 0.5263, -0.0105, 1.0447, 0.9043, -0.8135, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2775 left_y=-0.2262 left_z=0.0071 left_yaw=0.0708 left_pitch=-0.4824 left_roll=-0.1796 left_gripper=0.5263 right_x=0.2812 right_y=-0.001 right_z=0.1643 right_yaw=0.1298 right_pitch=-0.3984 right_roll=-0.1715 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.2274, 5.641, 1.0134, -0.2125, -0.022, 1.0281, -0.0342, -2.4547, 6.7897, 1.3065, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 1.5688, 1.0096, -0.6178, -0.3428, -0.9993, 0.5269, -0.0105, 1.0447, 0.9043, -0.8135, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2753 left_y=-0.2245 left_z=0.0787 left_yaw=0.0834 left_pitch=-0.5021 left_roll=-0.1584 left_gripper=0.5269 right_x=0.2812 right_y=-0.0011 right_z=0.1643 right_yaw=0.1294 right_pitch=-0.3984 right_roll=-0.1719 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -8.9231, 8.0479, 0.8132, -0.232, -0.0024, 0.9841, 0.0068, -2.3179, 6.8034, 1.3114, -0.0464, -0.0659, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2709fa1ca3d2f58e8d59ac013d144eb702eb242521cecbed40df90b3e65ec60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:258646d6e7b23c5b4ad7c25bd66389281a419f2410d63471b9197181b2bf0fd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c98583bf9bd7d13946cfdb23077a0d8085e49f2fdfe1d3a01cfac795df4f2d5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0cdee9c582865efc016ab41d78e22087d0b482b9e771aaef35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.39,\"left_z\":0.21},\"note\":\"The dark fruit appears to have risen with the closed left gripper, and it is no longer visible at its original spot on the table. I’ll carry it high over the blue bowl for release.\"}",
  "call_id": "call_yleM4P2cllWCj9n57jJHxsdF",
  "id": "fc_0cdee9c582865efc016ab41d7b437087d0a1039295d3c99dff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yleM4P2cllWCj9n57jJHxsdF",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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]: [-0.9379, 2.4889, 2.7064, -1.4647, -0.3573, -1.0878, 0.5289, -0.0109, 1.0454, 0.9043, -0.8211, 0.0063, -0.2741, 0.9986]\nstate[eef_state]: left_x=0.3667 left_y=-0.3893 left_z=0.1606 left_yaw=0.105 left_pitch=-0.5369 left_roll=-0.1298 left_gripper=0.5289 right_x=0.2797 right_y=-0.0006 right_z=0.163 right_yaw=0.133 right_pitch=-0.4063 right_roll=-0.1678 right_gripper=0.9986\nstate[joint_eff]: [-0.7453, -17.7846, 9.5521, 0.2125, -0.3541, 0.0855, 0.8425, -0.294, -2.6872, 6.8855, 1.3797, 0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bae771729d5428536c436e8ed346914696c59e61cb0e0fddfa9c32582c84b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9dff8cdabdb4665d7627ba94a78480cda8777c55acedb8769ff1eeed2b53ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77ce43cd480c92aafb53549ffc451116730946e5d855144d1e9fa2ecf67e7810",
      "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 · 4.197 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 1.6985, 0.8196, -0.2707, -0.3462, -0.992, 0.7815, -0.0105, 1.0447, 0.9043, -0.8135, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2777 left_y=-0.2265 left_z=0.008 left_yaw=0.0695 left_pitch=-0.4826 left_roll=-0.1774 left_gripper=0.7815 right_x=0.2812 right_y=-0.001 right_z=0.1643 right_yaw=0.1298 right_pitch=-0.3984 right_roll=-0.1715 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -6.8718, 5.2581, 1.1941, -0.2271, 0.0024, -0.0171, -0.0342, -2.6735, 6.7214, 1.3162, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 1.5688, 1.0096, -0.6178, -0.3428, -0.9993, 0.5269, -0.0105, 1.0447, 0.9043, -0.8135, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2753 left_y=-0.2245 left_z=0.0787 left_yaw=0.0834 left_pitch=-0.5021 left_roll=-0.1584 left_gripper=0.5269 right_x=0.2812 right_y=-0.0011 right_z=0.1643 right_yaw=0.1294 right_pitch=-0.3984 right_roll=-0.1719 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -8.9231, 8.0479, 0.8132, -0.232, -0.0024, 0.9841, 0.0068, -2.3179, 6.8034, 1.3114, -0.0464, -0.0659, -0.0171]\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 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9379, 2.4889, 2.7064, -1.4647, -0.3573, -1.0878, 0.5289, -0.0109, 1.0454, 0.9043, -0.8211, 0.0063, -0.2741, 0.9986]\nstate[eef_state]: left_x=0.3667 left_y=-0.3893 left_z=0.1606 left_yaw=0.105 left_pitch=-0.5369 left_roll=-0.1298 left_gripper=0.5289 right_x=0.2797 right_y=-0.0006 right_z=0.163 right_yaw=0.133 right_pitch=-0.4063 right_roll=-0.1678 right_gripper=0.9986\nstate[joint_eff]: [-0.7453, -17.7846, 9.5521, 0.2125, -0.3541, 0.0855, 0.8425, -0.294, -2.6872, 6.8855, 1.3797, 0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bae771729d5428536c436e8ed346914696c59e61cb0e0fddfa9c32582c84b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9dff8cdabdb4665d7627ba94a78480cda8777c55acedb8769ff1eeed2b53ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77ce43cd480c92aafb53549ffc451116730946e5d855144d1e9fa2ecf67e7810",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB2Dd-JxB9ZhoaonFDukWG45M1g-QI79H1acLdNo9rq6WBhh17vdgqbp90QTAnT9g1zupaDlqC5qFXjDvDlLZJKjNpXqVBYcBV4lpKKYg8vXJNnI6xlWGHGh42nE4xtH9Ry4KSiN04FQzPDWwOJkrn0yQ59sPVD6t4mPDXNPbW1i_vFVFFtMx9w5SGVeBTlE2yGIfBwH96osN9MCkIK1ZF6GiL2h2aodYYtv17ypGpHW9P9UBlWkryX85FPCSKzVlLkIandbU7Hkx_sjv8u9QzakAZDMdPCINTYhwbaFZ1knvcJoHnYKMQOAupKumHOlTmB5xOUlDptaDTbyPhVsKI4sYD0AktaZVulgUlkkHdEeOqJtRKQADCNu__Ww0yG1KqRCOH5462EiZGyiKn5I3n8hxjKlp8Hza0JPEa3Us5Z2swdVTowwYu5cnTtBsyYTQdlryh4PqeO_BpRNtq9PrscFEqSi3VY30_7jxa2F-ZErmVhuvtWnNHKDLNk0GqhGGrJCZcwjk70VpIV2BPG_8saZhMtGWoqt-z7G19bdE2oq_3rwt8gapjvDCuvRY46SddFbiWXHybkEi8oDjzYtJKsMFIUCc8DOV0-57ck9KztV0SClRE9-THRS78Zj_3KluE1KaFrnvXDK3Gw-BmI0yJMh8vx4aGohBSuCHcjDh1i99S5iU8Q22hkxDnZwcC1MKVWmDIlqCHMta0c8er601R7oUk5iP_a8zVIF3Hk91_XuO6F9BkculKINowYlzYVYRFm8xn_n2pB6cpSZcyUVo7p7QelrTVg3G4xbBJfryWOoCg45c2fOw0g-U4Xz8qKN6U6uoLA50KduafOzC3wPnPYJI-4-QArxv-eeW_24beTssdZl2CHeE8u8eaFPDVxx-Hk80MupPHxnpWhOTMpK6O3db58K7X2OwOvvtR1y15IVzMmCzPWpo3KJcDcC2hJs2htVpgmFJklsIgDfVYdjk_rxuN8F18CfTEdvUl8DqBcTwOGgzEeqN0RGSwmgVjkIab-UAUobvGmRleeUD4XpWM4sM0VqcvbA4SM652LRPXjGFA4hTojUVsKgKycewHn9jyYgsbrWy8R_oOOVZbxfKemV3K_2ce_6AO5ZGiK9cIP0qwWNLohhWMQUw0idSfXlYhb4VTeD20aTAzBBqgkKZlNwll3hyS3t9FD3df6N7xSGGNvViBtpUJeZtmrsNYdFacO68YYi6SiB_wVaOe0l8uqqnX0CXlGfm-RmulkvW3AbMH0bK-MktCYEI-HU_F9jd1Bowb5B3rwhMxW1Ro2L2LuDQ2qaqv3pdkIkTtumiYX6S6r0yEZYydLT9N81mdfod-wS9Xy_8mGli3O1U-HcDsTM1CUsiF1sDFs2vIGBDMgHo970ELxueTHmbV1KKkIrkPB09UfbYeNFVyZB8a2JQ05UVeB330kk0tHRkxo4jPRB3NIFrVW6CK44dtsMI7-oYQ0yRKYymGyhnP0boqXSf_B9uAMkuDCQrw0nvnppqc27NF_8tCJ2kqa17muIN5yw8YWAIoplewzIJvRs32s8BxlTMCWHXjhytqVTRcO94mJoCSVHOFkSzJEiGHXTCYpjbBzrtt2p3LGm0ea5k1f8oiY6zLCROCavt8UWvDf8Z1TUCF5pXe8f3s4C448MZ_A-2qcWorayF-TRz7TJnBvZcpAvGJt3dK-emGzKV-M20lVMgdzrRe95oMdDGuUqtueeZ4T-KM24SIsKto_qs7yZhAK_jzROrSj60XJbbRz58NtFeOcdnwUaUvyRTrKz7SN6e_JVu3BZpltiAi9FGe9XaIQ6usD2v89j6COUFE0S1Aa-3cwjM1IvCx7l4KjgrWcXpq_-t-EimBE26J_py_Twx1vT-_5JxhIKYLHBjEt-y8UNyoJP5aWfkA7AuJoXFtvXRhFQQqKWfJgyLfxRRpKqCiIyyvjUw6s5EXXOryLgZSTfhXjYinR7nOdMcSAsTa4h9YJkJ5aisuEJuf7cPmz0oL7dL2YuneL2EouTZR97T730zC2u2Y3tiyzy4WBiC7BNXblUsI2ksxIID93MUsYqHRY9fsKvfqwBO7LNTMv2aXsaJ3ae2awJkRpepCDu3sWoTDNnFqWoaN81gCj3hM0TNFFtA67k9oopq-pCTI9--a5dj7a16er7lAvDqzraxghDSOCFyc-w_THEoiNT76plWWjRQPyOAApr3KQuYYYkDQze417hooVLFJJZjej8aUpxWncWydlt4FEdO6ppNwSYO6IGEQyjuToSYgDEiY_QHY763rlOqYLkxd86Ggaxj-n3DAZriilHPDu5R9IX0BEhH9Bsi33M95tnnJXU0w3v-23N2RjT8oIyw71KYu0L6ANtWr3dkc2Q-ABDUsCzAWs4PqA09vTDzuWqvWe72xa6N4Q8fKylJvEmnKHN0x1tJtpQwyGfZhey03DpBgdVhPXr7AlohA==",
  "id": "rs_0cdee9c582865efc016ab41d80691c87d080c81d1836061dc3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.39,\"left_z\":0.19},\"note\":\"The dark fruit is secure, but the blue bowl is still ahead of the left fingertips in the wrist view. I’ll bring the fruit farther forward over the bowl before opening the gripper.\"}",
  "call_id": "call_rMyx0o9K0ZZRyODIIuUg7UFK",
  "id": "fc_0cdee9c582865efc016ab41d82ac6487d08f207848b784e4c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rMyx0o9K0ZZRyODIIuUg7UFK",
  "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]: [-0.8471, 2.5542, 2.8517, -1.541, -0.3267, -1.0321, 0.5292, -0.0105, 1.0454, 0.9043, -0.8219, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3979 left_y=-0.3592 left_z=0.1629 left_yaw=0.1401 left_pitch=-0.555 left_roll=-0.1225 left_gripper=0.5292 right_x=0.2795 right_y=-0.0004 right_z=0.1629 right_yaw=0.1335 right_pitch=-0.407 right_roll=-0.1671 right_gripper=0.9986\nstate[joint_eff]: [-0.4171, -12.6564, 7.5282, 0.8864, -0.2222, 0.2125, 0.4127, -0.1026, -2.5641, 6.6256, 1.2918, -0.0513, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56070ba9c23ffd041c3bcfbd0ae22eef23a12334c2a29694df7e26250ff02d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb5a7c44d815a178d2c86173d3ade88f73f3bf5c1a5800f1b4b2b6c5cd85a8b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64dbed9fa5185366efa019e4f226b9848b6def5d9bcae30a8bf7ab21883ae650",
      "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 · 3.372 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 1.6993, 0.8158, -0.2653, -0.3462, -0.9947, 0.5263, -0.0105, 1.0447, 0.9043, -0.8135, 0.0093, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2775 left_y=-0.2262 left_z=0.0071 left_yaw=0.0708 left_pitch=-0.4824 left_roll=-0.1796 left_gripper=0.5263 right_x=0.2812 right_y=-0.001 right_z=0.1643 right_yaw=0.1298 right_pitch=-0.3984 right_roll=-0.1715 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -7.2274, 5.641, 1.0134, -0.2125, -0.022, 1.0281, -0.0342, -2.4547, 6.7897, 1.3065, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9379, 2.4889, 2.7064, -1.4647, -0.3573, -1.0878, 0.5289, -0.0109, 1.0454, 0.9043, -0.8211, 0.0063, -0.2741, 0.9986]\nstate[eef_state]: left_x=0.3667 left_y=-0.3893 left_z=0.1606 left_yaw=0.105 left_pitch=-0.5369 left_roll=-0.1298 left_gripper=0.5289 right_x=0.2797 right_y=-0.0006 right_z=0.163 right_yaw=0.133 right_pitch=-0.4063 right_roll=-0.1678 right_gripper=0.9986\nstate[joint_eff]: [-0.7453, -17.7846, 9.5521, 0.2125, -0.3541, 0.0855, 0.8425, -0.294, -2.6872, 6.8855, 1.3797, 0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8471, 2.5542, 2.8517, -1.541, -0.3267, -1.0321, 0.5292, -0.0105, 1.0454, 0.9043, -0.8219, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3979 left_y=-0.3592 left_z=0.1629 left_yaw=0.1401 left_pitch=-0.555 left_roll=-0.1225 left_gripper=0.5292 right_x=0.2795 right_y=-0.0004 right_z=0.1629 right_yaw=0.1335 right_pitch=-0.407 right_roll=-0.1671 right_gripper=0.9986\nstate[joint_eff]: [-0.4171, -12.6564, 7.5282, 0.8864, -0.2222, 0.2125, 0.4127, -0.1026, -2.5641, 6.6256, 1.2918, -0.0513, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56070ba9c23ffd041c3bcfbd0ae22eef23a12334c2a29694df7e26250ff02d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb5a7c44d815a178d2c86173d3ade88f73f3bf5c1a5800f1b4b2b6c5cd85a8b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64dbed9fa5185366efa019e4f226b9848b6def5d9bcae30a8bf7ab21883ae650",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0cdee9c582865efc016ab41d84f85887d096d3e325b4cef80f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.39,\"left_z\":0.115},\"note\":\"The dark fruit is still held, and the bowl is now directly ahead but slightly right in the wrist view. I’ll lower and shift toward its center while staying inside the arm’s reachable area.\"}",
  "call_id": "call_tUZAocWZcENHLbTip07heYH8",
  "id": "fc_0cdee9c582865efc016ab41d873ea087d0b610a707cf46bf11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tUZAocWZcENHLbTip07heYH8",
  "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]: [-0.889, 2.7499, 3.0364, -1.5646, -0.3275, -1.0714, 0.5304, -0.0105, 1.0454, 0.9043, -0.8249, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3938 left_y=-0.3893 left_z=0.1125 left_yaw=0.1421 left_pitch=-0.5758 left_roll=-0.1071 left_gripper=0.5304 right_x=0.2789 right_y=-0.0004 right_z=0.1625 right_yaw=0.1337 right_pitch=-0.41 right_roll=-0.1666 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -15.4462, 7.8427, 0.7888, -0.3199, -0.1099, 0.5055, -0.1983, -2.6598, 6.7761, 1.3016, -0.0464, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78eabe3b6962998afd83b43f260c664f90f5d020b5a65d4365e600fe8292b9b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f214f804ae3008725ec3838ec06cc9d22b97c7fb9f49e0a67c669458b95699e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae7a74dec0a9fd714ff5fbcbc826c6063cd840c3258dd64c02e8db476176c29",
      "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 · 3.066 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 1.5688, 1.0096, -0.6178, -0.3428, -0.9993, 0.5269, -0.0105, 1.0447, 0.9043, -0.8135, 0.0097, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.2753 left_y=-0.2245 left_z=0.0787 left_yaw=0.0834 left_pitch=-0.5021 left_roll=-0.1584 left_gripper=0.5269 right_x=0.2812 right_y=-0.0011 right_z=0.1643 right_yaw=0.1294 right_pitch=-0.3984 right_roll=-0.1719 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -8.9231, 8.0479, 0.8132, -0.232, -0.0024, 0.9841, 0.0068, -2.3179, 6.8034, 1.3114, -0.0464, -0.0659, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8471, 2.5542, 2.8517, -1.541, -0.3267, -1.0321, 0.5292, -0.0105, 1.0454, 0.9043, -0.8219, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3979 left_y=-0.3592 left_z=0.1629 left_yaw=0.1401 left_pitch=-0.555 left_roll=-0.1225 left_gripper=0.5292 right_x=0.2795 right_y=-0.0004 right_z=0.1629 right_yaw=0.1335 right_pitch=-0.407 right_roll=-0.1671 right_gripper=0.9986\nstate[joint_eff]: [-0.4171, -12.6564, 7.5282, 0.8864, -0.2222, 0.2125, 0.4127, -0.1026, -2.5641, 6.6256, 1.2918, -0.0513, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.889, 2.7499, 3.0364, -1.5646, -0.3275, -1.0714, 0.5304, -0.0105, 1.0454, 0.9043, -0.8249, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3938 left_y=-0.3893 left_z=0.1125 left_yaw=0.1421 left_pitch=-0.5758 left_roll=-0.1071 left_gripper=0.5304 right_x=0.2789 right_y=-0.0004 right_z=0.1625 right_yaw=0.1337 right_pitch=-0.41 right_roll=-0.1666 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -15.4462, 7.8427, 0.7888, -0.3199, -0.1099, 0.5055, -0.1983, -2.6598, 6.7761, 1.3016, -0.0464, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78eabe3b6962998afd83b43f260c664f90f5d020b5a65d4365e600fe8292b9b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f214f804ae3008725ec3838ec06cc9d22b97c7fb9f49e0a67c669458b95699e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae7a74dec0a9fd714ff5fbcbc826c6063cd840c3258dd64c02e8db476176c29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB2Ld02RQ1ox1S0uGreLFYA_8tNHLgxyZzkcvaPJs7b91SSjvMIkdrBFuBKbS7Sfx8pbf8S_cg6Qe09BtUYojOHOwURVPxOgcIARDyPjfboMVKIAz0xMB_j2by9yZt3tsgY3yNm1kAR25ufghXIovfBkVTJ2L5I4iVg6g-Zqrei5mEJ5Jbh3ZYsm8OgZRuAjOP1D7h-bO0n_zPOjUN3Vg3ZREgQeI5VOiD6XLghNlpW3RNZ1ZctSVjBTC4xVdyP7u6ysKqAUZlOh8FXNlNzYx_Z4N4xgA2xsj-Z9PMvPb1JUI7weS-UXNuzSNISWGrK0d6oblMgWedBK8hjYw3_nZe9uKyMWqjdjkzRzLIxKL2pWmW3LTesXki40UrBbOTqMbEpVYwScZvCH1Ea5WQw9zR1AgT7vlzdRR9pdjXrjVD_whFT4GxY-L2zrHYZtanRzP-oM6tLesvJ1Tktt1tmqNYxwtnpKZh2Z6px1ObUFL_b7STSRC9u4JmenTEYX0usKMgoCgj3MkfTvnbtVRLEMqQYigkV6qau_CUhEmV_goYrbZEvvBKxr87Dr-0SjQ12xj0h9kZY7IQEAPpQbXtmgQlkxO9azw-vkydrkJ24PFEKr0tHR_2yOmjV4WyqIMaR5-yCG3vY_35i4pEncrCnJRXP5meeSAPpHjWncKoLGkF39dIbfnGv6-qPUMfQQwpUwahr9rtUK0-z2Z3G9aenRyXSmY2aPE8jEv2LPS8TWo5lKKBQFQ0rjvPGOlyb8nEtfTDOS37aNsvr07IkOgchCdYHxHcM8_g4VXqmi6E_L6_pnnL7SyO90K2F9NVbiU8DGZ_mL7GmleCvk4j-qWeof4_BCgkORJwQQzqNnlDQ-Hwdv9luG6MC79fRDEumcRL1JkxUfPUE7pAZj4m9p3WNXhbTpcMuHVxBP-mJw5H-VvDKX1GY1tckqHNz-7MAte5RCP4Q7zDJpnc7tB6J-CMP_prWxiMzKWVsyip8RAxdVLgvD0qKEMl-8mTgbZec3QbwUKI2m_Kl3DY-ti00QeDnb2l15JSRFzARomvhc7Eo0c9B5GCqXgegjyCWWXq-zvBlLoIg_WjVzXx_5apH1I4Nf0-02xabuxztLrGjlXHyEcjJ4zpRT_-M4a9hz78pfCoQywPmy4FZ1en0AKlYva5obXoYVRgeuppOai2e3g4LU1QeOs_DF6qtu_XRLQa4jStMh3uZgCYm6yABCghVTIeebHKJ-0_LD7WjGHvhdNiMnmopPQ6-HAXx34mSLyRcDIAaovuudI_a6CsIg2XwFyjOUe90lItK4a_letNSWFxMC5FG6Y4ZRA1hRkvhnE8r4d9gc1YOoejEPZhjpTavuXLsgrKJs9veYZtDc-caNuoYerbxk3Z0uJa_FRSBc1RvpXhUmsA7xPmp9vZvl0gxqWlPyDzMWl03EWseKch2phkbTSlcwGSuGUVdmMRXkyYuVmk8YcQwkyvR-b4ATNk4zosevBkME94JtHEtYDdPVpf2-ylJnnWX6SS1Yn6ICIQ_QcDEiRu5l2w78tmxcu-SqjwZh3oauxttpL6QUoXG1SpTqnpvJ9Yr0wSTL0aHJM0UZJNwtigTeblTU6-3xck6AT40aY6MKwdeyYoGDQdAyLcoVMLFPSkQSQhptVhDV3rSgjn7CZVRhzeYQPIjAUt4-b-U4ywwXd5T1od2KcIqUOiE8sQB5pSZcQRbk8onZ_x35VUCX0jXLthEGMQxpAyWRknYBDuxTNVyIYmSkLXM5ySftWfZugtb6sQkZkkZqnYm7IabAkI9ds2fv2gaHSD8yddwVcfFQCA==",
  "id": "rs_0cdee9c582865efc016ab41d89949c87d0b9c54c4b54f21e92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.418,\"left_y\":-0.4,\"left_z\":0.115},\"note\":\"The bowl’s interior is visible just in front of the held fruit. I’ll make a small forward and sideways adjustment so the fruit drops inside rather than against the near rim.\"}",
  "call_id": "call_okNoIjhfn9RDUnVNRZc9KjSx",
  "id": "fc_0cdee9c582865efc016ab41d8ac1c887d0a12917be09f4d61b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_okNoIjhfn9RDUnVNRZc9KjSx",
  "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]: [-0.8906, 2.7808, 3.0287, -1.557, -0.3195, -1.0706, 0.5327, -0.0105, 1.0454, 0.9043, -0.8291, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3926 left_y=-0.3914 left_z=0.094 left_yaw=0.153 left_pitch=-0.5981 left_roll=-0.0794 left_gripper=0.5327 right_x=0.278 right_y=-0.0004 right_z=0.1619 right_yaw=0.134 right_pitch=-0.4142 right_roll=-0.166 right_gripper=0.9986\nstate[joint_eff]: [1.6615, -14.1607, 8.3897, 0.7448, -0.2564, 0.0952, 0.6471, -0.1846, -2.6462, 6.5983, 1.3993, -0.0024, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ada7c81893170f26ddbfbf30e50bdd30d5a11f7c66a20850f38160fcc990823",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a71df980700b0d9fddc1daaae0ee9a51b6fdbe283e1182c9de79582c80837d3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b65ac5751167e9698f2302c862bcef7e7feefa25285d796763817810173a37",
      "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 · 6.084 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9379, 2.4889, 2.7064, -1.4647, -0.3573, -1.0878, 0.5289, -0.0109, 1.0454, 0.9043, -0.8211, 0.0063, -0.2741, 0.9986]\nstate[eef_state]: left_x=0.3667 left_y=-0.3893 left_z=0.1606 left_yaw=0.105 left_pitch=-0.5369 left_roll=-0.1298 left_gripper=0.5289 right_x=0.2797 right_y=-0.0006 right_z=0.163 right_yaw=0.133 right_pitch=-0.4063 right_roll=-0.1678 right_gripper=0.9986\nstate[joint_eff]: [-0.7453, -17.7846, 9.5521, 0.2125, -0.3541, 0.0855, 0.8425, -0.294, -2.6872, 6.8855, 1.3797, 0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.889, 2.7499, 3.0364, -1.5646, -0.3275, -1.0714, 0.5304, -0.0105, 1.0454, 0.9043, -0.8249, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3938 left_y=-0.3893 left_z=0.1125 left_yaw=0.1421 left_pitch=-0.5758 left_roll=-0.1071 left_gripper=0.5304 right_x=0.2789 right_y=-0.0004 right_z=0.1625 right_yaw=0.1337 right_pitch=-0.41 right_roll=-0.1666 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -15.4462, 7.8427, 0.7888, -0.3199, -0.1099, 0.5055, -0.1983, -2.6598, 6.7761, 1.3016, -0.0464, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8906, 2.7808, 3.0287, -1.557, -0.3195, -1.0706, 0.5327, -0.0105, 1.0454, 0.9043, -0.8291, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3926 left_y=-0.3914 left_z=0.094 left_yaw=0.153 left_pitch=-0.5981 left_roll=-0.0794 left_gripper=0.5327 right_x=0.278 right_y=-0.0004 right_z=0.1619 right_yaw=0.134 right_pitch=-0.4142 right_roll=-0.166 right_gripper=0.9986\nstate[joint_eff]: [1.6615, -14.1607, 8.3897, 0.7448, -0.2564, 0.0952, 0.6471, -0.1846, -2.6462, 6.5983, 1.3993, -0.0024, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ada7c81893170f26ddbfbf30e50bdd30d5a11f7c66a20850f38160fcc990823",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a71df980700b0d9fddc1daaae0ee9a51b6fdbe283e1182c9de79582c80837d3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b65ac5751167e9698f2302c862bcef7e7feefa25285d796763817810173a37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB2O--DelMi4xgt2YvJ-o_jdIQLQz3hw_8tk8AEVxKG2sHNav5j0RLotUG_f7gxubIfSMTqc140fIPSwjiL9XCmMK24qP_fF5TuKnhR_2X0U4-qPl6_aLCPqoTJkpeP5ZmNI6RXZ80QeWglarpt03JN5USb6Drb8BotHLKEW37NmEzSqTitIgkJHUJq5kULKJK_5Xr006NoaGcNZaROcq-A36MPxn6-JHJG_XvI9KZCHT0qgD3T79ufTn3pB-xpcpu3__TdflZJftHTUwKBr6Tm57gY-M1UfL7rj6mKhGdwr-DfzhyN6uJRheE69Oli_8-pGjcaxb1bNaNDyOYj-K-mdKUcEpn0ZDft4S6fLFwgqo9oqUD3mCdF6ENhCMm_lnZpf7QiyxXy0GbRbRUNZJjD2BMMU3nf_q_OOdLXtMLHKH-La8D0jXicokdhUbzcbZATzpFlyOGTjTsnGYQ4aGxPWaYYG6RUs-Tl29egxLpiPvuJhwBF5GFOgpKX_cYwwDyIDEYowXHfJZHinMJiYvrpKLBVX5x1Y5m0akXEj762G4gh5Tw5RNaCvhfOM7lgYiaf02gAKKnJVmfilc8Y1qmO788AoKkQcA20RQr1gTRZjV02MnvOr6KTfLp0ufYvIxnRwOqReSSrx-L5SEKugVpb0k3L3RPfStQICdOTQk-mnjrkG8THiqlqLHfdfL5CNexpJ8I-j_nbWAuSqp1Uya74Qu510dpSVCz1vQ1MvsVjk2KCZEJhqkjg2Z3P8VXaTeoeNAL659Lt0gHpsgk8cGWgEUsyRA52bxKaFgxna6j8dKpoJGuudHi02Simmqf71tipS9LcvHl2NPLiKIg5tf5fP9MPp5wMkmxudqBzJMG-KPMsl55qokoThpsxcLADs0TO_LzKEHQbrLbVAAcQx_iBC_UtsyODLu4Hf7EzxRbYUAfTf9X4wut92W7mcSFaWXjg1PA9K7OZDo4LCVjuKwVXQ0lrNT1rVyaMPL0NCJdk69RD15gh6vTIGtwbrQy-mydviTL0OoCoCwcfZ78DOMsWNw3PVgQIJhVrWcXBKu_QjFOR2RtB0L-HdWwKMG0oCzbn3zUF1m9Qjn6AcjKbnOLExbp8YSAnT6gDc2Tciqsavr8lWdJHL6WY5KridQNs_FDSJFFfhkgYAV0337DKnv5kZOUv4-QHofXqQU1fkSCuZzvdQkpFYORL6edIfjF7KXfkJAOXqVKQMxpMwej2JQZtpfanRXq6yhv9MC8pTZ2SoqXwdbTZ8lVAplR2hco5ySiS94P0N7wDWwBi-8N8_5U4u1neRC58wfojXTdaKdOPbR9FmSBTmoG8ebDlZIGBza_z5fwrsZfHCt_raUf6wAwFtJ4PJRSzguXj62GjFy_j_3ZuIm_vESP4_eV6WepJbl1slbVxCH3P7hDgPXSkpZEVI4J85Jveifm6wA_ZnT5Q8w9B2LUHeuF8Fc-30g6iPdl4sKH7YC2kZD7r7rCzx9EjqwlMZz3WkrK8IlU9MlatFUaKpjyOiCgrAYi5wx85lamHjhwX6hwthI8IC02qD9H8-qdalOSX7VhvALc8p4By4rZhboNvN-GpkO4FToGcuF8rtOuqMhTfRjb-EMrD5oiBwoBykqJnfmQ2iIGR1qV0yDdpBRLgWR72F1pMFnt7idHxTC8a0kPpLoMmM1S_eqk04wg==",
  "id": "rs_0cdee9c582865efc016ab41d8d00bc87d09c13307c3bb4ab7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The held fruit is over the visible blue bowl interior, close to its near rim. I’ll open the left gripper now and then withdraw to check whether it settled inside.\"}",
  "call_id": "call_nQrWryoaio2ypqSMSzNIKiTz",
  "id": "fc_0cdee9c582865efc016ab41d8e255087d083c2f52ce4dbcffc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nQrWryoaio2ypqSMSzNIKiTz",
  "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]: [-0.8623, 2.7815, 3.0467, -1.5604, -0.3199, -1.0618, 0.9954, -0.0105, 1.0454, 0.9043, -0.833, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.4043 left_y=-0.381 left_z=0.0985 left_yaw=0.1678 left_pitch=-0.5903 left_roll=-0.0893 left_gripper=0.9954 right_x=0.2773 right_y=-0.0004 right_z=0.1614 right_yaw=0.1342 right_pitch=-0.418 right_roll=-0.1654 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -14.3385, 7.1863, 0.7937, -0.2369, 0.1197, -0.149, -0.212, -2.6735, 6.653, 1.3504, -0.0757, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618e8b9a474338e68ecc46cf2b55f25fae895b216ee145e554f815f999d25051",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d3c3fc79b2fa61740ead4c807267eb3a264c061b9fcc9c2bef60045793e069",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c761ff464e583d1dc6b09814409ed02c7c3c5e7ba039b14a7132c2587c5e10",
      "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 · 3.135 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8471, 2.5542, 2.8517, -1.541, -0.3267, -1.0321, 0.5292, -0.0105, 1.0454, 0.9043, -0.8219, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3979 left_y=-0.3592 left_z=0.1629 left_yaw=0.1401 left_pitch=-0.555 left_roll=-0.1225 left_gripper=0.5292 right_x=0.2795 right_y=-0.0004 right_z=0.1629 right_yaw=0.1335 right_pitch=-0.407 right_roll=-0.1671 right_gripper=0.9986\nstate[joint_eff]: [-0.4171, -12.6564, 7.5282, 0.8864, -0.2222, 0.2125, 0.4127, -0.1026, -2.5641, 6.6256, 1.2918, -0.0513, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8906, 2.7808, 3.0287, -1.557, -0.3195, -1.0706, 0.5327, -0.0105, 1.0454, 0.9043, -0.8291, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3926 left_y=-0.3914 left_z=0.094 left_yaw=0.153 left_pitch=-0.5981 left_roll=-0.0794 left_gripper=0.5327 right_x=0.278 right_y=-0.0004 right_z=0.1619 right_yaw=0.134 right_pitch=-0.4142 right_roll=-0.166 right_gripper=0.9986\nstate[joint_eff]: [1.6615, -14.1607, 8.3897, 0.7448, -0.2564, 0.0952, 0.6471, -0.1846, -2.6462, 6.5983, 1.3993, -0.0024, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 2.7815, 3.0467, -1.5604, -0.3199, -1.0618, 0.9954, -0.0105, 1.0454, 0.9043, -0.833, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.4043 left_y=-0.381 left_z=0.0985 left_yaw=0.1678 left_pitch=-0.5903 left_roll=-0.0893 left_gripper=0.9954 right_x=0.2773 right_y=-0.0004 right_z=0.1614 right_yaw=0.1342 right_pitch=-0.418 right_roll=-0.1654 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -14.3385, 7.1863, 0.7937, -0.2369, 0.1197, -0.149, -0.212, -2.6735, 6.653, 1.3504, -0.0757, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618e8b9a474338e68ecc46cf2b55f25fae895b216ee145e554f815f999d25051",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d3c3fc79b2fa61740ead4c807267eb3a264c061b9fcc9c2bef60045793e069",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c761ff464e583d1dc6b09814409ed02c7c3c5e7ba039b14a7132c2587c5e10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0cdee9c582865efc016ab41d91b84887d0be7728ed82ff4666",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19,\"right_x\":0.29,\"right_y\":0.19,\"right_z\":0.16},\"note\":\"The dark fruit is resting inside the blue bowl. I’ll withdraw the left arm and bring the open right gripper back above the two remaining fruits.\"}",
  "call_id": "call_KlrreLQ45P6OlJ7FCuqz8rnM",
  "id": "fc_0cdee9c582865efc016ab41d94be5087d082619a83a3af78f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KlrreLQ45P6OlJ7FCuqz8rnM",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "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]: [-0.0479, 1.2972, 1.2381, -1.0981, -0.0437, -0.3313, 0.9963, 0.7704, 1.4471, 1.1622, -0.8711, 0.3893, 0.3859, 0.9986]\nstate[eef_state]: left_x=0.296 left_y=-0.0029 left_z=0.186 left_yaw=0.2134 left_pitch=-0.594 left_roll=-0.0929 left_gripper=0.9963 right_x=0.2835 right_y=0.1867 right_z=0.1491 right_yaw=0.1593 right_pitch=-0.4572 right_roll=-0.1844 right_gripper=0.9986\nstate[joint_eff]: [0.3214, -5.8051, 6.2427, 1.0427, -0.0024, 0.2076, 0.0806, 0.1983, -5.6957, 8.8, 1.0037, 0.3932, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c065b9cc77c5ec2114503758a0433a0006a4886f4b2d3b664b381fa1c9d8360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e11467e2e2e78d0eff289c4b9212cd32bdc59a1bd1dd8f0985b7012163c82c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4666e28d2c95f5da13bd03f3de39c526866b217e8c180dce1fe3725fc68d7d9",
      "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 · 3.064 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.889, 2.7499, 3.0364, -1.5646, -0.3275, -1.0714, 0.5304, -0.0105, 1.0454, 0.9043, -0.8249, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3938 left_y=-0.3893 left_z=0.1125 left_yaw=0.1421 left_pitch=-0.5758 left_roll=-0.1071 left_gripper=0.5304 right_x=0.2789 right_y=-0.0004 right_z=0.1625 right_yaw=0.1337 right_pitch=-0.41 right_roll=-0.1666 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -15.4462, 7.8427, 0.7888, -0.3199, -0.1099, 0.5055, -0.1983, -2.6598, 6.7761, 1.3016, -0.0464, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 2.7815, 3.0467, -1.5604, -0.3199, -1.0618, 0.9954, -0.0105, 1.0454, 0.9043, -0.833, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.4043 left_y=-0.381 left_z=0.0985 left_yaw=0.1678 left_pitch=-0.5903 left_roll=-0.0893 left_gripper=0.9954 right_x=0.2773 right_y=-0.0004 right_z=0.1614 right_yaw=0.1342 right_pitch=-0.418 right_roll=-0.1654 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -14.3385, 7.1863, 0.7937, -0.2369, 0.1197, -0.149, -0.212, -2.6735, 6.653, 1.3504, -0.0757, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0479, 1.2972, 1.2381, -1.0981, -0.0437, -0.3313, 0.9963, 0.7704, 1.4471, 1.1622, -0.8711, 0.3893, 0.3859, 0.9986]\nstate[eef_state]: left_x=0.296 left_y=-0.0029 left_z=0.186 left_yaw=0.2134 left_pitch=-0.594 left_roll=-0.0929 left_gripper=0.9963 right_x=0.2835 right_y=0.1867 right_z=0.1491 right_yaw=0.1593 right_pitch=-0.4572 right_roll=-0.1844 right_gripper=0.9986\nstate[joint_eff]: [0.3214, -5.8051, 6.2427, 1.0427, -0.0024, 0.2076, 0.0806, 0.1983, -5.6957, 8.8, 1.0037, 0.3932, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c065b9cc77c5ec2114503758a0433a0006a4886f4b2d3b664b381fa1c9d8360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e11467e2e2e78d0eff289c4b9212cd32bdc59a1bd1dd8f0985b7012163c82c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4666e28d2c95f5da13bd03f3de39c526866b217e8c180dce1fe3725fc68d7d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB2bdVHuWxVGr0-eWngwxaOrF-wpwgWQYAy0uwXwrfw37dEgmsN-VibjWGxDONFbnS4WNyAa0K8F0DxyLVcUJoZwLYXLhRgwvLRlfJ745GKODMDhAcM52vR9aoYtcSQvnfuldk7CTmF9fvY_2Ha1FTEkDb2Kb7icVZBlaPPrmyueey5fcd7IhwtBTdryi2Pm4J7V1kz7iElmkUvJDvjq43h9gG00oqC1AJaVlj5UsnOgVQdXhPehyGCu3VfLBf0Fs06X2cLQM0sfbfgkn-OlNYT_S14RTUv3Hdf7jUjEztnQy4I-NWmvNZ3wVo8r2CQtgoyf9XYKwX1VJW2mPwHZpwflwrbB-fHx6o2QHXmufFfvmzC7kpXA5EXhvW2EM5kPScEoHrP__-ScdeJPCu8YmYBuTiLjzZn6c7aDU2dZDduha2lVu_Ssds4hiqokeVflnVdBeINF-HWF9ON0CrfaNWSmawwggtEFsH2XYUyUxyG9Z8khBFyJ95fHZ0uc2eqpD9Dua1ji_CFXcNQkuKTxPsc8u3OxRwqqnby0m0BeS0Ug39Eu8rf2cGw0OXypl3u1dk0Ouu_Ta9X7rB2ppufRH2RqBhUcsm20jVGsG8v-47kQKxtp4oFF-7yDtLoKVjv0hAomCSzxknLbcir3og8oEODxjZzLIaCHpbzSXZQ5gXpTZ0uKUMhbjgtjUvziCHJUwqR0LtLJHQf8g6do3RiMuvK0WCkZS8tQzsfUOu4ugXt4RZolj5rGluUxZD9hMeQ-fNH_uMWzFuUuryn9wZFEhmu82-9V4HMR6vM6-ZPNcXf2NfHJrX1O6iZ6wqck7ktwAa44dJefiQE4iS1fA6PkbOd6qSQCSlB0iuiGrV21xvhvdayAE64-m2zRQvJX3mDTPvuTNdR_B90mq86ixkQoBeBh1Mp6YZChhmoe5Yfy8U08xSGV3qWjj2kkmALifrur_TPFqjMp8iOCgwruiIxSYOrs0qvJ7V6moRhaTgDtcjNs6VOCs0GrEGDs0ZlXIFe4WMwk91khr6HBiimVEIwXa42AiMrtLnhBXhj2t0n1o1VKGkdd49KZ9a3sJDHRxN68zQU7DbmVWb1yGkOoX9KBDQgNeun10prXOh55tjUjFmYSA7DAP0u3GP452cRrSmXhDjccwCU-AX0RX61Kmu7UWJhgYpHtOgbO4fjedYaCmbBFRMLb-U07g4hiJccQ32Fj1BLcjIExnyAxNOWWL04TxLsk-R7_lHRvaMd4TTB6l5Nl8ElUzO6qvSWeXwQxQ2CAGntrAjQArs97u7RMWV3FLvVydE6k_VvnywZ9KKNvIxz757X6oWP0p2dtCqzWToCpJ1Lf5hLHUcdmWjuqljq1YpJiN6wlcHO0NBTPtZ8Tqf87F4mLL_D35u8GADmEdWdEB0ktWQZErcBPvONMKnaXT63BHwa-D1FTXt_r-ZpESFFc_kYTf8hG5gRYwyHQu5vbSX3MEX3y_yyJEFRvdG-Fq4h2IEt_rxljizmwybhbiRq0YU3jHZRhxRhZcHy5c7pNWKl-jcerpc0KaiEYS7fXBDWR-GE82xh6Zyp8kyPJ_uD-96U9ZuMNjHss2tw7mAaoBkl7002jxB-gptkBd8PkW0S9WdjMBZnwplNtgRs1Yiric-ZMzJn2rSWWtP9ucKyPwjVdDyDeVU2HvrrziflXi1ZlZw==",
  "id": "rs_0cdee9c582865efc016ab41d9a555487d0a0e10be8f7197adc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.312,\"right_y\":0.19,\"right_z\":0.09},\"note\":\"The right wrist view shows the yellow fruit centered below the jaws, with the green fruit farther ahead and to the right. I’ll advance slightly toward the yellow fruit while lowering, keeping clear of the bowl.\"}",
  "call_id": "call_krDrRgZLLP8Nv5dFPBpdIybh",
  "id": "fc_0cdee9c582865efc016ab41d9b3c6c87d0aeab6574e9294901",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_krDrRgZLLP8Nv5dFPBpdIybh",
  "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]: [-0.0444, 1.2919, 1.2381, -1.1114, -0.036, -0.3222, 0.9964, 0.7128, 1.5677, 1.0428, -0.6914, 0.3656, 0.3466, 0.9986]\nstate[eef_state]: left_x=0.2926 left_y=-0.003 left_z=0.1861 left_yaw=0.2046 left_pitch=-0.603 left_roll=-0.0943 left_gripper=0.9964 right_x=0.2983 right_y=0.1791 right_z=0.0848 right_yaw=0.1256 right_pitch=-0.5236 right_roll=-0.2245 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -3.7538, 6.2017, 1.1404, -0.1392, -0.1441, -0.0073, 0.0615, -7.8154, 6.8034, 1.2821, 0.1832, -0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5abd5968f05daf304060165aa91dee9fbf9293d2e1a83c84a679ebe7c9c4b030",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462dd302abce2c49934b8f629ecd2c11e57e6cc6137f23c5a6afdfa2b2c613ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c0ca615a131f824cc073e037da243946a6375b05d76be15f71ca5d7b95c93e",
      "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 · 2.071 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8906, 2.7808, 3.0287, -1.557, -0.3195, -1.0706, 0.5327, -0.0105, 1.0454, 0.9043, -0.8291, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.3926 left_y=-0.3914 left_z=0.094 left_yaw=0.153 left_pitch=-0.5981 left_roll=-0.0794 left_gripper=0.5327 right_x=0.278 right_y=-0.0004 right_z=0.1619 right_yaw=0.134 right_pitch=-0.4142 right_roll=-0.166 right_gripper=0.9986\nstate[joint_eff]: [1.6615, -14.1607, 8.3897, 0.7448, -0.2564, 0.0952, 0.6471, -0.1846, -2.6462, 6.5983, 1.3993, -0.0024, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0479, 1.2972, 1.2381, -1.0981, -0.0437, -0.3313, 0.9963, 0.7704, 1.4471, 1.1622, -0.8711, 0.3893, 0.3859, 0.9986]\nstate[eef_state]: left_x=0.296 left_y=-0.0029 left_z=0.186 left_yaw=0.2134 left_pitch=-0.594 left_roll=-0.0929 left_gripper=0.9963 right_x=0.2835 right_y=0.1867 right_z=0.1491 right_yaw=0.1593 right_pitch=-0.4572 right_roll=-0.1844 right_gripper=0.9986\nstate[joint_eff]: [0.3214, -5.8051, 6.2427, 1.0427, -0.0024, 0.2076, 0.0806, 0.1983, -5.6957, 8.8, 1.0037, 0.3932, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 1.2919, 1.2381, -1.1114, -0.036, -0.3222, 0.9964, 0.7128, 1.5677, 1.0428, -0.6914, 0.3656, 0.3466, 0.9986]\nstate[eef_state]: left_x=0.2926 left_y=-0.003 left_z=0.1861 left_yaw=0.2046 left_pitch=-0.603 left_roll=-0.0943 left_gripper=0.9964 right_x=0.2983 right_y=0.1791 right_z=0.0848 right_yaw=0.1256 right_pitch=-0.5236 right_roll=-0.2245 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -3.7538, 6.2017, 1.1404, -0.1392, -0.1441, -0.0073, 0.0615, -7.8154, 6.8034, 1.2821, 0.1832, -0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5abd5968f05daf304060165aa91dee9fbf9293d2e1a83c84a679ebe7c9c4b030",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462dd302abce2c49934b8f629ecd2c11e57e6cc6137f23c5a6afdfa2b2c613ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c0ca615a131f824cc073e037da243946a6375b05d76be15f71ca5d7b95c93e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB2fUOFolV-d3TVxLI3pcdcEFFW0FfcCtw_RccmEiAXxsaop8OaIbYxbsW3CvYAaOUoIFCbZ_rd92BuzzzSMbqrwUvzUEUfYd7AgSa0XuKEDLn_R9Q5t-Ezdy6RSVemViBUOsG6Vs2TsptRdv-V4f_CflTzpLmVJn0vxdpQrO87RxqnNvcNInsMWXgWYeSk6GJE_kUrfFUG_iV8B0khL_hR3DINze0NZTcAvIm7cHOx6QvSGFrtKUJXltfQV9oBFacAyzap8-xEAvV8eMjci2IjYhD9cSFkscJy3tArdQ6iDEq11LXo0AGeoCb1d9EfsMOcr6FAM7kclEg03z2sWWbu4OOf_ugQt7LoYLlckzrowLkwp4o1yA_eYiNBEXGqPI4ZFo8UBwKi8l8dVity1BtuETpdLYhj7Zxt5NqyfAR2zCcWijP0IxuG0d4rWnPbS3E_V8oQG4KecDp8KtS9FpfXSXmvZyMDrV51727hBD51ULE26eyl5Q1KbTlgTYHDmW1YEywFgbkMqVwg2dl7max2vSvGtxAh59NSmLd_AVm14tZTyCn39IjAjDZzJhpMU04I3UsnjQ5ZGUC79hithJwJ1lUdUfFySMM1yxj4KpTmiaqhQi8EG0LnTROUxAfg4O1n7dbT1VzDjZsuwl0iytcHEt4mSp0sTP_9MaOGT1-2qhpc7lDPdODe7Bss-4U9tljQ5RZuuzp1VzpbDyYiv6NfgyhCbyCs7-Q-lvBjwVw1_TvbtU63txBD_YZtKjNPNy5HP1dfggVyOIlMCIQH90lDX-ue1IxpuJ4WJLOnazWFREWSLLMOj9gL9ASPWtsK1yBkEaliLOnWt-Sb0BBq4Ah_v2zyge40NDbhsqL97kZKud7F0fM_OhMoXOau9HRJ9_grgWja0L7PeCPUUiovd1Nkn8aXjTp2Xvtw5V9yNpffVq5PpT-n0P4AgBC1Wx0oX9vxtidaoLEbuHYGn43VlNlU_HG16UyxcOgqddEv1XJw9HyoGTIBdeY1g2uEvTSeF48hMLM9WyVYRaj_bVUiImha6dK8wOPcDIS0qv_JKOFnJEYCE53XEcH9Lr1dz1pD-nOCGeZx5kAYvohU7gfHTDhzT6FAXocGiONw1aZlh9JITachBHM0yNwxhT4x0kfrsdgmPh_WlC8ujUI1FgKEIwQzooM9-Opv4QYiTpr9bY8mTt9SKCmLCozHcKICb6InMLVbdu-L7cbJ7CS6YK56bDEjPzY7y7hQnjrn_f_KsniZKcwRweH4_l-YNaCRyB7Mouag9CIlXp2gfORG3xcEoqwXODrdM8s8bitsc0Ik2n56kCnsqpAd8HDNJCU1psTDwfPemWBJyGe-UWCiO64g1xsywh-1Y3P4S0JZIC6nxdu3xsoEeJ0lK0fGoJchBgUpajZaKLp_EziJecgwEqX10ZBFDPlSKQ466nluFf1MKT7eoYhxmVbdCw2dg0SWNvyh3Hro2M78B6o92w2aDuzBL3sd7VzgYd8ZhLXUuNaSiKu4-bfiursAJwizjMjkf_sw-1JfsfjBzP3G-gDAbQYLKUO7FVijcjcaHIdov3lkInhG0PHUY6-_MXlbNAtLUIPhaDCItmvAHiFj8CTWbmwIgcVxwwRoCru669ioT0elrzijqeS-6kaM3Q4qEk7gxcXIvMfcTZnvT_uHuDjN17FHv5pSDFA==",
  "id": "rs_0cdee9c582865efc016ab41d9d8b8887d087d26a17dacc31d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.18,\"right_z\":0.018},\"note\":\"The yellow fruit is now centered near the right fingertips, with the blue bowl well ahead. I’ll lower nearly to table height and re-check its position before closing.\"}",
  "call_id": "call_IPfPDQBRDeYpmd4X4Aa9zY6R",
  "id": "fc_0cdee9c582865efc016ab41d9ea4f887d0826f36e159002973",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IPfPDQBRDeYpmd4X4Aa9zY6R",
  "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]: [-0.0444, 1.2919, 1.2381, -1.1156, -0.0357, -0.3294, 0.9964, 0.7113, 1.6829, 0.8852, -0.4744, 0.3614, 0.3325, 0.9986]\nstate[eef_state]: left_x=0.2916 left_y=-0.0031 left_z=0.1857 left_yaw=0.2097 left_pitch=-0.6076 left_roll=-0.0969 left_gripper=0.9964 right_x=0.2905 right_y=0.1726 right_z=0.0162 right_yaw=0.1171 right_pitch=-0.5738 right_roll=-0.2644 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -4.5607, 5.9966, 1.0818, -0.0513, 0.0562, -0.0122, -0.0342, -7.6103, 6.188, 1.1209, 0.1636, 0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e802aa389e3a2b1dbff745220f0448e89683e14221fd369ba6a3b6cc1c25576d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:055f9cd0b3b6093253e79c96269d533c88dbe0c9d734b186466495f7e03623d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f7b6c46bd53e8bb50a8369a3f3fc625218fad76fa77f89dd0d3155582795e1",
      "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 · 12.91 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8623, 2.7815, 3.0467, -1.5604, -0.3199, -1.0618, 0.9954, -0.0105, 1.0454, 0.9043, -0.833, 0.0059, -0.2737, 0.9986]\nstate[eef_state]: left_x=0.4043 left_y=-0.381 left_z=0.0985 left_yaw=0.1678 left_pitch=-0.5903 left_roll=-0.0893 left_gripper=0.9954 right_x=0.2773 right_y=-0.0004 right_z=0.1614 right_yaw=0.1342 right_pitch=-0.418 right_roll=-0.1654 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -14.3385, 7.1863, 0.7937, -0.2369, 0.1197, -0.149, -0.212, -2.6735, 6.653, 1.3504, -0.0757, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 1.2919, 1.2381, -1.1114, -0.036, -0.3222, 0.9964, 0.7128, 1.5677, 1.0428, -0.6914, 0.3656, 0.3466, 0.9986]\nstate[eef_state]: left_x=0.2926 left_y=-0.003 left_z=0.1861 left_yaw=0.2046 left_pitch=-0.603 left_roll=-0.0943 left_gripper=0.9964 right_x=0.2983 right_y=0.1791 right_z=0.0848 right_yaw=0.1256 right_pitch=-0.5236 right_roll=-0.2245 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -3.7538, 6.2017, 1.1404, -0.1392, -0.1441, -0.0073, 0.0615, -7.8154, 6.8034, 1.2821, 0.1832, -0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 1.2919, 1.2381, -1.1156, -0.0357, -0.3294, 0.9964, 0.7113, 1.6829, 0.8852, -0.4744, 0.3614, 0.3325, 0.9986]\nstate[eef_state]: left_x=0.2916 left_y=-0.0031 left_z=0.1857 left_yaw=0.2097 left_pitch=-0.6076 left_roll=-0.0969 left_gripper=0.9964 right_x=0.2905 right_y=0.1726 right_z=0.0162 right_yaw=0.1171 right_pitch=-0.5738 right_roll=-0.2644 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -4.5607, 5.9966, 1.0818, -0.0513, 0.0562, -0.0122, -0.0342, -7.6103, 6.188, 1.1209, 0.1636, 0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e802aa389e3a2b1dbff745220f0448e89683e14221fd369ba6a3b6cc1c25576d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:055f9cd0b3b6093253e79c96269d533c88dbe0c9d734b186466495f7e03623d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f7b6c46bd53e8bb50a8369a3f3fc625218fad76fa77f89dd0d3155582795e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB2htfB5q9SARlhVKn7Hha2BZi0zrXM7w4HzfB4cs6QwUQM0IKLmkvGDEhcX2-zgDuxwTeSenQ-Q5RtAaGsIh_GKYeYd8RgdNxO8b0VHinFZzmFLjBHIDFP5Ik0c-R-OJRyFhcSGza4Pc56RIa3LmftyzkTb66jt_keYDfrb_4LOZb1r6cFxzABT8IDRCqu3tGoJ0FqyOsOBeRM2Cvkr0tR-dTSsnmYanvTwuoKFqnvg-hPYx4KsbgmI_UVMDwAyYWsHIB23MPYxWrQJa1f862aETgThk2FSH6yHHQr9tdy18f-fRJCXGqhHfwytnmHfh1jKSSYZLQ5NT_PRNF7qcSFxox5vmoUVyw80W-j3ss3RFXD3OF64CZxLngnRBpkC7hINxwno5FLPA5_zCmJEQ1nhJZ_a15ETMMaqEA3Qp9UaUzZpD0Zo8h8S4Uv87GZLbFIt4ZvkksKlZUYSZ3u8FaySb093i-fUfPHs0gkI5jASLwLkgN3KUOix4ilDbYtPBV1AkgdQxUAIG-MEb-oiCCpiHivpSPdm_jnQ4kTLXEbYL2trGPGVrlP7WukNBFeFytyxAfjKXw9W_i-vxLFXybwtodaG6c9CjmowR_I17KnZW9BTL77LHyWt3mRcROQFUvtu3ug3yX8chgUTvQU46-nyNw9fEWJEYBgfk1KvCNsZugeyxZJbm4D-0UFnADxZ6B52Z0DiNZmc1wKs5YzVJb0zyE297xSUZvcZFLItE_gAcqdAFKn4Ldwj_rlStDMdNSvfQnWPOFQwUZG8w2OzjbcADj3Mb5W2Q6obJzx4pB5nC-KAzEoJbntenE4V_sFvd9Do33_8Sts19AdwTIxykZ8y1brAys-HEfgBVdSF_0Mh0UHL_b2tYbuY_mhjXdcN-t84q8UP1Q7NHJAApyuOlzxNeSdvub_jcZSR2m810srcUpHzyeJzho21N25LJqazYhKee8tWczCN1YBBsUB4-syd7OP6-jJfn8xYGA41whV7lpMB2sX3e-9QvZpMJcsCZCcXXjb3r49d0k8A8hR8RtJv48RP9c-AJAKy3miw5ornfHniA0Q8LB_CiclDbtQ-KMtBrhJoHEm8KGJo_06kMsXkQ5RsRCccJvHiIBeB_ToZRuWtCH4aIsovOyuIRTvS0G7nD0FyWEJjVjkT8PkdKc7AlJ6GHSs1yQXJaFK3YUOCSLIw_iVkvWo08kvdvMiPz7YGLkZNI-wk98JLx0VL5lsabsjbJcHCDOSnm0UhPN00LpFBCjLHdA9W-g3xdenS_vls3D-kzMF8DX4nRvhD5wh7uTezjeH8FfuiTVfPAO_8XMQ=",
  "id": "rs_0cdee9c582865efc016ab41da0e4d887d081765eb81ab75b75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At grasp height, the yellow fruit remains centered between the right jaws, while the green fruit is off to the side. I’ll close on the yellow fruit and check the opening before lifting.\"}",
  "call_id": "call_YGICkj7JtTKgarxvaOKsSaqC",
  "id": "fc_0cdee9c582865efc016ab41da12be887d09cbfdf71a0f5e504",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YGICkj7JtTKgarxvaOKsSaqC",
  "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]: [-0.0444, 1.2919, 1.2354, -1.1152, -0.036, -0.3298, 0.9964, 0.7113, 1.6955, 0.8738, -0.4187, 0.3618, 0.3328, 0.0113]\nstate[eef_state]: left_x=0.2912 left_y=-0.003 left_z=0.1848 left_yaw=0.2107 left_pitch=-0.6098 left_roll=-0.0959 left_gripper=0.9964 right_x=0.2959 right_y=0.1772 right_z=0.013 right_yaw=0.1276 right_pitch=-0.5473 right_roll=-0.2438 right_gripper=0.0113\nstate[joint_eff]: [-0.3487, -4.9299, 5.8462, 1.0427, -0.0806, -0.0269, -0.0122, -0.1709, -7.9385, 5.7504, 0.9939, 0.2076, 0.1294, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f1bab8637cddd73859b856983b5320815cec957c53dc7a5a1ce2a012625476",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49bb9ddacd68f306751352ca61c9540fb40318ce038726dcd9133017bf60e514",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb9d4ae487f36447db6fbd74e268541da608ac2a602847c711b8947165afe83",
      "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 · 10.08 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0479, 1.2972, 1.2381, -1.0981, -0.0437, -0.3313, 0.9963, 0.7704, 1.4471, 1.1622, -0.8711, 0.3893, 0.3859, 0.9986]\nstate[eef_state]: left_x=0.296 left_y=-0.0029 left_z=0.186 left_yaw=0.2134 left_pitch=-0.594 left_roll=-0.0929 left_gripper=0.9963 right_x=0.2835 right_y=0.1867 right_z=0.1491 right_yaw=0.1593 right_pitch=-0.4572 right_roll=-0.1844 right_gripper=0.9986\nstate[joint_eff]: [0.3214, -5.8051, 6.2427, 1.0427, -0.0024, 0.2076, 0.0806, 0.1983, -5.6957, 8.8, 1.0037, 0.3932, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 1.2919, 1.2381, -1.1156, -0.0357, -0.3294, 0.9964, 0.7113, 1.6829, 0.8852, -0.4744, 0.3614, 0.3325, 0.9986]\nstate[eef_state]: left_x=0.2916 left_y=-0.0031 left_z=0.1857 left_yaw=0.2097 left_pitch=-0.6076 left_roll=-0.0969 left_gripper=0.9964 right_x=0.2905 right_y=0.1726 right_z=0.0162 right_yaw=0.1171 right_pitch=-0.5738 right_roll=-0.2644 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -4.5607, 5.9966, 1.0818, -0.0513, 0.0562, -0.0122, -0.0342, -7.6103, 6.188, 1.1209, 0.1636, 0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 1.2919, 1.2354, -1.1152, -0.036, -0.3298, 0.9964, 0.7113, 1.6955, 0.8738, -0.4187, 0.3618, 0.3328, 0.0113]\nstate[eef_state]: left_x=0.2912 left_y=-0.003 left_z=0.1848 left_yaw=0.2107 left_pitch=-0.6098 left_roll=-0.0959 left_gripper=0.9964 right_x=0.2959 right_y=0.1772 right_z=0.013 right_yaw=0.1276 right_pitch=-0.5473 right_roll=-0.2438 right_gripper=0.0113\nstate[joint_eff]: [-0.3487, -4.9299, 5.8462, 1.0427, -0.0806, -0.0269, -0.0122, -0.1709, -7.9385, 5.7504, 0.9939, 0.2076, 0.1294, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f1bab8637cddd73859b856983b5320815cec957c53dc7a5a1ce2a012625476",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49bb9ddacd68f306751352ca61c9540fb40318ce038726dcd9133017bf60e514",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb9d4ae487f36447db6fbd74e268541da608ac2a602847c711b8947165afe83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0cdee9c582865efc016ab41dade72887d0836c3ad16f525dde",
  "summary": [],
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}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.19,\"right_gripper\":1,\"left_x\":0.39,\"left_y\":-0.39,\"left_z\":0.12,\"left_gripper\":0.92},\"note\":\"The right gripper closed empty and knocked the yellow fruit aside. With the dark fruit already in the blue bowl, I’ll clear the right arm and position the left gripper to try transferring the bowl toward the white one.\"}",
  "call_id": "call_32tWLCJDOU2igKMDmteoDwWD",
  "id": "fc_0cdee9c582865efc016ab41dae98b887d08b167b8529211c09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_32tWLCJDOU2igKMDmteoDwWD",
  "output": [
    {
      "text": "executing move_to over 35 steps (3.5s)",
      "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]: [-0.8848, 2.6934, 2.8529, -1.4895, -0.3065, -1.1378, 0.9214, 0.0536, 1.2339, 1.137, -1.037, 0.104, -0.2783, 0.9982]\nstate[eef_state]: left_x=0.3905 left_y=-0.3873 left_z=0.0931 left_yaw=0.208 left_pitch=-0.6231 left_roll=-0.0958 left_gripper=0.9214 right_x=0.2867 right_y=0.0006 right_z=0.1746 right_yaw=0.1147 right_pitch=-0.5862 right_roll=-0.2459 right_gripper=0.9982\nstate[joint_eff]: [-0.8547, -17.6205, 8.8, 0.2369, -0.4664, -0.0464, 0.1245, -0.4718, -5.0393, 8.8274, 1.1697, -0.022, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a090d9e42f59a3c606641dbec005144035f3916576ea36443c0ba641bae91f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b368d96e72966b352eb787d7baa02f98811eb5b804e7ae82e07fa7cbfb37ed2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621b6940817857cd7ab324193e21e72c9cb71685d756496714a3b69286137a42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]