adhoc - adhoc_1ec30102.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: 227.1 s
total steps: 389

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 overhead view shows three fruits: a dark one near the white bowl, a yellow one beside the blue bowl, and a green one on the right. I’ll bring the right gripper over the green fruit first, keeping it above the table.

move_to

right_x0.3500right_y0.1000right_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]: [-0.0185, 0.8005, 0.6151, -0.3801, -0.0143, -0.0299, 0.9973, -0.0223, 0.8005, 0.6197, -0.387, -0.0174, -0.0124, 0.9994] state[eef_state]: left_x=0.2965 left_y=0.0006 left_z=0.1833 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9973 right_x=0.2962 right_y=0.0 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6085, -1.347, 10.0171, 1.7656, -0.1441, 0.1099, -0.2857, -0.3897, -1.4291, 9.0735, 1.9023, -0.0806, -0.0464, -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":0.35,"right_y":0.10,"right_z":0.15},"note":"The overhead view shows three fruits: a dark one near the white bowl, a yellow one beside the blue bowl, and a green one on the right. I’ll bring the right gripper over the green fruit first, keeping it above the table."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe green fruit is at the lower right of the right wrist image, while the jaws are centered. I’ll shift the right gripper toward it sideways before descending.

move_to

right_y0.0400right_x0.3500right_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]: [-0.02, 0.8021, 0.6147, -0.3862, -0.0139, -0.0311, 0.997, 0.448, 1.2137, 0.6453, -0.1104, 0.3481, 0.2287, 0.9994] state[eef_state]: left_x=0.2958 left_y=0.0001 left_z=0.1814 left_yaw=-0.0012 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.997 right_x=0.3403 right_y=0.1007 right_z=0.1299 right_yaw=0.0343 right_pitch=-0.064 right_roll=-0.031 right_gripper=0.9994 state[joint_eff]: [-0.0615, -1.2239, 7.2, 1.8242, -0.0562, -0.0659, -0.0415, -0.1846, -4.7385, 8.8, 1.9023, 0.3736, 0.1832, -0.0171] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.04,"right_x":0.35,"right_z":0.15},"note":"The green fruit is at the lower right of the right wrist image, while the jaws are centered. I’ll shift the right gripper toward it sideways before descending."})

tool

executing move_to over 6 steps (0.6s)

step 15

assistant

agent noteThe green fruit is now nearly centered in the right wrist view, but it sits at the bottom edge and the gripper is still high. I’ll move slightly toward the base and lower to just above the fruit for a careful final alignment.

move_to

right_x0.3250right_y0.0150right_z0.0550

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8021, 0.6147, -0.3901, -0.0139, -0.0311, 0.9969, 0.178, 1.1549, 0.6441, -0.1768, 0.1535, 0.0723, 0.9994] state[eef_state]: left_x=0.2953 left_y=0.0001 left_z=0.1806 left_yaw=-0.0012 left_pitch=-0.0118 left_roll=-0.0009 left_gripper=0.9969 right_x=0.3443 right_y=0.0381 right_z=0.1309 right_yaw=0.0098 right_pitch=-0.1109 right_roll=-0.04 right_gripper=0.9994 state[joint_eff]: [-0.1026, -1.3197, 7.0085, 1.7411, -0.0513, -0.0464, -0.022, -0.1709, -5.2991, 9.1009, 1.873, -0.022, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.325,"right_y":0.015,"right_z":0.055},"note":"The green fruit is now nearly centered in the right wrist view, but it sits at the bottom edge and the gripper is still high. I’ll move slightly toward the base and lower to just above the fruit for a careful final alignment."})

tool

executing move_to over 5 steps (0.5s)

step 20

assistant

agent noteThe green fruit now lines up with the jaw column in the right wrist image. I’ll lower the jaws to the fruit’s lower half and close to test the grasp.

move_to

right_z0.0150right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8021, 0.6147, -0.4011, -0.0139, -0.0311, 0.9969, 0.0746, 1.2324, 0.3466, 0.1696, 0.0731, 0.0139, 0.9994] state[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1783 left_yaw=-0.0012 left_pitch=-0.0229 left_roll=-0.0007 left_gripper=0.9969 right_x=0.3195 right_y=0.0145 right_z=0.0477 right_yaw=0.0058 right_pitch=-0.1467 right_roll=-0.0366 right_gripper=0.9994 state[joint_eff]: [-0.0615, -1.265, 7.2, 1.8584, -0.0464, -0.0611, -0.0122, -0.0068, -3.5214, 5.9966, 1.9609, -0.0122, -0.1294, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_z":0.015,"right_gripper":0.0},"note":"The green fruit now lines up with the jaw column in the right wrist image. I’ll lower the jaws to the fruit’s lower half and close to test the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 30

assistant

agent noteThe right gripper stopped at about a 3.3 cm opening around the green fruit, which suggests a grasp. I’ll lift it and check that the fruit comes off the table before moving to the blue bowl.

move_to

right_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8021, 0.6147, -0.408, -0.0135, -0.0311, 0.9969, 0.0765, 1.2304, 0.3481, 0.202, 0.0734, -0.001, 0.3426] state[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1769 left_yaw=-0.0015 left_pitch=-0.0298 left_roll=-0.0008 left_gripper=0.9969 right_x=0.3252 right_y=0.0155 right_z=0.055 right_yaw=0.0157 right_pitch=-0.1113 right_roll=-0.046 right_gripper=0.3426 state[joint_eff]: [-0.1846, -1.0872, 6.9949, 1.7851, -0.0464, -0.0269, -0.0073, -0.1983, -3.453, 5.9966, 1.619, -0.0073, 0.0708, 1.0281] approver: 1 step(s) modified (delta_clamped). 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_z":0.18},"note":"The right gripper stopped at about a 3.3 cm opening around the green fruit, which suggests a grasp. I’ll lift it and check that the fruit comes off the table before moving to the blue bowl."})

tool

executing move_to over 9 steps (0.9s)

step 39

assistant

agent noteThe green fruit is no longer on the tabletop and remains in the right gripper. I’ll carry it high over the center of the blue bowl.

move_to

right_x0.4200right_y0.1500right_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]: [-0.02, 0.8021, 0.6147, -0.4171, -0.0139, -0.0315, 0.9969, 0.0765, 1.0336, 0.741, -0.4397, 0.0727, -0.009, 0.3432] state[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.175 left_yaw=-0.001 left_pitch=-0.0389 left_roll=-0.0008 left_gripper=0.9969 right_x=0.3198 right_y=0.0152 right_z=0.1611 right_yaw=0.0203 right_pitch=-0.1633 right_roll=-0.0547 right_gripper=0.3432 state[joint_eff]: [-0.1026, -1.306, 6.9949, 1.7802, -0.0317, -0.0513, -0.0122, -0.3624, -4.0137, 9.7709, 1.8144, -0.0122, 0.0171, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.15,"right_z":0.19},"note":"The green fruit is no longer on the tabletop and remains in the right gripper. I’ll carry it high over the center of the blue bowl."})

tool

executing move_to over 12 steps (1.2s)

step 51

assistant

agent noteThe green fruit is positioned over the blue bowl in the overhead view. I’ll lower it into the bowl and open the jaws to release it.

move_to

right_z0.1050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8055, 0.6147, -0.424, -0.0139, -0.0334, 0.9969, 0.4751, 1.5993, 1.2491, -0.5076, 0.3408, 0.2462, 0.3453] state[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1727 left_yaw=0.0 left_pitch=-0.0492 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4105 right_y=0.1488 right_z=0.1694 right_yaw=0.0469 right_pitch=-0.2288 right_roll=-0.0868 right_gripper=0.3453 state[joint_eff]: [-0.0479, -1.0325, 7.0906, 1.79, -0.0659, -0.0513, -0.0073, 0.1162, -8.1299, 9.6889, 1.6679, 0.3297, 0.188, 0.8083] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.105,"right_gripper":1.0},"note":"The green fruit is positioned over the blue bowl in the overhead view. I’ll lower it into the bowl and open the jaws to release it."})

tool

executing move_to over 7 steps (0.7s)

step 58

assistant

agent noteAfter opening, the green fruit appears beside the blue bowl rather than clearly inside it, so I’ll revisit it after clearing the view. For now I’ll move the right gripper over the yellow fruit near the bowl.

move_to

right_x0.3350right_y0.2500right_z0.1400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8059, 0.6147, -0.4244, -0.0139, -0.0334, 0.9969, 0.4759, 1.6588, 1.05, -0.2771, 0.3367, 0.2363, 0.9987] state[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1725 left_yaw=0.0 left_pitch=-0.05 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4058 right_y=0.1476 right_z=0.1008 right_yaw=0.0537 right_pitch=-0.2564 right_roll=-0.1028 right_gripper=0.9987 state[joint_eff]: [-0.1846, -1.3607, 7.1043, 1.6777, -0.0806, -0.0415, -0.0122, -0.3624, -7.9795, 6.3111, 1.6679, 0.1685, 0.0415, -0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.25,"right_z":0.14},"note":"After opening, the green fruit appears beside the blue bowl rather than clearly inside it, so I’ll revisit it after clearing the view. For now I’ll move the right gripper over the yellow fruit near the bowl."})

tool

executing move_to over 9 steps (0.9s)

step 67

assistant

agent noteWith the arm moved aside, the wrist view shows the green pear standing beside—not in—the blue bowl, with the yellow fruit closer to the camera. I’ll lower the jaws around the pear at its current position.

move_to

right_x0.3600right_y0.2500right_z0.0600

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4271, -0.0139, -0.0334, 0.9969, 0.8577, 1.6703, 1.2381, -0.6064, 0.5308, 0.5549, 0.9986] state[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1715 left_yaw=0.0 left_pitch=-0.0546 left_roll=-0.002 left_gripper=0.9969 right_x=0.331 right_y=0.2514 right_z=0.135 right_yaw=0.0873 right_pitch=-0.2746 right_roll=-0.1063 right_gripper=0.9986 state[joint_eff]: [-0.0889, -1.4017, 6.9812, 1.7118, -0.0562, -0.0269, -0.0122, -0.2256, -7.4462, 8.4444, 1.1306, 0.4811, 0.1392, -0.0171] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.25,"right_z":0.06},"note":"With the arm moved aside, the wrist view shows the green pear standing beside—not in—the blue bowl, with the yellow fruit closer to the camera. I’ll lower the jaws around the pear at its current position."})

tool

executing move_to over 5 steps (0.5s)

step 72

assistant

agent noteThe pear fills the center of the right wrist view and sits between the open jaws. I’ll close at this lower height to grasp its body.

move_to

right_gripper0.0000right_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4278, -0.0139, -0.0338, 0.9969, 0.7944, 1.829, 1.1088, -0.3134, 0.4927, 0.4953, 0.9986] state[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1713 left_yaw=0.0002 left_pitch=-0.0553 left_roll=-0.0023 left_gripper=0.9969 right_x=0.356 right_y=0.2483 right_z=0.057 right_yaw=0.0846 right_pitch=-0.2967 right_roll=-0.1184 right_gripper=0.9986 state[joint_eff]: [-0.1709, -1.3333, 6.9812, 1.6728, -0.0415, -0.0757, -0.0122, -0.2803, -8.841, 5.9556, 1.3993, 0.2173, -0.0904, -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_gripper":0.0,"right_z":0.035},"note":"The pear fills the center of the right wrist view and sits between the open jaws. I’ll close at this lower height to grasp its body."})

tool

executing move_to over 10 steps (1.0s)

step 82

assistant

agent noteThe jaws settled at a fruit-sized opening, but the pear is still visible beyond them in the wrist view. I’ll lift to see whether the gripper actually picked up the smaller fruit nearer the fingertips.

move_to

right_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]: [-0.02, 0.8108, 0.6147, -0.4313, -0.0139, -0.0338, 0.9969, 0.7963, 1.832, 1.0866, -0.2367, 0.5121, 0.485, 0.3642] state[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1698 left_yaw=0.0002 left_pitch=-0.0618 left_roll=-0.0022 left_gripper=0.9969 right_x=0.3624 right_y=0.2517 right_z=0.0587 right_yaw=0.0877 right_pitch=-0.2475 right_roll=-0.1037 right_gripper=0.3642 state[joint_eff]: [-0.212, -1.1556, 6.9949, 1.7411, -0.0317, -0.0806, -0.0122, -0.0479, -5.4906, 4.2872, 1.3114, 0.0366, 0.0708, 1.033] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.19},"note":"The jaws settled at a fruit-sized opening, but the pear is still visible beyond them in the wrist view. I’ll lift to see whether the gripper actually picked up the smaller fruit nearer the fingertips."})

tool

executing move_to over 9 steps (0.9s)

step 91

assistant

agent noteThe pear stays on the table as the arm rises, so that close did not lift it despite the nonzero jaw opening. I’ll reopen and advance a few centimeters toward the visible pear before trying again.

move_to

right_gripper1.0000right_x0.3950right_y0.2500right_z0.0750

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6147, -0.4313, -0.0139, -0.0338, 0.9969, 0.7963, 1.7515, 1.4322, -0.7109, 0.495, 0.4812, 0.3663] state[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1694 left_yaw=0.0002 left_pitch=-0.0633 left_roll=-0.0021 left_gripper=0.9969 right_x=0.3616 right_y=0.2547 right_z=0.1585 right_yaw=0.0935 right_pitch=-0.2938 right_roll=-0.1272 right_gripper=0.3663 state[joint_eff]: [-0.1709, -1.306, 6.9812, 1.6825, -0.0757, -0.0611, -0.0122, -0.2803, -12.0957, 8.841, 1.3944, 0.3199, 0.0269, 0.5836] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0,"right_x":0.395,"right_y":0.25,"right_z":0.075},"note":"The pear stays on the table as the arm rises, so that close did not lift it despite the nonzero jaw opening. I’ll reopen and advance a few centimeters toward the visible pear before trying again."})

tool

executing move_to over 7 steps (0.7s)

step 98

assistant

agent noteAdvancing made the pear disappear beneath the right wrist camera, where the fingertips can reach it; the small yellow fruit remains visible behind it in the overhead view. I’ll close at the pear’s lower half.

move_to

right_z0.0300right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8135, 0.6147, -0.432, -0.0135, -0.0338, 0.9969, 0.7326, 1.8771, 1.2793, -0.4477, 0.4553, 0.4152, 0.9958] state[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1689 left_yaw=-0.0001 left_pitch=-0.0652 left_roll=-0.0023 left_gripper=0.9969 right_x=0.3845 right_y=0.2463 right_z=0.0777 right_yaw=0.0924 right_pitch=-0.332 right_roll=-0.1533 right_gripper=0.9958 state[joint_eff]: [-0.1983, -1.4154, 7.1726, 1.6728, -0.0513, -0.022, -0.0122, -0.9368, -8.8684, 5.9556, 1.3553, 0.1929, 0.0269, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.03,"right_gripper":0.0},"note":"Advancing made the pear disappear beneath the right wrist camera, where the fingertips can reach it; the small yellow fruit remains visible behind it in the overhead view. I’ll close at the pear’s lower half."})

tool

executing move_to over 10 steps (1.0s)

step 108

assistant

agent noteThe jaws closed almost completely, confirming that this pear attempt missed. I’ll switch to the clearly exposed yellow fruit just behind the gripper, then return to the pear with a better overhead view.

move_to

right_gripper1.0000right_x0.3300right_y0.2500right_z0.0450

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8135, 0.6147, -0.4347, -0.0135, -0.0338, 0.9969, 0.73, 1.9171, 1.2018, -0.284, 0.4572, 0.403, 0.0127] state[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1684 left_yaw=-0.0001 left_pitch=-0.0679 left_roll=-0.0023 left_gripper=0.9969 right_x=0.3906 right_y=0.2497 right_z=0.0528 right_yaw=0.104 right_pitch=-0.2948 right_roll=-0.1342 right_gripper=0.0127 state[joint_eff]: [-0.1162, -1.1966, 7.1726, 1.6728, -0.0464, -0.0513, -0.0073, 0.0068, -6.8308, 4.3692, 1.1795, 0.1538, 0.1001, 0.9255] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0,"right_x":0.33,"right_y":0.25,"right_z":0.045},"note":"The jaws closed almost completely, confirming that this pear attempt missed. I’ll switch to the clearly exposed yellow fruit just behind the gripper, then return to the pear with a better overhead view."})

tool

executing move_to over 10 steps (1.0s)

step 118

assistant

agent noteThe yellow fruit is directly beneath the jaw column at the bottom of the right wrist image. I’ll close here and use the settled opening and a lift to check the grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8135, 0.6147, -0.4423, -0.0139, -0.0338, 0.9969, 0.8459, 1.8297, 1.0264, -0.2661, 0.5011, 0.4976, 0.9955] state[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1669 left_yaw=0.0003 left_pitch=-0.0755 left_roll=-0.0019 left_gripper=0.9969 right_x=0.332 right_y=0.2523 right_z=0.0353 right_yaw=0.1214 right_pitch=-0.3188 right_roll=-0.1473 right_gripper=0.9955 state[joint_eff]: [-0.0752, -1.3197, 6.9538, 1.7509, -0.0366, -0.0757, -0.0122, 0.3077, -11.2205, 5.4222, 1.116, 0.4029, 0.1734, -0.0952] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The yellow fruit is directly beneath the jaw column at the bottom of the right wrist image. I’ll close here and use the settled opening and a lift to check the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 128

assistant

agent noteThe gripper settled around a 3.1 cm object and the yellow fruit is between the jaw tips. I’ll lift vertically to verify that it leaves the table.

move_to

right_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]: [-0.02, 0.8154, 0.6147, -0.4488, -0.0139, -0.0338, 0.9969, 0.8471, 1.8183, 1.034, -0.2283, 0.5045, 0.4934, 0.3297] state[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1651 left_yaw=0.0003 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9969 right_x=0.3391 right_y=0.2602 right_z=0.0469 right_yaw=0.134 right_pitch=-0.2744 right_roll=-0.1134 right_gripper=0.3297 state[joint_eff]: [0.0615, -1.3744, 6.9675, 1.7949, -0.0806, -0.0659, -0.0122, -0.1846, -7.8017, 5.4906, 0.823, 0.1783, -0.0269, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.19},"note":"The gripper settled around a 3.1 cm object and the yellow fruit is between the jaw tips. I’ll lift vertically to verify that it leaves the table."})

tool

executing move_to over 10 steps (1.0s)

step 138

assistant

agent noteA green fruit is visible held between the right jaw tips after the lift, while the yellow fruit remains on the table. I’ll shift the held fruit over the blue bowl, allowing for the fruit’s offset from the wrist.

move_to

right_x0.4350right_y0.0900right_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]: [-0.02, 0.8154, 0.6147, -0.45, -0.0139, -0.0338, 0.9969, 0.8471, 1.713, 1.4128, -0.746, 0.4934, 0.4862, 0.3296] state[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1649 left_yaw=0.0003 left_pitch=-0.0851 left_roll=-0.0017 left_gripper=0.9969 right_x=0.3396 right_y=0.2633 right_z=0.163 right_yaw=0.1393 right_pitch=-0.3065 right_roll=-0.1337 right_gripper=0.3296 state[joint_eff]: [-0.0479, -1.3333, 7.1453, 1.7167, -0.0562, -0.0757, -0.0122, -0.2667, -11.1111, 9.0051, 1.2186, 0.2759, 0.0513, 0.3394] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.435,"right_y":0.09,"right_z":0.19},"note":"A green fruit is visible held between the right jaw tips after the lift, while the yellow fruit remains on the table. I’ll shift the held fruit over the blue bowl, allowing for the fruit’s offset from the wrist."})

tool

executing move_to over 15 steps (1.5s)

step 153

assistant

agent noteThe held fruit now appears over the blue bowl, and the bowl is centered between the right jaw tips in the wrist image. I’ll lower and release it inside.

move_to

right_z0.1100right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4503, -0.0135, -0.0338, 0.9969, 0.271, 1.6344, 1.3518, -0.7002, 0.1722, 0.0051, 0.3294] state[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1648 left_yaw=-0.0001 left_pitch=-0.0855 left_roll=-0.0019 left_gripper=0.9969 right_x=0.4159 right_y=0.0879 right_z=0.1618 right_yaw=0.1114 right_pitch=-0.4036 right_roll=-0.151 right_gripper=0.3294 state[joint_eff]: [-0.294, -1.2786, 7.159, 1.7118, -0.0269, -0.0415, -0.0122, -0.2803, -7.9111, 10.4547, 1.7607, -0.1001, -0.1001, 0.779] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.11,"right_gripper":1.0},"note":"The held fruit now appears over the blue bowl, and the bowl is centered between the right jaw tips in the wrist image. I’ll lower and release it inside."})

tool

executing move_to over 7 steps (0.7s)

step 160

assistant

agent noteThe pear is visibly inside the blue bowl in the right wrist image. I’ll move back over the remaining yellow fruit, staying above the table for alignment.

move_to

right_x0.2900right_y0.2550right_z0.1300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6147, -0.453, -0.0139, -0.0338, 0.9969, 0.2729, 1.6497, 1.1858, -0.5476, 0.1627, -0.0082, 0.9955] state[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1643 left_yaw=0.0003 left_pitch=-0.0881 left_roll=-0.0016 left_gripper=0.9969 right_x=0.4078 right_y=0.0882 right_z=0.1122 right_yaw=0.1278 right_pitch=-0.4342 right_roll=-0.1552 right_gripper=0.9955 state[joint_eff]: [-0.1299, -1.3197, 6.9538, 1.6923, -0.0464, -0.0611, -0.0122, -0.1709, -6.6256, 6.5709, 1.4481, 0.105, 0.1099, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.255,"right_z":0.13},"note":"The pear is visibly inside the blue bowl in the right wrist image. I’ll move back over the remaining yellow fruit, staying above the table for alignment."})

tool

executing move_to over 14 steps (1.4s)

step 174

assistant

agent noteThe yellow fruit is centered directly between the right jaws at the bottom of the wrist view, and the pear remains in the blue bowl. I’ll descend and close on the yellow fruit.

move_to

right_z0.0250right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4648, -0.0135, -0.0338, 0.9969, 0.9001, 1.6585, 1.2785, -0.8028, 0.4278, 0.5293, 0.9965] state[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.162 left_yaw=-0.0 left_pitch=-0.0999 left_roll=-0.0016 left_gripper=0.9969 right_x=0.2909 right_y=0.2545 right_z=0.1263 right_yaw=0.1788 right_pitch=-0.4449 right_roll=-0.1546 right_gripper=0.9965 state[joint_eff]: [-0.2393, -1.306, 6.9402, 1.7705, -0.0415, -0.0513, -0.0122, 0.1436, -7.1043, 7.9932, 0.8083, 0.3932, 0.1441, 0.0855] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.025,"right_gripper":0.0},"note":"The yellow fruit is centered directly between the right jaws at the bottom of the wrist view, and the pear remains in the blue bowl. I’ll descend and close on the yellow fruit."})

tool

executing move_to over 10 steps (1.0s)

step 184

assistant

agent noteThe jaws closed empty, so the yellow fruit was just outside the fingertip grasp point despite appearing centered. I’ll reopen and advance about 2 cm before retrying.

move_to

right_gripper1.0000right_x0.3100right_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4686, -0.0139, -0.0338, 0.9969, 0.8993, 1.7748, 1.0161, -0.4583, 0.4221, 0.5312, 0.0109] state[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1612 left_yaw=0.0003 left_pitch=-0.1038 left_roll=-0.0013 left_gripper=0.9969 right_x=0.2856 right_y=0.2489 right_z=0.0287 right_yaw=0.1697 right_pitch=-0.4739 right_roll=-0.1745 right_gripper=0.0109 state[joint_eff]: [-0.0615, -1.3197, 6.9538, 1.6874, -0.022, -0.0708, -0.0122, -0.0205, -7.3641, 5.1897, 1.1013, 0.2955, -0.0708, 0.8864] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0,"right_x":0.31,"right_z":0.035},"note":"The jaws closed empty, so the yellow fruit was just outside the fingertip grasp point despite appearing centered. I’ll reopen and advance about 2 cm before retrying."})

tool

executing move_to over 10 steps (1.0s)

step 194

left_cam

assistant

agent noteThe overhead view shows the yellow fruit below and slightly right of the open fingertips, not between them. I’ll shift the gripper toward the base and right to put the jaws around the fruit before closing.

move_to

right_x0.2650right_y0.2250right_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4698, -0.0135, -0.0334, 0.9969, 0.8467, 1.7992, 1.0649, -0.4763, 0.4019, 0.4698, 0.9955] state[eef_state]: left_x=0.2845 left_y=0.0003 left_z=0.161 left_yaw=-0.0002 left_pitch=-0.1049 left_roll=-0.0012 left_gripper=0.9969 right_x=0.3033 right_y=0.2441 right_z=0.0319 right_yaw=0.1705 right_pitch=-0.4873 right_roll=-0.1883 right_gripper=0.9955 state[joint_eff]: [-0.212, -1.0872, 6.9538, 1.663, -0.0269, -0.0415, -0.0122, -0.5402, -6.9128, 7.9111, 0.9841, 0.1587, -0.0073, -0.1245] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.265,"right_y":0.225,"right_z":0.03},"note":"The overhead view shows the yellow fruit below and slightly right of the open fingertips, not between them. I’ll shift the gripper toward the base and right to put the jaws around the fruit before closing."})

tool

executing move_to over 3 steps (0.3s)

step 197

assistant

agent noteThe yellow fruit is now partly visible between the jaw tips in the overhead view and at the bottom of the wrist view. I’ll close and test whether this lower, more baseward position catches it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8185, 0.6147, -0.4755, -0.0135, -0.0334, 0.9969, 0.8917, 1.7039, 0.9176, -0.4683, 0.4057, 0.498, 0.9965] state[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1591 left_yaw=-0.0002 left_pitch=-0.1137 left_roll=-0.0011 left_gripper=0.9969 right_x=0.2668 right_y=0.2252 right_z=0.022 right_yaw=0.1804 right_pitch=-0.5157 right_roll=-0.2078 right_gripper=0.9965 state[joint_eff]: [-0.0752, -1.0735, 6.9265, 1.7363, -0.0513, -0.0317, -0.0122, 0.2256, -8.4171, 6.7897, 1.2527, 0.3687, 0.1538, 0.0904] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The yellow fruit is now partly visible between the jaw tips in the overhead view and at the bottom of the wrist view. I’ll close and test whether this lower, more baseward position catches it."})

tool

executing move_to over 10 steps (1.0s)

step 207

assistant

agent noteThe yellow-fruit retry also closed empty, so I’ll stop repeating that alignment. I’ll park the right arm and use the left arm to collect the dark fruit near the white bowl.

move_to

right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000left_x0.3400left_y-0.2100left_z0.1300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8188, 0.6147, -0.4759, -0.0135, -0.0334, 0.9969, 0.8928, 1.6974, 0.902, -0.4755, 0.403, 0.4931, 0.0105] state[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1589 left_yaw=-0.0002 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9969 right_x=0.2621 right_y=0.2207 right_z=0.0189 right_yaw=0.1803 right_pitch=-0.5304 right_roll=-0.2206 right_gripper=0.0105 state[joint_eff]: [-0.1983, -1.3197, 6.9402, 1.6532, -0.0366, -0.0464, -0.0122, -0.1846, -6.8581, 6.9538, 0.906, 0.2125, 0.0415, 0.8962] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"left_x":0.34,"left_y":-0.21,"left_z":0.13},"note":"The yellow-fruit retry also closed empty, so I’ll stop repeating that alignment. I’ll park the right arm and use the left arm to collect the dark fruit near the white bowl."})

tool

executing move_to over 19 steps (1.9s)

step 226

assistant

agent noteThe dark fruit is clearly visible in the left wrist view, slightly left of the jaw center and short of the fingertips. I’ll shift the left gripper toward it, advance slightly, and lower to grasp height.

move_to

left_x0.3500left_y-0.1600left_z0.0500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8036, 1.512, 0.9146, -0.3115, -0.5674, -0.5926, 0.9969, 0.033, 1.2015, 1.0752, -0.9676, 0.0734, -0.2813, 0.9973] state[eef_state]: left_x=0.3315 left_y=-0.2019 left_z=0.1147 left_yaw=-0.0159 left_pitch=-0.1624 left_roll=0.0245 left_gripper=0.9969 right_x=0.2885 right_y=0.0001 right_z=0.1682 right_yaw=0.1362 right_pitch=-0.5466 right_roll=-0.2226 right_gripper=0.9973 state[joint_eff]: [-0.4444, -6.8308, 8.7453, 1.3797, -0.5836, 0.0611, -0.0122, -0.2393, -3.7812, 8.3077, 1.1258, -0.0171, 0.0366, -0.0317] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.16,"left_z":0.05},"note":"The dark fruit is clearly visible in the left wrist view, slightly left of the jaw center and short of the fingertips. I’ll shift the left gripper toward it, advance slightly, and lower to grasp height."})

tool

executing move_to over 5 steps (0.5s)

step 231

assistant

agent noteThe dark fruit is now centered between the left jaws at close range. I’ll close around its lower half and then verify the lift.

move_to

left_z0.0150left_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]: [-0.6617, 1.5833, 0.6994, -0.0422, -0.4923, -0.4938, 0.9969, 0.0334, 1.2026, 1.0813, -0.9882, 0.0593, -0.3031, 0.998] state[eef_state]: left_x=0.3381 left_y=-0.153 left_z=0.0443 left_yaw=0.0202 left_pitch=-0.2174 left_roll=0.0644 left_gripper=0.9969 right_x=0.2851 right_y=0.0026 right_z=0.1677 right_yaw=0.1653 right_pitch=-0.5633 right_roll=-0.217 right_gripper=0.998 state[joint_eff]: [0.3487, -6.065, 5.7368, 1.5946, -0.1685, 0.0611, -0.0122, -0.0752, -3.6444, 5.8872, 1.3065, 0.1636, 0.1636, 0.0562] 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_z":0.015,"left_gripper":0.0},"note":"The dark fruit is now centered between the left jaws at close range. I’ll close around its lower half and then verify the lift."})

tool

executing move_to over 10 steps (1.0s)

step 241

assistant

agent noteThe left jaws settled around the dark fruit at roughly a 4 cm opening. I’ll lift straight up to confirm that it comes with the gripper.

move_to

left_z0.1800

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]: [-0.6598, 1.6428, 0.6662, 0.115, -0.5152, -0.498, 0.4226, 0.0338, 1.2026, 1.0813, -0.9894, 0.0582, -0.3038, 0.9981] state[eef_state]: left_x=0.3492 left_y=-0.1562 left_z=0.0362 left_yaw=0.0336 left_pitch=-0.1562 left_roll=0.0337 left_gripper=0.4226 right_x=0.2849 right_y=0.0029 right_z=0.1676 right_yaw=0.1674 right_pitch=-0.5644 right_roll=-0.216 right_gripper=0.9981 state[joint_eff]: [-0.1846, -3.9316, 3.7402, 1.0672, 0.0464, -0.022, 1.0281, -0.0342, -3.7675, 6.3795, 1.1453, 0.0415, -0.022, -0.0073] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.18},"note":"The left jaws settled around the dark fruit at roughly a 4 cm opening. I’ll lift straight up to confirm that it comes with the gripper."})

tool

executing move_to over 10 steps (1.0s)

step 251

assistant

agent noteThe dark fruit lifted successfully. The blue bowl is beyond the left arm’s sideways limit, so I’ll carry the fruit to a clear central handoff spot that the right arm can reach.

move_to

left_x0.3700left_y-0.3700left_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]: [-0.6598, 1.4277, 1.0248, -0.4732, -0.5152, -0.5041, 0.4264, 0.0334, 1.2026, 1.0813, -0.9928, 0.0578, -0.3069, 0.9981] state[eef_state]: left_x=0.3515 left_y=-0.158 left_z=0.1607 left_yaw=0.0384 left_pitch=-0.1672 left_roll=0.0385 left_gripper=0.4264 right_x=0.2841 right_y=0.0029 right_z=0.1672 right_yaw=0.1696 right_pitch=-0.5681 right_roll=-0.2166 right_gripper=0.9981 state[joint_eff]: [-0.294, -8.1436, 8.759, 1.2576, -0.2711, 0.0073, 0.6862, -0.3077, -3.5761, 6.6256, 1.1844, 0.0269, -0.0171, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.37,"left_z":0.13},"note":"The dark fruit lifted successfully. The blue bowl is beyond the left arm’s sideways limit, so I’ll carry the fruit to a clear central handoff spot that the right arm can reach."})

tool

executing move_to over 19 steps (1.9s)

step 270

assistant

agent noteAt the handoff spot the dark fruit is already close to the blue bowl’s near rim. I’ll try the left arm’s safe sideways limit with a forward move to see whether the fruit can be positioned over the bowl directly.

move_to

left_x0.4500left_y-0.4000left_z0.1800

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]: [-1.0046, 2.1323, 1.7649, -0.733, -0.6876, -0.8608, 0.4266, 0.0334, 1.2072, 1.0813, -0.997, 0.0574, -0.3073, 0.9981] state[eef_state]: left_x=0.3682 left_y=-0.3636 left_z=0.1195 left_yaw=0.0332 left_pitch=-0.1949 left_roll=0.0412 left_gripper=0.4266 right_x=0.2834 right_y=0.0029 right_z=0.1655 right_yaw=0.171 right_pitch=-0.5768 right_roll=-0.215 right_gripper=0.9981 state[joint_eff]: [-0.8, -12.4239, 8.4171, 0.823, -0.5836, 0.0464, 0.7692, -0.2667, -4.1641, 6.3658, 1.0818, 0.0366, -0.0513, -0.0122] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.45,"left_y":-0.4,"left_z":0.18},"note":"At the handoff spot the dark fruit is already close to the blue bowl’s near rim. I’ll try the left arm’s safe sideways limit with a forward move to see whether the fruit can be positioned over the bowl directly."})

tool

executing move_to over 7 steps (0.7s)

step 277

assistant

agent noteAt the left arm’s sideways limit, the dark fruit overlaps the blue bowl’s near-left opening in the overhead view. I’ll lower it and release gently, then clear the arm to check where it lands.

move_to

left_z0.0920left_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]: [-0.9154, 2.6354, 2.7358, -1.1713, -0.6464, -0.7918, 0.4287, 0.0334, 1.2079, 1.0813, -1.0008, 0.0578, -0.3073, 0.9981] state[eef_state]: left_x=0.4467 left_y=-0.4005 left_z=0.1391 left_yaw=0.0564 left_pitch=-0.2115 left_roll=0.0467 left_gripper=0.4287 right_x=0.2826 right_y=0.0028 right_z=0.1649 right_yaw=0.171 right_pitch=-0.5813 right_roll=-0.2146 right_gripper=0.9981 state[joint_eff]: [0.6496, -12.6564, 5.6957, -0.0024, -0.3736, 0.2027, 0.4957, -0.3761, -3.8769, 6.5573, 1.0867, 0.0317, -0.0513, -0.0122] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.092,"left_gripper":1.0},"note":"At the left arm’s sideways limit, the dark fruit overlaps the blue bowl’s near-left opening in the overhead view. I’ll lower it and release gently, then clear the arm to check where it lands."})

tool

executing move_to over 6 steps (0.6s)

step 283

assistant

agent noteThe dark fruit appears to have landed just outside the blue bowl on its left, so I’ll need to recover it. I’ll clear the left arm and bring the right gripper over the exposed yellow fruit first.

move_to

left_x0.2900left_y0.0000left_z0.1800right_x0.2300right_y0.2400right_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]: [-0.9123, 2.5492, 2.3634, -0.9478, -0.6353, -0.7933, 0.9951, 0.0334, 1.2079, 1.0813, -1.0004, 0.0574, -0.3073, 0.9981] state[eef_state]: left_x=0.4411 left_y=-0.3929 left_z=0.081 left_yaw=0.0663 left_pitch=-0.2547 left_roll=0.0931 left_gripper=0.9951 right_x=0.2827 right_y=0.0029 right_z=0.165 right_yaw=0.1713 right_pitch=-0.5809 right_roll=-0.2143 right_gripper=0.9981 state[joint_eff]: [-0.5538, -16.2256, 6.6803, 1.2967, -0.4127, -0.0317, -0.1783, -0.212, -3.7949, 6.3385, 1.0476, -0.0073, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":0.0,"left_z":0.18,"right_x":0.23,"right_y":0.24,"right_z":0.095},"note":"The dark fruit appears to have landed just outside the blue bowl on its left, so I’ll need to recover it. I’ll clear the left arm and bring the right gripper over the exposed yellow fruit first."})

tool

executing move_to over 35 steps (3.5s)

step 318

assistant

agent noteThe yellow fruit is fully visible just short of the right fingertips and slightly left of center. I’ll advance 2–3 cm, shift left slightly, and lower the open jaws around it.

move_to

right_x0.2500right_y0.2600right_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1413, 1.0031, 0.8631, -0.693, -0.2222, -0.139, 0.996, 0.9932, 1.6032, 1.1324, -0.9081, 0.374, 0.5961, 0.9981] state[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1806 left_yaw=0.1184 left_pitch=-0.2434 left_roll=0.0856 left_gripper=0.996 right_x=0.2251 right_y=0.2337 right_z=0.0882 right_yaw=0.1886 right_pitch=-0.6156 right_roll=-0.2327 right_gripper=0.9981 state[joint_eff]: [0.0205, -3.0974, 6.2564, 1.58, 0.0562, 0.1538, 0.0904, 0.2256, -6.5573, 7.8427, 0.5885, 0.4274, 0.2759, -0.0122] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.25,"right_y":0.26,"right_z":0.035},"note":"The yellow fruit is fully visible just short of the right fingertips and slightly left of center. I’ll advance 2–3 cm, shift left slightly, and lower the open jaws around it."})

tool

executing move_to over 4 steps (0.4s)

step 322

assistant

agent noteThe yellow fruit now fills the gap between the right fingertips at the bottom of the wrist view. I’ll close without moving farther forward.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0069, 0.8627, -0.7109, -0.2108, -0.1314, 0.9961, 0.9794, 1.784, 1.1221, -0.7502, 0.3717, 0.5869, 0.9981] state[eef_state]: left_x=0.2922 left_y=-0.0002 left_z=0.1762 left_yaw=0.1074 left_pitch=-0.2673 left_roll=0.0882 left_gripper=0.9961 right_x=0.2415 right_y=0.2509 right_z=0.0352 right_yaw=0.1648 right_pitch=-0.6413 right_roll=-0.2647 right_gripper=0.9981 state[joint_eff]: [-0.4171, -2.8103, 6.7487, 1.5897, -0.1929, -0.1392, -0.0024, -0.3487, -9.1829, 5.6547, 0.5446, 0.2613, -0.0806, -0.0122] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The yellow fruit now fills the gap between the right fingertips at the bottom of the wrist view. I’ll close without moving farther forward."})

tool

executing move_to over 10 steps (1.0s)

step 332

assistant

agent noteThe right gripper closed empty again; the fruit moved to the left of the closing jaw column in the wrist image. I’ll reopen and shift sideways to center it between the jaws rather than repeating the same close.

move_to

right_gripper1.0000right_y0.2900right_x0.2450right_z0.0250

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0088, 0.8627, -0.712, -0.2157, -0.1314, 0.9961, 0.992, 1.7931, 1.0981, -0.7105, 0.3889, 0.5915, 0.0101] state[eef_state]: left_x=0.2921 left_y=0.0007 left_z=0.1756 left_yaw=0.1118 left_pitch=-0.2694 left_roll=0.0927 left_gripper=0.9961 right_x=0.2407 right_y=0.2525 right_z=0.0285 right_yaw=0.1667 right_pitch=-0.6239 right_roll=-0.271 right_gripper=0.0101 state[joint_eff]: [-0.2256, -2.5641, 6.8718, 1.4383, -0.1001, -0.0708, -0.0073, 0.1983, -10.3043, 4.8889, 0.6374, 0.2906, 0.0464, 0.8864] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0,"right_y":0.29,"right_x":0.245,"right_z":0.025},"note":"The right gripper closed empty again; the fruit moved to the left of the closing jaw column in the wrist image. I’ll reopen and shift sideways to center it between the jaws rather than repeating the same close."})

tool

executing move_to over 10 steps (1.0s)

step 342

assistant

agent noteThe yellow fruit has shifted to the right of the jaw column; a smaller correction back should center it. I’ll make only that lateral adjustment before closing.

move_to

right_y0.2680

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0092, 0.8627, -0.7147, -0.2157, -0.131, 0.9961, 1.0439, 1.9034, 1.2087, -0.7349, 0.3962, 0.6296, 0.9954] state[eef_state]: left_x=0.2916 left_y=0.0008 left_z=0.1751 left_yaw=0.1118 left_pitch=-0.2723 left_roll=0.0938 left_gripper=0.9961 right_x=0.2396 right_y=0.2834 right_z=0.0202 right_yaw=0.1767 right_pitch=-0.6288 right_roll=-0.2812 right_gripper=0.9954 state[joint_eff]: [-0.3487, -2.5368, 6.7077, 1.4579, -0.1294, -0.0806, -0.0073, 0.4308, -8.1709, 7.4598, 0.5006, 0.3736, 0.1783, 0.0415] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.268},"note":"The yellow fruit has shifted to the right of the jaw column; a smaller correction back should center it. I’ll make only that lateral adjustment before closing."})

tool

executing move_to over 2 steps (0.2s)

step 344

assistant

agent noteThe cleared overhead view shows the yellow and green fruits already in the blue bowl; the only fruit left outside is the dark one just to its left. I’ll stop working on the yellow shape in the wrist view and position the right gripper above the dark fruit.

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]: [-0.1398, 1.0138, 0.8627, -0.7155, -0.2157, -0.131, 0.9961, 1.0378, 1.8797, 1.1576, -0.6975, 0.3962, 0.6212, 0.9965] state[eef_state]: left_x=0.2918 left_y=0.0007 left_z=0.1738 left_yaw=0.1122 left_pitch=-0.2775 left_roll=0.0952 left_gripper=0.9961 right_x=0.2379 right_y=0.2761 right_z=0.0164 right_yaw=0.1814 right_pitch=-0.6236 right_roll=-0.2759 right_gripper=0.9965 state[joint_eff]: [0.0068, -2.7009, 6.735, 1.4579, -0.1685, -0.0464, -0.0073, -0.6496, -10.6872, 5.3675, 0.8034, 0.4127, 0.0269, 0.0952] camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.29,"right_z":0.12},"note":"The cleared overhead view shows the yellow and green fruits already in the blue bowl; the only fruit left outside is the dark one just to its left. I’ll stop working on the yellow shape in the wrist view and position the right gripper above the dark fruit."})

tool

executing move_to over 10 steps (1.0s)

step 354

assistant

agent noteThe dark fruit is visible ahead and slightly right of the right jaw column; moving the arm revealed that the yellow fruit is also still on the table. I’ll align with the dark fruit first by advancing and shifting right, then lower to grasp height.

move_to

right_x0.3800right_y0.2700right_z0.0650

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0153, 0.8627, -0.7162, -0.2157, -0.131, 0.9961, 0.8177, 2.0552, 1.792, -1.0378, 0.3614, 0.3901, 0.9966] state[eef_state]: left_x=0.2917 left_y=0.0008 left_z=0.1732 left_yaw=0.1123 left_pitch=-0.2797 left_roll=0.0958 left_gripper=0.9961 right_x=0.356 right_y=0.2937 right_z=0.1132 right_yaw=0.1882 right_pitch=-0.5921 right_roll=-0.2589 right_gripper=0.9966 state[joint_eff]: [-0.294, -2.6735, 6.7077, 1.3993, -0.1099, -0.0317, -0.0073, -0.4171, -10.6598, 7.2, 0.4518, 0.1734, -0.0611, -0.0073] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.27,"right_z":0.065},"note":"The dark fruit is visible ahead and slightly right of the right jaw column; moving the arm revealed that the yellow fruit is also still on the table. I’ll align with the dark fruit first by advancing and shifting right, then lower to grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 358

assistant

agent noteThe dark fruit remains fully visible well ahead of the right fingertips, so the current grasp point is still short. I’ll advance toward it and lower to just above table-level grasp height.

move_to

right_x0.4150right_y0.2500right_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0157, 0.8627, -0.7166, -0.2157, -0.131, 0.9961, 0.7441, 2.0636, 1.6279, -0.9054, 0.3378, 0.3264, 0.9966] state[eef_state]: left_x=0.2917 left_y=0.0008 left_z=0.1731 left_yaw=0.1124 left_pitch=-0.2805 left_roll=0.0959 left_gripper=0.9961 right_x=0.3654 right_y=0.2617 right_z=0.0652 right_yaw=0.158 right_pitch=-0.6475 right_roll=-0.2941 right_gripper=0.9966 state[joint_eff]: [-0.212, -2.4, 6.7214, 1.4042, -0.1245, -0.0513, -0.0073, -0.1983, -10.1675, 6.7761, 1.0672, 0.2125, 0.0122, -0.0122] camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.415,"right_y":0.25,"right_z":0.035},"note":"The dark fruit remains fully visible well ahead of the right fingertips, so the current grasp point is still short. I’ll advance toward it and lower to just above table-level grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 362

assistant

agent noteThe right arm stopped about 4 cm short of the forward target while low, leaving the dark fruit ahead of the fingertips. I’ll raise the gripper and straighten its accumulated wrist tilt before approaching again.

move_to

right_x0.4000right_y0.2600right_z0.1200right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0153, 0.8627, -0.72, -0.2157, -0.131, 0.9962, 0.7292, 2.0705, 1.5822, -0.831, 0.3435, 0.2947, 0.9966] state[eef_state]: left_x=0.291 left_y=0.0009 left_z=0.1726 left_yaw=0.1126 left_pitch=-0.2834 left_roll=0.0967 left_gripper=0.9962 right_x=0.3726 right_y=0.2579 right_z=0.053 right_yaw=0.1673 right_pitch=-0.6313 right_roll=-0.2998 right_gripper=0.9966 state[joint_eff]: [-0.1573, -2.4, 6.9128, 1.4628, -0.1441, -0.0562, -0.0073, -0.1299, -11.6718, 6.106, 0.9158, 0.3053, 0.0415, -0.0073] camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.26,"right_z":0.12,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The right arm stopped about 4 cm short of the forward target while low, leaving the dark fruit ahead of the fingertips. I’ll raise the gripper and straighten its accumulated wrist tilt before approaching again."})

tool

executing move_to over 22 steps (2.2s)

step 384

assistant

agent noteStraightening the wrist brought the dark fruit beneath the right jaw column and exposed it clearly in the wrist view. I’ll descend with that straighter orientation to grasp its body.

move_to

right_x0.4050right_y0.2600right_z0.0300right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0229, 0.8627, -0.7223, -0.2157, -0.131, 0.9961, 0.7925, 1.8473, 1.1339, -0.1463, 0.606, 0.4725, 0.9966] state[eef_state]: left_x=0.291 left_y=0.0009 left_z=0.1702 left_yaw=0.1134 left_pitch=-0.293 left_roll=0.0993 left_gripper=0.9961 right_x=0.39 right_y=0.2574 right_z=0.0881 right_yaw=0.0386 right_pitch=-0.1072 right_roll=-0.0866 right_gripper=0.9966 state[joint_eff]: [-0.2393, -3.2068, 6.8171, 1.4335, -0.1197, -0.0708, -0.0171, 0.1846, -12.8342, 6.3385, 1.7509, 0.4615, 0.2271, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 384): [image omitted: streamed camera frame] camera 'left_cam' (step 384): [image omitted: streamed camera frame] camera 'right_cam' (step 384): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_y":0.26,"right_z":0.03,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"Straightening the wrist brought the dark fruit beneath the right jaw column and exposed it clearly in the wrist view. I’ll descend with that straighter orientation to grasp its body."})

tool

executing move_to over 4 steps (0.4s)

step 388

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 1.0233, 0.8627, -0.7227, -0.2157, -0.131, 0.9961, 0.7845, 2.0041, 1.0023, 0.1516, 0.6174, 0.4725, 0.9966] state[eef_state]: left_x=0.291 left_y=0.0009 left_z=0.1701 left_yaw=0.1134 left_pitch=-0.2938 left_roll=0.0995 left_gripper=0.9961 right_x=0.3916 right_y=0.2514 right_z=0.0168 right_yaw=0.0231 right_pitch=-0.0943 right_roll=-0.0863 right_gripper=0.9966 state[joint_eff]: [-0.1573, -2.6188, 6.8718, 1.4139, -0.149, -0.0464, -0.0073, -0.1983, -11.0291, 5.9556, 1.8291, 0.4371, 0.1783, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 388): [image omitted: streamed camera frame] camera 'left_cam' (step 388): [image omitted: streamed camera frame] camera 'right_cam' (step 388): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 8.013 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]: [-0.0185, 0.8005, 0.6151, -0.3801, -0.0143, -0.0299, 0.9973, -0.0223, 0.8005, 0.6197, -0.387, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2965 left_y=0.0006 left_z=0.1833 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9973 right_x=0.2962 right_y=0.0 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -1.347, 10.0171, 1.7656, -0.1441, 0.1099, -0.2857, -0.3897, -1.4291, 9.0735, 1.9023, -0.0806, -0.0464, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac6abbafd7d971d852169df24303e885b1b0a2d422b31875244f8f92ebbc57d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ede42a209a5b1a24976859ae9bcb67f7b95a8e7e3d33155b0f7f021d19f9c3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7212da2c25ff777aa56f5bd54e8400389c4f251735f840f50db28f680763f00b",
      "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 · 3.884 s

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

{
  "content": [],
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  "id": "rs_017eb4d8d2d449b8016ab4273e967487d08427d9b953487185",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCdFb6O9rEZ_8oh4w1bU2DhW9K7TMyWInh3uxv-3OKE0Fxu4VBaYYg3QDbDsiXJUPBHzgUkdHUKrW3snWZbfIOj64XtwMn8zGM2ITdijJ8BYuBsr4nmmax0JgwinEPmAo5VrDASZgm56_RsOxg81gaPMAz3MGDj5EkDeV-tZfH3HtybynKsyxyWGQ6PgkCGUYxlNYNyu2WTZKxXTj17yQe4BQV8C6keGNwetDJheGQdtiOj8aRFVpB7XScrLnC4iXBwFNq3Z2LI4QyIL6y358zDgasfi2KucYOpypnxzjSg3eycHddj1mDE9c2cbGlmPvTD_q7dlia3opQ48nt7-AmJ6DQSuZ1xjQyg2VfC2kOFV4UzqlVw--B8ItKR9HhTuIwm4f_IVZb16mSGgkSIwcj9Y7e1_wK2fM8a4FDWTgv5S6Og007UrccOIfNe38CmMzpsetfTcr4D355RqnWWXoxVr-J7YFXiZvjHsJ1QOXqtX77rn01c5R7cak5kIYYelFSbQI8Tt7-0oWnKFafWG9yACsXU4EIM4ZxJMA7ImJIm3j1wAOD1wITgPHmD_ebIxgoSMLiQKSX9qHYFl0fAO5ySNB2a_7_koTgswSBYeL7yObdp0YhuFcYzTAVBgpCU7VGtAoFkI6f8N0pYOTa7Emk1MyXoxU0LL0VO-TSOBnQIuKbxOqs5wPM1qiPNAW51xlqpyNVJYtX6E2jK7LCsZQSjniJPcimrFi-uFeEj6wgnuhplG_6qcP8GCRUSXB-DCcybRG-5m5Yq0qVmPa1iMjjhwKYYMCRTZx4Z7iugxeKCc7Z9ak5Goiy0QE9wz7TCubhfUTPmVO5EQjVkbOBEkGQ-qu-stcftWAXZv_BV_YPKT_9uVGXRmhJPb7aaHA_nnUyBuFsQgfjZchrp4JrCitmg-SnA8ZZ1uYH_kO6PZIEWRj6AzwjFQJFDBQjtiyR7aZIEE_hmP46b06g_AdXo2yoOhb5zzszhIepHYsgKW6DWvOlH8s3gn1HcLtXdHU_XrFdfMrTQ3qk-HJ1g_Qz6R9t2bSzU2TLZq1H7SRBjjp6BV_d95f9Z9n-VskKNYy8HYjR2zQT0KEAygGP5ONPWHc1cC0lYeKZwxVtlVE_i_Es4omck6_PpWgIrx04P-P5fRymFWElVngj2Pn1Q2Oi9XU66hlLJPkzRFnifChGBjDthJBZJNFPrxx4FeoGW0DQk8QFDDSrxeuNfrAd434YysNo0PoMcFaeE37w_qhWSXT1qR2yjfwHPaZgcwlEtfkY7-VsaJ9SFs7RFpN6UlVCTu2WSWMPKSFK0MbVCMdxdqu4pmZidWX51kf5i71VVA7pyXQYvx-qkFT5rlaplUG9j8RB51t-3hbL5qRW6xqIIKArDnX-G5QpkTowfFU_VTeKZgw9tZk8bZNkOGY2VOEPzPBaO3eJ92gEl4Y-b3NiZjxeo13j4v0HweED181fkYImgABpGF_Kx5O2DMrfyJ19PQ5o1fikoW-JLdufcTBfiaoUp-logvaHhbd4u9H9tXj-nQI2Bvqgk4bmpO-z3WeOANVUguKIRXTaht7ypYSmOca9jdjP_Hx2NfnnQPP-W0jYBN_V28y5pJbgfsy6SvhYE413vUnuFpijDKB-pvL44ioZu99ihrTNa1x2ly8QoeWfAPEg0YNXP_gAKCppowBFXNT3OqQRFsjqgQLPx0O8Q-4BbLrzgq8QDw2yc4A1JpF1CYUjNy-S3_4V4Syac3ioOy78VSvg==",
  "id": "rs_017eb4d8d2d449b8016ab4274382f087d09cdc8f19e8b6e2da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.10,\"right_z\":0.15},\"note\":\"The overhead view shows three fruits: a dark one near the white bowl, a yellow one beside the blue bowl, and a green one on the right. I’ll bring the right gripper over the green fruit first, keeping it above the table.\"}",
  "call_id": "call_etiMSr57d62zWfjfg02zMkp4",
  "id": "fc_017eb4d8d2d449b8016ab4274470d487d0a49e6c99b27773b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_etiMSr57d62zWfjfg02zMkp4",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6147, -0.3862, -0.0139, -0.0311, 0.997, 0.448, 1.2137, 0.6453, -0.1104, 0.3481, 0.2287, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=0.0001 left_z=0.1814 left_yaw=-0.0012 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.997 right_x=0.3403 right_y=0.1007 right_z=0.1299 right_yaw=0.0343 right_pitch=-0.064 right_roll=-0.031 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.2239, 7.2, 1.8242, -0.0562, -0.0659, -0.0415, -0.1846, -4.7385, 8.8, 1.9023, 0.3736, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717b7ce3b67449e36608776c834d7c980da537e251564f83f1074af69e8817bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce7d7ec8f39b9cd9d254784c73549137cadb98a605c5daeb7ffa99fe93b5e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0459372188ee5a611aa13fa64ae8176f3d33a6bc9da5b18fcf9e358854d82f1",
      "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 · 6.04 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]: [-0.0185, 0.8005, 0.6151, -0.3801, -0.0143, -0.0299, 0.9973, -0.0223, 0.8005, 0.6197, -0.387, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2965 left_y=0.0006 left_z=0.1833 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9973 right_x=0.2962 right_y=0.0 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -1.347, 10.0171, 1.7656, -0.1441, 0.1099, -0.2857, -0.3897, -1.4291, 9.0735, 1.9023, -0.0806, -0.0464, -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]: [-0.02, 0.8021, 0.6147, -0.3862, -0.0139, -0.0311, 0.997, 0.448, 1.2137, 0.6453, -0.1104, 0.3481, 0.2287, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=0.0001 left_z=0.1814 left_yaw=-0.0012 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.997 right_x=0.3403 right_y=0.1007 right_z=0.1299 right_yaw=0.0343 right_pitch=-0.064 right_roll=-0.031 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.2239, 7.2, 1.8242, -0.0562, -0.0659, -0.0415, -0.1846, -4.7385, 8.8, 1.9023, 0.3736, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717b7ce3b67449e36608776c834d7c980da537e251564f83f1074af69e8817bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce7d7ec8f39b9cd9d254784c73549137cadb98a605c5daeb7ffa99fe93b5e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0459372188ee5a611aa13fa64ae8176f3d33a6bc9da5b18fcf9e358854d82f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCdPJAuyJnzcCix6bobBzQvQqr_lxFrAZcVvjfNnhz7xIDsxytImad3P4CkcRlnDR4sT2srVFIT5rOiHoOU__3WV8a7IXhGhXS72_GPy_gO92b8V0FXRr4treBMQIZqaBy0Z3vNHZJ7Le72XNzzu3nMQET11PwKgpyzfZ_HRQKz_665qQPQXSsAsycu4gd7MDhTdQPis7vWmp3IvZiSSu2WshkFtQO461MUQ8y8KF3pzE7d7RWgtnViEZMt9SKghQYJn_dCIvNUuAWDwg2HCuMQtezBv4JjldAXOW9vrXC8_FMtaO38iOr25u-Vv28Qw7MeA0LyIZx2UOmupbk4uv_vCw7QYh0E0c4VZrikxerJ2uBmoWW6_lh3k8O3U915D7kluakjMPWWv968p6ttPHBCOnG4vx4Q_0myB3tiZyrLZ4lRIKI-cZge62jRPgatOF-5_bOf6AUBEnpY9E93D0Iio0jPit77brbT6X7RhsUW61MRS6H-QTfMmJwf1nXzv2U43M6_uDXw-fl43OUi-jT0k17o1YPLUgicgmgIptAi5DxLxNZiQ611qNm4gDQnPhioRYVaz4I5uU3Mzkl5uD6UZ9YEVkKGDb04cL3q8H3q8ck60IM2NXECk9ikcZKlPd3I2R7fZLoTZ6yB01SQ7L4tiJYUtv9gqExlLBE8ZbcIzPmr0mWZKZ579hdv_MgBX8ufojovjfCKOzxsNhmgXWqlEEFNMHPXf3JroiDHxhWvETv8VN39uNySsMZ0RkZjBMwMZhOkT8GTv780oZNr0hiUu7ndn87umgD9F9bYSogEEVbklLLuF9df2gIwyqg2NFswUZaiqHH_qbx9WHc2nsvqKYL3HTPLfZ8buNOwlAXOpd-dFCUfwnXe-TkunN25tqxTGYcZQrVeoG4-nptRrWeJn7bYqf1qx3niasfnWXT9PBGfB2u7aiprB_qo5YLVv8_oag_3l4YFnXXoF_IiL6glOvf_TXmEAjIqQC-tGmCeDG-yNxQpE4JRZUjdt4NAmNScRCWKlP4SHBprG3SFEHukJ-f0Aw3NjGSBL9S21xzXJ8rZywL_ZcHfy9lWwzSiBSOm2FTGCYvMtYlVSPULaY1Uuje5NWLVn1TH9iZ0uWfancWdXxxF3vUhoGr4kCfJXxZP9GgUiUrqjQl355wFw3BUKREPGnbffQ_B85lCsME01_eoPlxrJXHklkOIMf9Y1SV2XeLmKTMFa42DjcecyDcskAIGfgo2tzBs_Cozwoygbx9tpQ2o7clZ_5xXQV4OxVM9DvAGqWssQdu9EUeRFjT03K2pf61w3sIGTGp4edbMgyG7EG8YYVD_kO--__JC5Q9qDRR8vBk0l7oxWx0sFw9UTnYKhImPvdXeFSRUcwyJcByDlBcKcfFODjq_rK352TtlI40fGztR80_G4NMM2Ebu7iJbysMhT-D7M3J5KjeQy43jXiUraMG0_skP3FyqpeWJ3sLh7_xhHjaAU_EqdPsN_QZKVca_kUi9C7Riihsn9hRmE8DZOgpJLr6pR8De4_mdF8lUGa-FyyGVc6rMFhAvPI0REm6j28jAyGINNjh03ANBxLahs7MMFYWXZ2MJmrvj2wYxiitNlLw_heC9l911s2Cpt1wjlX8KAl4yXBxTIrGDmp61UuOsZ808OAoUW9bbe8nvwCahv5UaGAlUdkYwCkknAer5i9OpnP4pAP-bS40crRLzKaSkx2Wzk4I0Qz0Zqt-Qenyc8R8vBW6xwyEOrSoDIGHVTLLEuE6LDhMI6pay7EF3zlbIVJGrIxGtObPsAUbYckFK-R-AvVp8j-YVrVsg1CdyQTSQkbp1JrkfuNA7sKNJRD8V8sbmn52d5RAFwnVgeTetHtn8xuYVAyTyayvRnypZcBIwN4BwB236hkdz3_0wjPDExJ5BN3Thp3aaw89hUWzVxDCme2U61VRa9BDuA_7s-gaXWYd4zE8c3jfBzPF9ldSPJ6NExdAEd6qiLujp6CvbHV6b3hLnT8hSiMKeqJs6dKjMaaVgtMVueRAkweVQgqx7VyKb6XV88N3ab-CGxoM00U3X46Q12CAFLf_Fm5kZySwpFgwbeO1OCkx4CDGp27NYp-wyy-UFlpWjnrIWdh6M7yhtvjdFfnLREfGNaJHsHX4xE7eRjHnEIRZCCyZdEoSeTgD0hBbAr87gniYPpaTMPvivB9Koz1vIBiA==",
  "id": "rs_017eb4d8d2d449b8016ab4274cab3c87d0aef4db5e471ee19e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.04,\"right_x\":0.35,\"right_z\":0.15},\"note\":\"The green fruit is at the lower right of the right wrist image, while the jaws are centered. I’ll shift the right gripper toward it sideways before descending.\"}",
  "call_id": "call_LTVaroB1TKe3v3NDyy6oDM5H",
  "id": "fc_017eb4d8d2d449b8016ab4274e96c887d0ab79b6b0980f5b17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LTVaroB1TKe3v3NDyy6oDM5H",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6147, -0.3901, -0.0139, -0.0311, 0.9969, 0.178, 1.1549, 0.6441, -0.1768, 0.1535, 0.0723, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0001 left_z=0.1806 left_yaw=-0.0012 left_pitch=-0.0118 left_roll=-0.0009 left_gripper=0.9969 right_x=0.3443 right_y=0.0381 right_z=0.1309 right_yaw=0.0098 right_pitch=-0.1109 right_roll=-0.04 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.3197, 7.0085, 1.7411, -0.0513, -0.0464, -0.022, -0.1709, -5.2991, 9.1009, 1.873, -0.022, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be29477ebcdba14f428813b001b09ff7aea0322d56b7671743b4a6b0915abaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7019fcb74b6ab1c59d2cbc0c38d6e8caf2b6c455954bfc26978136b969eb9a7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a02419a99035879fdea03971a2cc54675c07646b6a26b64f6edce13f851eda6",
      "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 · 2.589 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]: [-0.02, 0.8021, 0.6147, -0.3862, -0.0139, -0.0311, 0.997, 0.448, 1.2137, 0.6453, -0.1104, 0.3481, 0.2287, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=0.0001 left_z=0.1814 left_yaw=-0.0012 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.997 right_x=0.3403 right_y=0.1007 right_z=0.1299 right_yaw=0.0343 right_pitch=-0.064 right_roll=-0.031 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.2239, 7.2, 1.8242, -0.0562, -0.0659, -0.0415, -0.1846, -4.7385, 8.8, 1.9023, 0.3736, 0.1832, -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]: [-0.02, 0.8021, 0.6147, -0.3901, -0.0139, -0.0311, 0.9969, 0.178, 1.1549, 0.6441, -0.1768, 0.1535, 0.0723, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0001 left_z=0.1806 left_yaw=-0.0012 left_pitch=-0.0118 left_roll=-0.0009 left_gripper=0.9969 right_x=0.3443 right_y=0.0381 right_z=0.1309 right_yaw=0.0098 right_pitch=-0.1109 right_roll=-0.04 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.3197, 7.0085, 1.7411, -0.0513, -0.0464, -0.022, -0.1709, -5.2991, 9.1009, 1.873, -0.022, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be29477ebcdba14f428813b001b09ff7aea0322d56b7671743b4a6b0915abaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7019fcb74b6ab1c59d2cbc0c38d6e8caf2b6c455954bfc26978136b969eb9a7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a02419a99035879fdea03971a2cc54675c07646b6a26b64f6edce13f851eda6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCdWfnvIJNmAdOiPBPZl_k_38e3zR4-KjItVv4PaF3Q8ED4zrRVllIgo72JjS9fQ0en38RcFbZty2khJUxTTRE8Ce1ngNyxQWTeHVYjQ2O3SbCZILe-IJCVgll14FaMA5wVGggMCxSfq09R__7aVS5-cSBZGDyEvhPIWm7EuzTfLWNgoE77fPMgudevSQ2Lxvvn0DBcdC-_m6FLLjVQtyDKnMmHOX4ksOlvuCWsxCG9o0D_wQvfeXIm9PfSudoVFAkfY58dPpTVhZP7b2jXawV0C_NbUB0vgrzCq0hlaBZD65xwCOCRIr5UwXXgtHY5WgjH686G1P1XoDZMQuWoj7GGNmv-pldgQqoy0cYlt-UC4EAhIMlPPukdlpPy2ZC5i84NQTQ7eQJglMZ3H6O47Wb7HhIy6PWPjjrvrxFDd76ddNKdlPegjCgFubOLcX9OWFB4uGhvUINFjtFAyNe5X3rR6nQR2NVq0evpfwfBsmJu82XmnAo98yVzf0nelp9rTuPe1T0GYdEM4gyQ0bvKLa72bX1LRde-3HcycDn20kFn3G6dkF6cWFyi6xg_GpoHXfmsavZueAF-EXOa44_7Pq9kZXBoysa39eQ543HTvDDk47prmKbCFkRyHCRJ_IZN7BijdXqeCTG8Kb55HnxcVydST0MITHnebprvl-eER3CjUHerLT3yUYACj1fa8DB31Jwg7eGvuJtmx1QQeSZc0qMvp5v6wulFr-OU4LehG6tsuSfOEiMgLwni51-pMiQw9gU2f_IhtE47tQV4S1ao9q8aeqMdDKXtweLLESeH2uxe0F7qmMSa1MPUaHPx6u1MDnnl4Ipdf55rHNrTIxggAl92Tf92SPgH4j8HfFZAYB5CClWrHMcq87jRlfJKIv07_S_F2H7FaYAyucq1CNIf06Ooq4Nmudjlj12bcekwll7z5Rcl-wl42XMLBrEwytRzLKSaO3S34dF2VcJSzbRcaNVUgi7A5F3jkdJZ_WLaJXsnazgqJuMMeMmOAU8ueEnMqtgjN2bAsXF0BLCODJMKyUY8PrqY8RMVQXr1fkkfKZdXRBrr2ELrY3Gi0onbqzx38Z6630rU2GK3mEvIZvXokwf62mlZsnfx4ty7UV29UTD1IXZhxaW5sIWWleuMHlKHQn1USxBmvmUJphgkXcltcd_kjGtna6Sfvm4qcRvkClRk87tbDohP5QHnGneXkwNbw7uipTzXYtAxyEvN0eUw54WkhEDpGB5MDogQ9PZ9-e6Dyb7JJfCs11gaGpcv545njc3WXIhsRzr4WRYKbOhCJvq7iUFf8yJECmFjmQWNqdZ5uG294k_bpAsOO5eL_xDio4GgSNPb6dUNRCSdLCgIBdUg0-LrZuYWECkpDh1pjOq5My4hXyhVs1rCTYvz9iyxzeCu3eaU4dcUxbkEQ-DWIixBg4eUhCzSc3U5AsUiSQXrzO6x6xP0bUt-G8kgEQZa0mmRNCxTrfWMxWwNqmrsWBZsi4No2-TjGMTSpQ8P2eN9gWsBqDy1G9GwlVqj7oKRtyDYTx3Lxs4PkM8sR8kji-flzsErhWZM2kmrsKZKGD-SECdgz8tioXJhCpLtggtU3alkY-xWAvKBTk_QnT8orRbhYu_E9YAcXvm8qr8Xjga7hI_4VhsvE-73Wh6jG7tUxYPoryKFm4g47ASrcmY0mE7Anu1qlZXT5HGV5oFzOBbI-XTgYMsIs0JIpBNIrynCP8yGcELylVhAw1fQRrobgbVrdrkvTsvugkbMwRlci8CYShC3SLLWw87Gr47eWJSUXVshPLCDX4785wGpwRhGue5nbIgJ2dLCGq4U2EX7gnszBYqPt4FMwmbJpg8QXbstHgwyU1FjAVswEHUoy1xqLZKYWnb0KoPN-SQ7yYRDDpSJBAMZDnHhjFm8BYvQQvgSZQcFKLH0PtOwdKo1UheG-Ir_xp9qBfeqJ2w5Ud6knslIdvfl6xyavNlqGjQ3cTRj4dObWcUcaE7lnow7z_TSD9Q2D3hIzpq0F1WtYHF_rgf_clLt67cq3dxJoZTEWeoPiBBWE5-Ghv5POpr4vlUBl7OowiyIdRYFG6AUIiVge5Fm5FjW0KS0oOOwUVfPEUyN2XW7Cb0psICKd9GzObr1a2kCHXAYb5Jw6ejIkg_qD8w-YiiR79O1gJd0o-ubagsRRZBIxFzxLMVAw7WLnnq1qfUUUNshvTclCnC51DhzlGRmwTR8PdZLbzKPtYcROq8aW8dY30ZqYVg17tS-CQDrCkgFp4TcXxZD6MatuZHtn2KgJPPqxmRmoKTkfE5RzD_MVI8ONsONOAbDTwDpGvrhsUad_dCO4hbvol6qKHq4ItjqV3v2x7iUj8UzotyEsYBqV8kNMs7Jaxass40Fcda5O3DPa_uM-lDxUCP0NnOT-9GCcLUymsJwGAwQDZLTZIGdVBfvEQ2RX248YkeLOG0bf5tQgmC-cuj-K3vrcUcr9vS6C7RN1LHY4y3oLTzru46tLTsl4CdiQyRKK3epxBETIpYi2TNYiJg8jodN4f4FPxGK2Yuk653_zfQtus_MQwS9NGjJc267ZccthJMrQyv-QL8VmdEaaNdcIcOUJ9FvQ-MPy9EnMjgeKfRHtmACnN6n-H4l8rygKvwhVyhptBquFg2NyOJ3tBuT7P6WMrBIw-W4e46tuUZ23XUWNeQsgkfMjG_Xgxo4bsIFjcyxyweGqothRToRgHSuXhL2sduVxYD9zVSBsN_nMwkPLcsffRBR8AL0XQO4GYWpbPZhSoA8VeoMN7KbYWY3sVDUK5V66oSbOVuPF8WPpOxUxp5n475L6T6QMgg2HpQA4XNPNOkmk8Q7t9k6EK2osINQ-LK1y3tA18VtHYZmTKadsmu7GVI2WlKP2o1wIwiWzJH6z7ae1xOTyEMeK0frGWcQip7yz5e67zB_BkccFq8-7yi3P4Jn4gudRsBdbrKbcqqY6AnKy7elpxtssmdJYfKZGtM_cizr3-Vwi-ejpZxly28Cn-qAV7z49UzuSZD4PvbCwTYSvmI6c6deOfdrhpNZcr65MrHpzcNdyD-tCYE9hM9TpuhMjP10txGtWXaya_EWCpAC7OwL5JSW1d2SLm_bvYrjYTNxB1_CM9K4vEPlgTuEY-ascDg3KtoM0kWLL2FnenEK9CDCL74P9MZ5oPFuX0wGZZ_MYEBNyVY6hBCP25XrfCMMxEgMlhRMeMMIiE4Jh-ax4jqB2v2T42TAlM3SaS9rqWH4NJQwh11wf54NUpIJr8_yUMxn5A9QQKUZZux92YcSf7P7p3nj8zzU-K5wwWgZhAoQKoce5icJpBog0FTIOWA4PMhUgNnTFjnGjJPIr5hmQRddnQ7Cz8ZGTnvjO8bpEO7WxTN4jpjJl25erMb-JA8xYAd5qS7XcXlDjXXYrgNGW-_SGB1lFvKYTINSboV9o2oABRB8_RjZjkKc5BmKTF5AbhmXXlhSUKM-9E0eEr58sJA6qJQ==",
  "id": "rs_017eb4d8d2d449b8016ab42751449087d0a4ce19b233e50422",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.015,\"right_z\":0.055},\"note\":\"The green fruit is now nearly centered in the right wrist view, but it sits at the bottom edge and the gripper is still high. I’ll move slightly toward the base and lower to just above the fruit for a careful final alignment.\"}",
  "call_id": "call_eIxV8UBQiFOwP4MSe5onbxKp",
  "id": "fc_017eb4d8d2d449b8016ab4275532e887d0ab949d441a799a73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eIxV8UBQiFOwP4MSe5onbxKp",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6147, -0.4011, -0.0139, -0.0311, 0.9969, 0.0746, 1.2324, 0.3466, 0.1696, 0.0731, 0.0139, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1783 left_yaw=-0.0012 left_pitch=-0.0229 left_roll=-0.0007 left_gripper=0.9969 right_x=0.3195 right_y=0.0145 right_z=0.0477 right_yaw=0.0058 right_pitch=-0.1467 right_roll=-0.0366 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.265, 7.2, 1.8584, -0.0464, -0.0611, -0.0122, -0.0068, -3.5214, 5.9966, 1.9609, -0.0122, -0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca6b490c7ff4a31ad1ab0e576e8f9bc95f15b76794916d4ff453fb980a3277d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ba2a5f5e8e0b1b25ca63a1b7f0574322a2fb1b95ed9c168b3a985d78e5cfaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe0833fd6f5bf7200a740cd6f794b72b894c15ec256537a79ebfbc0114009938",
      "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 · 3.305 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]: [-0.0185, 0.8005, 0.6151, -0.3801, -0.0143, -0.0299, 0.9973, -0.0223, 0.8005, 0.6197, -0.387, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2965 left_y=0.0006 left_z=0.1833 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9973 right_x=0.2962 right_y=0.0 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -1.347, 10.0171, 1.7656, -0.1441, 0.1099, -0.2857, -0.3897, -1.4291, 9.0735, 1.9023, -0.0806, -0.0464, -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]: [-0.02, 0.8021, 0.6147, -0.3901, -0.0139, -0.0311, 0.9969, 0.178, 1.1549, 0.6441, -0.1768, 0.1535, 0.0723, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0001 left_z=0.1806 left_yaw=-0.0012 left_pitch=-0.0118 left_roll=-0.0009 left_gripper=0.9969 right_x=0.3443 right_y=0.0381 right_z=0.1309 right_yaw=0.0098 right_pitch=-0.1109 right_roll=-0.04 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.3197, 7.0085, 1.7411, -0.0513, -0.0464, -0.022, -0.1709, -5.2991, 9.1009, 1.873, -0.022, -0.0464, -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]: [-0.02, 0.8021, 0.6147, -0.4011, -0.0139, -0.0311, 0.9969, 0.0746, 1.2324, 0.3466, 0.1696, 0.0731, 0.0139, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1783 left_yaw=-0.0012 left_pitch=-0.0229 left_roll=-0.0007 left_gripper=0.9969 right_x=0.3195 right_y=0.0145 right_z=0.0477 right_yaw=0.0058 right_pitch=-0.1467 right_roll=-0.0366 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.265, 7.2, 1.8584, -0.0464, -0.0611, -0.0122, -0.0068, -3.5214, 5.9966, 1.9609, -0.0122, -0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca6b490c7ff4a31ad1ab0e576e8f9bc95f15b76794916d4ff453fb980a3277d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ba2a5f5e8e0b1b25ca63a1b7f0574322a2fb1b95ed9c168b3a985d78e5cfaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe0833fd6f5bf7200a740cd6f794b72b894c15ec256537a79ebfbc0114009938",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCdbqHOvn0tu1dBuCT8p9RVm7x1VkK4Isuz5MIIn6vgaqbvteci2wm5hm3YtecHKObu7QK2QjtKr53s9t8JPKtYcjiSdhcGYf5o3ypqy20C9-A3c-Wu9D9DJfYJM56E1HyhDL_P9_g_ktwmqLNfMlmLDBn69HBvW7kB8VzdC_TPwoN7099YQp-EUHfGjOFdcGS_sjampdGjpZB8oxdm9GZoK8dK8MWxN_oWIbglz0REXPIEWLNZ3xACAN8xcnNdVZQvOYDkEvF8rLgS__x0YiLMJBcP-i5VaEAlAHMMgw3wGMwG71iEdBVoFlOQ5MrxZMvsHt67e0-sqfzCQkPRgh93Zwccy5e3Cqiy4BOZMVqg5FMtZ1siAxLR8yrY9vd2h86AE-QtZIFo4wDYNVW_VV-fqU9WHBYVbJ-Z7NNqSV1y4-gMZgoD_WvrSMbKI9Qn6XCVqve2FuxuNeIeCuxUCj3ZUB9VtZsGvkQ6GgwX5_XUA21bg5GQ6xCiRRveoO--zEIhXo9tEbxSAARDMMqc2vNgEFS2ym7kafwNCwtle9Yy1pbQ-ZNMYDBePG2N5ltSthvpBGmnaV3ng-J7V5_W4xNT5TAqEurZEaC_P60zTNpH6YP51qXAaswwhdk2yuHFwUHBKafcdu3b4stfLa10EwsM_KwVUjAEXd-CvVAUOLjfDUSgKY1abzbyS9hHIVEsCd7rgJDrIQRyDkrS2XtLnzyE2gNK6m5kUDNXiHLXEn6RxAHMlnxWQlNGmxvrzBDM1LfHt-0DuTu8KqPv6Dpv43kFPylLxzPrtdPsHC7aqfv8-hpdPYp9HBPLTL385Aw7FwiHPk6KzUgGobWa_d9tCfGf2Hnx_0hXIxXCoIZy_WSfj2cYpz0eloYWt2RhwqnDY0WqdB2t7UwT2uljKGE7yQKHoQuVFNRSwMjNINoA83XNWAYAg_7jJM70Igj7eap6nyJ9FJKffEqpyCP2RoiSYhaymIvLAv42mPsfWFBus1Oaz_Y6mbx8r-IR18Ry-xRGplTFLjhG5H2eE0qh6vcAmvTIu9RZbm5RTcRoYuAuCLrcnxNsstN_AXOPlXCscEFRoca-z1Lcz6GFgFTvikhEmi2qc9QfG9lbPIPAoivd_uk6_azohKQPsRrY1CZx4nC2RS1iwVl3IUucQBJSH1pb3lASOyIQnTMXlm-oWnOvJG0Prwwih4FHu3TmhfL5OaTYntXqJVqL91QN4621n_H5CFqQjPAJgVtgEfzcr3sHLk9csgbEGC9XzRppFV_VJqzwaIcWommJh6I4dyunPlau5YBeV-WKiot6Z5-shL9ZAUL1Nqg-DhNv34ttOOIywNNN5fM52OdclXCwxNZE_HKkkaBKXgfHnwGBLrw98-YD4iM5K_5kaYmSJbtbTPRBpjFf2YBbLIeQ44-AQLtQZALRLX8Yz-VIlyd5cZiPPkf1BBk44ZH0oqejGlqfnBmXXKq7e900OyNwAh68qHs-ZzsBBENSJIvQEa1cdel9wQXBcryT6h_B8j1ne6Hh80OLSgtlvj7k1",
  "id": "rs_017eb4d8d2d449b8016ab42759998c87d0b744e8d3695a5683",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.015,\"right_gripper\":0.0},\"note\":\"The green fruit now lines up with the jaw column in the right wrist image. I’ll lower the jaws to the fruit’s lower half and close to test the grasp.\"}",
  "call_id": "call_RJ31pszzUmtNfjdsfxmeK3Ju",
  "id": "fc_017eb4d8d2d449b8016ab4275a799087d0bf92d1cb0e0d697d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RJ31pszzUmtNfjdsfxmeK3Ju",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6147, -0.408, -0.0135, -0.0311, 0.9969, 0.0765, 1.2304, 0.3481, 0.202, 0.0734, -0.001, 0.3426]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1769 left_yaw=-0.0015 left_pitch=-0.0298 left_roll=-0.0008 left_gripper=0.9969 right_x=0.3252 right_y=0.0155 right_z=0.055 right_yaw=0.0157 right_pitch=-0.1113 right_roll=-0.046 right_gripper=0.3426\nstate[joint_eff]: [-0.1846, -1.0872, 6.9949, 1.7851, -0.0464, -0.0269, -0.0073, -0.1983, -3.453, 5.9966, 1.619, -0.0073, 0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7666f075411a217037990bf6d1598b38df1e4029a021e172d81669dd781de81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c404b40b2502e04d5add4197648b3782b17182715f48b650ef2a5aacba54723c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c41d8871dfdcddbd172dded6d86c141e292bb4fdcec75eb0d609042959ebabe",
      "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 · 3.121 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]: [-0.02, 0.8021, 0.6147, -0.3862, -0.0139, -0.0311, 0.997, 0.448, 1.2137, 0.6453, -0.1104, 0.3481, 0.2287, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=0.0001 left_z=0.1814 left_yaw=-0.0012 left_pitch=-0.008 left_roll=-0.001 left_gripper=0.997 right_x=0.3403 right_y=0.1007 right_z=0.1299 right_yaw=0.0343 right_pitch=-0.064 right_roll=-0.031 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.2239, 7.2, 1.8242, -0.0562, -0.0659, -0.0415, -0.1846, -4.7385, 8.8, 1.9023, 0.3736, 0.1832, -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]: [-0.02, 0.8021, 0.6147, -0.4011, -0.0139, -0.0311, 0.9969, 0.0746, 1.2324, 0.3466, 0.1696, 0.0731, 0.0139, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1783 left_yaw=-0.0012 left_pitch=-0.0229 left_roll=-0.0007 left_gripper=0.9969 right_x=0.3195 right_y=0.0145 right_z=0.0477 right_yaw=0.0058 right_pitch=-0.1467 right_roll=-0.0366 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.265, 7.2, 1.8584, -0.0464, -0.0611, -0.0122, -0.0068, -3.5214, 5.9966, 1.9609, -0.0122, -0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6147, -0.408, -0.0135, -0.0311, 0.9969, 0.0765, 1.2304, 0.3481, 0.202, 0.0734, -0.001, 0.3426]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1769 left_yaw=-0.0015 left_pitch=-0.0298 left_roll=-0.0008 left_gripper=0.9969 right_x=0.3252 right_y=0.0155 right_z=0.055 right_yaw=0.0157 right_pitch=-0.1113 right_roll=-0.046 right_gripper=0.3426\nstate[joint_eff]: [-0.1846, -1.0872, 6.9949, 1.7851, -0.0464, -0.0269, -0.0073, -0.1983, -3.453, 5.9966, 1.619, -0.0073, 0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7666f075411a217037990bf6d1598b38df1e4029a021e172d81669dd781de81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c404b40b2502e04d5add4197648b3782b17182715f48b650ef2a5aacba54723c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c41d8871dfdcddbd172dded6d86c141e292bb4fdcec75eb0d609042959ebabe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCdg9eDsbBvI2-23HMcm0PGlDTNNW2USQawXq6qckeoLMSCJdrwH-RCqClZ9be-90wg0qfAycQqS6B_WELzOo6tkjpHhZVjrXXUPLR1jO53DU3KM7wI00Dx_hcrqQ_kBUg-06_nmnchDJ7kq0NjlGSiSHvxLWXfIV01nIlehMQ1TGDozb4hS-qE1K8R4Z7dkRS8szKiaPIcg_NWpvcdoCOshanVsYPfSWeSgxkabODDvExdj3i2f4_5gdjZe5u5226vB0d9FfyTGisBny52D2WrZUBc00xpW-jRvzKKvLooZt8F7h6SCxCyMzLzFwHgsshX1KWe123okXnJMxvNFybzzv9m9qdVGFJfCzYN86tFHT6TtzfPmnRxdQMCwpaycZNJhMuDhaT-6UdovqRauSQC61noOKA34COkKCDrBvSiP7IgV1dWBSJfVBsJI13zQpg62umFvmvAHjEsr8VdH1LHRT0LBUtR9Wqte58a_unQIZbLNP0oeDowXyEQpnyPpb970yuY6eVbR_qllV0tRAWngvr1KNwruXqaB0GM4YR2M0JWNoT4BK1eRhjG35GhfQoYpVvuWWC9QSuB_jhM8NuHl8JXM4T-4Pe5XKlzXzmi6flakpVPF-3HsiMiQH9_ULVB30HQCA2hqIYwycQ5ItwPxPgAMgDtaqfy2VPg0E_FF7qtqltLhZT-BV4IxclPwnj7LifWPUoFsOhibFzVoGXjcU408WmPB9_atcx61sC-WIQRYPd9zLWheBlT0oTKziSzQYdYtwDbCro9CEsuyj5nho6g-y2R3MFXBaGWJji9X_n_0pTxqb24fxm40FElalEmGEb1wd4gwjaRpRjHkuWZgssAruRmUUt1skIcuj8W7-U_lIz41rh0gYJ2Oh_uzUXPfTLLB492MzrssJ0yxvCcItxx2u52Q58WE18X0XQUORIT2PEzcM4GSWh3Zu-Q54eciZfC8AVKQTMteQXiYzJI9ysXSwNSWXIo3t--o5N7eUAKyY13KNwlRjvjZYr370pPMt4Q0zOpHUoDySu857XcvzWsY_wbPR4RxXWYiGYGnRk0wbeJFHfDkhUBo2j5LvxUY0M36IbbjRSeSd9y1g4Crv41A_7qNveJrXLpOthNBXYSNt7pudxK0pZRrqvYSefVdvhDQOBQswTDDwScXQG6WUvm829ULnkNlruwmiRvvwU_mVacNk0JsREoy5H8rk5zhNVRtO0B4a7RnfMijMTfYbDRmJVKuS4-o3QvnlF4RB1xvTrQzHBnLktXZZ7ikR7_YhJOD7V6yOHX9kyGEnvejd9yBdP98VaJ61euH1EGQpm78BNs76mdAiN-BpYGROSEG1BvZW9UHdSSG4RaIoUv93WOQOXbrshJFJyE8PGl262-z8gbdjmTrjAVVSRZmts46AJ_pN7N-mP3vPzvOge6QNGDYALX2GgFlq1RHY4XIOrz3ByoGZ2M95orkinP5XOlJ33anj4Z3KQ1GeKXz3Hq1DHGrE4E4y9040KD2BShfMRVcdZenzKVj4IXqNJtt_TYI0Cq1yPms8eD9DgBIcnbCBphmppkimTSzH4oYa4P1Bfg=",
  "id": "rs_017eb4d8d2d449b8016ab4275e62a087d08d6170c89b43f300",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The right gripper stopped at about a 3.3 cm opening around the green fruit, which suggests a grasp. I’ll lift it and check that the fruit comes off the table before moving to the blue bowl.\"}",
  "call_id": "call_obXccntgHP8rIMYDXHDI2V5T",
  "id": "fc_017eb4d8d2d449b8016ab4275f173487d088c78c1dd57ae8bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_obXccntgHP8rIMYDXHDI2V5T",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6147, -0.4171, -0.0139, -0.0315, 0.9969, 0.0765, 1.0336, 0.741, -0.4397, 0.0727, -0.009, 0.3432]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.175 left_yaw=-0.001 left_pitch=-0.0389 left_roll=-0.0008 left_gripper=0.9969 right_x=0.3198 right_y=0.0152 right_z=0.1611 right_yaw=0.0203 right_pitch=-0.1633 right_roll=-0.0547 right_gripper=0.3432\nstate[joint_eff]: [-0.1026, -1.306, 6.9949, 1.7802, -0.0317, -0.0513, -0.0122, -0.3624, -4.0137, 9.7709, 1.8144, -0.0122, 0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8417f1d0cbc74d97a913c844363e3134912946a3ff4c2eb0f715535a6aaea1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34de0cf6b9bbbe2f5bfd558bfc49dd98dcb6bab8b4cd2cfe2fc655085638b67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf9bd7c099a4379cb166950ee829274c2b9340bb2674772fa3e269393a0f991e",
      "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 · 2.15 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]: [-0.02, 0.8021, 0.6147, -0.3901, -0.0139, -0.0311, 0.9969, 0.178, 1.1549, 0.6441, -0.1768, 0.1535, 0.0723, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=0.0001 left_z=0.1806 left_yaw=-0.0012 left_pitch=-0.0118 left_roll=-0.0009 left_gripper=0.9969 right_x=0.3443 right_y=0.0381 right_z=0.1309 right_yaw=0.0098 right_pitch=-0.1109 right_roll=-0.04 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.3197, 7.0085, 1.7411, -0.0513, -0.0464, -0.022, -0.1709, -5.2991, 9.1009, 1.873, -0.022, -0.0464, -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]: [-0.02, 0.8021, 0.6147, -0.408, -0.0135, -0.0311, 0.9969, 0.0765, 1.2304, 0.3481, 0.202, 0.0734, -0.001, 0.3426]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1769 left_yaw=-0.0015 left_pitch=-0.0298 left_roll=-0.0008 left_gripper=0.9969 right_x=0.3252 right_y=0.0155 right_z=0.055 right_yaw=0.0157 right_pitch=-0.1113 right_roll=-0.046 right_gripper=0.3426\nstate[joint_eff]: [-0.1846, -1.0872, 6.9949, 1.7851, -0.0464, -0.0269, -0.0073, -0.1983, -3.453, 5.9966, 1.619, -0.0073, 0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.02, 0.8021, 0.6147, -0.4171, -0.0139, -0.0315, 0.9969, 0.0765, 1.0336, 0.741, -0.4397, 0.0727, -0.009, 0.3432]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.175 left_yaw=-0.001 left_pitch=-0.0389 left_roll=-0.0008 left_gripper=0.9969 right_x=0.3198 right_y=0.0152 right_z=0.1611 right_yaw=0.0203 right_pitch=-0.1633 right_roll=-0.0547 right_gripper=0.3432\nstate[joint_eff]: [-0.1026, -1.306, 6.9949, 1.7802, -0.0317, -0.0513, -0.0122, -0.3624, -4.0137, 9.7709, 1.8144, -0.0122, 0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8417f1d0cbc74d97a913c844363e3134912946a3ff4c2eb0f715535a6aaea1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34de0cf6b9bbbe2f5bfd558bfc49dd98dcb6bab8b4cd2cfe2fc655085638b67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf9bd7c099a4379cb166950ee829274c2b9340bb2674772fa3e269393a0f991e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCdlhOI_o4OwYixSkbMa43-20hnjnkh63BfYekXdNXZrm3dB79k1RKbFIKYsrPPR-KMeC9c2p9mq0940LUAVyadEF0mGmK0WVJsTG9V7GD6QRMHGznlWA-t8bbzk2-Jjo20fkIEHjfUtvV_dovztW6buJXV2n0237w8PfBn0roenJLNF8v1D2SmL1bnpSjn0KGcDEEVZCC3MLT2UyFjS2Rr0FdYJhY9YSYl8M2KUtmhKoJjSQIfFvVWbCJMgK_MK7j3awksGeQsLQX2f8jCalbLMhNH7B_DpwtzcQKoX2rKtiwswSY1UO56aHr5YFzlf3G0Pv_8zr1x0e3uw_L-GJgIWSU4BDpU0IOIb8EyNwMB-H4H8yTZg6YMX7f-0k6qdo1LAa3gahd5F6tsJOTNsLIj2wRdxaOIRHh57tFPVudps0hco0Yh0ozgBzliR0j4KuRUruYiDdQKbfNTqU5I4IYaTyM4nU3gciT1utAqBawd8QE-jT4qaFbSeCUh8kdojAwVA62vmx7QPBaGI5e9BV-ELLP9aplmkUBNHSbTHik6CT-RkgmRQTmP1wO2uaRpLdowDD1D6Wy4E1K2VJUxIYvIjZhn4aG1EbFRidDooby9GkelZvVF3p35fYLDxn8jgKETZmcq_hKdMbIyJFpjaXdcVpFHKlxHw1lbJIh7UeHLF9z-5_nUq5MZcsfR_C8gaGAzVpn6tK55ClRheHlcMLTx65OtauuprMspGjEjkzVTC-d7qvNNK4DJmm_bHtI4QVur1TzxOlHFonHWoJ-4aKuTKzY91fU40mHJEgyszPyLyW9psdamVX142pfxF3TMMeyBakP1KXXAnPrwnt1azbPkuBLNZV212x59yOjeCk1xP-enRirVbhqx9ihS0lTrBjtYYQJeLpaq8Kx8hwFLPhykUUoNO1U8SABAeAEDxfOUtGz64-92ZnMdo-FrmxiUvP2joSSoTglq-Zn7mkpHUWA8v3SET2hf9ah2aphYddOpWxcvQQkIRRImL15mVogOG5LK_DVNL72USjzbQNzypu6sL69IA1EIpTHISxnyWxu1r9q84JLBy_oN_yxcOhECCyEI0ObZS5DH1oeG82nHIFRfyCrvX_7yzKOD0tfHdmmYIWAOoFMDzejrCJj_yJulKVQXdm1drKsNo1ou6zwwGHXjVnrHH1yitiQYYFjO-h-nij6r0Zw3-BsX0qDgiSLUJYnuSq_0-nt49wvsAkFgve6JKg5-RHbiBfZ9kU-fF-ldSeAysJY_L-X214_bh_Tp9umtvXZEOZlS9vOiX-KFh_Ypy3BpTokaD_KOGfPD4Ru0isc0BFKHUS8H7qcL5nsJU4NqF3-DkIT_ktPDkwHf2LzlvdFv9TCyYte7xWDkIhYCx_PC7WJXrs1hnJI4LTsMFVKPsGiq69IA37k3Yg9ACbKLVgqzD_LS8j23bjidPFAMudFX9At9yUcCX8KkZLjlej9ETvpucwd8C3zBee5iY9bYCI1jqaxDwuss_P-ubAL2CUeHFnutSaS6hECuQRYAnhXx9OBSxzEPJ5mJnd7ESgp0VZiaxbY-aBXXBA9ViAe-_1XQO8ONtg80kLCbURcvAayU3cHPvExItODw_2v3kpXe6_9HadNVNBNakLB7nUw7T-qMHTaYegiUTj1WmGQgE2xc6HbxKdw9jznwilJNNc-JuZrjm-DF8HExDGR-D3Hj7gOAgbbKbImdn5K8QoiXty18b",
  "id": "rs_017eb4d8d2d449b8016ab4276300b087d0ac7bf4dc9444a3b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.15,\"right_z\":0.19},\"note\":\"The green fruit is no longer on the tabletop and remains in the right gripper. I’ll carry it high over the center of the blue bowl.\"}",
  "call_id": "call_mrCYfEznGtdKsTguyAYQmyCm",
  "id": "fc_017eb4d8d2d449b8016ab427646ad487d08d7c45735d35063c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8055, 0.6147, -0.424, -0.0139, -0.0334, 0.9969, 0.4751, 1.5993, 1.2491, -0.5076, 0.3408, 0.2462, 0.3453]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1727 left_yaw=0.0 left_pitch=-0.0492 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4105 right_y=0.1488 right_z=0.1694 right_yaw=0.0469 right_pitch=-0.2288 right_roll=-0.0868 right_gripper=0.3453\nstate[joint_eff]: [-0.0479, -1.0325, 7.0906, 1.79, -0.0659, -0.0513, -0.0073, 0.1162, -8.1299, 9.6889, 1.6679, 0.3297, 0.188, 0.8083]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ebef7a37d859cbaf7ddb3f305a27136e66b0a36968f48fa0a665b91319bd03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b6245c7ed57291a31ee46ce829473f95375340cbaf44d7d003be33a42c4548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a5c3d22eb0a99dff935696b10b459c10f08b503a8f9766174acf43470cb3d",
      "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 · 5.528 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]: [-0.02, 0.8021, 0.6147, -0.4011, -0.0139, -0.0311, 0.9969, 0.0746, 1.2324, 0.3466, 0.1696, 0.0731, 0.0139, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1783 left_yaw=-0.0012 left_pitch=-0.0229 left_roll=-0.0007 left_gripper=0.9969 right_x=0.3195 right_y=0.0145 right_z=0.0477 right_yaw=0.0058 right_pitch=-0.1467 right_roll=-0.0366 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -1.265, 7.2, 1.8584, -0.0464, -0.0611, -0.0122, -0.0068, -3.5214, 5.9966, 1.9609, -0.0122, -0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6147, -0.4171, -0.0139, -0.0315, 0.9969, 0.0765, 1.0336, 0.741, -0.4397, 0.0727, -0.009, 0.3432]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.175 left_yaw=-0.001 left_pitch=-0.0389 left_roll=-0.0008 left_gripper=0.9969 right_x=0.3198 right_y=0.0152 right_z=0.1611 right_yaw=0.0203 right_pitch=-0.1633 right_roll=-0.0547 right_gripper=0.3432\nstate[joint_eff]: [-0.1026, -1.306, 6.9949, 1.7802, -0.0317, -0.0513, -0.0122, -0.3624, -4.0137, 9.7709, 1.8144, -0.0122, 0.0171, 1.033]\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 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]: [-0.02, 0.8055, 0.6147, -0.424, -0.0139, -0.0334, 0.9969, 0.4751, 1.5993, 1.2491, -0.5076, 0.3408, 0.2462, 0.3453]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1727 left_yaw=0.0 left_pitch=-0.0492 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4105 right_y=0.1488 right_z=0.1694 right_yaw=0.0469 right_pitch=-0.2288 right_roll=-0.0868 right_gripper=0.3453\nstate[joint_eff]: [-0.0479, -1.0325, 7.0906, 1.79, -0.0659, -0.0513, -0.0073, 0.1162, -8.1299, 9.6889, 1.6679, 0.3297, 0.188, 0.8083]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ebef7a37d859cbaf7ddb3f305a27136e66b0a36968f48fa0a665b91319bd03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b6245c7ed57291a31ee46ce829473f95375340cbaf44d7d003be33a42c4548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a5c3d22eb0a99dff935696b10b459c10f08b503a8f9766174acf43470cb3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCdxH25EUzhQm0SHwMBvttRGYdQK3QgB8LIhIj2R1_9l_9LTz858dg_c2jdATZfadtHyEcMqM-3Rfur1lmuTh50gy_qCqmJcnF-LQHXG6JLicy2fnDaN-E7_TQogtpzyhWJvGg3Ju2f94-DS8SW2B43KtCoUG9IDO3pa7nUdb18ZfwhHH5ebtS6x8-PDwjNurYdtwihYsfcqyxvld3FOfVEYH31mLdv6IOWvmcKqCbbRqNxpzNrBCjxKun2IAWFEowhXEJy-QqAyjojr09CQMBjJU3bWHr1zV-IHYKaA1weZyMV4oiSSOqaTqI9P1ilL7UggkOx0eHr2imidICRrc5PTwNbhryEepRPDWK9E5wTa1aBWNb3R-A9hxJPXsHfr2fxurkQmwpq1NsF9k3ty3v3oHpybWjT3FPKeJiihbrsTrDiqQkCyC4cq40_WGYMYmeLWQlQ4FfsOI31jHlupbOHAn0kRqjxzW-Y1Lg4t2W2mM9bVfE3rWjPjfnOvIi6j7fyRRPheORkimC5Xi7gJbUr5ogNFmaen_CA7siL0E3sdQ2kK9tD8ghnSy_5mPpdUZjKU6kdrFwC4HUq65pYwy1CqWdfH1lKCToATtsEbCV-QZcdfnQPguIlnCqURHAzEPI0hwqfuu0rxcPM4MdCNJAm-XfqpRDaBJLvbviWNRlxzuddPD-IMbTqd2tpwkwEMVERlYEbTKOzpWfoGY1lt5TbxPfQrMfrPQplpG51pNouQp_5gYhjpmNjvJjRxRr_aSe1ZUkpkn6WyBq4vceAP1f9y0WAiBzoQD73UYVzeoc5s8H3A_FqhpRhy70yOdYHlmnBvmbEr-l2clcxnbWqKUPWOWdVKg4dwIY3SrscZzzCmA8Y1MXagBbbrqRiMd2Mg_aIO0KmAJqMmYFKhMbQ-eHyBCwRjTPLz3AwO_0Wz0OL6fh4u-nE1EBXB_b-6MDwSZERA6CPZpfec9rRz3adyQTnyeu8XGSizLZMKC05lP5CRWgbwMttQHHZDpIEgMtUnOWILm9mZLi_Uno62lhrhWEs0_PAFoTKujCHNK_jwO4slhTU543_hwjAujK1xm2vzFoJn3iU-bPPyM0obRd3Spj5CmOG4rmDrhMFAVvFajhqqgTtNcoiA83nsQCWQnBp14eyvlapzSbZrCRr4HTEt3sDB20DnBupNUbdaKiJwLButmznLLiV42icJQbQEaVWDMBGVlnxU3qffY3QZeIEE69Cjg_Eq1Nq-V_BhMm8RR3BX2LzzcllZG1POAaSrr8tjjV1ciTPr4kv-1tBwK7kpxcK-KRK73-wqXXyHt9UJH-HOwp56GiUwPfZ-IkTQuwnsTSN-t6piMgVcL5BhrxOxcjApuTf3rau2Pcm4G1pIkRjGJIaMvUHXRbCNA35vjGVrQyBwJq4fO-S2-lnP21G-KYjUkg6zkGeBmXSrwfzIEG1LPseHKwwFLrsjbBKC6rkUIPkaXjuS76rHx5at8Gzg4gMKbpQLjuOqEP8ISnPTplBs5_M=",
  "id": "rs_017eb4d8d2d449b8016ab42770929487d0937b40756ce8050e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_gripper\":1.0},\"note\":\"The green fruit is positioned over the blue bowl in the overhead view. I’ll lower it into the bowl and open the jaws to release it.\"}",
  "call_id": "call_UpSY3iHUjzYmJcD0mnkBJCbf",
  "id": "fc_017eb4d8d2d449b8016ab427713d0487d0b0f73b899d198b94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UpSY3iHUjzYmJcD0mnkBJCbf",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6147, -0.4244, -0.0139, -0.0334, 0.9969, 0.4759, 1.6588, 1.05, -0.2771, 0.3367, 0.2363, 0.9987]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1725 left_yaw=0.0 left_pitch=-0.05 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4058 right_y=0.1476 right_z=0.1008 right_yaw=0.0537 right_pitch=-0.2564 right_roll=-0.1028 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -1.3607, 7.1043, 1.6777, -0.0806, -0.0415, -0.0122, -0.3624, -7.9795, 6.3111, 1.6679, 0.1685, 0.0415, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e3a9f4b1324c56ef6427a14efda22ffad06c20d15e82cce906af0a7b3c27fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5e2d1a0ba4f4d89b03e3439605a07a7632a4cac5fc91d6a3ddb88797662242",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9796c68099cb42d4e554fde9ee33d1b1c39fc040ada15cedfceaa7f97af97d",
      "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 · 4.744 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]: [-0.02, 0.8021, 0.6147, -0.408, -0.0135, -0.0311, 0.9969, 0.0765, 1.2304, 0.3481, 0.202, 0.0734, -0.001, 0.3426]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1769 left_yaw=-0.0015 left_pitch=-0.0298 left_roll=-0.0008 left_gripper=0.9969 right_x=0.3252 right_y=0.0155 right_z=0.055 right_yaw=0.0157 right_pitch=-0.1113 right_roll=-0.046 right_gripper=0.3426\nstate[joint_eff]: [-0.1846, -1.0872, 6.9949, 1.7851, -0.0464, -0.0269, -0.0073, -0.1983, -3.453, 5.9966, 1.619, -0.0073, 0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8055, 0.6147, -0.424, -0.0139, -0.0334, 0.9969, 0.4751, 1.5993, 1.2491, -0.5076, 0.3408, 0.2462, 0.3453]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1727 left_yaw=0.0 left_pitch=-0.0492 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4105 right_y=0.1488 right_z=0.1694 right_yaw=0.0469 right_pitch=-0.2288 right_roll=-0.0868 right_gripper=0.3453\nstate[joint_eff]: [-0.0479, -1.0325, 7.0906, 1.79, -0.0659, -0.0513, -0.0073, 0.1162, -8.1299, 9.6889, 1.6679, 0.3297, 0.188, 0.8083]",
      "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]: [-0.02, 0.8059, 0.6147, -0.4244, -0.0139, -0.0334, 0.9969, 0.4759, 1.6588, 1.05, -0.2771, 0.3367, 0.2363, 0.9987]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1725 left_yaw=0.0 left_pitch=-0.05 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4058 right_y=0.1476 right_z=0.1008 right_yaw=0.0537 right_pitch=-0.2564 right_roll=-0.1028 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -1.3607, 7.1043, 1.6777, -0.0806, -0.0415, -0.0122, -0.3624, -7.9795, 6.3111, 1.6679, 0.1685, 0.0415, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e3a9f4b1324c56ef6427a14efda22ffad06c20d15e82cce906af0a7b3c27fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5e2d1a0ba4f4d89b03e3439605a07a7632a4cac5fc91d6a3ddb88797662242",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9796c68099cb42d4e554fde9ee33d1b1c39fc040ada15cedfceaa7f97af97d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_017eb4d8d2d449b8016ab4277800c887d0aa7f3c139fd35b93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.25,\"right_z\":0.14},\"note\":\"After opening, the green fruit appears beside the blue bowl rather than clearly inside it, so I’ll revisit it after clearing the view. For now I’ll move the right gripper over the yellow fruit near the bowl.\"}",
  "call_id": "call_bQTOkmVCuXbdJs6IVP9lZpZD",
  "id": "fc_017eb4d8d2d449b8016ab4277ba5e087d0b1c65e0df6796f62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bQTOkmVCuXbdJs6IVP9lZpZD",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4271, -0.0139, -0.0334, 0.9969, 0.8577, 1.6703, 1.2381, -0.6064, 0.5308, 0.5549, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1715 left_yaw=0.0 left_pitch=-0.0546 left_roll=-0.002 left_gripper=0.9969 right_x=0.331 right_y=0.2514 right_z=0.135 right_yaw=0.0873 right_pitch=-0.2746 right_roll=-0.1063 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.4017, 6.9812, 1.7118, -0.0562, -0.0269, -0.0122, -0.2256, -7.4462, 8.4444, 1.1306, 0.4811, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e29c34ae46253d5d09e42ce804ffa568e67a333b0f389de2f245933e169184",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce895e99a666d5cab6e67d324b49241582394e4c4107e895b82a70ead6333779",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78fdb918dc8a5622f7660fb2c7380d2557615ff80467acc1c4b7c6d3f5420065",
      "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 · 2.652 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]: [-0.02, 0.8021, 0.6147, -0.4171, -0.0139, -0.0315, 0.9969, 0.0765, 1.0336, 0.741, -0.4397, 0.0727, -0.009, 0.3432]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.175 left_yaw=-0.001 left_pitch=-0.0389 left_roll=-0.0008 left_gripper=0.9969 right_x=0.3198 right_y=0.0152 right_z=0.1611 right_yaw=0.0203 right_pitch=-0.1633 right_roll=-0.0547 right_gripper=0.3432\nstate[joint_eff]: [-0.1026, -1.306, 6.9949, 1.7802, -0.0317, -0.0513, -0.0122, -0.3624, -4.0137, 9.7709, 1.8144, -0.0122, 0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.02, 0.8059, 0.6147, -0.4244, -0.0139, -0.0334, 0.9969, 0.4759, 1.6588, 1.05, -0.2771, 0.3367, 0.2363, 0.9987]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1725 left_yaw=0.0 left_pitch=-0.05 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4058 right_y=0.1476 right_z=0.1008 right_yaw=0.0537 right_pitch=-0.2564 right_roll=-0.1028 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -1.3607, 7.1043, 1.6777, -0.0806, -0.0415, -0.0122, -0.3624, -7.9795, 6.3111, 1.6679, 0.1685, 0.0415, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.02, 0.8078, 0.6147, -0.4271, -0.0139, -0.0334, 0.9969, 0.8577, 1.6703, 1.2381, -0.6064, 0.5308, 0.5549, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1715 left_yaw=0.0 left_pitch=-0.0546 left_roll=-0.002 left_gripper=0.9969 right_x=0.331 right_y=0.2514 right_z=0.135 right_yaw=0.0873 right_pitch=-0.2746 right_roll=-0.1063 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.4017, 6.9812, 1.7118, -0.0562, -0.0269, -0.0122, -0.2256, -7.4462, 8.4444, 1.1306, 0.4811, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e29c34ae46253d5d09e42ce804ffa568e67a333b0f389de2f245933e169184",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce895e99a666d5cab6e67d324b49241582394e4c4107e895b82a70ead6333779",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78fdb918dc8a5622f7660fb2c7380d2557615ff80467acc1c4b7c6d3f5420065",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeCCH_I1BqGzr_CHrmprf8hVQXVoXLA_ALkr49D6z-14_rPmZ-A1QaeKS-Pwmri6NRS6EnUrspw2BEvJhuK9ecMmRtxx04jwutnqz-mQaD9nwIuJJsJSZksuWNQXs2nYzaT0GH-Itpp04UEpQYeX-u8uCQ2Zltc3AERS_LTBjDVIZAa8NIqrkztVesvzscTUGNEMxKlhpsNZ_BgL_-yQCuM6lZW21af8lITJWINm3JHAqv4OK02wel0tfZQEwWn5AfmPwY3N8qQFrSW43KHtJkLdoE0A-lcvtIGMKElolMbZDhDb8_-DRNW1PWUgf4EBW3sqSzI6PGbkgExOjBkO2t0jo58Jn185tsfQdCsQI-f3dqtdW0ljJdSQZWWRZfOFyugL0SuylRAO8bzvnTo59NYVr4kj3yT8e-JOkkcQc8bkfS0jMybc6Df07CTFJcIIuv-j6nfyItnTcRIf3-sLhzG7wsar6oFkqCSmK9Lz2xCc32V6YCxijQ-rJphiKahsF75CsB6R6vVpNG3KHUV3EUsXy_chXeld2xORqAaDK1pa2iV_YtntJIeD2XNeh-p8Jwg9YyLwh1qe0yZ7bEExMQhLOWJIehxOH3ZRoagF1cviTynaD6Cn3ddGNU2NMkUDqUuupARL-8GGNwbBBzQ30iW3wReMlXsWh0a9-iVHKDEbDT2yTs_wJ6ohlGS0DS7xIYqU1tqFhYps-hqmnoTltCNl3jolwdQZVS3YrZwGqvOQ-80eOLuxem6FnUjj9EQ8fJMzfByyuIqQt6zaJKJLJO39kLwXwK5Uo6r30johUZBp3EJedlnOF01SuUcA_5C8eLD95zMsDAsJ-9ajuAw04VBtL-R7an8amMheo7l-rGSrTdGzJW7_6G_mQzk5VjK-VkRNNnsVtDfH1fCdovBnieNyVKhoj7AGLjWwnB43F90ZPD9yipc4S1URRidQGIHQLLnrw9jRQnbLjPz1cGN1-7e4DUy2fUmo43P5HUd1uf-LUxkjScABVFxSzVwtMqn0JFpOe9k9lRmulSnFJss36wrmNb0BZ3a5F4o0r_U3KCGXtB_eOBaY_tbr_ry6RqpM2vTTdmoUGeaq7tp0GppcIzQ-2ZfTnNKz9pRoEYMsCQyKKahyDrZ4MfphMcKRpLOukLO1KsBijo9NNJ01A1hArmTGtvt3lBX7bwEK-5bnlGESpai1Eyf27mZPURAMy2MpZ8bnO8ERmgwFKTMi37aME8b1CDDQVPY6TZk4nit7YRshrtLtCdd_I35n6ai5Fk2nPDhaWvr10mM3r4avh2taM4rtm63nJWp7HXjb2SfYjXt2dZIeSw5LAA2MKt3Pkq_VUhwKJnO8bI9he2UT0akwh_1bQw5YTrfQV91Kpprd1Ve93juT0bo10uMhLiwf6qZxMNOnS09BtBdxvyv70Q4rZ7LwalqwbOU7s_1xZHVGVkXs8CWCvMYH-svdcfrTXVknsm5ODyDtU-TbqYp0_F1NpiJaD7GSUWgR9yH3yp6_yz4jWxED4uyJM0BfLpSYsOavVSCSEMOEWXSSpEUgYe39tBX8X4OSwsGef17N9H0L5a9JkHIcctDzrMK_lvMpbxf5HEe9CaNwK60r3IuUswG_OeJnekKkONlY3l7_GNr81os6mSW_GZwLx7DoU88p-_GoPP1Kmf3Yrw6XxSGWQme3fH6t-h3ro1DOK8tsfFzCxg3a7J4viIftv7lVBExejRBFCgcZWjrYSIJDFNVmG0dK20dWBXe31xDO-Qs42V9MHUOsdPPdpQjX1cBscdF92vhkfIIpJqNoW-xXrBdUb7eaCJ6kOijEr8hr3B4Ms4RhCJWR7jO7iVciAiTITmNAUCXKSQUan35-hmFuCMKXVmiQk8DWwjapIPuEoET8RyBj3T-rQ6b3f5PLkBkibvI_duR1U_U7RYOHrhM3UeIJ0zpyLj81eaXAzTvnsBq06OFMOhf-CSNhCj4qq2_6aEKXJnFk0FRoWaBqUCWQrosnQBxFm_w4icW5obPhoDjDvjhOwIQv1h1VxZjEwRnjfYuFWbi0OB19EzVUMjwgzRSqbhV8iBvyhstCRzJr5yVBiriO1bqrBJKYEizYAYV3c0biQKuUepMMkKxahXyZU9fgOpNF2yyxCVUUzZQuyINl6XZJe2oqH9wKKWJ9YEdnyhaMtgjHUKduDg1h0twxlWgn_v5SMOdhWglDpwxTFpPBxVyp02QIoRNi5Lr2C2lHH3yLsl5UhmhFcs4Isp0zb0Nqba49eXbR4NJPElS0e9UkeflXpB0s8ttKoogo_8CfNStCuXRZaNh",
  "id": "rs_017eb4d8d2d449b8016ab4277fb2c087d0a4f7d201ed4a7c2e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.25,\"right_z\":0.06},\"note\":\"With the arm moved aside, the wrist view shows the green pear standing beside—not in—the blue bowl, with the yellow fruit closer to the camera. I’ll lower the jaws around the pear at its current position.\"}",
  "call_id": "call_A7tWv8HlI1YKgz6h2HOhYWMM",
  "id": "fc_017eb4d8d2d449b8016ab42781eea487d0922b20e424c4c822",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A7tWv8HlI1YKgz6h2HOhYWMM",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4278, -0.0139, -0.0338, 0.9969, 0.7944, 1.829, 1.1088, -0.3134, 0.4927, 0.4953, 0.9986]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1713 left_yaw=0.0002 left_pitch=-0.0553 left_roll=-0.0023 left_gripper=0.9969 right_x=0.356 right_y=0.2483 right_z=0.057 right_yaw=0.0846 right_pitch=-0.2967 right_roll=-0.1184 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.3333, 6.9812, 1.6728, -0.0415, -0.0757, -0.0122, -0.2803, -8.841, 5.9556, 1.3993, 0.2173, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec23f2b3746abad7acebcc6ff36666d08098016be4630f309ad2b1bed0f4c45f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea5b4c0cf590dac2f6b557cd51cd6dd7e84428c0ec1f9b533e4213430b0c9eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea98832cc518d14e1f8e464bbfd4101cc0e715890595d446693c9ee11716b97",
      "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 · 2.895 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]: [-0.02, 0.8055, 0.6147, -0.424, -0.0139, -0.0334, 0.9969, 0.4751, 1.5993, 1.2491, -0.5076, 0.3408, 0.2462, 0.3453]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1727 left_yaw=0.0 left_pitch=-0.0492 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4105 right_y=0.1488 right_z=0.1694 right_yaw=0.0469 right_pitch=-0.2288 right_roll=-0.0868 right_gripper=0.3453\nstate[joint_eff]: [-0.0479, -1.0325, 7.0906, 1.79, -0.0659, -0.0513, -0.0073, 0.1162, -8.1299, 9.6889, 1.6679, 0.3297, 0.188, 0.8083]",
      "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]: [-0.02, 0.8078, 0.6147, -0.4271, -0.0139, -0.0334, 0.9969, 0.8577, 1.6703, 1.2381, -0.6064, 0.5308, 0.5549, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1715 left_yaw=0.0 left_pitch=-0.0546 left_roll=-0.002 left_gripper=0.9969 right_x=0.331 right_y=0.2514 right_z=0.135 right_yaw=0.0873 right_pitch=-0.2746 right_roll=-0.1063 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.4017, 6.9812, 1.7118, -0.0562, -0.0269, -0.0122, -0.2256, -7.4462, 8.4444, 1.1306, 0.4811, 0.1392, -0.0171]",
      "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]: [-0.02, 0.8078, 0.6147, -0.4278, -0.0139, -0.0338, 0.9969, 0.7944, 1.829, 1.1088, -0.3134, 0.4927, 0.4953, 0.9986]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1713 left_yaw=0.0002 left_pitch=-0.0553 left_roll=-0.0023 left_gripper=0.9969 right_x=0.356 right_y=0.2483 right_z=0.057 right_yaw=0.0846 right_pitch=-0.2967 right_roll=-0.1184 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.3333, 6.9812, 1.6728, -0.0415, -0.0757, -0.0122, -0.2803, -8.841, 5.9556, 1.3993, 0.2173, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec23f2b3746abad7acebcc6ff36666d08098016be4630f309ad2b1bed0f4c45f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea5b4c0cf590dac2f6b557cd51cd6dd7e84428c0ec1f9b533e4213430b0c9eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea98832cc518d14e1f8e464bbfd4101cc0e715890595d446693c9ee11716b97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeGXE8It-ysk4l_dpjxTfIctuudf2Ou3yV0tEuxbGeOJv7a0qeCODIh2xthxYPLwQjfMNbKFoOjrzS5i6vKYyCPa5mAl3Xwm2D1Z45F5VhbwDOlUkSH9CBEsCrXdUlj0gdxdvCwNWbwRNliU7jbDwQfkwf6G1YU-I92ZI_R13eOS8mFZue6SZBTaKEc1ByzQ19ifOHwQo_4tzWos5QjbsKiLQRVOpIfuVSzEJd6kD_sIVfErhL_szpQQP336zw9EMwMuuaNJ5AC5M4z-qohsPr7wdWh_f89wFAl5H7nxGlM7zOChNqCjsRN3GNfOztI57_2GKLLh_IhEFofIxgaED9zpfmhHU2QSkkbXWQ08V9BXmf4HkCU7V9UMvu_uZwmNXm0wImXMK4HbRF55P58XFAIwOV0NxrbsO19uwLZ8rLyvl2Qrx-tiJqxJwHHGF1rLewT5UKZAtnMNX8nw2fQBWkPDIvelnM-aqeHpx1G84DM21mKEGhNpOJXmi9iO8GIihJ4WQlrFefnUf6BWF0xxDO9QE4uG5wH3-_MU-DAg93Su3vWQVXeSglt6CXh5sqQj2tqAB_1HFjK54rNGbx_1oXB3W5CWROl6e-m2N2ggx0NOhmGvZ7PwwOTf2HOidjJ6vHpoRqFigcOGLgG_sY8bacpe896lyYm35xaS-H2PyJtnZJPyjwdCEwZQFD5ern1NVEN5I0FMs59Wk-r8F_atBxmHbLoH2Mv7Hr6I_8TuA0Keo8gpiSxoi7g_GziPwyJ9FGVo5Nqp9sawvWOmEyR7qJ0HAAXK028i2NZoPB8vFltwdrvvDI81seEqIfqHOiUcIFFWJbTwRMGcs8yyufePbmMAwhiNebKnhWEUM1IdKKgQUKPeKTDZsiZtnLJpbGSUJPeLjFb33XQAcoMke1mIidYnbMdZkFAEeKynBIwq0QbdomDjZwTyGjvJ6gBHrhvh085mSKCtLWT7rB2apP2t35T3E56I7NVLWBb14adzWWBxIaP9VeNnDtDnTjKcZ5DJ2KT1H1JYKNw2h7N718GQGIF0DJGYEsmSjahMDreC2q0_oTJ__4VIRONhRzfDbeTqigGKF-_eQumAGtMAVI7CMyPRBNFckcvCutwljC5UvjQUUUnMWa0GdjLq3XtPfQ53OVe-iTp0T8Q7_IVJ1F5oohaNGpk8e64ShfEJiT6gDbjA7Xc8-Gk3FnXX6rm7LQbryXi20ARKKka46ouOl_FiKz1dTadMjcMa7e52Jf0XspdcpwBPOrGXA2SPK14ImiS1Hbp7kPcOlwVODlXQ2vNCv18vYCphckXdc3DWEYVuZ7l966CkUurGKhi64QC5yT2R5JzGXb1NofFj9y3WFUJM_d4gw==",
  "id": "rs_017eb4d8d2d449b8016ab42785ab5887d0a8c011a86eafea40",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0,\"right_z\":0.035},\"note\":\"The pear fills the center of the right wrist view and sits between the open jaws. I’ll close at this lower height to grasp its body.\"}",
  "call_id": "call_pwKE7v1I41jgr4lAr9r8nI4T",
  "id": "fc_017eb4d8d2d449b8016ab4278650e487d09c98cd33d05321fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pwKE7v1I41jgr4lAr9r8nI4T",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8108, 0.6147, -0.4313, -0.0139, -0.0338, 0.9969, 0.7963, 1.832, 1.0866, -0.2367, 0.5121, 0.485, 0.3642]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1698 left_yaw=0.0002 left_pitch=-0.0618 left_roll=-0.0022 left_gripper=0.9969 right_x=0.3624 right_y=0.2517 right_z=0.0587 right_yaw=0.0877 right_pitch=-0.2475 right_roll=-0.1037 right_gripper=0.3642\nstate[joint_eff]: [-0.212, -1.1556, 6.9949, 1.7411, -0.0317, -0.0806, -0.0122, -0.0479, -5.4906, 4.2872, 1.3114, 0.0366, 0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5aeb368c99e42a208d420316dea758c903e6d22cf571cbb067584dd39fb5da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c3a6410c01a33f8f3a1146abd95270a7511e477a40c312bf97bfa7e4010dab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348aab00732bdbbaad3f02164e56586e5634ffc490c518e391b4754013b869ec",
      "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 · 6.924 s

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

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6147, -0.4244, -0.0139, -0.0334, 0.9969, 0.4759, 1.6588, 1.05, -0.2771, 0.3367, 0.2363, 0.9987]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1725 left_yaw=0.0 left_pitch=-0.05 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4058 right_y=0.1476 right_z=0.1008 right_yaw=0.0537 right_pitch=-0.2564 right_roll=-0.1028 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -1.3607, 7.1043, 1.6777, -0.0806, -0.0415, -0.0122, -0.3624, -7.9795, 6.3111, 1.6679, 0.1685, 0.0415, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4278, -0.0139, -0.0338, 0.9969, 0.7944, 1.829, 1.1088, -0.3134, 0.4927, 0.4953, 0.9986]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1713 left_yaw=0.0002 left_pitch=-0.0553 left_roll=-0.0023 left_gripper=0.9969 right_x=0.356 right_y=0.2483 right_z=0.057 right_yaw=0.0846 right_pitch=-0.2967 right_roll=-0.1184 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.3333, 6.9812, 1.6728, -0.0415, -0.0757, -0.0122, -0.2803, -8.841, 5.9556, 1.3993, 0.2173, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8108, 0.6147, -0.4313, -0.0139, -0.0338, 0.9969, 0.7963, 1.832, 1.0866, -0.2367, 0.5121, 0.485, 0.3642]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1698 left_yaw=0.0002 left_pitch=-0.0618 left_roll=-0.0022 left_gripper=0.9969 right_x=0.3624 right_y=0.2517 right_z=0.0587 right_yaw=0.0877 right_pitch=-0.2475 right_roll=-0.1037 right_gripper=0.3642\nstate[joint_eff]: [-0.212, -1.1556, 6.9949, 1.7411, -0.0317, -0.0806, -0.0122, -0.0479, -5.4906, 4.2872, 1.3114, 0.0366, 0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5aeb368c99e42a208d420316dea758c903e6d22cf571cbb067584dd39fb5da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c3a6410c01a33f8f3a1146abd95270a7511e477a40c312bf97bfa7e4010dab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348aab00732bdbbaad3f02164e56586e5634ffc490c518e391b4754013b869ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeLdHhdVDButmog9LPm_qegtJeI0O3wJqlZgfHNd5YINIPv95J3rocrvlTnjH434AVaNuDG0ufmYo-VOziJrKw02PK0S75nTS_ixhliPOt_xDjnauKRR3HpuAy9BnBJyxQoMYK_LibVVSOF-kAFYfayDxlBUNMp0O8vT5g6Ef6vtpotHNRUhQVY9mcD7lYuH6UOqBR-yCd3weAKNd6SYadZaOaOHZLsBTRI5p2LmdaN78d_7CPz5mdq0Wml9IED34UMnMhf9jJoyJ9HhNK0H65BEBpYzRZ3AOERYSkUYakkp_5z2L3rDl1xES0vn_bD6UR9NZwaYmefLdSZ02LmoM7GXJektji-JTz9eMHjIOIcg_YOUpUteq1_-t-ORWfjsyVxNIs6FqpQaeU_vS1Mc4KesEWI_82tdParZnn3AOlAdbtcuiitP8_2CnnL78_JiH7GZ2riIyaKNW4Zk3FaSZ-paYtoBdM6hyfVEa687zrXEJSpO8q_V8-__rjGHQgRzAGiwMjmsrvOqIuMYWjqLKuw5daLgIdSbi2RmXsTELCPkiOavFDLgC2DHdZbt4GbviEjxA676Bdo0Fr9yEdr01kloekmpbm6RNj31M_Zvw_P-_Y98wZhBJPNzAy28oA1PEfmmoT8awucRH88SCdZjZ9F1DIgqTqI1MLHnzpfGUGKa_SeJhmCq1XETHvhKqswbQa6WU_-VDxOzYRzmRG09VfqbdhHO3L8qSrj778tDe798YK7z1G7wWD2Xwt1VyQDBMR5y9-4OC7LtVde9RutGIY2shJv2oG2yNrMJ5O6wLr5GsO7E6Ml_pBxHleB49xWVmUH8JyR2Feh_Xr9Lae6OGz-ZkNDrbmubYeVEDvZyBbSrjzI30K7pJ-ZsHBI1cgSqY6GE2eVFrD1V_VPD2hcCNLoLxQUbiddRz3EIPJa5kJWkIWphw_wHeQ5TVaQR_fBTE37f6uuMp8rYSfeowpcTlA7eHt9sMb_kn2Omwg45YtODJuujQfrb_aTnRvIJFfAyaYe_qC6UEtq0EgKWQsXvhGREInr7rnaAzFKzAtRoPrir7a9YR_h0OL_yzDN5Rb2dEPi0_0JCrxg5qwWaYQoYk-HRPKBOzTpDZlgBnP_sXZPi_3fscGvThpxA-cmPR6dTD-Mof-5Ya14G_kRd3C-7yUGX_qWRCxNfDsIJ0-eDaT8vy7d_mR9Xs4UHA1tj_VhpAUDESO2e5n-Oc9dhUDnj5DY14q6fj4aXUgF3oosSueOHIHiRxgt0D5ts4BhBo8hgcXRP8s7LKC1SoiY7y2QMrnqjfHEHHkP00a39PrM2Giifcz3gy3gTCkZnTISHaMlr7g-AC-iwSkX7rYW4j8tjvxlqbGtxBvtAKhjarT2rf0qb8ovcsXGt22mqcykRgIoLORnAqHY0E9xt4TnpGe55ghmGQ1dmfHxodesvwBiQ2JkeO2c4karmns6nCPFA-cIujRAmvp3IdZOjjNtl7u8M2EUXbHezRIHmzMHjtPVaDwjXSWrxbUGjfwA0Jly20C8qJKimVoHHQBBFiOb8qOYM4yTY3goc9hrJEvC_MCNOPwC4Oi61-W6ttlGIasa2A5nhp_7se7FZXNK4KKCMrjIoYr9aPoML73x4Gj1mreyoQfNOdDw1C0NcOaCt867h1hdju3Jxmeyy2fvaIZCO0JCfdRxEtGob1RWnVtXPB6OiBRjXJ5BBnLonzRe6kg1evxBQ0dNsyq2zt0Ire3tQobcC2U0AQ==",
  "id": "rs_017eb4d8d2d449b8016ab42789ce4087d0afc6b15afd147054",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The jaws settled at a fruit-sized opening, but the pear is still visible beyond them in the wrist view. I’ll lift to see whether the gripper actually picked up the smaller fruit nearer the fingertips.\"}",
  "call_id": "call_kUEwXSNl7UhlrBSAUMNA4KbW",
  "id": "fc_017eb4d8d2d449b8016ab4278b01c887d0973b8e672a6d1b16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kUEwXSNl7UhlrBSAUMNA4KbW",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6147, -0.4313, -0.0139, -0.0338, 0.9969, 0.7963, 1.7515, 1.4322, -0.7109, 0.495, 0.4812, 0.3663]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1694 left_yaw=0.0002 left_pitch=-0.0633 left_roll=-0.0021 left_gripper=0.9969 right_x=0.3616 right_y=0.2547 right_z=0.1585 right_yaw=0.0935 right_pitch=-0.2938 right_roll=-0.1272 right_gripper=0.3663\nstate[joint_eff]: [-0.1709, -1.306, 6.9812, 1.6825, -0.0757, -0.0611, -0.0122, -0.2803, -12.0957, 8.841, 1.3944, 0.3199, 0.0269, 0.5836]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3dc70d7f9163c9ff6c4157718dbe07bad5e640c669cfc92bbc730472a50a526",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7f76c18b31d97556509c6fbd5fab7ccbe760c8a709f53b7f428347710a05ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457d4acae148281ced2a6e2399ad7bb856096a381a177b28dc6035f4cd8d6ea1",
      "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 · 2.671 s

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

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4271, -0.0139, -0.0334, 0.9969, 0.8577, 1.6703, 1.2381, -0.6064, 0.5308, 0.5549, 0.9986]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1715 left_yaw=0.0 left_pitch=-0.0546 left_roll=-0.002 left_gripper=0.9969 right_x=0.331 right_y=0.2514 right_z=0.135 right_yaw=0.0873 right_pitch=-0.2746 right_roll=-0.1063 right_gripper=0.9986\nstate[joint_eff]: [-0.0889, -1.4017, 6.9812, 1.7118, -0.0562, -0.0269, -0.0122, -0.2256, -7.4462, 8.4444, 1.1306, 0.4811, 0.1392, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8108, 0.6147, -0.4313, -0.0139, -0.0338, 0.9969, 0.7963, 1.832, 1.0866, -0.2367, 0.5121, 0.485, 0.3642]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1698 left_yaw=0.0002 left_pitch=-0.0618 left_roll=-0.0022 left_gripper=0.9969 right_x=0.3624 right_y=0.2517 right_z=0.0587 right_yaw=0.0877 right_pitch=-0.2475 right_roll=-0.1037 right_gripper=0.3642\nstate[joint_eff]: [-0.212, -1.1556, 6.9949, 1.7411, -0.0317, -0.0806, -0.0122, -0.0479, -5.4906, 4.2872, 1.3114, 0.0366, 0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6147, -0.4313, -0.0139, -0.0338, 0.9969, 0.7963, 1.7515, 1.4322, -0.7109, 0.495, 0.4812, 0.3663]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1694 left_yaw=0.0002 left_pitch=-0.0633 left_roll=-0.0021 left_gripper=0.9969 right_x=0.3616 right_y=0.2547 right_z=0.1585 right_yaw=0.0935 right_pitch=-0.2938 right_roll=-0.1272 right_gripper=0.3663\nstate[joint_eff]: [-0.1709, -1.306, 6.9812, 1.6825, -0.0757, -0.0611, -0.0122, -0.2803, -12.0957, 8.841, 1.3944, 0.3199, 0.0269, 0.5836]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3dc70d7f9163c9ff6c4157718dbe07bad5e640c669cfc92bbc730472a50a526",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7f76c18b31d97556509c6fbd5fab7ccbe760c8a709f53b7f428347710a05ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457d4acae148281ced2a6e2399ad7bb856096a381a177b28dc6035f4cd8d6ea1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeTvwbAP78xGToSNOVhQOCOUqLh_QA4ggP4KvIc2CN1U-6yB0dejsuwRnYjvzUzf7pEzbgmxVJ2WmmYVaFRsqips_4vTkAUpL-50hlPgtkMOnIXIN6322NiAsdmhwVfG37FnjKzIPeZlZt5Oy1vC2yNHE-cjhdP7zSFdzEbP7Ve5Vusp5vppi1LF6nh6ItpH3hO14D6C1SYY9Cw-UcemLeHrfM0UKUgfZxOojdVrawB_EKms4kuJfx30nFAynYxmDyyRRgUVGvoqjurt_B8b_riX-KMGjiftiMlO4yATx8lmqWHsdmWUH-9pDkN3pYxS8VXw2GhDXfVf0To2qYtrM67ch3ZCOr9o3FFATNPLtca4I5-0ved0Z7F_5qDMnuhB1iVot8gGXEk-m0UBCUt7rGnNeMKnTM_t0Bj_ncHcKNyTQVza1_vh68lBLGuepisP6vVCNEM6_0Hi3wcyst26FQOBCtqfwpUDDxCpVAAfmnDqrMFpULp9HwSLXsvHK16SyYyEEsukFer2FbxrWeAJHiNBi7WlKpBvdWrdcnSoQOtKqgHEAZPpFUyhBCPB5itjke_gVMedTgONTXNPYtonVsduNv5db7uD3fWYC17yihL1eMIbsfnLtBcXHIfzHD9_g20dWjJnw7HMAKPeA1qqDyvl0kmckjV7TtNQz7KW0MGUdCgyKJAuuXJhR7ZgVbQF-PC_1ZlzAPZ287a_SuyxTWI-RAsnWuA2h9fANylaOI0iM5SbKh8WHQtiI6TBwxeevb7LnOCt8H15RR480nBia-GxUFS2enxm2hd0qDys1L0sgp3BVAW4ncNrnFCBMPLsYSze6aSJrPirTo-fej6_6t-IMK6_J7TSSCuKGhe_olr90qkwOmwBXoua3wER2r2AZVAQcLUHRsNgfZKb-Vu35oCuMMQQUH7jHFy0EHwsblfOatjxVFG-jPneX-SqmmrHwA4iwmH-jZ_QcLXHGK4Gi6m-glmmEa8OZ3Dq36zxVV0TlO3BihmO0fXfNqqCX86B76fM1ESRodqWAiFL_h7WfHbj4RQliUBuf-zWTpRwnGhQ51l4tx26fJZRIV32EJr08LKvdtm8R21eexOHuxvJy2c_1lZ1gClBRf4RkbSDCz1h7WVJi0xwDISRdsuHuTwjNLuNq53gPtAtntRvvO2SCEVkqkwLquAPZ7V0YYcZhJ5Y8rxM8DXpejHLtvD26EOxBokCl17YPyjDLePnXcaP0RqaFoP6_sW9RqsdVxfEvZehqIxwx76KRHUxBQOCbxH8tc3hBeaF_dFrbsSmpMBDyLuxs-6aov0-Ps5CR02Tpu5OGPzJO0Qdx281vcLfLj0riRkBqPg4RwGoC5DXsXGAgEe2zLuchYhClP6RU_zAFjDvqAPHD3p8a_L2ZmlSmWm36aGTdWXBwQDd0E9GbRXlAfT8PWchITweb3kr2bZorIe3y--fOY7m1LqDHGue-3_7g3-DJOQqrvzZ1s0mdEdu4m1uIqYU9Vwp7KIT8SpIHJtq9OdPNaZsCiaTayWddQ-N6WcY0KTNUYpDBsJ4T_2j_idiSbejGhZB4CQIPaH4OmYyF_z7koXAJ5K-neL_mFzeE4Oocdd9G2LumRr-56Aa9Sc_q5GS1OQxcFIHa3PX-VLnEB3rY3x4NkirN2iALo579cqbsFNKY5BPuSP5W07PBNCiLWP4aG6J_gljWYWRhLUaA9KMQZPESqYUXIffttSkIHVWuvDREehoqu8wvdzeS6h-ll58fraBvymrsiBdMZ9cl_yybuSI95oTaSwnnKlIAzwehsC22KqWU30WPzn7WI1JUHla1Ax1QXrsMULlS3Lj4qJzoWD2wNo53c05VdUBNFvLHawWXbJ9vchAgHKOx_kXMNYa4Gn4gsHjuVEQw8OFV9MTXcJZLKBd6-API3X96adAW6ruFjS8id3XM-3Vdrsbz9OjxJVLBwQezjYmZVBu43WDC_UlhPST2lAUywWjm3MzHLBRtki2L5j7ZXCOGGiqkbgvk-fkKsrXY8xYabJA617Xttc7_2xg7ULMuU-HUrqt3lbmF-RensCjDAzkQdLadBDkU2rxcKzrY-R4pPHZhhG-8OBmnuBRdSKl7b2LUSINh2wel94-r4jVh48NZFT_B7dZmO0EgKEnggQuqhjpaqI6TtqgWpMLyZudIPRHv5PuR7TV8EXb5WtQguYPsLwwCT8kPnupw0rrnEQtRdJ5aSRXnjaEOwx5uxqA0Kvt_1JIka4Fqpj07aGGaOFV6N3e3R_dfr4Tv4DhZ2a2KWMxZIi4dzn6K6FvEPLKIm5axobaH51I7OUcNaL_GO0nlWdI7pqi2RIDiqKDkxTol65pbGOIQ7VxmkL-bZEnUwpkznvZIHiE67y-B4fa2vl9-Q91LweGVYWaci4MENBRORHpIJp_OlV8TWjApUzg5ARsKd7_JjJUshoQNPIwlm_myRs-tNwlHbIdJDLDmIj3qIsOwPdemOYhJ3zeBb3TokEhf60l50ydv3CxD9wHZQ-sjqEs1CcnwVL5EAMMf0dg6kuoCXHj_A1NuW_XVl8T6E33eeaia6QMGQdu81KG_6J1q3ilUWYINxJs3V_7FOnm_lfooM-35jikULxQP09ngW9Q6fv8G-IqY7dNZRtrmWE9jzeKsBt-4minpbLkSRbW0ckCOOLl6QI3x7gKShDYYOEGnTOZvRmOroKFLZ_YrzIfboN9QXE0VpAaF-oZ8j21zImg_MNozmxceeHKY9O86o-UUX-OYHhSkcAAEwylGusC5iH64Y50P8ZrMhiGrR2f6G9IkcE8CFYAWFwCw-i1LSbOIYJte7pZlVwi93moM_L700mtvzL_MtdXPOOb7-Oz1pF3B5ZCGnNSuv5mo8d6FudYx_v5lca0gUam69toHw9ZefaHIDO4qzlNj7usn7WYFszK4aZ_xNIv6LKQc7UsiNfHsBjfx44x7vMJkUa0h4TiCxF0voEiQhT6bbm741dwy_nHMJzhsj8pzJwv2968xOhMlPF8oaRmu-vnJ2QI3-dTstdqS9UykpYonucGo6DLhjcLx2SSKlZPAuhYuJTEOe2HG4sZHfTRq2Iji7AzZvCaSXBiHsb3iR2TQJ2IubkGpi4na_4xQxAHepf4xLlDt8ATzYWa7A5ukG_3aqYMKwjZjKWNQkE6lIIssQPm5OHnKcDNxp9NhoU2T20BSrlD-htP-jtlohBrMO0cEz9tCvy6R4c4vJMoJPMoNvvvmarCw3NhC9qrJCIb4IdTSafiOxYDWkK0bb6xRYkZh4TTMmgEBGSVslZNDMe-wmC-6w9YFm9Zz6DBaJzbuCC7cnTgelXjk6LQ4IOHe8sHGOLghCjyfCx7VYDqYpBBHqwbbjmsAWrf-9tAcwAKXMCJujnhFfSaP_feEgV_5h7WhmWkwxc-6OCCrZ_z5dlmWJ7-HnCO22YqktX4Hkb0ZaP-_y0Ct8YZMHrMEyPXGLXMyNRDURB6bBpwkyM_tQAsPCuQegojk2SdXCtD9lPdF17SzX0EENnln4O1GbyQ_x3iiCNgptoc7jmL7A0B9tggEyDUI5auB2OxlnzytzehPWkA4phdFrHUzIMbOtPjprXgozV4Fo4TswBI1bvFZQlqZm4C_-KzMJs-pEofhKUw16Hrb44gTycQIaYQZmNM81i-vAfqB5ab-Ba0ZFrwIKMJPVcl_hs6grOobyLWUnRUm6zWUWL9EsW3Q429GrzwNgBCAF1f0xqJo-lAgVLG8BTW6N57IpSSQSTDLivEzBUGgszTfClYP0zKpVezT-nxu7LtZeOPLvH36OT0rQh08zk4DK8J8eEnIEHjPZo8hpgqAhj8wli15wQhFJN",
  "id": "rs_017eb4d8d2d449b8016ab4278e04bc87d0ba97fd541e374fd4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.395,\"right_y\":0.25,\"right_z\":0.075},\"note\":\"The pear stays on the table as the arm rises, so that close did not lift it despite the nonzero jaw opening. I’ll reopen and advance a few centimeters toward the visible pear before trying again.\"}",
  "call_id": "call_MlZM8Osnpe2HO1w13wB88R8u",
  "id": "fc_017eb4d8d2d449b8016ab42792707487d085a9c673c9d88500",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MlZM8Osnpe2HO1w13wB88R8u",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.432, -0.0135, -0.0338, 0.9969, 0.7326, 1.8771, 1.2793, -0.4477, 0.4553, 0.4152, 0.9958]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1689 left_yaw=-0.0001 left_pitch=-0.0652 left_roll=-0.0023 left_gripper=0.9969 right_x=0.3845 right_y=0.2463 right_z=0.0777 right_yaw=0.0924 right_pitch=-0.332 right_roll=-0.1533 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.4154, 7.1726, 1.6728, -0.0513, -0.022, -0.0122, -0.9368, -8.8684, 5.9556, 1.3553, 0.1929, 0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ad90c8e300337cbd1e36c7e2b2c74504a77dcf1055a3166ce5e75d7c3ec9d3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde20e44b1cc44da0916e9b299a82321569b264d7ab79df149a63948a7ecfdd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8e2eb1c3aed5d73b01beffbbd92a218433a01bcac82d4da5fb4523265d2e20b",
      "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 · 5.918 s

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

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4278, -0.0139, -0.0338, 0.9969, 0.7944, 1.829, 1.1088, -0.3134, 0.4927, 0.4953, 0.9986]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1713 left_yaw=0.0002 left_pitch=-0.0553 left_roll=-0.0023 left_gripper=0.9969 right_x=0.356 right_y=0.2483 right_z=0.057 right_yaw=0.0846 right_pitch=-0.2967 right_roll=-0.1184 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.3333, 6.9812, 1.6728, -0.0415, -0.0757, -0.0122, -0.2803, -8.841, 5.9556, 1.3993, 0.2173, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6147, -0.4313, -0.0139, -0.0338, 0.9969, 0.7963, 1.7515, 1.4322, -0.7109, 0.495, 0.4812, 0.3663]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1694 left_yaw=0.0002 left_pitch=-0.0633 left_roll=-0.0021 left_gripper=0.9969 right_x=0.3616 right_y=0.2547 right_z=0.1585 right_yaw=0.0935 right_pitch=-0.2938 right_roll=-0.1272 right_gripper=0.3663\nstate[joint_eff]: [-0.1709, -1.306, 6.9812, 1.6825, -0.0757, -0.0611, -0.0122, -0.2803, -12.0957, 8.841, 1.3944, 0.3199, 0.0269, 0.5836]\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 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.432, -0.0135, -0.0338, 0.9969, 0.7326, 1.8771, 1.2793, -0.4477, 0.4553, 0.4152, 0.9958]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1689 left_yaw=-0.0001 left_pitch=-0.0652 left_roll=-0.0023 left_gripper=0.9969 right_x=0.3845 right_y=0.2463 right_z=0.0777 right_yaw=0.0924 right_pitch=-0.332 right_roll=-0.1533 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.4154, 7.1726, 1.6728, -0.0513, -0.022, -0.0122, -0.9368, -8.8684, 5.9556, 1.3553, 0.1929, 0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ad90c8e300337cbd1e36c7e2b2c74504a77dcf1055a3166ce5e75d7c3ec9d3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde20e44b1cc44da0916e9b299a82321569b264d7ab79df149a63948a7ecfdd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8e2eb1c3aed5d73b01beffbbd92a218433a01bcac82d4da5fb4523265d2e20b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCeWIa_RXBZBuYMXpEMW7tpk8jmNkJn9NW8F1IxADSHDCtC85K2U4TRfvTR05N0MAP57RbAEncitigBpSXpWs0qetDqU1V7EBS_i2jx1446PGkd-tj3Ux69jOOjNgC7lRyRRLbNq5Lbs7X07_VjWuXWZOv0kR61dMYYDcvhJSeG3UUbvxPujT0u8Ui-C_9rCtR1GpGHkr6IaV0pEF0IDhxty1uSmaCXFwNia_GDJ5kC5Lb_fte1N820M07cK6wyy945Ej0x9nIDtnUO1UB9HYiKhzU4KYPRypUNvuA-lJ9k8Neb21yBAXr94aT8mw_DwKP9QJoJpgyHnr7JyLZZndXwcP73U9TN5SuTX0ZmBUjmPIE2oqtn_bL0G-zwCxSYpadD25IrFJtTHzbUuvPT0tWw5xzoS4VSNJ0JfUJrwOAISpkY9ARBunbA9-5-eOxaYcaWeZ6QX31FfyVTS8D9Fn2pvx0Ja7bp7LgOvk8g56Gqb_U1DySYVl_OASeqi0nGPXNNXqO7AF0FKYjJ6Tf7vmYsSq1A_erUAysTB-mr80NdfmqOGWQ5R2u-37iJuWNhEP5kCXCxkmP-1SPCJvltiNGy9999cgjBV0Tx1LqmfIrDOXUG-2jwPUQLAnOu87iK7BV--cgwwJLmsu0oqu-88YCZ7gFY51BdWUFEtVs8SL7jqcSdF5BWwKKNooblEuhEms8Q2yaoaZzsyCOHZ6wDIxhY2-NJCzUMe_6JItDged5_CWEKl2yLcEe89TJNbzQNLeGgAP0vsq8_vqF5sQpCXyHsRhUwNDyh75VZVUcK5wfCeL2_uy6wGB4pgCLDotgF4aqJXogNXzv-aJAh_C_6dVxQ3mtup5Lq3MeY3CSHk3ceOFNgc859SEZYDuGk9TqwPb6IFAnXMcB7DYy_SsuQTQoD3S8eoG6CcoK8oYWhh9ih01wbBWsRboZPtASWYxLKc1NYxRM76NKB6Q15yWpK3gCtoJeQ2A9KtBkq3_yKX0JitkvIsRUZWIWkHVXxI_I0gE0I4PGk4SRO-YjoDHy_JB3qvtKcxrrt65gxZkfyfFi4uP4pxhjq3sFlUaj-0GWIbmn_yAYsDtXwhlOzfco6O2s_Ezf02tr6spqLdCOax-CWi8g7aCCcwHlWqmtDPeU045v4x7pWyylOhOUb2WH8QkJimA1lxNCUSJj4Pj_hJ8S1M40Pck3f5ZcLOFdMD2_AWz13Cjl0JNpGMjGqrpvJcFbEDIgjROCAOBimAz0sGMPJtrxgt7ZjeOU7OV8Y4aKhAttH86_kdeSKfyIZbQz51iKdqu1crLAn7o0SH96lo-aAw9cotW_qKh0_4I6xfZZwJZQs35-H4LUEoVVlccsa18TgXIT1Ziagipplu5pxCSe6T2QVvBhryQA5Q2n6EyotkZRKETYHX6ngZtAqP_Md01S9WpuYMnPMyMUOnvE7ZfW1Jn1Ia5HM03iIa1kSf5GHMKTv6BzOBwgzxvZ0SDWxUCfdVq1g3IK3wtxhA_X_SFBITGsCKxz3ySJwGoDZQAYP1GIXcEdtnaw4YYGH5hIP356wQ746Ndu9SG1pRuyW9FyRccZHnx1Sw-G5wJsee41uUHJrHBXWNgt8mfDj6wcO810kal8FxAq41Ue7g2Y-SGi5XwOTLViCCoE9jkjYJmoum9HrQj1vJhLz-3HIq4NJ2AIXFog==",
  "id": "rs_017eb4d8d2d449b8016ab427951ba487d0ba128310d61078fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.03,\"right_gripper\":0.0},\"note\":\"Advancing made the pear disappear beneath the right wrist camera, where the fingertips can reach it; the small yellow fruit remains visible behind it in the overhead view. I’ll close at the pear’s lower half.\"}",
  "call_id": "call_jFTbG0TCo4r1k6xNFdjXYd7l",
  "id": "fc_017eb4d8d2d449b8016ab42795f10c87d0b6c7c0d899368ed6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jFTbG0TCo4r1k6xNFdjXYd7l",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.4347, -0.0135, -0.0338, 0.9969, 0.73, 1.9171, 1.2018, -0.284, 0.4572, 0.403, 0.0127]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1684 left_yaw=-0.0001 left_pitch=-0.0679 left_roll=-0.0023 left_gripper=0.9969 right_x=0.3906 right_y=0.2497 right_z=0.0528 right_yaw=0.104 right_pitch=-0.2948 right_roll=-0.1342 right_gripper=0.0127\nstate[joint_eff]: [-0.1162, -1.1966, 7.1726, 1.6728, -0.0464, -0.0513, -0.0073, 0.0068, -6.8308, 4.3692, 1.1795, 0.1538, 0.1001, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d54df331cfbd4b674c2d133066e2d309adea331510c9a88e3b2ddc77cf7afb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb16d3bd2daf5f2a76a1234785ce3cb890a055710462773cb8a0e352c36f7b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94127dde48af21ae7b8d3c82f70e85a300ec9c279acacf1b442479adc08ec3d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 2.167 s

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

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8108, 0.6147, -0.4313, -0.0139, -0.0338, 0.9969, 0.7963, 1.832, 1.0866, -0.2367, 0.5121, 0.485, 0.3642]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1698 left_yaw=0.0002 left_pitch=-0.0618 left_roll=-0.0022 left_gripper=0.9969 right_x=0.3624 right_y=0.2517 right_z=0.0587 right_yaw=0.0877 right_pitch=-0.2475 right_roll=-0.1037 right_gripper=0.3642\nstate[joint_eff]: [-0.212, -1.1556, 6.9949, 1.7411, -0.0317, -0.0806, -0.0122, -0.0479, -5.4906, 4.2872, 1.3114, 0.0366, 0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.432, -0.0135, -0.0338, 0.9969, 0.7326, 1.8771, 1.2793, -0.4477, 0.4553, 0.4152, 0.9958]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1689 left_yaw=-0.0001 left_pitch=-0.0652 left_roll=-0.0023 left_gripper=0.9969 right_x=0.3845 right_y=0.2463 right_z=0.0777 right_yaw=0.0924 right_pitch=-0.332 right_roll=-0.1533 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.4154, 7.1726, 1.6728, -0.0513, -0.022, -0.0122, -0.9368, -8.8684, 5.9556, 1.3553, 0.1929, 0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.4347, -0.0135, -0.0338, 0.9969, 0.73, 1.9171, 1.2018, -0.284, 0.4572, 0.403, 0.0127]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1684 left_yaw=-0.0001 left_pitch=-0.0679 left_roll=-0.0023 left_gripper=0.9969 right_x=0.3906 right_y=0.2497 right_z=0.0528 right_yaw=0.104 right_pitch=-0.2948 right_roll=-0.1342 right_gripper=0.0127\nstate[joint_eff]: [-0.1162, -1.1966, 7.1726, 1.6728, -0.0464, -0.0513, -0.0073, 0.0068, -6.8308, 4.3692, 1.1795, 0.1538, 0.1001, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d54df331cfbd4b674c2d133066e2d309adea331510c9a88e3b2ddc77cf7afb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb16d3bd2daf5f2a76a1234785ce3cb890a055710462773cb8a0e352c36f7b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94127dde48af21ae7b8d3c82f70e85a300ec9c279acacf1b442479adc08ec3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCed8zbTi9uyDtosD6KOxxXa4QW6pe2PiZjiNFWHmCxZtu3JQbSANR7FdsqVg_rex20quw208TlPQlPjmOkH9SxkN8maQM-NlJ-xWre9j8J0LPGhUyRf-0MLvY1RugdpbWS0iaSo0qEFYdSCYcCUcfoCY5mvW0O1gQ_0OVAwFdIKhAIp_-uElniiiDnJFlHfIBgLioHjUnztfXs09P_rAlm4c-nJbyhKBRwdNyNbVqnkRl5cyCBZNkLVd6DswBxXgZlRUucLpe-2BSrgXXPQVD-gbhLmPxTc0pg1G8SbWm4uJhldFtQzJ8MgfRcxJQDIxmWkDLxV3X6irPbDYUNoSaVkIq9oDunglKb3w6jOmEx8xjj-z8fm0eqdZvBfgnyR2qHpeINkzhHqk3kkCtaAijdR8cFp0AygS4s4DFr0KFSFZqOrJoWXLREtHkkcoqwaEvb7CBf2ZrRizhI6bc8Dz8U4-gHiIys5yNN4uRNM_dxKmCkSvEOtoakzElMo4gSb3SquMbpcVqLQQlRctcyO1LinLRl_UPAiOiwvy9Zr7alqQkZC9doKh7Vk9oCzQN-BGH7V1VJ5IFYEXtorELdH5pmQCa0fAdbtqOuZzDN7FfETwjVRhmVVUdGwYzoF1g-fmfgpBoMfA1PZhkZ09Mbb2BcluRRlzVpTMCpJ3QRsRRq_KL_1uETXe_DTnj-MkEzTw53Od3KNXlL9720AM4KzBwGX5RcIp07kAwsHP1A720Po5NCg-82bT6SJF3NXIQjEqqHyUGAM1B-HQ9sCI78bcCZFIJRJMlRuFRLmqxiOftK8zqlhgwurafd3744fbwTY_hyMIXQlwFKee8WRTN2AIyPm1MO779rs-S1rJzLngYvaWZV5lxdS-7khi9k_tPIFRm6o9Z6wNKCOg-a5gisnVwy0OvPlX02HjjRv-tkwWWQD1JlOyklfMjrxF9qXDpjuOl6vz6ZUi0JPb6gPiDyYOx3hVVTCyCttMHLCjmvN757nmmEFWjxO2HxR2Mw21AgqP0mROj2srxPliWVtqpuTlYCqdrBd3Di_QwkOCOMv4kmlFOc1gz7dMZ62XZvwwY7C30qt41mKYoB79BBIb1b6HZUf7Gzc672KfsFHbDvLH57f4ik_8qZk_FEprBJ1d3p-RHnU_ovdevXzG1BXG5izgggYeqvDLYVRaLDjPTxpxKXtgPTKa3O7lHboD-161DXEw_8BBM-D8C3R8bQWNPjxHyNkeM76LOgR2-miOLO5avTsmf3I_7i_BMygqolAVGtS_IGeg6EXKDoWo-1oYd0mNSDjlaEsW8qiNxsjgu_4bIjOxKcN3xYdmYdPzHu_4pLInDiP7weh_c8lk42QNz87lkp1W0YB0J0Ac63w035llMCSMASldqTOAKBkgQTof_yvh7G3oh4fyiWJjTDmIe7XCuSPiwPPO-h8V-eR_XTaY8sN9tPtrg6PSh6_LhW5XAKUyqaJ8PZWHVS944aiSuqcuCXNNMc5ziw8vXzvTZH5EuV_8k1CKerCpjsx2JuWybmRmqgh8D6wcIZXUvbCDQ5dht9w2WLKNBa_K58uEY2f3uf4MKbvSHOyKv72Dvpilg-8GpTEBuDehQ0MBSd-bY1SCTwMTG_y6FXXNrLF184qV06JaiIARjANMlcvW7eikpKU8mi0OvsNmsNY1sAZXCW0DldIAGZkstjCdmp0kF6i2Ir-HeQCG6xm6kqdoZJHhvQPfs3WxWd9bLvaQDocCrBgiocA58lJ8wfRWywQZNZXgbU3oK8-TvVQAF7hSfc2RGbJxqHY9UV2j5KHXA_lHAWGzLUiEzfPSRXhFT2IE8sXWc5_TtnY2BVapbi9DNWx0kFyJguW2u-J100b1YDD6sGqToDwbptH5uwvxmwa5k8WZoE6WESnUbBdt0v71vVUM7lk6wvAaw-MiCi8vx0N3YCJGtzuwKDBT37CBVKq3Pl5AMvHbt1CDer_cLA2oOivhK07gazDMkbXoyhZ9z-A0-qZxB40KZxoWMKBkUmyqXesuB0-kzG0oPznyFUcXC3_GR42VT9mVoJiFUTmNFGRdu-WjW_VY2xY7Co-xDgDxP9baGpm8wt4eN2qZBPHT2yMa4-DsOFMK6BdR58MuAYa2bTSWGq8bFWxMFS4s5V5n4jXTDwbkOpdoIdTnUmFkshMMvdFBCH3ajOM3jk7kfKB6jbggjvEWk01eoBLa2w5xPgdBE1ON0hXmiOU2qqxthyKFUaWV6iXwS9glSlmnOn4V_bWUMVB4loCflGXJR7DLtMAHHySq5McZ2-gNUejYeqNFkEwSYYAcxWDWB3hNxMwiWQWN4VthrRiDHlzHDA5KdWrNLsEVrUBMV-A4hqqkvpHiueZAl7lmEfhnPV4jlUqn6jp6_stJauP5DG0XR7DOJLc4WMLgLXsZkMNNys-vdvCR52UMS-8dfFnEId8zLuDoa0kRlPdG8m44ywRn0IwB1Cl0gQ5-WCE9PiyrLRjLf3sKjJLxbCvLzLNZfKjHy6GSdSMqpGsW7UQMVHi63r4Qe71emKOPvluhrNbQboU_wiTpEQYthIdwNEyPF5naPzTPcwUeJaWMTxLRKJRTj86UJEZLch4tC2pmoyv3FIfLK9ve4O3cnmnoBZj0huE5nogPcO254nDSe6Nbd6b_TdgxKKIJ1w0fpMOyGHzNCDETUQDdxZTXdWUvQrcUuZPfkMMeTbaLgLolKRf8XSNC46QhAnCFIjQcJeQzgjPpym4HgdvYKTWD4f0h0WVML11u9KFJEr-wA2p5JRY5pWJWqJLiuUe6vAn9uKMXu5WkUj-jKyvu7QYJOHPhRk776mJ-a4o84k0Hx-rGAE2iOJO98MMu73jbny80sE=",
  "id": "rs_017eb4d8d2d449b8016ab427990eec87d0ae992c5e2239fbbe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.33,\"right_y\":0.25,\"right_z\":0.045},\"note\":\"The jaws closed almost completely, confirming that this pear attempt missed. I’ll switch to the clearly exposed yellow fruit just behind the gripper, then return to the pear with a better overhead view.\"}",
  "call_id": "call_o0Io5LOaOipTeC7no4Q0rpH2",
  "id": "fc_017eb4d8d2d449b8016ab4279c023c87d0a5a6996f97dc7f41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o0Io5LOaOipTeC7no4Q0rpH2",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.4423, -0.0139, -0.0338, 0.9969, 0.8459, 1.8297, 1.0264, -0.2661, 0.5011, 0.4976, 0.9955]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1669 left_yaw=0.0003 left_pitch=-0.0755 left_roll=-0.0019 left_gripper=0.9969 right_x=0.332 right_y=0.2523 right_z=0.0353 right_yaw=0.1214 right_pitch=-0.3188 right_roll=-0.1473 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.3197, 6.9538, 1.7509, -0.0366, -0.0757, -0.0122, 0.3077, -11.2205, 5.4222, 1.116, 0.4029, 0.1734, -0.0952]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36ae1e85db6c142ac733962fe1ec55c20877fee05c85f3f378ee77aaae33575e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e903e251e2c7c135f081d4965d545818bd56b076e7539ce4413327bc0a88a4b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1ac5fc5cecf331e39de66e1739f1bf58b5afca0738e92ac924b3f1d2229219",
      "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 · 3.387 s

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

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6147, -0.4313, -0.0139, -0.0338, 0.9969, 0.7963, 1.7515, 1.4322, -0.7109, 0.495, 0.4812, 0.3663]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1694 left_yaw=0.0002 left_pitch=-0.0633 left_roll=-0.0021 left_gripper=0.9969 right_x=0.3616 right_y=0.2547 right_z=0.1585 right_yaw=0.0935 right_pitch=-0.2938 right_roll=-0.1272 right_gripper=0.3663\nstate[joint_eff]: [-0.1709, -1.306, 6.9812, 1.6825, -0.0757, -0.0611, -0.0122, -0.2803, -12.0957, 8.841, 1.3944, 0.3199, 0.0269, 0.5836]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.4347, -0.0135, -0.0338, 0.9969, 0.73, 1.9171, 1.2018, -0.284, 0.4572, 0.403, 0.0127]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1684 left_yaw=-0.0001 left_pitch=-0.0679 left_roll=-0.0023 left_gripper=0.9969 right_x=0.3906 right_y=0.2497 right_z=0.0528 right_yaw=0.104 right_pitch=-0.2948 right_roll=-0.1342 right_gripper=0.0127\nstate[joint_eff]: [-0.1162, -1.1966, 7.1726, 1.6728, -0.0464, -0.0513, -0.0073, 0.0068, -6.8308, 4.3692, 1.1795, 0.1538, 0.1001, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.4423, -0.0139, -0.0338, 0.9969, 0.8459, 1.8297, 1.0264, -0.2661, 0.5011, 0.4976, 0.9955]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1669 left_yaw=0.0003 left_pitch=-0.0755 left_roll=-0.0019 left_gripper=0.9969 right_x=0.332 right_y=0.2523 right_z=0.0353 right_yaw=0.1214 right_pitch=-0.3188 right_roll=-0.1473 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.3197, 6.9538, 1.7509, -0.0366, -0.0757, -0.0122, 0.3077, -11.2205, 5.4222, 1.116, 0.4029, 0.1734, -0.0952]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36ae1e85db6c142ac733962fe1ec55c20877fee05c85f3f378ee77aaae33575e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e903e251e2c7c135f081d4965d545818bd56b076e7539ce4413327bc0a88a4b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1ac5fc5cecf331e39de66e1739f1bf58b5afca0738e92ac924b3f1d2229219",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCegdpIVB_YEr5TNwbaFcsnkXXxmCfqABPDr7zAOuOCKRZjP065KFsI2ZIlDOELlAk-TOl-qFy4g-jNx1jzGhPz0TxnMV-xNGAwEPX1Zyz_gxf1-KUMG4kXYlS2I4IgGAs1w93qIeIe_lJ9MFks65OVUJDAs7aKtKnhZ_8WkrHmTm7YWPsOCvFZnGTiSF6YUCWFY2eSZe0JkypJnDASK5-miv3YXPABqiaMQGtQOfdYZ2VkvHuQDJOGF0g46RBpQWK1w-Hlpaw2QLAAZ5o1Hcs8BoeQgXWIlNL8q8AqjcGvpklqoad3qYpS7H9pdnvnystOKMMnU09nhI7dgjwWn-eqyGoqUH7A-btrs_HPlN3OmTFfefL9mHJ9opUYnJUj0q7UsOAIEPI5dFFz6DzP6H7yLPuD8mzTLORrEo3iFxP48YE3k-yCeJOOvalSBzSkGCHBAjma3gBUovLO4vtxfXqpHAnoo0hD81rc5rn8vz-QBt5rE6hNnWnmFeWgod5QYXub4qGyfPFIna_AgJ5Ionr5h-v0ocDF0H8xfQ5xBdd_QxIp6ll9wc4YtBNNDmHqLt4Vh3zJ4YAylpmnF87vEqfg5TvW-9_Cl-sBKeyF-U7SPnvmZwfTBFwuUP4n5zbnO8qIQBbUpIJRa9kl8fv1MxLBSsaTN9VJNnv6dY_pTj79yBAI9wC8lsmroSSA9RMY26LR6exJX43zPW-cyKNCunpehHNOV8PeiViMVt0TwsS1_RmfHWKO4B1tWTuJzty65CfIskL-2e8Rz3SArCyy4m4aQSwoDNMDr6_msNznJgF-g5A76YeKBpSKsixJ_EHiz2c9HWGZmAqPck6HMVgnjxlJe19MttaJhHpWsCDkVFN6bg1lyz0TK0Mk27wPqNMcFN2OyiyCB9iUIclqlPp-v5Gk9BBU7C7Cco3NBMFdAO71GB4rgXKnpRxyYqahVAw9PIicwxA4O2I7cOSHHtAc3zOnOvhZ8jJ6w76SXrLE2_6RNy24OxMT8UWvs8eQY6E9sPLTxxs6pBiGkcJ2o2nlsLUBZ0vtGOb72FkhFRwV8J3IDwuMW8P7gPUwShn2Jh2G-u9J1op3BNK3uDwAragm6OZ7Pj1L-bZq5myMJa1UR42cSO4to88IXTlE1ZXyvp8pon_b9dbqshY1Zbc80AqadDOqaekt2dvPeX6q_d1RbG_jWTwQKrmEDvfmpQqdufRsDf9vSycy6ydZIWZv39RoIP_AtVS5_osAMy3H7j_ps11x5t4gIvjXY6DV0NSY3mHYxEb6cXjyge8cIaU02Y2nuONfVgcWeW5JUoLeKe9PP96ZIkuyuSYjRgNFRBmWAidYmG8FUecjJnfWoyb_BKz1_dLK6wAfJiK3BJ_aCe8JkESi7oqSlAATQZ66YzHOIBgCx2UCX28n7V5ea0fVJ-IGft-T0riPvG3DfcEtBB-UpLSQpb8Jw4-RkWkThMNJGFO0x-kev",
  "id": "rs_017eb4d8d2d449b8016ab4279f629c87d0a7f5fbcc2d7fac39",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow fruit is directly beneath the jaw column at the bottom of the right wrist image. I’ll close here and use the settled opening and a lift to check the grasp.\"}",
  "call_id": "call_FU0qerbnseObTDwZoIP3qWRQ",
  "id": "fc_017eb4d8d2d449b8016ab4279fdae487d0a5fa403551cc3681",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FU0qerbnseObTDwZoIP3qWRQ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4488, -0.0139, -0.0338, 0.9969, 0.8471, 1.8183, 1.034, -0.2283, 0.5045, 0.4934, 0.3297]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1651 left_yaw=0.0003 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9969 right_x=0.3391 right_y=0.2602 right_z=0.0469 right_yaw=0.134 right_pitch=-0.2744 right_roll=-0.1134 right_gripper=0.3297\nstate[joint_eff]: [0.0615, -1.3744, 6.9675, 1.7949, -0.0806, -0.0659, -0.0122, -0.1846, -7.8017, 5.4906, 0.823, 0.1783, -0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e513289be487e0ecfc6746b90256641a16ef308d72e378290f56b6229316e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96f4d86ba75464c224356c39ea98b16514aeebc4c97cf6eb05adac207b1e9ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05c93bf2406c160d408916168f3f36ae6673aa8859194fe3c9112906e3949f91",
      "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 · 6.923 s

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

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.432, -0.0135, -0.0338, 0.9969, 0.7326, 1.8771, 1.2793, -0.4477, 0.4553, 0.4152, 0.9958]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1689 left_yaw=-0.0001 left_pitch=-0.0652 left_roll=-0.0023 left_gripper=0.9969 right_x=0.3845 right_y=0.2463 right_z=0.0777 right_yaw=0.0924 right_pitch=-0.332 right_roll=-0.1533 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.4154, 7.1726, 1.6728, -0.0513, -0.022, -0.0122, -0.9368, -8.8684, 5.9556, 1.3553, 0.1929, 0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.4423, -0.0139, -0.0338, 0.9969, 0.8459, 1.8297, 1.0264, -0.2661, 0.5011, 0.4976, 0.9955]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1669 left_yaw=0.0003 left_pitch=-0.0755 left_roll=-0.0019 left_gripper=0.9969 right_x=0.332 right_y=0.2523 right_z=0.0353 right_yaw=0.1214 right_pitch=-0.3188 right_roll=-0.1473 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.3197, 6.9538, 1.7509, -0.0366, -0.0757, -0.0122, 0.3077, -11.2205, 5.4222, 1.116, 0.4029, 0.1734, -0.0952]\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 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4488, -0.0139, -0.0338, 0.9969, 0.8471, 1.8183, 1.034, -0.2283, 0.5045, 0.4934, 0.3297]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1651 left_yaw=0.0003 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9969 right_x=0.3391 right_y=0.2602 right_z=0.0469 right_yaw=0.134 right_pitch=-0.2744 right_roll=-0.1134 right_gripper=0.3297\nstate[joint_eff]: [0.0615, -1.3744, 6.9675, 1.7949, -0.0806, -0.0659, -0.0122, -0.1846, -7.8017, 5.4906, 0.823, 0.1783, -0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e513289be487e0ecfc6746b90256641a16ef308d72e378290f56b6229316e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96f4d86ba75464c224356c39ea98b16514aeebc4c97cf6eb05adac207b1e9ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05c93bf2406c160d408916168f3f36ae6673aa8859194fe3c9112906e3949f91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtCekzUXOvr31eBedhjRCYfOrqtVYDS8GkZ8W71hOCe0y-sBpAJMFvk_K1Sos7vvrslWnC_9EF8dPxlXwALk8ubYSX_US26e_Vpse468zvwYGssia9wFhG5K9JLqyIx3bof32M2_WDQ9PWnIK9Yyk-8rEW0Rb9fk6FDBEOJfirUog8AuibeOVJgQQuAKGmARMo_4vNkbb6rWHV1UqINyH_RmWVNVovDVXkaFFpLcOoH1nrQZvhv1r2we66KPRSMHMGd0wFoiwyN_0EYv6DnkcCGTkVR1mtYPbyh0mxQYVwSiQpxmGZf-9OW3rEOdy3UHypdD6pHfd8p6dFf2IcZHjRBHtWVIVOpJp4iPT18etFvL-WwBcOteJq46KG8QlpYr2D763gcKmbcl1E0pYZSVBPW8E6vaDPPsOvSIVYNGK19XgHuTPWBwUV1JdhzR4ncSvy2NUhKKXiipgFbISQ_0vUnf2Xjv3HuN7eBtdAz8hRVoOumU5aghLTdyThGrYAehaET-FDaqXLO-J6eME2fUdlTKAY_jikiQAD7xPGgYtnUPU_EG1Bqgb28sDyRK-38Rpyj7Ii84GQRbK2uLmMstksYlGLlb0mmcuG5ni3rSf22fJZPr2D0wL3cazWuPqKiOVleDkL2tIwBdnUlz3qusFgJ9XvOzcxCYgfrcMlvcqzNcygfKBI4-5t0N6Hm8iYja6cEyZdE01GqRYO6rSJWMyEaJa4eWH13KYLRli79hElT4F_1xIvD3iiVO64IyYUA4Pg7k-YiPIlq4S88Igf3uu3x7O9H8uW8SqvEQFeAsM6x_3ofxnAXBHUKIqDxC1eQ1IuzjpzmD2wtBbte6zYZ7Xe2n8L1-ZMS6VwPau4oRPU0l8PQgNyiG7R2LpGRiE4YZyGzJTVq79iTenBIIQYgWDkEi2QPWKdJA6nvBCREUZVrDOlzqt6FsWGO4ETrfuc7VSu00ezPZQ2v4RoLfFBGFGwyBcNzXdEu6Yai5k8Kqr4nTyZjY7T3q-9SI20FD71-VNwOtEVInaiTPh78GdJ9ndFXGB8zEIVIDSoAP4vcWjuVzL_gF3N5GqyCvjYyE8K70QmzVvXvly-vtWohw2WSbOrJwd3AYt4HhYkAiTBhqQIaVGagEYPWl7J-VEnJeQIJGgKQcHV_0gb79aNlsBuvACdXXk1-UA_l2piWZI5StMQNOATI34ihuxVCc-1WkdoVWMJFowvRAymj5jmgHJhxEempLmQeR5i6YZ1YcO2xQIQQtyVsu6vEiGCSLFn_1GYyf8AI-5uexFIokElLc4MJENMEWMFw==",
  "id": "rs_017eb4d8d2d449b8016ab427a441e887d0818ab61ffe2d0fab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The gripper settled around a 3.1 cm object and the yellow fruit is between the jaw tips. I’ll lift vertically to verify that it leaves the table.\"}",
  "call_id": "call_FW7Pyx3fqf7Tx9QwZ3IpTmUa",
  "id": "fc_017eb4d8d2d449b8016ab427a478f487d08365ec64648148aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FW7Pyx3fqf7Tx9QwZ3IpTmUa",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.45, -0.0139, -0.0338, 0.9969, 0.8471, 1.713, 1.4128, -0.746, 0.4934, 0.4862, 0.3296]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1649 left_yaw=0.0003 left_pitch=-0.0851 left_roll=-0.0017 left_gripper=0.9969 right_x=0.3396 right_y=0.2633 right_z=0.163 right_yaw=0.1393 right_pitch=-0.3065 right_roll=-0.1337 right_gripper=0.3296\nstate[joint_eff]: [-0.0479, -1.3333, 7.1453, 1.7167, -0.0562, -0.0757, -0.0122, -0.2667, -11.1111, 9.0051, 1.2186, 0.2759, 0.0513, 0.3394]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee4c132e3321d13036af2fd12d80edc6788606efdb4ad9aa4a42ca38e963876",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf747271158680aaabba48afa41c7014cef926a302fa726654bb88157e2607e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68676a098a0fb0ce4ee434771f6037dafd30d4b79af2bb53ee3b316767778884",
      "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 · 2.389 s

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

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.4347, -0.0135, -0.0338, 0.9969, 0.73, 1.9171, 1.2018, -0.284, 0.4572, 0.403, 0.0127]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1684 left_yaw=-0.0001 left_pitch=-0.0679 left_roll=-0.0023 left_gripper=0.9969 right_x=0.3906 right_y=0.2497 right_z=0.0528 right_yaw=0.104 right_pitch=-0.2948 right_roll=-0.1342 right_gripper=0.0127\nstate[joint_eff]: [-0.1162, -1.1966, 7.1726, 1.6728, -0.0464, -0.0513, -0.0073, 0.0068, -6.8308, 4.3692, 1.1795, 0.1538, 0.1001, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4488, -0.0139, -0.0338, 0.9969, 0.8471, 1.8183, 1.034, -0.2283, 0.5045, 0.4934, 0.3297]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1651 left_yaw=0.0003 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9969 right_x=0.3391 right_y=0.2602 right_z=0.0469 right_yaw=0.134 right_pitch=-0.2744 right_roll=-0.1134 right_gripper=0.3297\nstate[joint_eff]: [0.0615, -1.3744, 6.9675, 1.7949, -0.0806, -0.0659, -0.0122, -0.1846, -7.8017, 5.4906, 0.823, 0.1783, -0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.45, -0.0139, -0.0338, 0.9969, 0.8471, 1.713, 1.4128, -0.746, 0.4934, 0.4862, 0.3296]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1649 left_yaw=0.0003 left_pitch=-0.0851 left_roll=-0.0017 left_gripper=0.9969 right_x=0.3396 right_y=0.2633 right_z=0.163 right_yaw=0.1393 right_pitch=-0.3065 right_roll=-0.1337 right_gripper=0.3296\nstate[joint_eff]: [-0.0479, -1.3333, 7.1453, 1.7167, -0.0562, -0.0757, -0.0122, -0.2667, -11.1111, 9.0051, 1.2186, 0.2759, 0.0513, 0.3394]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee4c132e3321d13036af2fd12d80edc6788606efdb4ad9aa4a42ca38e963876",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf747271158680aaabba48afa41c7014cef926a302fa726654bb88157e2607e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68676a098a0fb0ce4ee434771f6037dafd30d4b79af2bb53ee3b316767778884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_017eb4d8d2d449b8016ab427a6f4d087d0b5bc0ef7317ee9cd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCesbEXxSVytbBInoH1qP4n2mO5d3006VfdaDLQWPl_HsTiO3NTk6tBaJyNrBdSiQ5CvlLNO9nuyAY9KzYT6zlS3iz5PyXy4RrU-8WyL2MwP8ypM65UyrwSnrdDjWk4ivWU4PQZnKgho6LTsZyX-C4d6Q1Fpu507UZTEnugE_mi4e_Fe0eA8N67eWoWj6n3VSSrYJzEcKp5WPDvms9nQ0F1sIGdMTubHj0tiMAcne2_8IzszclXgTShTkqOpfOXxh5ziyzUVA5Dwi6kz90LPB2-zrZHsuRGq8ex9wpHE81O-0VNsElbLV7nR-IR_E2CfASTczuixo-CgqDq5KCKFPVdDimRinNK5f1dm2Hybuju28IIp-UgiuvN0glcY-BHL3d9lvJ98HNT6Dbrlos7BdDbpXr2sznfz0pcVt-Q_QzwqvAL3DQnv8zPnbYlv0XaVEVYXbmYLOqKV2wLCkQ_y4gSLKyHChLAdYSZUV2pb3woaZh-fT-33aa8rY22mw2lFsFilPTRVPNzGSWWeZ8lOH0h6jCmW9D_oL9P9BNy3Yp5fJ5Y_rJjG_AdjWoe2koHsYcbZF_Mwql1_gFGZ8sGYp1bN5y0ceBGJLRLLTs7yfLYkBwOm_0_rYX-6W6GU9oNLEx79I0vFoBFrqeB7b-tcvCFKNExIMQLjAMqsitZuO-4YASXBCCV_nae2JcHz1xHiMlptyLy6WX7voDHJV-uxivVjt3lstj-OyI25KigNPQpBj7HxyJnBxDyn5HuyHRmDaZIwGmIdcfHH4C7AzLBxU-VhYIV6XTdwWjmgoSe3gbjAVn_LbkajwW36AGdcwbAQmo8-LYxGqj1hSyZA7YSEGafuOZSvcLn2wHxVGVpf1IvqsRGMfc5Xjay0QRANnK2ojPzVEx2TNa6bMQgGoN6e9X89KcHy_EPCLwi7KfupUKIqlO1t0nVNzIiZ5q0fApO-BM-hR_vxw9bOQSZQSxjFT5c5DBmTQqVXMnq6ie3ATDHQXnD9j1sSxcie3JHE5MJGqAv_pcxaUzBfhHISpCAhSgPBuV4f632JxjdicGYkf8N6vmEk-1hvmnuGyJYl1PN0qpYl0PQvRBg8lpqkbmqirj4Dwbcx0rI9X4rsU-jQ6OcNyivo0kqGI1ihJUFWaJHlokzuiI33M18q5P9njLuVcqNUx-7_RSDA2Y5nGsderVgsaH5peC1-0yBfYDWde9dSQsdLS7LUCGlhj3L2L70goHTRNiDRCubGEeuUBvrfw0goBgBcVV8Dd7BfTwBlFk4j2N9uH7prFd9dCmKPKSwYYYAuX_wWN6mIzcurYO3_L5S_rJI=",
  "id": "rs_017eb4d8d2d449b8016ab427ab18f487d0ae88ba68f1de9540",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.09,\"right_z\":0.19},\"note\":\"A green fruit is visible held between the right jaw tips after the lift, while the yellow fruit remains on the table. I’ll shift the held fruit over the blue bowl, allowing for the fruit’s offset from the wrist.\"}",
  "call_id": "call_yDuIV1la5ooy2ZBDgFnYOuFY",
  "id": "fc_017eb4d8d2d449b8016ab427ab55b087d098cd404c8dc066fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yDuIV1la5ooy2ZBDgFnYOuFY",
  "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]: [-0.02, 0.8154, 0.6147, -0.4503, -0.0135, -0.0338, 0.9969, 0.271, 1.6344, 1.3518, -0.7002, 0.1722, 0.0051, 0.3294]\nstate[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1648 left_yaw=-0.0001 left_pitch=-0.0855 left_roll=-0.0019 left_gripper=0.9969 right_x=0.4159 right_y=0.0879 right_z=0.1618 right_yaw=0.1114 right_pitch=-0.4036 right_roll=-0.151 right_gripper=0.3294\nstate[joint_eff]: [-0.294, -1.2786, 7.159, 1.7118, -0.0269, -0.0415, -0.0122, -0.2803, -7.9111, 10.4547, 1.7607, -0.1001, -0.1001, 0.779]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb945241bc3522a35ec3683cfaee71cc49da3918cc4d6915352341060cccee3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9097b15f0d9f7d538a39d51786a58bb68f336c503245ae2f8c88014a85c07bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5703f8fa1d7e0f59f7eef64903bd7eba5881c53fe9def8976006522494a08f",
      "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 · 2.498 s

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

message 59 changed as sent

message 67 changed as sent

message 72 changed as sent

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6147, -0.4423, -0.0139, -0.0338, 0.9969, 0.8459, 1.8297, 1.0264, -0.2661, 0.5011, 0.4976, 0.9955]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1669 left_yaw=0.0003 left_pitch=-0.0755 left_roll=-0.0019 left_gripper=0.9969 right_x=0.332 right_y=0.2523 right_z=0.0353 right_yaw=0.1214 right_pitch=-0.3188 right_roll=-0.1473 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.3197, 6.9538, 1.7509, -0.0366, -0.0757, -0.0122, 0.3077, -11.2205, 5.4222, 1.116, 0.4029, 0.1734, -0.0952]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.45, -0.0139, -0.0338, 0.9969, 0.8471, 1.713, 1.4128, -0.746, 0.4934, 0.4862, 0.3296]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1649 left_yaw=0.0003 left_pitch=-0.0851 left_roll=-0.0017 left_gripper=0.9969 right_x=0.3396 right_y=0.2633 right_z=0.163 right_yaw=0.1393 right_pitch=-0.3065 right_roll=-0.1337 right_gripper=0.3296\nstate[joint_eff]: [-0.0479, -1.3333, 7.1453, 1.7167, -0.0562, -0.0757, -0.0122, -0.2667, -11.1111, 9.0051, 1.2186, 0.2759, 0.0513, 0.3394]\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 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]: [-0.02, 0.8154, 0.6147, -0.4503, -0.0135, -0.0338, 0.9969, 0.271, 1.6344, 1.3518, -0.7002, 0.1722, 0.0051, 0.3294]\nstate[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1648 left_yaw=-0.0001 left_pitch=-0.0855 left_roll=-0.0019 left_gripper=0.9969 right_x=0.4159 right_y=0.0879 right_z=0.1618 right_yaw=0.1114 right_pitch=-0.4036 right_roll=-0.151 right_gripper=0.3294\nstate[joint_eff]: [-0.294, -1.2786, 7.159, 1.7118, -0.0269, -0.0415, -0.0122, -0.2803, -7.9111, 10.4547, 1.7607, -0.1001, -0.1001, 0.779]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb945241bc3522a35ec3683cfaee71cc49da3918cc4d6915352341060cccee3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9097b15f0d9f7d538a39d51786a58bb68f336c503245ae2f8c88014a85c07bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5703f8fa1d7e0f59f7eef64903bd7eba5881c53fe9def8976006522494a08f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCewvNV2IkxSwQG5qDwu1ki6F0ZxyCw9JxlsG3HIO2-9H6bSQtA6fXcm68NSTxRI-SDhx6CpL0RZU8UeMASvrqTEg6wENd7HzXfVBJ9SqBxK85Yklkz3L2qb24DBccEZ-_b10eFu1TsYLyG4KKwAvusLikKlG-AoYagfXGQVglP0Ia8x3MWh4yqOwxvu7WFd4mJ5Tly5sdosHXvYTSCyzrMdsMINRul4XhBt33_eAlOxIv4lQrdR6Rgo1iIAPpN15gt6CrKOr46IaAciB79vQCLFiZvnDKuo7BQdRGt1zgUvQ1IOpTUsO5vK0ac8mJo6J5a_wolXzh7g2ODk73RCkoNwGy5B4NWCFMr8cDepnBUE2sqi1TCWbAGEC6j1oQqJ5OJ2zik_EsME1m62ufLyIEgbDN4GNLixFLFNw_BC4wSKTzM-zMBZBsIEtjlWZ9XuI0PuOmGvC0dBHX2fHh-UWGEG7oCuEXJo-UzREJtBqI9AU7MYoeWkDUO55lA1KeQz2WWRoT3nmUIzm9VELeRwxyGSEd4fWx2aMGlMT_JrBxwRUqvJS2Lf60mQG2R167K22TDaN-3gelc2LMcPBSWQmFWQCLy0vyWztwD3-TncqbARubL6Moc4QKmJ_cea7DeRV-zrLwj5deb_juEqGpqY_XJrzFyD9wX8d_WOzfr3HdAyeb8B6AMZ2y5YOiknXhE_bRSevLWObsKFIr_DDKZby3-nKRBnZeUD8fCaNhMRvO4tRTOumbYygme7iLMbr_Zo9xg7yF8zR8gWsrJbVmPfd_fYrqkCZdNBPIglz1SQqEQkECJGmBKMLJpZbHQkt1wz4eAD0mnf_uMLQVzJVURqk-X7MzMstXcCHlrXnxW5F8tyrdI5FsUWuwn3cjJIubSkzsRYDQV6MDKDepBVyil1d1t6FwiD0jybZIVf0WT2DQ6LtOMGIzvjBlJbTCkzGK4qmeLVf_uhAbe1xX99vyY04BxtDuidDWBlqlk9YTByemskOshlSBe4pWk6EF3NLenoOgP5izXsESk7kD0R0zARBsR_O4NlgxfW-QxzcR1rtf4--mZ5HOyrfzfl2MCOhxxFv0KnGsf2Pb6JJaFjKpzhNSKk_kLmV_e-HUmc4mTbb3acBTIOTJ7fnXtJx4z06I50N_jNBpiGclsvhzOqM1Rhnl-o-goGIuv5KGxusnyRFYj-q4ULitb7eqbrZAoC1HpB-HVrt5t0X3Bcq4ulMyXtSJmKpr9GlRPi049l3KoGawXf8gkWBccVPmR7DmJ7xap_zwBfuedL2lWUAz6OfrOI9GS054RT7pioOTb95WuY8Wbpx7s-cmiz7SVJSzypTIOOuwJ33M0ljYAQJvMi9b7C2BpsWXZ4t8yU4BHa269nSk0rlYgEW5hnPA6Ve-drZax_AVxp0l0mImcza4d0HPBIJCigNAhMQUr8iOY_FkBWuvijwil30QShNfrrJOVcdJWS9lOq4vP5zpp25Vk6h6irMpR-hg==",
  "id": "rs_017eb4d8d2d449b8016ab427af732487d091cc4cb88ac1abf9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11,\"right_gripper\":1.0},\"note\":\"The held fruit now appears over the blue bowl, and the bowl is centered between the right jaw tips in the wrist image. I’ll lower and release it inside.\"}",
  "call_id": "call_grm2RTuuIVQWDF2MzwHd2VLV",
  "id": "fc_017eb4d8d2d449b8016ab427afe9d887d0ad7bdc010637e301",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_grm2RTuuIVQWDF2MzwHd2VLV",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.453, -0.0139, -0.0338, 0.9969, 0.2729, 1.6497, 1.1858, -0.5476, 0.1627, -0.0082, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1643 left_yaw=0.0003 left_pitch=-0.0881 left_roll=-0.0016 left_gripper=0.9969 right_x=0.4078 right_y=0.0882 right_z=0.1122 right_yaw=0.1278 right_pitch=-0.4342 right_roll=-0.1552 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.3197, 6.9538, 1.6923, -0.0464, -0.0611, -0.0122, -0.1709, -6.6256, 6.5709, 1.4481, 0.105, 0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd52d1f7414bb394b7ff9367339462511d8f099bf68721eccbb082e227f9bf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc0c3adbbd2f7a199524591476bfd01db7ab38108840f3661d76928a7342601",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af4fabcdcde4b12209e0f6598a9eff6b53bc192528c60f7595526e0050dec84a",
      "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 · 2.508 s

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

message 63 changed as sent

message 72 changed as sent

message 76 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4488, -0.0139, -0.0338, 0.9969, 0.8471, 1.8183, 1.034, -0.2283, 0.5045, 0.4934, 0.3297]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1651 left_yaw=0.0003 left_pitch=-0.0839 left_roll=-0.0017 left_gripper=0.9969 right_x=0.3391 right_y=0.2602 right_z=0.0469 right_yaw=0.134 right_pitch=-0.2744 right_roll=-0.1134 right_gripper=0.3297\nstate[joint_eff]: [0.0615, -1.3744, 6.9675, 1.7949, -0.0806, -0.0659, -0.0122, -0.1846, -7.8017, 5.4906, 0.823, 0.1783, -0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.8154, 0.6147, -0.4503, -0.0135, -0.0338, 0.9969, 0.271, 1.6344, 1.3518, -0.7002, 0.1722, 0.0051, 0.3294]\nstate[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1648 left_yaw=-0.0001 left_pitch=-0.0855 left_roll=-0.0019 left_gripper=0.9969 right_x=0.4159 right_y=0.0879 right_z=0.1618 right_yaw=0.1114 right_pitch=-0.4036 right_roll=-0.151 right_gripper=0.3294\nstate[joint_eff]: [-0.294, -1.2786, 7.159, 1.7118, -0.0269, -0.0415, -0.0122, -0.2803, -7.9111, 10.4547, 1.7607, -0.1001, -0.1001, 0.779]",
      "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]: [-0.02, 0.8154, 0.6147, -0.453, -0.0139, -0.0338, 0.9969, 0.2729, 1.6497, 1.1858, -0.5476, 0.1627, -0.0082, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1643 left_yaw=0.0003 left_pitch=-0.0881 left_roll=-0.0016 left_gripper=0.9969 right_x=0.4078 right_y=0.0882 right_z=0.1122 right_yaw=0.1278 right_pitch=-0.4342 right_roll=-0.1552 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.3197, 6.9538, 1.6923, -0.0464, -0.0611, -0.0122, -0.1709, -6.6256, 6.5709, 1.4481, 0.105, 0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd52d1f7414bb394b7ff9367339462511d8f099bf68721eccbb082e227f9bf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc0c3adbbd2f7a199524591476bfd01db7ab38108840f3661d76928a7342601",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af4fabcdcde4b12209e0f6598a9eff6b53bc192528c60f7595526e0050dec84a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCezqk5x9ExJIMCkzLURgtgLOk4hEEbn9ocKdjOVmfMtqzBVmN1UfJ3Qt70nqL9lVYLU4xanGSMh6eFPaC3PsFypO-Uxv9CVphmecypvCZeYKJ2IZP-CXo8JY71wo6Kr1tKnfuB1Oeg3O18sgCADv0RR0oEsJR2nKLe-v-9Sx-O14GEL4snbNQaf2-UiJPdjGzeFsVELEMBAw-r9KIqMfztNzwosb9PHCvC7PndtaIDRHF-V7kIo3_8lIykh1yy8EYVxeW4jEX6H_R7kgwTfDNNxPaQ1uBoNJMOjKyDiZ21RLc0NqpFI1zjNsnbTXggzKbjVE_EQ96AZ61JF7H0nKxD0skHYTtmF2vEwWy92p_LDd4NYg9terhr1gbhWRSYKZs1ydP_yXaRJqZIUHsGwDbwWA9YrVHskyNBgs8f2eP5_eMoqLf68-yAwCoqzY-s2rOuYBSq91HUbfOQUh2JqVTzbP_TZ9OLf8q3h2qWHJSyPvHfH-jBzwiVLkbPYzQjMebbE0wGMM7VuikJbiA43jdjGPTV8Ss1nELwJuvV2akv4X5zGcq7zfa7XURYqE-eRLRWTOjuqL3LqqEjGOGcTXnHUygsqFug95-h3zmqsNOJXADzmIPWtQuSjq9B5yBkjQDyzlhHJ-x84Xiby-TpkMa__p5o3y7ztZyKmP7zPbrKLesJ6YKlEt7G-1ypIL6pOkK2jx9ny-Zqbmac3hywWw-AnQB_k_OHGrh7zjuJ7nULjPWvZ-IepGYH2m1aX_EvTn2Obb9SR-P5f5GDgnLj9gZl7EMdgC_g9y3dwqdWom1gDTbsc17avmTrCmvgKWDBJN9RZoqmGrHleub8W_KY3FcWzjnbCUBvO2QiX7TnZTSezChBfzH1irD4qzX7HWlu_LsQcgII0UA7xZtBNmS7AJQ3P2zpw6XZQ1dRfvuY7MWCdFwqd-z9_lJv1HGZ_OS-IPEOx9cK7qulKEhEtD28bfbo7RyVZsZM9mra8uu1B0NJ4FMGgy9Gpun3ZJ34mL6RAHdClmG1_ZZODKlVnHbNIw9xVRQfJ-CYnmdRFph7Dl5wRUHlfyG5sI7grYnnJGtgPmXge6uKQsXn7sa9H-ZPA9p5wRb52qBIbHN7gtGIOILLZDTVXb_Ch2NAOwYp1SmoVBPNmtjKN5iozF2dMJ-xokALh2hjcN8AfoioTIPqyYHWXBZv66dZLqMLTsoylIy4Z1EQwlfKH37xOPmSDox3-kmh4a1CmCKyIi6BCv_LBvl3WBBU0bAyCRhrfjtHE4zLTo69YejusjQbRvYGU-BbDSQKqL0pLT-HPFljblKeijQPcgHLhz-Wf0N4O-Bm2hTiHqclghhpO-34yo9vtL5LAPTqnFSGKzSbUhRpPn9zi9TcWERP_NrgOYAlevcdGhevRXZrlmHB4AHqwUB6k-gYyO4SX7ZEAEeYnjHFfQ3_KuZEjlbERnWHzA8vwmFXCVoPZmvDEJo_gQfXzmqC6QqG5cLi0-JDFqZ5KU5Yu8wSxxP6F18z0MnkpfduwE_thjjVNdf_e4EpLtYNRdQ7HY5vN837Env3zbv6LvjjK-_GS4f377Gm6-BtCun2sLygK9ly5u8FIDALHOwDZ5b8egfcbd6CyNyuZvkERa9oC1NvAGOcj4miRkskzvve9HscJ7RXai2jzUhlKihfA5R74kSX8o8PDhJIZeyaLe2-3sIwHMPbippY=",
  "id": "rs_017eb4d8d2d449b8016ab427b24f7087d09954ab2ceb792ab8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.255,\"right_z\":0.13},\"note\":\"The pear is visibly inside the blue bowl in the right wrist image. I’ll move back over the remaining yellow fruit, staying above the table for alignment.\"}",
  "call_id": "call_IfPCCQtlAULVqk4QuJZuXIos",
  "id": "fc_017eb4d8d2d449b8016ab427b33ad487d083995338dfc29d28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IfPCCQtlAULVqk4QuJZuXIos",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4648, -0.0135, -0.0338, 0.9969, 0.9001, 1.6585, 1.2785, -0.8028, 0.4278, 0.5293, 0.9965]\nstate[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.162 left_yaw=-0.0 left_pitch=-0.0999 left_roll=-0.0016 left_gripper=0.9969 right_x=0.2909 right_y=0.2545 right_z=0.1263 right_yaw=0.1788 right_pitch=-0.4449 right_roll=-0.1546 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.306, 6.9402, 1.7705, -0.0415, -0.0513, -0.0122, 0.1436, -7.1043, 7.9932, 0.8083, 0.3932, 0.1441, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456a4ade2a32c7b0b57a95461e1ef84302051bbfcbd96e0a85b02886f5d441c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de8fa61032a55b78d69d2d04136083024a0df2815c07d10a5956495f87e6cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b9950a320b8099f4e7dc6b09a17ca808a2488492b35b6e839d3ea792d35440",
      "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 · 2.214 s

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

message 67 changed as sent

message 76 changed as sent

message 80 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.45, -0.0139, -0.0338, 0.9969, 0.8471, 1.713, 1.4128, -0.746, 0.4934, 0.4862, 0.3296]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1649 left_yaw=0.0003 left_pitch=-0.0851 left_roll=-0.0017 left_gripper=0.9969 right_x=0.3396 right_y=0.2633 right_z=0.163 right_yaw=0.1393 right_pitch=-0.3065 right_roll=-0.1337 right_gripper=0.3296\nstate[joint_eff]: [-0.0479, -1.3333, 7.1453, 1.7167, -0.0562, -0.0757, -0.0122, -0.2667, -11.1111, 9.0051, 1.2186, 0.2759, 0.0513, 0.3394]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.02, 0.8154, 0.6147, -0.453, -0.0139, -0.0338, 0.9969, 0.2729, 1.6497, 1.1858, -0.5476, 0.1627, -0.0082, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1643 left_yaw=0.0003 left_pitch=-0.0881 left_roll=-0.0016 left_gripper=0.9969 right_x=0.4078 right_y=0.0882 right_z=0.1122 right_yaw=0.1278 right_pitch=-0.4342 right_roll=-0.1552 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.3197, 6.9538, 1.6923, -0.0464, -0.0611, -0.0122, -0.1709, -6.6256, 6.5709, 1.4481, 0.105, 0.1099, -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 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4648, -0.0135, -0.0338, 0.9969, 0.9001, 1.6585, 1.2785, -0.8028, 0.4278, 0.5293, 0.9965]\nstate[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.162 left_yaw=-0.0 left_pitch=-0.0999 left_roll=-0.0016 left_gripper=0.9969 right_x=0.2909 right_y=0.2545 right_z=0.1263 right_yaw=0.1788 right_pitch=-0.4449 right_roll=-0.1546 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.306, 6.9402, 1.7705, -0.0415, -0.0513, -0.0122, 0.1436, -7.1043, 7.9932, 0.8083, 0.3932, 0.1441, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456a4ade2a32c7b0b57a95461e1ef84302051bbfcbd96e0a85b02886f5d441c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de8fa61032a55b78d69d2d04136083024a0df2815c07d10a5956495f87e6cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b9950a320b8099f4e7dc6b09a17ca808a2488492b35b6e839d3ea792d35440",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCe3mvmjRBBKXcsMtkcfPdOPezc8vxMr-yi1aJtDHCa1x3TfxrCWMd4SONG5aO7_bCphy2Cth7C90g8OgttCfMWFOEIC_jiF6C7NjxZgJ3V8LAjVUqssCZ1xigXSXJFNDKeVyK9qRi1FuhQuDPZ_L5vKV1VLFZt_sjPv2eIazVFmmhZBcpx_8fLOlgHtln3X3djRUrouafIPVfHR70uml-jMEyaDBT8CZzZJry3divrwrokoRYoHGh6jE4A9hhpVInwWs13l3g3fuMGR63r4WmHst58Cefum8uCAyHsUP0nb1vv4XlxszkjAgmxIVJkD6_hg02YLipgyz2ite6wHMf1WTjZMiBaiHrVE5sQDZ-iJeJkSN7-oexQg_mChbVKg0W7z28jaMtrzp8W_XCJopCQdoi4qFzkciD7yp2U62gyCUaYbS5OQ_4QXhYomhYO5tjWrEcqKayQOA2wifmPwvRrLlQ7GBEDnA8O2VH0a4D8cQ2u-ASMg1QP-CZq-e0ZP5QKamIVfTz75ctncIB3wgTqbnjDEoeUb2TFCJrhgGnq24y7F3somafkCOGPwlqNrdyB7F90VhfgF5jFQWAGHX4tUom8uZx6e7VSxaSn-Jm2tURcWBy27vwTCvGUpjmM92P54tdSqUFVE1UhxBdimOG7n5U3NhZE6i1qZswmD3Bk7rUefeLdpc9RpV1VPCG7I9AO1FmVL8HssppCDIZ9kqeZY_loYWUHGXO4MeVt3gBpnw9OVw7j2Ze7MAr_5cpgHqCi02orhUZksXNzz6cQOkfvY1DR-9dGX2jBETxPZer7fxnB72hXfYUhXIisFdB6t_TtOFNzxLFWjP_1S0Ers7wRxFd6ho6TLfpj1RKo2C4nfQ50mEpZj-ndkh31t6vQsfuqMtcsfZ2WA5yaDeTev4n4-o-5DDd6MPcv9j0IpnYgxJLSMLwSMrqtYEVS8OP6eyKJ769dDKByNhbgG-UjYTCksOBHKfA8iwBjlwhQu50LnLEo2Wn0rMl7FEdqFcIv-9hz5U_lnmXV9HP8TPhO0NyClZKXqwAuJJat_cEq9KGDSfFngyiEnQWK7meQrgDfq8xAFRpFSHMkDn2X77V4_4Hm03WxNSex0rE4hJ7xPQ7L9D9orwyLNEE5JoI_tyvSORwjhqmjcHDGJY53QP51sfjagKeo2_CfRWosW7Gv9sZ_0JxZzBNmYizAzS5j0VWib5VF-lDxDKWa-g6ozVPUxQXulZE-S1xDmJ0zKTgIu5F2TYdAYnwm7SaHmaH-tENfnTREx4F94izs4bD09Zy2Wx3H4m0Xr5pb1_EhmOrt40THRrIPKz0nprD5sfKfhwTSkPs0wkJpRAQbkhlOkt76SZH7oxnyPjiXzNuvj5PE14h_cJeeoS2b91bbTSPwcnTtFoVnXRiwJ_89sricPwFs9Jm4gcUhdmPGypDaEoj_DY53g3XKFLXvGsApJYwqd3E-ryPF1RwLs6xHjvpQoCfKwzRFiBXfpuFIQzLjykEr5vJPuI_u_h2JxUiikshgn0Q3kK_CrvpL26hs4gTVe89VqAVW0SrLupvE-tlQK4j9xrLgQfLR6r0agweWdS-gxvlE2uJuM2UExyeu3ULXTTdE7v0PqJXmvmnJ-R_Ow7STIQvuG55o=",
  "id": "rs_017eb4d8d2d449b8016ab427b6204c87d085da4be3ed411937",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_gripper\":0.0},\"note\":\"The yellow fruit is centered directly between the right jaws at the bottom of the wrist view, and the pear remains in the blue bowl. I’ll descend and close on the yellow fruit.\"}",
  "call_id": "call_UmTeLZBAwl55W0kcBWkHzFrK",
  "id": "fc_017eb4d8d2d449b8016ab427b6daf487d0a94b49a3d288415d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UmTeLZBAwl55W0kcBWkHzFrK",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4686, -0.0139, -0.0338, 0.9969, 0.8993, 1.7748, 1.0161, -0.4583, 0.4221, 0.5312, 0.0109]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1612 left_yaw=0.0003 left_pitch=-0.1038 left_roll=-0.0013 left_gripper=0.9969 right_x=0.2856 right_y=0.2489 right_z=0.0287 right_yaw=0.1697 right_pitch=-0.4739 right_roll=-0.1745 right_gripper=0.0109\nstate[joint_eff]: [-0.0615, -1.3197, 6.9538, 1.6874, -0.022, -0.0708, -0.0122, -0.0205, -7.3641, 5.1897, 1.1013, 0.2955, -0.0708, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e2470fbe174c5e24d48784aac7a5b154f0e90a441a0d2d0490482d0c382a42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:772bd8a776ca6c2137279b7617b5419ef8c1dd58060a844ec8b45c85f15b456a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e0d1af5ab39a500315718c20de814a79edeb85863b90255db5d5ed8ec12752",
      "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 · 4.636 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]: [-0.02, 0.8154, 0.6147, -0.4503, -0.0135, -0.0338, 0.9969, 0.271, 1.6344, 1.3518, -0.7002, 0.1722, 0.0051, 0.3294]\nstate[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1648 left_yaw=-0.0001 left_pitch=-0.0855 left_roll=-0.0019 left_gripper=0.9969 right_x=0.4159 right_y=0.0879 right_z=0.1618 right_yaw=0.1114 right_pitch=-0.4036 right_roll=-0.151 right_gripper=0.3294\nstate[joint_eff]: [-0.294, -1.2786, 7.159, 1.7118, -0.0269, -0.0415, -0.0122, -0.2803, -7.9111, 10.4547, 1.7607, -0.1001, -0.1001, 0.779]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4648, -0.0135, -0.0338, 0.9969, 0.9001, 1.6585, 1.2785, -0.8028, 0.4278, 0.5293, 0.9965]\nstate[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.162 left_yaw=-0.0 left_pitch=-0.0999 left_roll=-0.0016 left_gripper=0.9969 right_x=0.2909 right_y=0.2545 right_z=0.1263 right_yaw=0.1788 right_pitch=-0.4449 right_roll=-0.1546 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.306, 6.9402, 1.7705, -0.0415, -0.0513, -0.0122, 0.1436, -7.1043, 7.9932, 0.8083, 0.3932, 0.1441, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4686, -0.0139, -0.0338, 0.9969, 0.8993, 1.7748, 1.0161, -0.4583, 0.4221, 0.5312, 0.0109]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1612 left_yaw=0.0003 left_pitch=-0.1038 left_roll=-0.0013 left_gripper=0.9969 right_x=0.2856 right_y=0.2489 right_z=0.0287 right_yaw=0.1697 right_pitch=-0.4739 right_roll=-0.1745 right_gripper=0.0109\nstate[joint_eff]: [-0.0615, -1.3197, 6.9538, 1.6874, -0.022, -0.0708, -0.0122, -0.0205, -7.3641, 5.1897, 1.1013, 0.2955, -0.0708, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e2470fbe174c5e24d48784aac7a5b154f0e90a441a0d2d0490482d0c382a42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:772bd8a776ca6c2137279b7617b5419ef8c1dd58060a844ec8b45c85f15b456a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e0d1af5ab39a500315718c20de814a79edeb85863b90255db5d5ed8ec12752",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCe6Md7Q-oPOfbiPD5Kanlje77IMjWL2ZH6j0Zn1HXP9yDBDAdzK5IZ4GyXFstUGOArokGW-BtMniqzZTkFBV1fePEoxXpuU4sFJTeMu7iYYvRfOdCtagfNsamOQh3_X7Gxr5geKtIP9Xz7Xg5otCTcIXQWqJoJJGrOE1a1Q4CGmu1lP0XSQRUb5iSfT_xtfgxeTL_Sdwi-vd1_5qGyOgafkL5X0ZUotKBCTmpxppN3bDDJnPz3UrVHSbg3laOpTHHh8trXpBk7vhgJfBAS3LMvEJ8hWlnQ9pmGPE7_UbgwyzU7vgTgA_cvoq8Fi-ZsE061hitqRGF7hXOObB_Lo1Uq714dc9xnELP4OH58Tut38aMmcWXJLw9-G6JvwlXEdg7NLbsUSX9rRAEdgsvr3LdTpnpyHe-lcR1FmhHZlHBY5QvFmQtvccS8NrWYe8ANeuw9xo0xwPHWr_HTE1Hkysehdy4CnE2-4IQkwyLZ0iJ1IDBRrjZ2cdsxTkcepwXSlH0YIz-rkR8P4GDk7LBWUt_oIhx9ZZvl1QYT510p6UawxQ6mbWTFLeJBPaNdlnxSbah8Fn3-EVHdvlOhI9RCbXrOyta-yDo5ogKeOaAGstf4zvmfVWrTc6o-m246ux2OQ-vi5zA0uV9gIAiY8SkxAushS8ezPBx64Na6vStMlIMbisZ-QslfO1MNdFO_jPW02EWgXxGbBLfvde-8go-jyODfpjVReTY0VO04vT-UnXngDOBo5M9tt382siuNNI_Vh8ib5rJ8rBlpei_SXZnDRxpBjYxcrlprhnkH23bxrAXoJ1L-ywG7p54h9EiUaRzUV1vZhmGx1b4U6U4ZJzaQO-fbwrcn-2Az6wzb1WCgA-7cCLfWIA6lHG17v9NA5QRCq4vAhwgI43ZGbWMJMVKSgN2XJkSycIxeJqUOU64psz0qxTn-h4RWxEaNTQVRfOamNLPQbVBh2YIXrRpqyjg228Z0W9A3tnRgKnajSTIw2ItDECFzQ3YU1N8HevEPRO0l8YH8K6Avd1FECGim8djU0oxzrsCmy8tG-ktqLv1UdS6jafUFTiF6BNxAO8CtAkHX23Xm0XynJ6mTPgWMa9rJ0rpTd-gM98mcqDudzGiwOoKOsNF9FT3DGQ5N4GwFkXAWXtH6bid5OOoMsU47PnhPE1nhe7zsP8f1pfJqRuV3aCSB-siCDhvAQUUZ5UOM9D9a1tqStJmsl1hN1Z-I4oTeekWJOHOTTbJxrkkTGUU1e18Oxyd1_BIhYn-c3E9fFnkHaMqPG9bBvqy3jo5bdTQWjXAmu3hUX98IFxDt0s7_L67UOplyTIBhlN76ITGW9o2-2GO6x-o5nI_vC4GxlUX3qtk4Kp1e62_ZWcuUYzJJ0Eq8HrQB6mP3JvohcmoCuumFsjnn7",
  "id": "rs_017eb4d8d2d449b8016ab427b9a08087d09e66694ba661697b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.31,\"right_z\":0.035},\"note\":\"The jaws closed empty, so the yellow fruit was just outside the fingertip grasp point despite appearing centered. I’ll reopen and advance about 2 cm before retrying.\"}",
  "call_id": "call_YXZkY4Ehx7kmtcB09pjiYJAC",
  "id": "fc_017eb4d8d2d449b8016ab427ba205887d08426e0d3c9420beb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YXZkY4Ehx7kmtcB09pjiYJAC",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4698, -0.0135, -0.0334, 0.9969, 0.8467, 1.7992, 1.0649, -0.4763, 0.4019, 0.4698, 0.9955]\nstate[eef_state]: left_x=0.2845 left_y=0.0003 left_z=0.161 left_yaw=-0.0002 left_pitch=-0.1049 left_roll=-0.0012 left_gripper=0.9969 right_x=0.3033 right_y=0.2441 right_z=0.0319 right_yaw=0.1705 right_pitch=-0.4873 right_roll=-0.1883 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.0872, 6.9538, 1.663, -0.0269, -0.0415, -0.0122, -0.5402, -6.9128, 7.9111, 0.9841, 0.1587, -0.0073, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abf0911e1f479abac91a5ccce2e72a0702686a18b17a3df09e8b0e82315047dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:485d12d470aef1ad01edd1f40e74356854f105ba88c88feb4cac313700c2aaed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df21d13c1ab1e33222697102f6790aa6184d3b2be0c78aa60f118af8736ea343",
      "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 · 1.983 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]: [-0.02, 0.8154, 0.6147, -0.453, -0.0139, -0.0338, 0.9969, 0.2729, 1.6497, 1.1858, -0.5476, 0.1627, -0.0082, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1643 left_yaw=0.0003 left_pitch=-0.0881 left_roll=-0.0016 left_gripper=0.9969 right_x=0.4078 right_y=0.0882 right_z=0.1122 right_yaw=0.1278 right_pitch=-0.4342 right_roll=-0.1552 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.3197, 6.9538, 1.6923, -0.0464, -0.0611, -0.0122, -0.1709, -6.6256, 6.5709, 1.4481, 0.105, 0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8154, 0.6147, -0.4686, -0.0139, -0.0338, 0.9969, 0.8993, 1.7748, 1.0161, -0.4583, 0.4221, 0.5312, 0.0109]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1612 left_yaw=0.0003 left_pitch=-0.1038 left_roll=-0.0013 left_gripper=0.9969 right_x=0.2856 right_y=0.2489 right_z=0.0287 right_yaw=0.1697 right_pitch=-0.4739 right_roll=-0.1745 right_gripper=0.0109\nstate[joint_eff]: [-0.0615, -1.3197, 6.9538, 1.6874, -0.022, -0.0708, -0.0122, -0.0205, -7.3641, 5.1897, 1.1013, 0.2955, -0.0708, 0.8864]",
      "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]: [-0.02, 0.8154, 0.6147, -0.4698, -0.0135, -0.0334, 0.9969, 0.8467, 1.7992, 1.0649, -0.4763, 0.4019, 0.4698, 0.9955]\nstate[eef_state]: left_x=0.2845 left_y=0.0003 left_z=0.161 left_yaw=-0.0002 left_pitch=-0.1049 left_roll=-0.0012 left_gripper=0.9969 right_x=0.3033 right_y=0.2441 right_z=0.0319 right_yaw=0.1705 right_pitch=-0.4873 right_roll=-0.1883 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.0872, 6.9538, 1.663, -0.0269, -0.0415, -0.0122, -0.5402, -6.9128, 7.9111, 0.9841, 0.1587, -0.0073, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abf0911e1f479abac91a5ccce2e72a0702686a18b17a3df09e8b0e82315047dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:485d12d470aef1ad01edd1f40e74356854f105ba88c88feb4cac313700c2aaed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df21d13c1ab1e33222697102f6790aa6184d3b2be0c78aa60f118af8736ea343",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfADCY0k_gL9Ps-EgzHPaj35PWB0hBUIL1xnab0MALKgwO9atzQqh40iHhu7Cb3sWMwK4EcjUKwiOYMlGMNBOKB_ioUjI6VmNzKLw_khEGmM0p5_k8e_JW0iMvV7LmRXs5-0LozOZCRgvqRFdpvI80yW2_-0Vv3ONa53jbduV3fevU1MfXU9jUUVMoLQBQiZOkxkJ3l3sNmtFuSU-WLCPq7Hk7kS_KFxXDYERUdpd7A1EuFfany6g7sCoHP5didJ4_D7Ns72GtbLUdPUiK1Nw0jW0oRZ4EPrJ7ml17fIvmrWRoPn-wj23bYf9pgC8LLPDJDaGR7QE8fOv38mjlzsTx5VdYwGCiZbZA0BAHeUeOYb2gkguOBGrhaxQqxllPr0MWp7X73R5GK5vRUhH8hJ6D2Hwzw-Zq1G9gLGPpmnrfNLimDKi3jB1xPXrCkoMDXQPQ61xk2Ht_vgfaCR4-2C8ZT3vzIH1m01nYAkJ8Qr1-y6VaNdNAnq7zVs4jrFrIisfpflLLJWSXFlagqZl8cz53os7Fk3QiihqdCqYve4d_DWLInRvd_yQbQo-MQHd2Ofk0xKX1bJLuIf-CyIXbIlPTMmUAuHAEZ8Zk9F1cDSvn0sLw341__q7j_L79NWpwJ5NSBS5QTFKBPN7DaqCnJPj3_V35aLafDcEF5O3bQ79litReEAZUBPwTr1dutZJSzaNLXF_8HBYj9Y06WXBQV_Ni0pGIAe7-IzGvfos48XaaJ1d9i1g9-kJ9G39SY06JM6tMKoOL4sj4aim3zDjgmdvWHxUjUyLKwLCAzckKsi9vpfML_gIR3a4dd2vlPGUvdDHYQyUpmTPTTYEjByFARhcvk17IX9xwrR8scasSUuDIotiAk9bXa_Q5KM1LVjHLM-fnudWyDm0ckon5OGU3LcrrPg7pDQNKbchwDsisQPKR_-AxJUpXIkqjUuUNBfU8ojlgCHEf3bNmmP5cDjF6ll80cHFrEEXWVAv0VDpZYx29leTSYSpV71H_ce00Gpxhq9Nd59POD5S-mVVm5conZ_3WPxrZFxUpbf3F1Az4pI4m3GF724nNxuGGrK90VN5D5BJA2NsdWmQKqJXntpw7lfC402sMgI56XFNpfPuD0y-QVxs8ApJ0qObIpueGRDwOjXlhPXGNAu3IwTuYJ8lWn00idveOopGhFZHlNsCuJLMychJViT1ttIT8gsLZAIlzVv3dFVm8IyeYmRqWN_NnXpB-xsX1wHZFuaqXpcT09zZzbwlXNJSMHxtPrCZDg8Q0plIJFh9FBWCme4nIrLSEN5IhXAZsORjxcN-eri-sKT76pbEJoDqbFL9Lsoj1Gihwd771pCn-WArrg9sbMT754T83y8GF4W3sLIySjw8QYhlGFq9gcZW0x31iUOim_SpxhPIPgBzGlc1GtYywwlPR4yasq1oO4PmuGx_Ni02MTI_DgCNGCX6XL-4Hv88OHz6EbTqLTEqM_6UA6c4PcIwkaLpMzulYbgmwXZA9w3_PLi2JZUSA-GoxY70opC0EVS-dUOtp9NkBarK51wrWn3MKJfBFyE4YSJLksm-S3qRNf4n5h1L7KMCxFvw8ZzN4Uhpg_cj6b32WXkIuDuk05Nl4nedEaam7_syeUfDPignw_wPR5JzG2PgDYwHQ_VY8x5hBEEZRBED9pvj84Vf1_Ja0R-KFVH-_SCZDSzHGfQ2xMRA1snykBCLTAP9FFWaRO7a94epIiJSJQGSY4269cYFowVrIzwTY_ukPxwugu3JXO6ionr8CjFySQ6PYE487_1BfBi_rFOI39aYBu5kkOHQheO9K1GX27H7_T_eNB8im5UBEE0QOZ_MVyxHHZ6D8VJYpG3NqX22eUqIj8DjTAd9O4IMaNF4mN-RHRcI4078E7eCf-ELbOECubq-Q1KIGguz28gb2J686m4_H7_MpiwcWj1-5_Ub1wxGPo41ujLmw8LUABi9FT_6agiguDVV0S_Z7sT8yhLDEvKbBt6dXX0ZD0Ynr09owsLxT_ENP58F1hN_M-WIIr3clGu7GMWoA5_XcMqyR24kEdzDGG4vNgImVGHCObB4zDc72bw4bBuqWw9bULvZTs7Wh7AqUL6oWkUk5fZQxi1EKUdkiQ9rj87TUBHvyn6-Ic5MPzn_OxpKm-SH4S8zjdTxuYye3XdetO_eSn7Rm6YXfiJ1pqZ1Rw26sP-S91EkgOt1718IfvzTA8ulagAQFS2BK4XoL3x_3jd7eZys-eZmQBOARo1bY8ih9NJzKcqGHgOTvqfiSjS8r9igY1YVAZUgTfQf3rgApVSSYmk2ETescczyK47YsSFJkysLc4YYLWpCT6E40neH-qgsRQfRZXnJNa8pekhlYrGS6llPbVAaG3g9PioHU33tgzUEG5WLE0mWjcmewoD1g-Zt32ACW0z-l6cfQAlYeTS_qtWa0k5g4gJEx0fTip-CDydyb4RUyXf29AUGMLFgO9kidd-zWgO1iVbqdpTuAUvPnPSlGbeIQ04nK2v5JNA3tM8AzJssW-TED9jqBBuDT4B_s9WFebR-tZcR5IzYTaaGmgA9SERp9eeB56z5IYKCLTOLqZqg==",
  "id": "rs_017eb4d8d2d449b8016ab427bd7fb487d098f79df6880d7c68",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.225,\"right_z\":0.03},\"note\":\"The overhead view shows the yellow fruit below and slightly right of the open fingertips, not between them. I’ll shift the gripper toward the base and right to put the jaws around the fruit before closing.\"}",
  "call_id": "call_dCy1MOVgIRDo0hsvfpapIdHj",
  "id": "fc_017eb4d8d2d449b8016ab427bf963887d0b5a453fddeb48bc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dCy1MOVgIRDo0hsvfpapIdHj",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8185, 0.6147, -0.4755, -0.0135, -0.0334, 0.9969, 0.8917, 1.7039, 0.9176, -0.4683, 0.4057, 0.498, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1591 left_yaw=-0.0002 left_pitch=-0.1137 left_roll=-0.0011 left_gripper=0.9969 right_x=0.2668 right_y=0.2252 right_z=0.022 right_yaw=0.1804 right_pitch=-0.5157 right_roll=-0.2078 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.0735, 6.9265, 1.7363, -0.0513, -0.0317, -0.0122, 0.2256, -8.4171, 6.7897, 1.2527, 0.3687, 0.1538, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1551764807bed8f2a34eb1b7ffdea73a6c98f8f1f7aed1de73e3c91f006125c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164ce3319b8496a4de50fc3fa2c0947527a297850c6d42e34ca8bf58a4610d27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80db73d50f19e143ffff5070b4089b8d9059f3e87dab4d3b721cc0f6227b7726",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 5.641 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]: [-0.02, 0.8154, 0.6147, -0.4648, -0.0135, -0.0338, 0.9969, 0.9001, 1.6585, 1.2785, -0.8028, 0.4278, 0.5293, 0.9965]\nstate[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.162 left_yaw=-0.0 left_pitch=-0.0999 left_roll=-0.0016 left_gripper=0.9969 right_x=0.2909 right_y=0.2545 right_z=0.1263 right_yaw=0.1788 right_pitch=-0.4449 right_roll=-0.1546 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.306, 6.9402, 1.7705, -0.0415, -0.0513, -0.0122, 0.1436, -7.1043, 7.9932, 0.8083, 0.3932, 0.1441, 0.0855]",
      "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]: [-0.02, 0.8154, 0.6147, -0.4698, -0.0135, -0.0334, 0.9969, 0.8467, 1.7992, 1.0649, -0.4763, 0.4019, 0.4698, 0.9955]\nstate[eef_state]: left_x=0.2845 left_y=0.0003 left_z=0.161 left_yaw=-0.0002 left_pitch=-0.1049 left_roll=-0.0012 left_gripper=0.9969 right_x=0.3033 right_y=0.2441 right_z=0.0319 right_yaw=0.1705 right_pitch=-0.4873 right_roll=-0.1883 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.0872, 6.9538, 1.663, -0.0269, -0.0415, -0.0122, -0.5402, -6.9128, 7.9111, 0.9841, 0.1587, -0.0073, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.02, 0.8185, 0.6147, -0.4755, -0.0135, -0.0334, 0.9969, 0.8917, 1.7039, 0.9176, -0.4683, 0.4057, 0.498, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1591 left_yaw=-0.0002 left_pitch=-0.1137 left_roll=-0.0011 left_gripper=0.9969 right_x=0.2668 right_y=0.2252 right_z=0.022 right_yaw=0.1804 right_pitch=-0.5157 right_roll=-0.2078 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.0735, 6.9265, 1.7363, -0.0513, -0.0317, -0.0122, 0.2256, -8.4171, 6.7897, 1.2527, 0.3687, 0.1538, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1551764807bed8f2a34eb1b7ffdea73a6c98f8f1f7aed1de73e3c91f006125c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164ce3319b8496a4de50fc3fa2c0947527a297850c6d42e34ca8bf58a4610d27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80db73d50f19e143ffff5070b4089b8d9059f3e87dab4d3b721cc0f6227b7726",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfC6fZRWTprW9xKE8B7tLyEKSc__Ssr3WeaedbadGXTwSOpezgMjdHUHUGXyrUgkXIkX_Mc6iN5kZ1WO8HJeHRElLLjvAqagm7nMnQo23mEls1lAqkd_wF7ySihYlMQ0586C-AbOW8PaaoXX_PdvX6dda_-WyyZA7VpjxujfBDMUU5-5d_pmJFGwT9_755L7NQiZYi_AGvOIcyYEhi-KnoJ1wjZ2IQqXLqdUo_AVDKGseULiF8XLURYYv1dhePJIMnppG6YzFRGmZAd880CqU0w_bQEHgcRct-WXuVSkJlCpjN0hQIqx-Vqf0AMnNrypq6AoP93GcncO_Yuul_YblILOCOntQZHnDorntyhZW2Ft9MTAiLH83lL59YiuoqZ7rXcfIIYXjqoWsFHDNSSwq6Cxkj_88yz-5pU0kvb5furX7uk1-yq60AwVTUuyMr7t268sC7vYd6xibn07AOtqZWaJ_wlVS_dGnKHUR6wJ3LpkMcsU0TxVtgptl4u--LwDhO8sVhR6qTb85bI_RFOPJ_DIs7p_lBvySgMfCDwwL5Bn2-AVnY5PGFxEW2aG5y9uAy6DF6oGrUyT-2zz4wSaV8lfX5L9oIBJM7OJPVfSjylln5viAK2DKhkwjLAoJn4Elj1Hz2EUfUIPAemoGCGctvT8pEyBkCLsCDV56e5qaBpxWnSygo5EkKg_o30Z2QzUq4SPUoNMCHFrlZ34uhaiRGNUP8NfJxodLicFJS2ZMYzD1aQmZdZqH99Bnw7FAl-d14qzy-5xIYCbTzW-TpDGLps64PlWjBWPUrlBIdpN1GAcaCkzMry2FVuwBbTVzUa9jD9klSpSkMKKxV2UxbEczFI0kZOPn4N7AmGS64MOKoWF7vZtKZOJqECBaOURpalLABV-00reDCFG0KCQglWL7eanIMdDxAHSZq9szW8rhQlLS-ZMBFWM2O1yt26sHV02QFmOwREj66txol_DsOWPtz1HQesmTEQ6H2lm2nMUoVDKAWd1X7B1I_y3K8P-_M472flk5LRGDv4LZ8LZcIuTXv1puXe0GU2ombeKtKSn7bS7_0wyT5S1NrIow-Tw-DdycPv6uafykji1SIWiqBo50jaia_dW_bPRcw8CEXE8xOQWHkZG3kMRIXfced9YXPwfQ0IEq1OHVNWT4WkZuZ_KpcJKFJIabeYnXrr_tnVMukwZIk9yZSb1cMISpLrMRuW7z_mCE8qkGQgvFxs-_9zVrjRDvUR6QtHAbBHzHZR0tKGTbJYdU85__5Y4UjYXEATv1hZ2xRojaLL8cyQKJ8I8jTjG0BnoG6CW-kz3Xn6-hr_2AU=",
  "id": "rs_017eb4d8d2d449b8016ab427c1969887d09e11dec977c50aba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow fruit is now partly visible between the jaw tips in the overhead view and at the bottom of the wrist view. I’ll close and test whether this lower, more baseward position catches it.\"}",
  "call_id": "call_FqFDFO749QPtN3k1DU4bumH7",
  "id": "fc_017eb4d8d2d449b8016ab427c1d87887d08ddad10097f9b72b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FqFDFO749QPtN3k1DU4bumH7",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8188, 0.6147, -0.4759, -0.0135, -0.0334, 0.9969, 0.8928, 1.6974, 0.902, -0.4755, 0.403, 0.4931, 0.0105]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1589 left_yaw=-0.0002 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9969 right_x=0.2621 right_y=0.2207 right_z=0.0189 right_yaw=0.1803 right_pitch=-0.5304 right_roll=-0.2206 right_gripper=0.0105\nstate[joint_eff]: [-0.1983, -1.3197, 6.9402, 1.6532, -0.0366, -0.0464, -0.0122, -0.1846, -6.8581, 6.9538, 0.906, 0.2125, 0.0415, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec1b1a0837907191963d30ee4ac164137c2ebf4e77d85cb55d9597a7923b855",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7126f6a3b5b9493144cbc2a1a12ff1493279aeb5834078b70c18cba8b2640e0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea86400ac924456132ce97c588099da41561f0fd1d9be37f0755c5b05160c885",
      "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 · 2.427 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]: [-0.02, 0.8154, 0.6147, -0.4686, -0.0139, -0.0338, 0.9969, 0.8993, 1.7748, 1.0161, -0.4583, 0.4221, 0.5312, 0.0109]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1612 left_yaw=0.0003 left_pitch=-0.1038 left_roll=-0.0013 left_gripper=0.9969 right_x=0.2856 right_y=0.2489 right_z=0.0287 right_yaw=0.1697 right_pitch=-0.4739 right_roll=-0.1745 right_gripper=0.0109\nstate[joint_eff]: [-0.0615, -1.3197, 6.9538, 1.6874, -0.022, -0.0708, -0.0122, -0.0205, -7.3641, 5.1897, 1.1013, 0.2955, -0.0708, 0.8864]",
      "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]: [-0.02, 0.8185, 0.6147, -0.4755, -0.0135, -0.0334, 0.9969, 0.8917, 1.7039, 0.9176, -0.4683, 0.4057, 0.498, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1591 left_yaw=-0.0002 left_pitch=-0.1137 left_roll=-0.0011 left_gripper=0.9969 right_x=0.2668 right_y=0.2252 right_z=0.022 right_yaw=0.1804 right_pitch=-0.5157 right_roll=-0.2078 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.0735, 6.9265, 1.7363, -0.0513, -0.0317, -0.0122, 0.2256, -8.4171, 6.7897, 1.2527, 0.3687, 0.1538, 0.0904]",
      "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]: [-0.02, 0.8188, 0.6147, -0.4759, -0.0135, -0.0334, 0.9969, 0.8928, 1.6974, 0.902, -0.4755, 0.403, 0.4931, 0.0105]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1589 left_yaw=-0.0002 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9969 right_x=0.2621 right_y=0.2207 right_z=0.0189 right_yaw=0.1803 right_pitch=-0.5304 right_roll=-0.2206 right_gripper=0.0105\nstate[joint_eff]: [-0.1983, -1.3197, 6.9402, 1.6532, -0.0366, -0.0464, -0.0122, -0.1846, -6.8581, 6.9538, 0.906, 0.2125, 0.0415, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec1b1a0837907191963d30ee4ac164137c2ebf4e77d85cb55d9597a7923b855",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7126f6a3b5b9493144cbc2a1a12ff1493279aeb5834078b70c18cba8b2640e0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea86400ac924456132ce97c588099da41561f0fd1d9be37f0755c5b05160c885",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfJNEYj6hfzUCR-Hd0A4ZsBqBHAWZ4g0yo74mcClpXbfeG84lPkj2lSTz7jndVf_pDvjMOV5GqIDrt3-k26cwCPbWurFhjlnuZgisO6Y0ZSiPqO5OY1oIgjo1-VwLQWFigPlx69fs6WcmhS4fVaG5-qTo-xvM2fhV13evNj48M2vD7WTInfX4W5O53uIsQt4alIesfrGsthIug7TU7vXjjZc6PCBcoGaV1ws6QqBili8qFhBZrepKax9m5BHhbkA067eXJ4joZqhXA4WtiJf_smRaDpPV19uSprgqcH5ZPQdNZWyly-GRh1HGeg8ylx6-HWIIdMH7xfThBVdLEZqHdy7aSN5ZwvhYM0zvEDCndkfILZgmRDbAtXD3VFLwLrFSbKa3lqF8Rh11GEM-3Em1zD3eKRRWxouv-f5JT1iATf4CbfH0N6eaGxzT6T5iVtqswGpKAutMpPsqiWBouG4X-Qg4rD5XRsXC6K2OlpdxmbYM2IXF25vu8rQcZ-5I6qf_KyNude4YZYr6r8Dg0Dzdr7ZksD8P9c_a-A9GoWJHzIGwhEbelKI4dd3OuYg8XvdIaj3QMc8w_WtbN-PHx9NiHwDLQK4grEfhCT-XbA1lkPVWqYvGlnt4djGLcpg-0OHPHgjVpAOxK1ehGg0x72LYBd1ZwXlfY56UBZwoihOEZ8WL08rsBiLHM4WHTQlWxz_gQJ5y4vQ5gEcmY6hpqt0eXtNSkxBu1NhfGY5xs4Qjb9ZZSRy3JJyKSgWCJBSPx0JQ-igqho4BJ33yWjt3fDD-cJOZ4R0Xg7puLvKJ9wG6r5YMj4XZChkUT3zG3Dn88v7CAnB-kS-Oi14jdNsn6SsLy_1Vz7iurM6XDP0jF-t6_RbCsbdmdOfuQGWbTz9Wqsz616mygFkJRl8V6LVuxQgPrtA0BUqUhKrvG1poDRpnYFLYyA7QI3607D71LLtJgIm2mmR_2B13qw_ya1aKosukSdMjELoqKCrY2SL6WybNJ35BZ0Aqm7ou3tpukpYwrY-mft1SPnoJRUKR8JMiJ4fVuUUWjQPM7DDrLpC3LBQ10D75tLcTHyFQs_ukxRV9X3oIh69CJMyP8W_jZ9YkH-CkdKcQ2Yl1o4Lhal9jReOVEa-K3Vkfu67MqiIK200mXj0j_ncg2NpHLf-EwJSlpJLcXat9A7MqJhKi75cxeAbcbLHICLK3NEAfUkuGXGFUXOg_q6Fy3e5xWgnUwtzRyaHElWjrVWy77tYqWH2-gREHMSSy41Qxov6LlSKDan4pR9Ud7PNdvwSICMgzc1nuTDxYhWmrLbVQZ5cTMWrfaMyqnnt-O-45lrZ08I_91xywubdLmzHZHuY1hNO7cEJ_wVEqrXo4oH0qSGq0hzJbhoN5heWU71fRIvDMwYmLw7GuPLCIW4lBz_lIYXdkB-PSlh_oVtWT_-QKleM2DkhwbcWirlphPqI3tQ-3Cu2HZXETEhXnXu4CejDnEbf3Rei0GxyaZvbah_DXDMTd6IvTXgd1ZVhcIBAL2H610NLDSmiF6RzQjOZ_qFoUWaMe8LXWl5VdcWTIz96cFhVWdtl0XGGpwDQKIMM-wjPL6b1Qzp8W4-ATjy1OKd3hgPmShSGPE3KBhtS6SsopCZIm64hqPL5YaT1jd7QgsT4mPTR9m3OUKAXka0HqwwnhEk4-0W_7cDkeJdF7Od6BrjL1oJMHN4IFAdVBRewY8Q2Ik3HKqn-d99VsB1lrJodCID8ILGk4RCa75_FP89FbBgxdSV6b68Ssp76zIfSxCuo2JSK-zLGUcoSljW8eKRl4cEbFx5Xdo514u7J_TU0ByCNb1Z1o6eH1TTd2Xm2WQ2QHAksY7cJeUn7Gzdtee7WyuEJPAe-J07sI5H3GqPUuUQz4vTLkdPRLciuVeG66pR_zizMQQeYizK_1ZfgWZIIj7wKxJI2xTrkevE2MaclglTzu8AnJDMlQIN1kmxOkuUh5GqvhZEisM7lu_lbXdMcB5sUCqGZXeUufg0y1tJ4M2ZpdoUhXvsitoKl73gSbE3SNeGVQDiJEVMGvBiblIzQlA4XY4V-6DiAiiCQ6g8PFYHulvTmcv8pY6r18l99ttC50bh8cRmDRLqa49bMLgET3trxvn9yhbmFTrDNJnbHa5iVsCHF5LuXB1kngr8NMQaUX2b3sPJld8_wwrxJU1u4XphHgU5Zo3apDn1__Y4FbQMkoEECmZUT3jLHazVMFvB7tzusqOuf_GSiZjxxMbcQ-A4O_URQb-laOsXIQ-nu9qTBpkDq0F6SURUwIDehOZHBsfxiLJRnXXT-WrxPtl5vxVM3fIpUcZen8RLr6gjhdl2z-ReoaDPcM0SttRw7c3TjkK59ojpQA23KNplHE-7TaDtaH3hSiAgqAIwTxP96oHss2nudtkPJjTgzTAIiT0kF2HQ0g9e0SjkLxyI48ElJz3o5oYZFobl7tqxJopdHyOLgb4RYXlkBzHUoOnoZaFd_A1zFsSIiEqnpB2T1WK6jjd4aNm2cM35Om0h1-Bmb_-tbXSasJBcKBNpGJgbHmJaRVjPW6sV4Vc9ykcG",
  "id": "rs_017eb4d8d2d449b8016ab427c5670087d0bef974720681ed43",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"left_x\":0.34,\"left_y\":-0.21,\"left_z\":0.13},\"note\":\"The yellow-fruit retry also closed empty, so I’ll stop repeating that alignment. I’ll park the right arm and use the left arm to collect the dark fruit near the white bowl.\"}",
  "call_id": "call_jgxKasmHE59ZmDU9qwjyfwik",
  "id": "fc_017eb4d8d2d449b8016ab427c7dbc487d0842add0a527219c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jgxKasmHE59ZmDU9qwjyfwik",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8036, 1.512, 0.9146, -0.3115, -0.5674, -0.5926, 0.9969, 0.033, 1.2015, 1.0752, -0.9676, 0.0734, -0.2813, 0.9973]\nstate[eef_state]: left_x=0.3315 left_y=-0.2019 left_z=0.1147 left_yaw=-0.0159 left_pitch=-0.1624 left_roll=0.0245 left_gripper=0.9969 right_x=0.2885 right_y=0.0001 right_z=0.1682 right_yaw=0.1362 right_pitch=-0.5466 right_roll=-0.2226 right_gripper=0.9973\nstate[joint_eff]: [-0.4444, -6.8308, 8.7453, 1.3797, -0.5836, 0.0611, -0.0122, -0.2393, -3.7812, 8.3077, 1.1258, -0.0171, 0.0366, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c66d763f6a6fb90e91f50e1420afcd27eb401985285f6df95d52aed57c2280d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d5d9753c6063a5118333dab25732b3602d594cfaa627f061d4474ecdf5e5d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225c88203c327287e47b07d99fd63f5d85fbdc319cb113850ba9d31b93de8db1",
      "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 · 2.853 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]: [-0.02, 0.8154, 0.6147, -0.4698, -0.0135, -0.0334, 0.9969, 0.8467, 1.7992, 1.0649, -0.4763, 0.4019, 0.4698, 0.9955]\nstate[eef_state]: left_x=0.2845 left_y=0.0003 left_z=0.161 left_yaw=-0.0002 left_pitch=-0.1049 left_roll=-0.0012 left_gripper=0.9969 right_x=0.3033 right_y=0.2441 right_z=0.0319 right_yaw=0.1705 right_pitch=-0.4873 right_roll=-0.1883 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.0872, 6.9538, 1.663, -0.0269, -0.0415, -0.0122, -0.5402, -6.9128, 7.9111, 0.9841, 0.1587, -0.0073, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.8188, 0.6147, -0.4759, -0.0135, -0.0334, 0.9969, 0.8928, 1.6974, 0.902, -0.4755, 0.403, 0.4931, 0.0105]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1589 left_yaw=-0.0002 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9969 right_x=0.2621 right_y=0.2207 right_z=0.0189 right_yaw=0.1803 right_pitch=-0.5304 right_roll=-0.2206 right_gripper=0.0105\nstate[joint_eff]: [-0.1983, -1.3197, 6.9402, 1.6532, -0.0366, -0.0464, -0.0122, -0.1846, -6.8581, 6.9538, 0.906, 0.2125, 0.0415, 0.8962]",
      "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]: [-0.8036, 1.512, 0.9146, -0.3115, -0.5674, -0.5926, 0.9969, 0.033, 1.2015, 1.0752, -0.9676, 0.0734, -0.2813, 0.9973]\nstate[eef_state]: left_x=0.3315 left_y=-0.2019 left_z=0.1147 left_yaw=-0.0159 left_pitch=-0.1624 left_roll=0.0245 left_gripper=0.9969 right_x=0.2885 right_y=0.0001 right_z=0.1682 right_yaw=0.1362 right_pitch=-0.5466 right_roll=-0.2226 right_gripper=0.9973\nstate[joint_eff]: [-0.4444, -6.8308, 8.7453, 1.3797, -0.5836, 0.0611, -0.0122, -0.2393, -3.7812, 8.3077, 1.1258, -0.0171, 0.0366, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c66d763f6a6fb90e91f50e1420afcd27eb401985285f6df95d52aed57c2280d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d5d9753c6063a5118333dab25732b3602d594cfaa627f061d4474ecdf5e5d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225c88203c327287e47b07d99fd63f5d85fbdc319cb113850ba9d31b93de8db1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfNNpe0TH9Ize3fd_BjzrtFS0cJ3Zx6MbCunaARLvcgyAZHkhGGVZYrKM5tPI8mjBF6aULV1Xh7UV7Hnf8p8HlBaEbkzNimidxGy5mtskfnnRuJuNE8m_ngdVANqlnOZEo_Wh4CyjIDyCuxIfbOgjylf9nmi8vVWYlhsE6uDSzNnDtUpelU2z4XNkdX3TqHNA5sS0ehgFhNok42zAXXVBJEilj_EDzlIKMqbc_NmKla-a-CHqoHvvFzJGo9WjWDqPIljvpQU-Mb8-kA7I9wLKZo44ndCYooG9k0bhzF_h-6Gh7m8FEx93L71gzOW7QcC8eolEIb35vgPYT6sp_jruWJI_BpDCLq7FblUuQjsp3Dlz0RtAuYDPM2xVLwy-BEIrlu1yHhehEdixuWD0KKBSxb7bM92gTEHmpKnMYLcRLDnppI8CbWQR35Dlr6uRJnQs_gbIr8MJ9Z88IbYBgdg9bMZx63Lbydz4i_o7BPUWyCJFlB2Jd2XwzqbB0i0qXyWK6XJCJTkscRo8_xFQPTym2I6bAS3dL9GORavcW-lPSCTTGNQ1TDhoMYA0MWvhAgOe7ZvMfZIzeFd8iT1602ucSAdY1oJKitjBDmW5rOP6lI1Ctue9BNvC635K-wuIrXrFtg3NO22CH5WACv48glsT-0Gw6Pg8YGModqS2HovTDcRU1l1B-X7aEl57lBrBggn0b7VmM73fLcnVkDGYGLk5hpZof6BWFCWT5eXkqWkbkzW21mjqvyd9gXvA_BNWsHKuHvcjHsY68TsEq5E00uqoCJpfMgjT8EJOhXdI5q4opebRmvhrLIRyKCZMNt-j_D9hip36_7mHW0L0QLOhwKljFjBP0BMptQXPNKUS8xrr05mF31A8XwqGP_OAUihxeQBetBh9Vg-IA-C00dE4930IzW6joVi-7EmtBcXx2p9bn7JlsE4gYaMIvu50BGkl-b-rs5FPp8hR33T8N_LNCCphPH1upW-6ric60ozjtNys7Rlx1EBIjEv50N3O96w62CgW8pjaa09NkQMsSTr8TRFvYGX3lxA8_NVhiLtW0Eavv-vjjDdR1tqRYSpbRwO8eRiXntZ7KKIK05uRtTOpoNr0PLSkL7gL54Tl_P4qT65SAHtG2fTJtO83y8CiFvu5iIwGkHj5rXOCnyUbdlkqYOoyoSrbvafwk5WQdEvKXZv5Rwaxqot6A8wDXzjXopNGmjvgHR4f_3XjEBTWXCSbqwD2JZsz4FuPXoNJaarpZcaLANAQjFF9dXz9t0pIHkVjnFHM6JIgjFPeLIcKPisE1xp6cUGrbZ3chUwZ5F9tCO8gqy7BGajN5kwAbzraeDbPfk5QCFLaytXzl_0IB8b76x3jbFxj1ftYawBWPODbbRg7yoEATwlTK7IY0lEtDkUiTi4utyxvEidSiJ_BbpSWd1bE1yfDYbXqKO4_C2VYL65ShEsAZNX_Glf-eNPUD5Jb7LvcXY8Dwcj11PbaqJ6LiL0N9s2qKgVyyO0r9u2Vu3eK-HgLx1Ua91gajZaCUbU7cobUSDff3tZ2cxPbDvJT8ZqX1g7vmzq64C3plRdLjdvQJj1Fir-fivEZO_o89XYNzn8ZkbXgHY1heZMYWNZBsnZu1-vG7lcrMHzC9rF3_7cSYEfXJY0gAFb91mGOhOLjDITBRUJgVw1-q8E4ObzNrjuEaR74WSXygGaII9GfdqvE-TO2pe5vnlWWj9OuMGDjGpklr9aVOeGEcnFl7ZyEqIZPOx6w==",
  "id": "rs_017eb4d8d2d449b8016ab427cbe2d887d080efa2c32a1b9392",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.16,\"left_z\":0.05},\"note\":\"The dark fruit is clearly visible in the left wrist view, slightly left of the jaw center and short of the fingertips. I’ll shift the left gripper toward it, advance slightly, and lower to grasp height.\"}",
  "call_id": "call_jibLttMuClbi5PhwdavQbEXV",
  "id": "fc_017eb4d8d2d449b8016ab427ccb3ec87d0b51d16f24fe857fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jibLttMuClbi5PhwdavQbEXV",
  "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]: [-0.6617, 1.5833, 0.6994, -0.0422, -0.4923, -0.4938, 0.9969, 0.0334, 1.2026, 1.0813, -0.9882, 0.0593, -0.3031, 0.998]\nstate[eef_state]: left_x=0.3381 left_y=-0.153 left_z=0.0443 left_yaw=0.0202 left_pitch=-0.2174 left_roll=0.0644 left_gripper=0.9969 right_x=0.2851 right_y=0.0026 right_z=0.1677 right_yaw=0.1653 right_pitch=-0.5633 right_roll=-0.217 right_gripper=0.998\nstate[joint_eff]: [0.3487, -6.065, 5.7368, 1.5946, -0.1685, 0.0611, -0.0122, -0.0752, -3.6444, 5.8872, 1.3065, 0.1636, 0.1636, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863b32e3e35313cc61eea7fe17cbafb48c8f50d36da868334e00f4b00bd7a40c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cdcaba6f8dfd6a9b5cd7b63320e0cb61ca79e1ea12f6aea9e5aff0bdc132fbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2445880a5649c3eb73f5203e29abc9b06b4577dc4f385c98e87d9e6dbc07ef",
      "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 · 2.349 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]: [-0.02, 0.8185, 0.6147, -0.4755, -0.0135, -0.0334, 0.9969, 0.8917, 1.7039, 0.9176, -0.4683, 0.4057, 0.498, 0.9965]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1591 left_yaw=-0.0002 left_pitch=-0.1137 left_roll=-0.0011 left_gripper=0.9969 right_x=0.2668 right_y=0.2252 right_z=0.022 right_yaw=0.1804 right_pitch=-0.5157 right_roll=-0.2078 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.0735, 6.9265, 1.7363, -0.0513, -0.0317, -0.0122, 0.2256, -8.4171, 6.7897, 1.2527, 0.3687, 0.1538, 0.0904]",
      "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]: [-0.8036, 1.512, 0.9146, -0.3115, -0.5674, -0.5926, 0.9969, 0.033, 1.2015, 1.0752, -0.9676, 0.0734, -0.2813, 0.9973]\nstate[eef_state]: left_x=0.3315 left_y=-0.2019 left_z=0.1147 left_yaw=-0.0159 left_pitch=-0.1624 left_roll=0.0245 left_gripper=0.9969 right_x=0.2885 right_y=0.0001 right_z=0.1682 right_yaw=0.1362 right_pitch=-0.5466 right_roll=-0.2226 right_gripper=0.9973\nstate[joint_eff]: [-0.4444, -6.8308, 8.7453, 1.3797, -0.5836, 0.0611, -0.0122, -0.2393, -3.7812, 8.3077, 1.1258, -0.0171, 0.0366, -0.0317]",
      "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]: [-0.6617, 1.5833, 0.6994, -0.0422, -0.4923, -0.4938, 0.9969, 0.0334, 1.2026, 1.0813, -0.9882, 0.0593, -0.3031, 0.998]\nstate[eef_state]: left_x=0.3381 left_y=-0.153 left_z=0.0443 left_yaw=0.0202 left_pitch=-0.2174 left_roll=0.0644 left_gripper=0.9969 right_x=0.2851 right_y=0.0026 right_z=0.1677 right_yaw=0.1653 right_pitch=-0.5633 right_roll=-0.217 right_gripper=0.998\nstate[joint_eff]: [0.3487, -6.065, 5.7368, 1.5946, -0.1685, 0.0611, -0.0122, -0.0752, -3.6444, 5.8872, 1.3065, 0.1636, 0.1636, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863b32e3e35313cc61eea7fe17cbafb48c8f50d36da868334e00f4b00bd7a40c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cdcaba6f8dfd6a9b5cd7b63320e0cb61ca79e1ea12f6aea9e5aff0bdc132fbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2445880a5649c3eb73f5203e29abc9b06b4577dc4f385c98e87d9e6dbc07ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfQQkoalVilhq-qhGRYxY7uYxpzC4GnQ21eQ0ISXD1pPoxV8s8LnnqCzxoVTl8ht9f8F-M0WkVS_iIKm9Zf4u8MhS1u0KLKPnYflHkXiBbLmLZ598OjOZ74Yu6Mis23MMfEnE34p41YwDmlbMBUc0pHsd6Tw7EGVfZV0CRxRgtAXgQ_ipgviShBJSRpiGcj-ytw7r-QP5DfZZJsAWL35iWSetWkI7eQBN3LfOCPyuyVxI6TLgQL0AVJGoYL_adEATaB70eowmvGNl1gQFXdzRSyEqdaoStvZelLi82W_K72tXMuYd98su9fqPZBM46OSpXKC-HVrH8ILriZoB5mr_Z_6Q02SeKqiJV47B8FSEG_AfmFpJtev0XNZyh9V8urAwpHq1yEaiFQPE31eeCwOJrG74VvYb2_sYzKGLtaOwFKkCv4PUP_XJnUAAYvai5dPDVnR79twk4v0fKihu7tuBxj0XqlxgTcXb2nq5IjQ1f0BBxh20hNq8fC_PMhPIzEQcqsluz3ZPUXvudLc3lnMPvIfa4xcvximx844nZzlAyYblVM_k7YAQqzVaeHYCG-AYuNeeht9eG7ADhBW4yKuTWz3eeJFzZPhE6ujuTqevUrH0MGV3S0XJqa1TF_WWIveoUNyBMMPzlehng_y_2kH7vdD5R_0-QKZHEpHmneSo-2oAyPQwsVHxrEyvnPf0FTzw8MU9vRRWwwGSrFVAIXvEOJ3hTRNNtU9GjfGTR7Nqkib8XCDFs29riRXrz1TVoCnqzGkQc8VRjCFcp4aqczvFoq2u0L7pLz2I9GoKb_3xkJ_RIvsE5gZmaBY9UeixOIZ0E6iwKbHhIjaAblnoNpxWKJmZM5aKe0WtdTLUKs-bia0VEL2DI1oCpWECjuD_0vf4x52n4fxdWTFJtld6Pj6INvz4DBOk4tTqfDwzLTfUZz7TTjV71WTkzDqK2OcvQVbeQay11tCwapYFi8eJMJPvRtLqKJG0pwDDlALXxV710CEfAeoj_kR5TgCmZWgIYrBPiNLM6tjEeKVaYu7X39FEER0TFYgY1lXtS4Acjx6wARzooWl8g5Xrlp6Fsk9TJDEmTEQ4tWJQQXIGznuyInMUELENsZosVHTFDeZWRQ-Cl1DOUQvb2mUyUdkeLdAo5DRWMiT-_T6hIgbjCVyMjEkeuLSdwmHsfEbYhGsbGdXvwb4BDEh5825hPZ2Y57gE-J0_P53_xAJRGxWMxH252JkCEkp4_XFLMRABpv0MBZ1rZRrjuU6_V6FL0esL1SuOgzqj3o50I31VusWQKyV3b8RRGReejpsdf3nj40RmvFDCdznwTwjxMfY8MD6meddgmcv99VEgZukXZw3Dj7Nm3WZTkj0w==",
  "id": "rs_017eb4d8d2d449b8016ab427cf2e1487d0b098897b89e48b9b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.015,\"left_gripper\":0.0},\"note\":\"The dark fruit is now centered between the left jaws at close range. I’ll close around its lower half and then verify the lift.\"}",
  "call_id": "call_ckWQAw1I6ZizBHQ0bhYZqyOj",
  "id": "fc_017eb4d8d2d449b8016ab427cfb9a087d0ae72da08813c5e95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ckWQAw1I6ZizBHQ0bhYZqyOj",
  "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]: [-0.6598, 1.6428, 0.6662, 0.115, -0.5152, -0.498, 0.4226, 0.0338, 1.2026, 1.0813, -0.9894, 0.0582, -0.3038, 0.9981]\nstate[eef_state]: left_x=0.3492 left_y=-0.1562 left_z=0.0362 left_yaw=0.0336 left_pitch=-0.1562 left_roll=0.0337 left_gripper=0.4226 right_x=0.2849 right_y=0.0029 right_z=0.1676 right_yaw=0.1674 right_pitch=-0.5644 right_roll=-0.216 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -3.9316, 3.7402, 1.0672, 0.0464, -0.022, 1.0281, -0.0342, -3.7675, 6.3795, 1.1453, 0.0415, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:997f002c6e7ef2f4074f197add7c8d44a80c6da15c1813d30948811265d19967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09ad1f90caf79ff7fe9dca2d1a60ba9a18b0ed6e6319011af391a101052f821",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be182a17b75cd7f235a192ed7f8c3fa2a845547c5e9472fabb2bf8946603bd4e",
      "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 · 7.881 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]: [-0.02, 0.8188, 0.6147, -0.4759, -0.0135, -0.0334, 0.9969, 0.8928, 1.6974, 0.902, -0.4755, 0.403, 0.4931, 0.0105]\nstate[eef_state]: left_x=0.2838 left_y=0.0003 left_z=0.1589 left_yaw=-0.0002 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.9969 right_x=0.2621 right_y=0.2207 right_z=0.0189 right_yaw=0.1803 right_pitch=-0.5304 right_roll=-0.2206 right_gripper=0.0105\nstate[joint_eff]: [-0.1983, -1.3197, 6.9402, 1.6532, -0.0366, -0.0464, -0.0122, -0.1846, -6.8581, 6.9538, 0.906, 0.2125, 0.0415, 0.8962]",
      "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]: [-0.6617, 1.5833, 0.6994, -0.0422, -0.4923, -0.4938, 0.9969, 0.0334, 1.2026, 1.0813, -0.9882, 0.0593, -0.3031, 0.998]\nstate[eef_state]: left_x=0.3381 left_y=-0.153 left_z=0.0443 left_yaw=0.0202 left_pitch=-0.2174 left_roll=0.0644 left_gripper=0.9969 right_x=0.2851 right_y=0.0026 right_z=0.1677 right_yaw=0.1653 right_pitch=-0.5633 right_roll=-0.217 right_gripper=0.998\nstate[joint_eff]: [0.3487, -6.065, 5.7368, 1.5946, -0.1685, 0.0611, -0.0122, -0.0752, -3.6444, 5.8872, 1.3065, 0.1636, 0.1636, 0.0562]",
      "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]: [-0.6598, 1.6428, 0.6662, 0.115, -0.5152, -0.498, 0.4226, 0.0338, 1.2026, 1.0813, -0.9894, 0.0582, -0.3038, 0.9981]\nstate[eef_state]: left_x=0.3492 left_y=-0.1562 left_z=0.0362 left_yaw=0.0336 left_pitch=-0.1562 left_roll=0.0337 left_gripper=0.4226 right_x=0.2849 right_y=0.0029 right_z=0.1676 right_yaw=0.1674 right_pitch=-0.5644 right_roll=-0.216 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -3.9316, 3.7402, 1.0672, 0.0464, -0.022, 1.0281, -0.0342, -3.7675, 6.3795, 1.1453, 0.0415, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:997f002c6e7ef2f4074f197add7c8d44a80c6da15c1813d30948811265d19967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09ad1f90caf79ff7fe9dca2d1a60ba9a18b0ed6e6319011af391a101052f821",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be182a17b75cd7f235a192ed7f8c3fa2a845547c5e9472fabb2bf8946603bd4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfTs1Cg3tvVAVX_RiUvZceFgn5GiXqVa1Dd1sVnOtXjySZ5N12E6fbwmMhtrRQnrr5l_baOSEENNPzp6WFvYaZWNs5kN_YHTKV1RdqbGaXs8GqDTSh4_14tT4f2E6594jYKDmiAWKMdeZ2637uOfEFLfEQ1FRb2xerLVCd7eHlUghZ-izJi98Ud_nXXMNAoszXn13zOzeoz7IjeArmDYMwu_9jJPdGBI6fMN6HjOSOfTlHCQ0s5QKVi0quQSSjwPpeD2zLZDg8_agJLEivprJvhhMC9Qv6ePqN1s59SDosqSsnqvkFcSbgR3Hm416DIoi4J8aqu4UnXL0DjWTvYBSTvmGbKtLup6gdf5ExE62VP25r0H-kI8KjFVtVgS1A_qrS3IeaxWUer8--0LZ9ptnPijOEm_dKR9lNb3tMhyUBo3N8_Io6o-kuUmgmQ2L6_tB6lLW8nwMWLHzEykj6QRNJuTNSPxzUCBIIb1r5b7IrWQumM2fRx7WjeDLP8P9LF4ezGINk_5JrccR31A_K6AVNeI08E3YzP8bFUp9ldVPjSYj7FelGm2Q2beUfN6UKoR_7qOpZKLLQYGSTYTKs5A7yRZsQpjIRYYaaAMb2DUmoyja4qNjC_3Tqu2N7sgidVA_Zh2Xxi4Z84CUAVZ0p9bnKxn0W0KXZjq50xFSWnq1whpi9LhwRzfEIWvl803Y_TeGEeJc3urqVwZMPOnFqQTwENtjBRz0pBoOCtQ9SMdltw-Z9W6Zabw94uEIHfXehZeT0BJlQHjzdu4jjtV5JAX-33mrCiQNDyAle3jqCirMNcU6xWlEMs7C501Hc7HWpMXHA-YAOcSf5siEOB3mzgS9iwY6aDUTwFAUrYFAej61uSop0kq3b4t5ezDPR4Jv8CbQXmDQx0hdMNE0zVLfBbcFyTwxUlQ4tCUuW9LtHzs34jpoxc05MkKVZ8X4cH5UUerUROBL76PH9no1NZzooUkZDqka3FSaVMpYrhisofUf9b8VYX8OuqL5eHJEgHR9TayF8PXVVglPR9DcifB8sWcrzsgQv2U5EHdps39KM0dQY8KOc7119AvXmpSfB4Dilky7armmygU0YEpIvAbarvgRdS3zZOxurIvZa48ROQdiGp79PmK-IDjlfT9LXi0Flkat_BBr2mSZJNAlVtgPscC7gPFOwnsHtNvxzSAzNi8xrW9_SlZLN1Tjczi_vqZpADJkH_",
  "id": "rs_017eb4d8d2d449b8016ab427d303fc87d0bc1eabba497a4c2d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The left jaws settled around the dark fruit at roughly a 4 cm opening. I’ll lift straight up to confirm that it comes with the gripper.\"}",
  "call_id": "call_h7G8a1caqvV10X0XCjP8fi5P",
  "id": "fc_017eb4d8d2d449b8016ab427d3326c87d0a1bc81e0b279c5c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h7G8a1caqvV10X0XCjP8fi5P",
  "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]: [-0.6598, 1.4277, 1.0248, -0.4732, -0.5152, -0.5041, 0.4264, 0.0334, 1.2026, 1.0813, -0.9928, 0.0578, -0.3069, 0.9981]\nstate[eef_state]: left_x=0.3515 left_y=-0.158 left_z=0.1607 left_yaw=0.0384 left_pitch=-0.1672 left_roll=0.0385 left_gripper=0.4264 right_x=0.2841 right_y=0.0029 right_z=0.1672 right_yaw=0.1696 right_pitch=-0.5681 right_roll=-0.2166 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -8.1436, 8.759, 1.2576, -0.2711, 0.0073, 0.6862, -0.3077, -3.5761, 6.6256, 1.1844, 0.0269, -0.0171, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4daff026a330ace5b7d544cbeacdc020401ea4e72ddd0dba227624872deadefa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad2402650188f3e66a59e1441028109406511e8463e38adbbf308c5cdb5771f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee594d99501310688ef01d07ac46b86fbab2bf4b4e41ec2623aca7cfe99798c7",
      "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 · 5.092 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]: [-0.8036, 1.512, 0.9146, -0.3115, -0.5674, -0.5926, 0.9969, 0.033, 1.2015, 1.0752, -0.9676, 0.0734, -0.2813, 0.9973]\nstate[eef_state]: left_x=0.3315 left_y=-0.2019 left_z=0.1147 left_yaw=-0.0159 left_pitch=-0.1624 left_roll=0.0245 left_gripper=0.9969 right_x=0.2885 right_y=0.0001 right_z=0.1682 right_yaw=0.1362 right_pitch=-0.5466 right_roll=-0.2226 right_gripper=0.9973\nstate[joint_eff]: [-0.4444, -6.8308, 8.7453, 1.3797, -0.5836, 0.0611, -0.0122, -0.2393, -3.7812, 8.3077, 1.1258, -0.0171, 0.0366, -0.0317]",
      "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]: [-0.6598, 1.6428, 0.6662, 0.115, -0.5152, -0.498, 0.4226, 0.0338, 1.2026, 1.0813, -0.9894, 0.0582, -0.3038, 0.9981]\nstate[eef_state]: left_x=0.3492 left_y=-0.1562 left_z=0.0362 left_yaw=0.0336 left_pitch=-0.1562 left_roll=0.0337 left_gripper=0.4226 right_x=0.2849 right_y=0.0029 right_z=0.1676 right_yaw=0.1674 right_pitch=-0.5644 right_roll=-0.216 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -3.9316, 3.7402, 1.0672, 0.0464, -0.022, 1.0281, -0.0342, -3.7675, 6.3795, 1.1453, 0.0415, -0.022, -0.0073]",
      "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]: [-0.6598, 1.4277, 1.0248, -0.4732, -0.5152, -0.5041, 0.4264, 0.0334, 1.2026, 1.0813, -0.9928, 0.0578, -0.3069, 0.9981]\nstate[eef_state]: left_x=0.3515 left_y=-0.158 left_z=0.1607 left_yaw=0.0384 left_pitch=-0.1672 left_roll=0.0385 left_gripper=0.4264 right_x=0.2841 right_y=0.0029 right_z=0.1672 right_yaw=0.1696 right_pitch=-0.5681 right_roll=-0.2166 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -8.1436, 8.759, 1.2576, -0.2711, 0.0073, 0.6862, -0.3077, -3.5761, 6.6256, 1.1844, 0.0269, -0.0171, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4daff026a330ace5b7d544cbeacdc020401ea4e72ddd0dba227624872deadefa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad2402650188f3e66a59e1441028109406511e8463e38adbbf308c5cdb5771f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee594d99501310688ef01d07ac46b86fbab2bf4b4e41ec2623aca7cfe99798c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfcoBv1lOE4FH09MMFwL4m3I8EAiYVuxtjbHRWx8bb3JZOE3orNmO1tXlDdNs3H7Oi9suLze1toey1Ps7E9mDBRQ2wgq4kkSS1Rp7b6CpCsOvG8-qWvK5Ay228BLs_Q-BifoCEz6sMD7yWcNu_ZB_bzPUpnWhzFQUvo9OQbl8g_OPzgudXfWdXT3vH-JYTHucs9E0SxUMLMp2CAolC3M8CwJIw0OFOYGlAXwK43_FX1ObxEjoBn1C352FfcVkP9d3HIBIsYPZY9uZcfdohhQMd5jMpifrO_ci1h5YZor3hXjEvAaG2Yo_ZTJ3atjcJT-ydzTDCOHnpe4n_LYRHLz-WgN0bJeOO2IgXSYCGRJB-LI874-mByD10HvQamLgucudIpH2zE0jnSLi6OJDkHy4r3ToG1yUw1TAooYTdWo4GcR8SIA439UYibLmYCEDZL2uRDnFGiiQy2D--m8Pjqulu7wlkgI1Zxb1YSXVGnfdssUE_Ht1fY-r5wobBue_X2q5i7XHBRvp8tSMsFvuKINzScPoynLLorSWEoQOlXej1n2md-m7ruRLLl-1GKSJWSEiGr9BmQTBLgGic9LJG05EFxC7h8C1VCRjhwlIqdoL9kdA74TFXkoGL_gxrDomLL5JlWgHqRiuDiFqPvdd4Xxxm3lG0XhGIEKtf1dEdmTMRYbO-fJh95kqVmbMqMecpk6kijqpbh-xUWvj1IZf0lkkPJrDOOGRp60zR7NAm54HJg2cWlDYk0Da2aOiJNbsOglMY4dYzUZdsqGhKJJ-GT61RKjrwSGH7U9kf6shkMD0QNynJBtNRrPQTHZMaUpaahnVyLS0-wVO5297kCTjHJ1ITiRStPdYxGUO0RmzJspTOZcPltZt5YBKKji40V9URuOVxx2I4qkIlPB3iC3EfWH5MGJK6HBFCgOIFjS0FOySL8drQoE1Zb-F0ZMIcM3J6Q3UYHtz1I7ceYZAHRdvILphMxRm2wYSUhHqWXi30sBLe_oMeQKRint4-PyRjHLmQT-6qiUNiPWrDU_yQNwltylqoZtn3l_w288ZOzetCq6EYPTo4M0Jwwm_lMV16Y4XKXnL-z-ad80Ij2Z1r9fAWjbkoBcXEqKG-uKzQ5btTvCtadZ56d5qM3DQENq3dM_ilpXYX9kUyYqCjjHyKewFIVsvPmHW_GWuR-FBtTs0LKOdlbh5gWBMbSp9oKgNGlJI2TUm3nPVqzZ4KMHytrooLkDimINuuAsY19HAVSBIj9UJuT9iWOlqnvmetfmGaduY1cBPg2pSFa_zZ6A-0VfhWtjvk8cvDsiWWurlP3ZzOEuoxTwiRn0OMC65lwY4z2Ld2xZmjpw7dWxiAKEclMb9l1DA_o0aWLCb3VGl8joTNavgPFZyHvzavej1smgxWjCE_AJyujo4BBVsLs-f8u6AgoaC_NNS7dEGFmN0f65jzdbdMKjzIxRLKyvEZDHCg043qIP4XKwiGyjJIRO6FPdOidQBzAQ0I8bO8DROQQ5NMWKOAw2NR4YeLgD4ucOGohY7QxKLzwqqGivoNGEP5ooFrninxogRAjIGBUC5ZKSvSm-XErrFtx_7RgALSSku6A0NPhlWmc60aLzLtw0JJR3VfkqCb9nGPc5KK95vD8WjbvIdrs-qfoTM9f9KpEneJuVn8R6F8IXRUWY-5xtoMVVxgHB4jGwRV3j3x8zarhdoKE_XvLd4-pP0Qsn1bw3uhpYyGiVfVAsK-3HS24c0ZBZ9p9kVvx7EDgAqT69S28dOGZvd606nkdtyhfw_MNjLn5xm-0i1j68z2XkJAfwMLPnbRNR6HEzwFnv2Ci1HzeGS08rXxl6ye-mVESmGxPm7orjpvhEs8obkynQnpWxWtOFh_KxI3axRWc7biVMjldQU4yjtN1JEW81ZB1qZSGbQl_T5JPSV2ePItvx4rcfA1auMN2OzbsEQahNeuKz48LeSpJ6K_at3lpehUsxfs9Q4xB70AA58A5rEe2Y9Wz69qUL3dRNxge-6Lw7-QAjcGLRbNIPRvqNUU5gXY0yjmVUmxu45WG7eGv67z7izTgbFGCZQ-Y16uSn9sfpistRb5_QJPYJfL87aC75A8HpIYWd21G1_-haeIO__m-zkWXQ8LSLCxlewKJhtcuAPBquOLifIHdJPDpnqAKMmdIZhVddmhDgSEEmANCkc-zqBVkpVNCm5Loyq8Og7eLBQyOUvyPIuyvWoWuqAKEzKkvBdFXjpqcC4BZ-bfdGeIIrf4mCTaO7KaTIjM7IqTa7Q6A8AIQjWviIf92IOHIcSvB6uy3IsMeo7OjgTu1oFq8vgUORlBWNConM32r6bZbrZ64g2qem1wNERThzxRNPuymvmnCW6Ye3al1_6UIeTeFfZexO7zvZixXCgTsc_NwsobAlj-ng9sCZ06TZgivGUelLTJ6neU0TxtxR9SYsRWtGgY9HrwZ1LwxihjxO6oqN-JjS5GTOMu-dmGaBJRjTn5F3AZVk798Oc7KgilIfo7HnjywJp6da1yQiZKxlL6Bmif_twKZ0pJ7c3OFTlGWDW-kB3YWe4jaZVu-TXAog4xJbdemIo5v2Tfr05nE70xHmnnJdfjCrQnkrJzg7nngARirma6LWg0b9ihxzyQL1VVvSbK7lLO5dmaVMCOlRlBmVKgY-oT_6HTBE4UiK3KRUSpyrCv9EtRNM8QDMw6MJm0U9omzihto-Nfv_CJj1Q06kT8XjFA3_MtTI5ifS4yCRDvUhqhhGx351RFf-i-T6l8UZkXn4m2AYSUvRmU2T8CLjwMT7KQyTBqU87umhW54t6v4l1c-C4wwCMK0imrJe8mmER9VaOe_4I_57gp0by5BIKIK3LD8gUx_N1N0w2_pzg1r0Z0V6S5zsKueAyLlpXfRa9l5mMpS1w0oXXSd21VDTskpTP64ySfzAOXEu5K57u6QUlwd_FW6t2gdzYv-edHz__gtPhScNksduF7eS978Wg5hB4BsT8NRswOGvs1g8Bblomo3gwYopOifIHfwkw-G6iUV_83lrb6nem6k9E1piTiglYLX6Ki2UApV1rc=",
  "id": "rs_017eb4d8d2d449b8016ab427d7a96487d097d711bfca9cc470",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.37,\"left_z\":0.13},\"note\":\"The dark fruit lifted successfully. The blue bowl is beyond the left arm’s sideways limit, so I’ll carry the fruit to a clear central handoff spot that the right arm can reach.\"}",
  "call_id": "call_sVe0q58wSIe9lhQBLr5v3wL3",
  "id": "fc_017eb4d8d2d449b8016ab427dbcde887d0ac9b9aa9d48a2eb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sVe0q58wSIe9lhQBLr5v3wL3",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0046, 2.1323, 1.7649, -0.733, -0.6876, -0.8608, 0.4266, 0.0334, 1.2072, 1.0813, -0.997, 0.0574, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.3682 left_y=-0.3636 left_z=0.1195 left_yaw=0.0332 left_pitch=-0.1949 left_roll=0.0412 left_gripper=0.4266 right_x=0.2834 right_y=0.0029 right_z=0.1655 right_yaw=0.171 right_pitch=-0.5768 right_roll=-0.215 right_gripper=0.9981\nstate[joint_eff]: [-0.8, -12.4239, 8.4171, 0.823, -0.5836, 0.0464, 0.7692, -0.2667, -4.1641, 6.3658, 1.0818, 0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947a1c3d4a6a299f0389f86766e9427cc88eca6bddf535895fe0644f0859b58e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acc4a58c313014b1ba31213194fc28b1de4ebec3091d546af672db7f10018377",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03cd6a9227f07979482d039cb7b883dd3a1d9f65d103199212474bd633c4d925",
      "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 · 5.094 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]: [-0.6617, 1.5833, 0.6994, -0.0422, -0.4923, -0.4938, 0.9969, 0.0334, 1.2026, 1.0813, -0.9882, 0.0593, -0.3031, 0.998]\nstate[eef_state]: left_x=0.3381 left_y=-0.153 left_z=0.0443 left_yaw=0.0202 left_pitch=-0.2174 left_roll=0.0644 left_gripper=0.9969 right_x=0.2851 right_y=0.0026 right_z=0.1677 right_yaw=0.1653 right_pitch=-0.5633 right_roll=-0.217 right_gripper=0.998\nstate[joint_eff]: [0.3487, -6.065, 5.7368, 1.5946, -0.1685, 0.0611, -0.0122, -0.0752, -3.6444, 5.8872, 1.3065, 0.1636, 0.1636, 0.0562]",
      "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]: [-0.6598, 1.4277, 1.0248, -0.4732, -0.5152, -0.5041, 0.4264, 0.0334, 1.2026, 1.0813, -0.9928, 0.0578, -0.3069, 0.9981]\nstate[eef_state]: left_x=0.3515 left_y=-0.158 left_z=0.1607 left_yaw=0.0384 left_pitch=-0.1672 left_roll=0.0385 left_gripper=0.4264 right_x=0.2841 right_y=0.0029 right_z=0.1672 right_yaw=0.1696 right_pitch=-0.5681 right_roll=-0.2166 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -8.1436, 8.759, 1.2576, -0.2711, 0.0073, 0.6862, -0.3077, -3.5761, 6.6256, 1.1844, 0.0269, -0.0171, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-1.0046, 2.1323, 1.7649, -0.733, -0.6876, -0.8608, 0.4266, 0.0334, 1.2072, 1.0813, -0.997, 0.0574, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.3682 left_y=-0.3636 left_z=0.1195 left_yaw=0.0332 left_pitch=-0.1949 left_roll=0.0412 left_gripper=0.4266 right_x=0.2834 right_y=0.0029 right_z=0.1655 right_yaw=0.171 right_pitch=-0.5768 right_roll=-0.215 right_gripper=0.9981\nstate[joint_eff]: [-0.8, -12.4239, 8.4171, 0.823, -0.5836, 0.0464, 0.7692, -0.2667, -4.1641, 6.3658, 1.0818, 0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947a1c3d4a6a299f0389f86766e9427cc88eca6bddf535895fe0644f0859b58e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acc4a58c313014b1ba31213194fc28b1de4ebec3091d546af672db7f10018377",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03cd6a9227f07979482d039cb7b883dd3a1d9f65d103199212474bd633c4d925",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_017eb4d8d2d449b8016ab427e0653487d0b62fcd94a0249672",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.4,\"left_z\":0.18},\"note\":\"At the handoff spot the dark fruit is already close to the blue bowl’s near rim. I’ll try the left arm’s safe sideways limit with a forward move to see whether the fruit can be positioned over the bowl directly.\"}",
  "call_id": "call_v2YmnXu114ErpOiNoqLt5XSg",
  "id": "fc_017eb4d8d2d449b8016ab427e2d1bc87d0a11945767777eaa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v2YmnXu114ErpOiNoqLt5XSg",
  "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]: [-0.9154, 2.6354, 2.7358, -1.1713, -0.6464, -0.7918, 0.4287, 0.0334, 1.2079, 1.0813, -1.0008, 0.0578, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.4467 left_y=-0.4005 left_z=0.1391 left_yaw=0.0564 left_pitch=-0.2115 left_roll=0.0467 left_gripper=0.4287 right_x=0.2826 right_y=0.0028 right_z=0.1649 right_yaw=0.171 right_pitch=-0.5813 right_roll=-0.2146 right_gripper=0.9981\nstate[joint_eff]: [0.6496, -12.6564, 5.6957, -0.0024, -0.3736, 0.2027, 0.4957, -0.3761, -3.8769, 6.5573, 1.0867, 0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540ba6946cc4f4fb9260cb049b0bf8708588b7a662a3a6117720bef3638e0440",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c748bd8b81f16ac0a5d8a362f3df785641b3bd1964264c49fedaa0aca3fbf4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828d1680f3ee07a54c8b1c978a370a1668e4ac4d2230e164d2281e4f2e0d1a92",
      "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 · 4.244 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]: [-0.6598, 1.6428, 0.6662, 0.115, -0.5152, -0.498, 0.4226, 0.0338, 1.2026, 1.0813, -0.9894, 0.0582, -0.3038, 0.9981]\nstate[eef_state]: left_x=0.3492 left_y=-0.1562 left_z=0.0362 left_yaw=0.0336 left_pitch=-0.1562 left_roll=0.0337 left_gripper=0.4226 right_x=0.2849 right_y=0.0029 right_z=0.1676 right_yaw=0.1674 right_pitch=-0.5644 right_roll=-0.216 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -3.9316, 3.7402, 1.0672, 0.0464, -0.022, 1.0281, -0.0342, -3.7675, 6.3795, 1.1453, 0.0415, -0.022, -0.0073]",
      "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]: [-1.0046, 2.1323, 1.7649, -0.733, -0.6876, -0.8608, 0.4266, 0.0334, 1.2072, 1.0813, -0.997, 0.0574, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.3682 left_y=-0.3636 left_z=0.1195 left_yaw=0.0332 left_pitch=-0.1949 left_roll=0.0412 left_gripper=0.4266 right_x=0.2834 right_y=0.0029 right_z=0.1655 right_yaw=0.171 right_pitch=-0.5768 right_roll=-0.215 right_gripper=0.9981\nstate[joint_eff]: [-0.8, -12.4239, 8.4171, 0.823, -0.5836, 0.0464, 0.7692, -0.2667, -4.1641, 6.3658, 1.0818, 0.0366, -0.0513, -0.0122]",
      "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]: [-0.9154, 2.6354, 2.7358, -1.1713, -0.6464, -0.7918, 0.4287, 0.0334, 1.2079, 1.0813, -1.0008, 0.0578, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.4467 left_y=-0.4005 left_z=0.1391 left_yaw=0.0564 left_pitch=-0.2115 left_roll=0.0467 left_gripper=0.4287 right_x=0.2826 right_y=0.0028 right_z=0.1649 right_yaw=0.171 right_pitch=-0.5813 right_roll=-0.2146 right_gripper=0.9981\nstate[joint_eff]: [0.6496, -12.6564, 5.6957, -0.0024, -0.3736, 0.2027, 0.4957, -0.3761, -3.8769, 6.5573, 1.0867, 0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540ba6946cc4f4fb9260cb049b0bf8708588b7a662a3a6117720bef3638e0440",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c748bd8b81f16ac0a5d8a362f3df785641b3bd1964264c49fedaa0aca3fbf4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828d1680f3ee07a54c8b1c978a370a1668e4ac4d2230e164d2281e4f2e0d1a92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfpp-RFLkbbvDDTY4TLxCszgJjvIwRxk5Wf2RI4U9FJvuVXg1_J76AqpjO9xahOotLCNjbFSdwGezs86M_qCAG8-3vEQBJx97PbucRdKCymbwV8gtyPbV7nbQKZQ9zW9BMKr_db-TB0gt7TCN1rbUkDHJqrShtOn77xcb4e22SacspoCoaCJyk9-v0bftDxdJK0lFfyNa45S971nsQDAdC1X9Tv3z2_ssNNAcncIpmfkrfXcQUbLPIs_2_N_DlLymQUo12J5TxD-BCNDer1EjDaoYfYWD8K8ZhapCDPI8cGlkE51DJLoOLhAuWk5C5iQlu4rHRcRHUtDQjJbLmln7G57hCLJ36A2NmlnE9oNuMIRBRqRbXO4V5h-4dYXthvRDh6DXCKwfJ9PNMrZpB3DSY4pfizvieaOPipA52sGzK5zFQdGxMdxoCraQhlkp8fGF2wGOgNCl_VLJCLkUfpWhdB6nh0NuzwJI81XXnoqlMU3hl_TARxPHDA39m-FOJp1y2Qu_X8TgOSS-xS3mr1WAdRRXnevgwwuxx7lyZUKAr7ACvXyisS7NBrbr1vl4Va2z8qjhlmFZ3QT5SIrGW730W2qPW8dYeGMH-dD3nPZUEv1Bti1iSXHU6h2pzzxV2sdINERzSQCg8Y_ca_LSoso_wa1s6yfSnZPtpWyL7rgGBRxgZ7E4yGoxMm1GjU1x8p_LBT3R09JXkqbjad-8srqHU3VLpDuGoZzZbMTkrD1unrlhOfkXYsZytm4xPodGBRXrOJLJhWVUBHVeJWEMtztrggtrWUVwH9SX4Js9B2524ZWwBvu_dkoKhnf3Zx4wZTuQYBgZXjit7yhFZL02LJfhEblXGn1Ff0yiNHWLWVDZ4UwVLKKd2EEJCBs7Gok5zf8cL9GdNNWyntcaMZWNpXLJCXsih9w5d3-fIidnW3ncEup9ngmiH_niA9MwHUE6J7T5cRB7uWz6MyAm1QLa0wgtbLcDyf4iaj1W9ukHBvAydar2h0svnzqEfpEA3tTaXiEsGQegdqtcaBOzKQYyYcD17PL-dfyiGp-z5YPh3HOnZpz6GxlepPHMxLMpLoeTZwACM4JYg66ZUa3fNznCkXi2eL-OvKRTfIFXdvoY-XcHQ1DA2p5VIcRM1kejO3hdP3pEfWsrsduysNn_ohScPsnWHJeg9XyvsVugk6zXxMtMRopGzPb4K1Kj7ALBoK8wbSzIduF9u4-mPqulV5kcoHUMBWRmkbVAIHZoagPWyaH7CltZfMBemlbu-3EXjE18E1OPvPxOEtUj2ettA5RMU9ne2tEJBU7NKUFqbUIbmduHZcgWRgRsR0EVUBY7R23m-vHvrxCfqHnyr2ldTarpouo1AOx00_hSz7l2-AkyOIta780csauE-MHP5kiFHJYo9YwxsYzrHnXkQmBqF31KUEK-G9rthyilZv6zw5-81_Thfox5yhOf3lGglcrtZy_aCvG2Vi3tewhzYVu-ZB0V4MIDpKH1ZClB0s8Hjpxx8xJ8qO6EH7jUILooau24XuC6pZWMFkCyILSngjAo_4jqfbojDBcoXI5eIzCxS36fe2qMYuJ6QRQvqOrkD71uml__01bQnHcbA8F66Lj_E5_A5Ck4X46fztbmmL5d2cQ-wJEYZlkHlx05OoyjtYvmVZsHtMOX7qWsZIxaBMzzOjJyIYJnsJ1afQaEggDMKnI75ldZjm_Qs34mRcGbL_xoCn4eNGCB_j5dt4CnKjk5Jddw9QHWlddpFDx5XslOB2W9S7E3Qgt8Zu0TiSNvPwnOJjiYYbUGmwk6I5l5XX-98iKQZK2KXv1ju90S3ZMHwWRgUeXInbiZukIBuphs5-HEyA8I-9cd7kcAgdPplGpoTx2_fo7CrThQxdCse23M7GdXT3LBkqhIT9ckxT5uRGWyQ5XlB4pX6aQpf4wYXFJl3PXba-OeTXUGk0aYuw8B-D9X8qR1hSJ41ToUWpnXYhsWxIJeL-WeX2NvVpbYeaxcsuo6Imo1hSxgpPhWT4paC446UOs6MPvZO2trhsavxDFhAYSAGLKZZWbzZsHZtmq6Bm2I2413M2M9GOf15bD0pMVGbW1Zwp0MNwYyHEoYyPFB7Lc_db6sr9S7pr5ZcWwnxY-PGCUpmOQYXEtfLRDRkeqRPWISCkPtMEg7cctjnXe1aNfyr86iUqGJcuXq7oMU1gE2llhlxlp6PugQ3a4lkhcycfkw4lkXZ2N42fr1OAbcTfal-ItYKHdlHAnagYr4b1lhIklUvPgTAllBDrjjONukGHkoilIrP7Tw0A2b5M1AqgAnygXDhRUCWK-RAsD5nsTxpwuHcEJ0ysgvxN8_08XsA6nAra6g7xzsZu0fR5Ikb68PALlg8B9Qje_t-RzMwKccLRHKS_rq0tQYBmiXinkeKT3O09j-LJz18eZU7ZH6f5Ff5xyo6z4NDZdl0rJ9rYXJv9nrUpymycKT9peDy9fMyLl4JVk4ispJKPQ-jYqS7MDj5IohCrZSia-_kiPPL8syey3ZClayD6FCflKBHIWp8W3sqxh4vxYGBV3nsDUwOJvyG5PYe3reihtb4c8o0xvRDdRQbesThszXftRVELsO-RhS888fXL_oLXIEsFiUjSFCuoeWVfy9ADTDrCDWZt5d8JveIvyIeXRa4T0ugNY1pNZRuOu4ZFpa-HJEFFnbjrYYOjIASWon_2JBKl1ki9wL2SNkaPvdpaqna97vQl8m3uHThZy0DKHfkuNGcNDPKlkHDMPAraAh0o8-1aRNWQsobH5xZNtedfhePXRfI32dv3ta6C5qzJW7r2hFbnYsqXv3QvrAPwYK6YYb724IZ6xLRiYB0CPi4GtFRLQ4sa9BbKAS8rSR5LWAngtrw6TqX6-ZHberVASMdaWh1r1ISVtbl0c99T_0uyCPBjv11m2xK_d3cRvb7No4eTTHf4OR-v-HUiVyb7FP32OKbVlDa2F7CgO6dkrpK7GFu5584okhy1BywH8m0=",
  "id": "rs_017eb4d8d2d449b8016ab427e5d4a087d0be0ca1cb5e9f4ca8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.092,\"left_gripper\":1.0},\"note\":\"At the left arm’s sideways limit, the dark fruit overlaps the blue bowl’s near-left opening in the overhead view. I’ll lower it and release gently, then clear the arm to check where it lands.\"}",
  "call_id": "call_tQOyev3hkbyYfPz0vj2NHkzX",
  "id": "fc_017eb4d8d2d449b8016ab427e893e087d085b044ae6900782f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tQOyev3hkbyYfPz0vj2NHkzX",
  "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]: [-0.9123, 2.5492, 2.3634, -0.9478, -0.6353, -0.7933, 0.9951, 0.0334, 1.2079, 1.0813, -1.0004, 0.0574, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.4411 left_y=-0.3929 left_z=0.081 left_yaw=0.0663 left_pitch=-0.2547 left_roll=0.0931 left_gripper=0.9951 right_x=0.2827 right_y=0.0029 right_z=0.165 right_yaw=0.1713 right_pitch=-0.5809 right_roll=-0.2143 right_gripper=0.9981\nstate[joint_eff]: [-0.5538, -16.2256, 6.6803, 1.2967, -0.4127, -0.0317, -0.1783, -0.212, -3.7949, 6.3385, 1.0476, -0.0073, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a65a55e7e9c8941b56ba622fe6b31e0b026d661a489c35c25c57254e7b0ca90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95f4c3a2f9447b6028cbfbdb9a1a3e7b29a653399ec16af59a401df8713e7c44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cccdf526bf3e3e697afec6e3c80e9fed509d85672d175ee56150f51eb1bd4c99",
      "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 · 2.68 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]: [-0.6598, 1.4277, 1.0248, -0.4732, -0.5152, -0.5041, 0.4264, 0.0334, 1.2026, 1.0813, -0.9928, 0.0578, -0.3069, 0.9981]\nstate[eef_state]: left_x=0.3515 left_y=-0.158 left_z=0.1607 left_yaw=0.0384 left_pitch=-0.1672 left_roll=0.0385 left_gripper=0.4264 right_x=0.2841 right_y=0.0029 right_z=0.1672 right_yaw=0.1696 right_pitch=-0.5681 right_roll=-0.2166 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -8.1436, 8.759, 1.2576, -0.2711, 0.0073, 0.6862, -0.3077, -3.5761, 6.6256, 1.1844, 0.0269, -0.0171, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.9154, 2.6354, 2.7358, -1.1713, -0.6464, -0.7918, 0.4287, 0.0334, 1.2079, 1.0813, -1.0008, 0.0578, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.4467 left_y=-0.4005 left_z=0.1391 left_yaw=0.0564 left_pitch=-0.2115 left_roll=0.0467 left_gripper=0.4287 right_x=0.2826 right_y=0.0028 right_z=0.1649 right_yaw=0.171 right_pitch=-0.5813 right_roll=-0.2146 right_gripper=0.9981\nstate[joint_eff]: [0.6496, -12.6564, 5.6957, -0.0024, -0.3736, 0.2027, 0.4957, -0.3761, -3.8769, 6.5573, 1.0867, 0.0317, -0.0513, -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]: [-0.9123, 2.5492, 2.3634, -0.9478, -0.6353, -0.7933, 0.9951, 0.0334, 1.2079, 1.0813, -1.0004, 0.0574, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.4411 left_y=-0.3929 left_z=0.081 left_yaw=0.0663 left_pitch=-0.2547 left_roll=0.0931 left_gripper=0.9951 right_x=0.2827 right_y=0.0029 right_z=0.165 right_yaw=0.1713 right_pitch=-0.5809 right_roll=-0.2143 right_gripper=0.9981\nstate[joint_eff]: [-0.5538, -16.2256, 6.6803, 1.2967, -0.4127, -0.0317, -0.1783, -0.212, -3.7949, 6.3385, 1.0476, -0.0073, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a65a55e7e9c8941b56ba622fe6b31e0b026d661a489c35c25c57254e7b0ca90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95f4c3a2f9447b6028cbfbdb9a1a3e7b29a653399ec16af59a401df8713e7c44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cccdf526bf3e3e697afec6e3c80e9fed509d85672d175ee56150f51eb1bd4c99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCfunxUa7QNeYfrb_EOTEzv1TF7DdSmpCHVdxyhCclOurrnmZ6mUNtzi-aU9lBjvfPyecF91rA-ZlEuOIvCQoHNt9sZ8tmh-AyAPaLBIjkmdD6MUEHhHz00aDTA6kC61t3DMBn46vKgHK_BqKOHUVaEKUY86mtKBc2enT9ZnRNB2cn1ny0N5UxncI5vhssKKQGuorAANwm-sZKC4pagR5iKiLwMn9LeVkC4PvamY52ieFroaT73YEeM_fnWiv1QKs120snM82nYCp7iHK2SP7Uq6k8SSRY6AQ1Rtg-uzgGSM9wEJvy8tRWD0o8bH5dgPtqOIF7MmfmSsGJDmo8EgdGCofgX5pISu8jFiIb3_6wkJ3CJpww0Vg1cD9I0p8v0T7-Ts6rJ3o-wJlqGMT9xzT7Xyh4z7cDil_5tDocZC2PMyrnVfT4_YQxkNt1ffNJdw-ujsPS_5QCEZyFP9jlfklaPVFtmeSuYTg9I7E-TdyfZzZiWyIbu3qF0amzGe0LfeE3rlz3Cj0fpizXilNsC-wihMUROjm8CCobBRyZ9l7IP-DwPMjEQ5GWeOayplECeYDQKT4WtZPfVvD4T3RUp-V4O7llkKqJc9f77G3nAN_sUW7yfrRYsNRJDgGJOprEZagES7yLQDC49nnwbHhOndthxP0iu6uUBVIpc-Mdf-fjsagur-NMThqbtNZOSo7jPSwozGgyJHEh3-H3SKb4UY__X5CrEZgdtbAfbx3CDbd4PCZp9_Oyfi9fjwlNPfFVATsdqQIcr_L-sMHGxnw4mzVXwdeAqhp7LN9LJSbybMVErPh6hC9kAp0Xqf0CqiV0juYNGRXB8BmwpOkGd1tA023YOH6EfPZs5SI2p91rGBKcpaV7K0Nz-ZQWgSrBGjCPI8RRpatdXMKzfIXNaJj5_nD8jbDwlX3d33Ci5-VxCJarBCuzdB_EyhiP6jN8nJvjyLST4QtFZRiPTJTXyQt46w0OZFCzB6rIqwOVEo8H0NWFD79ar_tfIrIbXUY9fizjRc56kQdHKVQKrRwQWWMbXMIuTlpuuurT6c6oVKJkE-q6508YbjYYZqhRthbc87rVTcaZobDFGrxWD9L0qspV-jhcACO2e0-knmT4Iqd_9ZYu9Vnfp9VbRXG1stWwkT4U2pebByWS9wjkuc51Oyjh1n3gTAgNbtyWvE2x31jyL5MG8uG9LYzbmbAAGoSMwR4Y3Q9Ua3tyA7VX2iEFgZ6K4YXQepDOlHJk5YXvKWjPfqV1-KmdcfuMhjSbVsFZfQExmcvOToopkO00gKCA__wJdHoO8-atr1CA9fAF_Xh-ChLCCpVUD-SKztkWUPEbTFzPWRRKdSNlT7I670q60bUzY-scIk__tlLKUjgnPPhqDcJZVBiF2fXPpgUtGzPEpSyzV_E0v3uYKdOCIOo_8HGlEOHfza8381bhDaJus-v4K0UG_7-QmcROXqx5pCg9R5RKZw-C6hK9q78gA4FyDOeeovCtPbH4tKaZg_J9qTE4Dj9yH54XMx7dpibmJbdPoBp4QPLEBIoKIDYYK4miiI_rThlZd47n6JX-T_kxdqVaj3f6JCtMep0plixr7SRTnzdVyDOEIjMK6584vF2VnXPx6dau6aBhYe3Tfs7XN3lbs0_zUY0No6cRYplKiswBV6NEQqxa297p0iDIT-c92xayTPzVONezvNOXZKd1Y_Ls9fCtdaBvgGe7tnyaeU-aansZ3A8l-Q6jR1NBi4oLEf5A4UIGQltiLIMH15jySbEpQ5v7iyrcTu0EmXlUIQqvRPxC_cZs0GeJly9aV5WdtCaGuRpFn-Q4ogQ6sWs7RHazUgQK3w618jatiW8m1kcgHeoz3PEHEmZ6IdPuFbc-fuASB-LFEuYnzEBJvHaXZFGpXGocxhqXPs6U5xwB6H_Ds7B1JIU51PRoPgwmNhyL7NRCxunZoUlo8D_i361rmtaZYsFfWnTzAEB9dUyW5e1zBEIDjDWX4OSuj5DusWNd-72YOXAtnzO2cVdkraPuWaX4KfqWBc7zRT_05SJUUrSlGYxr9JnnmvHlDm4MS9qmayCUWxug-SAqxkAA-REoZOtokwvNHo28WcNj4Edw4YgWi9q9JBcjNyEt5xWm5Ol0QRVNjaKyAt1pQSxm4ApR9js8a8dC4kGiYVhZ-0yi1M45lK0xRCNC4rNaLkSryl_QuHo5-Z-xluclC8vlUw9PQpgnZds6I9dJGPCTT-OEl4kUlyPnZiNSBTyQHN3J4B3etTlMVz6CRSog==",
  "id": "rs_017eb4d8d2d449b8016ab427ebc8cc87d09f8bc4ab0b682c91",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"right_x\":0.23,\"right_y\":0.24,\"right_z\":0.095},\"note\":\"The dark fruit appears to have landed just outside the blue bowl on its left, so I’ll need to recover it. I’ll clear the left arm and bring the right gripper over the exposed yellow fruit first.\"}",
  "call_id": "call_TfBQa5zEk3bJGj2ypZWCEVFe",
  "id": "fc_017eb4d8d2d449b8016ab427ed4c5087d09c83059fbf78f3c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TfBQa5zEk3bJGj2ypZWCEVFe",
  "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]: [-0.1413, 1.0031, 0.8631, -0.693, -0.2222, -0.139, 0.996, 0.9932, 1.6032, 1.1324, -0.9081, 0.374, 0.5961, 0.9981]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1806 left_yaw=0.1184 left_pitch=-0.2434 left_roll=0.0856 left_gripper=0.996 right_x=0.2251 right_y=0.2337 right_z=0.0882 right_yaw=0.1886 right_pitch=-0.6156 right_roll=-0.2327 right_gripper=0.9981\nstate[joint_eff]: [0.0205, -3.0974, 6.2564, 1.58, 0.0562, 0.1538, 0.0904, 0.2256, -6.5573, 7.8427, 0.5885, 0.4274, 0.2759, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3903eb57ba4ef739feea4d2134d795facfa676a7379caec3ecaa026084eea9bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a372ad81a8e8ecf276c92f05f7a5810fdf9b6af43d307e626c61a392096999",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f866d5c1408ccaef29113648d77d794f4c3da30c6bd1a25a342b9de5eaa75d",
      "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 · 2.537 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]: [-1.0046, 2.1323, 1.7649, -0.733, -0.6876, -0.8608, 0.4266, 0.0334, 1.2072, 1.0813, -0.997, 0.0574, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.3682 left_y=-0.3636 left_z=0.1195 left_yaw=0.0332 left_pitch=-0.1949 left_roll=0.0412 left_gripper=0.4266 right_x=0.2834 right_y=0.0029 right_z=0.1655 right_yaw=0.171 right_pitch=-0.5768 right_roll=-0.215 right_gripper=0.9981\nstate[joint_eff]: [-0.8, -12.4239, 8.4171, 0.823, -0.5836, 0.0464, 0.7692, -0.2667, -4.1641, 6.3658, 1.0818, 0.0366, -0.0513, -0.0122]",
      "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]: [-0.9123, 2.5492, 2.3634, -0.9478, -0.6353, -0.7933, 0.9951, 0.0334, 1.2079, 1.0813, -1.0004, 0.0574, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.4411 left_y=-0.3929 left_z=0.081 left_yaw=0.0663 left_pitch=-0.2547 left_roll=0.0931 left_gripper=0.9951 right_x=0.2827 right_y=0.0029 right_z=0.165 right_yaw=0.1713 right_pitch=-0.5809 right_roll=-0.2143 right_gripper=0.9981\nstate[joint_eff]: [-0.5538, -16.2256, 6.6803, 1.2967, -0.4127, -0.0317, -0.1783, -0.212, -3.7949, 6.3385, 1.0476, -0.0073, -0.0415, -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]: [-0.1413, 1.0031, 0.8631, -0.693, -0.2222, -0.139, 0.996, 0.9932, 1.6032, 1.1324, -0.9081, 0.374, 0.5961, 0.9981]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1806 left_yaw=0.1184 left_pitch=-0.2434 left_roll=0.0856 left_gripper=0.996 right_x=0.2251 right_y=0.2337 right_z=0.0882 right_yaw=0.1886 right_pitch=-0.6156 right_roll=-0.2327 right_gripper=0.9981\nstate[joint_eff]: [0.0205, -3.0974, 6.2564, 1.58, 0.0562, 0.1538, 0.0904, 0.2256, -6.5573, 7.8427, 0.5885, 0.4274, 0.2759, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3903eb57ba4ef739feea4d2134d795facfa676a7379caec3ecaa026084eea9bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a372ad81a8e8ecf276c92f05f7a5810fdf9b6af43d307e626c61a392096999",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f866d5c1408ccaef29113648d77d794f4c3da30c6bd1a25a342b9de5eaa75d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCf0js_yqfdXj6BA2Jv991Xa9OMcxuAtEIqkJteLYsSxl0_sGQ2bTsxZhvx9B6UshSJXOEEZR1uhZJ4bxgezRe2P7p-w0sPLg5U7hG2j9rH5IlbeDLVk22NQUkGSmuFF4Hs5bNVqiUaxbQt7ERy3eZBUBZvsVt3yLDN6QSXSpBbT518bvSdUm1LGS_XyavR6QXMZ8VfFqiOiusB1RFcHWo9a4ur9PngKxUdOYgJtXEkoaGPpz8rsJTHnPZYuMfk-ZEKyOwZw7MQ79atCHEF5_lUUG4qni1Z5lT-NmqBcM_-alw2mvr5Sa9DTY0NC4tX36bXFV5oWZfKBrnKyg5DfAbvdlPuKOpq52jpxQPpQw4TRiNbAZ_BrOnq1qX39LjujNM0xSCtL_ZhaKyID0bocmSUNKpZ6A1QOU51NGbz7nwij1kH4RCWirmKZHdKpuhWw66T_aqLubQbUcbpZ_NzoJ9LQTcHpvDjhxnF7BNdMP9uz2jZuzoJs9TQuVQiKdH8nEVMe9db8jMg9kjKrPZCojQRmk2DddEDol0SpptP3ywf-4f691BopfEb4bir3nMIRB825awVVZ7AWd1XkvXGfi0FF8Keq0AsIk5st8xWz0fx-gXhJy8OCeJQU3lniWgDNf5UAr3btV_4-yqwG_V3JRkGG5aCyA26Q_eEoHcvgyX61pyI0WS65ytoyufDqenHIQz0qdlwhlag38yiM6jUTzyjhUHsWdkOxVZ_TGzm0EGjxzaOK3wWEYigSu71jzXuLbAA8Vas7B351yaiYrzEFLrCiRrWgaoxL3mih8-b4IXIBhSWwudMXkL9eTI38tfAdykfIg73nuNMxJBNwjrYTkX3edMICwGNorIrDnBNQiFjUcDv9_Vx46lxUKvPnErQV_75VEF7ZmvQwsUAs-xYEKBRbIy0qPm6lpw51c6c7_mAc3lT2wzZThxWABmupBwcOevdgUQS0DJGWfukCGhFzHRc2AVHFAfCU1ilkU50RGCCtUGTiPs43iTOc1CIbxvU7fM7DVi8IRJIR1GBcAhQl3nHKdyQgyiu-nUnFaBQyshEiHfuUP_-n9yuA9PZvLEytmIK3f7_GCx-KUVMrEwnjUAlrd3F07177v5VF7atPjNujcCW3Foo5fOqt4RHBKgzprTT4g6IMZAmpKfXLPqnVLs44FUHCdit8QT2ycCfJh2QRB77khYYHQ40UG-eE_TCKbfUPDTKf-ZAmMZ4ISj9F_rdzLsWXVSPJY6kIgl59Kx5V9-1bTYDeC_Cced0CMk0ebiY-K92rfAbsqY1poSJgfH-M1cU_Z9GstT4_DTBNyuDECKPuwCAtU2pbY5bQGFDuAq5cZIsPphg4762wF3-O364iEs0L5Z2jFJ2m6LKPa5UK5pVg60jnW0HeQIZbZtcl_z2gaT_OTmrArNn9hLiZ6Dghuu78eYjEHf535GpZetpPry7Q9tNYita0r_8Qa0R3hvFlIiiRSJIyiB0HxlgD57b1fSTrfNmdfuCI3KYLYpml3Hgn2xG9IrgQjyUp7wjD4_ybDlMlXMdldYv6SJLeBf0e2vWY6X3OFPRer0-EolptnnA=",
  "id": "rs_017eb4d8d2d449b8016ab427f2a44887d0bcc6bfd312ee6e02",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.26,\"right_z\":0.035},\"note\":\"The yellow fruit is fully visible just short of the right fingertips and slightly left of center. I’ll advance 2–3 cm, shift left slightly, and lower the open jaws around it.\"}",
  "call_id": "call_vzWx6FNahhAfLhHbRcRhG41n",
  "id": "fc_017eb4d8d2d449b8016ab427f36a2887d0b28acc467e54b144",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vzWx6FNahhAfLhHbRcRhG41n",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0069, 0.8627, -0.7109, -0.2108, -0.1314, 0.9961, 0.9794, 1.784, 1.1221, -0.7502, 0.3717, 0.5869, 0.9981]\nstate[eef_state]: left_x=0.2922 left_y=-0.0002 left_z=0.1762 left_yaw=0.1074 left_pitch=-0.2673 left_roll=0.0882 left_gripper=0.9961 right_x=0.2415 right_y=0.2509 right_z=0.0352 right_yaw=0.1648 right_pitch=-0.6413 right_roll=-0.2647 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -2.8103, 6.7487, 1.5897, -0.1929, -0.1392, -0.0024, -0.3487, -9.1829, 5.6547, 0.5446, 0.2613, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0112b3577ee77a2073599b169c459a120378a07dfa8800068ec9dfdb2018b676",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2feb77baf6740aff1d9e870c25bbce9ef2bf4d2c0e4d2fb17728699759ccef42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c3a3707ac01300f08b4f7b8a25af390152423bedc95eda1603cd8ed3cd7861",
      "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 · 3.283 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]: [-0.9154, 2.6354, 2.7358, -1.1713, -0.6464, -0.7918, 0.4287, 0.0334, 1.2079, 1.0813, -1.0008, 0.0578, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.4467 left_y=-0.4005 left_z=0.1391 left_yaw=0.0564 left_pitch=-0.2115 left_roll=0.0467 left_gripper=0.4287 right_x=0.2826 right_y=0.0028 right_z=0.1649 right_yaw=0.171 right_pitch=-0.5813 right_roll=-0.2146 right_gripper=0.9981\nstate[joint_eff]: [0.6496, -12.6564, 5.6957, -0.0024, -0.3736, 0.2027, 0.4957, -0.3761, -3.8769, 6.5573, 1.0867, 0.0317, -0.0513, -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]: [-0.1413, 1.0031, 0.8631, -0.693, -0.2222, -0.139, 0.996, 0.9932, 1.6032, 1.1324, -0.9081, 0.374, 0.5961, 0.9981]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1806 left_yaw=0.1184 left_pitch=-0.2434 left_roll=0.0856 left_gripper=0.996 right_x=0.2251 right_y=0.2337 right_z=0.0882 right_yaw=0.1886 right_pitch=-0.6156 right_roll=-0.2327 right_gripper=0.9981\nstate[joint_eff]: [0.0205, -3.0974, 6.2564, 1.58, 0.0562, 0.1538, 0.0904, 0.2256, -6.5573, 7.8427, 0.5885, 0.4274, 0.2759, -0.0122]",
      "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]: [-0.1398, 1.0069, 0.8627, -0.7109, -0.2108, -0.1314, 0.9961, 0.9794, 1.784, 1.1221, -0.7502, 0.3717, 0.5869, 0.9981]\nstate[eef_state]: left_x=0.2922 left_y=-0.0002 left_z=0.1762 left_yaw=0.1074 left_pitch=-0.2673 left_roll=0.0882 left_gripper=0.9961 right_x=0.2415 right_y=0.2509 right_z=0.0352 right_yaw=0.1648 right_pitch=-0.6413 right_roll=-0.2647 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -2.8103, 6.7487, 1.5897, -0.1929, -0.1392, -0.0024, -0.3487, -9.1829, 5.6547, 0.5446, 0.2613, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0112b3577ee77a2073599b169c459a120378a07dfa8800068ec9dfdb2018b676",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2feb77baf6740aff1d9e870c25bbce9ef2bf4d2c0e4d2fb17728699759ccef42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c3a3707ac01300f08b4f7b8a25af390152423bedc95eda1603cd8ed3cd7861",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCf2Jpa51Dy5UEbXSsRxRZsXQU0V8nQk_PuN3v6mrdCnPHCX0DALRFKE0vMbYSbpuoWH4w3ceLD-mKr6rjv3oBmAsm6t6kXvBBwmZlCrDvexw8X-JR-xIGt58v4MWwlBCpHA5jxoT6Y7fXl7kogxL__2WEB8OAlvAvoHw9fL7iVf-vgIIEHSXZJnKMoSNYm921bDtBnc8ZlHcMy6b6fak1g8SeKIqQUpVKhYxaN9kEPlEu0H1cl1odQyFiDHFzS-msvOShuyuGaT4NUjN_OE9mNv4g0-1eAQd5tebBj00No-nzkE0iMIa8GeQ3vBy7pFT8OAb6NWUKcABLlkXGCbiFK4DBt_CmzC4R3D2pnm3XQ2AyqcWKQlBKmErbJGvxRMJU7nP1jlC-eX7cs59XnkWBNHu0N-1IWaO6973QXDgKz6y_ylZ3jpADy-L9NayZxhBex0iWCXmNkfcZJ01MB_LY1d5Bvs_othdJ57FzFPAI8zyU3bILJXQAgbrrFyIbD-ZNz523oy7yEEYUvF1SAEWCb9hAiHILoF1j7uP2jshHDbWwpo8Lsh0NOaoc0z_XET6WghGV9HZz4m8kJyKWXQk4zDFjkbp98QqFVyfYKJ9KllE16v6YhRoni1MPndQVnvhL9Wp8R0tbMKvAax29OvhIzXKpi4rUILxh6sPyBEblQDFEan0EC4UFlpd6wYpo7gEho8_CB8eNUYnHUElJMGBTomJ_ApeM2HOQN7-Tmtu-_rBvbGVRVk3ijwXd-joobISOrM2gO6P3wmgBE7ji0FOAKzldfjcWRQiY49s9Ri-suhRq_7raEdWBdXaiLcPT-4rtuK2vJn4LjFbamdJUDa35CKQRtTjAUfYCdCXh9nupUkYeuZbTh5gJhIfvRY_PY4qDPVz3bNGVH0FNGzhh9FQJ5EhUz4YigJ83WNes0iXjy6o5Ww993msoD7CMITW6d69hF83Psy-XxaCSmdXWZf4NYfxMnGYGtaZmPWtN2X1y6bmGb1RdKL8yZA5yltDPzRJzUZM_bSpimffxrzSeE6-eh0netPd_lX37-Xm-4NMkD56hPtC6j-AqLKJifP_VubH74hAIGYV_xl4Nxz8v3hahkRTNQmWW-QdJvyNGX_9lYQRSJX8D7fakIqWXoM50RAc8_i6zVm7o8j6I69tNu1XxpHIfOcS0P0BfBZ_XzD9k5vO-x57zNDeYa8a_-3ffiN2sMFQ1DyNmsFyCtOohDwXwV52Q==",
  "id": "rs_017eb4d8d2d449b8016ab427f5e08087d0ada42365d647c681",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow fruit now fills the gap between the right fingertips at the bottom of the wrist view. I’ll close without moving farther forward.\"}",
  "call_id": "call_BOCTVeQe9EwoyhEiy8tGqzhu",
  "id": "fc_017eb4d8d2d449b8016ab427f617c087d09bf82da196c994b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BOCTVeQe9EwoyhEiy8tGqzhu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0088, 0.8627, -0.712, -0.2157, -0.1314, 0.9961, 0.992, 1.7931, 1.0981, -0.7105, 0.3889, 0.5915, 0.0101]\nstate[eef_state]: left_x=0.2921 left_y=0.0007 left_z=0.1756 left_yaw=0.1118 left_pitch=-0.2694 left_roll=0.0927 left_gripper=0.9961 right_x=0.2407 right_y=0.2525 right_z=0.0285 right_yaw=0.1667 right_pitch=-0.6239 right_roll=-0.271 right_gripper=0.0101\nstate[joint_eff]: [-0.2256, -2.5641, 6.8718, 1.4383, -0.1001, -0.0708, -0.0073, 0.1983, -10.3043, 4.8889, 0.6374, 0.2906, 0.0464, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d441cce108a695a3ffe0ca736734775a999418d88bff6a82f530416f114a3f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3bcb95704eec70ec589eaff53f46e4a0851c11be1911d91011c46e006c6316",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ad4572658f0afb96c32d09c25db8d8bdae9df374657ea0350fe27a020eefa65",
      "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 · 3.044 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]: [-0.9123, 2.5492, 2.3634, -0.9478, -0.6353, -0.7933, 0.9951, 0.0334, 1.2079, 1.0813, -1.0004, 0.0574, -0.3073, 0.9981]\nstate[eef_state]: left_x=0.4411 left_y=-0.3929 left_z=0.081 left_yaw=0.0663 left_pitch=-0.2547 left_roll=0.0931 left_gripper=0.9951 right_x=0.2827 right_y=0.0029 right_z=0.165 right_yaw=0.1713 right_pitch=-0.5809 right_roll=-0.2143 right_gripper=0.9981\nstate[joint_eff]: [-0.5538, -16.2256, 6.6803, 1.2967, -0.4127, -0.0317, -0.1783, -0.212, -3.7949, 6.3385, 1.0476, -0.0073, -0.0415, -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]: [-0.1398, 1.0069, 0.8627, -0.7109, -0.2108, -0.1314, 0.9961, 0.9794, 1.784, 1.1221, -0.7502, 0.3717, 0.5869, 0.9981]\nstate[eef_state]: left_x=0.2922 left_y=-0.0002 left_z=0.1762 left_yaw=0.1074 left_pitch=-0.2673 left_roll=0.0882 left_gripper=0.9961 right_x=0.2415 right_y=0.2509 right_z=0.0352 right_yaw=0.1648 right_pitch=-0.6413 right_roll=-0.2647 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -2.8103, 6.7487, 1.5897, -0.1929, -0.1392, -0.0024, -0.3487, -9.1829, 5.6547, 0.5446, 0.2613, -0.0806, -0.0122]",
      "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]: [-0.1398, 1.0088, 0.8627, -0.712, -0.2157, -0.1314, 0.9961, 0.992, 1.7931, 1.0981, -0.7105, 0.3889, 0.5915, 0.0101]\nstate[eef_state]: left_x=0.2921 left_y=0.0007 left_z=0.1756 left_yaw=0.1118 left_pitch=-0.2694 left_roll=0.0927 left_gripper=0.9961 right_x=0.2407 right_y=0.2525 right_z=0.0285 right_yaw=0.1667 right_pitch=-0.6239 right_roll=-0.271 right_gripper=0.0101\nstate[joint_eff]: [-0.2256, -2.5641, 6.8718, 1.4383, -0.1001, -0.0708, -0.0073, 0.1983, -10.3043, 4.8889, 0.6374, 0.2906, 0.0464, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d441cce108a695a3ffe0ca736734775a999418d88bff6a82f530416f114a3f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3bcb95704eec70ec589eaff53f46e4a0851c11be1911d91011c46e006c6316",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ad4572658f0afb96c32d09c25db8d8bdae9df374657ea0350fe27a020eefa65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCf7q5BqO5jEcwerj4Y8d1-T-2lOcApr3Jp6cujXi_A_ifWH88vtJD9rpkKyVUJDCxfRSQcEJyStmMh4E-WNBwUgrh2xBQatb5nsXwd4IVwZDx0crDwhwviwlMyTVRSkVB1p_yzgRSypC7JsgZvP0iKSVVlsCvnh5RerGsYugxbPVSawt1l1a68P3V9LLNnxGEvMD-nyhHZFq909cRGOc4R93lSdhAGrSDrU0jA8Uo4QRr_x7GHoooNnabPYXW43ZSme3qfEALty5UoS8BcHDgUpZMf4OosapbjvgcYu-WH7Kpko0fmlV2nZmfgc4UeTeoWGHCoRTRw8Dewb-Z9Jpc0K-QTfSu54HbMU_-ju6I2Akxe-OdfjgCFeFmuRgGGH3TwRILpGUPY6Ej6neiwqddsxLo10u_-WFnurtvwIgDKfBNKhS2Ll-QWL6c3W1WPfBUfqyHb8rvRh_4K831p-4YpOH_3JOBJQDg2lPUZvIqSmYFSgCIFGIaKx7IGzgTj1-kPyrQZoqmEHF6-AYBIb94QNNSPsayw6ufF_fw6rta2T1pLTdZKd4nDPHuySTiuHT9Wetu6GL-9gL_WBdmHmbxdYQVTFKbNGc0tnlReCS6SdeCaXFqWs-guQV6XouQGYNhQ3wK2mc2TO7otvRZ8wzy0uJsvgbed9L7MGpt1rMFLBn2mLiHHgncr8svB4TZbebeW-dZXJ49__e21no6JcDAVFHhiaG6oUf2BNOIeQUjRqQ4nEIXO8NaLZNequGz8NQBdyBKoG6pbA2oO--za5R8vw1lvIjmR1APnKyasm1SBvVoafiF88wUSo6Y_QmPHlCvdN-4YZ1vmDsYWVc3kGsXQ2Tk50WxVIUjZvVrX_dYHWlpVgi4sgfUV0n3LjMejv1t-dEAAcaYiujLwMYBYzch-76kC7_fzAkmg1ICRSAyafv_pXo8Ewd4wR_GZ527OVDO6W58BAdYZa1OlwmlPQ9Js1ZkeHwzuMfw3-UR0jIxMGIZ3P88i765KyT1XLX4tsfTjkVve4Ujk8BqxYf0sGdJsRgMMEsg3GwudDWieMO38P6zEQdAXFiDEOIU1vnfvxOOksw-TjJfvuQRXECxoXTGXjO4BbTzcaXhPK_ZQtTT0HjDTjigPsfIEdRkgSztvkU8bd0m1SX1Q9X4w0sKMJtttk8-ouvDUd7lDNs8aPTBx9fAJep8lv_sZgjq_1FAwI9QbKCHQeb1DPEpZlZD05e-SQaM3CstcThzpOWtLjVHiwa9Ss2KSSL4Z3jQ-Th_3nY3j2kWAExArbB7LIBHzqcfadE_mCmTXqN5MmBuKrl1Cj9hUAY_Heec211ejhU-UvQtW-sNEcdu1T5ISq1s_LD8c68bgLNJ12GO-mnH40yEuPrDFiDXYNOtLSyiw1h9CHPiQWo9McUj0sTs93dsFnhwGs3t9yb-HVfETxTMdXs9juPIyfjFoRNg_MjMofofWc55vtr8WjHsDXsRsHchOxV8KwH3Wgys_WNbKtxJ0NdrDxhoUCr4Ci9cnqQ92Wb1qv9h9LcBxBZoC7zrZdwWDYsNWKJbIwhvmn2I5kypde0zvzU6jZt-L0wkm0PhLhJign6YnijIs78Ypsl-57S4oqhZf6X7nWfywacq_hPRcPtiMt_DbI16bS6aWZRqu7G-OdcUP6UAcEiI0R9KzkQvqf-4QgDcgcLpdPwNvADcOS5GMKtZb46UWzh0LnfKS2FFuBXF6nD84ZH9JTtN8RZxUnHPz7RtPdG0BSGgCyilh4KcOSxBMMSg5KkKnmfvyZlJbBm79g3k8-siEICWfY6te-aTIVDRqKjFMH49_3owl5hrghYVhkexwffQW8NJWYZsnxXZ796X5-yAHYhENzy7X0Y2JxzadXw-pbPLk1ZzJeZBIxxOTdbrAvF7RquEiQxN8m0muaICdOTaXeoE9BhKjo0NHTS8Q_OJ9TpEpIAjgES4b4LlCGbd4Gb6R5xEMB7NTMUATHIrPpxJZgAgU3EBtw16cBxTKv7DGq9txw7YI3UUSv3rWPGpvDmFVR5wBPXINd_2lXsUC2q1Q2Si2LHBQQEPC1ykg9fBabyrXGFMJTprUApAUvAAe1hpoTnyriOXNFPDPUxastaSu49-YeQoip1XsVfw==",
  "id": "rs_017eb4d8d2d449b8016ab427f9330c87d095a9493466d3445d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_y\":0.29,\"right_x\":0.245,\"right_z\":0.025},\"note\":\"The right gripper closed empty again; the fruit moved to the left of the closing jaw column in the wrist image. I’ll reopen and shift sideways to center it between the jaws rather than repeating the same close.\"}",
  "call_id": "call_X2G1VNu0y64mZcplDfUs2jBj",
  "id": "fc_017eb4d8d2d449b8016ab427fa855887d0910f8c3f7851e7ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X2G1VNu0y64mZcplDfUs2jBj",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0092, 0.8627, -0.7147, -0.2157, -0.131, 0.9961, 1.0439, 1.9034, 1.2087, -0.7349, 0.3962, 0.6296, 0.9954]\nstate[eef_state]: left_x=0.2916 left_y=0.0008 left_z=0.1751 left_yaw=0.1118 left_pitch=-0.2723 left_roll=0.0938 left_gripper=0.9961 right_x=0.2396 right_y=0.2834 right_z=0.0202 right_yaw=0.1767 right_pitch=-0.6288 right_roll=-0.2812 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -2.5368, 6.7077, 1.4579, -0.1294, -0.0806, -0.0073, 0.4308, -8.1709, 7.4598, 0.5006, 0.3736, 0.1783, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca98d1232443dcb1c6c1e68dae0dcc549caf823c6a7ae6f3979a01e573875bde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df2ce5c8d149f08e614fbbb8cfe7b43a12a9d4da8dbec0a49213a9e776f9c1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8550f4dd470fc8581c41d92a45d3a65a73983d5612c24e9ec14e5b9904cb61cd",
      "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 · 6.504 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]: [-0.1413, 1.0031, 0.8631, -0.693, -0.2222, -0.139, 0.996, 0.9932, 1.6032, 1.1324, -0.9081, 0.374, 0.5961, 0.9981]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1806 left_yaw=0.1184 left_pitch=-0.2434 left_roll=0.0856 left_gripper=0.996 right_x=0.2251 right_y=0.2337 right_z=0.0882 right_yaw=0.1886 right_pitch=-0.6156 right_roll=-0.2327 right_gripper=0.9981\nstate[joint_eff]: [0.0205, -3.0974, 6.2564, 1.58, 0.0562, 0.1538, 0.0904, 0.2256, -6.5573, 7.8427, 0.5885, 0.4274, 0.2759, -0.0122]",
      "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]: [-0.1398, 1.0088, 0.8627, -0.712, -0.2157, -0.1314, 0.9961, 0.992, 1.7931, 1.0981, -0.7105, 0.3889, 0.5915, 0.0101]\nstate[eef_state]: left_x=0.2921 left_y=0.0007 left_z=0.1756 left_yaw=0.1118 left_pitch=-0.2694 left_roll=0.0927 left_gripper=0.9961 right_x=0.2407 right_y=0.2525 right_z=0.0285 right_yaw=0.1667 right_pitch=-0.6239 right_roll=-0.271 right_gripper=0.0101\nstate[joint_eff]: [-0.2256, -2.5641, 6.8718, 1.4383, -0.1001, -0.0708, -0.0073, 0.1983, -10.3043, 4.8889, 0.6374, 0.2906, 0.0464, 0.8864]",
      "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]: [-0.1398, 1.0092, 0.8627, -0.7147, -0.2157, -0.131, 0.9961, 1.0439, 1.9034, 1.2087, -0.7349, 0.3962, 0.6296, 0.9954]\nstate[eef_state]: left_x=0.2916 left_y=0.0008 left_z=0.1751 left_yaw=0.1118 left_pitch=-0.2723 left_roll=0.0938 left_gripper=0.9961 right_x=0.2396 right_y=0.2834 right_z=0.0202 right_yaw=0.1767 right_pitch=-0.6288 right_roll=-0.2812 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -2.5368, 6.7077, 1.4579, -0.1294, -0.0806, -0.0073, 0.4308, -8.1709, 7.4598, 0.5006, 0.3736, 0.1783, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca98d1232443dcb1c6c1e68dae0dcc549caf823c6a7ae6f3979a01e573875bde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df2ce5c8d149f08e614fbbb8cfe7b43a12a9d4da8dbec0a49213a9e776f9c1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8550f4dd470fc8581c41d92a45d3a65a73983d5612c24e9ec14e5b9904cb61cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "encrypted_content": "gAAAAABqtCf_hWFP-OzcwvTXVRhpPJ_X9c5LzwTBhkvZw2nWoV6_M7qe_-NU_N_Sdy7bs4gaLr6CDxroeCDyKsp831nQqvFm5CMWZwkxnIRKPW4-o5CtlzOrMG_usu3D6u9nU8fbclj4gUdnhlOURtTe_nZYFbFjDIYfIp_GKVJ3gnWW9sUUeoZ40AfwY1Tcjr6Q-IG-DLnht5F8Mih0tRtsdxqy1dcRuhPd12nBjaylC_kCSSXKg69rkozSkplK7j7az45DO0ezdPqGU2KIt_kLvJwANKzKREPlljEqaSxrjfiAY2uPqkyplmUWo3vObYJ3p-5O5Kbch8WpBgUU4XILycNm3r07Lcxh0b4AB2D8WfCkKckeI8NDGKOpdFWp-fZ2pamMjnlEYNRBmyjT0sQpUXyzckB_9N9WyVi6FNprbgRrwkyoHACNLMtEVlvG7RRMhX8Bp1Dp6Y6NlqjS4SVPpJc8FBLlKRF-qHAEbJW5rczVynRK-fz2dXqANB0ZZfA8lgAj77IcTKw54HhvPK5oINoQvkAX58tkijPXmq2YmPYEXUXzMKwbEsXUh1_R8mvX4e1zlQUCo-tv_CmvEnKcjOgJXzKkCwSjunCqX3W2kF_Ec3toXUBaQKD0QzqlrUo_1rfIVqKoEthe20hySbjXwNzhtaBA1HUXm5vsjl3EAMUCFOn-IFOS2qhCKo1q6RUXlx8FJy5PC4-EK2eGeqdE4jvavNCPI_thwnvwJ9Hxq-Bs4O25Rs7lb7HKfuqLB7ZNyasTXmJqkuQc8Uelj4IHpoJDdv1GlDJnlDQHH-5cc6MTXLtOR61akcTFgGveibDPr2Lt0sZB_wd_a6mqskLrWLZcwnmG9WfU5R6WSgvr9A9bxLOmLDXskA57Q-0wDi2FhtqG1F9x144jt-kLPiami1NbSRlFqtvLdfRK8aH1f-p--y3zFvjQV2HzufOIV3ILBeCMOVnWI9D-Zo_Z10m4i6ZfWGMhBctO9L2GKCaTgrrd3q_859eJgszi3iNXClftBEf1Kvr75oSXEWrJkGTSgUkqqCnIqo3iUoGIrHjvKC60ODklQl8wyHRJ0p7Lv1PvpZXaO-XjyhxMAxnthi98RLOauLHd6_QqoMkCHoHzRPh2z-fa3O283P4e_M7NVg-6wuE1N-VQpKB9_zSU3P7c45KQACUsqQYbf45f4kikBlxfvnul_WkDiqXF8q7xUWUKybi0rO4j4rx-20rAkMobXaY7UjJAoSr-5bVptx7ryR5llqzpZQkjAV3OrYYtESwFcvv7rpPQQYdbnFAUQd345BxMT7SVkqwZsRCIZW3s6N2yQtvacSCBfAAVOgWH6iyLpaJTMABzbZvK38KlgyjrDXJZPqxhnvHlwoZwKCIF58tLZHNOVt1kpzBIvVRpLb-uXKglQt3kgADayUvGJaH8l1rPWGfUoZT68B5OXOSHqeGCQxvR6GIT01yTvRTRArOXMSyHENzSSK1v_tzFPhNhGfcSIyjX6s1ojp37-IYohWuEMD2zOwfz6IePDWXhsXWJQr97tHOZsz-c65z15caQ9s4jBvcxkDBd5ZxOloVvAnw9pnAiOzXwfcpKwNdtuvcBdxwhrp4OQe6NQ3KBo8Y9Om-SfX2LFoRKWwPLMKMQ9VPc9_uQZrqOypTK3NZ7a_RrUCZJMPOxoNV04Ea_50gZOe65NI2TbSTF9AV2uw9rzcQitsPWUx558W17mjbIv4BAlEuMwiLqJHqtTbQV7Sc6ht_18lQ_W_HBOjOI7Ncy-CwXGjx-NsvBhO1FicLrW2TzEpYTP6bzvcxttELnNsk2ppLJ7WQO6V2aeY1gbVI9AFctWFux4eD9wZjXpXhjNHrTrYlbDgbrgnMFAOQ7pivTJve-MEyh0g==",
  "id": "rs_017eb4d8d2d449b8016ab427fd567887d0b438c005ccba079a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.268},\"note\":\"The yellow fruit has shifted to the right of the jaw column; a smaller correction back should center it. I’ll make only that lateral adjustment before closing.\"}",
  "call_id": "call_edfmvWF2IvpCSxZy6NKrruu6",
  "id": "fc_017eb4d8d2d449b8016ab427febd6887d0b851626f996d6b2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_edfmvWF2IvpCSxZy6NKrruu6",
  "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]: [-0.1398, 1.0138, 0.8627, -0.7155, -0.2157, -0.131, 0.9961, 1.0378, 1.8797, 1.1576, -0.6975, 0.3962, 0.6212, 0.9965]\nstate[eef_state]: left_x=0.2918 left_y=0.0007 left_z=0.1738 left_yaw=0.1122 left_pitch=-0.2775 left_roll=0.0952 left_gripper=0.9961 right_x=0.2379 right_y=0.2761 right_z=0.0164 right_yaw=0.1814 right_pitch=-0.6236 right_roll=-0.2759 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -2.7009, 6.735, 1.4579, -0.1685, -0.0464, -0.0073, -0.6496, -10.6872, 5.3675, 0.8034, 0.4127, 0.0269, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c821f45b568fbe38b513afc3bd212e669bd1440be72fb6bedffe554e9589280c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a974db644a400972af768bfba4e21a8900605b8974a7e0eae88c2cea1a715816",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c525c31ac84d6fe88b76822794b679cfff411d5f02eda4f9c0dedde757f0db",
      "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 · 3.334 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]: [-0.1398, 1.0069, 0.8627, -0.7109, -0.2108, -0.1314, 0.9961, 0.9794, 1.784, 1.1221, -0.7502, 0.3717, 0.5869, 0.9981]\nstate[eef_state]: left_x=0.2922 left_y=-0.0002 left_z=0.1762 left_yaw=0.1074 left_pitch=-0.2673 left_roll=0.0882 left_gripper=0.9961 right_x=0.2415 right_y=0.2509 right_z=0.0352 right_yaw=0.1648 right_pitch=-0.6413 right_roll=-0.2647 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -2.8103, 6.7487, 1.5897, -0.1929, -0.1392, -0.0024, -0.3487, -9.1829, 5.6547, 0.5446, 0.2613, -0.0806, -0.0122]",
      "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]: [-0.1398, 1.0092, 0.8627, -0.7147, -0.2157, -0.131, 0.9961, 1.0439, 1.9034, 1.2087, -0.7349, 0.3962, 0.6296, 0.9954]\nstate[eef_state]: left_x=0.2916 left_y=0.0008 left_z=0.1751 left_yaw=0.1118 left_pitch=-0.2723 left_roll=0.0938 left_gripper=0.9961 right_x=0.2396 right_y=0.2834 right_z=0.0202 right_yaw=0.1767 right_pitch=-0.6288 right_roll=-0.2812 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -2.5368, 6.7077, 1.4579, -0.1294, -0.0806, -0.0073, 0.4308, -8.1709, 7.4598, 0.5006, 0.3736, 0.1783, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1398, 1.0138, 0.8627, -0.7155, -0.2157, -0.131, 0.9961, 1.0378, 1.8797, 1.1576, -0.6975, 0.3962, 0.6212, 0.9965]\nstate[eef_state]: left_x=0.2918 left_y=0.0007 left_z=0.1738 left_yaw=0.1122 left_pitch=-0.2775 left_roll=0.0952 left_gripper=0.9961 right_x=0.2379 right_y=0.2761 right_z=0.0164 right_yaw=0.1814 right_pitch=-0.6236 right_roll=-0.2759 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -2.7009, 6.735, 1.4579, -0.1685, -0.0464, -0.0073, -0.6496, -10.6872, 5.3675, 0.8034, 0.4127, 0.0269, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c821f45b568fbe38b513afc3bd212e669bd1440be72fb6bedffe554e9589280c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a974db644a400972af768bfba4e21a8900605b8974a7e0eae88c2cea1a715816",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c525c31ac84d6fe88b76822794b679cfff411d5f02eda4f9c0dedde757f0db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_017eb4d8d2d449b8016ab42800713887d098009e83ecab68e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.29,\"right_z\":0.12},\"note\":\"The cleared overhead view shows the yellow and green fruits already in the blue bowl; the only fruit left outside is the dark one just to its left. I’ll stop working on the yellow shape in the wrist view and position the right gripper above the dark fruit.\"}",
  "call_id": "call_2HOEuL8TjH1Y2mZWCPdzsYaN",
  "id": "fc_017eb4d8d2d449b8016ab42804fb2487d0980389f72df33d6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2HOEuL8TjH1Y2mZWCPdzsYaN",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0153, 0.8627, -0.7162, -0.2157, -0.131, 0.9961, 0.8177, 2.0552, 1.792, -1.0378, 0.3614, 0.3901, 0.9966]\nstate[eef_state]: left_x=0.2917 left_y=0.0008 left_z=0.1732 left_yaw=0.1123 left_pitch=-0.2797 left_roll=0.0958 left_gripper=0.9961 right_x=0.356 right_y=0.2937 right_z=0.1132 right_yaw=0.1882 right_pitch=-0.5921 right_roll=-0.2589 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -2.6735, 6.7077, 1.3993, -0.1099, -0.0317, -0.0073, -0.4171, -10.6598, 7.2, 0.4518, 0.1734, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4840b99f14edf4f59e2bca8928e97a89f7940c8e1d8e07b85332b7e93369703b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9d9429f9c89bf69c72c39f8e3255b309f4aca8437a86c6d31a4a42fb4881b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:663019bd503f81d64ffbabe0adcaee3a03dbf2fb2a4cc8c56eecc393f9dcd56e",
      "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 · 3.853 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]: [-0.1398, 1.0088, 0.8627, -0.712, -0.2157, -0.1314, 0.9961, 0.992, 1.7931, 1.0981, -0.7105, 0.3889, 0.5915, 0.0101]\nstate[eef_state]: left_x=0.2921 left_y=0.0007 left_z=0.1756 left_yaw=0.1118 left_pitch=-0.2694 left_roll=0.0927 left_gripper=0.9961 right_x=0.2407 right_y=0.2525 right_z=0.0285 right_yaw=0.1667 right_pitch=-0.6239 right_roll=-0.271 right_gripper=0.0101\nstate[joint_eff]: [-0.2256, -2.5641, 6.8718, 1.4383, -0.1001, -0.0708, -0.0073, 0.1983, -10.3043, 4.8889, 0.6374, 0.2906, 0.0464, 0.8864]",
      "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]: [-0.1398, 1.0138, 0.8627, -0.7155, -0.2157, -0.131, 0.9961, 1.0378, 1.8797, 1.1576, -0.6975, 0.3962, 0.6212, 0.9965]\nstate[eef_state]: left_x=0.2918 left_y=0.0007 left_z=0.1738 left_yaw=0.1122 left_pitch=-0.2775 left_roll=0.0952 left_gripper=0.9961 right_x=0.2379 right_y=0.2761 right_z=0.0164 right_yaw=0.1814 right_pitch=-0.6236 right_roll=-0.2759 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -2.7009, 6.735, 1.4579, -0.1685, -0.0464, -0.0073, -0.6496, -10.6872, 5.3675, 0.8034, 0.4127, 0.0269, 0.0952]",
      "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]: [-0.1398, 1.0153, 0.8627, -0.7162, -0.2157, -0.131, 0.9961, 0.8177, 2.0552, 1.792, -1.0378, 0.3614, 0.3901, 0.9966]\nstate[eef_state]: left_x=0.2917 left_y=0.0008 left_z=0.1732 left_yaw=0.1123 left_pitch=-0.2797 left_roll=0.0958 left_gripper=0.9961 right_x=0.356 right_y=0.2937 right_z=0.1132 right_yaw=0.1882 right_pitch=-0.5921 right_roll=-0.2589 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -2.6735, 6.7077, 1.3993, -0.1099, -0.0317, -0.0073, -0.4171, -10.6598, 7.2, 0.4518, 0.1734, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4840b99f14edf4f59e2bca8928e97a89f7940c8e1d8e07b85332b7e93369703b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9d9429f9c89bf69c72c39f8e3255b309f4aca8437a86c6d31a4a42fb4881b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:663019bd503f81d64ffbabe0adcaee3a03dbf2fb2a4cc8c56eecc393f9dcd56e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCgKI6ZEdRe6Y_ZT0pMyXxZ7T7DpUSxRp4zLuFJqqepjx0a382q9uMQaMdwnTjpdK7e8oJpt-BwpsgD-w0JZAAGNboWiqpevyar8_rJxryFqZVSylYnsb5Sm0XHgagdWhH6-NfdqCmQQddL-aQkpEnSCqOtfNHeX-FDMUy4Fp9vSJM97ch1BcgDs2lg-gZNNJjwzMhhc5uck_Ai_fgr7x1X3cDMR-K-JoFUPetPvvrTUMuS9OF9PaUeFiaxVvsFoY5Zt2O54r_hUrzoUE_U62AiBih2kyWb06yBp6swDiLyr6GcZCm1-Xfjj9bX4OKDFLAHVfkiNX3XuAvwyjhOA7ezQIOXUhOhNUEkW_0ytqlODcqoFyGBtsLxgZWbkPnximkkkaVTBO7P51nNpNiR6NJXdlfrfZMXi2qA2bBIOivtXVLAoJOPD4HJpfb5grSHWzFwPvq_vD6GI8kviUgKsTYpYJLBQlPJd_hQHYUHFEjG_v82ncoz7A7txsTqrm6v122GgBnmJOz9WcC5TZkSRRComyqPiikx7m-45opulGmtwJzYZo1Lu8EVOt6WWZ8yYFSpiqTGr0MMBJOkV83rZT7YTrtfJ-D0O-PzCF5FDigfnnhHc06WJRtvyogp2W2BhLtRC1mR5ZwS4Vxsh9E8eTxN225pUzLZMZLnhaVG9lLfo0FxqWt1PFJsykeN15jYKZNwTP2bbfzJTRS25tgo7QffyGA03ghQXrUCVsVjPG1ttxwdKH2H7j3ufUJyHSmu8ips1JCJU-R5ts0SyLCQpDzMasj-GoYnge_J4LdPakKHtHn6S82sWAocsO6IqMUmGccNFtxo5_prOJ_78k1mrfWQoc8Kl6yju3X__Qh3GX76mme48i3W63GTJu5tl-VGM5T9o8Wby2W7p9i1mR3Cnev1CAaJlQIZ1ePLzt2N3kjhSanLviwmdnzm10fKtKIJw01CfTDNvjVo2w2frrYlefpyajuIWiECqcku1eig4Tk73OwVSj5-PYDVq-no1ujH4lekA1TlmBIuf1l0hMi3cXbz6s61mFTYWAChzq1XaWdEUTPNNyi2PfkphU-jd-hPIk7j68c5QPDB0X4zGYqX7sxf44srnaZUxgkw812IgZEnlO_954i89Le0XcHomx6oJjflr2W0MniI2wsRKUJ0KkuzZ8sknDLgqUzGJnF-7VSIxuJTvR4MrqKIdte63LI_SJaJT3w4K5-diHfUy3SB1mowaDskQZ8PP-gkOxwsN7RZ9PALDCI-cJsRfiV2BaJF6zMxqOacl6zWKBt7b6EoknkwlYbnvTGWi4zo18FxAk15sMohTfSDfzKNaapwzbaAHvLJfwKUXGQE63nWcQi-jr8Qyc84UnO-OZR2VeUzWMx05hCtCQsyqpOjwchdjVp3jofNg3GXKaC5LLM1z-vc_9rPdOHeXsBfWifbL0cRyI_8F5CvKQ_qbaSlcOJ4ESBAAX3aM55G0eqhHv2o4F5q-gH-h2Hjv-cZls87NdNIRtq3ovGCvhwFf8P4Yrrzj-HtlUuL_eQe9XfRoOhYlTbjWzoi-2jGWdSYz0R4-9NcMhKXWKKet41n0GzuEIWK2b7AiNaumFJ7LVhwHcGY7It6SWbFl3-unq38CK7Cvz1k3huX90URLZe8WDaBKoVBl6diRfzz6cy9Md2OUHR-70fEq8P3FdREfjBIel-VC6ng_YQ3A3YqzxID29ap3MEnns_XEOSLu",
  "id": "rs_017eb4d8d2d449b8016ab42808420c87d09ba5320a4a753ea3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.27,\"right_z\":0.065},\"note\":\"The dark fruit is visible ahead and slightly right of the right jaw column; moving the arm revealed that the yellow fruit is also still on the table. I’ll align with the dark fruit first by advancing and shifting right, then lower to grasp height.\"}",
  "call_id": "call_GSS8lHaYiFy57H193QydEv2u",
  "id": "fc_017eb4d8d2d449b8016ab428094d5887d082feda8a117d5e78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GSS8lHaYiFy57H193QydEv2u",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0157, 0.8627, -0.7166, -0.2157, -0.131, 0.9961, 0.7441, 2.0636, 1.6279, -0.9054, 0.3378, 0.3264, 0.9966]\nstate[eef_state]: left_x=0.2917 left_y=0.0008 left_z=0.1731 left_yaw=0.1124 left_pitch=-0.2805 left_roll=0.0959 left_gripper=0.9961 right_x=0.3654 right_y=0.2617 right_z=0.0652 right_yaw=0.158 right_pitch=-0.6475 right_roll=-0.2941 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -2.4, 6.7214, 1.4042, -0.1245, -0.0513, -0.0073, -0.1983, -10.1675, 6.7761, 1.0672, 0.2125, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4249691889d84fb2131aca85c14c31cb77557274618c36d7d5c52074bb9fe7c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785191f7afda2ef6d1b61bd736bef253ae1b431a02c38b86c9e27252dea9fdc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573b44e2db77904ce4fc5cc92806983b41ae71f131d409cb429a0917471e038f",
      "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 · 4.526 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]: [-0.1398, 1.0092, 0.8627, -0.7147, -0.2157, -0.131, 0.9961, 1.0439, 1.9034, 1.2087, -0.7349, 0.3962, 0.6296, 0.9954]\nstate[eef_state]: left_x=0.2916 left_y=0.0008 left_z=0.1751 left_yaw=0.1118 left_pitch=-0.2723 left_roll=0.0938 left_gripper=0.9961 right_x=0.2396 right_y=0.2834 right_z=0.0202 right_yaw=0.1767 right_pitch=-0.6288 right_roll=-0.2812 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -2.5368, 6.7077, 1.4579, -0.1294, -0.0806, -0.0073, 0.4308, -8.1709, 7.4598, 0.5006, 0.3736, 0.1783, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1398, 1.0153, 0.8627, -0.7162, -0.2157, -0.131, 0.9961, 0.8177, 2.0552, 1.792, -1.0378, 0.3614, 0.3901, 0.9966]\nstate[eef_state]: left_x=0.2917 left_y=0.0008 left_z=0.1732 left_yaw=0.1123 left_pitch=-0.2797 left_roll=0.0958 left_gripper=0.9961 right_x=0.356 right_y=0.2937 right_z=0.1132 right_yaw=0.1882 right_pitch=-0.5921 right_roll=-0.2589 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -2.6735, 6.7077, 1.3993, -0.1099, -0.0317, -0.0073, -0.4171, -10.6598, 7.2, 0.4518, 0.1734, -0.0611, -0.0073]",
      "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]: [-0.1398, 1.0157, 0.8627, -0.7166, -0.2157, -0.131, 0.9961, 0.7441, 2.0636, 1.6279, -0.9054, 0.3378, 0.3264, 0.9966]\nstate[eef_state]: left_x=0.2917 left_y=0.0008 left_z=0.1731 left_yaw=0.1124 left_pitch=-0.2805 left_roll=0.0959 left_gripper=0.9961 right_x=0.3654 right_y=0.2617 right_z=0.0652 right_yaw=0.158 right_pitch=-0.6475 right_roll=-0.2941 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -2.4, 6.7214, 1.4042, -0.1245, -0.0513, -0.0073, -0.1983, -10.1675, 6.7761, 1.0672, 0.2125, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4249691889d84fb2131aca85c14c31cb77557274618c36d7d5c52074bb9fe7c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785191f7afda2ef6d1b61bd736bef253ae1b431a02c38b86c9e27252dea9fdc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573b44e2db77904ce4fc5cc92806983b41ae71f131d409cb429a0917471e038f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCgOJQtmONUy9BT5LD0ID-ATXt4gqe1VJ4PF0TmvJAOD4lBuPy8ZnGGyxmRVcVPFQfVWvK_8v3ZR439oUx2Lg14SapqASIQdHxnHmdbmhmcyaVN18KiiqmObdZGFgRxy9uIxVme_Q1xYl8-Q9g9MOrit1QQJnI9-V1TVL15JOaKgguTJXDOHi7C7JCoDrI9u5kNNJwGIlQKFdo2PlC1toSz1DyqUuMWnrZs84hHSHIMFEnMDmGJWDvqDVzkpKw4Il2_3wNPBfzgkgs-KfZwLLQOPEXo4C5ttV_msaTv1RIk14Y9kX_HKnM3iRU9jmh6hl_Pf9vGTn4Dn19hydkMhBtRs8Njz_AftLpXCkjHP3JC0tMJpyvd6O3w15hOanZKkghjg-LTG5pvlexKx6__dR0m7_7YaeA1ilVu23lYiyAQBqs_o1kVRfh-n7vfZS7kKtMlc74XaNgLnqan1ek2nNivttGssMf_Mzwj0cy-VgxfwVkDvLIsqGTZHJfjTSMpQv5ZmSU2hnVj08B2v8ZhZnJ7QR--oqarAXfQ_hHhFG0y2tGduilUY8qP0feChOMyRnbQPRb1xlMpe2jarHCntyN05Vyi4aIEa8vDArRB7AYji7ZxjSbxPiUKsZ7L1FZrnE8Rq0eBZtKhNJ0dWQ5Yqsmp8Y3AkBMKRRmEEqtwpkN1HzNqJud31oNHGv1MreaiwWaPJ3LFDKixL0tn6qvlNwH70IJiEPI3YIhRS3bGNSyu4JevgEHVXvetmWTZ79gR_Wz1nsxtI0-lnLub2h8O7niGQWIjtv42kEpc7lGCjEc1u0XZxQkN3WrpMMn0WaZONfb_P1sK7ebCshUEwaobqgBMby_K2OLMFROxjFpM1xEjaykqKxeRlWeIHutJ4r9w40zgnUiDugNTu35IeHoQWSaCniFHxPoBd1NjYDRJzrSP51FbX01BeKWOWggAcP3xM-5_XIAKlzcH0gZh15mYObKlCRX9r1o_Tc5U31g0izfvKmfdYhmi4AXxM84qT-rQGfGxrUrRBGhi8P5psWV5epeHvB5bxlaBu97mLj8taj6tQkIh9BKH2biOCpzL7SNrvIrod-4qxgUAuoZbCtQ93EiMPWqj7o6Zd6cMNzqnR5Wcmcq7gEEtJsqpgncdxlz-PZ9XEdQ3jpeGSRUpuFufl9P65iBhtVZOrAXkvhRJDQoI4sktoN3fsvPnGvXxlu1AYFTVxVDHOTv4lEgTYjppfE_WZwSraQ5-GLmZkOYnFtKtseD3nizVxpK1J-KmySE0yGeXoE948U5HPSdwH_f9e5L3mJvTr7cEm9byVhVqWu8Yw3Eiclto0E3Gx-s5aszFktUB2mH-igikGIt-Zl2k8hol1uZvbimUUdrzS3EAP28U7M2EH_UrRGPrqmJDin11vQNSRdgAtsKN5PdhyQkzXnf5WAMzfzdahaUjnr5uNHbTsXtHoAhuILSmjI40Ys1NyxMA0EXvP38FhLDme6MRRVALw-0pzQ_gVPy-PBpRNFp0bptvxTnWnEG4ZqKn7ldAQLfU6Dxo3DUO0QPLG_C4Kt4YwQYxffrwVnXge-7Apn-WwrwzhdVyjr_PRuiCMsjyI0JxbzZkNqBsg12iKCcaW8jq0TOowKgO9Mc1S-r0fPMRoR5j8cMvq6Fpm8j58pvorOtf2FDX0i7tkLx2uw3u90RyhhbfRsjyUPnwpd8Kt3u7Q1guKvG_7bDeciP3zzfDOZjOn4jqzcQzc4AxrjM_YYpmre-_1V3d_iUk-T-pcGPKpskIDyVcpBVJiOUQ3MrCzoSSeVKedWp9r4ssF4AohQL4k18YjhCKxOYRtrGbO_zv7pdeY4logTlvKzQff7K8CD28SRhyMBg-15hYGuE_uotbP6kt84EvM2K3D_OpU3gjUPLnyCGLvegQpwLcEeFS9zb6CbZycGYkDSS93pUhN6HD6HkqD0K5Scgzln-Zx4gpSQUJMfbj_cIxUi-RQLKCuqWMSIA7kWOLeuEwqZg-37mGiemn7O-Xl3Qd3B7YmY9TEec-Zl3wPeIjZ5VtC--JIu6JR4HnoQCxiyh4jmH6E_6j82Q==",
  "id": "rs_017eb4d8d2d449b8016ab4280bbd9487d08edb90a899245304",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.25,\"right_z\":0.035},\"note\":\"The dark fruit remains fully visible well ahead of the right fingertips, so the current grasp point is still short. I’ll advance toward it and lower to just above table-level grasp height.\"}",
  "call_id": "call_r9RCagiMqS9OfYgKN98lPZTu",
  "id": "fc_017eb4d8d2d449b8016ab4280d881487d092711a7229e09208",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r9RCagiMqS9OfYgKN98lPZTu",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0153, 0.8627, -0.72, -0.2157, -0.131, 0.9962, 0.7292, 2.0705, 1.5822, -0.831, 0.3435, 0.2947, 0.9966]\nstate[eef_state]: left_x=0.291 left_y=0.0009 left_z=0.1726 left_yaw=0.1126 left_pitch=-0.2834 left_roll=0.0967 left_gripper=0.9962 right_x=0.3726 right_y=0.2579 right_z=0.053 right_yaw=0.1673 right_pitch=-0.6313 right_roll=-0.2998 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -2.4, 6.9128, 1.4628, -0.1441, -0.0562, -0.0073, -0.1299, -11.6718, 6.106, 0.9158, 0.3053, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85ad328057a3eb9efa5e63f03140462cceb875b990900e827773f0c4d10e819",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff8e6ee3aad687cf2d439828859b8c9ff06ba65f4d30205e2b2c5b54b1a2332a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c552873d50cf9db8b04301a82259904133fef3b0182d12d742cd44acd99fb0aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 2.49 s

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

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

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]: [-0.1398, 1.0138, 0.8627, -0.7155, -0.2157, -0.131, 0.9961, 1.0378, 1.8797, 1.1576, -0.6975, 0.3962, 0.6212, 0.9965]\nstate[eef_state]: left_x=0.2918 left_y=0.0007 left_z=0.1738 left_yaw=0.1122 left_pitch=-0.2775 left_roll=0.0952 left_gripper=0.9961 right_x=0.2379 right_y=0.2761 right_z=0.0164 right_yaw=0.1814 right_pitch=-0.6236 right_roll=-0.2759 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -2.7009, 6.735, 1.4579, -0.1685, -0.0464, -0.0073, -0.6496, -10.6872, 5.3675, 0.8034, 0.4127, 0.0269, 0.0952]",
      "type": "input_text"
    },
    {
      "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]: [-0.1398, 1.0157, 0.8627, -0.7166, -0.2157, -0.131, 0.9961, 0.7441, 2.0636, 1.6279, -0.9054, 0.3378, 0.3264, 0.9966]\nstate[eef_state]: left_x=0.2917 left_y=0.0008 left_z=0.1731 left_yaw=0.1124 left_pitch=-0.2805 left_roll=0.0959 left_gripper=0.9961 right_x=0.3654 right_y=0.2617 right_z=0.0652 right_yaw=0.158 right_pitch=-0.6475 right_roll=-0.2941 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -2.4, 6.7214, 1.4042, -0.1245, -0.0513, -0.0073, -0.1983, -10.1675, 6.7761, 1.0672, 0.2125, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0153, 0.8627, -0.72, -0.2157, -0.131, 0.9962, 0.7292, 2.0705, 1.5822, -0.831, 0.3435, 0.2947, 0.9966]\nstate[eef_state]: left_x=0.291 left_y=0.0009 left_z=0.1726 left_yaw=0.1126 left_pitch=-0.2834 left_roll=0.0967 left_gripper=0.9962 right_x=0.3726 right_y=0.2579 right_z=0.053 right_yaw=0.1673 right_pitch=-0.6313 right_roll=-0.2998 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -2.4, 6.9128, 1.4628, -0.1441, -0.0562, -0.0073, -0.1299, -11.6718, 6.106, 0.9158, 0.3053, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85ad328057a3eb9efa5e63f03140462cceb875b990900e827773f0c4d10e819",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff8e6ee3aad687cf2d439828859b8c9ff06ba65f4d30205e2b2c5b54b1a2332a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c552873d50cf9db8b04301a82259904133fef3b0182d12d742cd44acd99fb0aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_017eb4d8d2d449b8016ab42810c87887d0b017882404cac7b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.26,\"right_z\":0.12,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The right arm stopped about 4 cm short of the forward target while low, leaving the dark fruit ahead of the fingertips. I’ll raise the gripper and straighten its accumulated wrist tilt before approaching again.\"}",
  "call_id": "call_ZhSCQZUpMRgQJ0AwiLBPdctF",
  "id": "fc_017eb4d8d2d449b8016ab4281240bc87d09a4202c3a05b0923",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZhSCQZUpMRgQJ0AwiLBPdctF",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 1.0229, 0.8627, -0.7223, -0.2157, -0.131, 0.9961, 0.7925, 1.8473, 1.1339, -0.1463, 0.606, 0.4725, 0.9966]\nstate[eef_state]: left_x=0.291 left_y=0.0009 left_z=0.1702 left_yaw=0.1134 left_pitch=-0.293 left_roll=0.0993 left_gripper=0.9961 right_x=0.39 right_y=0.2574 right_z=0.0881 right_yaw=0.0386 right_pitch=-0.1072 right_roll=-0.0866 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -3.2068, 6.8171, 1.4335, -0.1197, -0.0708, -0.0171, 0.1846, -12.8342, 6.3385, 1.7509, 0.4615, 0.2271, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4695ed84ced19986829d43787b2224f1d6f213da2d359a17f116112bad2ad3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970d80898922f9ddb6bdd672a2a881c08410125d9591dd299a78f250d30ade84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 384):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64bbb7322d28d6172b3cb8aec98c989099135c3bc4df4df5fdbff852d173e24d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]