adhoc - adhoc_30e6f3aa.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: 223.7 s
total steps: 341

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 in front of the bowls: a dark fruit on the left, a yellow fruit in the middle, and a green fruit on the right. I’ll bring the right gripper above the green fruit first, keeping the blue bowl clear.

move_to

right_x0.3600right_y0.1050right_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]: [-0.0219, 0.8001, 0.6136, -0.387, -0.0143, -0.0261, 0.9992, -0.0227, 0.8005, 0.6189, -0.3874, -0.017, -0.0334, 0.9994] state[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.1812 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=-0.0001 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.2803, -1.6615, 9.7162, 1.8535, -0.0904, 0.0855, -0.1001, -0.1436, -1.347, 9.1282, 1.8437, -0.0611, 0.1538, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.105,"right_z":0.15},"note":"The overhead view shows three fruits in front of the bowls: a dark fruit on the left, a yellow fruit in the middle, and a green fruit on the right. I’ll bring the right gripper above the green fruit first, keeping the blue bowl clear."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe green fruit is near the right gripper’s jaw column and low in its wrist view, with the blue bowl off to the left. I’ll lower the open jaws around the fruit, shifting slightly toward its centre.

move_to

right_x0.3500right_y0.0950right_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]: [-0.0219, 0.8043, 0.6132, -0.4004, -0.0139, -0.0265, 0.9991, 0.4488, 1.2659, 0.6777, -0.0967, 0.3553, 0.2104, 0.9994] state[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1771 left_yaw=-0.0001 left_pitch=-0.0179 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3499 right_y=0.1043 right_z=0.1288 right_yaw=0.0283 right_pitch=-0.0665 right_roll=-0.0353 right_gripper=0.9994 state[joint_eff]: [-0.1709, -1.5932, 7.0906, 1.8974, -0.0269, -0.0464, -0.022, -0.1573, -5.2308, 9.0462, 1.9267, 0.2759, 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_x":0.35,"right_y":0.095,"right_z":0.035},"note":"The green fruit is near the right gripper’s jaw column and low in its wrist view, with the blue bowl off to the left. I’ll lower the open jaws around the fruit, shifting slightly toward its centre."})

tool

executing move_to over 7 steps (0.7s)

step 16

assistant

agent noteThe right jaws now straddle the green fruit at table height. I’ll close them and check the settled opening before lifting.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4084, -0.0135, -0.0269, 0.9991, 0.4149, 1.5345, 0.4297, 0.4007, 0.3267, 0.1909, 0.9994] state[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1748 left_yaw=-0.0002 left_pitch=-0.0286 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3464 right_y=0.0945 right_z=0.0304 right_yaw=0.0275 right_pitch=-0.0917 right_roll=-0.0415 right_gripper=0.9994 state[joint_eff]: [0.1026, -1.5111, 7.3641, 1.8046, -0.022, -0.0708, -0.0122, -0.4444, -5.4085, 5.0667, 1.7363, 0.0806, -0.0952, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The right jaws now straddle the green fruit at table height. I’ll close them and check the settled opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 26

assistant

agent noteThe right gripper stopped at an opening of about six centimetres, consistent with holding the fruit. I’ll lift it to confirm that it leaves the tabletop.

move_to

right_z0.1300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4164, -0.0139, -0.0269, 0.9991, 0.4149, 1.5333, 0.4297, 0.4236, 0.3214, 0.1833, 0.6197] state[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1732 left_yaw=0.0001 left_pitch=-0.0366 left_roll=-0.0 left_gripper=0.9991 right_x=0.3496 right_y=0.0969 right_z=0.0348 right_yaw=0.0368 right_pitch=-0.0709 right_roll=-0.0354 right_gripper=0.6197 state[joint_eff]: [-0.0615, -1.2786, 7.0769, 1.8291, -0.0513, -0.0317, -0.0122, -0.1709, -5.3675, 5.2718, 1.3797, 0.1099, 0.0317, 1.0281] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.13},"note":"The right gripper stopped at an opening of about six centimetres, consistent with holding the fruit. I’ll lift it to confirm that it leaves the tabletop."})

tool

executing move_to over 7 steps (0.7s)

step 33

assistant

agent noteThe green fruit rose with the right gripper in the overhead view. I’ll carry it over the centre of the blue bowl, staying high enough to clear the rim.

move_to

right_x0.3950right_y0.2050right_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]: [-0.0219, 0.807, 0.6132, -0.4236, -0.0139, -0.0269, 0.9991, 0.4152, 1.2652, 0.6426, -0.099, 0.3134, 0.1795, 0.6219] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1717 left_yaw=0.0001 left_pitch=-0.0439 left_roll=0.0001 left_gripper=0.9991 right_x=0.3439 right_y=0.096 right_z=0.1125 right_yaw=0.0444 right_pitch=-0.1116 right_roll=-0.0489 right_gripper=0.6219 state[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.7753, -0.0269, -0.0269, -0.0122, -0.0479, -5.5453, 8.9778, 1.6386, 0.1636, 0.0317, 0.6667] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.395,"right_y":0.205,"right_z":0.19},"note":"The green fruit rose with the right gripper in the overhead view. I’ll carry it over the centre of the blue bowl, staying high enough to clear the rim."})

tool

executing move_to over 10 steps (1.0s)

step 43

assistant

agent noteThe gripper is over the blue bowl, with the bowl opening centred beneath the jaws in the wrist view. I’ll lower the fruit inside the rim before releasing it.

move_to

right_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]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9991, 0.6621, 1.6085, 1.2335, -0.4561, 0.461, 0.334, 0.6213] state[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0001 left_pitch=-0.0458 left_roll=0.0005 left_gripper=0.9991 right_x=0.3883 right_y=0.2075 right_z=0.1734 right_yaw=0.0825 right_pitch=-0.1561 right_roll=-0.0732 right_gripper=0.6213 state[joint_eff]: [-0.0205, -1.3607, 6.9949, 1.707, -0.0611, -0.0366, -0.0122, -0.1709, -8.3077, 9.0598, 1.5263, 0.4371, 0.2662, 0.3346] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.095},"note":"The gripper is over the blue bowl, with the bowl opening centred beneath the jaws in the wrist view. I’ll lower the fruit inside the rim before releasing it."})

tool

executing move_to over 6 steps (0.6s)

step 49

assistant

agent noteThe fruit is lowered into the blue bowl and the jaws remain around it. I’ll open the gripper to deposit it.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9991, 0.6601, 1.6974, 1.0035, -0.1757, 0.4515, 0.3298, 0.6233] state[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0001 left_pitch=-0.0458 left_roll=0.0005 left_gripper=0.9991 right_x=0.383 right_y=0.2043 right_z=0.0885 right_yaw=0.0865 right_pitch=-0.1925 right_roll=-0.0916 right_gripper=0.6233 state[joint_eff]: [-0.0479, -1.3197, 6.9949, 1.6923, -0.0464, -0.022, -0.0122, 0.2256, -8.1983, 6.2701, 1.7802, 0.2808, -0.0171, 0.4274] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The fruit is lowered into the blue bowl and the jaws remain around it. I’ll open the gripper to deposit it."})

tool

executing move_to over 4 steps (0.4s)

step 53

assistant

agent noteThe open jaws have released the green fruit into the blue bowl. I’ll move the right arm across to the yellow fruit beside it, approaching from above.

move_to

right_x0.3350right_y0.3050right_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]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0135, -0.0269, 0.9991, 0.6601, 1.6974, 1.0035, -0.1841, 0.4484, 0.3229, 0.9956] state[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1713 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3817 right_y=0.2039 right_z=0.0871 right_yaw=0.0917 right_pitch=-0.2012 right_roll=-0.0993 right_gripper=0.9956 state[joint_eff]: [-0.2256, -1.3333, 7.1453, 1.6825, -0.0317, -0.0415, -0.0122, -0.0615, -8.1436, 6.2427, 1.4188, 0.1587, 0.105, 0.0024] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.305,"right_z":0.15},"note":"The open jaws have released the green fruit into the blue bowl. I’ll move the right arm across to the yellow fruit beside it, approaching from above."})

tool

executing move_to over 9 steps (0.9s)

step 62

assistant

agent noteThe yellow fruit is centred between the right wrist camera’s jaw columns, with the blue bowl and deposited fruit to its right. I’ll advance slightly and descend so the jaws reach around the yellow fruit rather than closing above it.

move_to

right_x0.3520right_z0.0340

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0135, -0.0269, 0.9991, 0.9562, 1.8027, 1.3964, -0.6231, 0.5987, 0.5774, 0.9964] state[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1713 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3326 right_y=0.3047 right_z=0.1423 right_yaw=0.1192 right_pitch=-0.2225 right_roll=-0.1101 right_gripper=0.9964 state[joint_eff]: [-0.1846, -1.2923, 7.0222, 1.663, -0.0415, -0.0611, -0.0122, 0.2803, -8.5949, 8.8137, 1.0232, 0.4664, 0.1685, 0.0757] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.352,"right_z":0.034},"note":"The yellow fruit is centred between the right wrist camera’s jaw columns, with the blue bowl and deposited fruit to its right. I’ll advance slightly and descend so the jaws reach around the yellow fruit rather than closing above it."})

tool

executing move_to over 7 steps (0.7s)

step 69

assistant

agent noteAt grasp height the yellow fruit sits a little to the right of the jaw centre in the wrist view. I’ll shift the gripper about two centimetres right to centre the fruit before closing.

move_to

right_y0.2800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4252, -0.0139, -0.0265, 0.9991, 0.9142, 1.9846, 1.1831, -0.2276, 0.5705, 0.5381, 0.9965] state[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0001 left_pitch=-0.0462 left_roll=0.0005 left_gripper=0.9991 right_x=0.3489 right_y=0.3024 right_z=0.0322 right_yaw=0.1174 right_pitch=-0.2424 right_roll=-0.1209 right_gripper=0.9965 state[joint_eff]: [-0.1026, -1.2923, 7.3368, 1.6923, -0.0415, -0.0611, -0.0122, -0.1846, -9.935, 5.8872, 1.409, 0.2955, -0.0659, -0.0024] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.28},"note":"At grasp height the yellow fruit sits a little to the right of the jaw centre in the wrist view. I’ll shift the gripper about two centimetres right to centre the fruit before closing."})

tool

executing move_to over 2 steps (0.2s)

step 71

assistant

agent noteThe yellow fruit is now centred between the jaws at tabletop height. I’ll close the gripper and check that it catches the fruit.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4252, -0.0135, -0.0265, 0.9991, 0.8742, 1.9575, 1.0912, -0.1909, 0.5449, 0.5041, 0.9965] state[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1712 left_yaw=-0.0004 left_pitch=-0.0462 left_roll=0.0003 left_gripper=0.9991 right_x=0.345 right_y=0.2753 right_z=0.0162 right_yaw=0.1078 right_pitch=-0.2805 right_roll=-0.149 right_gripper=0.9965 state[joint_eff]: [-0.0752, -1.306, 6.9949, 1.7021, -0.0269, -0.022, -0.0122, 0.0342, -12.3009, 5.641, 1.2479, 0.2418, -0.0659, -0.0073] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now centred between the jaws at tabletop height. I’ll close the gripper and check that it catches the fruit."})

tool

executing move_to over 10 steps (1.0s)

step 81

assistant

agent noteThe jaws settled at about a five-centimetre opening around the yellow fruit. I’ll lift to verify the fruit comes with the gripper before moving it to the bowl.

move_to

right_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4274, -0.0139, -0.0265, 0.9991, 0.8742, 1.9579, 1.0912, -0.1909, 0.5446, 0.4965, 0.5061] state[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0001 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9991 right_x=0.345 right_y=0.2754 right_z=0.016 right_yaw=0.1122 right_pitch=-0.2817 right_roll=-0.1543 right_gripper=0.5061 state[joint_eff]: [-0.0342, -1.1556, 7.0222, 1.7363, -0.0269, -0.0464, -0.0171, 0.0205, -9.4974, 5.5179, 1.16, 0.1929, 0.0415, 1.033] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.16},"note":"The jaws settled at about a five-centimetre opening around the yellow fruit. I’ll lift to verify the fruit comes with the gripper before moving it to the bowl."})

tool

executing move_to over 10 steps (1.0s)

step 91

assistant

agent noteThe yellow fruit lifted clear, and the green fruit is visible inside the blue bowl. I’ll carry the yellow fruit over the bowl’s opening.

move_to

right_x0.3900right_y0.2050right_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]: [-0.0219, 0.8078, 0.6132, -0.4313, -0.0139, -0.0269, 0.9991, 0.8749, 1.8004, 1.438, -0.7338, 0.5373, 0.4881, 0.507] state[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.17 left_yaw=0.0001 left_pitch=-0.0523 left_roll=0.0003 left_gripper=0.9991 right_x=0.3434 right_y=0.2757 right_z=0.1411 right_yaw=0.1143 right_pitch=-0.3148 right_roll=-0.183 right_gripper=0.507 state[joint_eff]: [-0.0479, -1.306, 6.9812, 1.746, -0.0562, -0.0757, -0.0122, -0.1709, -11.5897, 8.1299, 1.0818, 0.3248, 0.0415, 0.735] approver: 5 step(s) modified (delta_clamped ×5). 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_x":0.39,"right_y":0.205,"right_z":0.19},"note":"The yellow fruit lifted clear, and the green fruit is visible inside the blue bowl. I’ll carry the yellow fruit over the bowl’s opening."})

tool

executing move_to over 6 steps (0.6s)

step 97

assistant

agent noteThe held yellow fruit is positioned above the blue bowl, which already contains the green fruit. I’ll lower it enough to release it inside without catching the bowl rim.

move_to

right_z0.1000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4347, -0.0139, -0.0269, 0.9991, 0.6617, 1.7462, 1.4662, -0.8001, 0.4202, 0.2729, 0.5098] state[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.0001 left_pitch=-0.0568 left_roll=0.0004 left_gripper=0.9991 right_x=0.379 right_y=0.2084 right_z=0.158 right_yaw=0.1102 right_pitch=-0.3895 right_roll=-0.2246 right_gripper=0.5098 state[joint_eff]: [-0.0342, -1.2103, 6.9949, 1.7167, -0.0562, -0.0562, -0.0122, -1.1419, -11.8085, 9.7162, 1.3553, 0.3053, 0.0855, 0.6667] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.1},"note":"The held yellow fruit is positioned above the blue bowl, which already contains the green fruit. I’ll lower it enough to release it inside without catching the bowl rim."})

tool

executing move_to over 4 steps (0.4s)

step 101

assistant

agent noteThe yellow fruit is now inside the blue bowl’s rim. I’ll release it beside the green fruit.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4393, -0.0135, -0.0269, 0.9991, 0.6628, 1.776, 1.2804, -0.6559, 0.4129, 0.2611, 0.511] state[eef_state]: left_x=0.2888 left_y=-0.0004 left_z=0.1671 left_yaw=-0.0002 left_pitch=-0.0648 left_roll=0.0004 left_gripper=0.9991 right_x=0.3663 right_y=0.2006 right_z=0.0951 right_yaw=0.107 right_pitch=-0.4552 right_roll=-0.2668 right_gripper=0.511 state[joint_eff]: [0.0479, -1.0462, 7.2, 1.7411, -0.0269, -0.0366, -0.0122, 0.0068, -8.8137, 7.4735, 1.4188, 0.2711, 0.0659, 0.3736] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The yellow fruit is now inside the blue bowl’s rim. I’ll release it beside the green fruit."})

tool

executing move_to over 5 steps (0.5s)

step 106

assistant

agent noteThe overhead view still shows the dark fruit on the left. The wrist view reveals the yellow fruit bounced past the far side of the blue bowl, so I’ll return for it after picking up the dark fruit; for now I’m parking the right arm and approaching the dark fruit with the left.

move_to

right_x0.2950right_y0.0000right_z0.1800left_x0.3400left_y-0.2350left_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]: [-0.0219, 0.8124, 0.6132, -0.4423, -0.0139, -0.0265, 0.9991, 0.6621, 1.7866, 1.2663, -0.6563, 0.4099, 0.2527, 0.9955] state[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0001 left_pitch=-0.0679 left_roll=0.001 left_gripper=0.9991 right_x=0.3629 right_y=0.1981 right_z=0.086 right_yaw=0.1068 right_pitch=-0.4793 right_roll=-0.2839 right_gripper=0.9955 state[joint_eff]: [-0.1846, -1.347, 6.9675, 1.6923, -0.0464, -0.022, -0.0171, -0.1846, -9.6752, 7.3504, 0.9109, 0.2564, 0.0317, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"left_x":0.34,"left_y":-0.235,"left_z":0.15},"note":"The overhead view still shows the dark fruit on the left. The wrist view reveals the yellow fruit bounced past the far side of the blue bowl, so I’ll return for it after picking up the dark fruit; for now I’m parking the right arm and approaching the dark fruit with the left."})

tool

executing move_to over 21 steps (2.1s)

step 127

assistant

agent noteThe dark fruit is low in the left wrist view and slightly left of the jaw centre. I’ll shift the left gripper a few centimetres toward it and descend to grasp height.

move_to

left_x0.3400left_y-0.2600left_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]: [-0.8677, 1.5513, 1.0122, -0.3611, -0.6315, -0.6254, 0.9991, 0.0856, 1.19, 1.0496, -0.9062, 0.1608, -0.2535, 0.9964] state[eef_state]: left_x=0.3332 left_y=-0.2263 left_z=0.1352 left_yaw=-0.0133 left_pitch=-0.1111 left_roll=0.0249 left_gripper=0.9991 right_x=0.2962 right_y=0.0006 right_z=0.1707 right_yaw=0.0735 right_pitch=-0.4952 right_roll=-0.2861 right_gripper=0.9964 state[joint_eff]: [-0.6085, -6.9949, 8.5812, 1.4335, -0.5153, 0.0366, -0.0122, -0.4034, -4.6427, 8.1709, 1.2772, 0.0122, -0.0464, 0.0806] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.26,"left_z":0.035},"note":"The dark fruit is low in the left wrist view and slightly left of the jaw centre. I’ll shift the left gripper a few centimetres toward it and descend to grasp height."})

tool

executing move_to over 7 steps (0.7s)

step 134

assistant

agent noteThe dark fruit has moved below the bottom of the left wrist view at grasp height, directly under the jaws in the overhead view. I’ll close the left gripper and test whether it caught the fruit.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9092, 1.8378, 0.926, -0.0624, -0.6445, -0.6666, 0.9991, 0.086, 1.1912, 1.0492, -0.918, 0.1516, -0.2703, 0.9965] state[eef_state]: left_x=0.3359 left_y=-0.2528 left_z=0.0351 left_yaw=-0.0163 left_pitch=-0.1499 left_roll=0.0572 left_gripper=0.9991 right_x=0.2937 right_y=0.0021 right_z=0.1686 right_yaw=0.0926 right_pitch=-0.5112 right_roll=-0.2864 right_gripper=0.9965 state[joint_eff]: [-0.7726, -8.5402, 4.9846, 1.3309, -0.5055, -0.0513, -0.0122, -0.253, -3.8632, 6.5436, 1.2479, 0.1197, 0.1197, -0.0024] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The dark fruit has moved below the bottom of the left wrist view at grasp height, directly under the jaws in the overhead view. I’ll close the left gripper and test whether it caught the fruit."})

tool

executing move_to over 10 steps (1.0s)

step 144

assistant

agent noteThe left gripper closed fully empty, and the dark fruit is visible at the far left edge of its wrist view. I’ll reopen and shift the gripper toward the fruit; the first lateral correction was in the wrong direction.

move_to

left_gripper1.0000left_y-0.2000left_z0.0480

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]: [-0.9112, 1.861, 0.918, -0.065, -0.6388, -0.6746, 0.0088, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965] state[eef_state]: left_x=0.3318 left_y=-0.2502 left_z=0.0228 left_yaw=-0.0131 left_pitch=-0.1746 left_roll=0.075 left_gripper=0.0088 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965 state[joint_eff]: [0.1026, -10.5504, 5.9692, 1.2137, -0.3443, 0.0415, 0.7057, -0.1709, -3.7402, 6.4479, 1.1746, 0.0562, -0.0024, -0.0122] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_y":-0.2,"left_z":0.048},"note":"The left gripper closed fully empty, and the dark fruit is visible at the far left edge of its wrist view. I’ll reopen and shift the gripper toward the fruit; the first lateral correction was in the wrong direction."})

tool

executing move_to over 10 steps (1.0s)

step 154

assistant

agent noteThe dark fruit is still just left of the left gripper’s jaw column after the first correction. I’ll move a little farther toward it while keeping the open jaws at grasp height.

move_to

left_y-0.1700left_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]: [-0.8112, 1.6955, 0.7925, -0.0677, -0.585, -0.5903, 0.9951, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965] state[eef_state]: left_x=0.3312 left_y=-0.2019 left_z=0.0395 left_yaw=0.0003 left_pitch=-0.1871 left_roll=0.0788 left_gripper=0.9951 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965 state[joint_eff]: [0.3077, -9.1282, 5.3812, 1.2625, -0.2662, 0.1245, -0.105, -0.335, -3.6991, 6.5026, 1.1648, 0.0171, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.17,"left_z":0.035},"note":"The dark fruit is still just left of the left gripper’s jaw column after the first correction. I’ll move a little farther toward it while keeping the open jaws at grasp height."})

tool

executing move_to over 3 steps (0.3s)

step 157

assistant

agent noteThe left jaws now cover the dark fruit’s tabletop position, though the gripper blocks the overhead view. I’ll close once at this corrected position and check the opening.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7456, 1.6562, 0.701, -0.0189, -0.5545, -0.5457, 0.9962, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965] state[eef_state]: left_x=0.3276 left_y=-0.1711 left_z=0.0276 left_yaw=0.0211 left_pitch=-0.2094 left_roll=0.0958 left_gripper=0.9962 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965 state[joint_eff]: [-0.0205, -8.5265, 5.9145, 1.6093, -0.149, 0.2271, 0.0952, -0.0068, -3.6718, 6.5162, 1.2283, 0.0611, -0.0171, -0.0122] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left jaws now cover the dark fruit’s tabletop position, though the gripper blocks the overhead view. I’ll close once at this corrected position and check the opening."})

tool

executing move_to over 10 steps (1.0s)

step 167

assistant

agent noteThe second left close was empty, so the dark fruit was not between the fingertips. I’ll lift and withdraw the open gripper to expose the fruit in the overhead camera and re-estimate its position.

move_to

left_gripper1.0000left_x0.2500left_y-0.1800left_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7288, 1.6527, 0.6838, -0.0097, -0.5373, -0.5205, 0.0088, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965] state[eef_state]: left_x=0.3264 left_y=-0.1654 left_z=0.0232 left_yaw=0.0127 left_pitch=-0.2237 left_roll=0.1065 left_gripper=0.0088 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965 state[joint_eff]: [-0.253, -8.7726, 5.3265, 1.4628, -0.2515, 0.0611, 0.569, -0.212, -3.5897, 6.5026, 1.1306, 0.0269, -0.0317, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.25,"left_y":-0.18,"left_z":0.16},"note":"The second left close was empty, so the dark fruit was not between the fingertips. I’ll lift and withdraw the open gripper to expose the fruit in the overhead camera and re-estimate its position."})

tool

executing move_to over 10 steps (1.0s)

step 177

assistant

agent noteWith the left arm withdrawn, the dark fruit is visible near the left side of the gripper and farther forward than the fingertips. I’ll approach it again from above, moving forward and toward its tabletop position before descending.

move_to

left_x0.3100left_y-0.1300left_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]: [-0.9855, 1.3205, 0.9504, -0.7368, -0.6346, -0.7773, 0.9949, 0.086, 1.1912, 1.0496, -0.9184, 0.1513, -0.2733, 0.9965] state[eef_state]: left_x=0.2558 left_y=-0.19 left_z=0.1454 left_yaw=-0.0168 left_pitch=-0.2325 left_roll=0.0791 left_gripper=0.9949 right_x=0.2937 right_y=0.0022 right_z=0.1687 right_yaw=0.0948 right_pitch=-0.5116 right_roll=-0.2877 right_gripper=0.9965 state[joint_eff]: [-0.335, -6.0513, 8.3487, 0.8327, -0.5934, 0.1245, -0.022, 0.0479, -3.7538, 6.5162, 1.1746, 0.0269, -0.0317, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.31,"left_y":-0.13,"left_z":0.12},"note":"With the left arm withdrawn, the dark fruit is visible near the left side of the gripper and farther forward than the fingertips. I’ll approach it again from above, moving forward and toward its tabletop position before descending."})

tool

executing move_to over 6 steps (0.6s)

step 183

assistant

agent noteThe dark fruit is clearly visible in the left wrist view, slightly left of centre with some space before the fingertips. I’ll move the gripper forward and slightly left while descending to place the jaws around it.

move_to

left_x0.3270left_y-0.1000left_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]: [-0.6617, 1.2938, 0.8021, -0.5152, -0.4862, -0.5121, 0.9961, 0.086, 1.195, 1.0492, -0.9222, 0.1513, -0.2737, 0.9965] state[eef_state]: left_x=0.2999 left_y=-0.1244 left_z=0.1121 left_yaw=0.0438 left_pitch=-0.2737 left_roll=0.0986 left_gripper=0.9961 right_x=0.293 right_y=0.0022 right_z=0.1671 right_yaw=0.0951 right_pitch=-0.5197 right_roll=-0.2878 right_gripper=0.9965 state[joint_eff]: [-0.1026, -5.5453, 6.4479, 1.4188, -0.1783, 0.2222, 0.1099, -0.1299, -3.9863, 6.5846, 1.1893, 0.022, -0.0415, -0.0073] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.327,"left_y":-0.1,"left_z":0.035},"note":"The dark fruit is clearly visible in the left wrist view, slightly left of centre with some space before the fingertips. I’ll move the gripper forward and slightly left while descending to place the jaws around it."})

tool

executing move_to over 5 steps (0.5s)

step 188

assistant

agent noteThe dark fruit now sits near the centre of the left jaws at tabletop height. I’ll close and check whether the gripper stops against it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5236, 1.4704, 0.6098, -0.1867, -0.421, -0.4084, 0.9962, 0.086, 1.1954, 1.0496, -0.923, 0.1513, -0.2737, 0.9965] state[eef_state]: left_x=0.3101 left_y=-0.0916 left_z=0.0278 left_yaw=0.0831 left_pitch=-0.3463 left_roll=0.1473 left_gripper=0.9962 right_x=0.293 right_y=0.0021 right_z=0.167 right_yaw=0.0951 right_pitch=-0.5205 right_roll=-0.2878 right_gripper=0.9965 state[joint_eff]: [0.2393, -5.9009, 5.6547, 1.4579, -0.0708, 0.105, -0.0024, -0.1026, -3.8085, 6.6256, 1.1453, 0.0317, -0.0415, -0.0122] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The dark fruit now sits near the centre of the left jaws at tabletop height. I’ll close and check whether the gripper stops against it."})

tool

executing move_to over 10 steps (1.0s)

step 198

assistant

agent noteThe left jaws settled around a roughly four-centimetre-wide object, consistent with the dark fruit. I’ll lift it clear and verify it moves with the arm.

move_to

left_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5125, 1.4895, 0.5972, -0.0711, -0.4072, -0.3855, 0.4247, 0.086, 1.1954, 1.0492, -0.923, 0.1513, -0.2737, 0.9965] state[eef_state]: left_x=0.3251 left_y=-0.0985 left_z=0.0315 left_yaw=0.0555 left_pitch=-0.2843 left_roll=0.1035 left_gripper=0.4247 right_x=0.2929 right_y=0.0021 right_z=0.1669 right_yaw=0.0951 right_pitch=-0.5209 right_roll=-0.2878 right_gripper=0.9965 state[joint_eff]: [0.0615, -6.0103, 5.6684, 1.3651, -0.1734, 0.0659, 1.033, -0.1162, -3.5761, 6.4752, 1.1355, 0.0171, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.16},"note":"The left jaws settled around a roughly four-centimetre-wide object, consistent with the dark fruit. I’ll lift it clear and verify it moves with the arm."})

tool

executing move_to over 9 steps (0.9s)

step 207

assistant

agent noteThe dark fruit rose with the left gripper. I’ll carry it across to the blue bowl from the left, using the crossover reach while the right arm stays parked.

move_to

left_x0.3950left_y-0.3850left_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]: [-0.5129, 1.3167, 0.9459, -0.6029, -0.4026, -0.3923, 0.4247, 0.086, 1.1954, 1.0496, -0.923, 0.1513, -0.2737, 0.9965] state[eef_state]: left_x=0.3272 left_y=-0.1007 left_z=0.1424 left_yaw=0.0571 left_pitch=-0.2946 left_roll=0.1013 left_gripper=0.4247 right_x=0.293 right_y=0.0021 right_z=0.167 right_yaw=0.0951 right_pitch=-0.5205 right_roll=-0.2878 right_gripper=0.9965 state[joint_eff]: [-0.0479, -6.5983, 8.9094, 1.199, -0.2613, 0.0464, 0.9939, -0.0205, -3.7402, 6.5299, 1.1844, 0.0464, -0.0757, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_y":-0.385,"left_z":0.19},"note":"The dark fruit rose with the left gripper. I’ll carry it across to the blue bowl from the left, using the crossover reach while the right arm stays parked."})

tool

executing move_to over 26 steps (2.6s)

step 233

assistant

agent noteThe dark fruit is above and slightly beyond the blue bowl; the overhead view shows it ahead of the rim. I’ll retreat a few centimetres toward the bowl centre and lower it inside.

move_to

left_x0.3500left_y-0.4000left_z0.0900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9543, 2.571, 2.7842, -1.4033, -0.5938, -0.8467, 0.426, 0.086, 1.1954, 1.0492, -0.9272, 0.1513, -0.2737, 0.9965] state[eef_state]: left_x=0.4012 left_y=-0.389 left_z=0.1643 left_yaw=0.0502 left_pitch=-0.3067 left_roll=0.0818 left_gripper=0.426 right_x=0.292 right_y=0.0021 right_z=0.1664 right_yaw=0.0951 right_pitch=-0.525 right_roll=-0.2878 right_gripper=0.9965 state[joint_eff]: [-0.841, -13.559, 6.4068, -0.0269, -0.525, -0.0659, 0.9206, -0.3624, -3.7538, 6.4615, 1.1941, 0.0415, -0.0757, -0.0073] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.4,"left_z":0.09},"note":"The dark fruit is above and slightly beyond the blue bowl; the overhead view shows it ahead of the rim. I’ll retreat a few centimetres toward the bowl centre and lower it inside."})

tool

executing move_to over 5 steps (0.5s)

step 238

assistant

agent noteThe dark fruit is at the near-left edge of the blue bowl, with the bowl floor visible under its right side. I’ll open the gripper and check whether it settles inside.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0382, 2.3611, 2.0953, -1.0649, -0.6014, -0.9298, 0.4275, 0.0837, 1.1973, 1.0492, -0.9512, 0.1638, -0.2794, 0.9965] state[eef_state]: left_x=0.3486 left_y=-0.3876 left_z=0.0819 left_yaw=0.0603 left_pitch=-0.3653 left_roll=0.1609 left_gripper=0.4275 right_x=0.2869 right_y=-0.0012 right_z=0.1635 right_yaw=0.0838 right_pitch=-0.552 right_roll=-0.3037 right_gripper=0.9965 state[joint_eff]: [-1.1145, -15.4325, 5.9966, 0.9206, -0.4615, -0.1685, 0.7399, 0.294, -3.412, 6.4615, 1.5653, -0.2418, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The dark fruit is at the near-left edge of the blue bowl, with the bowl floor visible under its right side. I’ll open the gripper and check whether it settles inside."})

tool

executing move_to over 6 steps (0.6s)

step 244

assistant

agent noteThe dark fruit fell just outside the left side of the blue bowl, while the yellow fruit remains near the white bowl. I’ll park the left arm and approach the dark fruit with the right arm, which has a better angle for placing it centrally.

move_to

left_x0.2900left_y0.0000left_z0.1800right_x0.3900right_y0.3200right_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]: [-1.0386, 2.3615, 2.0682, -1.0595, -0.6014, -0.9398, 0.9951, 0.0784, 1.1988, 1.0477, -0.9554, 0.1703, -0.2806, 0.9965] state[eef_state]: left_x=0.346 left_y=-0.3835 left_z=0.0738 left_yaw=0.0733 left_pitch=-0.3744 left_roll=0.1759 left_gripper=0.9951 right_x=0.2858 right_y=-0.004 right_z=0.1622 right_yaw=0.0726 right_pitch=-0.5594 right_roll=-0.3111 right_gripper=0.9965 state[joint_eff]: [0.0479, -13.4359, 8.212, 0.5983, -0.2857, 0.0415, -0.0024, 0.0615, -3.7128, 6.5299, 1.1453, -0.0366, -0.0122, -0.0073] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"right_x":0.39,"right_y":0.32,"right_z":0.15},"note":"The dark fruit fell just outside the left side of the blue bowl, while the yellow fruit remains near the white bowl. I’ll park the left arm and approach the dark fruit with the right arm, which has a better angle for placing it centrally."})

tool

executing move_to over 35 steps (3.5s)

step 279

assistant

agent noteThe dark fruit is visible to the left of the right wrist camera’s jaw column, and the right gripper is above it. I’ll shift toward it and descend, then use the close reading to verify the grasp.

move_to

right_x0.3700right_y0.3600right_z0.0400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1699, 1.1183, 0.9882, -0.8532, -0.2531, -0.1146, 0.9962, 0.8253, 2.3306, 2.3569, -1.3651, 0.4164, 0.4202, 0.9965] state[eef_state]: left_x=0.2929 left_y=-0.0017 left_z=0.1766 left_yaw=0.1203 left_pitch=-0.3745 left_roll=0.1675 left_gripper=0.9962 right_x=0.3879 right_y=0.3201 right_z=0.1445 right_yaw=0.1084 right_pitch=-0.5797 right_roll=-0.3107 right_gripper=0.9965 state[joint_eff]: [0.2393, -4.3145, 6.5436, 1.2918, -0.1245, 0.1636, 0.0952, 0.3487, -13.0667, 7.1453, 0.5153, 0.3932, 0.359, -0.0073] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.37,"right_y":0.36,"right_z":0.04},"note":"The dark fruit is visible to the left of the right wrist camera’s jaw column, and the right gripper is above it. I’ll shift toward it and descend, then use the close reading to verify the grasp."})

tool

executing move_to over 7 steps (0.7s)

step 286

assistant

agent noteThe dark fruit is large in the right wrist view but still well above the jaw tips, so it is not yet at the grasp point. I’ll move the open gripper forward and slightly right to bring the fingertips around it.

move_to

right_x0.4000right_y0.3150right_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]: [-0.1688, 1.1145, 0.9878, -0.8639, -0.2459, -0.1055, 0.9962, 0.902, 2.3734, 2.0857, -1.0962, 0.4183, 0.4835, 0.9965] state[eef_state]: left_x=0.2904 left_y=-0.0022 left_z=0.1758 left_yaw=0.1106 left_pitch=-0.3839 left_roll=0.1691 left_gripper=0.9962 right_x=0.3664 right_y=0.3537 right_z=0.0562 right_yaw=0.1243 right_pitch=-0.6008 right_roll=-0.3175 right_gripper=0.9965 state[joint_eff]: [-0.4308, -2.7009, 6.7487, 1.3993, -0.2271, -0.1148, -0.0073, 0.4581, -11.4256, 5.6274, 0.6764, 0.3834, 0.0952, -0.0171] camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.315,"right_z":0.035},"note":"The dark fruit is large in the right wrist view but still well above the jaw tips, so it is not yet at the grasp point. I’ll move the open gripper forward and slightly right to bring the fingertips around it."})

tool

executing move_to over 4 steps (0.4s)

step 290

assistant

agent noteThe lateral correction moved the dark fruit toward the left edge of the wrist image, so I overshot its centre. I’ll return the gripper leftward and a little toward the base to align the fingertips with the fruit.

move_to

right_x0.3500right_y0.3650right_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]: [-0.1688, 1.1152, 0.9878, -0.8646, -0.2455, -0.1051, 0.9962, 0.8066, 2.3779, 1.9396, -0.9894, 0.3889, 0.3985, 0.9965] state[eef_state]: left_x=0.2903 left_y=-0.0023 left_z=0.1755 left_yaw=0.1103 left_pitch=-0.3855 left_roll=0.1695 left_gripper=0.9962 right_x=0.3856 right_y=0.3107 right_z=0.0139 right_yaw=0.0808 right_pitch=-0.6682 right_roll=-0.3684 right_gripper=0.9965 state[joint_eff]: [-0.3214, -3.2205, 6.612, 1.2479, -0.1636, -0.0806, -0.0171, -0.1846, -16.2803, 5.7504, 0.906, 0.8425, -0.1197, -0.0122] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.365,"right_z":0.035},"note":"The lateral correction moved the dark fruit toward the left edge of the wrist image, so I overshot its centre. I’ll return the gripper leftward and a little toward the base to align the fingertips with the fruit."})

tool

executing move_to over 5 steps (0.5s)

step 295

assistant

agent noteThe right arm is tracking short of its low target and the dark fruit remains ahead of the jaw tips. I’ll lift away from the tabletop first, then approach from a less strained pose instead of repeating the stalled descent.

move_to

right_x0.3350right_y0.3700right_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]: [-0.1688, 1.1152, 0.9878, -0.8677, -0.2459, -0.1051, 0.9962, 0.8528, 2.365, 1.9003, -0.9226, 0.4404, 0.4198, 0.9965] state[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1751 left_yaw=0.1109 left_pitch=-0.3883 left_roll=0.1707 left_gripper=0.9962 right_x=0.3803 right_y=0.3264 right_z=0.015 right_yaw=0.0977 right_pitch=-0.5999 right_roll=-0.371 right_gripper=0.9965 state[joint_eff]: [-0.1573, -3.1111, 6.5299, 1.3016, -0.1929, -0.0366, -0.0073, -0.5538, -14.653, 4.506, 0.5934, 0.1978, 0.1343, -0.0122] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.37,"right_z":0.13},"note":"The right arm is tracking short of its low target and the dark fruit remains ahead of the jaw tips. I’ll lift away from the tabletop first, then approach from a less strained pose instead of repeating the stalled descent."})

tool

executing move_to over 8 steps (0.8s)

step 303

assistant

agent noteThe right arm did not rise and its shoulder effort increased, indicating contact or a constrained low pose. I’ll withdraw it toward the open centre of the table to relieve the contact before attempting another grasp.

move_to

right_x0.3000right_y0.1700right_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]: [-0.1684, 1.1152, 0.9878, -0.8684, -0.2455, -0.1047, 0.9962, 0.8906, 2.4252, 2.0193, -1.0222, 0.4553, 0.4751, 0.9965] state[eef_state]: left_x=0.2895 left_y=-0.002 left_z=0.175 left_yaw=0.1108 left_pitch=-0.3892 left_roll=0.1709 left_gripper=0.9962 right_x=0.3723 right_y=0.3423 right_z=0.0175 right_yaw=0.0724 right_pitch=-0.6071 right_roll=-0.3911 right_gripper=0.9965 state[joint_eff]: [0.0752, -3.1521, 6.694, 1.2625, -0.1197, -0.0317, -0.0171, 5.3538, -11.9453, 6.3111, 0.0464, 0.2564, 0.2027, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.17,"right_z":0.19},"note":"The right arm did not rise and its shoulder effort increased, indicating contact or a constrained low pose. I’ll withdraw it toward the open centre of the table to relieve the contact before attempting another grasp."})

tool

executing move_to over 15 steps (1.5s)

step 318

assistant

agent noteThe right arm is clear again. The blue bowl visibly holds fruit, while a dark fruit and a yellow fruit remain outside it; with limited time, I’ll attempt to lift the bowl for the requested pour.

move_to

right_x0.3900right_y0.2050right_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]: [-0.1688, 1.1202, 0.9878, -0.8749, -0.2451, -0.1051, 0.9962, 0.7265, 1.6676, 1.5505, -1.2255, 0.4255, 0.3046, 0.9965] state[eef_state]: left_x=0.2885 left_y=-0.0021 left_z=0.1728 left_yaw=0.1117 left_pitch=-0.4002 left_roll=0.1737 left_gripper=0.9962 right_x=0.3062 right_y=0.1793 right_z=0.1809 right_yaw=0.0716 right_pitch=-0.5983 right_roll=-0.3802 right_gripper=0.9965 state[joint_eff]: [-0.1436, -3.0154, 6.5299, 1.3797, -0.1538, -0.0611, -0.0171, -0.3214, -8.759, 5.8462, 0.8327, 0.2515, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":0.39,"right_y":0.205,"right_z":0.12},"note":"The right arm is clear again. The blue bowl visibly holds fruit, while a dark fruit and a yellow fruit remain outside it; with limited time, I’ll attempt to lift the bowl for the requested pour."})

tool

executing move_to over 7 steps (0.7s)

step 325

assistant

agent noteThe blue bowl is centred under the open right jaws, with a fruit visible inside. I’ll lower the gripper to rim height to try to grasp the bowl without pinching the fruit.

move_to

right_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]: [-0.168, 1.1225, 0.9871, -0.8783, -0.2455, -0.1047, 0.9962, 0.6418, 1.9457, 1.6531, -1.0714, 0.4004, 0.2138, 0.9965] state[eef_state]: left_x=0.2878 left_y=-0.0016 left_z=0.1715 left_yaw=0.1133 left_pitch=-0.4064 left_roll=0.1763 left_gripper=0.9962 right_x=0.3725 right_y=0.1969 right_z=0.1168 right_yaw=0.0533 right_pitch=-0.6491 right_roll=-0.415 right_gripper=0.9965 state[joint_eff]: [-0.3214, -3.2068, 6.5983, 1.3114, -0.1392, -0.0171, -0.0171, -0.5949, -9.4154, 7.8564, 0.823, 0.2173, -0.0611, -0.0073] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.045},"note":"The blue bowl is centred under the open right jaws, with a fruit visible inside. I’ll lower the gripper to rim height to try to grasp the bowl without pinching the fruit."})

tool

executing move_to over 5 steps (0.5s)

step 330

assistant

agent noteThe right jaws are at the blue bowl’s rim height, straddling its near side in the wrist view. I’ll close to see whether the bowl can be held securely for a lift.

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]: [-0.168, 1.1248, 0.9871, -0.8787, -0.2455, -0.1051, 0.9962, 0.6506, 1.9572, 1.3933, -0.8169, 0.4145, 0.2012, 0.9965] state[eef_state]: left_x=0.2879 left_y=-0.0017 left_z=0.1708 left_yaw=0.1139 left_pitch=-0.409 left_roll=0.1768 left_gripper=0.9962 right_x=0.361 right_y=0.1899 right_z=0.0489 right_yaw=0.051 right_pitch=-0.6582 right_roll=-0.4472 right_gripper=0.9965 state[joint_eff]: [-0.3487, -3.2205, 6.7077, 1.2332, -0.1441, -0.0513, -0.0171, -0.0205, -9.0188, 5.6821, 0.8327, 0.3736, 0.1343, -0.0171] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The right jaws are at the blue bowl’s rim height, straddling its near side in the wrist view. I’ll close to see whether the bowl can be held securely for a lift."})

tool

executing move_to over 10 steps (1.0s)

step 340

assistant

agent noteI could not complete the sequence. A green and a yellow fruit were placed in the blue bowl, but the dark fruit and another yellow fruit remain outside it. The final attempt to grip the blue bowl closed empty, so I cannot safely lift and pour it.

give_up

hindsightThe overhead scene contains four fruits, including a yellow fruit near the white bowl that is easy to overlook. The blue bowl is accessible to the right arm, but at right_x≈0.37, right_y≈0.20, z≈0.045 the jaws close empty beside the bowl; align the bowl between the jaws using the wrist view before attempting to lift it. Left-arm placement at left_y≈−0.39 leaves the grasp point off-centre at the blue bowl’s left edge and can drop a fruit outside.

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]: [-0.168, 1.1248, 0.9871, -0.8787, -0.2455, -0.1051, 0.9962, 0.6525, 1.9675, 1.3815, -0.738, 0.4217, 0.2089, 0.0103] state[eef_state]: left_x=0.2879 left_y=-0.0017 left_z=0.1708 left_yaw=0.1139 left_pitch=-0.409 left_roll=0.1768 left_gripper=0.9962 right_x=0.372 right_y=0.1978 right_z=0.0459 right_yaw=0.0657 right_pitch=-0.6054 right_roll=-0.4114 right_gripper=0.0103 state[joint_eff]: [-0.0889, -3.2342, 6.5299, 1.2088, -0.149, -0.0366, -0.0122, 0.1983, -9.7846, 5.7778, 0.7839, 0.2955, 0.0904, 0.8376] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not complete the sequence. A green and a yellow fruit were placed in the blue bowl, but the dark fruit and another yellow fruit remain outside it. The final attempt to grip the blue bowl closed empty, so I cannot safely lift and pour it.","hindsight":"The overhead scene contains four fruits, including a yellow fruit near the white bowl that is easy to overlook. The blue bowl is accessible to the right arm, but at right_x≈0.37, right_y≈0.20, z≈0.045 the jaws close empty beside the bowl; align the bowl between the jaws using the wrist view before attempting to lift it. Left-arm placement at left_y≈−0.39 leaves the grasp point off-centre at the blue bowl’s left edge and can drop a fruit outside."})

tool

give_up: I could not complete the sequence. A green and a yellow fruit were placed in the blue bowl, but the dark fruit and another yellow fruit remain outside it. The final attempt to grip the blue bowl closed empty, so I cannot safely lift and pour it.

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 · 5.186 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]: [-0.0219, 0.8001, 0.6136, -0.387, -0.0143, -0.0261, 0.9992, -0.0227, 0.8005, 0.6189, -0.3874, -0.017, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.1812 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=-0.0001 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.6615, 9.7162, 1.8535, -0.0904, 0.0855, -0.1001, -0.1436, -1.347, 9.1282, 1.8437, -0.0611, 0.1538, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494d4ecf35c789b84f4b6bff6c9e28860adca0b8b38c8fc5b90e9a47512ecff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1f1641043d1ca756d61a47fbcda9e808738d033f8f8cd3e32954c64d12f5966",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44da3b037d8d4bd8785834279a7c46ac4b37245fadddfb565fd35f1f3d5127ee",
      "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 · 4.692 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtCMDfTRUz3zer4nohWkqVm_isXBaex9ZFkD2RFSufnuf3l7pKvgo4u-RQD6b9gzzCDkSo0roQim_a_ygvzaApdXKOFjWlhsQzbbcPOmWqFt6yR67HnO8JJyZcm5oPCfNnhZRf7V7pCPJORz0l8R8DB0ptLN-FjZsipUhCnFZ6bc438N0tOOUWinIL79-0tR8DiARJVj8rhlnVZnJ1CK2rqp441XR_E8gJ77ne0Dv-VZ1F7tA8DbD2QckBGmxNtSMNMk1cDhSWQnB3irvolSUqvG5JSNG4OE5WwPXIT2E2vZD9tXMeyRHEs-czHBqAOsJ7AK61mRFI7Qe0NQNoDj_oI_AiI3DQZ0HhxD4HO9eqe-u6gk6ld1U3vkxXMxWVcr5Ow0CyNjnw9F5p8mAVxDDWLZ4Mg9uQ2aA7zJdNeIq7Z4W01jV_9XwvszSV_zzZEcEPj7Y7VVg34ARyXN-iiapShLvC90oI48PehNI7VzNDuViUi0MPrh4ItIRwRuG8X-Bw6OpUBo5ZCRzzdVE98_2abRr7UnzaIec10sk1lj_T8UzVD1P00B0UrBXDoEFVcj_cfoUM8MPWbxsFCaXBu23SLp8dmXIV05srvOC6Vts6g9oGuWltG9_3bHwrD6UUIDLzq9NrQEd0QpHVumlej-_EEQ1kvqeF4Shrv2MmS76hNepqGUupxOgcqnZahfXHI4wCxNhHurxN7jYHIlKaznoOrmNG96D7b7FRqC562GgccCUezo-6qwVKwA9k5bAwvoh4QoSziuwHiyG7EoPgXScaZSLZwyarPflurFXg7rvvRApbQILg_h9ThMX2XIJzyBDWr-RFCCar92o7m7lKNoYGV6G1vCVDV-8f4uebemkY1t4HzkCw2JClKbQHkBXsv3ZjdaPy5ELn6WuMMZdbTd-MO_udzUT_cGKKuf9or-cgDHWV_w2xlZBBTfIrQr0JCZM5W7_vHaX0o3UyXBN_jkIOG0t9wDvL9-3f1D92q9g9FqrU0Q0s0Ult5XJFe8l3NlFqZm5QpPxu00c38XIBYQf5wIhsGrzfLkhC5KEUZTFY9GoxgdiPWzppEs5WbcWgmo3N6ePawFbGnlcASnmAmj3B51RyLgN2DBxI6zwm0_B-ZrwnI3wP8xMpE5tndKqyRb-kyj94h00DqOC6RPEMbeVRYlj3hM0DxXORTvseNCpIn09YDNZf5vZRyTX8ltBDO53qrO1mv-oe1qWIx3c1uv0GiBQRB759X8DVgD_1gLQ-XhVAEpmUHxXm1clYSgYfLspol21WZJYz0hDO2XTTvdPiBEwi9nSiv7MsVItNS3Ik7-kKyPF6SCJ-vRNF09Z7UEzEDLiqw-yN2rUILLNo1S6fI-23woN5MrpAZ3a-xJlR4kfcueRnwIE-L2t2xOmqDpRWSEESR51Dnd333IbQkXIY7Tq7TzxAUuI3wrFLRzFc61sHBfcM99SEBctg1tlRvNi4I_u6n7S_g5tM8QfBfURrq6nShZqrIuVKmihj0x6rPSMGArQHoAZkW8pFSIjc1DNP02hKbr77TtzoUEv-6HJ5DWy_mOw8rimoEI0FlYUZVDiWe92mk9KZd_5x_ZBopDj_j3EMiTH8gWZxM_oe2aVooa7W0U-TugM5WQOQGMazKL8R_wNzbGatQNAPTUQpjBDz4ivneJbuRMFsUkecsD9PKmA69WlkHUvKHRjklhvU-x2Gz9zdC3jbacJmHz6arVoa_Vf0JnM0CVACXxupCkJe9ryfukBPVLG1TXCsgpImab2CQ2SZUMxtFIc9EMVRYUd8s2-ul3Dwe0fTKWtjZ4m-oYrWyd3dJVbf5pkOYBo4QA_KvpqX5NKywzcOtfepYLPDqxVrI3AwlrfMGZB31rR9uQl1YIqKXnwL4doEnOxUiLV5rlXgbDYQknwrRKVNvyV5nqemhc8txAkLpdnx1MROtDDXESodDygOWTPro55fW5A01wbz1wyWyJeGB-rdktbkUcckOgK9KJO4kKEDLhGGSKrWVVQZkXnYu6gCGAd1fj0c9RRB9wMkOkgGtchbeWxWlC24Fqes5TcJlEPVq1FYLFuF66s4VznwT3UBRG9T8SEP35MA0YQ0qre4Ydo3bCWrd-GIL2LLf-x8pBYhdYBZwCUQtPmiPEKAqPPJX3kpN7tBYASAPUvdM12WtuK8ZIhpSf95fdVCgv_JYRQrO48h6w8IrvwC2GqazoACNMW95ua6kEUQNwrq80kxpCRphcTRnah-441xnmpfkNiOeHXrM8e_ncMc6CzR7VOviTCtBwuHAlBzVOKe83H3CDViWHo0BM8wA7yFPxOia039aYUWiBG7tphK-d5huHd_6uPfyVdRVgNX56fjIm9CK5YKsamrkSJpa_46XVqJrLqpZOXyGhhZuLQY75fx5wtcYuAdh3pw_QvFy7HOSCZlZZ2T5ewaZpb2FqXvTZCwF5rPFU856d4XEauW6pbnU3yAijkDwwdiblf2-OIRjHjGnIYV_x1ITkyCL-SZAYeMC6wW-KWPAiNQ1wlfWQLiptQLO6r0DvjbVFScZ0fp2zsOPSeumGnEdMVcHtqDMPwvodlUwyOItYo-mbw05gTGXpxburU1GgjihQKQKF-2LnNWdkj26l6bhQ_DluQAS4uR5y84PEUHHLs-r-bEZ1JhHr3uVJDEx8zPluXXcHTwuOKCV_283RndVrpc_pfDnMlgXd6L8-Q2Z4U4pUa2F0iCgc969mHVO4_BeQWNN96WF3nEUZKRQH24Bx1yDKHZ2kRmd-mCnhY1ubtQRwVtn71oQi7-fdHFcFPHcc7cvEoo5Csy_8wouoWzA5mqOrK2rgO9ZW0hWhlQGqtFITFyvlQVjN3v3_O4_MBMFtW3aQnLHFJSoyi7HQVZT-115kzCp5Hw6xHB_rlyabWOYI2IH84uEAhSWAjjX56xlcgs3-2W8A_1yafCSweCDGxc7NA0zZDdmQliB_Uwu3Q7B0yOsIPfexo4Vy5OxfSY0meOWK2MNfXufDE55QJ-BXq",
  "id": "rs_01cd890dadd4e581016ab422ff92c487d0a482734db8b6062a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.105,\"right_z\":0.15},\"note\":\"The overhead view shows three fruits in front of the bowls: a dark fruit on the left, a yellow fruit in the middle, and a green fruit on the right. I’ll bring the right gripper above the green fruit first, keeping the blue bowl clear.\"}",
  "call_id": "call_YYhK1HuPzt3R7Th3W1MPD3GA",
  "id": "fc_01cd890dadd4e581016ab42302f61c87d09ce954215afbcf5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YYhK1HuPzt3R7Th3W1MPD3GA",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.4004, -0.0139, -0.0265, 0.9991, 0.4488, 1.2659, 0.6777, -0.0967, 0.3553, 0.2104, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1771 left_yaw=-0.0001 left_pitch=-0.0179 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3499 right_y=0.1043 right_z=0.1288 right_yaw=0.0283 right_pitch=-0.0665 right_roll=-0.0353 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.5932, 7.0906, 1.8974, -0.0269, -0.0464, -0.022, -0.1573, -5.2308, 9.0462, 1.9267, 0.2759, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa7dd20e97315ca723fe5f37433acc7458089a6d28aacaa06bd91f705bfcf04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cccafc4559ac1446cf675be9204a05e447630c8c0afc61e03af778ca4fbb969c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fefebb0a01d8ecf4cc7f36b320fdefdf84100bcd3460a5ad02d7ff4e994d598",
      "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 · 1.675 s

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

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.387, -0.0143, -0.0261, 0.9992, -0.0227, 0.8005, 0.6189, -0.3874, -0.017, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.1812 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=-0.0001 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.6615, 9.7162, 1.8535, -0.0904, 0.0855, -0.1001, -0.1436, -1.347, 9.1282, 1.8437, -0.0611, 0.1538, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.4004, -0.0139, -0.0265, 0.9991, 0.4488, 1.2659, 0.6777, -0.0967, 0.3553, 0.2104, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1771 left_yaw=-0.0001 left_pitch=-0.0179 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3499 right_y=0.1043 right_z=0.1288 right_yaw=0.0283 right_pitch=-0.0665 right_roll=-0.0353 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.5932, 7.0906, 1.8974, -0.0269, -0.0464, -0.022, -0.1573, -5.2308, 9.0462, 1.9267, 0.2759, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa7dd20e97315ca723fe5f37433acc7458089a6d28aacaa06bd91f705bfcf04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cccafc4559ac1446cf675be9204a05e447630c8c0afc61e03af778ca4fbb969c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fefebb0a01d8ecf4cc7f36b320fdefdf84100bcd3460a5ad02d7ff4e994d598",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCMPtOJMQB89a1dHvqtwHr19ganyw60OzC4mmxvfJ6wIEl5voiS9DnbxfgaVeDRVE6ck60C-BbZpF4Th02lzkwjeScNFjlXr3gauavBDMu9Jqr2Gf9X5c8u8OBYm0BSCw9diiK4SZgnhrnA-rrJvliG5I9yyfXGJ8Hu7AWQwuGZjuqptHog003cwIdT4lTAzPY0EtgiV4fvciz3VT57m4CONgYs9qj4a0aO8b5ZbSgNoN2wZl2OuVVrd7dkengkFJnQzHNJEuw2hiMw1w8I5cEpcuKaS0TuWXdE-NxueDtON1kBxqFjG7RRjfnw-NGEc7g-G5Ij2ry3YVDF6tK5fkb8YZv7xLqasAjbQqbcrmZodhSNxC7_INV6EhSFjoqUvWzTPaQSzremaWTSeTtAoABjNQvQiqiwOdkqEq6c09scNpWdo-oh2xFQtAmL4tBe_KUA1LIhNtlLz_CUWHYCWqfu0f9xgUu6qWHpW0RbZe9Ju8AHekn3gucAII8LHjZV9T0I7oKwXvIsxZUKNUqNpxQxnusSH1FsY20FgxBWBJEBDR4nMdzeM02cxGRfEgqoGUwAmR-hK-bImSv0TfCR6BrQR7-SUv3ZBuEG-X-tDLDCCnMjfWBfj9bv7EJHx6-R-0nTlF7H8ZLkY9miA4czfrazJNob9KkPpLhDU3Rm3e464V3s9jT0ZQc6oVLDwC0dY55JEs0MnoIp6qb96q7AWNJtqyGmkcMRXi3kWLP7emYb0mJVisXk9S2spU9f1UPm7AWIUcaeHeZRaj8MI1_HEwvK9D0V_rSaouYb3TkgGsGRkk5ALbTnWx8-V8_16wXMvpaANM5Qdtxuo8Agorj4uLNHF7o4dXLL1Z4LQxd6EIOyiYp_KV1DoimmTmC4Z4d3ODE9bFae3yomKCOW27SbNiDJmEvoGM6lmWgDPzT26lK6XwM2_Ma8XHrj1G_vaJyF66gWQCsnZHJbL6pWEv0Pvk_oVDgT0R7tnUPjOcbwnpdHh0BGhb57_LqTUU-xmZaGsfFIktkhMOZiyuHl6f849hkG0eIdR0BBcRsK9ZIqe4V8LEfd3E4LG_n0XZ_qgShfj0BDiRHAj4sXcluxFUl2TwVD6ifCgSQT86pz5wuIDgNyPB-wjqGWsgBXYZFDEAJoyuPHRujxKFDbyrJ0hKv6SbzrnMOK5gdba-erTEXbxl903lfg09Y-d2WDdmAZb3DbzOU-bZCgnLDSUuZlAoyQWTPWAmLdxW_3NS_Kwv4C55G68P98GUl9irv9tycPSxP9SWCNbmO2aoUzo0esSGNJkanDw5M6RIC0VybVg2rTBybWyllzbGcK9Cr3zxqupQ8ikYxdDKEXSxKTV5palZzlh8rb7CP-_uZ8fdGMabXEjANBy3309Nqlbvt8FrzQbG7jProL1EJ5rD9pZwtv4VjPPPGJ45dpzaIEJDXJpDJbIep71T2Sey0zMr8sC_PYR5xE7NFkogh678BBy2gcTG9zEvC2qm-cx5xj5eOD59f-WvhQEXDGH7jbHlXwOc-AUTgbES2JosODFTjxqpciEiybzM1D4ttm04l0LsiNJcigzUErh2WzpeUBqe-20INMguR4mFXvPcQ2EmVhCXcGRX1Rj4Dks4vS7sr2m0wM75mrQo_Od9qnV2xxlCtMJxBsiBpqfUm17kzeDt43JetwfWd-Z4YVVzaMxJj5WZarTNh1-0OajjETfVLbj4eEEinDgSUJw37oZZHjxEsl-b70KkXlcRZDnBlQRHiTtWCt4SV77pT0yji8ZeOhevy0BSrx5jKa7yd_932O8G_V6K42DdCAE9tj-NskZBZ3eXWiOJawTI1nLun4x0PTrJGjJlwYjwS6bjHcEbtxyAd9tmyPs_QMxZahLRpJCywsteq3ryGYpPc0m5dWLTZq8O8gH7vuPa-kz-m0CL_ljoxpnU4qgpadOmv1OE5Fwb6tWU1bEFND2ll3BzxOjkb0SIjrP9t8qug1TEq1X-n4WwKDacS5SLBrVl5oIL63_AfloH2EkpoFSVXPHEHF1jyfDq1FbEg-CGXKiZgqDRxo7Tp6c_T4N3gfR-T_PmaVA_l_awxNttYxAkJpPqjtzuvLN7PkJ0DGAdJNn9GzCDSiXo8xSmRs5ByULr-LDAuujsmA-89yfgTzOrZbz_pmN-p-2yCywLdnll9qJEKZl3b2qLmb9ep3BPMLlspLvH6ZITANaArWkGippHOz8B3T95Gk8wba-AfV67GpNZeYhUo-k5KtBjuVMMKfynRt5ujRXo0fZS1jmIOWxfgc0NXgzQteCBDLLtjWHY71bOvOPxJhymba04Rq5brH4xIKqYbitBOPiFy_zxkQQai45wH1xEjjWOVr71sogzouCAwUusC-d4qOGLYMle6Ij2PpDCD8bTwW9cUDkkW59alkClwZLCyCLNvwNYGTkfLKN0oPlL_6hKqSfYLHHpFnnQt6DUcxr2IpeQfpASNWPFwSzfQefAt0_0dc5IpxVGxolMjNTrQT7tFcNtUdHDriCMqHnaTHc0zNZv41xLvoE7sv37WTgRNi0SRKG8QZsgH3JzF4wQcI3-NnRpIdJCdS74UNg37NI5BAOGYsH3H3MLGyPSqETd4U8OcdUwYv2f8SmN3ixh_joPFA8n9Nqr-XDhm4lvLO07WwzjHHTut8o7B1vHD7s8B7kD_I7ckLNVVxO9vaO",
  "id": "rs_01cd890dadd4e581016ab4230c5df487d09c3001b4491787fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.095,\"right_z\":0.035},\"note\":\"The green fruit is near the right gripper’s jaw column and low in its wrist view, with the blue bowl off to the left. I’ll lower the open jaws around the fruit, shifting slightly toward its centre.\"}",
  "call_id": "call_FLv5YKuZlGB3QXnCgFMqVfI9",
  "id": "fc_01cd890dadd4e581016ab4230f0c8487d087aab10b8e48782a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FLv5YKuZlGB3QXnCgFMqVfI9",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4084, -0.0135, -0.0269, 0.9991, 0.4149, 1.5345, 0.4297, 0.4007, 0.3267, 0.1909, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1748 left_yaw=-0.0002 left_pitch=-0.0286 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3464 right_y=0.0945 right_z=0.0304 right_yaw=0.0275 right_pitch=-0.0917 right_roll=-0.0415 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.5111, 7.3641, 1.8046, -0.022, -0.0708, -0.0122, -0.4444, -5.4085, 5.0667, 1.7363, 0.0806, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6d94cb723ec1f3cb51aa6f0fe477abe9670ac60b01fd2b7cf2104b99273915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f883056228383c5ee5c79e03bd2f60b2df6d2b277ab72dfd7e2132bcc692807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bfd4848e3818c4e78ad460ce477380e9c9d73aa184504367ccce0bf7fee321",
      "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 · 2.289 s

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

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.4004, -0.0139, -0.0265, 0.9991, 0.4488, 1.2659, 0.6777, -0.0967, 0.3553, 0.2104, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1771 left_yaw=-0.0001 left_pitch=-0.0179 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3499 right_y=0.1043 right_z=0.1288 right_yaw=0.0283 right_pitch=-0.0665 right_roll=-0.0353 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.5932, 7.0906, 1.8974, -0.0269, -0.0464, -0.022, -0.1573, -5.2308, 9.0462, 1.9267, 0.2759, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4084, -0.0135, -0.0269, 0.9991, 0.4149, 1.5345, 0.4297, 0.4007, 0.3267, 0.1909, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1748 left_yaw=-0.0002 left_pitch=-0.0286 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3464 right_y=0.0945 right_z=0.0304 right_yaw=0.0275 right_pitch=-0.0917 right_roll=-0.0415 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.5111, 7.3641, 1.8046, -0.022, -0.0708, -0.0122, -0.4444, -5.4085, 5.0667, 1.7363, 0.0806, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6d94cb723ec1f3cb51aa6f0fe477abe9670ac60b01fd2b7cf2104b99273915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f883056228383c5ee5c79e03bd2f60b2df6d2b277ab72dfd7e2132bcc692807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bfd4848e3818c4e78ad460ce477380e9c9d73aa184504367ccce0bf7fee321",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCMUHX_01Wi9Jj65XuZ2VO7cq_ZPyJdiW8hz9reffDHbaivpyw5odl88yag4QPJPYgpnTAqeW0Zqvw3wg3M79wwR9Nu-8JWsvfUPDARGnVzIjrNLkJArpvkufA02c2lJBX-gBx1QXCc6sBSUAyjh9fer9YL8Ycyx_CKspWJ9mnbbLvQTphhY2uGRXV7-bTqT_SZPPDRu3xBEyEwyAyWaJXmV5x6pgQ9iZpBpKQBJCgIU3fOYfWbvUdsrKXihvl0pByCJXaYDTAlTFfFp-wcEg9hhU2Lhd2FSLSu34N3msI2-XVsc89pU-4502ejH9nM9dmwjidh0wD-NcsYKfQRpseM0ImJjEqyUbg_tjNDK_5rpiNeCO-X5E8fbohJtT6SzACN37HpvXctMd8oyZkzmz5zfXnUfvA6NY0-IEK_gFIk9d17kR4rU6HpbeMqnFAYoXVzXTK_maABDMc3c8002eRrxRp4vvgW6-pb5xnwFvlFV4ig90J7RuT4SMbRx91PfEDxvAIMc7S57z8vXj0hZoPUIF4FGJ6gS8wHtSzW4oNsk3TYWE_zROhcsj0UoD0iqdgWVVnLlaJ2bun26Bgh90XiERxJiYNZmefb0oOHD7TZry2OYeqn0fmIxDdXAnWjZ-wOircf-kK-rEBD26-CK1vI4OQ70ZdlmeB1xzbiaLXtWfuMNWPRR-0uil00KDaHwnoYmy3XQC2izf4KEla9ReUEmoItcvyBYzbR_F2Eqru57GPVqi5KPzTfn_h7IwUGH8zBsvMyE5c3pVwOLlBFDUK3IQXzkzARiTeWdmN3Fb6KJZtA8AukUCkfqCaUpn5-qJlj-znODbUqUSTFwb15XmWcc_pPUGp7qsfAqtbNXY1wk0zD2DURUVzR98HHhWtXDlZScv0H4mHQH0o71xlpFApFZXU91ATNS_j9ENjGJaQ9K_9v9s1Am5Xv0oybX1ppd35BDyjg-_MapATQaCPa2z3QWoEYJqi3_rjzfySGlmT1zXVjhKpefP7cUI_MZc8-40ZvoXtBEidM-YPuEUhDLW5Z_igBRMwOedilU7GuLHUBOFwGkHiq76bDnLOJTx875NvGDvj46HX-3gqw13ziojHcxNjrTRVGuNE4DPgafZE-VpNsaMoGNlizrYvvLbEW5PU92BBePjHIPe2zHNxELb5Ajg8z_7obdEnfAhM15aEIy2ul58diTIpOyO2IzurlbEFwlBMey_ngOi2SsgMJUZ5k938GtMVOZwYkxiENVR9cLL2ue7f4kis0SRmwwMPRY8fx4yDO7gjTc9Xzls8WE2_L7CA==",
  "id": "rs_01cd890dadd4e581016ab423137e1c87d0b38b81b5943eb110",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws now straddle the green fruit at table height. I’ll close them and check the settled opening before lifting.\"}",
  "call_id": "call_W6U4bUBaVA1guyzlQDAOz24g",
  "id": "fc_01cd890dadd4e581016ab42313d23887d0a511d5d4b1316ec3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W6U4bUBaVA1guyzlQDAOz24g",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4164, -0.0139, -0.0269, 0.9991, 0.4149, 1.5333, 0.4297, 0.4236, 0.3214, 0.1833, 0.6197]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1732 left_yaw=0.0001 left_pitch=-0.0366 left_roll=-0.0 left_gripper=0.9991 right_x=0.3496 right_y=0.0969 right_z=0.0348 right_yaw=0.0368 right_pitch=-0.0709 right_roll=-0.0354 right_gripper=0.6197\nstate[joint_eff]: [-0.0615, -1.2786, 7.0769, 1.8291, -0.0513, -0.0317, -0.0122, -0.1709, -5.3675, 5.2718, 1.3797, 0.1099, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfb93bfb97e23c32a848551dfffe42e273b411845e09184228050ebfcf0894f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaf42c4642f40b3e2e1d63aaf5c869e2ce4a515e2d1fa6f375263fee953d735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db3a5a5ef5f599b1e5407435989c08091ee5995e4492e039c6947880bce05ad",
      "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 · 7.133 s

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

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.387, -0.0143, -0.0261, 0.9992, -0.0227, 0.8005, 0.6189, -0.3874, -0.017, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.1812 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.296 right_y=-0.0001 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.6615, 9.7162, 1.8535, -0.0904, 0.0855, -0.1001, -0.1436, -1.347, 9.1282, 1.8437, -0.0611, 0.1538, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4084, -0.0135, -0.0269, 0.9991, 0.4149, 1.5345, 0.4297, 0.4007, 0.3267, 0.1909, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1748 left_yaw=-0.0002 left_pitch=-0.0286 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3464 right_y=0.0945 right_z=0.0304 right_yaw=0.0275 right_pitch=-0.0917 right_roll=-0.0415 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.5111, 7.3641, 1.8046, -0.022, -0.0708, -0.0122, -0.4444, -5.4085, 5.0667, 1.7363, 0.0806, -0.0952, -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 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4164, -0.0139, -0.0269, 0.9991, 0.4149, 1.5333, 0.4297, 0.4236, 0.3214, 0.1833, 0.6197]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1732 left_yaw=0.0001 left_pitch=-0.0366 left_roll=-0.0 left_gripper=0.9991 right_x=0.3496 right_y=0.0969 right_z=0.0348 right_yaw=0.0368 right_pitch=-0.0709 right_roll=-0.0354 right_gripper=0.6197\nstate[joint_eff]: [-0.0615, -1.2786, 7.0769, 1.8291, -0.0513, -0.0317, -0.0122, -0.1709, -5.3675, 5.2718, 1.3797, 0.1099, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfb93bfb97e23c32a848551dfffe42e273b411845e09184228050ebfcf0894f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaf42c4642f40b3e2e1d63aaf5c869e2ce4a515e2d1fa6f375263fee953d735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db3a5a5ef5f599b1e5407435989c08091ee5995e4492e039c6947880bce05ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCMXVuLFaY8fPvwmXDLapy0POJXOI0TPC3ZTycZvmR8sMRMLp9NXVkHw5tYPM-3slSiUdvzXR_oqzbndfqTC1_wtA-BmSXhHNjf9S2foHM7Dl92tovYHg_yqcTTqQunQU3Qh4X2WMkBedBgHwvndteHbodVrrxrWUaRxV-mGFjrD2glUWKuy9z9VCfGa9kIOW71suEVL2a733AgX-dhXdMWXEtNyxaU6ci2glmDqPWo1tNIDZZ3Xmpeou-r8K60pNezkrz_-8m1Cnz_V6M3GaEt_u3Ch81Cz0LKO6nemrLgYEROv9jYc4vFJe0txiN4Xndfa12V-fwhy5VdXbl6e5MoMVMQVtC09xTyZ86YlIpJdGtE_np6oEFpYIqjUCY2JezZnzaM7ykqRi-oJKcXbU3zHTxdFEmszgnyaTVc3X9jHHwu6eGvJtENJM6iSJ00esIPZBYbISTZB0c7PFUykJkzFxyH3Cfele8r6zGDiuvTDmi3u8yTU9L2Qr076kBIq22TNHTMJYBQmozO5_A6nIP0P3pBewj4cSDggptrgJyUNOezvsroRK2HweARWzUvEIIEMKrXQn-iMW8FmG_2uZTcuBIsPMThy4LjNOWTGP9XoYMhmRNo_q2oalMnZTolzl5d-ebvha3qGyuHv8yecjqk_t31jluYSMxLCqVGbkurq3q-zO6cwGEhKuJDq9ZGV03pKY7AceVOUYNSo4RB9OI1o_MjIdu71VMvjl1Bowwo1YLDpWC8qGiO52tTPNvaaiNe-kW6qYSyVSDkB11fa9aEn7h3BIOmdJpNwv4BFCz--v1xfXqwiDOs6VGEO7RIxiVpwkIAXJIhyQk_xE9VJ5TXNrTC8zVsuDooCEtPfEMSax4OfBBbcRFjwicGdxJd0-IP7gFKntMxqSNmjV1h3AT07cNoAEyOaiubNDTIyYimc7MLbWGQKbv2k1arQsxJaqyFaDaKYsS3HY2RAF9Vx1qLpKmi-cZZrxBm5I-2Q8rsIJBu5qNw1bCLq2cCPPsuKfdug4zeTUeOs3xAPQoWmBaWmodsMATPGx96t-uRt2r6OEnua_NMDk-4M4RFPCAy0-a1a-CyQafa9eZjezxerRnZhSzXIlh8zPUs6OH1qKYVli-PiFA76OkJBKo9GfyeMCuK1pd8aj_cgKrnbyIizwycM74Q9gTDjSLBYTcdpwPg7b0EDuWxNaK7K5dB2wi5GBexz6NcqxR_eJ69dVt1S936N-gP87j20RC3D9XjkGfsS5bWWS1DkW0l_HCCwtN0rlJNvzKVOT80Lew3E-s5Jt5JSQVMTwF4M3dZ99Fnpyw2j_6qSOuVezUYY4_THRvjRMWgapUBukzm7gaUWy_LTuDFA-UKTqV53YvPSztpohuSkkMk82gB2W42GVeJnKdOTMrGS7uSXQpYugxVlgNkexdOwvHyrM7h1Zo5bFBUb5-EcothkWNbXVbYqm_jRJ8-rO_Xo4MTm0oLlFFAWm574DXJqd1crCG65Wt07ZJ4z4-lsWIRtY_TFKTYsAU0GjwAHQ1wPzLhGVM-_5JRax1IyqzJpUghTvYp1SEEz6RR01hcSDFIHOHsYex8kZ6SrrYA3NumatxgZbuLqhpXu8_xs9Ahp2DRNT9y7uMND4MgnSDs3c-JgKlaXB2ibUxS0cSiFSCBM_JY5dl0vJmKsea-98ACDxc03KXlovGqpoEA9_uQ7lTFJWcbDhaG7g-bpzibNLQWfAgkg4LFTpzGnd3WZCHFawBZwmW52_xsZRiTsbUuASaYXW5BQUxOSLmEzY5Bk9pwqSv2xQSU_ks1ZhJgi-K3qkIcqfenIkGi9YxD6H6_2sBU=",
  "id": "rs_01cd890dadd4e581016ab42315f61c87d0a0a1f51b75c7c756",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The right gripper stopped at an opening of about six centimetres, consistent with holding the fruit. I’ll lift it to confirm that it leaves the tabletop.\"}",
  "call_id": "call_U8mOucCw27ekYMdyygPADdGb",
  "id": "fc_01cd890dadd4e581016ab42316dc5887d095a6434108069eab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U8mOucCw27ekYMdyygPADdGb",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4236, -0.0139, -0.0269, 0.9991, 0.4152, 1.2652, 0.6426, -0.099, 0.3134, 0.1795, 0.6219]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1717 left_yaw=0.0001 left_pitch=-0.0439 left_roll=0.0001 left_gripper=0.9991 right_x=0.3439 right_y=0.096 right_z=0.1125 right_yaw=0.0444 right_pitch=-0.1116 right_roll=-0.0489 right_gripper=0.6219\nstate[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.7753, -0.0269, -0.0269, -0.0122, -0.0479, -5.5453, 8.9778, 1.6386, 0.1636, 0.0317, 0.6667]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdde8bd333f900497bd187a7fd3b0115061f6ce5fe14811126cf124171f81480",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076d39b0b7ccd500c62f56b02bdba12334d81b21c06426114f7909a8fd01996e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a05e6dfa3405ae3d22925c2d924b96c44d17e72198992c3c251e19eac537069c",
      "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 · 2.589 s

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

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.4004, -0.0139, -0.0265, 0.9991, 0.4488, 1.2659, 0.6777, -0.0967, 0.3553, 0.2104, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1771 left_yaw=-0.0001 left_pitch=-0.0179 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3499 right_y=0.1043 right_z=0.1288 right_yaw=0.0283 right_pitch=-0.0665 right_roll=-0.0353 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.5932, 7.0906, 1.8974, -0.0269, -0.0464, -0.022, -0.1573, -5.2308, 9.0462, 1.9267, 0.2759, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4164, -0.0139, -0.0269, 0.9991, 0.4149, 1.5333, 0.4297, 0.4236, 0.3214, 0.1833, 0.6197]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1732 left_yaw=0.0001 left_pitch=-0.0366 left_roll=-0.0 left_gripper=0.9991 right_x=0.3496 right_y=0.0969 right_z=0.0348 right_yaw=0.0368 right_pitch=-0.0709 right_roll=-0.0354 right_gripper=0.6197\nstate[joint_eff]: [-0.0615, -1.2786, 7.0769, 1.8291, -0.0513, -0.0317, -0.0122, -0.1709, -5.3675, 5.2718, 1.3797, 0.1099, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4236, -0.0139, -0.0269, 0.9991, 0.4152, 1.2652, 0.6426, -0.099, 0.3134, 0.1795, 0.6219]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1717 left_yaw=0.0001 left_pitch=-0.0439 left_roll=0.0001 left_gripper=0.9991 right_x=0.3439 right_y=0.096 right_z=0.1125 right_yaw=0.0444 right_pitch=-0.1116 right_roll=-0.0489 right_gripper=0.6219\nstate[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.7753, -0.0269, -0.0269, -0.0122, -0.0479, -5.5453, 8.9778, 1.6386, 0.1636, 0.0317, 0.6667]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdde8bd333f900497bd187a7fd3b0115061f6ce5fe14811126cf124171f81480",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076d39b0b7ccd500c62f56b02bdba12334d81b21c06426114f7909a8fd01996e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a05e6dfa3405ae3d22925c2d924b96c44d17e72198992c3c251e19eac537069c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01cd890dadd4e581016ab4231ac58c87d0b9a4a4a51e06ce10",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.205,\"right_z\":0.19},\"note\":\"The green fruit rose with the right gripper in the overhead view. I’ll carry it over the centre of the blue bowl, staying high enough to clear the rim.\"}",
  "call_id": "call_AuYpqm2xg3CJbJy8HnNyBmvQ",
  "id": "fc_01cd890dadd4e581016ab4231ed06487d0a06c37b7ed4e35f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AuYpqm2xg3CJbJy8HnNyBmvQ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9991, 0.6621, 1.6085, 1.2335, -0.4561, 0.461, 0.334, 0.6213]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0001 left_pitch=-0.0458 left_roll=0.0005 left_gripper=0.9991 right_x=0.3883 right_y=0.2075 right_z=0.1734 right_yaw=0.0825 right_pitch=-0.1561 right_roll=-0.0732 right_gripper=0.6213\nstate[joint_eff]: [-0.0205, -1.3607, 6.9949, 1.707, -0.0611, -0.0366, -0.0122, -0.1709, -8.3077, 9.0598, 1.5263, 0.4371, 0.2662, 0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46634d1f8bf573e5d76388d7d1dfdae9aed145977568bd59817644f9d64bdd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8488985577f76541f423da81a87555baf0e2cd418f7e98d76927a579519b854",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c7ce2c30ad51a9af4e06b95c1644d346d031f9786f0948ebfdb4f7f1f1af76",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 3.081 s

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

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4084, -0.0135, -0.0269, 0.9991, 0.4149, 1.5345, 0.4297, 0.4007, 0.3267, 0.1909, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1748 left_yaw=-0.0002 left_pitch=-0.0286 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3464 right_y=0.0945 right_z=0.0304 right_yaw=0.0275 right_pitch=-0.0917 right_roll=-0.0415 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.5111, 7.3641, 1.8046, -0.022, -0.0708, -0.0122, -0.4444, -5.4085, 5.0667, 1.7363, 0.0806, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4236, -0.0139, -0.0269, 0.9991, 0.4152, 1.2652, 0.6426, -0.099, 0.3134, 0.1795, 0.6219]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1717 left_yaw=0.0001 left_pitch=-0.0439 left_roll=0.0001 left_gripper=0.9991 right_x=0.3439 right_y=0.096 right_z=0.1125 right_yaw=0.0444 right_pitch=-0.1116 right_roll=-0.0489 right_gripper=0.6219\nstate[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.7753, -0.0269, -0.0269, -0.0122, -0.0479, -5.5453, 8.9778, 1.6386, 0.1636, 0.0317, 0.6667]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9991, 0.6621, 1.6085, 1.2335, -0.4561, 0.461, 0.334, 0.6213]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0001 left_pitch=-0.0458 left_roll=0.0005 left_gripper=0.9991 right_x=0.3883 right_y=0.2075 right_z=0.1734 right_yaw=0.0825 right_pitch=-0.1561 right_roll=-0.0732 right_gripper=0.6213\nstate[joint_eff]: [-0.0205, -1.3607, 6.9949, 1.707, -0.0611, -0.0366, -0.0122, -0.1709, -8.3077, 9.0598, 1.5263, 0.4371, 0.2662, 0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46634d1f8bf573e5d76388d7d1dfdae9aed145977568bd59817644f9d64bdd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8488985577f76541f423da81a87555baf0e2cd418f7e98d76927a579519b854",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c7ce2c30ad51a9af4e06b95c1644d346d031f9786f0948ebfdb4f7f1f1af76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCMkGy1b13x6dBJg7vWslIf6J4EmX0U0U9V7towOLcmb-CYHIl0UXs5vb-KGrHAh3tvqbOSsYHyNnLL9hqwAoUFtxZi6C3OUV2kbMPeceIx7nywfQRxNIc4ZiuPlU9ePQov6mkUY8StBZ8_BeaIXmpXADcKlRvUDSsIU837a-S783P4c9IbzveNIH3Cjjyf7l8pA3xpRWWWcL0NSHNfxcnMOk9qVtVj9rqGA1T23fOaT1nXe_Q8opsJhWdxSmqFPCfiTGup60Lepashe9XcIAW3vQWWT6oSnIKb7NRG4UnXh-hBi0Qf7Q64oDU8fJJz4xI0mOMWoX_8iPX9Yc8eBs2NBVirD-OEFCXrZL_GdH4zkWIsrIUlUK1MVD8MvfEXUNC4Lm0T79TQp_oz2Rcw7Fq9XBMFR9qQ19ETaCCzWlk255QWFUJVQqBzJGtPczK9g_Pg41rvpXea_1_BsKL6Dw1u-StkLzwey7t1COHaDdnf539LzIkU-rg7mFFOiNOJQfGk8ezPm3yZuw18DxluzSB2-B-J7Xf57O1xM3Sr-H5MgGocylI-0JTgkyn92suy02p4U1Req5qQFpLuplatmgtSPi2M-GifMITUpFEQWlgjDAHK5ZzCjYSLcCSrdrqZRRWnRbNcjCV7hPagdaLBE18paMF6lvUNAkq070P0o2xUpYPhTbCof1ULl80Q1IBIEiExi6vTQBWNIWzZbbvCmtu8cpydJ5W7yInlCu5NE7nYf2kNDBxrA6DsBmJOLEpwW8TpwKKG6QwW8_82QwBQo3vSTbFheCJwQM0nzatNDKLn4YdG8eW0i0PlIox7A8A8_1qOPB88cRmKoo0pKuKShIedeHExlhQ7f7ZPOfi8HNLMSmVvl77ldEbI3FZgy5TuH4iC6Kp7fRV9OPFuah3amG0bRdLuenczta_LCPClRTlFFndyxTeay5Aub365pV96om52pGYqyk7PRSNq1pfHyUzphbRn8ERM9MvvAkWr4Z05u7vJ0h6lxzskpoMsy9OZd-ZD69XTtiYOyuZTXj1FD0V_bnqtrXVm7sNQaPl0eC7p07N6ppnXXlyX60wmSGCd2cERgACY-VfrkAtXwh-5UuL_88qPuIWCOuuKvLT35xlSDDoBOFXay0A-budcdpSDx5QlgPVwIvQtMMv9PUtaPm6XXqnTCGwHXqASHhbJnNL4ubwG7FOdTnLFHUH8j5vvkmCkqdjZzrul6G-mC0r-wlzRrh_HhcBZnUMZ2Yu_a6e7LmksCwYCKluEyKTTzP8u2sTRiOHD_B6YVrAKW9HXHje86Y8EUsqhI_tbSGwfp2_oDijPTapxwOQHfu5-L9wTEZVkj6LEK540I7p9KA9mcjm2tenXmOSZeok6I38iddk00QZS3shabU7F77jWaenfq9jWXc1NcSi8LTH3IG3VVykSqU9Gs95ldgPnOS07czzEFFO9AJ5BX5RRqT--9TvPk7Of8YUKCnJkBL59YIy8CKVVbJqBlzu5s_1ZPITZ5jsSKkvSXwVgF7yUWopjoyFTLuk43Ea-GZFuIh4BIeF5gGUYxLWXb1E8bmItfqbPC8cHfwGKKa7bB5BFGad9_unuMoEwQqH7mJe-dAf1sjFyGQFRLs7shCTgX2zsGrrN5zwIXe_3Qa4w3qQezaBKnikLWjH5XvG5_9vG5CNeMMUvCXZPQHGOO9SMnw71Zz5LgbfxT5dKXsPW1kegl9xAySLqPhTUt9WvRuGettori8ly4CBrypxKsZjrwXh2lRpQTDEO3btU=",
  "id": "rs_01cd890dadd4e581016ab42323100087d08d4e8078f08ea157",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The gripper is over the blue bowl, with the bowl opening centred beneath the jaws in the wrist view. I’ll lower the fruit inside the rim before releasing it.\"}",
  "call_id": "call_S9V2Lux70OQu8LysyPFSEM8C",
  "id": "fc_01cd890dadd4e581016ab423241bc087d08a86a49aa6a0881e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S9V2Lux70OQu8LysyPFSEM8C",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9991, 0.6601, 1.6974, 1.0035, -0.1757, 0.4515, 0.3298, 0.6233]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0001 left_pitch=-0.0458 left_roll=0.0005 left_gripper=0.9991 right_x=0.383 right_y=0.2043 right_z=0.0885 right_yaw=0.0865 right_pitch=-0.1925 right_roll=-0.0916 right_gripper=0.6233\nstate[joint_eff]: [-0.0479, -1.3197, 6.9949, 1.6923, -0.0464, -0.022, -0.0122, 0.2256, -8.1983, 6.2701, 1.7802, 0.2808, -0.0171, 0.4274]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804b68cbec65dd1c6077e6d40492bfc2a3cb9f7d4c367890660a1fbb070e5f45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923797859a71a631816d84d9df4b8325b39733edf7fd6dcc03d41a77ca35760a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfda0d8fcf1c03e1d0c7b8dc02965579d318ffa6a774c3d55b62fe91e5307a76",
      "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 · 2.729 s

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

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4164, -0.0139, -0.0269, 0.9991, 0.4149, 1.5333, 0.4297, 0.4236, 0.3214, 0.1833, 0.6197]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1732 left_yaw=0.0001 left_pitch=-0.0366 left_roll=-0.0 left_gripper=0.9991 right_x=0.3496 right_y=0.0969 right_z=0.0348 right_yaw=0.0368 right_pitch=-0.0709 right_roll=-0.0354 right_gripper=0.6197\nstate[joint_eff]: [-0.0615, -1.2786, 7.0769, 1.8291, -0.0513, -0.0317, -0.0122, -0.1709, -5.3675, 5.2718, 1.3797, 0.1099, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9991, 0.6621, 1.6085, 1.2335, -0.4561, 0.461, 0.334, 0.6213]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0001 left_pitch=-0.0458 left_roll=0.0005 left_gripper=0.9991 right_x=0.3883 right_y=0.2075 right_z=0.1734 right_yaw=0.0825 right_pitch=-0.1561 right_roll=-0.0732 right_gripper=0.6213\nstate[joint_eff]: [-0.0205, -1.3607, 6.9949, 1.707, -0.0611, -0.0366, -0.0122, -0.1709, -8.3077, 9.0598, 1.5263, 0.4371, 0.2662, 0.3346]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9991, 0.6601, 1.6974, 1.0035, -0.1757, 0.4515, 0.3298, 0.6233]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0001 left_pitch=-0.0458 left_roll=0.0005 left_gripper=0.9991 right_x=0.383 right_y=0.2043 right_z=0.0885 right_yaw=0.0865 right_pitch=-0.1925 right_roll=-0.0916 right_gripper=0.6233\nstate[joint_eff]: [-0.0479, -1.3197, 6.9949, 1.6923, -0.0464, -0.022, -0.0122, 0.2256, -8.1983, 6.2701, 1.7802, 0.2808, -0.0171, 0.4274]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804b68cbec65dd1c6077e6d40492bfc2a3cb9f7d4c367890660a1fbb070e5f45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923797859a71a631816d84d9df4b8325b39733edf7fd6dcc03d41a77ca35760a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfda0d8fcf1c03e1d0c7b8dc02965579d318ffa6a774c3d55b62fe91e5307a76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCMtb_UTXhgodpRtIK9r62zMInfymuI-HIzRfOy5aAalnqosZ6u0gQF70P1M1W9qyYhTIss5NP-EU_g8ynQDpa_gxNRVHv1BxVHwQyzSzFBGv8mTLfCkCTIsIEe4UdAEdTI9mALcUAkKCxcNF5CbX1esHpIf_ykqhtZSxA3Kxn-cMgK4ADZ-jwiwrbahPqI9jb6NUGRIMakfvFfbS52Plk3heryKlBLSuVHC-6k5C0YAaUECfSnEzvIP4IcN2T5g1O1k3cboOM1sz7Swp7fFf_7f4QX0UBd7tPW6me44KtCRKlBFM9wfOLr54toveggN5PqD2UvUrSdnsZPyVF_rPjptW5sUDghQ_pC0mknqbuZIN2DIC_yZ04QB9RHpXA0Q71TAcoeI7ZXkdwa1jVIekeNN5TJuusw5j44GeHGrZ8tInPaf1Nb6URpVV2vfhgTDQmu40mlsbejN8MoIM6HFr6A07cn8pJhhdkmAM_rfstpysaX1d1XfZnwMVEYy4qZNqd9Dn1uhVux7AszQNEpoc-eCaBfljODBRN4RixwZ-WoJUA2W_jaGvgjrIxl9reLo3oVkDdfjs1su_sSYVAjI4eIM3DBRv0C3k00BaLW69sFOjF_mOmH80wqMnXhO83Bb-jiTbduXFgWo0aIDdH-MzTBES4pNiGYU6TpQmlW7D-WJizXLufhciNYYy3eLOESeFOfB48h5Isbd4x3MbDA-3vfif1clHNOxdsFuwEp-sm2zfyLinej-1bp8j0RIMqZ2MoYe4yNtw6kfcyA_cu0j-FqPGqIbwlDE7lbAUh9zuWnUAOxdsaazlGKAJNzWrqfeBBc_rmA29mnvRO_dnkBdQK9mkym-xQLPbcztaJ9lbveQlVlg2-bSxFajyltxKZTafJTAP16CMjTzRYHd9RglECsxvXrsLDos7d1OFRh-EL4NFHSeVHeStdQkOnQ80325I96UZPeLgE8CMTbUsBtSUTmfmoVeW09Mdqdpwcsu2gUw0nqVy3T6qcyhAQq3diTbk7OT6r4nYpbaecpr4d8zwkRjgI3XwSPQvKxhZ8y8yEyf4KxAyyJnv3lmpZIlJDRbLmiaRw5ylVtwQbG1Cy4rNU6rV5QpejHYs8rszK11dpd_MsREXebpRG6iTLEbIMTJX9cehlQ6hl32linn3cRDJMCCy2iL5HjYIatl_VLoAUAASW1pZDPWFCmx84ilhstQyQemi2-IqC5QR3xqY_fA7UWMCGwhU2wS-QtIuPFXYzRNPUDenY6DHD-bZW7_4HiW2YvYLoy2lAZGpUoHSQwd90GNEkfkiMNI9M7Uirs36C3J627QhcVo4M1prmzu-x-R-1FZKf1DpN6vS1yuobcxKSlRm9jxz51WpJXqQO_NCNySMW_v0sOhP-6kPMjf_Z3LExjXYjNGHWjQ8DTOTqg7wI6SJ8Ap3g0RIEM2CtMsHccsDcJQOZDMmQN6Z2IGyuYNvPf63vGk-D0pE_qDH-P4I9OgCI27lXO25AjqM9unNRJBZFOeCfca-jzXwNuWRwVf7sPaxFf_GJG15vHiDKSSer3tUw==",
  "id": "rs_01cd890dadd4e581016ab4232c75f887d0b303b3a5aa27876c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The fruit is lowered into the blue bowl and the jaws remain around it. I’ll open the gripper to deposit it.\"}",
  "call_id": "call_YbxyPdySFj4oKvb9GSpZz56I",
  "id": "fc_01cd890dadd4e581016ab4232d2f7087d0a5eed56b7bf4e4bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YbxyPdySFj4oKvb9GSpZz56I",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0135, -0.0269, 0.9991, 0.6601, 1.6974, 1.0035, -0.1841, 0.4484, 0.3229, 0.9956]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1713 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3817 right_y=0.2039 right_z=0.0871 right_yaw=0.0917 right_pitch=-0.2012 right_roll=-0.0993 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.3333, 7.1453, 1.6825, -0.0317, -0.0415, -0.0122, -0.0615, -8.1436, 6.2427, 1.4188, 0.1587, 0.105, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d73c6d9951aa4c15e33741cb41f2fe1aa21f3a4c0ce2fcf1586bc81b07e2cf7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fa011f37f04f3b239ad4657f3947156325b51dc2317ec62fd6cf4c7fe58e243",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c97dade68e78f71919ca865821fbe104344577be522e0563cbe9de9a227783",
      "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 · 4.49 s

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

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4236, -0.0139, -0.0269, 0.9991, 0.4152, 1.2652, 0.6426, -0.099, 0.3134, 0.1795, 0.6219]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1717 left_yaw=0.0001 left_pitch=-0.0439 left_roll=0.0001 left_gripper=0.9991 right_x=0.3439 right_y=0.096 right_z=0.1125 right_yaw=0.0444 right_pitch=-0.1116 right_roll=-0.0489 right_gripper=0.6219\nstate[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.7753, -0.0269, -0.0269, -0.0122, -0.0479, -5.5453, 8.9778, 1.6386, 0.1636, 0.0317, 0.6667]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9991, 0.6601, 1.6974, 1.0035, -0.1757, 0.4515, 0.3298, 0.6233]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0001 left_pitch=-0.0458 left_roll=0.0005 left_gripper=0.9991 right_x=0.383 right_y=0.2043 right_z=0.0885 right_yaw=0.0865 right_pitch=-0.1925 right_roll=-0.0916 right_gripper=0.6233\nstate[joint_eff]: [-0.0479, -1.3197, 6.9949, 1.6923, -0.0464, -0.022, -0.0122, 0.2256, -8.1983, 6.2701, 1.7802, 0.2808, -0.0171, 0.4274]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0135, -0.0269, 0.9991, 0.6601, 1.6974, 1.0035, -0.1841, 0.4484, 0.3229, 0.9956]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1713 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3817 right_y=0.2039 right_z=0.0871 right_yaw=0.0917 right_pitch=-0.2012 right_roll=-0.0993 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.3333, 7.1453, 1.6825, -0.0317, -0.0415, -0.0122, -0.0615, -8.1436, 6.2427, 1.4188, 0.1587, 0.105, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d73c6d9951aa4c15e33741cb41f2fe1aa21f3a4c0ce2fcf1586bc81b07e2cf7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fa011f37f04f3b239ad4657f3947156325b51dc2317ec62fd6cf4c7fe58e243",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c97dade68e78f71919ca865821fbe104344577be522e0563cbe9de9a227783",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCMwtEqwoH1UIAEj5l2lHllvxBiMtHbPCiufGjV4L4gNv9r4w50T8RUlsoRxhvteMPi_anvrnIdfa1pe_JcT7pDXNHScmEomoUKJjKutCL5yMIG4XbHgX18IUQPLaa9nPQqBSYauH_RF1tDSzB1nKjKe6GkZMYPCsTaKk5NOsFGlC4wLgzEdew3Qy26FYZ_kBsu59fYLexzGlZEsSQOc2Rj7Rzmk4kptpnV4JeWqieW1jPnJMWYfdeNs5SEnIgnovKYgoNUH4C4jLDEBLZaxB_XzSbWvJ-nsr9qNkUQRqvS1wbQ6DXYj8m4F3aZa3ldzDmVHPh3w_LZb-PjlOtSm0GrgDU4cbgINAmWJarJ7nwiwipIXeg2YKgSdj8bRjy_d5TEHgRAXrJTsZj0tRDsIPBLo6RZjuGJlQaIYpZMxWuFbRIvh_1TbYFuN62-jOLi0zbDJfJhk5HUck1P8FMdBkahvmPxiIAFOQHpHFbAdv4HBA86sIdQ6D0-AVAwGFU364dBFIb4cYugn7q48wQ6UZhE_ue1Ej8LJ4ZD3jLDCsh2O2Dikw3p8syoCV4x9XZg8K6DFyyE9KY9uyHOF7--9762wnibvdI9btoIp-TPxQ-I2eoseXTqVjjVZRBokYK8BkenC9sNheDgvxHagSg9Q6t6lksD75V266XV6vqpIKb82GamOX5WjIJy9hqhwW_Ef5m12NnJTLL94GTOIr8fnWwMSLhqQELRWd-mg6GQNuYxoxdUSntK5FZ3cCBEbMNOv6AzyGNUOcrcbfrqTFSumFGlZM6FApZXpfHFkrYBzrfGDfJ1j74Qhrnq_6A-qtB-HUIVtijdU1CVmIEbmqnWf9J7sX9ksf5_SAPvGOEjO7Sjjm2akkiedHs93C_T395AvZ5RHKU1zra4ExTEfIPKJn0OmgMtI4SxVhS9ZzwvaFmYcf-Ze9S33Yxeq122tAQhzkJgO3WDqs-QYJykDokv1k-y1mbJXGpGFaevB8bnjkW9rrC9pgRZMoNiXfikSIOEQFwAt0PzOZ8G9YOBXakrkmQmFpfwPzmb1eX-YThaxwrhqYiijouXfFSYJSHhzT1gYjfbbi3hUKPug9euaShIG7OOyUNyJnY8brpGK5MC5704b33spv7e3JiUZsczhuTW8XdkE2cQGqFxhEwF471CnvNrEZ9ac_fVBjPWvnjl3wjTfS2BYFOqcOPVje-hP4fmqKoOakGGrdmavhPxPnJUIfnuXTJ8wLJTXqkLeCPNyrKstOotLxTAY8Ef-RTWaOh7Air__CWA22YTTLk7lXISHrBvb1BVUwGYNKKFyHFklFMFvn1v8x0TYU2QxhKhfjLQZf1cfG5N_qxASX0QrLRehg1aoGf3UvffxDwA7AI151m2I0QLXE1bVvuJD4VMMwtm03u16_f8lkT5CaL6RTWjrAqMLkX4B2wespbgWu4TgcnT6UBTSJSo0WtIyOE6uxVIZgCm_Eyg5tyz_WFG64TE8IrzS6x0saHS7-8UGM9JJ4CtU93YfRYbNJYlYXRERUEdLxUNOq8Io9ca98wAUK4p3mKfpPEhqW4uPIeR3ttio_GOhusnmid0fMQFNNcc5LOOMx1DH",
  "id": "rs_01cd890dadd4e581016ab4232f2f7087d0a0ccaa4b63e5fde4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.305,\"right_z\":0.15},\"note\":\"The open jaws have released the green fruit into the blue bowl. I’ll move the right arm across to the yellow fruit beside it, approaching from above.\"}",
  "call_id": "call_TSH71DpzKRamxOcqwVwoSHov",
  "id": "fc_01cd890dadd4e581016ab42330254487d0baa6653b2974db61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TSH71DpzKRamxOcqwVwoSHov",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0135, -0.0269, 0.9991, 0.9562, 1.8027, 1.3964, -0.6231, 0.5987, 0.5774, 0.9964]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1713 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3326 right_y=0.3047 right_z=0.1423 right_yaw=0.1192 right_pitch=-0.2225 right_roll=-0.1101 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.2923, 7.0222, 1.663, -0.0415, -0.0611, -0.0122, 0.2803, -8.5949, 8.8137, 1.0232, 0.4664, 0.1685, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3eb4f69f3051e62d4eb830bf2f921c838eca7a9248e5efe12ddb2208f7b228e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a760947464a47f87a207b4dc89ca4e5e9b70a4bb093b1cd59d9115bcbc30bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb28133dbbde5b3a12a361a5075b64007408e79416e5562c655125bdc34791e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.04 s

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

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9991, 0.6621, 1.6085, 1.2335, -0.4561, 0.461, 0.334, 0.6213]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0001 left_pitch=-0.0458 left_roll=0.0005 left_gripper=0.9991 right_x=0.3883 right_y=0.2075 right_z=0.1734 right_yaw=0.0825 right_pitch=-0.1561 right_roll=-0.0732 right_gripper=0.6213\nstate[joint_eff]: [-0.0205, -1.3607, 6.9949, 1.707, -0.0611, -0.0366, -0.0122, -0.1709, -8.3077, 9.0598, 1.5263, 0.4371, 0.2662, 0.3346]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0135, -0.0269, 0.9991, 0.6601, 1.6974, 1.0035, -0.1841, 0.4484, 0.3229, 0.9956]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1713 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3817 right_y=0.2039 right_z=0.0871 right_yaw=0.0917 right_pitch=-0.2012 right_roll=-0.0993 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.3333, 7.1453, 1.6825, -0.0317, -0.0415, -0.0122, -0.0615, -8.1436, 6.2427, 1.4188, 0.1587, 0.105, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0135, -0.0269, 0.9991, 0.9562, 1.8027, 1.3964, -0.6231, 0.5987, 0.5774, 0.9964]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1713 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3326 right_y=0.3047 right_z=0.1423 right_yaw=0.1192 right_pitch=-0.2225 right_roll=-0.1101 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.2923, 7.0222, 1.663, -0.0415, -0.0611, -0.0122, 0.2803, -8.5949, 8.8137, 1.0232, 0.4664, 0.1685, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3eb4f69f3051e62d4eb830bf2f921c838eca7a9248e5efe12ddb2208f7b228e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a760947464a47f87a207b4dc89ca4e5e9b70a4bb093b1cd59d9115bcbc30bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb28133dbbde5b3a12a361a5075b64007408e79416e5562c655125bdc34791e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCM3hMkKe2hdbIxlX9K_O4rMELiYCbxw5QfHS8TShb0Zy_xR2at9lnElAENwFjK9KPhnQ-Y2hPDhkJCv0umSerxLV89GZZNvIms0UTd00QPrMB1wtfTZ9ewaMT0-umdd595i7RegUM5UGn-4rmwKxtMWg2IqOgNKmf4s3vP6yEvf0t_N9tHgmwC_YkZ3YjPH9o1_1de-uZuMaumCTAK3JdmplU-8wtFq3pUgAOQvtLqfWXRt7gt_wSznY4NVgvo94bMMPZj1hRBPsXAxErSFZ-4MLj6AfzqGWjnjaBZakW0lt2W18Iag8OpDG2o6kNs6YjhMfF1t3XIWLCOUxf9oU6mmRZZwfeF2cPVdkd-KIR-F17JOxEcJGNYxRV9uwopTS-BQlH0mWp-IDkxMv4PHYJrcyUMPGfMa7Ioo8LNS2G-EvEJHt_Tfp4uJX6U_-5i8k8E0TNvyUX3Yp1ZN-pTlVTJJy6LTi9H4WAtpEf2-8ZzX8smAoXa-pDYU4v0wFL6o4Hy4zPHW82C9go4pJZY3tqNntwT8t_qPQ2BFblW8Q5nM_qwS_Bo2LqeyMVg9u0XW1yx3YKD8C6g7AbVLY8uldwaHQNeSbecbbExlS34X3QxtybSwdc5XahN1YxA8uroxInWb9scDA0s_jcJF_Nhamb5y9-jjENr090rLsRBMFZEVsi8sQLxvvw5wxyudt1sAhXf9QIPBcIwDlqRxMZQW2zsq7oNntlrWpTeekyTGceLV6ROTlaLMj8Mv5fWjWwKN-E5tYSKGxuv1Fi1q9VCYM9WUTHU4WbVvKAGirV_hQQAm6G0HfZrKXCyUTnUKpIZvbz6j4QUzcpDBz0QfrERoXCqqKfPbJ-OZkx7IisAY7LLpDHiCq2O27NC4DQCEPwFH4QkY8EYUdd4c8WevNGfnbOtr6nHxGTp212yQ9NX10xJuHgB7RRjWRapYHZwD2eiiB0sc0LwdFuWyzZuoLz-nBd9-Y-bYvmU0R7QJy1osI8aLXJjLNq84ALQXcHeksj0bJxctSFk2KllZCTBqzHjkR5HdhveZaXZUAU1rWk77GJWOGuAKyzJpIslGYP2rY3v--4yr-h6Wh6_ODBfjQRoBRYWhHxSSHXARP4wEbEYJPcnrpKflZ9ed2qcIyXtikuq_YPb_rV11xQgSm8_cL37qcd9qKMbXOFI3T_qZPoqtmxLcDDqXVleEp5NwGzmG6yhBnaAK8DhKmFLFUzYYIj8I1NuY0u-71WY11fFKMRsYkhjG4-m1OY--cWrBfgI0WljzzXv0_qXcey1i8z-AZOZCeyuiOIwCzpAPFHVMVSmXvckZ2NLX_oKrXUjl4jE9aVlDemd8jCCM2tdpzdfFvBZ5nSEzUlbhWIlHpE0fLOswGiT16fbHq5hXJHOy3Gc5pUAxS8YUJfuMsiOm9qObFD5B6Q1xVTiAuYiiQg1ElNKVcF0q9J-PvGwKeJF2wxcEt6CiW0izBYoURJMjfRxTTlfA4wSesn2ZY3eHbcOqR40YuAhPwXl61VZ-S2EGuhhP9nQAEZ9xvwCm2ovcrZWsY6NgsPeZvz29OWPM52kjjDGGZ37bKcuAWMHNPwV_A-DjBMUhp1K-0iUSG3Bi8EHWnF9-p8q6YMI3iYnVEhHZisVoameQEWQ0QvgC2Av9AtjQbkUnPEgoqpslq66AKErvRZRZhH5fctEc29CMR5Tfv7cS0fxlQwTTdKfhhTI7Ya1TQdbY5Wjm1PFFf20wQFnSoBQBIuRrP8b3XBb8G_l9MXEoVGV3kfjVhib48WsCmF6REkZsdngEa8_7OrrGreMiHHyQzhWkCDVKjQWNchsRMou2S5egmcAdwtEEe8S4uRIic_zaujK4hunfaoPsswZk7pemwB1HEmWNHqMNrHGMw51Ltjc7qHijzh4opxJ9pQMGnCAwVX63tkmg3m3v6a033toSv1Y46e6XFrrRd29chfT0qvzmp7DfWN9ItIdpv2D-ESXEADbrpt2fEEe20xYgjgdvPIR7Alf--TERrOUH3RVzQntkmJjuCou_U_FPLu7ay4VO5fZHCviDPeMwFmQupt9Njzh5cWl6K43XL_mdfwBWCl31IGsUBfD5yA3NeFBfWiEeO8VKDJPQOUewWAEITalt93cR7cwpMfqxMWSRlFd-Akd5jgHO8aVF9UpJg7pgGUniYiu29npSIHeUy-tLkMhcu0Vx-yiBFrsV5gzWQxWNBuofaUScwxDeweOy-iA1DyQj6UjlStl1X43irxYz8AXvv3Js0vNnATpslBMzzQoNUCabgfsSN9mC7N5P_aLV--iL_4b0bZazzZ4YDr2q8DZNB2MUucgnierw4rKALFumpu2ohLyEk0qISYx0ydrAwBp4YuRXl3NSwveUC16qiwEZHFZgzmxjlFYr3Qj-0ami1XCvsAt9whI9ObnRadtKKUFIei0aG5i8ishfLHSnWrlisDYChINMVZ7dRvBdd_dH94t4XjXnnpa9E5hjIkstq8_zJkfYJOcEMaJkfL3ehi4tQ1-ncz9rVWBRX5LjI3uCpiI7Ibgezfzu6SNVFtnsve4lgHCL_ERbZffgpMRcv9ybzOe2gw==",
  "id": "rs_01cd890dadd4e581016ab42333c48087d09a7c40a2bfa19183",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.352,\"right_z\":0.034},\"note\":\"The yellow fruit is centred between the right wrist camera’s jaw columns, with the blue bowl and deposited fruit to its right. I’ll advance slightly and descend so the jaws reach around the yellow fruit rather than closing above it.\"}",
  "call_id": "call_I9vKi8DL2AFn1yOUlXNcopwZ",
  "id": "fc_01cd890dadd4e581016ab42336313887d08ea5409dcb9a0ebb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I9vKi8DL2AFn1yOUlXNcopwZ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4252, -0.0139, -0.0265, 0.9991, 0.9142, 1.9846, 1.1831, -0.2276, 0.5705, 0.5381, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0001 left_pitch=-0.0462 left_roll=0.0005 left_gripper=0.9991 right_x=0.3489 right_y=0.3024 right_z=0.0322 right_yaw=0.1174 right_pitch=-0.2424 right_roll=-0.1209 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.2923, 7.3368, 1.6923, -0.0415, -0.0611, -0.0122, -0.1846, -9.935, 5.8872, 1.409, 0.2955, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6dd3a7e39d92b148067fda744b3fcef6d9151dd74f8d9c13b912dd1d94ea07d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991e9f8e05a8ca0f7507ef951bb830da77586745c8b087ac37563589ce09582a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b72c4faf6dfb128decfa7979fc9ee0ccae15257e3e9478d11a936571c9c3e3",
      "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 · 2.476 s

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

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0139, -0.0265, 0.9991, 0.6601, 1.6974, 1.0035, -0.1757, 0.4515, 0.3298, 0.6233]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0001 left_pitch=-0.0458 left_roll=0.0005 left_gripper=0.9991 right_x=0.383 right_y=0.2043 right_z=0.0885 right_yaw=0.0865 right_pitch=-0.1925 right_roll=-0.0916 right_gripper=0.6233\nstate[joint_eff]: [-0.0479, -1.3197, 6.9949, 1.6923, -0.0464, -0.022, -0.0122, 0.2256, -8.1983, 6.2701, 1.7802, 0.2808, -0.0171, 0.4274]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0135, -0.0269, 0.9991, 0.9562, 1.8027, 1.3964, -0.6231, 0.5987, 0.5774, 0.9964]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1713 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3326 right_y=0.3047 right_z=0.1423 right_yaw=0.1192 right_pitch=-0.2225 right_roll=-0.1101 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.2923, 7.0222, 1.663, -0.0415, -0.0611, -0.0122, 0.2803, -8.5949, 8.8137, 1.0232, 0.4664, 0.1685, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4252, -0.0139, -0.0265, 0.9991, 0.9142, 1.9846, 1.1831, -0.2276, 0.5705, 0.5381, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0001 left_pitch=-0.0462 left_roll=0.0005 left_gripper=0.9991 right_x=0.3489 right_y=0.3024 right_z=0.0322 right_yaw=0.1174 right_pitch=-0.2424 right_roll=-0.1209 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.2923, 7.3368, 1.6923, -0.0415, -0.0611, -0.0122, -0.1846, -9.935, 5.8872, 1.409, 0.2955, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6dd3a7e39d92b148067fda744b3fcef6d9151dd74f8d9c13b912dd1d94ea07d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991e9f8e05a8ca0f7507ef951bb830da77586745c8b087ac37563589ce09582a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b72c4faf6dfb128decfa7979fc9ee0ccae15257e3e9478d11a936571c9c3e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01cd890dadd4e581016ab4233a165887d099d11d7bb4fa31d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.28},\"note\":\"At grasp height the yellow fruit sits a little to the right of the jaw centre in the wrist view. I’ll shift the gripper about two centimetres right to centre the fruit before closing.\"}",
  "call_id": "call_H06xak7f2A88uWCCxaohHeva",
  "id": "fc_01cd890dadd4e581016ab4233b847087d082a3dd725fb9643a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H06xak7f2A88uWCCxaohHeva",
  "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]: [-0.0219, 0.8078, 0.6132, -0.4252, -0.0135, -0.0265, 0.9991, 0.8742, 1.9575, 1.0912, -0.1909, 0.5449, 0.5041, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1712 left_yaw=-0.0004 left_pitch=-0.0462 left_roll=0.0003 left_gripper=0.9991 right_x=0.345 right_y=0.2753 right_z=0.0162 right_yaw=0.1078 right_pitch=-0.2805 right_roll=-0.149 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.306, 6.9949, 1.7021, -0.0269, -0.022, -0.0122, 0.0342, -12.3009, 5.641, 1.2479, 0.2418, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2195e7282d30ec4f64dd7341f5e1a6b15e6200f9225b6bffb74e9618c1d32f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2381892bc222e5b123895c6b9fe6151f5a78304c7b317f7ef4236fa17f14162f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9194c72e3781fcd95be773813806e8ca9e848abc4e6c1f20a56f20bf87792a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.598 s

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

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0135, -0.0269, 0.9991, 0.6601, 1.6974, 1.0035, -0.1841, 0.4484, 0.3229, 0.9956]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1713 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3817 right_y=0.2039 right_z=0.0871 right_yaw=0.0917 right_pitch=-0.2012 right_roll=-0.0993 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.3333, 7.1453, 1.6825, -0.0317, -0.0415, -0.0122, -0.0615, -8.1436, 6.2427, 1.4188, 0.1587, 0.105, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4252, -0.0139, -0.0265, 0.9991, 0.9142, 1.9846, 1.1831, -0.2276, 0.5705, 0.5381, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0001 left_pitch=-0.0462 left_roll=0.0005 left_gripper=0.9991 right_x=0.3489 right_y=0.3024 right_z=0.0322 right_yaw=0.1174 right_pitch=-0.2424 right_roll=-0.1209 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.2923, 7.3368, 1.6923, -0.0415, -0.0611, -0.0122, -0.1846, -9.935, 5.8872, 1.409, 0.2955, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4252, -0.0135, -0.0265, 0.9991, 0.8742, 1.9575, 1.0912, -0.1909, 0.5449, 0.5041, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1712 left_yaw=-0.0004 left_pitch=-0.0462 left_roll=0.0003 left_gripper=0.9991 right_x=0.345 right_y=0.2753 right_z=0.0162 right_yaw=0.1078 right_pitch=-0.2805 right_roll=-0.149 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.306, 6.9949, 1.7021, -0.0269, -0.022, -0.0122, 0.0342, -12.3009, 5.641, 1.2479, 0.2418, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2195e7282d30ec4f64dd7341f5e1a6b15e6200f9225b6bffb74e9618c1d32f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2381892bc222e5b123895c6b9fe6151f5a78304c7b317f7ef4236fa17f14162f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9194c72e3781fcd95be773813806e8ca9e848abc4e6c1f20a56f20bf87792a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCM_mL10su5FVzblyzBi7yfHMovVk-Jx1ASsbE0YaPEeOuyqxis_wnLBMsoth0K08LeticcdNBphTVqfSzURrw58GHjDYIdrOvlMhrV2bOIfJzY5UNzAo8hAWw3Xalh1WY-pmUF-EnGAzoF_CKJIXw8v6NNuFnw_7oXJn2iHpM-Xnikavq42vDwBFXTurIop7ybexOKVZ4QvEApxZjsyzTiBzV2nRRBMm1Mw4JEInCzeEdCb0Yvvu23K_WObZdtSzNSWjfM7cmOKm7rUWuqZwIfmwsjie7EJCSPaLJo6y-PZoL4LWwM8PwL248SEnd2o-uLiXSCSSq5lZNIgG4_yxheQLTtGortMkj25ugWhG73IXHXnPC92kRwH1McmGcNVvkzhIIeLnM97RRtIaCOw0JWSi6XZwTTAudEubaryyF_hpbncGkOa7QSdTao3NTDmNrYq2YvRADJYs9qaLHjVWriAdWviEzzircgsa4-QCzF8nBLrBgVWYrcvJZHZasEiFOzEngzZTE53PZjp3C0ovotK5PpQULs4Y4BXzRyumm0n1fzz-aga714Rq1wJYCw1lMSG4GzVQHJ4IwDT8W4BPJ6bGo6QUX_3x6YsoR0K0U7bauyrBavne2S7xMlmDBisNtmWy9oaNlkJ-jMV-Hzyulh2RVdOG5eGB9Y4hEzmDVoYz9GF2amw_yL6y_Gekik24ZGqD6a9SuVRR-ZZyQsNu2Upxum7Gk5Ls56v6Pgwzz-8fDnY-twWOAhevCxUCBHNO4G58dofegPTa0_57l61Eip0VJfEoA0uZCfHvwF6eCiVrxXO_Kd7WCm5upwGDRBg3TW69fa3BdStzoZm2d1jTviC5cMZH-Sn79y9WhEfyKWUuuY-1j8-yaq70cfcJAM50KQKl26ays_7m2rYgw5m2xr0GRQveCTjBNoKbHUrAawcWLDe_eX3rUcb1NrSZPKcNOqTQeIjG1fhbknsPyxkqp__Fyac85b1biid23wBjmMnpbUpdvB08Oy1y1gIscrFuEIYobnzpkvqjm2BCnA3NpEz6fbFvg1eqmy0tBqZKwyV1ZFcot-UAZQjDAwWHQFXluVEBmGmb_pQzJIfOUl9YItsfATFON2lTByBhibfhfOTKOIEqHfTNea8T8NHyjzp7n7HjxJD0sPrhRJeeQe8NJ2bMEW4PwcjPzt0ipV1zjVl4q_SnZ6UPGQ5Kh_Jha3bOLtdGZ0zbmRF9a8Z1Jl0WK1Fw80Kb2aqAL_M1_ts9XSBt_I4b8s6nrtRGaj41-a5iscigR3L3bBHJARYhBY_kbKi2plWTKG_TMuq8UmGK7CO--g=",
  "id": "rs_01cd890dadd4e581016ab4233ea24887d0b6070fb9d282201d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now centred between the jaws at tabletop height. I’ll close the gripper and check that it catches the fruit.\"}",
  "call_id": "call_lHSrVxe1RYvJCaLjfRBXMPZY",
  "id": "fc_01cd890dadd4e581016ab4233ef8cc87d0aaacb7ddc0fb7c67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lHSrVxe1RYvJCaLjfRBXMPZY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4274, -0.0139, -0.0265, 0.9991, 0.8742, 1.9579, 1.0912, -0.1909, 0.5446, 0.4965, 0.5061]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0001 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9991 right_x=0.345 right_y=0.2754 right_z=0.016 right_yaw=0.1122 right_pitch=-0.2817 right_roll=-0.1543 right_gripper=0.5061\nstate[joint_eff]: [-0.0342, -1.1556, 7.0222, 1.7363, -0.0269, -0.0464, -0.0171, 0.0205, -9.4974, 5.5179, 1.16, 0.1929, 0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bffc499523dcaab267d68a60fd0f0f20da0f6214d7647205dbe8f45dc7b32aba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:572fb4ba27abdd7bbc3f85a98dbabc71eb8462a739409b3312fee51a54978f67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08afcea646511058a55d55239fb034c80f9545e5c77faa7575a1e672fe616f84",
      "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 · 2.202 s

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

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4248, -0.0135, -0.0269, 0.9991, 0.9562, 1.8027, 1.3964, -0.6231, 0.5987, 0.5774, 0.9964]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1713 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3326 right_y=0.3047 right_z=0.1423 right_yaw=0.1192 right_pitch=-0.2225 right_roll=-0.1101 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.2923, 7.0222, 1.663, -0.0415, -0.0611, -0.0122, 0.2803, -8.5949, 8.8137, 1.0232, 0.4664, 0.1685, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4252, -0.0135, -0.0265, 0.9991, 0.8742, 1.9575, 1.0912, -0.1909, 0.5449, 0.5041, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1712 left_yaw=-0.0004 left_pitch=-0.0462 left_roll=0.0003 left_gripper=0.9991 right_x=0.345 right_y=0.2753 right_z=0.0162 right_yaw=0.1078 right_pitch=-0.2805 right_roll=-0.149 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.306, 6.9949, 1.7021, -0.0269, -0.022, -0.0122, 0.0342, -12.3009, 5.641, 1.2479, 0.2418, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4274, -0.0139, -0.0265, 0.9991, 0.8742, 1.9579, 1.0912, -0.1909, 0.5446, 0.4965, 0.5061]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0001 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9991 right_x=0.345 right_y=0.2754 right_z=0.016 right_yaw=0.1122 right_pitch=-0.2817 right_roll=-0.1543 right_gripper=0.5061\nstate[joint_eff]: [-0.0342, -1.1556, 7.0222, 1.7363, -0.0269, -0.0464, -0.0171, 0.0205, -9.4974, 5.5179, 1.16, 0.1929, 0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bffc499523dcaab267d68a60fd0f0f20da0f6214d7647205dbe8f45dc7b32aba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:572fb4ba27abdd7bbc3f85a98dbabc71eb8462a739409b3312fee51a54978f67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08afcea646511058a55d55239fb034c80f9545e5c77faa7575a1e672fe616f84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNDgce3almpj2eGhXjdG5P9B15-8h3zx4QODNCpUXxhIJfWN1QkJXebt_eeksoVVvjtvN2WfpWKUNzv9R1jx0BraYN8sP_qAaMlLibaPWo5uhWTTcBWwvajyLYttzxs0RJqavKHUBcoKgpXInQ27HbmUhTsX470C0Sgyc3umCbC7Oelr85gJYPwlI7f5AcYE6f870XJYgBW0Q9z7aEKO-CLbvGDoL5GDBkkMDJKQgsi_eixJ8nQR419lwNkeTU6QFi_dtQvZICtQ6EXNFs2ab2tEeTZmgbbS-suDoi4ZmvRDcWlWwgTM2IzCIS_Kj0Y0xl7l_GJNmk42MEs_fOU80thSfuLcWV-63c045XMuD5t403XYcCzVws3HrtnieihtlxxbBbC6I3PLisPjuk1E7R5jkR3tBkU3rykh2wsqh35Jco5YoI_uz1jRaPtdUj5VCXHBMObemjXVwwTTaT4BFUeHkZFd3dMsCXp0NEwbnV5s6jK8mymeF_SwoNFBWS1ZGwewsoEAVXHdW7sCl9lxdX-2SzZlYqXyb3Quj2AVrIdHh9SkPTUV9vvjXZmGRs_i-amf9_2_EXTRd_AGbjELAmL7MyOaWt9STsN0AxRJZFYX6EvA1R_c5hW0yqLbyKBgNzsjDWxp6DWOeOMCBdi7Rr3am1hmWu6LTfFjxFsV42AGLP6hOk7THpDyxI2Fh-ZAm6en7aUFhpvFjN4MZRjhB85qlI1_HYhUfkszkPSDn3Xy5iInzExe_TcjNeU5e5kX2_dmi0FOieptUcRh-c2_oaBCepH2ZLtCa-ZZwM77av-ttx_drCOIqPjgWIc7LIJscRpCssMJ51_4zx0iT6CAKHMp0-_lBf0_KSGbhfbgaKLDO_4N53UnVRkw8pvh4BMZvdKmdFnyq2BT-evuZzfubpV46e-sd2sGL_BsNIGKI9T0I9MHpGTGWu2Y6-vAAIY354_6A8Sm97oAep7V1ONUASpnqbwczmEL4lpyr1uQ5wtWizijziEPv-_fzZOCjtfIw_l1hWESpWHWxkOLhhk3CxFq5shvk15KmeM05goxYnH4oUNBHxfZwWV1dL-byiDQ28QFzOlKcGgWlXYPZDOawS9crmTCeDEUiECJ0q99KUicwSV2TknZDPNLbmRYRpV6LaN900qGlyl2J12p1E9v88_z9H-q37u2jigusP_pnXG0wQ=",
  "id": "rs_01cd890dadd4e581016ab42341918887d09664e92997534945",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The jaws settled at about a five-centimetre opening around the yellow fruit. I’ll lift to verify the fruit comes with the gripper before moving it to the bowl.\"}",
  "call_id": "call_7PQuxrTr3qxTh60r8rbU6wQj",
  "id": "fc_01cd890dadd4e581016ab42341b19487d0b8e775a8c12ebecf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7PQuxrTr3qxTh60r8rbU6wQj",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4313, -0.0139, -0.0269, 0.9991, 0.8749, 1.8004, 1.438, -0.7338, 0.5373, 0.4881, 0.507]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.17 left_yaw=0.0001 left_pitch=-0.0523 left_roll=0.0003 left_gripper=0.9991 right_x=0.3434 right_y=0.2757 right_z=0.1411 right_yaw=0.1143 right_pitch=-0.3148 right_roll=-0.183 right_gripper=0.507\nstate[joint_eff]: [-0.0479, -1.306, 6.9812, 1.746, -0.0562, -0.0757, -0.0122, -0.1709, -11.5897, 8.1299, 1.0818, 0.3248, 0.0415, 0.735]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0340cf6372d5bde3b641a28a86a82d560b40cc5b95a3e292370350b513d4998d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d142e96449021b6267627101868345615afd389868e9315d08945e9d5316c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab432fd982a6004b9865c9d1b5f0f0c0491f3b7b65727d215086290c465c6e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.391 s

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

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4252, -0.0139, -0.0265, 0.9991, 0.9142, 1.9846, 1.1831, -0.2276, 0.5705, 0.5381, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0001 left_pitch=-0.0462 left_roll=0.0005 left_gripper=0.9991 right_x=0.3489 right_y=0.3024 right_z=0.0322 right_yaw=0.1174 right_pitch=-0.2424 right_roll=-0.1209 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.2923, 7.3368, 1.6923, -0.0415, -0.0611, -0.0122, -0.1846, -9.935, 5.8872, 1.409, 0.2955, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4274, -0.0139, -0.0265, 0.9991, 0.8742, 1.9579, 1.0912, -0.1909, 0.5446, 0.4965, 0.5061]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0001 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9991 right_x=0.345 right_y=0.2754 right_z=0.016 right_yaw=0.1122 right_pitch=-0.2817 right_roll=-0.1543 right_gripper=0.5061\nstate[joint_eff]: [-0.0342, -1.1556, 7.0222, 1.7363, -0.0269, -0.0464, -0.0171, 0.0205, -9.4974, 5.5179, 1.16, 0.1929, 0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4313, -0.0139, -0.0269, 0.9991, 0.8749, 1.8004, 1.438, -0.7338, 0.5373, 0.4881, 0.507]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.17 left_yaw=0.0001 left_pitch=-0.0523 left_roll=0.0003 left_gripper=0.9991 right_x=0.3434 right_y=0.2757 right_z=0.1411 right_yaw=0.1143 right_pitch=-0.3148 right_roll=-0.183 right_gripper=0.507\nstate[joint_eff]: [-0.0479, -1.306, 6.9812, 1.746, -0.0562, -0.0757, -0.0122, -0.1709, -11.5897, 8.1299, 1.0818, 0.3248, 0.0415, 0.735]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0340cf6372d5bde3b641a28a86a82d560b40cc5b95a3e292370350b513d4998d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d142e96449021b6267627101868345615afd389868e9315d08945e9d5316c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab432fd982a6004b9865c9d1b5f0f0c0491f3b7b65727d215086290c465c6e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNJuCP4I_OYCvtjCVj675jWCxoKSFQ-FGgG7PGXcwQ34EmYtH4HekzHsZzbqYwWqU8W4bMksB45zHi2yQaN_2mZgDshK1hEPrrNSkE2j17NEkT05l25e2Xd7nRNvPL2Nqrc5or9vbrAzLYEdYDL89LqUr8IIetFSkZP-Di2YCUMbM8rpXytV79Z2fpKN7FkqIz-BiZmsdvUrIcueUyV-yAf5QIptEoQv6ZGPKQZhzQueQfpVmM5ChzuIwfE3t3l0-aNhdwGNtI_YnwOIn3-sXP_XWgMV-56M-ZpFz9M1Lp2Cglz3agzdhi1v4G9HIgl9zJ5-oGk6p9kT_EjgpEVtuypTVaQTK5HlAyIjZOIWNA5JIPP3Duv3-SqrAIfItNG5pK-ys70zRGvCaFwlARYfULgQD_J2JudwzS9CozWr-wBmhhxZ0hGd_cgNg8-aMWnDQs9rq87MqoHsRBn3wHAze_Ol3x-9BT-PdyTiXJ8lLoo-YhZH0H5OYqs-W4kusT-4Y1sHVnSTNYwJfg6H7gMnbRPTCFqOfUIvtr7wwoWL8eFfN6IxQv2qZS0vsTIGApj4j-vkcyuTOPN5T6QtgK8DurNQe4nlzyMCCVzfF_7vN-zsXVYWpWefKGHYXciuoHpS0ZFCmHn6HCFVEq3kXs2-jm0RxxwheVJDDIEqA-ZcNeVv9LgqWF7SDJEiRfEEZZ0ewA56B67yJ83ndh96ZnCmy4fzBDhD7uXqaqRPQ4hOxe5BNB8RqE-RP_tnx6dXvonWJiqjkLWxpnwMz2hyPzCmclBQZO-zxQksTP7CYlpOEyV-124Ch36JNMLti6XQmIQBFWKQwX9XwpdA1tL6BRSCqOvH3z16UfeTzosKfUp5J12q5HUfPN7K-uoI4NqFI5UnfHgdeZVB8qT_seIvWv10gEdIQzTJANPpQTpt0m1TlFHjwdbSGGGoDj4mxD4eMMIL-cLjaFRMZ9V4wW6f38fMbgJD3cz_I3gCHWPmJWkXEdbyq6LF9wz8O6Lk2KJ9TpDdndUz5aM9hvuBJCl3tJWuR5FF2wY0r2t0iKAhomWHFow2e8uFSTIRQshs4GcawJqzvoIduc10GBY-vzjvAbWNJYozJSXIvzDKskOXkQiy97WI6nN2nQ07o969MZHhPumTFipLN0gofWPOK3iK2G-T892UMQ5Ndy5sWP8mYDgAk5PhsGJ5iDWSgVAGiWnt4FtG30aQnvIW7keRbCGF__-Gjtmrc3rtnyi0JvKirDbSWRQyu3dsRgX3zNSozse9wf5zSftk3FEY8QfcREvP22nVYNwNaW2Ir3UuKJXtVXSULVvSWk=",
  "id": "rs_01cd890dadd4e581016ab42348a1dc87d0895994ecdcb8f1cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.205,\"right_z\":0.19},\"note\":\"The yellow fruit lifted clear, and the green fruit is visible inside the blue bowl. I’ll carry the yellow fruit over the bowl’s opening.\"}",
  "call_id": "call_s17Er5ypTOXnZQRi4zMvp6pd",
  "id": "fc_01cd890dadd4e581016ab42348d8fc87d0a23f1fee9aaf9eed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s17Er5ypTOXnZQRi4zMvp6pd",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4347, -0.0139, -0.0269, 0.9991, 0.6617, 1.7462, 1.4662, -0.8001, 0.4202, 0.2729, 0.5098]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.0001 left_pitch=-0.0568 left_roll=0.0004 left_gripper=0.9991 right_x=0.379 right_y=0.2084 right_z=0.158 right_yaw=0.1102 right_pitch=-0.3895 right_roll=-0.2246 right_gripper=0.5098\nstate[joint_eff]: [-0.0342, -1.2103, 6.9949, 1.7167, -0.0562, -0.0562, -0.0122, -1.1419, -11.8085, 9.7162, 1.3553, 0.3053, 0.0855, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fdb2ad5a633600a28b742f5a00bd59ddca4deda0346dea655e306cbfeed4f84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed34609a3f0bce8ec35897d77e9bc79213f5d89c3554d1253f907932c813eba3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5f24c1e4fad6efaa5cbef428aa36317897f6c23b290602c1cd229e0920a680",
      "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 · 1.843 s

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

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4252, -0.0135, -0.0265, 0.9991, 0.8742, 1.9575, 1.0912, -0.1909, 0.5449, 0.5041, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1712 left_yaw=-0.0004 left_pitch=-0.0462 left_roll=0.0003 left_gripper=0.9991 right_x=0.345 right_y=0.2753 right_z=0.0162 right_yaw=0.1078 right_pitch=-0.2805 right_roll=-0.149 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.306, 6.9949, 1.7021, -0.0269, -0.022, -0.0122, 0.0342, -12.3009, 5.641, 1.2479, 0.2418, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4313, -0.0139, -0.0269, 0.9991, 0.8749, 1.8004, 1.438, -0.7338, 0.5373, 0.4881, 0.507]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.17 left_yaw=0.0001 left_pitch=-0.0523 left_roll=0.0003 left_gripper=0.9991 right_x=0.3434 right_y=0.2757 right_z=0.1411 right_yaw=0.1143 right_pitch=-0.3148 right_roll=-0.183 right_gripper=0.507\nstate[joint_eff]: [-0.0479, -1.306, 6.9812, 1.746, -0.0562, -0.0757, -0.0122, -0.1709, -11.5897, 8.1299, 1.0818, 0.3248, 0.0415, 0.735]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4347, -0.0139, -0.0269, 0.9991, 0.6617, 1.7462, 1.4662, -0.8001, 0.4202, 0.2729, 0.5098]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.0001 left_pitch=-0.0568 left_roll=0.0004 left_gripper=0.9991 right_x=0.379 right_y=0.2084 right_z=0.158 right_yaw=0.1102 right_pitch=-0.3895 right_roll=-0.2246 right_gripper=0.5098\nstate[joint_eff]: [-0.0342, -1.2103, 6.9949, 1.7167, -0.0562, -0.0562, -0.0122, -1.1419, -11.8085, 9.7162, 1.3553, 0.3053, 0.0855, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fdb2ad5a633600a28b742f5a00bd59ddca4deda0346dea655e306cbfeed4f84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed34609a3f0bce8ec35897d77e9bc79213f5d89c3554d1253f907932c813eba3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5f24c1e4fad6efaa5cbef428aa36317897f6c23b290602c1cd229e0920a680",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNQwv93QafHr9ypJAysplpb4AxsdJHKDAm23zOjBOInttOBSbunR5ZQ0AcVF4NFHBN8VMUaED0c242XVrZNWNSlYmqF-NIEEiBrKgasFyoJC14le9CwIApgE0ZCR7VvWo81tAKYXgjN8ohdPH0cq9upJmyABBDejeU3SI4ULjIMlRYdZRBOpE5xS4Ks0uqzv1Kbm0_551WQlJqgjtLSD6NY6Zhdg1jBjT5X4FAQFM6rmNKsL6x-Vc66ymJwdfBPZ4Ii8eyEahCHM874U05czQGnzaiDUxy1G5JMlNneUm_lUbK9C3ty4BYux9uKGjyPLF5H9s7WIzf5L7Siy-x6lnA_IcRXl3ajmjrTPjyqgJVNaCiJmd80_Pm6XTQeMw6tyaxJ3NDf--xG8KyPm821W_fQ0wi5Y5WYW2V9tcapEyINS3vT6XZgdqj9eBZo84KPfUm7ehWWqt0mQU4lb78T6f8vFd5avPkk_vxSTOoXB6S57SQmODhakWTcQuABrA3Jg5JlRQPzrbWGIEChi8_Jwa53MCSyNPh0I-jl-aCo_hXrxn_L0Pze_7PR_CSsk_pKCwhMDRD48YtWfKku8ggeYyFivgCGkd3mS7QP6QNYHcA9uTcEMemCsaZuKzBWnr1_8eJGwO_qUEjAY0H7Wnuaeu3H5NbLeZhzXyIlCI3pDggASMZIIcBgpsiCRaZ6VSZPYkK9_FlFY1fUuLBoVShFMvAu29LuB8SL7C9zrIv7KTc1qARj1H3DXDQWrP-hWlW2D9S6K6Pxzq1W6skCRv1WcNxjwqyefdbug3H19LMcjNvZynS1BnEhNNVDM6krV9Y6n-odEgwN0WKWDU6g5RucFPQiQA0K4d_kMbDEdEGewx2m8WUArs-bzVy90vCxRz2iGNmb7IYzNzbWtTD8Gz1iMQcAxA7_hczWYO2l8qqJo_iDl3yE5m1egGIpzsQb4PnAkR49vxyD4m2Of88_vH8cquCkN7FFC6YhsM-9BAyS92KYzRGe2V4d_yeJrtpmFnnjumyFZuHVpfdfHrCAbITR42ogcGLeeV5SygOlx3xot7kta0F-j-rS9rS6fkQo6iMbrKrK_DZt40pU17kFKqzCzMA3O0h4WdufqjBIfmdlgvkRn6LMclwciil7E6b9zm_A-mvIf6b6hFVCueuS-zA5-ndydcPdNhj7CV2gxCMAjdWWRrNPzwO7FZHNeg_CrqF6hbCP9IMMxLDe5ZUa7jGO9k43Qz_qEeL3w5RE61B3meWaHSkfMf8xxBH2JExBQ0sCAMgRg9O4FNi7xEO7bflYN1zOCC_mlSov3nCuMSw1Ty0cybIsf5s4UdK9pR9lDZiJdI4Ar1NlXFz_ZAYLb3NMQn0xV9dJWmDyJQ7YFTZsoCZsOEQ=",
  "id": "rs_01cd890dadd4e581016ab4234ec84c87d0ac75d8f22252af04",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The held yellow fruit is positioned above the blue bowl, which already contains the green fruit. I’ll lower it enough to release it inside without catching the bowl rim.\"}",
  "call_id": "call_Vux4NOVP72KvSjwYjgt6pP0j",
  "id": "fc_01cd890dadd4e581016ab4234f6b4087d099577fa1ea89ffd5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vux4NOVP72KvSjwYjgt6pP0j",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4393, -0.0135, -0.0269, 0.9991, 0.6628, 1.776, 1.2804, -0.6559, 0.4129, 0.2611, 0.511]\nstate[eef_state]: left_x=0.2888 left_y=-0.0004 left_z=0.1671 left_yaw=-0.0002 left_pitch=-0.0648 left_roll=0.0004 left_gripper=0.9991 right_x=0.3663 right_y=0.2006 right_z=0.0951 right_yaw=0.107 right_pitch=-0.4552 right_roll=-0.2668 right_gripper=0.511\nstate[joint_eff]: [0.0479, -1.0462, 7.2, 1.7411, -0.0269, -0.0366, -0.0122, 0.0068, -8.8137, 7.4735, 1.4188, 0.2711, 0.0659, 0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010d64e99ec03ee82463d14bc425c149cd85f6c37d2da6dddc8355883dfa37a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35b522d1d4ade7e05ac8b822a37220495e58d6dd97905c85a5cdd3dbdede9ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ee09fd613cec6a6645dc4754151c6f681dc30c18aefbaaf54c8d2f91747fa3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 4.235 s

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

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4274, -0.0139, -0.0265, 0.9991, 0.8742, 1.9579, 1.0912, -0.1909, 0.5446, 0.4965, 0.5061]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0001 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9991 right_x=0.345 right_y=0.2754 right_z=0.016 right_yaw=0.1122 right_pitch=-0.2817 right_roll=-0.1543 right_gripper=0.5061\nstate[joint_eff]: [-0.0342, -1.1556, 7.0222, 1.7363, -0.0269, -0.0464, -0.0171, 0.0205, -9.4974, 5.5179, 1.16, 0.1929, 0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4347, -0.0139, -0.0269, 0.9991, 0.6617, 1.7462, 1.4662, -0.8001, 0.4202, 0.2729, 0.5098]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.0001 left_pitch=-0.0568 left_roll=0.0004 left_gripper=0.9991 right_x=0.379 right_y=0.2084 right_z=0.158 right_yaw=0.1102 right_pitch=-0.3895 right_roll=-0.2246 right_gripper=0.5098\nstate[joint_eff]: [-0.0342, -1.2103, 6.9949, 1.7167, -0.0562, -0.0562, -0.0122, -1.1419, -11.8085, 9.7162, 1.3553, 0.3053, 0.0855, 0.6667]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4393, -0.0135, -0.0269, 0.9991, 0.6628, 1.776, 1.2804, -0.6559, 0.4129, 0.2611, 0.511]\nstate[eef_state]: left_x=0.2888 left_y=-0.0004 left_z=0.1671 left_yaw=-0.0002 left_pitch=-0.0648 left_roll=0.0004 left_gripper=0.9991 right_x=0.3663 right_y=0.2006 right_z=0.0951 right_yaw=0.107 right_pitch=-0.4552 right_roll=-0.2668 right_gripper=0.511\nstate[joint_eff]: [0.0479, -1.0462, 7.2, 1.7411, -0.0269, -0.0366, -0.0122, 0.0068, -8.8137, 7.4735, 1.4188, 0.2711, 0.0659, 0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010d64e99ec03ee82463d14bc425c149cd85f6c37d2da6dddc8355883dfa37a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35b522d1d4ade7e05ac8b822a37220495e58d6dd97905c85a5cdd3dbdede9ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ee09fd613cec6a6645dc4754151c6f681dc30c18aefbaaf54c8d2f91747fa3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNSlnKcEmiyP-NutGkEKNdqgXQXsWZoG7HO7qV5-ExSUOoku19a2B0qgKicrM7qjDnadJLof0VcOuklCNZ24dQ-LR1sKsJaD_9kC-4a3M3UjEnbfWHYUo-mmCr15JLLN8-PcSe9DeuIgcLaZJkWrV-Mfjpu2YOW9dv-2eEGIxtt3CwhfSPOVlNqB8vq0RDRarQ09xCv8GPvq0a_JC2tHaevXKTlwAtJPwwAa9IxRR8ych_H40u-K8w8b5NCyrusZuSkprg43ntHnCFBifbIbOTjmBnAMjePs9BBYklV7aZmMHoDK-ZcyF0NNFG2PeRYw6l-qz4EYU24Lf378UQdpdgGW3NeHpeFgCEWdeIwev1fqGg24EAqMzMRXBSFbL6Hps4a1C5igzFhJlzI5q12sJrU46dYnFM4rftWZkqqjuZRI_93ZuyhASYTuAwvkIkuQnPXIwP5c8pZMpKTxA7kWlQxB53yPIihQPqx8aMpO-rfHoxiD2PqI4nW6-vFiQmskUQBrezregOfPAtEEPq0zKGaieuFIIZHLiMo4fiWh0vVj7fY4Ty0sckj8RbxP8IfGrzLKGD_TO6nYJbr_tlWon9VYUk_Bsqbwp1BpUtVN8wkvUo1x1eMolV9lRPE25XXbvLdP0EYMKNtMwSngys-JT9hiZ9-wG_sFZwluUR0POmdcW7fBq5t5kMRy_qMB7gEpHyb0mIs2DIvDOjB_mZGlBpUTb3SSYKsWlXWF_GOe8k_DN5Njmo9T40DIyVkyO_Fytbm4zx05wDHnwVtdlFmVIeQfL8MkeFsCFvLoueoxnsBu9FWF_LcQqTrfZM_y6xHhDaQ-SOeEDYx1CpEtAWhEIlbjkYf36IEqjRDJIJoPuLVGRV8lh1rM5XLi8NfqzFXibHaV-EgI6p11AYLXjnx20rC1q3Rz1M8hSHJ8cX8raTMwU9hTgMhdQ3KneH_l5DzV1rJZ8gWj3tisaq0ix-dAWOoCUdzaDRVyMBTDhnBGlglEvd_Ws2as9rNx7b51nBTot6YrwzTxD8CEt2iKaxxyfPPFGG0_yk9-INpLpVgJ7XAzDLR9hmGlsypouvRbnGJ_FB3MosBLUc06ztSctFx25KzwWK15EbY6ML51kWWDGKTod8gGoyrxS3Rb4691XTPFSWS4vJ_5J9--qMCpfem-PhhR58lHECY2NXF3hPn-FrEpOX2CTlP3JX8YczczYLy30zKvfx-gxqz8l6J3cLDcC_-clW497Uy-oaqqp3FwdiYEOU=",
  "id": "rs_01cd890dadd4e581016ab42351a38c87d0a4a24dd400cada38",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is now inside the blue bowl’s rim. I’ll release it beside the green fruit.\"}",
  "call_id": "call_rpas6NhUT1czSavDDY1y1BTd",
  "id": "fc_01cd890dadd4e581016ab42351d51c87d0959e2130b49dc1dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rpas6NhUT1czSavDDY1y1BTd",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4423, -0.0139, -0.0265, 0.9991, 0.6621, 1.7866, 1.2663, -0.6563, 0.4099, 0.2527, 0.9955]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0001 left_pitch=-0.0679 left_roll=0.001 left_gripper=0.9991 right_x=0.3629 right_y=0.1981 right_z=0.086 right_yaw=0.1068 right_pitch=-0.4793 right_roll=-0.2839 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.347, 6.9675, 1.6923, -0.0464, -0.022, -0.0171, -0.1846, -9.6752, 7.3504, 0.9109, 0.2564, 0.0317, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4b0f6907b292b98210263d920e98cded86edd83276be025a29a74a418a810d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041571145521460aea92994155ca39afdf4a298567e658d7327a65cec70dc3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed15407864d1597467411c63de652e868708cc44279278c3b3f1e82d5931856b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 3.08 s

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

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4313, -0.0139, -0.0269, 0.9991, 0.8749, 1.8004, 1.438, -0.7338, 0.5373, 0.4881, 0.507]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.17 left_yaw=0.0001 left_pitch=-0.0523 left_roll=0.0003 left_gripper=0.9991 right_x=0.3434 right_y=0.2757 right_z=0.1411 right_yaw=0.1143 right_pitch=-0.3148 right_roll=-0.183 right_gripper=0.507\nstate[joint_eff]: [-0.0479, -1.306, 6.9812, 1.746, -0.0562, -0.0757, -0.0122, -0.1709, -11.5897, 8.1299, 1.0818, 0.3248, 0.0415, 0.735]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4393, -0.0135, -0.0269, 0.9991, 0.6628, 1.776, 1.2804, -0.6559, 0.4129, 0.2611, 0.511]\nstate[eef_state]: left_x=0.2888 left_y=-0.0004 left_z=0.1671 left_yaw=-0.0002 left_pitch=-0.0648 left_roll=0.0004 left_gripper=0.9991 right_x=0.3663 right_y=0.2006 right_z=0.0951 right_yaw=0.107 right_pitch=-0.4552 right_roll=-0.2668 right_gripper=0.511\nstate[joint_eff]: [0.0479, -1.0462, 7.2, 1.7411, -0.0269, -0.0366, -0.0122, 0.0068, -8.8137, 7.4735, 1.4188, 0.2711, 0.0659, 0.3736]\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 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4423, -0.0139, -0.0265, 0.9991, 0.6621, 1.7866, 1.2663, -0.6563, 0.4099, 0.2527, 0.9955]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0001 left_pitch=-0.0679 left_roll=0.001 left_gripper=0.9991 right_x=0.3629 right_y=0.1981 right_z=0.086 right_yaw=0.1068 right_pitch=-0.4793 right_roll=-0.2839 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.347, 6.9675, 1.6923, -0.0464, -0.022, -0.0171, -0.1846, -9.6752, 7.3504, 0.9109, 0.2564, 0.0317, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4b0f6907b292b98210263d920e98cded86edd83276be025a29a74a418a810d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041571145521460aea92994155ca39afdf4a298567e658d7327a65cec70dc3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed15407864d1597467411c63de652e868708cc44279278c3b3f1e82d5931856b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtCNWxtiz2EMAfAQ2hlPBOm9x2v7INW1PNz8XzI74vSWyws99XlmoOnR5-HkWXY8YjL4zuVi2HCqhy0hK5Jyq5qRwzTQBFLImuVvN2bfWn8zNQXgLo2TbbKA4zqxaREq9jwl9qsXqf3jzcfNoo8I82R1HijEp-jZj_oj9E4aXiugnYuPmgatYMpT5XoSFnyHyBGETi4D3hepLXkRhxrOv46ZUHgBPsA-YlVbvlKRQx2-dhNajKys9OgtGX7BNKkKQiuDpmrgqOBFxzXjMe2d2RD5ZfuzLKC9g5GyBjcZ-dUGnxQpETc_ZIXNu4c-_E3v3tHJNaFJNypho9-4WxRW0-OjX8zqDIFPWZoE6EPxsEL3o78_ycJtU9lcJuJoXGqaYhARzkT4zfrFtOaFkdNiT5_RQ8_NNGsN8W3yRThn0T8uhgPeUt9BEnO4x30XqpKE9vu84qbum_OPdmNoJ8Kypd_X_upUlDILkOchFw8F6LzbBDQ4dFH2f0V2aTXaKa27yvfRX0jQDcQ2aNVEYSmDCSXN-n-8KqjhphnFuW5pIxBziy0xAI94ehdzn75WcNSYWtyRQ4qBb5qi8gY1Gj4QJrrHQcRQyPALXbaMkp_iLUUDGEShxOpvG5nChz3BDcJICskslzKQ3j5v1IfvwzBVX6kDgjv3SseETGUHnk9_74E6_V0vn-41h0v-vqqmz5s0HMN3zYr8mLrK6JsMPMsSSZWG2VUiTz3l_B6LcZcwcge5OikzaedF9aAtDki_X2vtd_OlxPkt5U_DGlzVUo63RhldDiuCSzi7seR5LmjmZnPHw6L0qvs-KlowhDeQsUcGyhubYt9QmxLaDq63prKd11pTjf4SWy76cKdkiJ-oZ6cinrCVRglPI2N-ryovvER6JlPF-1nCMI0CBswdSX-I1UitfBrNtz7TKAOzkRRQsaTtvXub6fBOiZm513-n_hNpW9_9mdyHFZe-tml0dhtwK1kqyciWgMsSg7_vAOxy6oQH9EIg5G91b-CifW3TVPOdeBcIKj4mIwGwpB2G4Jp0w3v1KcoV5Y7pYdTazS9j5C291gVrmQAMU_no_6-VMoxdjG2YYdRsm5QhW8SrAJEHnTKVgF0CDR0jNeFSe4leMYKiuTRW47k2clRpiWO8L8I0iUR-b6un9bH00Tq_kBlF6AK-1ZYyR-U6cBdk5qaYdbkNt6KwiBTRuO9SCNbRpazGLRM9vGMNEvcz2IK5TudiuVcr6oZ3KDvI1WqISeEPz1v4Fo-S52goiD8cwLdt8gkFpQVoraZwuLy8F_OV3F_0Paw2Dduglb476xCd6k1sFyFBwpBr-wy6sUP28mfrCRJdwGKspB0O0m7WvKbV56KSbbnCXCqEtOykvO2DQXW4LNPcTkycpEloHHbut8CFH02hl918ERkZMlHN3M4dgdrkE2pPLNRfoCV8i2Izrmj-jlBPaHQH2TJqPFjFbsjRks4Eaz3liRuRlYNi7IdtKxMbW-qcbCmu_jpgYQhNKT4HwU71XzD9Z7zsOhUts3a1PL1Ubv04COSkxoUEQTi94Fv8eUSJuOvXu6lDyruRdBT-8DH7AD-ImIh6mmeWh45GlvXA8UQV_ODtqiwFT7Uvb5Bahc6Rt-4LwDCZHr9Z3uqvZInI5ENwrqAOvbVP0JtM0Kmb1uLWpctzYmehcmbGtD3yd61PmYXsucOgToE9gotAO5Vi4N0JPltxhc0WNHiyDMAeHGiz2CkQExrzvpWz-NntkFFKstQ5GZRmcSeeXvW_oTyhMd8OVL6XBV4XuOKDwmr7bhA0Nfyz179Nn97FotKCJQ_lZmepdzVymiEUkm_9TMaiZlVhCukozr6C5c5mlDCMnZxPVKuAjUPygz-FEWLfYHp8VVA0PPtldw3KCSVMIhtCL5P9aecY731O92s9RImBfzMZm2HsH92uhaaSwhKKpuPX8xCAEoAuLLT_tYo61GjtCNv-GPOIj7F3vKbHck64mu96pUHDsb7J8vlJkXl1XSOFb9WJgUrOqpKE9C95hxRoxlyWHt07GVB6nc5eXLz9j-601LIwZR6h_tLOoeIUL8TjjL_SXDZhjvbBLj7rPm0K8AWJk2nyZK5dBFe3dfYTeuKv9D3D7Y7efXvYPwWd5K-NhPXOwd9In-EvEPzK3cIHstC8=",
  "id": "rs_01cd890dadd4e581016ab42354402487d0b3b63cc1d1b6672a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"left_x\":0.34,\"left_y\":-0.235,\"left_z\":0.15},\"note\":\"The overhead view still shows the dark fruit on the left. The wrist view reveals the yellow fruit bounced past the far side of the blue bowl, so I’ll return for it after picking up the dark fruit; for now I’m parking the right arm and approaching the dark fruit with the left.\"}",
  "call_id": "call_6PbSo0fm8IxOwna8bRADBE0R",
  "id": "fc_01cd890dadd4e581016ab42355fccc87d08ed074a805c1cfce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6PbSo0fm8IxOwna8bRADBE0R",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8677, 1.5513, 1.0122, -0.3611, -0.6315, -0.6254, 0.9991, 0.0856, 1.19, 1.0496, -0.9062, 0.1608, -0.2535, 0.9964]\nstate[eef_state]: left_x=0.3332 left_y=-0.2263 left_z=0.1352 left_yaw=-0.0133 left_pitch=-0.1111 left_roll=0.0249 left_gripper=0.9991 right_x=0.2962 right_y=0.0006 right_z=0.1707 right_yaw=0.0735 right_pitch=-0.4952 right_roll=-0.2861 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -6.9949, 8.5812, 1.4335, -0.5153, 0.0366, -0.0122, -0.4034, -4.6427, 8.1709, 1.2772, 0.0122, -0.0464, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e318f8fe0e1e60714af4911789f634fe99b0ad458ab29e18c954928538860f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbc0741bd35f7ed94700eb22e6d5f948fe36d518ee6fa05fdff39c2e6232e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b8aa586101166328daab05495d1b630b1b45560d3377a8068c34cd7d4d97cc",
      "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 · 5.875 s

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

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4347, -0.0139, -0.0269, 0.9991, 0.6617, 1.7462, 1.4662, -0.8001, 0.4202, 0.2729, 0.5098]\nstate[eef_state]: left_x=0.2892 left_y=-0.0003 left_z=0.169 left_yaw=0.0001 left_pitch=-0.0568 left_roll=0.0004 left_gripper=0.9991 right_x=0.379 right_y=0.2084 right_z=0.158 right_yaw=0.1102 right_pitch=-0.3895 right_roll=-0.2246 right_gripper=0.5098\nstate[joint_eff]: [-0.0342, -1.2103, 6.9949, 1.7167, -0.0562, -0.0562, -0.0122, -1.1419, -11.8085, 9.7162, 1.3553, 0.3053, 0.0855, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4423, -0.0139, -0.0265, 0.9991, 0.6621, 1.7866, 1.2663, -0.6563, 0.4099, 0.2527, 0.9955]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0001 left_pitch=-0.0679 left_roll=0.001 left_gripper=0.9991 right_x=0.3629 right_y=0.1981 right_z=0.086 right_yaw=0.1068 right_pitch=-0.4793 right_roll=-0.2839 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.347, 6.9675, 1.6923, -0.0464, -0.022, -0.0171, -0.1846, -9.6752, 7.3504, 0.9109, 0.2564, 0.0317, -0.1392]\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 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8677, 1.5513, 1.0122, -0.3611, -0.6315, -0.6254, 0.9991, 0.0856, 1.19, 1.0496, -0.9062, 0.1608, -0.2535, 0.9964]\nstate[eef_state]: left_x=0.3332 left_y=-0.2263 left_z=0.1352 left_yaw=-0.0133 left_pitch=-0.1111 left_roll=0.0249 left_gripper=0.9991 right_x=0.2962 right_y=0.0006 right_z=0.1707 right_yaw=0.0735 right_pitch=-0.4952 right_roll=-0.2861 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -6.9949, 8.5812, 1.4335, -0.5153, 0.0366, -0.0122, -0.4034, -4.6427, 8.1709, 1.2772, 0.0122, -0.0464, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e318f8fe0e1e60714af4911789f634fe99b0ad458ab29e18c954928538860f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbc0741bd35f7ed94700eb22e6d5f948fe36d518ee6fa05fdff39c2e6232e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b8aa586101166328daab05495d1b630b1b45560d3377a8068c34cd7d4d97cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNcoPd2tm6Ibl0ON6lQM4k3OYNwKbN67_WYoObpSMs6PXsTqWYTh3FajCItI79Qg9a6gqJnDUrxLSuxBkqygnCyicPw0h6R8vIqvd4nOitHZXs9y3_4UP8IbPuRBUPLAoKKRdUS1fdAxaMjdJt_Tmsh2QgtwkadU1sGiG7LduuDyzlszOZ5f9_4qBZAUf-iiL4NnlzEJKfoMACfQMKXZ2ABpa8TmwetqvlOeiSbGira2Xaagh9l6Sf3YLsrUvZRj5avaGK7hC4xkztMFmCGbQOHLzFO_ENu6h_qSAlo7pi1ANXf7S3S2IrTzyuDFbEqGaJ6mPeCZjiCn-qWeda5_zzkEQRI5AXUsJSk73q-2AuXfDaZqvTF7_YvfGmninGEIbBvlbNvlf61atPVvxX_7hm5KqPF4_oetUTse_KHLm2fzNmuXYdUtJvYtMEKig2TgtWBxOHsAWvXMxSTktYmMI9esB5Qc4G6KVvLk7kIuGch9xbgIa-0Z1JE5Nuuhuv3RNwZkBqEJZWN7GYBc0Yv6Rpx_PEou7y677sw5tDTrjmwotR4U1olQawT7fw7eXTb_xUYI0wGWQqMyrhW_EHPwiAX-tG7CvSKj6VHSBhZL0Fn0iwuH17C1WYSIXYsZU6y6FHwjhzAuDgyYwp_O5Yte3F7oZ7o_zCBP9d2CY58njSSmVWDnZEZYghHgfHR-r3iFJz3dgsROri7-jTcryqMIvV0MjkaFldIFlhQ-TMKWVtAAaY8Tka997wgn_xCVzsuO5OEbu8LfDuxlPaiKEw4RZDhNujY264ot7r71XKPkPCYmVsINrQsBJa4imaD_LLq_xb26U3roLxPX1A87oTtyzVpuQtBtFfPH5ryXaMOrSCni_YX6259hCDDx10w6xIecpuGGjzV1O4XrC1BteXpZiQ8L6LrtsLHUYBVAHRUMoW9Ovzpwt13sURi1hjVwffO_jT2qQGgTK-BFOXS5wwXk8UkCSCvX4QmNeqYRHTFmu3h9Tuxa02hIQPU-OanWH4M4a8OABoujrqS-noMrDkXPI_0wR-0HYbA27JOIpfo_x9hJPvHinnIDxahXfzU1Fz09ikmIrDbCZBtW_FWWyIGf8q0xQ3AOzb_pBZHlDuDuczZ36zy0jZUc4N-dAMhLQ_HHOLvDvaYgEDixUTfagGzP1cq2iITpCfFl8TqW25YBrwTxMuf6326L1-3jXimrsD3cJt90GlyMqGACMln0nQjvI52cSc1DWJjWpYEheCodtmNTi50DfEX4IaYcXowNADRqGAHAy35_GknAYyDRjBFQ9ySQPwRD6_cDxrrlgsotQZPSg-e5MW8SF9iIH5HRkuuAMSwBA_zlWucpmBXhC3tSRpXcdb-MgZzSe1XjZPAalKiJq8Fw-Dehi2LsVMNxTpeZ67ddF9nkRR_i0AWtaQ09hv4fdJZMiy29W9QatYa6csULK5ZRznqwTM1y29HeyoY2CVntjYxWbavDqSkkFcHpgpcMd8A9w7O1_AmP7VouEY9Qo88qhT76Gw-iwnNYW8eIGRR3FkZLh6J5azpLmdoO2kwSg2Cj3-tvu-Osmv-22Jev2wFy7uiO0ZDnrTWPqM3sg3XbJk6Bo3oUHzNGadS63i8S3M2X-C5Io8e6IdAxS8eBcRnji2AY1ffV9Jn3TznnOi6X_6ZvQ94ymcezbVmJ155017ePqI5lULoC33aQQRwPPA=",
  "id": "rs_01cd890dadd4e581016ab4235a058c87d0a571be2052c902c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.26,\"left_z\":0.035},\"note\":\"The dark fruit is low in the left wrist view and slightly left of the jaw centre. I’ll shift the left gripper a few centimetres toward it and descend to grasp height.\"}",
  "call_id": "call_BRiqAmpNNvhhwxQotSZweY6E",
  "id": "fc_01cd890dadd4e581016ab4235b328887d0936e2181bb1f29ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BRiqAmpNNvhhwxQotSZweY6E",
  "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]: [-0.9092, 1.8378, 0.926, -0.0624, -0.6445, -0.6666, 0.9991, 0.086, 1.1912, 1.0492, -0.918, 0.1516, -0.2703, 0.9965]\nstate[eef_state]: left_x=0.3359 left_y=-0.2528 left_z=0.0351 left_yaw=-0.0163 left_pitch=-0.1499 left_roll=0.0572 left_gripper=0.9991 right_x=0.2937 right_y=0.0021 right_z=0.1686 right_yaw=0.0926 right_pitch=-0.5112 right_roll=-0.2864 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -8.5402, 4.9846, 1.3309, -0.5055, -0.0513, -0.0122, -0.253, -3.8632, 6.5436, 1.2479, 0.1197, 0.1197, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908f75a4d019de6639a9de09540cd8ed200c362a910b5f4fa3a55e98617085b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726161b35b2d323853e417055c3c9b02f2ba4510a3f5861b0f402890b2e4fa97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a7d5d3a602dd666256ae9af006fc04e8eabf7915a5054f8cd9c62e6ca6bb003",
      "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 · 4.373 s

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

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4393, -0.0135, -0.0269, 0.9991, 0.6628, 1.776, 1.2804, -0.6559, 0.4129, 0.2611, 0.511]\nstate[eef_state]: left_x=0.2888 left_y=-0.0004 left_z=0.1671 left_yaw=-0.0002 left_pitch=-0.0648 left_roll=0.0004 left_gripper=0.9991 right_x=0.3663 right_y=0.2006 right_z=0.0951 right_yaw=0.107 right_pitch=-0.4552 right_roll=-0.2668 right_gripper=0.511\nstate[joint_eff]: [0.0479, -1.0462, 7.2, 1.7411, -0.0269, -0.0366, -0.0122, 0.0068, -8.8137, 7.4735, 1.4188, 0.2711, 0.0659, 0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8677, 1.5513, 1.0122, -0.3611, -0.6315, -0.6254, 0.9991, 0.0856, 1.19, 1.0496, -0.9062, 0.1608, -0.2535, 0.9964]\nstate[eef_state]: left_x=0.3332 left_y=-0.2263 left_z=0.1352 left_yaw=-0.0133 left_pitch=-0.1111 left_roll=0.0249 left_gripper=0.9991 right_x=0.2962 right_y=0.0006 right_z=0.1707 right_yaw=0.0735 right_pitch=-0.4952 right_roll=-0.2861 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -6.9949, 8.5812, 1.4335, -0.5153, 0.0366, -0.0122, -0.4034, -4.6427, 8.1709, 1.2772, 0.0122, -0.0464, 0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9092, 1.8378, 0.926, -0.0624, -0.6445, -0.6666, 0.9991, 0.086, 1.1912, 1.0492, -0.918, 0.1516, -0.2703, 0.9965]\nstate[eef_state]: left_x=0.3359 left_y=-0.2528 left_z=0.0351 left_yaw=-0.0163 left_pitch=-0.1499 left_roll=0.0572 left_gripper=0.9991 right_x=0.2937 right_y=0.0021 right_z=0.1686 right_yaw=0.0926 right_pitch=-0.5112 right_roll=-0.2864 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -8.5402, 4.9846, 1.3309, -0.5055, -0.0513, -0.0122, -0.253, -3.8632, 6.5436, 1.2479, 0.1197, 0.1197, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908f75a4d019de6639a9de09540cd8ed200c362a910b5f4fa3a55e98617085b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726161b35b2d323853e417055c3c9b02f2ba4510a3f5861b0f402890b2e4fa97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a7d5d3a602dd666256ae9af006fc04e8eabf7915a5054f8cd9c62e6ca6bb003",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNiITuuZZRWKVouelKCQuWr4zzGSWS9F_aEySpFzl-qCdoWMDeONmKjrWTPd25dJcoajV1bIn4NAhpJzqr7wRhjXlYkzk20n2xRWCEnimyfpz49Et1Z8cxNn_03gfO_9yEjKsZqn_HmIuZMPO17771yaKp8GbW0TGdREreYAfSAZkvGVyhFKy00Q5p-ktd4Zb1gfODxDX1JtO0eNipIEWNh3A1v3TNc1rhkFq5WKpLPbbj6yyIkARQoONPzuVnyA1NQPJSDISsr8Ekt-1x1cVtkV8bgM9e6bh5C8veT6d_bO3enSoo_SFwcT0KQgoXgCA25LBTDwwU85etUGVkeSTcZcXaLoZyFHT3F4wQAxscrQsPetEaNbghjzxndu_QDTD18-ydy8gOe6UkWuHuI-Rjgc16whvE9qi68Wqe4ZMaD6tKUxZAqVJU1py3GgF7oXePIA_4PQfZRIXcm_WtDMop6NQZGvyNZhiv-D1cBODiUzWXo44-LyzVHUT7JaMT62GwkMGmRS2klEBkQ2WioEKr2I0l-EaPIMCSSeZ2V_M7arEUGtxmpaihhB_qTiHzipL968aNm37CQaJOuBQPiUJlXaWVVLYrnMwog2KnpcCGsSnm3WJU6pal3V3bE-CgSBcN9xjPv0vgqZhNSMhq48dgoMJJGV7fI4f6SxqC3EE7nIQ-QVfLhZalaCzSaudS_yjN5ZF2-UCXpo78kfbSfZPhIWJsf8PdcghjQpgTXC7MOeb0H00j2Rv3aSElnex_nmmMy0ZKOj7XmiyvC_5X6RZKHhtjNDhT2exkwoIpGnMnZI3tvQt7DXFP4G9s6U-AQVvDmYizNA448JZn1xArfP2nTxyPjFpBcd0oBzIsSYRVZP9sLWOI5xk5g4kvFU3v7dkwnza8_N9nNJ7xWxA1cCSXtIGl_KZkl0DdA9nJLTIu8D4C7FBNc5JmZ9awY8Sg-CyxDK8etfcpimhqJHf2VRpwDcttoSzRG3nRVVgf-Z_9tfUmB1mKrFBcSLnzL5nv0icNsVNXAAeeqnEG9VHrG-Zf3UXaws5uVchWO4YzgljeGwWtWwyL6rMHOPWgxzaSd1On7LDdnSAyQmUchpakR9PPrUZeyFZ6cUUyDTkUTAj2Do_9P14Xr8utlWz9HreIWwfxKBibuLWZrMKWooytql32zgBseTOpgrTMLGgQlZDt8ThB-_njhqojGccIfiwVnOYwW4RFgTdDblpzLoy5tR1PGBHpUq6yCrSwt4RB4BBmP2sasaq-UVtaYFvWH4t68LBSfhGSjlniOh7jsS54U2BUX3ARg3RxCmz18aICRo-1INSo=",
  "id": "rs_01cd890dadd4e581016ab42361a98887d0bce99f079ed97fb6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit has moved below the bottom of the left wrist view at grasp height, directly under the jaws in the overhead view. I’ll close the left gripper and test whether it caught the fruit.\"}",
  "call_id": "call_Pv86qiaScywACrUb7hE76MeT",
  "id": "fc_01cd890dadd4e581016ab42361f5e087d0bfea0180655422d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pv86qiaScywACrUb7hE76MeT",
  "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]: [-0.9112, 1.861, 0.918, -0.065, -0.6388, -0.6746, 0.0088, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3318 left_y=-0.2502 left_z=0.0228 left_yaw=-0.0131 left_pitch=-0.1746 left_roll=0.075 left_gripper=0.0088 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -10.5504, 5.9692, 1.2137, -0.3443, 0.0415, 0.7057, -0.1709, -3.7402, 6.4479, 1.1746, 0.0562, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd40b336ddeb7016b1bcc0245df516f835708e42ef319c4f6c2dd7587c57ca36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7dac658b7ca294284562b07041ea43729984551c483ca930dcd72cfc584b3fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:397c8efa7dd7f86edc0987d0d650fe2e314b251c351985ac2966f097b63c1ffb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 3.248 s

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

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4423, -0.0139, -0.0265, 0.9991, 0.6621, 1.7866, 1.2663, -0.6563, 0.4099, 0.2527, 0.9955]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0001 left_pitch=-0.0679 left_roll=0.001 left_gripper=0.9991 right_x=0.3629 right_y=0.1981 right_z=0.086 right_yaw=0.1068 right_pitch=-0.4793 right_roll=-0.2839 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.347, 6.9675, 1.6923, -0.0464, -0.022, -0.0171, -0.1846, -9.6752, 7.3504, 0.9109, 0.2564, 0.0317, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9092, 1.8378, 0.926, -0.0624, -0.6445, -0.6666, 0.9991, 0.086, 1.1912, 1.0492, -0.918, 0.1516, -0.2703, 0.9965]\nstate[eef_state]: left_x=0.3359 left_y=-0.2528 left_z=0.0351 left_yaw=-0.0163 left_pitch=-0.1499 left_roll=0.0572 left_gripper=0.9991 right_x=0.2937 right_y=0.0021 right_z=0.1686 right_yaw=0.0926 right_pitch=-0.5112 right_roll=-0.2864 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -8.5402, 4.9846, 1.3309, -0.5055, -0.0513, -0.0122, -0.253, -3.8632, 6.5436, 1.2479, 0.1197, 0.1197, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9112, 1.861, 0.918, -0.065, -0.6388, -0.6746, 0.0088, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3318 left_y=-0.2502 left_z=0.0228 left_yaw=-0.0131 left_pitch=-0.1746 left_roll=0.075 left_gripper=0.0088 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -10.5504, 5.9692, 1.2137, -0.3443, 0.0415, 0.7057, -0.1709, -3.7402, 6.4479, 1.1746, 0.0562, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd40b336ddeb7016b1bcc0245df516f835708e42ef319c4f6c2dd7587c57ca36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7dac658b7ca294284562b07041ea43729984551c483ca930dcd72cfc584b3fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:397c8efa7dd7f86edc0987d0d650fe2e314b251c351985ac2966f097b63c1ffb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNnUDt_XxymAFs6VIOGA5_03y1RV5QpV24Ysxjv-eP-Lny0xZUB6TdFfye8Sv_3OIaUJ2XAgXciYH6jfrcGqwJWuD9H5wtSlc6L18l3JrphzwuU9FsrSTQ61DPI4ROXpbKuknvGcjW-c7oWEKxHgVlMzPXHBJhZ8OCordf3S1ogAHg-K7SiqdU6LstwDd6vRt6BmgxSU6DykYPG-TpFSE19zT3lrIMT2F1Wv3-xU9QppeGWKskBtyfyNRM0ksHZ3Cc0bX7Yzbrviwbs3DZKRDizEEig6nBhMUof51-NRY4aP2dlYJtItiFp9NR14c0MDpU5tRNdxrBFIfIVKw7ANTuGRT-t5Sl5bLnJKycHcWaLmEndwZjE5571VCRs0wdRev8-gbdblWiS_7f_bsgY2edixrV5ek0WuTYEgMILS8ipSOD3t0S8fkyROCVq-UZAurWkmTDhXT0mRB-aXzIo4olJBYmtCQREsQ-9t0mxrTrLPwSYK7Bm_UUM-BG3ZVfx4Z3YZ5St3hXFOR9rUvyGZZvm9JyHkI3xb747WWOXTifMU8_Oy_XyRuQb0SKJ-F885lXwi5wqG5OKjNh4XPxevO4nCibh7J_8kYgFMIMDYfdCeWjSHnR7eGS6foyPvwhr1LxgY47b5AtC1du9AAg9KCDD4yYLAemHckEWPNYIVzTTGwakRWwZTm_IXHDe887p6tHg5ndIsHlI3UeEWBJY4kfETgN_6QWCCFWJZRFK-UgvO0XpF_B029GEEjw3TwAV17Vl4-Ej9VBF11zz2oP5AiSL0uXDM-CCEhDCstggFikKCVhWyRQqaKIIlEYFgb3WHXZt2aiz79LpIhoPPTkrhtiYlpQSfpiHdw9PBiFuJ5SYx3rH3U2hDRPUJ1DbkjdaB83hYuMeBqTkYhvayPw-E4SfOnEb78K-gOVxDlgQe06mzQlFKX7wujw2JAmQ_N02Uc_Y3dl8LajdpYcag4-VcF1_IsVfU9h70ivjV_W0GAAdhVVOPmme1dzQGiBNUUlhFbG5hvPlvtODYzPmpzXglfDe1LU-aMQypoCeU-sFPQhGUUZcqRd2QweExESy-7pDb_BkKU0bajLgmeGzyIvuB_o9E3Sp1rbQL4I-ZR4AycceuT_cceAeCZTY7EPH54ItlxUWA9gOfgkWOfoOgPaP5HPpy7EENZUEasEPQprPyPkt7RES2HW9tMOUBbUWQAB-yI_VWgNCYnbSFWjK2cq6XWT2zV6V6D0A0Nx-pdqgeqA4gewP0afYXxDT4FZpNBtQ4UGKbZ0j08L1w_hNMBtPW-OJVTB9MB21dEeruczOYzNu084Uy9W5IFCTvSuv2GU28NQlWZXBmOPlnqa70DdHB_9jnYxx2f4JosCkwOTPnSa_bGub-ptV239YEzNHqRpEEt_vaG-igAfQCwGPqmc1rtSfRJjbVvf-x1R8GQx7vBvxdIA-V9Yms2bxXeFu2DWsLzu3OUGkxpm9JdMYxeSBzE7rNOYemxwx97z9QqvZizq1D6FK2-gnmRjmO7NTf7mxk_gczZU6lKnZ3Lcf2AOMBlj3gjHtwDb40cp6LyQDN9fzLHNtD3MJmWDazNR8T5hn6RTVp2bm6djhD7bAQXL1E_5wnXnvSDAwm1KwB7OKcttbnuBLnUSdXY0bOgTpp3uy7oV4Gwlu6__EGaHa9mmP6vFlzFduiMgsjXthQoTmETjcvhTJE03E7JR4Wkn2tO2p_9FIXFfXfan9snMFalse5-P7xk-j8ZmPHhUKn5n_2U0gZbfEigVDwsqbT3NsBULtP-ykj7NyRCiR44DBsqWL_uF0lfAGIny0VE6ciYwC1-HyoozKPOGr8_I4s6ZKMMsjIUJYfZrntPefUxF_S1Wf0E_BffvpFnBVQG3b5jcxnk11HLQ-VIg8a0J1frEEzyadyjcwL6R2oKLUxJwg0ntZrSBFGE0Qi6K9sz0GHyqq637HWVy2m7KoNk4kRvQabyL1WT0ZytAdg3Sx5xVgiQrUETPc4lu2bKigLK8O3jXL_n6XDqBlrrhOD_K5QrXhqxMd1jkB",
  "id": "rs_01cd890dadd4e581016ab42364e42887d0813a7f74f707ffff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.2,\"left_z\":0.048},\"note\":\"The left gripper closed fully empty, and the dark fruit is visible at the far left edge of its wrist view. I’ll reopen and shift the gripper toward the fruit; the first lateral correction was in the wrong direction.\"}",
  "call_id": "call_496ZoYyaq4j2hc5BJOTg2IXE",
  "id": "fc_01cd890dadd4e581016ab423666eb087d09ef4189b94170d79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_496ZoYyaq4j2hc5BJOTg2IXE",
  "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]: [-0.8112, 1.6955, 0.7925, -0.0677, -0.585, -0.5903, 0.9951, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3312 left_y=-0.2019 left_z=0.0395 left_yaw=0.0003 left_pitch=-0.1871 left_roll=0.0788 left_gripper=0.9951 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -9.1282, 5.3812, 1.2625, -0.2662, 0.1245, -0.105, -0.335, -3.6991, 6.5026, 1.1648, 0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24be0ee615322923645209bfcbe2be23cae16a148783a0b7a8c3ac9b11e2104e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a13580a350f671732e1cdd0639e55d5d89e3d4bd2c40b5a675aef635d38e574a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a0e7e3a40aa865455c6205d848802779bb16febaa190644a98d4585eeaf02a",
      "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 · 2.328 s

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

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8677, 1.5513, 1.0122, -0.3611, -0.6315, -0.6254, 0.9991, 0.0856, 1.19, 1.0496, -0.9062, 0.1608, -0.2535, 0.9964]\nstate[eef_state]: left_x=0.3332 left_y=-0.2263 left_z=0.1352 left_yaw=-0.0133 left_pitch=-0.1111 left_roll=0.0249 left_gripper=0.9991 right_x=0.2962 right_y=0.0006 right_z=0.1707 right_yaw=0.0735 right_pitch=-0.4952 right_roll=-0.2861 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -6.9949, 8.5812, 1.4335, -0.5153, 0.0366, -0.0122, -0.4034, -4.6427, 8.1709, 1.2772, 0.0122, -0.0464, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9112, 1.861, 0.918, -0.065, -0.6388, -0.6746, 0.0088, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3318 left_y=-0.2502 left_z=0.0228 left_yaw=-0.0131 left_pitch=-0.1746 left_roll=0.075 left_gripper=0.0088 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -10.5504, 5.9692, 1.2137, -0.3443, 0.0415, 0.7057, -0.1709, -3.7402, 6.4479, 1.1746, 0.0562, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8112, 1.6955, 0.7925, -0.0677, -0.585, -0.5903, 0.9951, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3312 left_y=-0.2019 left_z=0.0395 left_yaw=0.0003 left_pitch=-0.1871 left_roll=0.0788 left_gripper=0.9951 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -9.1282, 5.3812, 1.2625, -0.2662, 0.1245, -0.105, -0.335, -3.6991, 6.5026, 1.1648, 0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24be0ee615322923645209bfcbe2be23cae16a148783a0b7a8c3ac9b11e2104e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a13580a350f671732e1cdd0639e55d5d89e3d4bd2c40b5a675aef635d38e574a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a0e7e3a40aa865455c6205d848802779bb16febaa190644a98d4585eeaf02a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCNs3akIk9RemldGAovKx2ZzmsFi6fVLPTF-25q2C1FC1F1hHqfHcG-wcT3khu0LsSkB6rNuM8HSS9avg4EnrgdrHLjDb1vkUz3uaa2tjCWz4zMy-xTn5CWwKlJC1uNa0jakbWU0JByzY-mm5954N2JJT0UVaU34wTRoBY57CRniiy4Sn9OiOA0OdLF2J9JiJNPDBGEm-nfIN3YM7CdDOfWHMCrMsYFskcoMS73BuSgbVu8VGTT5iP2Px1JRCj7dkuGXJTXq5XkDNkIYy5YCkTUG36dhApO95ZgCq1VqcFqRNqy2r23-55Gy1CYUbS2UKRbioE26W-CxP-4gzu4ojjXWlDP1HU5UcWbyw3Pk2GftcpiDy9jWCfjH51PvwwhsKgCySCE9Oxno87kb_U66UnZacOB0oxGndd11HLyxGs_mp4WxPXl-R_dm0atiDHmS5vsHGP9r4qSutFo-XW4JVHZOBLhlfUEbK-ogQOQGYDPCMaLu3tdoApvgcZdw0Opff3bfMj3Xm8GW9XpQU63C3_AIXXRvAjQTugOxHmU9j9QVTNRfTZ77wgj-bvAidtL5ZVv-cMFH4NXnU58WHTUhSAwYrHzWZ7W6v-RcHYEHJnCX-AtcOfFKCiiZQQRr77aBViIX6ai0Se2ILtlfp1sWsoffWCqjNLDy3Mlovel-kLxWuIAXdIjPqsVIdcR7UCK3QLUBjzNWmrff-gvKpf7If8X9ocst8Uz4FqyR77IjR3bw2Jp9ckN6ABfchwJAzr8JCbHQ-YXNBbmkwnA3P1wcB5H0mi1DWhJh3Nc3XQ7fi9OuxvsUMejFzGvFd7X1jMi6l62pIhFadId2Nax0nBDvMGNE1etqSe6nCSQeG3TZwczqapeIFJwcN62j-B9ynfBBQyUm0L649J4_tbpvPt862lO1Og2sn_eBTpCDXiO8mTDb0mAObfvNtlEjBCY0kTXAo_4PGEEOICBH6NoPw1WWFQLWdRwoimSjtBu5SBCpJo8lNbhxttMFPHEbeLCTD9d7XOFm1BtxAA7wPzz0HM_LUTrU5AqlLo409D5DrfKdEqWkGYNNxRYlgfv3lGqnYI4s-Uqn9_dtST4ZJsopcLCk1MToQzgcFrVaGVM2mddjdTnV2SXg6avaB34nYhF1uVKwqmK6q6kAmuR3uefpJGbBjnU-Vooi-iQH5G6i93Gv5980A73-R5CMA-YUuwqSPSLH4fvNA2Sh8pRhJpYe7CDbZAXMHrIxAl3DA2IRE7pUVrYoIzw3Yh5UsiNXPnIYzDc2Dmvm-pcWvOyhFrkUwpP75s1-JYF-rLQjk8HmT9F1kw9iwdldNVvmdfmjjKju3UJ-eNWsSfj687UxMWjn_qLWNeG37AdzDbymnJ2RtFvKdGVDnpIpkgPqSTtp5U652lrEyOhl6KDQHY70-aWJNsiOb2IQKkbIweZl8JrYFPzwepI6CTEpciJEtXCwrASKi6mduphKyCAZQiMTldj4ZkBrx8CS8emIUusraHsaCUqzEKdefO_d3TibZ4ill0bA3tZu6l9sZUF3LNJlOBbkN8sIY9ZUB4vdlL_c8Q2tQs1o8wvLt5-109_nxGsP2JpQJyX23sXeY0-KZzmVpRKHlQJunttN4z3bjVwI-UgEQrcSSSFpKLUHgyN2q2NzUUsn1izV0mhLI-t95Nt-a2WcOqWX0yx9oerG4k8luIl3dq9SBvOKaNih8zqJk5Bhd3VWQ_17oJufTjDZCSuvfPULoGJMofmoMzekj-NZjaR-ZISGpZyXKZ2d4BGJGler1Alg58DMrJTO29oeaomWTRymRwiEZdeeTC_vcefjTcni9k1V-PUCjdSTgrzxhGyYhw0_mbt0DQLI",
  "id": "rs_01cd890dadd4e581016ab4236a197487d08c7810eba2d52d6b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.17,\"left_z\":0.035},\"note\":\"The dark fruit is still just left of the left gripper’s jaw column after the first correction. I’ll move a little farther toward it while keeping the open jaws at grasp height.\"}",
  "call_id": "call_JEYjq0Qj9gGJxnwvTKtvH3tw",
  "id": "fc_01cd890dadd4e581016ab4236b678487d09384daf19a484d42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JEYjq0Qj9gGJxnwvTKtvH3tw",
  "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]: [-0.7456, 1.6562, 0.701, -0.0189, -0.5545, -0.5457, 0.9962, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3276 left_y=-0.1711 left_z=0.0276 left_yaw=0.0211 left_pitch=-0.2094 left_roll=0.0958 left_gripper=0.9962 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -8.5265, 5.9145, 1.6093, -0.149, 0.2271, 0.0952, -0.0068, -3.6718, 6.5162, 1.2283, 0.0611, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c09cf05191e3449278268e8b57e639ecc7528a30ae07f8c66568dbbcf28de34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d696b0efc4a8a0eaec05be189cbdd3d662058fc6b3370c1f159db4bb33bd65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93036bd872d6e688bf56ac05c0ed5ab6bb396ee925043d4cfaacb4e7847a7a4b",
      "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 · 6.355 s

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

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9092, 1.8378, 0.926, -0.0624, -0.6445, -0.6666, 0.9991, 0.086, 1.1912, 1.0492, -0.918, 0.1516, -0.2703, 0.9965]\nstate[eef_state]: left_x=0.3359 left_y=-0.2528 left_z=0.0351 left_yaw=-0.0163 left_pitch=-0.1499 left_roll=0.0572 left_gripper=0.9991 right_x=0.2937 right_y=0.0021 right_z=0.1686 right_yaw=0.0926 right_pitch=-0.5112 right_roll=-0.2864 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -8.5402, 4.9846, 1.3309, -0.5055, -0.0513, -0.0122, -0.253, -3.8632, 6.5436, 1.2479, 0.1197, 0.1197, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8112, 1.6955, 0.7925, -0.0677, -0.585, -0.5903, 0.9951, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3312 left_y=-0.2019 left_z=0.0395 left_yaw=0.0003 left_pitch=-0.1871 left_roll=0.0788 left_gripper=0.9951 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -9.1282, 5.3812, 1.2625, -0.2662, 0.1245, -0.105, -0.335, -3.6991, 6.5026, 1.1648, 0.0171, -0.0611, -0.0122]\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 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7456, 1.6562, 0.701, -0.0189, -0.5545, -0.5457, 0.9962, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3276 left_y=-0.1711 left_z=0.0276 left_yaw=0.0211 left_pitch=-0.2094 left_roll=0.0958 left_gripper=0.9962 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -8.5265, 5.9145, 1.6093, -0.149, 0.2271, 0.0952, -0.0068, -3.6718, 6.5162, 1.2283, 0.0611, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c09cf05191e3449278268e8b57e639ecc7528a30ae07f8c66568dbbcf28de34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d696b0efc4a8a0eaec05be189cbdd3d662058fc6b3370c1f159db4bb33bd65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93036bd872d6e688bf56ac05c0ed5ab6bb396ee925043d4cfaacb4e7847a7a4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_01cd890dadd4e581016ab4236d307487d0b313f29df793831a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws now cover the dark fruit’s tabletop position, though the gripper blocks the overhead view. I’ll close once at this corrected position and check the opening.\"}",
  "call_id": "call_MNu9YTfcndHhF5gB4mwgKtQB",
  "id": "fc_01cd890dadd4e581016ab4236de48087d09a4116cdbcc98f0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MNu9YTfcndHhF5gB4mwgKtQB",
  "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]: [-0.7288, 1.6527, 0.6838, -0.0097, -0.5373, -0.5205, 0.0088, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3264 left_y=-0.1654 left_z=0.0232 left_yaw=0.0127 left_pitch=-0.2237 left_roll=0.1065 left_gripper=0.0088 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -8.7726, 5.3265, 1.4628, -0.2515, 0.0611, 0.569, -0.212, -3.5897, 6.5026, 1.1306, 0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:665fe9b2dcd5e75986e4c4069e18ef49a0bcf3dd0c1c65b1927ef7c8e30e70cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0bd1533606e3d07a48adcccba16dfd9511643f859b2e9afed8b5db8068794f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63a08ca62c0cba2a4cdfd5c0dcee511fe6edc02289a9191a89e9da2f15ae721",
      "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 · 5.06 s

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

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9112, 1.861, 0.918, -0.065, -0.6388, -0.6746, 0.0088, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3318 left_y=-0.2502 left_z=0.0228 left_yaw=-0.0131 left_pitch=-0.1746 left_roll=0.075 left_gripper=0.0088 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -10.5504, 5.9692, 1.2137, -0.3443, 0.0415, 0.7057, -0.1709, -3.7402, 6.4479, 1.1746, 0.0562, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7456, 1.6562, 0.701, -0.0189, -0.5545, -0.5457, 0.9962, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3276 left_y=-0.1711 left_z=0.0276 left_yaw=0.0211 left_pitch=-0.2094 left_roll=0.0958 left_gripper=0.9962 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -8.5265, 5.9145, 1.6093, -0.149, 0.2271, 0.0952, -0.0068, -3.6718, 6.5162, 1.2283, 0.0611, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7288, 1.6527, 0.6838, -0.0097, -0.5373, -0.5205, 0.0088, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3264 left_y=-0.1654 left_z=0.0232 left_yaw=0.0127 left_pitch=-0.2237 left_roll=0.1065 left_gripper=0.0088 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -8.7726, 5.3265, 1.4628, -0.2515, 0.0611, 0.569, -0.212, -3.5897, 6.5026, 1.1306, 0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:665fe9b2dcd5e75986e4c4069e18ef49a0bcf3dd0c1c65b1927ef7c8e30e70cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0bd1533606e3d07a48adcccba16dfd9511643f859b2e9afed8b5db8068794f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63a08ca62c0cba2a4cdfd5c0dcee511fe6edc02289a9191a89e9da2f15ae721",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCN1_QjvMhBWxgZmMzze4-hmO5enW8T5XCZgQtVFZWecmLHgj-E6g_JxNN9k2Fqns3GHfUP92x-0TN63KYBDcEgmkPZb2u5UghX3Noc8BWOZ064qOTDOFAn9bCLkxX_nlgMU-y2tUBm0ChhcfuJT1SDBSScAoJI5GMQB0Dadp30XTd9Ki0wntEVX_esoo0CqgwPpVRJNMNF91yU41Od-hjeQtsj2JBqMkjjGx0V_yqdkFdB6Dru1feA8jJ-Pr7QDz0M1zlPYm2iwPytsHQpGNwwx4R2eqC1GNSpRDioSilJzYFCcULArlNas4HoVg-Y79OauF_UQkrnxiqbA2hVlvcmZafiHgXi_V1CvgKzPP58MmCV-oG8xXJWQ42XR-c6ex7sPFYCjG5czmOFmxgd-NVR1eqwhpCpzp3GDMMzuJN0qWhS335ifYfTJA1hQwnKc179CqKL7jgZk0EEWk3zllrhx8a9oDLRNO50jNscYK_8RrZWMoUhqp_zox54Z8wyZbQojSUHAwY8-2Qy9qZAAkBjW2Qy6B6iA_LoXhXWmyGQU0lB8RyRZRE_92H8ZnGUG7kMEYchqDHmNF6pgn916-_phtFwMJYn-pZkFKck6-m-h8EMvpe8jL1kEh_hyAVfVsv6GnW-MPgWQuSrmgTtV-mUzGBXjkqVQ8D5sNokdXFxycthyxKD_m5d_0UrbyqDMoDvy6fVoTBd_VH9ltK0z18dzVYPyCqABQnD6k_RcHZrGFL7NbeUeUCDKjWsEqgyJ3RBpLkIwPCJXLc0X7SC5e7yYvJXYv6LjlF3-9AUS4O3dysNeOoRBWd1fcUv3rHXI_vNJqRvaLeWUs9Q7e6j1OXfkdpISc7cxXu2CM74PwZKgswyadzmtN9ULT8k_7xBCW3jTydyWeH_OM8nDmUWnUK_VHM462oohl8EhMqd-8-JjHN2dWB1HP1CUoIroa6dGwitWtq5RKCOlLMlQiE1xnkU_VckIyCh_imk1qaMnLfj1LvIZJovRpkkvnGmV7W_DhmmGok61TXPOIcJZOlNSIkrUJAX4ZIEhJFJ_au3V9gSSkJC9FaIIdiFm36zlOnVf5IEYVg9DfqTqa6q-Ojueul-GBdwLOtYEkLLo_9FWjfXKKCqY6l-FrGHjA11n3SmWnYpWKRyTPG3ywXig-xUQeIRXL6El650sDOji-QJc9oCM7gRDc1huaKHSzXHiNqdVz6BxCMrxs8hjYiZ6D1MoGvhohhuS2XkKSbOj6cwU3grbXGVQq_uTMN8RFyN0oiopkaUmDvs-tka6DLJeRTW9pUvGq0eUAEsAvLTWMRLaaSDBNcxfNmE2AoQAMpGFpeZ6ud_KBxPPS0Inw3GSyl8GPj6MjZZMrQ4dxTDpAAcBSR-DU6CV6U3EWv818qRZKwmOoLyxFa1p-lPK8Ev0OC-vg93YufhJclUk8AXQCEa1TlZJ-nMYEgjD0CWXLOUpS36T24PNEyv-RoL871VaIUlLunRwfsaz6jgJy8c9mgr1G-pExVtCXlxkvLFV5xcvHvGhecjyaMm_RXo71725c9jXR8AJZlbUJwAT7ODqiO8w6jdg7nCdHlFZxO8JFmaqkrr4nX9QbcH5DeHo-7Rrep0C0jqwDbCMdGdPjUy7iAoRkgt3trPgvteE_jP8tA30ptAfkadiV4NkAervd_OV3pwYOWO1wMm9aHbiDQ0BBOCKIIEEaTadqhR_kNgHTIbGupzU9jlOqg1T_0YLRqKrM-I-z2FUfDbmUylNYdg1zrM3dumwdpOhEF4_PBNfWlqI6Wpkzai9LV0zMWfn_yfSnGWffkSNLqz1_tGNKU3EvWEfJvzFdzZ_39tGHemPUtzxHiBvf9gPscRcG7g2BjbVgxRwJL7F5qRrQ3E-0v0LWQ0JlPFhjj8bMjG9zzqonp1DxG4VjWy9aZhuOE-f6ADIGMofFx-HEzM6DlHD_mZ7PBQN_K5V_aGCUPhbss-N74RcCj9XjVXmz-u4twUq5Yxy0GG-KwoOAHA28mNfYbJvNw3ET156f2pnPEI3Fu45q-qHKxkK4BQWPc8Bm1kQ-jv4aQDIVpUjjScPp58Xk-nTD3YXxwbxJzjZr1LAuphOIVqa7wt0Obl3Q97e1hn8AdXFmNmuPQ6rsfsxo2XrmhaXl3W-LUETTeABQirBiTAcO6RDbnsuDgNZp1oSag3TpJ68JMkicb9tLLIrWR6Nb7RDSsUzGWgx41p00Riuu-ZPsX81wqEV9MaliuZXMFLRiMjAU3iiu5nVHT-gy6bCphmRGKH9sGaPxttDKTc0x2Ne05_CDS9fEBxFP2QBzn-GC9wd_DNitF6uJp2Om4TG2BCQW3LqXEEbZWKGczbHCHejPN-3IF_GhVjCTdzMlSyM_nDC2np9C8dVRscil6F9VuCL6jVWTytNcM1raWl7g87mykczqH9Fb-AQx7c2kRVgGD9kEF27_LkzWnhmOai8afCq2HNdUO6PhuWVH_KjxqpBisYw9-C9AVFYatswbUIX473AJBCBoEkkS7KXFAhZhAifTMA9NSn1A_hgY9eLh1zK9jKf-1OQVQxG-bZtfWL7S5GjpdgF-nWxfprCb2KE5dopD6q2gDaOtlFGo_Wb9YZsB8hP68MSKfzSw909qlGOMD8j0yVKPRaz-n7s-BNIqvmdZIdAEJcfArxxO4-YpzPZe4ar9Elbb_ilA0M4oUpZrS-mmKC91Nnws-v6vtguvmGeb86s_eVC629X6vu5D5Nf3qLwjCDZx2jRziqQyXFHC7wY4OKKB7RyTRF5wsfRJ4bUNcUTSe4fAsFglyDFliX_T2f1KgJwS33vU17mTtPITjUoenrHwXKBHAsQfXcoNqgzP4uVlUPRgDldM3R9TOOmQpAmXOuTQ-pKBNLUIel3ecWAySRKg2VQRDVLcFeiJZ9F0Ii_eYP0NZPJuqaGovuz8ea5zSy6R5BzVgWqrYChFiOW14-k0tJ2s194XHz1dlpOBPuXWMbZfGJ0lKklVU997h-u2bxLGOG7xZblaCeR6leXrXu9ayBKmFwibetSB2Ah7KNH5CuHPxFAmeu_aKeUbZ8Q65ScWOCgZ3X_gWIfltRYXfIn9b0SRbVnHvXJO2bk-K9y4hZZsqy75387BIRUQPTK0gpSSLV3ntigkVygK2a3IQVuRRl8USHKy18TNc8E2Ys67Cu4rEIlUhjvKHsDlt5ICbmR6ettptZ0-NQ0sXa-KqqRAJgIGSxksyACCBs8gAzqqiU_HOFdHRSnRsVkwtbzOwyFMBnZW2CpUnRM86gfLxtJpXaSwn1WMI5Qxifvr4hXDRLSc-ohna8k96YZpXshFnmwnz93vjTGGr3WsvNWSBtfgp3TDmQcugC5nE7cQVzqYg5XkR6J4Fdg5lMNeoeIpVTMxTQ0b4T1H3Omeb5vhKxeYM4KvkH5dMNgD67BWZwCwjZANTvhl96GPaVncyT9OKke4NJT5eBfRpuXr2HBDm7TKkhX2F7IYWQxAzNN4beYadWkiP77HDEflJ6fwfmRaXu6Q9wOv2dAvtQq-gUIXqmTh5lRgw1xYGu1F287TJLB_c7r7O0=",
  "id": "rs_01cd890dadd4e581016ab42370b42887d094b51165e7171a32",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.25,\"left_y\":-0.18,\"left_z\":0.16},\"note\":\"The second left close was empty, so the dark fruit was not between the fingertips. I’ll lift and withdraw the open gripper to expose the fruit in the overhead camera and re-estimate its position.\"}",
  "call_id": "call_dxwY7XQzdRyGRPpoi4Iuu8D9",
  "id": "fc_01cd890dadd4e581016ab4237529b087d0a1c0500a7c71fdeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dxwY7XQzdRyGRPpoi4Iuu8D9",
  "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]: [-0.9855, 1.3205, 0.9504, -0.7368, -0.6346, -0.7773, 0.9949, 0.086, 1.1912, 1.0496, -0.9184, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.2558 left_y=-0.19 left_z=0.1454 left_yaw=-0.0168 left_pitch=-0.2325 left_roll=0.0791 left_gripper=0.9949 right_x=0.2937 right_y=0.0022 right_z=0.1687 right_yaw=0.0948 right_pitch=-0.5116 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -6.0513, 8.3487, 0.8327, -0.5934, 0.1245, -0.022, 0.0479, -3.7538, 6.5162, 1.1746, 0.0269, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fa1550dbfc687abb4c5f72b323a9a5ab6b48502776b39aec283b54faf4a12f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d7a929ecf8659837b48a97629e06081b2924e097aa1b910a5e1a66fc682994e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af2c46976f99bc48c46befd5dc88218d3d481793a9ee73b6ef3fe4abc67ee75",
      "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 · 3.684 s

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

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8112, 1.6955, 0.7925, -0.0677, -0.585, -0.5903, 0.9951, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3312 left_y=-0.2019 left_z=0.0395 left_yaw=0.0003 left_pitch=-0.1871 left_roll=0.0788 left_gripper=0.9951 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -9.1282, 5.3812, 1.2625, -0.2662, 0.1245, -0.105, -0.335, -3.6991, 6.5026, 1.1648, 0.0171, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7288, 1.6527, 0.6838, -0.0097, -0.5373, -0.5205, 0.0088, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3264 left_y=-0.1654 left_z=0.0232 left_yaw=0.0127 left_pitch=-0.2237 left_roll=0.1065 left_gripper=0.0088 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -8.7726, 5.3265, 1.4628, -0.2515, 0.0611, 0.569, -0.212, -3.5897, 6.5026, 1.1306, 0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9855, 1.3205, 0.9504, -0.7368, -0.6346, -0.7773, 0.9949, 0.086, 1.1912, 1.0496, -0.9184, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.2558 left_y=-0.19 left_z=0.1454 left_yaw=-0.0168 left_pitch=-0.2325 left_roll=0.0791 left_gripper=0.9949 right_x=0.2937 right_y=0.0022 right_z=0.1687 right_yaw=0.0948 right_pitch=-0.5116 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -6.0513, 8.3487, 0.8327, -0.5934, 0.1245, -0.022, 0.0479, -3.7538, 6.5162, 1.1746, 0.0269, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fa1550dbfc687abb4c5f72b323a9a5ab6b48502776b39aec283b54faf4a12f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d7a929ecf8659837b48a97629e06081b2924e097aa1b910a5e1a66fc682994e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af2c46976f99bc48c46befd5dc88218d3d481793a9ee73b6ef3fe4abc67ee75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCN7I71iKFrNuZdnK2w7TImMUSvMHyoM9Snf4jWJdGg-xo6BTr-YDB_VdgiVJRSQTWQcd4aZuFV9a52wyEX9NyEkgq74wcpxJaLkiTY3U9jcDfH_Ookjd-2BHAuWcNi0JE_c54izgF8cZP_4KwOfjlRi9UwrCWIEjXPDdz4Gq9cGEzasJ_AILpI6va7QlSBEvVpVxNTpe1C-Ud-lKv_8v15DJeGxwAMkcX7f7ehhSjG3wi4sVtVG3euneZZ8UF8mO8MlyXDA-FWTwdLw4xA3V2bp029dNmckNPMz-pnNUHpOEIZyYsF9BjYHJ3t-d9o2viTCrnukBzVOFkREcnyId2SkCi8ZPXt5XVecd4nhHzrPQFMjeEpmU4VjcdR5wwmjwhCqkDNrNwWLo3xsdHyuqQRTUmb9_l0mOjURTg5CUl_s9uwujpYOe8E03Pu_h7R125JBSfuQndS6Ly_2sfyQ6MPAH3n0MYOVJx1wDYAaGm1KfhfGFVFg1xou1HqtjSvl-wFSBIVxmRB1gXCeG4sroZEfTejHoP008LT6-9cR2Nevj_4IbAtBVGirK1oOCkTELjmwunx0opcdRgafji-awlQyiOzkjP5x0wxckpwBxPMwWYn64_-2spkeE3n1q_t2vRFWXZcg83cm6-LtPwpDjtlqA2gOl9ZPFhuxMfBaYVZnp81WsXp39NKiemPHnPAg9duo0nSzalPZAaIEspzfkjiAw1IA9ivEWnxHOPx02lVhbPn0Hd7n2GpQtANiIJhEaXgFGDU88eJ3ISVb6qgRH0boymVU-cAc4At14nLQCeLOdTIq9pt2srYrHFGGTgZvBHPpECd3LVSl3gL7LSPQ2ElRkRJoCOThyhbUJ97JoVYwzGR7CIFxnoEKBZiTDOcjJ0Kyph8D_PVeq8H208YaSModhclO5-pHOWyYU2Kp1fCfubUN2bWmhtMCg2tmB5XWpdfpld3NAapOBJ5MMcGFfrmhIN0WNShOVzxkVpHN-h2eqm2OhevRgXOa6nFzYKj3FsUWSzo50qgsXjgalm5kMdW2uF3vys9GT45nsRCvnRT78NvLgo9FOj0WmkycTXZ739xpJlwxjbXL_24Px-WZUpcNE_QhpeQQnuM9RE4vgXFd73Z-g-DsPvtBM9aJRhUfsSk_zcf-LWFwXOZnbGOUNXFNJYx5A8Mu42xQ3NTDCM8NcFJgraHP-GGrbl8qHiBC7q6puVl6IspwcWxfrnRXpWR-BfUF4Dzjz8rsyEytzLEyf6XVMeS3yXDzLF9_M0aP6XbkT91yN36UnidOR0tF5DXegPfQZLVC8-CKHU6L5shBnZcwJdGHPbzMVeHCevohFAdgShldxACEWMVdtHPMLph0P_TgjsULlvlEPcgRim_TFjYDL7qwNQP5HFBO1CCaCwC8S5TIOWVHMFOY_shaWo4brvW1p0LGnMWf6O01w4DzZqe4eyiCRaPaxVtxqFk4rT5zCNwJggDVYE7PcLXSkWBK7921W19r0NpwTA8wd9KWFhB6Q8rldOupWRYXUg45PGWWVb1xXZlDrowoYaA2Oq2RtqdpnRY7EZVKJUzCDACH1fdoFOZ4-8L5_9D9AVSqcwnylBE6AGUFuNDCkN4RfFvi26wLZsg49AKSRfjxv0XaR-kEGRIK6SXrG7Pk6hbgB9aJpAQlKq0dzs1ZM8rDGm3CTIc5INt5yALMQSBqPcn19E8Itybj66Tm1n4A0-HwP197atJs9KztoOcqE1Nu0-lQmZy-XXBnsiQtflL23KbDRlEJW2P6_TV6qeO0XICwhRL5YucUX4m8AaMDb8OwCqF88USPS6Xe-QLGwS9nJcJgOa_FSBme7arn0xl1bWpz0WeQlbnDep5rOCqoVQvVY5ZTDHKi91qikTftxssbBrXyJy7dWo2ZP4u9C62KPF3pArh0DTauqRtvFvpnbzanRIZmckp8J2hfZqf9F0lG66E-CWuckp5612tTsM72hKgtfm45Fk4yQk7oOMYtbWxgwH6BBHuNjZWe2f-wTfsMiZAjm4yPRMIaOO_e9CKOIfKJ3wcLpj0-EOPGB-QnThTCppIJsHNNSJyYJ8spyxwFRiTkmwDK6g-wAUabW-QSUp8EtvJKsHpjFqh_S8JPV63KQEIyDdY_eVWSDePmLjt7nXHSNwy2724jM0m2wGGFCczsprUjBSJbq2hykXT3KcsUMLl-BCTzz_SZBAjrXBvuq1dJ3dw=",
  "id": "rs_01cd890dadd4e581016ab423784e0c87d082be24619c67933e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.13,\"left_z\":0.12},\"note\":\"With the left arm withdrawn, the dark fruit is visible near the left side of the gripper and farther forward than the fingertips. I’ll approach it again from above, moving forward and toward its tabletop position before descending.\"}",
  "call_id": "call_ARe1kH2vS1DMMRB9wKz1ogNp",
  "id": "fc_01cd890dadd4e581016ab4237a94ac87d0882a7ffdac223afe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ARe1kH2vS1DMMRB9wKz1ogNp",
  "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]: [-0.6617, 1.2938, 0.8021, -0.5152, -0.4862, -0.5121, 0.9961, 0.086, 1.195, 1.0492, -0.9222, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=-0.1244 left_z=0.1121 left_yaw=0.0438 left_pitch=-0.2737 left_roll=0.0986 left_gripper=0.9961 right_x=0.293 right_y=0.0022 right_z=0.1671 right_yaw=0.0951 right_pitch=-0.5197 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -5.5453, 6.4479, 1.4188, -0.1783, 0.2222, 0.1099, -0.1299, -3.9863, 6.5846, 1.1893, 0.022, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64e519e2be051fbe5ff8ad039f176c536e11d00ed74798aa5fb2d793ee347808",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87af3bf49c576ec0c143b9427c2ccd0f3d540d049c0202ef59b9f3cdfed646ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1b7ade7724da252669a126f52f0b758715071660e627cbc61094908e9e3865",
      "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 · 2.838 s

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

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7456, 1.6562, 0.701, -0.0189, -0.5545, -0.5457, 0.9962, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3276 left_y=-0.1711 left_z=0.0276 left_yaw=0.0211 left_pitch=-0.2094 left_roll=0.0958 left_gripper=0.9962 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -8.5265, 5.9145, 1.6093, -0.149, 0.2271, 0.0952, -0.0068, -3.6718, 6.5162, 1.2283, 0.0611, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9855, 1.3205, 0.9504, -0.7368, -0.6346, -0.7773, 0.9949, 0.086, 1.1912, 1.0496, -0.9184, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.2558 left_y=-0.19 left_z=0.1454 left_yaw=-0.0168 left_pitch=-0.2325 left_roll=0.0791 left_gripper=0.9949 right_x=0.2937 right_y=0.0022 right_z=0.1687 right_yaw=0.0948 right_pitch=-0.5116 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -6.0513, 8.3487, 0.8327, -0.5934, 0.1245, -0.022, 0.0479, -3.7538, 6.5162, 1.1746, 0.0269, -0.0317, -0.0073]\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 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6617, 1.2938, 0.8021, -0.5152, -0.4862, -0.5121, 0.9961, 0.086, 1.195, 1.0492, -0.9222, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=-0.1244 left_z=0.1121 left_yaw=0.0438 left_pitch=-0.2737 left_roll=0.0986 left_gripper=0.9961 right_x=0.293 right_y=0.0022 right_z=0.1671 right_yaw=0.0951 right_pitch=-0.5197 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -5.5453, 6.4479, 1.4188, -0.1783, 0.2222, 0.1099, -0.1299, -3.9863, 6.5846, 1.1893, 0.022, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64e519e2be051fbe5ff8ad039f176c536e11d00ed74798aa5fb2d793ee347808",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87af3bf49c576ec0c143b9427c2ccd0f3d540d049c0202ef59b9f3cdfed646ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1b7ade7724da252669a126f52f0b758715071660e627cbc61094908e9e3865",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOAXquwU84TZEkmoLOk-j99JEr-DtdTFUj61zrhyqQXSdsSJ0Vyc30HEPn_TjvvZfSUTnCmA1TtQudlxyEXBGXulyl0pgCMquL3zCZHqLXXR-NWWFufe6HXGgBKvbfynhjYa5eyN_xXoZiLOv2gnWZfFulv_fM_FpmQDKM7op5ZmTmX926kBXl6Bogft5y15X4-dCGJhAfQj2b9Mal9hHQ9okuTPlk3mWwXfYanSf9OTm6qc71hxktxMub7varDHJHHR4EwARB84ex5OLO_GMMfQ-oe-vgoCe1yY1srIV2FNJau5RRKeSYRBIg26VujRWDVjal5yg2jfeDeCMjEWvFM-dgJuXQ429BKTvRiK24e0fsHzs14GF33bIm2Dtf2gDNHubZAeUnYe_9GMy2AcwpUTff6zwPQDfkchUf5rpcfewRTQnG2XmizGZcnLqeL73O-laiwCgGfNZi8-LrGf7XnfUcp24btdA_4UaSfHvaTmurOukpek79sxIUKj9HFoZh8tbPA8CUlwB9SY2xMilXLs8Tkbw-BCCCRfW3Jv1SsOzU84Zg5gabDCOa_jh7YOfqn7lQ4VL2JF1mLk3NLErRIqR3RIFK1AzqiTx-twT2GW-49R7GaXSZvFlLBXqX1v99TOmPNMQK5dIf3M18ojleKOkbwO8f9RPE1ABWYoSBOipRvzNDBGW__R56XXixloGcL5jgujnZY3KwfDXpnrDnENEr8Vr_QHqpSeRXboYi8r9LLPGbkw77xfOMaKfG_cY7DS0zpi2YYCOt81ThktBzltMuOnsDKEnabKfSFr0n1atlFb90r8zsRYJEpUs08orWYibi1jZa_1hV2TATqr2pJJCYA6qUytMGYvgcWoEVwiyXUSTfBwf3F40GemzDTD4OM09ShQXAtEpiJb5P3gzBAmcmHrYPYGAo5GLEdBu6eF8mnVGhWWwXW-AxZsnjmb4gAU8hxqcQcOOaWm5YTsIwrcb50Atqa2byA3FBd67T7FDHeOCm8_6ApfUc58mzSlPnuVXDuE9f0B4oAMTom-f-m8JrSmRkWpoPxekLOymEYdZ9cdMks3tS54wt-kardT1DAk9rYm-26QHERCkjHbWyBzI6l89ZcDpGMC2gRZRpizriUMyvWz3OClcBKaWVF9vm25qUZ44nRxY8NDbThqEzPLUcWWCFoitncuTh34lkl6VYeSyrs81Xtzd6fdcYChHHIFw1MxoqExIKUFn0elAYEPtLTMvS2Sl01zXY_zoFnhoeXm4lUg9645ANxiqIO-zIamyK70q8lAN83mCiFPpgIJJQZJrVknZwI3tFSfD8574Cq4_FUQzYQcivpf3W8mWmOXPF_oHhcaJuuEa8xF0uraTFHimZvo7ADeEPk5dNVPG4_0QT9-NxsCjanfj0_Lynmb_0IN0IeKYGdJqQ9gdxFWnH3ZCBILbaG_HdPaFV8R6LdOoFDVr-eTM11BZxB2ooTnM8knwy1jTOOYeZhP9OiBeM5d4fgnc3HCKWvRf6HYQGeTpdvm6VAh3bKDAv6E441EXrGDRrUS_fH43VxpZCho6WYzb29oJBgb80PwpdLkqcIkimChqRb2WvleHrYD0EPE5Faw6OzH2nEJkq7IDYAPAKWyJDKpjiRgHakzeXEKNtv_05chGZ68OWbsw8-YtoYVxaEPQeRE-kPtFG7ijiKEtRBly-JGE_low-gUjtJ82G5pIZUe_7sufzIXbMs7LmoI2wx9CJkCEsAFaR4GqGdF8b9Me2Ixgn5cctT_tbpW2tJ2N_MQwjrfA10PGfzW3TIZScC5gxwgQo-ugBscKruh4K7qgLH_wKwqsuXyHy2pbvOvcJhWwlgeReDV0COcT-C",
  "id": "rs_01cd890dadd4e581016ab4237dc40c87d09ce3b2579406563b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.327,\"left_y\":-0.1,\"left_z\":0.035},\"note\":\"The dark fruit is clearly visible in the left wrist view, slightly left of centre with some space before the fingertips. I’ll move the gripper forward and slightly left while descending to place the jaws around it.\"}",
  "call_id": "call_ZmIcXrwNR3qzbsVwOqiDPfDd",
  "id": "fc_01cd890dadd4e581016ab4237f399887d098a06791df731cbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZmIcXrwNR3qzbsVwOqiDPfDd",
  "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]: [-0.5236, 1.4704, 0.6098, -0.1867, -0.421, -0.4084, 0.9962, 0.086, 1.1954, 1.0496, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3101 left_y=-0.0916 left_z=0.0278 left_yaw=0.0831 left_pitch=-0.3463 left_roll=0.1473 left_gripper=0.9962 right_x=0.293 right_y=0.0021 right_z=0.167 right_yaw=0.0951 right_pitch=-0.5205 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -5.9009, 5.6547, 1.4579, -0.0708, 0.105, -0.0024, -0.1026, -3.8085, 6.6256, 1.1453, 0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cce4c735e310644690a9f718b93621fe06d09bdd3ac94f8c38a420e8de27d5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b301b4b56a73876626c75df2461b654d65a1d4d526505f971e8a000ef0942af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def63035d628cf0602bee915efdd9e72fc4fdf21e3979233e3a837c47d87c63f",
      "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 · 2.108 s

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

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7288, 1.6527, 0.6838, -0.0097, -0.5373, -0.5205, 0.0088, 0.086, 1.1912, 1.0496, -0.918, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3264 left_y=-0.1654 left_z=0.0232 left_yaw=0.0127 left_pitch=-0.2237 left_roll=0.1065 left_gripper=0.0088 right_x=0.2938 right_y=0.0022 right_z=0.1688 right_yaw=0.0948 right_pitch=-0.5113 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -8.7726, 5.3265, 1.4628, -0.2515, 0.0611, 0.569, -0.212, -3.5897, 6.5026, 1.1306, 0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6617, 1.2938, 0.8021, -0.5152, -0.4862, -0.5121, 0.9961, 0.086, 1.195, 1.0492, -0.9222, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=-0.1244 left_z=0.1121 left_yaw=0.0438 left_pitch=-0.2737 left_roll=0.0986 left_gripper=0.9961 right_x=0.293 right_y=0.0022 right_z=0.1671 right_yaw=0.0951 right_pitch=-0.5197 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -5.5453, 6.4479, 1.4188, -0.1783, 0.2222, 0.1099, -0.1299, -3.9863, 6.5846, 1.1893, 0.022, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5236, 1.4704, 0.6098, -0.1867, -0.421, -0.4084, 0.9962, 0.086, 1.1954, 1.0496, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3101 left_y=-0.0916 left_z=0.0278 left_yaw=0.0831 left_pitch=-0.3463 left_roll=0.1473 left_gripper=0.9962 right_x=0.293 right_y=0.0021 right_z=0.167 right_yaw=0.0951 right_pitch=-0.5205 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -5.9009, 5.6547, 1.4579, -0.0708, 0.105, -0.0024, -0.1026, -3.8085, 6.6256, 1.1453, 0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cce4c735e310644690a9f718b93621fe06d09bdd3ac94f8c38a420e8de27d5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b301b4b56a73876626c75df2461b654d65a1d4d526505f971e8a000ef0942af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def63035d628cf0602bee915efdd9e72fc4fdf21e3979233e3a837c47d87c63f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCODfoXHd1FZKYsNDW79QBFWiS6Ro_8JGJo4H5EmidHu9KgeD10B2B-eqDV6u02zYjnZ1lfQRSiU9jpG09_H7PIBzZVoK2M41WfVgrepXCZ3lLEO82vk__CQ9-81A5a07-qVnlsvJFxDH7ZBlDrADKD3hvz6xXc5G-zAJd3dZ0MkeoIqAEGPHnWSDmvb-K8mWSZ92gjfgoT4QoyTgbb3OEQkwxpl0vd2NFOE3WUEwgXI1_hJQMkla-RhZRkI5NL2XXPrZtHyW_MLrW3w_sJ_vTWdN-PdmdU4TvZrirA6e801qPDVbawosFDtx4nCIO3hny5wFZf2pyUWq42n95wizTX-ff95tEELeH65Y3IWo79FYzB8lutJQftUHrlcJTwvcdoLETQqekOdxiqxXe6xslRe2SfV_3817-C5mM8A7Fj6JJwHE_l_lYoEnAAyBwYSgsSuuQOqJESLt-sD9LJXXn2E50aJ9SlGkTZiOsi6YCzWnht6fi45J0LmOLOnua9Ga_cvOTWVshvgdiPMVdqHPv8G96nOgVtdmfkTxJ2cFRC2mkyaV8FTgU-myCx22MLvMnRMEXYhfQa_iUdDtufc6gP5TVnxYEGJVrdARGFJ8iSXRJCQqP3Ap39-CM2bqiJoShuXQj6e-ZM0YAofKNos4Qkw98TUPLN8N0fO10yDWcPccYN_HaZHVpD2ReO26S-jJ98gKfYpNsWqh4Um3dIFxBgYgIvzeYEul18bbyq_AWDRcIqhOtSCrxrZsJQDfHBNORuhkcFw0SyaKL5lvC3LBgkZnMUq_S-a8KitFR-k68NlyZN5PJwbIIO_RZnd2rALSHTB_U8vgyoa4nkZo0T645Qi5yCeYk1YRxrLC7qRIfXdCPbxVTmWw1srw2xZsmBQmiTVrtv0fXotEmA8_0XGJfOWO1fuy_Wx7T5PFU7YvH6ZvChEd3FdEHeMKiLSdt2PE9qmXWA4WNC8etYW6i2OvX0JeDEjlcCM9Ce054e1x6P4Ev4DhdeeTs9uH8xpbe3BSPu1iSRRgkeYG-BMv3l_mrIxzg9INhD2_ckzmTX92AtUjd7buSJRsCFImQU4Fiho7QwxsePXgPL0LU4837ei9UZdkKFgo_i68SxjQl0I3MLoOn8IyG-wQU4fZiEWYXYFQ0sFckwwKF6hdZGFgF_fwqqbp-esK-lU4gW8xbaUqv2rIz8Si9f5u3QJXaMoYJP_8kNIzij_PS2V_XdtbkzziwiqUajTeuNtHynW549klLeTaRARIeXVMg9mrMjBQK77Xh0uoOnuIb5pT0bOeIOjLY9yaQ==",
  "id": "rs_01cd890dadd4e581016ab423827d0c87d09fab418105a5d8ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit now sits near the centre of the left jaws at tabletop height. I’ll close and check whether the gripper stops against it.\"}",
  "call_id": "call_kQzmRstSLQuihadyUbdlhvmz",
  "id": "fc_01cd890dadd4e581016ab42382cdd887d08ce8a62662b8c920",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kQzmRstSLQuihadyUbdlhvmz",
  "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]: [-0.5125, 1.4895, 0.5972, -0.0711, -0.4072, -0.3855, 0.4247, 0.086, 1.1954, 1.0492, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3251 left_y=-0.0985 left_z=0.0315 left_yaw=0.0555 left_pitch=-0.2843 left_roll=0.1035 left_gripper=0.4247 right_x=0.2929 right_y=0.0021 right_z=0.1669 right_yaw=0.0951 right_pitch=-0.5209 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [0.0615, -6.0103, 5.6684, 1.3651, -0.1734, 0.0659, 1.033, -0.1162, -3.5761, 6.4752, 1.1355, 0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34e8084499a7c081adbf7b50f13a7b113df7c9821f4ecba63fe410d6848c7fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549baad6f28b1eba78cd960b1bff18f60bbe06ad02dd82e14cdf97710108a9df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee129ae72d825f5e42d9631e977d384f7f388d5b0c57a8db78b48a540b3ad9de",
      "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 · 7.507 s

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

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9855, 1.3205, 0.9504, -0.7368, -0.6346, -0.7773, 0.9949, 0.086, 1.1912, 1.0496, -0.9184, 0.1513, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.2558 left_y=-0.19 left_z=0.1454 left_yaw=-0.0168 left_pitch=-0.2325 left_roll=0.0791 left_gripper=0.9949 right_x=0.2937 right_y=0.0022 right_z=0.1687 right_yaw=0.0948 right_pitch=-0.5116 right_roll=-0.2877 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -6.0513, 8.3487, 0.8327, -0.5934, 0.1245, -0.022, 0.0479, -3.7538, 6.5162, 1.1746, 0.0269, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5236, 1.4704, 0.6098, -0.1867, -0.421, -0.4084, 0.9962, 0.086, 1.1954, 1.0496, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3101 left_y=-0.0916 left_z=0.0278 left_yaw=0.0831 left_pitch=-0.3463 left_roll=0.1473 left_gripper=0.9962 right_x=0.293 right_y=0.0021 right_z=0.167 right_yaw=0.0951 right_pitch=-0.5205 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -5.9009, 5.6547, 1.4579, -0.0708, 0.105, -0.0024, -0.1026, -3.8085, 6.6256, 1.1453, 0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5125, 1.4895, 0.5972, -0.0711, -0.4072, -0.3855, 0.4247, 0.086, 1.1954, 1.0492, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3251 left_y=-0.0985 left_z=0.0315 left_yaw=0.0555 left_pitch=-0.2843 left_roll=0.1035 left_gripper=0.4247 right_x=0.2929 right_y=0.0021 right_z=0.1669 right_yaw=0.0951 right_pitch=-0.5209 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [0.0615, -6.0103, 5.6684, 1.3651, -0.1734, 0.0659, 1.033, -0.1162, -3.5761, 6.4752, 1.1355, 0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34e8084499a7c081adbf7b50f13a7b113df7c9821f4ecba63fe410d6848c7fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549baad6f28b1eba78cd960b1bff18f60bbe06ad02dd82e14cdf97710108a9df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee129ae72d825f5e42d9631e977d384f7f388d5b0c57a8db78b48a540b3ad9de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOGplG7wu-sE-YEcHnSSdFqAIqclUxkZoDEgOmnWvla4g-5sTWdSk-iKTT_oeAqfxLImHS3tN8RqUd2L6ZfSM2UdibDSyQHEEYcv_d2tbM928MVxM6R90LIlW9qoTSC-1uGhwQevKddDdIjw9Z6QAXrsWZXaIeLKjpqSCIgdCuyyITezeaconoNBeBrD8w8Z9nl07x7XYrWvKG5k6DN6qZrB2vtUKzIOFaT3Fk983sv-qK_jYMAyO3MpJmAgx6HZxGfvCEMXQPAJodfechZZqVDt34UXlttCF9B9_Q82rwoFZQICreszntaJIFzAl5WqVMVfzs1_SE_ao4geZwyIGxU8Oj0IpvgMjQKbfw8SknAF8B0TCI0wDQTUnhGYiWhxy4XI4jl9CktOvorVc89lvfY6Qq6qKvexi9paR3_wTts0Vs19QU1c2Lp7-zGm_ibhbJGyLqxjIGoQYzabD0q_I0CV4OkSaiJz4fxisFH84YCWhbBrBWkOr8SE-GVWGtWLbQjYxOIa9xwic3f_WYRsEfuHqfAQYUDnsx0IlIyuEy2Nv3Yjd3LEfPw1QPosxBJ_B4VE5QrhTOXHowiBBEas9usmEe75WXVx_DL383Av5Kks9qa19N7QyGsV4r1J55nNmFbtS1vdUBOlyjcRz5KC6TeywTfEaMtCahbypUABOxidc4ivrut-Brq157rLRKNAauV9PZKTV-b2z_3a_8hjdNg_RmaoEt__EIKnDLZVLWiQQcxrAV_qnlJpNR5rIEcJlJleUL2e9KmbAELm7dF3I7dNG5DMPhubRxzs4OpED5zuIqEmlGvwGmpv4NXGJsOwyt1SyZQCQ7I4IFP_ZvPPrpPcVkyqJapp-Cq8VxyplwrJSR4i4EHOkjZgw8r9GRq2723azoIt2lCvigX-u_jISPXl7aE_by1R6ZS8xSsAZzlVHVBDneLjMpIgGNc-KCvAFnVJGOzGvnBl0sDLOH8_9KwMULFB6Zu0q_2LQxK990eKBhKT0F-Om4BCeJEpTThwOwnBT83uTkHPx3kd5Kc4tq7feS5hOwjo3KFBn8nag-Yy0jZD55f33XheWNGNNDxuiwPe6vgUZomykPlOze-5b1V-fX-1UMD793zbiLetQz9ejCkqzmvNzin3Z4_YPrDGYblHXO98PeG0U4iirlCUCnA7VV5kVBSaPz0ZYFYBQi0mSu3tw90E8rpD5_6smaeaInk",
  "id": "rs_01cd890dadd4e581016ab42385816087d09d1a3e273c014471",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The left jaws settled around a roughly four-centimetre-wide object, consistent with the dark fruit. I’ll lift it clear and verify it moves with the arm.\"}",
  "call_id": "call_JoqSdFoooMMvTMt3oitcQrVh",
  "id": "fc_01cd890dadd4e581016ab42385a02c87d09ab8707659bef159",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JoqSdFoooMMvTMt3oitcQrVh",
  "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]: [-0.5129, 1.3167, 0.9459, -0.6029, -0.4026, -0.3923, 0.4247, 0.086, 1.1954, 1.0496, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3272 left_y=-0.1007 left_z=0.1424 left_yaw=0.0571 left_pitch=-0.2946 left_roll=0.1013 left_gripper=0.4247 right_x=0.293 right_y=0.0021 right_z=0.167 right_yaw=0.0951 right_pitch=-0.5205 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -6.5983, 8.9094, 1.199, -0.2613, 0.0464, 0.9939, -0.0205, -3.7402, 6.5299, 1.1844, 0.0464, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284c6ffadd7bf9a3c466125f5591f090d903a03a6c1f38402aa2aa85cf9bda64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49bee18709742315666f5d9175cf80ca0300c365bc9e7b039be3526947d1899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:500fd061d11006686377eb83de08b92f9777b17de48f42ad8ea75ae5de08d392",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 4.528 s

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

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6617, 1.2938, 0.8021, -0.5152, -0.4862, -0.5121, 0.9961, 0.086, 1.195, 1.0492, -0.9222, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=-0.1244 left_z=0.1121 left_yaw=0.0438 left_pitch=-0.2737 left_roll=0.0986 left_gripper=0.9961 right_x=0.293 right_y=0.0022 right_z=0.1671 right_yaw=0.0951 right_pitch=-0.5197 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -5.5453, 6.4479, 1.4188, -0.1783, 0.2222, 0.1099, -0.1299, -3.9863, 6.5846, 1.1893, 0.022, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5125, 1.4895, 0.5972, -0.0711, -0.4072, -0.3855, 0.4247, 0.086, 1.1954, 1.0492, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3251 left_y=-0.0985 left_z=0.0315 left_yaw=0.0555 left_pitch=-0.2843 left_roll=0.1035 left_gripper=0.4247 right_x=0.2929 right_y=0.0021 right_z=0.1669 right_yaw=0.0951 right_pitch=-0.5209 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [0.0615, -6.0103, 5.6684, 1.3651, -0.1734, 0.0659, 1.033, -0.1162, -3.5761, 6.4752, 1.1355, 0.0171, -0.0659, -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 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5129, 1.3167, 0.9459, -0.6029, -0.4026, -0.3923, 0.4247, 0.086, 1.1954, 1.0496, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3272 left_y=-0.1007 left_z=0.1424 left_yaw=0.0571 left_pitch=-0.2946 left_roll=0.1013 left_gripper=0.4247 right_x=0.293 right_y=0.0021 right_z=0.167 right_yaw=0.0951 right_pitch=-0.5205 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -6.5983, 8.9094, 1.199, -0.2613, 0.0464, 0.9939, -0.0205, -3.7402, 6.5299, 1.1844, 0.0464, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284c6ffadd7bf9a3c466125f5591f090d903a03a6c1f38402aa2aa85cf9bda64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49bee18709742315666f5d9175cf80ca0300c365bc9e7b039be3526947d1899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:500fd061d11006686377eb83de08b92f9777b17de48f42ad8ea75ae5de08d392",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01cd890dadd4e581016ab42388b07c87d0a5e106c99f31281c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOOTAyWnJ7cG9uVzo3GFJUsnNQXaDhBm0RsUp8wHQ_LMK04JwZyuijxtAByMAA56Sj3K9oGU-ZTHusV3gFdjygVXcf1pnDSue5cRLrX3_e4BjIkSWG5F7hhP0kyu1amw1BYzdOD8PtRHUzHFOMsDTnmPvdk-ceeWPxZyknYEjdig1eP1GyEJgbzZySqC3SebFrrDla_MmYlbP4Ynk_7mEuTRptslUIU92uFGhnPmssnVS3n9-Tk1ISgXi9ohMIh405yZY5Q3iLaZQVLP1oL2qCySwyhlNPZDAZ9harfgCWuhjBP_Y9RI2VJvbS98g4bv_cuMRD1kh-qHxQJcW7UGuDxshPUCNer_BId8qq0d6En4dMWBNwiImXnd0eh7w-2-X9iqs5HRXzFIZrF5Qx2-hzIuBgiwL_KLTpLtsSxEcMdj5VXa0k25ZuAqC9uFw8iQe8BKfjxMHt5-R6bxpXVYIcOzT5u5esIZxNE63BGbfpfNDvGdVWRiGIGBTE59HxPIRDRcMQjlG30PN_GpoAdYZwcWu4YCnXFhQY1stdHGJnDU1SqAgTzneyqeUnrHCrCyw110_98Uyi9w7nMDGUoXfWAARM0_nd7GjI-9DSPxPc35ekqZKEpDLTb_iuawGVTV1CqNo2xh4i7Weepy6PpwKkieuk2gWqKWube4_cxx6RglMYWlVZz92mcOIXTLBBLATGhbd65XE2acNVlXX_5MnUpBs2dc1njyb-w36bQHnlshX72qRm5i5ja5JoFgtfxj_j8wKvnDZiX4fHKh_d9pdiaZu7YTrBiAUFAsR8pjRKCrsawJ43sXnlCWtXSUfZM7td9eDnKpVVINWuUpxMq_jtpDZ9LnAOQrw1XTLDdQDFyV0WOabYHbCCY_k-rLwfI-LY8ODB41vkep-hCZ_lTIzcuK3nafUEJpAbEPfyysxOvrhJ7sQF8N14s7mY4eBGr2lJqVbhami6QKpYey_seF8A8uu-BsoV1Bp3Oqsy_szWrx4hV7o_73ShxO2_lZypPd6FAPmmQpBaQacOlyFcezltH4fT0nZPl582ggVn2OiFJc8tNuBBNKUNFrQLFCTf_uJwxLAwmt-AG3zcCUKOgBAukRwAiOAU0RHVmMz34H_-zoXvpZ77SzzqGVbBjd4J4v-N8dZflQznLEIpXkOm1n10Hmbi2jFpXfepIBzIvZ2i9KL4QM6zaVrIL7AXC4rfaiDXZkKChK2tq-3z1xcddF6JycNcMcnDr4LsoxqLC4_uqJK8ESTJZD3Fx1uUXRXf649_taNwuwpJK3INCJw4mPtEP_iLit4LiPPX7PKeMchXNLt3gzx7TYkYiNwtvGC98IK0ycKIgPkI2b1-zGCy5PSa9vvgZCupFoNpavUnSrJnCRMODzxbT_xKQB4bo3AxoqMK-",
  "id": "rs_01cd890dadd4e581016ab4238d6d5887d0bc0ad8b28759d14a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.385,\"left_z\":0.19},\"note\":\"The dark fruit rose with the left gripper. I’ll carry it across to the blue bowl from the left, using the crossover reach while the right arm stays parked.\"}",
  "call_id": "call_3EDGJMdpfzre2zpibnGd1LUu",
  "id": "fc_01cd890dadd4e581016ab4238ddff487d0bc6fa68032beb976",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3EDGJMdpfzre2zpibnGd1LUu",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9543, 2.571, 2.7842, -1.4033, -0.5938, -0.8467, 0.426, 0.086, 1.1954, 1.0492, -0.9272, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.4012 left_y=-0.389 left_z=0.1643 left_yaw=0.0502 left_pitch=-0.3067 left_roll=0.0818 left_gripper=0.426 right_x=0.292 right_y=0.0021 right_z=0.1664 right_yaw=0.0951 right_pitch=-0.525 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -13.559, 6.4068, -0.0269, -0.525, -0.0659, 0.9206, -0.3624, -3.7538, 6.4615, 1.1941, 0.0415, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec0cac36d3f3eb58c6cc5c7f464f07dae837a3d2ed4fd2da75c6cae390e5cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2544c8c947f32cc3ca2a2c952368a001342323d8a29a77fbf5e757bb94b570",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b5140c2d039ab250efe49403cb92df2b68dacf55f37e92d27df400fb22f308",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.27 s

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

message 98 changed as sent

message 106 changed as sent

message 111 changed as sent

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5236, 1.4704, 0.6098, -0.1867, -0.421, -0.4084, 0.9962, 0.086, 1.1954, 1.0496, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3101 left_y=-0.0916 left_z=0.0278 left_yaw=0.0831 left_pitch=-0.3463 left_roll=0.1473 left_gripper=0.9962 right_x=0.293 right_y=0.0021 right_z=0.167 right_yaw=0.0951 right_pitch=-0.5205 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -5.9009, 5.6547, 1.4579, -0.0708, 0.105, -0.0024, -0.1026, -3.8085, 6.6256, 1.1453, 0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5129, 1.3167, 0.9459, -0.6029, -0.4026, -0.3923, 0.4247, 0.086, 1.1954, 1.0496, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3272 left_y=-0.1007 left_z=0.1424 left_yaw=0.0571 left_pitch=-0.2946 left_roll=0.1013 left_gripper=0.4247 right_x=0.293 right_y=0.0021 right_z=0.167 right_yaw=0.0951 right_pitch=-0.5205 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -6.5983, 8.9094, 1.199, -0.2613, 0.0464, 0.9939, -0.0205, -3.7402, 6.5299, 1.1844, 0.0464, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9543, 2.571, 2.7842, -1.4033, -0.5938, -0.8467, 0.426, 0.086, 1.1954, 1.0492, -0.9272, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.4012 left_y=-0.389 left_z=0.1643 left_yaw=0.0502 left_pitch=-0.3067 left_roll=0.0818 left_gripper=0.426 right_x=0.292 right_y=0.0021 right_z=0.1664 right_yaw=0.0951 right_pitch=-0.525 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -13.559, 6.4068, -0.0269, -0.525, -0.0659, 0.9206, -0.3624, -3.7538, 6.4615, 1.1941, 0.0415, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec0cac36d3f3eb58c6cc5c7f464f07dae837a3d2ed4fd2da75c6cae390e5cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2544c8c947f32cc3ca2a2c952368a001342323d8a29a77fbf5e757bb94b570",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b5140c2d039ab250efe49403cb92df2b68dacf55f37e92d27df400fb22f308",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOVSyAdZ6G6RUfNwqGcPi3aDNLYvv2ATFvTp8oHZzURu0XlOtApAQ9Tuz6iJLkHw_xnqr0CHp78HNHsYmVqrI_pN2W_A2ucsBMef279dhJL8AHY4sGnTD38i2q5eJPxJc8TKvFExqIz21CQpzczCmCUS6K580Py_qhYc05HYx34JlPWp0CSLlCEe_2t0dYrfs0Cvy65-ZcIcZ7Z0aO_Nb7-R2sRL_r13n0hWqbevekrjA8dYzLPCyqzzGrSDx2dbn1gMoPvdBVvXWF6acXlPDivPKvNvTiFfo2ZISQbGreW-qlm6pz5SPDEVXnDIFw559Ui129OmsFtJ2Er4hBqGgED-LfMgCQUX8fSY8lUpvuqdQXc6-Qr0DTSoP7RSKhPgkbdfhhIBk4tb8WVuw8Cncg510Vj9IcU6WvXkl_8mMRyKLzsJiu9zqPVMwX79oUKJPgoZ5M5JQd52nCeUeP-SdudgUZUzzeGqdJm9M0bA0vzF-yye_7xaVQP-5G45jftnsTn_9rQUAB28g7xWFed_mGFYcV2w5FwdzyRO5cJbYh-UZGm_3YHBblriSKQZCzvTBNcoP9R9uLk1fh8HmNmJVpR-T83qZjIAE_WeCCV7wS49mtCBeM4hHAL73bvGs-aCpMpOCNZA7iYPehfi3GdHs9bmtPMIad3J6watk0xsjwb7Jw0zgEdD-jPCJlKTjrPw64Pr_0MN17KeKuH68lQvuoVfSw39zQQJT-j_Kz_V-PY8KEgwQw1hkV2_gBHqYyvb6m3dl2fiEV41z3-yGQKWeWW26E2ldmzuB3Cv1TOytSlU2nwlLSUscV9Q9IR9lsx9ToNeO2Y_ufuerf-WCJNZbnylU8BjkbqpCZnPHS35IzE2DsIACHlKYk_VzyiPsMIJF1IwCJ9x9Y8MYUSNXhixXAarOqm666OYYwTPtv-eXQekFKSgSIffbcuzFB1zgbFWr7SB9TQTBpddyk-4mj4VwcnKXootw1tDTstA8bwImc7gsbl8kKDBvVSPEkpXKaeZDdkFFzXCrGIf9Ofc9i-x-NDuPkSBdI2W9cI4au-mPxT-f6v5YjDrVIhyLeAtD37vuVF2_gelJEysA3-krHlnXd0SQi8qfuksRioZRcIYI0oG2mA95zDfNaz7c0FaGqrwyT3TnroApJez0rjaZze9OlY5tOEMgXBFj8ZrGd-yMcsaP6VjAiqq0A1ArY9xpMa9HwWGNMwpZwi_PC-yjTOZ7CkGIDiDT6Zm0JKDFEmGM6zln0WHBKmysUnkbF3-eTyJ0YedGdIe1Knr0DqZlWOfm1Jq2-r5L8jVsDWVFyqxYtc0hXDMvYPZdw_DCFsUUPK6rRfTtoJ1OP7nXb9xeW6MitttTS9T2UV8NDeDDTGQeligap9M_O8A3zjEOfmjd11PamFLkTZb0XfAPmF1omqvEZItY3DL0O6R3VgOtt3pqwI0sIZyZLCYHrg0VgjBWU-Jh6XMoojAM2mMvC7st2PIZ0Nn97v7oM_ij_5zy67aJ5tj12OSI2pG6W3THKb3VS8G9IQF04R3VsZnCYO-WWMHabnfQE2xPop_W9XpE3LyZVhINqITVNHHHOO6oBIM8fs_LHaepCB2e1VqAaThEuoydiuc-9LAM7sbNx49QpMH07lGu7BJ4nlnxhHCO1C2Y9ZFjyKH-wu_5gux-k5iB-pmw9YtqzbMF1SBDrWejVWRPYiWSRalYfoQQRRj2VYtKl-WBUQg06grzkvmcRwr95BZTEwmToQ4bfQZ_ZK4ZCTj6AeFkEaKSr9GBJt48gbkYP09dg9gMcEYSzKKZy1LhalpU682reKJVzcXDy35ffxJooGIizD1fM_4HQHD77zzJ0NN6UQubVsVyAkLkJr0-2zS_4u-gj9zM7K3_DWx66BtUNeCfbVasRViIFhP1olBGVVOXSb9Rmeu-sICkc5OtxorC33_9sn9p3uDh9yWxAUE0mJn-UwEtf2rrh3kEjJMKhswGlLCUOI1QsYp4GafjW0E5ZP4CpkIvOZLEW4Ysx2GLeSMw7IbzG7PacBI3m0N6p5lIjhRMoBwxrNR3vH53Ov_UugDjsKHqQBYJXT6NLvx5tHIHc1QbUhCrbNAmxKgiSEry3tW39fWgTJk_7MCD4MigduP_wY7Z9Rqi5a5bMKlZ4z6Jned3gF239No9OwO0qAomRvOIUTJ27O784_o9843DDMav3OAedc57DkBYPidsbN4tCfgB1842TSfR61c6Ks2psFTbh4QkH9FekYLY24lrzgP8cNaH8D-7gD7revNdsJF4__CD0yNEGjH4SAfnyxhPYNAFcwmOjCyTedf3kH4OGN_iZl47WUeQZHl6OVnZEF58xqHspH42EWFe5tmIjDYpLAmY-IPdsWEYmaRnRHMuyYkm7vAO7F3SBebowTAJP35FFYgOajFrEztVo1oUkHUeXDjYYzerKW9lZ0FoVpW2capqWYlMQP6yCWXfnuaWV11UA=",
  "id": "rs_01cd890dadd4e581016ab42392cd9c87d0bcbdd51e0a0973fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.4,\"left_z\":0.09},\"note\":\"The dark fruit is above and slightly beyond the blue bowl; the overhead view shows it ahead of the rim. I’ll retreat a few centimetres toward the bowl centre and lower it inside.\"}",
  "call_id": "call_fZFUt6QtvpRVeGZk6k56MwXm",
  "id": "fc_01cd890dadd4e581016ab42394e38487d0a443b8442eb1fad8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fZFUt6QtvpRVeGZk6k56MwXm",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0382, 2.3611, 2.0953, -1.0649, -0.6014, -0.9298, 0.4275, 0.0837, 1.1973, 1.0492, -0.9512, 0.1638, -0.2794, 0.9965]\nstate[eef_state]: left_x=0.3486 left_y=-0.3876 left_z=0.0819 left_yaw=0.0603 left_pitch=-0.3653 left_roll=0.1609 left_gripper=0.4275 right_x=0.2869 right_y=-0.0012 right_z=0.1635 right_yaw=0.0838 right_pitch=-0.552 right_roll=-0.3037 right_gripper=0.9965\nstate[joint_eff]: [-1.1145, -15.4325, 5.9966, 0.9206, -0.4615, -0.1685, 0.7399, 0.294, -3.412, 6.4615, 1.5653, -0.2418, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26697898c9ee718d4784df8b48a590c885a73c6953fe2d5a8d9e4d053c160c02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3466268525d6527af1d94a8cf83ff7c667f9f0f8c5ed56f7383fcb7c45eada",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f64def78fbbd074cf23f078527922e1a9438126a196cde24a07abb58cef15f",
      "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 · 8.174 s

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

message 102 changed as sent

message 111 changed as sent

message 115 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5125, 1.4895, 0.5972, -0.0711, -0.4072, -0.3855, 0.4247, 0.086, 1.1954, 1.0492, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3251 left_y=-0.0985 left_z=0.0315 left_yaw=0.0555 left_pitch=-0.2843 left_roll=0.1035 left_gripper=0.4247 right_x=0.2929 right_y=0.0021 right_z=0.1669 right_yaw=0.0951 right_pitch=-0.5209 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [0.0615, -6.0103, 5.6684, 1.3651, -0.1734, 0.0659, 1.033, -0.1162, -3.5761, 6.4752, 1.1355, 0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9543, 2.571, 2.7842, -1.4033, -0.5938, -0.8467, 0.426, 0.086, 1.1954, 1.0492, -0.9272, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.4012 left_y=-0.389 left_z=0.1643 left_yaw=0.0502 left_pitch=-0.3067 left_roll=0.0818 left_gripper=0.426 right_x=0.292 right_y=0.0021 right_z=0.1664 right_yaw=0.0951 right_pitch=-0.525 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -13.559, 6.4068, -0.0269, -0.525, -0.0659, 0.9206, -0.3624, -3.7538, 6.4615, 1.1941, 0.0415, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0382, 2.3611, 2.0953, -1.0649, -0.6014, -0.9298, 0.4275, 0.0837, 1.1973, 1.0492, -0.9512, 0.1638, -0.2794, 0.9965]\nstate[eef_state]: left_x=0.3486 left_y=-0.3876 left_z=0.0819 left_yaw=0.0603 left_pitch=-0.3653 left_roll=0.1609 left_gripper=0.4275 right_x=0.2869 right_y=-0.0012 right_z=0.1635 right_yaw=0.0838 right_pitch=-0.552 right_roll=-0.3037 right_gripper=0.9965\nstate[joint_eff]: [-1.1145, -15.4325, 5.9966, 0.9206, -0.4615, -0.1685, 0.7399, 0.294, -3.412, 6.4615, 1.5653, -0.2418, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26697898c9ee718d4784df8b48a590c885a73c6953fe2d5a8d9e4d053c160c02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3466268525d6527af1d94a8cf83ff7c667f9f0f8c5ed56f7383fcb7c45eada",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f64def78fbbd074cf23f078527922e1a9438126a196cde24a07abb58cef15f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOZeFYwOEr9miRODjwF5JtijpWeOyeADbEOewtVFlNQhvNmMZJE2DOOamFsydEi7f_Ku71pK0yjrhV7OmIUcKshGlQ8L4mZWigLw8IxM3Lp-Fp6rqiiJVQ23wOAIBGvNEOs1IHPGLnreGBu5uD45hmQMcXti4GF_8So9mHWwJwHHEi33lhgwpQGK8ke9RjIk-93Hl12NT9dwtw5rS0GUIKEuVUIF4UJ5cJUf82sqHus7UKq91LsvIkEcHrAopbUl4ltT5bkHOPjtGam_mQXFPkmUG_e4GoJ8b4R9L4Q29IdmYPksJdO02ZCt2iKEIpvw-rqKuSpkCX0b0oJkj8vbYfaC0nbE2RO_wLUnj-wIeV15thZPIVONr-Gi7qC1cGYHyqZRTcM-Ybb3nigtr2OCKNKaHmBkxJHTh82TcbUUgq1dl-0IgyJAB04Bd2mkA_LUmdQESfIXVzzHW5-uU1vgMy3sWhPgY5NiQRAlueJIiQx6frzlql21K9MJFtmkuZJH2Eyl_Cg_TUqgFYCR2Ml6NxIFTzRAA4kvYGxu8PtjXOVe-U0UVnDG_MJMdOYyjSp3ctVak6GaUBwmB5hQ36EIqdi_K-n3ZUQxE9WJP-zUGeemekBjV75GYzZfn5yKAYYXsyw_H_KfyoQxHG03zTCrjjwVLdnTrJP8FEZ7-wDq4CwJvstUXEGg8cHvnCkZqCCjBkkkB_NrY5MjWpHOCWQXEnwJ0-O0hiXbrXxKBbfi8FijqxCu6yL3f5GSQ9RjSk59JSENltyx2kA4bYMnHMm5FX62Xcj5kMFQ76BES9qjb9Mrmy5Pt8VGfmYqIYdZlngl5p-ECwI0wSRC-I7B-ts6XqG42Vo_WMs0TymfUy9bcmwdODiFO1cwY6UhFdh7ecDhWaa6vrXfFyIpuk-1oINpYQD51r0N_uVAlfwRyZoEitZZdbeZSkDdvWz9JPgzuTjazjHcZGKlfQ9CD0xbQXXV-0to7gF-E-U-JNmuQ5sl0WD42qfRhzD_gwoNU4bU4VnfeCCdHrX5rsEQTFOgPNKmoohgij7Rfqv7jZ16B5jBzl3VTExgyND4yJiPXpMXgdsBtDZ1-Gj5q1FJ1qkCy8w1ykR25iJ27zx5uaw09IebRrHlEGLQwzBWWrDglwZSQYqS0YD-BwvOUcQSGDna5r-NDWTZAPF8uIhC6gCUuw2FvbPHTKbm6xFsnmO9oLpWAkROjnscBh1F7W2iym_RYG1nHlsQtV97kC7O3Efub0I1HxidPjJs06TwsUwR2ZkXW45PTvXAP-Kilm128G8wPi9RcekQw4vWZkazJKdXtVgCXGWR2A1_GVlHSWpzhSC3ZUHj_TG7yzj4nKf8m-U_ZDymI4p-JYeYH91-W5Mk629bFicu-eUGkAScI6vjFimSM9_kHKcrL_auzKA6tlP2VcV66Qv1IVfepXtmWDTjHP56RKVCPOZ7dVBGo8gtaf27kGF7tozIzdqOLdfajk9Qa94eMBPYq7pJkqMSuN2NXe4mX7lfGlc_k26i9f_uOd0ScJI8R2mNS3c0qUAKSw114KV3BFgWfTJ6507tR_3Iv-OdpO-XGILw3KykjdCaoBebk4ymvdHakKvrYrHUocbNYVvUsgpEWN43V1Zsx4QcchINdotUZPKBghkTv7EqKQhxC8H18cMpQ7AAoOnE2HCRK4TKySQfWyj4LQtLbk3pic5LOQtIHiPwenI8nAf4TVkCIzkVQYbv8MtGIEy7hmpEKxU8Gsd9lU7UABhILWS4NcGGS_Ltkiop2fJvXQ0bJACoXkt3FYJ",
  "id": "rs_01cd890dadd4e581016ab42397b03487d08679c6bf0fc12c77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is at the near-left edge of the blue bowl, with the bowl floor visible under its right side. I’ll open the gripper and check whether it settles inside.\"}",
  "call_id": "call_P089vNudPrkC8kuRydTF7JOR",
  "id": "fc_01cd890dadd4e581016ab42398a24087d099fcddc71af08b11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P089vNudPrkC8kuRydTF7JOR",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0386, 2.3615, 2.0682, -1.0595, -0.6014, -0.9398, 0.9951, 0.0784, 1.1988, 1.0477, -0.9554, 0.1703, -0.2806, 0.9965]\nstate[eef_state]: left_x=0.346 left_y=-0.3835 left_z=0.0738 left_yaw=0.0733 left_pitch=-0.3744 left_roll=0.1759 left_gripper=0.9951 right_x=0.2858 right_y=-0.004 right_z=0.1622 right_yaw=0.0726 right_pitch=-0.5594 right_roll=-0.3111 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -13.4359, 8.212, 0.5983, -0.2857, 0.0415, -0.0024, 0.0615, -3.7128, 6.5299, 1.1453, -0.0366, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af81fee17a7d438c3d9bca600ee495b31460653ea16e1a4ac4fe9f733f2de44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eef3956ab9e0e294a8ea5e741755f811f5d8279f1f89f2db1bff2d87d936727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09cbbd10c2f19b8ed184352052f6f3ed4d9d9091e14bf7678976d8b5b7b5a1bd",
      "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 · 7.152 s

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

message 106 changed as sent

message 115 changed as sent

message 119 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5129, 1.3167, 0.9459, -0.6029, -0.4026, -0.3923, 0.4247, 0.086, 1.1954, 1.0496, -0.923, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.3272 left_y=-0.1007 left_z=0.1424 left_yaw=0.0571 left_pitch=-0.2946 left_roll=0.1013 left_gripper=0.4247 right_x=0.293 right_y=0.0021 right_z=0.167 right_yaw=0.0951 right_pitch=-0.5205 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -6.5983, 8.9094, 1.199, -0.2613, 0.0464, 0.9939, -0.0205, -3.7402, 6.5299, 1.1844, 0.0464, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0382, 2.3611, 2.0953, -1.0649, -0.6014, -0.9298, 0.4275, 0.0837, 1.1973, 1.0492, -0.9512, 0.1638, -0.2794, 0.9965]\nstate[eef_state]: left_x=0.3486 left_y=-0.3876 left_z=0.0819 left_yaw=0.0603 left_pitch=-0.3653 left_roll=0.1609 left_gripper=0.4275 right_x=0.2869 right_y=-0.0012 right_z=0.1635 right_yaw=0.0838 right_pitch=-0.552 right_roll=-0.3037 right_gripper=0.9965\nstate[joint_eff]: [-1.1145, -15.4325, 5.9966, 0.9206, -0.4615, -0.1685, 0.7399, 0.294, -3.412, 6.4615, 1.5653, -0.2418, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0386, 2.3615, 2.0682, -1.0595, -0.6014, -0.9398, 0.9951, 0.0784, 1.1988, 1.0477, -0.9554, 0.1703, -0.2806, 0.9965]\nstate[eef_state]: left_x=0.346 left_y=-0.3835 left_z=0.0738 left_yaw=0.0733 left_pitch=-0.3744 left_roll=0.1759 left_gripper=0.9951 right_x=0.2858 right_y=-0.004 right_z=0.1622 right_yaw=0.0726 right_pitch=-0.5594 right_roll=-0.3111 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -13.4359, 8.212, 0.5983, -0.2857, 0.0415, -0.0024, 0.0615, -3.7128, 6.5299, 1.1453, -0.0366, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af81fee17a7d438c3d9bca600ee495b31460653ea16e1a4ac4fe9f733f2de44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eef3956ab9e0e294a8ea5e741755f811f5d8279f1f89f2db1bff2d87d936727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09cbbd10c2f19b8ed184352052f6f3ed4d9d9091e14bf7678976d8b5b7b5a1bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOinm96KAA7QZcQga9_Vby0iUW8UKHDbQoWp4DIrQooTA0sFPHnQNp1Svy5aYwjMLYXaT32axOtr36mnxOaPkj0fAoF-55Cy_yEPq_KrFdF7w7eDazX1I6qo_nXD4qjb-KKJG86xk3HxwJuTumTJvu4CI6nw36Roibt1CO2ja2Cc4Y7F5GI8cPP6arpCigAOFFMlkeVQ3cvwv1QgKzal721BqpZiIficdtDfk9_7qMQlLlkCYlfyhRaHQTNoJ_BBEHvEeL5efmAm7X0HKoTZkML1m9KGc590N23iR9wGe08lTHfZFaWdkwzcG0MJ5PgwhTtMVX8McI4qkOpmpBapcwEft08ft7spUDmdrQ2EqaHqit6l1hYSQd3y06nUWtLr6hAZFt7SEead6_6VhbyssybniFDv4sHiXm4k5SDWQ5RJET4woMmZDPOp1CkL9X4rvTkDgsooqq5NLNjDmxvvSrOgK7ef3d7Ef5jaYAU_Z-JfpyADoApaQFvUTwy7COMINMrcnp0dumkgThYfdRAM9Pl9n377tCjTx2bd0L7Ywxe6B7Mip7UKkUYWwRZPRV2VSicJ0Bo0-WvVeFcu7t161t3Udule0ysxwLLfLSQgUOBDL65IG8g8RqUTCPOAoV67Y9lEETUzPVwUsq5w2rBW9UocAhWzHM3Ps5B6Gp_bzKtSCG3L__XHdXQCD__kATuXpzYK-m8T2v4Lq4qonB9dWtTmUM2pBBmByY4w6N9zYsEN3SrAUOWitRsrlj3Ht-Djg_Ajqh2E3sSFRPq9hn9eSKpYwtLbxZAp3Rq2jPgT0jubyvDsOPVtM7HeIALihsnheCjwogkXNnJkDGKiWPHF67d8NOKGdqF1woDtZ7AcSvgVnV82kT8_9DCAGxh2qEGhrOLA5cz_rLL8yN6IOZQ82Pm20uF3OAvP1yJim13Xl9cbE2QxLSURtfaBwn3kQ98pdHZsff9_WofH8he33fZBrGiQTULF3cb7th3TQykbyD_Ij5dSg7qBOf7KBo-ziSuLRdVUyiqwoNvToTZNP5jXhCRTS6fCfl6IDL-LJPOvCT1GBIfws-bC6yZZnOj_dS7C6e8bAaFEFd8t3Jym5SICpsWtcykVNtvdIbFrT9jpZxet93W3pyU_SzD2Hn5_1kEACl6otTQjHcZGDtKVR30DkrKYm1MQgOxWobRUV4qrsqUb9lI6npOS5mVs1XPUSGAnew84RAb_wBbvg376B9LvEwxCtg05Vbe4JKT5tdv5KxVqTArDbIxkwU9woHBM1h8gMC5MO2luabjlh2EkP02TP6v4thaVK9syjjFapPmX8f15iYcyPDKhc0CpP9L11tmR8kfTEAfMII5oE0H832YQF4D12IdEemMMKu_ar1NgcyoSgNqrXDHXV_7731PIyo6z-D34qjqn89K72TfjxczR1hon7E8DFVyTtvY6yBX5tD6gxug_3gaVb-9vfFAtD1XYJrvdr0PEqiXL_vd7bcYLFFwRt4b_iSX-SGeyElKwVb1VJVB2ujh67r92IHUD_YvcOGdHmMAbKaTtebYJ-0OKdmr1_Zmq6m5PIM3fTY8eRZwh58_ax7NhZBKX0duy1oaCAkGSUStH_Q4R4RcL31yoYFrptBV9Y-tbLVSDQRAI7ImCcxnRfzw3dNEhULjc_kmQj8SvAlCUhhP3uW-QcbyPBqSLWT18u0VG7noqU3UPmuuHmYbWzmtQXd8aSID_W6aGZQRyLxo5zkwSThUNiPmf6B18BDM9ZaN8zHaaBsMDoR8y3JfxeB9dg5ikFDFIR64aB1I06CgcLzTTfKzsP9IQjUo5y0-vtVlpBAJ-H6zbvP1VCpgxURcZGUt0f4_CPkjOf6VF2mvrfBAhSpNCV6XGQ9e5tBYJ8GdCP42YKtoBr2axPR7PP7xk8MbDR8VKkYdz4kfupS9oD264lwSZ-7954sBQ6mSZXq-esXflsXqyvhxSpa2FYQsbLPUr3unuyVGK4eQE28fOHKaAiJTkThmR74IyUOgszfsRw3OzcqOJWL6p5GegkyzgSCz-tBvfILKtkJUiMxuomYYQ0J6F1vluYv9IjgWm2jJ1uXRb3YkmIaCXiLUecgHf5fmUGk7DiyYsvLZAtRKTKJb-ORkXZq3rV556zBA4IW5qKFr3j11z19B6FeNVKKyICruE2TEDX5PyaMDr53bju31Eu498cgkk07aqZZOI0upX6INSAXKQk1WmE-cJ_ovHi0R8947JNgKZRmNzBBYX7QENMynpKO2O1UYbEIpAJK69D56O0EdvdtmX5acLat50kyIH1FrvIKwGYXqtxfeKCHMS-v0gpFAJm0a623MtqcAblDV08MTqVvRqDpHvDRNNBAyEuB6_Lju1VZDhpXQEawXSwBSBgvnRhOsN-4n-tMlCyo3YF6Fz8W5cNoeZf1T7pS1K9X2Iqah-Pk8Jc2Jlg7VboffwvFUk0QjRdiOK9dpmGnh3NUZwaEocUSiFpGuUJRPmkbMWSzYgplvzIqTP9i05P_I9-cmzMKCzfjtqDXo5_q7IvSjKRtrXvS-qs1IhS3IL7Yj6gY_WW6CJOFFghT-CpE--EvsT15lyOlhD0rSBTW7ODGWprnyJy5jseVe3u8PKon1WtFWUsJsZ_-K6XlhAQ2zvDjAstzviNsY1-dq8ld19z4jtdlHj9zRwj2LksczFjfsiPUw__XP3dWhuC8vf7kRk_2wXfk4QPuHEl0_aC-r-J0B6G7bHku6pqOJKNhhZqKGfDf93gNVk_iylTYU5Wz9thQA6J22e5IKOe6elgUYbi8J2p3ZTApdBilHzIrIeNDkOvsymxcIavFP209XcvciKcfHvMKXys-Z2nTeZqzOasSgSIF3S4RK8HppZ67vy4QJxEhdZo60Ox44PJz5gPiHixHk3e1IxOIld9eHzOrhsWReC-f_Ril2QJaWF0z9_2gJEly3h6DSjSYQTHP5xwAuqj0PGSCYDiid1ADLDUpHtdYilQyoZOsoiyDITiPptgV3mwHrfhPeD0llVfNLWr8PmCvbflgjX7i_t0Jt-1fuvjOw88zQGEPAHpV8p7W2GU6GHWUPaKGkFNtw7J7oCyCn-JdUJmuEIRbl8juxKDoBjMlvw41SJifXI7FhFQhats6yliyO93igNzbQhFoP7EBBbNh482KKxRL6gUumrCJ4-RNMqi7Vw6odY7HPmooeGVEyG5bX8f6oXicsAa2TNj76qnRGfVePEgrDkCAb54eepg8c0gyOUklDcTKbp2mwQyx0ozPUhuV2llkfGhLGEUnI_Sv-X_uJQHdpQOsjHrNqUSsTwxzJBtQ0VTJ2Yknu74XiXRUnOctMabnLuMrWtcjwuWG2a6Tdyps7dz9bqvLX7o4ev-Jh3xK59ZFQB5Q2nbgj_TuXhrlYAxeWQNIZ9ogzBuoPk0XQ_d5U8qKmJ_xF2Zn5QeV-b29HV6H6vnplDMg2CkNO6-C4uqXww8D7vAZlewIOY2MA0zTeBf50iqSXqq-0ohRZMdMqC_mmiNVrfzm16kfXpOEyBqhA5BFS9VoaSFH5tI82sMbDzP-Y4R4spoWke0S3vNItRN-G9FxyquBwoIvEPC4bU6onYh1g7Bq1dgW_ahAKvvuUzuHytgFEiXOWPFshrS_Xo7UzD067vRkO0kEtn_k4lL4NWvtV5cH5W7G3cGWPNt5eJKdcl3Xz9nV7fA_PFtopg6hQMhr9k_kNUe1vmEa78fNw4nZDieqR6wr8tw_6goEqUyYPcBHvlVDXqFQFjPV7XJ-oP6_fT7uacIDRyZtuxhhzym6QArBBhDlJ-HFeIYnlWHPcADtEcYGOXXYyE8ck7vmtiSU9J-N3nawyMOELZccnQYwTrKEa9zxSoMMtMExI7cAhfghXmyATgFB7iLNNZuKhcIdz_hlHoGDxmxkN",
  "id": "rs_01cd890dadd4e581016ab4239b4df087d0bec19d549119fa48",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOidV7j5VkXGakisJKXJTIdzZZ45WjE-N9nWB75j4kiWxaOe9D10f2T2Ggcl6w1N_1zclGssZObCUFUQLHW2uv5MVY1AmOaNJggywWWpXw_MZ8aKStxCMSH8UxFb9w03sp1VQH8epLkJ9LoB-VoF-JQ_hUtX22_HNfh1PHx2RvRGW-6mex-1tqOxMwskRIook9C-T-UpDJ_7Nzj7zPSwC6Tr6m1m7S_e_ZsEl8tptka7pbbpnrC-oP87sj7dFHiRgKreji6gA408R8F131MUD2jiiOoC6h3KkVnjnwaQig52sMAY74KMrCNGaQcMYZpKYU04GTTWs0MyBNOZVL3S5f3Zn7Ay9l8uXVE_-X7SMjKCh8JC7F-oywTPO2y9QPGJNT4QoRO4W4qSxylfKr6uEyTsukLdc0ce2VTl4S6WoBhsRoYY9bivpxwNlXRGLDuvpISScAZyo4TSta35m__zV0Fl29m4XZOlLnTrGEFgyamRI7HQBNk_q2pLGzxcNMUeFKMMD_HU-zAT5DfpHsEIe540JJ_ew0DfSHf3xPjLF3lv3E1qc77iRw55-xEBZ8KMvdYZXgebjfw8n-pT59tMM9dkfBvF694pomlSDSWDRUv_tJ96DAWJ8cDlOz8F0Q2_ZH00zQSeUgRyhD8787J4Jd4nifggroEtT_Gc7AbowsFIOK8D7v7IymoiWyZgWax54YpGu3ZntWLxH9yeSLg2Dm8vfsBtFthKBA_uaU8u9KwvLwGAWSpNQZD1WF-N0_72pZ1im7YAPa0jO3c0yWiyCE9nNv2yU4V220LHM7I69LVMN-l9aneR5d1-Woa3Vxf_zDHYXkqWd1b9ADLT6sI6EyXEmgXTqpNDV6BxIskNlnzO8lfFnLsBITmh95nD6XJTLJTacGupLQYOCZuQv54uf9wfL9znt2lrS8frxmBUimmPN3zHzcUPApkQhPx3aq1rRHhsNDw8SKs5yDBsU5Smu03n8XnlQMWO8wgMproLpNWX0fjjK3VhGfdBHYTI41yD4DdyHjBliN5FM5uvJ5Vmr9Yd1W3o7Dk84DboD8PCKK-vGNp_jIo2plrLsTc8h4OkbuWhB9iwKFHPTH2qV8SN6nX8Mb1ThvlYwe30QaAeDAFYSs2k7eL0zHkOiQnTJTqpRJ2_2g-plxCSh_Yr5BlegWTNEM4Oq-lMHkLeUqeqx2LE8JYylcQdzUe_0iYmiWYkf6A6RNQpMtm2hyghgh2rd1sDDkGuags-pE1t-B4BjarXLuSHx41FZSzXqQz9WUNXcr2zL-4OvCO3rtok9acATYZrDLA3t6r7HHA4wUcGAm5Br_MWqZHi6HMIDuWhA6pyQ4VmbDQhFnUSbHmOrqelVUBF4rROVqctHPNi04bcf6jPVJ-SnkJDUhgrE-SeCBEEzS2MrMfufFLN3wkYFYfovtAiMlL5F9GccpplQszvnDcSfIKumVvl4HkQQg8vxDnMpgO4QYVzJ7MDLtg9AHp3WE2JTZbTQJgnLT6j4GpX5_5inhB27m4XqzwvReJ-1Dy3Q6o1OhERRDByg_ikaoSkT_8g6i25iKKv-sOt2M3mMSMl_Jf3twR-adZQXGjdfMWeG3WVtHRj_ZWPc9_-aQkBJK6oG0z8nJ5KaoVq-9896p-x71cZQWh42cPQtetVhD71H1p9cKUFlVeWvvx9mdf4HmwXchZmtXEsg98NafgeEk4QkSGpLqXVPbvF7eLuEA-LowGhYxmcJv_dQ6qmY-ZgYxaXPGwi3-415vbclmq7Lba5IDhlNwIWhxwPe6JdOoiNV1TX978nVkZcp1cnKu6PbgBVXUZ0KjfVcJDe79Hs4lCy6w=",
  "id": "rs_01cd890dadd4e581016ab423a00c2487d087489655746ffc36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.39,\"right_y\":0.32,\"right_z\":0.15},\"note\":\"The dark fruit fell just outside the left side of the blue bowl, while the yellow fruit remains near the white bowl. I’ll park the left arm and approach the dark fruit with the right arm, which has a better angle for placing it centrally.\"}",
  "call_id": "call_GCf0W51nXZsh98yoPrgaHxgU",
  "id": "fc_01cd890dadd4e581016ab423a14ad487d09881f0c95df13d28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GCf0W51nXZsh98yoPrgaHxgU",
  "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]: [-0.1699, 1.1183, 0.9882, -0.8532, -0.2531, -0.1146, 0.9962, 0.8253, 2.3306, 2.3569, -1.3651, 0.4164, 0.4202, 0.9965]\nstate[eef_state]: left_x=0.2929 left_y=-0.0017 left_z=0.1766 left_yaw=0.1203 left_pitch=-0.3745 left_roll=0.1675 left_gripper=0.9962 right_x=0.3879 right_y=0.3201 right_z=0.1445 right_yaw=0.1084 right_pitch=-0.5797 right_roll=-0.3107 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -4.3145, 6.5436, 1.2918, -0.1245, 0.1636, 0.0952, 0.3487, -13.0667, 7.1453, 0.5153, 0.3932, 0.359, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68409428bb28b761a186824a9377e72b5201617a099f0fb3e647b2a796eaa084",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901794cb011f9128ee5074012129e2fd8fe82a7c22ce763a0b120ccf387a3168",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f2c369ee2994005adfd4dee1c2ce3657aa76cebe0632010ce4ad42c446bea8",
      "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 · 5.946 s

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

message 111 changed as sent

message 119 changed as sent

message 124 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9543, 2.571, 2.7842, -1.4033, -0.5938, -0.8467, 0.426, 0.086, 1.1954, 1.0492, -0.9272, 0.1513, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.4012 left_y=-0.389 left_z=0.1643 left_yaw=0.0502 left_pitch=-0.3067 left_roll=0.0818 left_gripper=0.426 right_x=0.292 right_y=0.0021 right_z=0.1664 right_yaw=0.0951 right_pitch=-0.525 right_roll=-0.2878 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -13.559, 6.4068, -0.0269, -0.525, -0.0659, 0.9206, -0.3624, -3.7538, 6.4615, 1.1941, 0.0415, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0386, 2.3615, 2.0682, -1.0595, -0.6014, -0.9398, 0.9951, 0.0784, 1.1988, 1.0477, -0.9554, 0.1703, -0.2806, 0.9965]\nstate[eef_state]: left_x=0.346 left_y=-0.3835 left_z=0.0738 left_yaw=0.0733 left_pitch=-0.3744 left_roll=0.1759 left_gripper=0.9951 right_x=0.2858 right_y=-0.004 right_z=0.1622 right_yaw=0.0726 right_pitch=-0.5594 right_roll=-0.3111 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -13.4359, 8.212, 0.5983, -0.2857, 0.0415, -0.0024, 0.0615, -3.7128, 6.5299, 1.1453, -0.0366, -0.0122, -0.0073]",
      "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]: [-0.1699, 1.1183, 0.9882, -0.8532, -0.2531, -0.1146, 0.9962, 0.8253, 2.3306, 2.3569, -1.3651, 0.4164, 0.4202, 0.9965]\nstate[eef_state]: left_x=0.2929 left_y=-0.0017 left_z=0.1766 left_yaw=0.1203 left_pitch=-0.3745 left_roll=0.1675 left_gripper=0.9962 right_x=0.3879 right_y=0.3201 right_z=0.1445 right_yaw=0.1084 right_pitch=-0.5797 right_roll=-0.3107 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -4.3145, 6.5436, 1.2918, -0.1245, 0.1636, 0.0952, 0.3487, -13.0667, 7.1453, 0.5153, 0.3932, 0.359, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68409428bb28b761a186824a9377e72b5201617a099f0fb3e647b2a796eaa084",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901794cb011f9128ee5074012129e2fd8fe82a7c22ce763a0b120ccf387a3168",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f2c369ee2994005adfd4dee1c2ce3657aa76cebe0632010ce4ad42c446bea8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01cd890dadd4e581016ab423a77c3c87d0b86c10ee0af0d3cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.36,\"right_z\":0.04},\"note\":\"The dark fruit is visible to the left of the right wrist camera’s jaw column, and the right gripper is above it. I’ll shift toward it and descend, then use the close reading to verify the grasp.\"}",
  "call_id": "call_70eybi7oBg4j33k1RfmFP6hA",
  "id": "fc_01cd890dadd4e581016ab423ab9e6087d091846059bb882048",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_70eybi7oBg4j33k1RfmFP6hA",
  "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]: [-0.1688, 1.1145, 0.9878, -0.8639, -0.2459, -0.1055, 0.9962, 0.902, 2.3734, 2.0857, -1.0962, 0.4183, 0.4835, 0.9965]\nstate[eef_state]: left_x=0.2904 left_y=-0.0022 left_z=0.1758 left_yaw=0.1106 left_pitch=-0.3839 left_roll=0.1691 left_gripper=0.9962 right_x=0.3664 right_y=0.3537 right_z=0.0562 right_yaw=0.1243 right_pitch=-0.6008 right_roll=-0.3175 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -2.7009, 6.7487, 1.3993, -0.2271, -0.1148, -0.0073, 0.4581, -11.4256, 5.6274, 0.6764, 0.3834, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d922721905456706b16321838df0c0512c7a1f8776444fea375964c607773dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e0993cd88d7725bebcd2828f1c1d56d267370b64c2218130c697d7cf312817",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f973cc08c7dd0a91773787485ea054b11ce44a4ef7a06613590978e71d88e8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.04 s

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

message 115 changed as sent

message 124 changed as sent

message 128 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0382, 2.3611, 2.0953, -1.0649, -0.6014, -0.9298, 0.4275, 0.0837, 1.1973, 1.0492, -0.9512, 0.1638, -0.2794, 0.9965]\nstate[eef_state]: left_x=0.3486 left_y=-0.3876 left_z=0.0819 left_yaw=0.0603 left_pitch=-0.3653 left_roll=0.1609 left_gripper=0.4275 right_x=0.2869 right_y=-0.0012 right_z=0.1635 right_yaw=0.0838 right_pitch=-0.552 right_roll=-0.3037 right_gripper=0.9965\nstate[joint_eff]: [-1.1145, -15.4325, 5.9966, 0.9206, -0.4615, -0.1685, 0.7399, 0.294, -3.412, 6.4615, 1.5653, -0.2418, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1699, 1.1183, 0.9882, -0.8532, -0.2531, -0.1146, 0.9962, 0.8253, 2.3306, 2.3569, -1.3651, 0.4164, 0.4202, 0.9965]\nstate[eef_state]: left_x=0.2929 left_y=-0.0017 left_z=0.1766 left_yaw=0.1203 left_pitch=-0.3745 left_roll=0.1675 left_gripper=0.9962 right_x=0.3879 right_y=0.3201 right_z=0.1445 right_yaw=0.1084 right_pitch=-0.5797 right_roll=-0.3107 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -4.3145, 6.5436, 1.2918, -0.1245, 0.1636, 0.0952, 0.3487, -13.0667, 7.1453, 0.5153, 0.3932, 0.359, -0.0073]",
      "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]: [-0.1688, 1.1145, 0.9878, -0.8639, -0.2459, -0.1055, 0.9962, 0.902, 2.3734, 2.0857, -1.0962, 0.4183, 0.4835, 0.9965]\nstate[eef_state]: left_x=0.2904 left_y=-0.0022 left_z=0.1758 left_yaw=0.1106 left_pitch=-0.3839 left_roll=0.1691 left_gripper=0.9962 right_x=0.3664 right_y=0.3537 right_z=0.0562 right_yaw=0.1243 right_pitch=-0.6008 right_roll=-0.3175 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -2.7009, 6.7487, 1.3993, -0.2271, -0.1148, -0.0073, 0.4581, -11.4256, 5.6274, 0.6764, 0.3834, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d922721905456706b16321838df0c0512c7a1f8776444fea375964c607773dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e0993cd88d7725bebcd2828f1c1d56d267370b64c2218130c697d7cf312817",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f973cc08c7dd0a91773787485ea054b11ce44a4ef7a06613590978e71d88e8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCOzYcMfaAhhopwv92xc7BDFWiJJrm86taS4GQq30PkD2qJBnpjaO_AJk6FSlMF1Peuck75_hzL4jCBLKHkBP1M78KNi30q-7aq8J-6jl7U1fskjFvJtegSRks5sZZjGor2J3Jera8gI9JT-qjmzrm8X5UUfs_dGE1Rw6Jznw00fmmxotU9qcC9TIC01zT6KqpModRchZibP-VRC7U-_7B1Mq21d7BTxrEZ7IzGuXjbbMxsJKhe9AEZFMAsEJcVZL65FXNTIBfp-dVbZD61duT6q2ftrFcAKoRG0ZT0C9pGw3Mg_Be-NcRhqsx9aWrv2A_N50VCRPJXhrSXClhunKWJA2g2tESisdwNcF6E4RVhjBHsXKJaIBXACs2sXnwBfaaBows62ut4kjbJrbvkLTxYwmjLKDJCJydZ-ZIMU8qzADGzMFER7OzFYczQmKmb7h5UUil5TpLOFFRutfUyeFhP06SbKlcj05pHCp3N8imEMhnCoD9tFgosjUwflaTSIUCKhEI-iaQzBulTtqQS0ZE9wPYIZdNJSIZXio2e_ioJUvi1b2Udrrvt2k_kh1Dy9XK-3z_k4HUZHrt0aeFKXVa4vEB0SgKf3p1rba7R47lYQJJIgAe4LnxrorPUGYqQX64B7O_YgAlW5qghFG6D6pHOr037fDxp6kq19ad3n59IZTZd3GNak3FtfKI75fJq2Bcn8lKU9VjHRRVRhKgFC3TZjclH29uks9vf0KM2Zfw9uTThQBTDt9Nnfef6E3GDg2GR1C-Ko3pR1B33M2DiMLQlK78s2gmyZLSIXZStGZuecL4ZV2NK8U5TrttzSz5VtwLvzTZEKqV0H0vow6L4uP1fsdDmTxADGOiqySyA8nPcjXfTT4fbUy6p7vNmsxEu2UkR_VJrfEXUoEBxO98O53H6d2HVpWhwAMi8Rne5l-7h178_ILVtC_CpmfqWnSCnaC1ol4o4G-4fI-aV1a4y4pDM-oyaoetMmzmWMR1oveWqRIt2orIijznhYuZn7hHSDrqbjxwTxE-tj0QmSdv9tZa4Z5smUpSexicxjzQkQM-Cm0ScxQcYxuECYFyiUw4JeKZdZ4vTVBtE8zU36jmmNd2Gjc_6b8W9NOK6ThVn1d5mbHrvTIIsmypeD28SuIJdAutvWeWRApxrqoR3L7RDBJoX6zwsG0Bu3oR2cVJojCHFZgTpxtqqMW2j0t4VFXihzASdQUnwdAu1Ybo5j8PUHk_Ybbnnr8qiq62GXMQo-b2fTwrQMmKh11O7bB2kcdv5l5DmgNlHYDY1Pvsf8DBb7CidOZN7OuO5YFqedGkFYNQnOGvV2cfOTEg8VRv02ehgxTIWunrS6cJ6XB1SgwunldeRNgRk0G0LeO-LSWmINHwjSols4v41uygpo9N3J4-xwUpQ56S5DZVVszS2ba9_Ssva7N-PeU4OM-YzP_hGl4xoE0idmPYSYN8Cv9CVtkwwjIRycQ0kLxD3s3bJgfRtQX3kHyHJUbNt742YuKbbMoDKAQ6NC_QQIOXwGHQWl2-qZX7nVYwHY2bZughx-YeUUP_N8JwAncuQBOcbbEV7jzjjVSnqtcaDjbD-A_RVvyXAhtI3apB8LA17kykhyENP4aVjnFhXQ37pYPMuBGcIdkYXW_8vIKbftdoTK85EaOcOnIIKC2WXbNXS1BkNX6275F3gddDW-bt-qjPwgbRI6nq79vA3KER6zuq4Cf9anSoOGVbxZLy_84G54YDa9uRuiie58o6I72CrDNs2EPvS9Z4y7Ixqt3L41CaYryw_2G79-0kOhsNXMVCPkDBSijFonrJPbVGin9vSdc-Wqpe0He7vxruavFoNkuhP3JH9MKwbvo-s04dbNXmVAOHQNjaUSzQs2vwg16fgusmpwQUvryjgAW2pFUqWnzK1UxlrTBoy7g0IOlQQyQuk8d4MdoxVsZYqtNG_N5prwhPCT2c11iaf4k7zgF44r2C-jyRUC892dFlwJFR7fQQgzwYbTDkJ6wzfvKnybF5uXOfVCVQMUIBO2psTAKPI_A-2AfqGgzWyMtuyq34wGCQJixm0pm65gg4cRWRDljTNup4oNkJ6vtnzqxuhWFxiAUsbzm-7c271297jIQhYchxYAGykvK6SVeqOv4fygYk6T1vs082H30xa0pMGOb_hxOm8vK9aAIhMM64yDaGGlpc5xxcBNSxsPm5Cdvh1-lVnBIzPvTKM9ML1wMr7zsrJPyN8z6h1ghRQSYj1LvFI_JpgOHgCxn9caqDs-wJ6kqtoC1GsEZQ6w6fNwY5_QnGh2t8c2KOnpLOJDA82drXRAkpyeI_CC0V1fO67Qpu-8YH4Fz2WGvp2UXVvu9BYPHw8XhHF-Q7b1DPPc8zbZmelbF6A2rIO8IT-2cpIXBatOFgmIoq4fWaz0_c0Ifj2ph1LXdC_FPYH3pak6kF6PKN6Xpq1mUG9EaRcgUlDCBa9e-H6ITSmBXHlT2BnR8-J0b3W6GGr_Do7M8NUSCMkTK80qVVW6akes6RNhjwvtUv9G19r_Mm7tSVN2btPwPgZSSlRTtLGR0lWqR5lZ4AINKw3jAHTjXnsUoAGBqs1tSE2WeKLPCjudf-3TOF-k59HKz70p1Th9zJwOtLG4rLmrv7_kjP-dBCHetVZKZ0-TUynYVJjajxlwvbg7LRBnL_0p48w098FFIStOrfZLgT6JhiQbVjcqDrEN2EaFHf-WvS4hEputERqsOSBNlsfuoFWbxGz1P1JeixE1TXQvc2SW9IpG33q1IxVbkyV2SpYXw6plOd8dUoQznCMAUUMSCCWZvVD702RvewTjuZtFZYNvS6ioVowyQtBFr340Av3yBOZWGl7mewP_z13K_yQeDgsBTSKOkY4lqCOpMn0C5Lwr44qfj1Abi8ilHYr7YkZHuc00kB7XVUAKKaxFFNSP3JP0k7KNh1homhJQR51AiH7vuVqabrE6A_khb6SOEEYGWIEwgAmDc5Jk1nn-B_46xs18VA-ixpLrpl4lI_XQo752I9UaRLVRkQApUZD1nUFnbOoKJYMMbq6sPmfbNMvwc3Gho9OsMzVsvMLGk4Vlix-45vJwoGk6OC1OZh5V29elw4ZKXzZUweNVn2sK2gY5vyR_-J2T2FA3OIbKpHgLpg23NMO0O8rg-lh-oo8qusZP6cXK0y1iwC-aW9uk-KqadOkn1v9VZraUQOTgMSDsjitso3Z_hGqhYkGCu0SgF5GILUDIM81A-ZZcRyFGpIxNH0txPW4EeZcDTgkJ2km4pIbHGnCzd3i0VPPZYf745iKqyg==",
  "id": "rs_01cd890dadd4e581016ab423ae862887d088cdbba803786e86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.315,\"right_z\":0.035},\"note\":\"The dark fruit is large in the right wrist view but still well above the jaw tips, so it is not yet at the grasp point. I’ll move the open gripper forward and slightly right to bring the fingertips around it.\"}",
  "call_id": "call_1nPKEhQIfPdolkasojjTmdvd",
  "id": "fc_01cd890dadd4e581016ab423b25eb887d08ad6fc54e309f2a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1nPKEhQIfPdolkasojjTmdvd",
  "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]: [-0.1688, 1.1152, 0.9878, -0.8646, -0.2455, -0.1051, 0.9962, 0.8066, 2.3779, 1.9396, -0.9894, 0.3889, 0.3985, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0023 left_z=0.1755 left_yaw=0.1103 left_pitch=-0.3855 left_roll=0.1695 left_gripper=0.9962 right_x=0.3856 right_y=0.3107 right_z=0.0139 right_yaw=0.0808 right_pitch=-0.6682 right_roll=-0.3684 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -3.2205, 6.612, 1.2479, -0.1636, -0.0806, -0.0171, -0.1846, -16.2803, 5.7504, 0.906, 0.8425, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f851206cf83ec2c5f241c371fa2b6484da7a7535d401db35a1041fc03e48c9c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f5815dc29499fec071f3f4fd2c1b6fd9f638f79319fabf67de7db05b77e763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102d2ea855a6975f6745eef295ef8740702013e0403682294d63d3153465e32a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 4.038 s

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

message 119 changed as sent

message 128 changed as sent

message 132 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0386, 2.3615, 2.0682, -1.0595, -0.6014, -0.9398, 0.9951, 0.0784, 1.1988, 1.0477, -0.9554, 0.1703, -0.2806, 0.9965]\nstate[eef_state]: left_x=0.346 left_y=-0.3835 left_z=0.0738 left_yaw=0.0733 left_pitch=-0.3744 left_roll=0.1759 left_gripper=0.9951 right_x=0.2858 right_y=-0.004 right_z=0.1622 right_yaw=0.0726 right_pitch=-0.5594 right_roll=-0.3111 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -13.4359, 8.212, 0.5983, -0.2857, 0.0415, -0.0024, 0.0615, -3.7128, 6.5299, 1.1453, -0.0366, -0.0122, -0.0073]",
      "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]: [-0.1688, 1.1145, 0.9878, -0.8639, -0.2459, -0.1055, 0.9962, 0.902, 2.3734, 2.0857, -1.0962, 0.4183, 0.4835, 0.9965]\nstate[eef_state]: left_x=0.2904 left_y=-0.0022 left_z=0.1758 left_yaw=0.1106 left_pitch=-0.3839 left_roll=0.1691 left_gripper=0.9962 right_x=0.3664 right_y=0.3537 right_z=0.0562 right_yaw=0.1243 right_pitch=-0.6008 right_roll=-0.3175 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -2.7009, 6.7487, 1.3993, -0.2271, -0.1148, -0.0073, 0.4581, -11.4256, 5.6274, 0.6764, 0.3834, 0.0952, -0.0171]",
      "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]: [-0.1688, 1.1152, 0.9878, -0.8646, -0.2455, -0.1051, 0.9962, 0.8066, 2.3779, 1.9396, -0.9894, 0.3889, 0.3985, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0023 left_z=0.1755 left_yaw=0.1103 left_pitch=-0.3855 left_roll=0.1695 left_gripper=0.9962 right_x=0.3856 right_y=0.3107 right_z=0.0139 right_yaw=0.0808 right_pitch=-0.6682 right_roll=-0.3684 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -3.2205, 6.612, 1.2479, -0.1636, -0.0806, -0.0171, -0.1846, -16.2803, 5.7504, 0.906, 0.8425, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f851206cf83ec2c5f241c371fa2b6484da7a7535d401db35a1041fc03e48c9c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f5815dc29499fec071f3f4fd2c1b6fd9f638f79319fabf67de7db05b77e763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102d2ea855a6975f6745eef295ef8740702013e0403682294d63d3153465e32a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_01cd890dadd4e581016ab423b4bf9087d0b884b237e7ddaf12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.365,\"right_z\":0.035},\"note\":\"The lateral correction moved the dark fruit toward the left edge of the wrist image, so I overshot its centre. I’ll return the gripper leftward and a little toward the base to align the fingertips with the fruit.\"}",
  "call_id": "call_J2cYHbNjsNOBNkszekSGL4yG",
  "id": "fc_01cd890dadd4e581016ab423b5c60887d0a7157af19d9b35f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J2cYHbNjsNOBNkszekSGL4yG",
  "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]: [-0.1688, 1.1152, 0.9878, -0.8677, -0.2459, -0.1051, 0.9962, 0.8528, 2.365, 1.9003, -0.9226, 0.4404, 0.4198, 0.9965]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1751 left_yaw=0.1109 left_pitch=-0.3883 left_roll=0.1707 left_gripper=0.9962 right_x=0.3803 right_y=0.3264 right_z=0.015 right_yaw=0.0977 right_pitch=-0.5999 right_roll=-0.371 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.1111, 6.5299, 1.3016, -0.1929, -0.0366, -0.0073, -0.5538, -14.653, 4.506, 0.5934, 0.1978, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5547679c945e0332d61314d2e35fad71e2ded64f1d134bf0bd5c220f9309aaae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c230488c45eda87cb70d6d7622c0088c8567d47a757020801fc55208ee28b825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c344da8961e13c3107b564095787166f58dbae93621449b3cb09abc6b0970b",
      "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 · 2.711 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]: [-0.1699, 1.1183, 0.9882, -0.8532, -0.2531, -0.1146, 0.9962, 0.8253, 2.3306, 2.3569, -1.3651, 0.4164, 0.4202, 0.9965]\nstate[eef_state]: left_x=0.2929 left_y=-0.0017 left_z=0.1766 left_yaw=0.1203 left_pitch=-0.3745 left_roll=0.1675 left_gripper=0.9962 right_x=0.3879 right_y=0.3201 right_z=0.1445 right_yaw=0.1084 right_pitch=-0.5797 right_roll=-0.3107 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -4.3145, 6.5436, 1.2918, -0.1245, 0.1636, 0.0952, 0.3487, -13.0667, 7.1453, 0.5153, 0.3932, 0.359, -0.0073]",
      "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]: [-0.1688, 1.1152, 0.9878, -0.8646, -0.2455, -0.1051, 0.9962, 0.8066, 2.3779, 1.9396, -0.9894, 0.3889, 0.3985, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0023 left_z=0.1755 left_yaw=0.1103 left_pitch=-0.3855 left_roll=0.1695 left_gripper=0.9962 right_x=0.3856 right_y=0.3107 right_z=0.0139 right_yaw=0.0808 right_pitch=-0.6682 right_roll=-0.3684 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -3.2205, 6.612, 1.2479, -0.1636, -0.0806, -0.0171, -0.1846, -16.2803, 5.7504, 0.906, 0.8425, -0.1197, -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]: [-0.1688, 1.1152, 0.9878, -0.8677, -0.2459, -0.1051, 0.9962, 0.8528, 2.365, 1.9003, -0.9226, 0.4404, 0.4198, 0.9965]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1751 left_yaw=0.1109 left_pitch=-0.3883 left_roll=0.1707 left_gripper=0.9962 right_x=0.3803 right_y=0.3264 right_z=0.015 right_yaw=0.0977 right_pitch=-0.5999 right_roll=-0.371 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.1111, 6.5299, 1.3016, -0.1929, -0.0366, -0.0073, -0.5538, -14.653, 4.506, 0.5934, 0.1978, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5547679c945e0332d61314d2e35fad71e2ded64f1d134bf0bd5c220f9309aaae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c230488c45eda87cb70d6d7622c0088c8567d47a757020801fc55208ee28b825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c344da8961e13c3107b564095787166f58dbae93621449b3cb09abc6b0970b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCO7H2JycyfBaH1YBifTvYpVqV6g5ZPLMiKjwEXvQIgMiIDW7mXqqHROTio6IFohFIyGIZOFu5NZMR9MJBDW7PSV-DX201Eoq24263ayLCaW-kSXzAUBQJiq0qHIop_j36OZheKeFOPw5K3XZiFQiwSNOPw9fhWPbw9O1yG52T-miU147kluDwdAroxvjP5G76YA073cJ24hOEr4vTnRoBJLI2uYWwoxtLpCLcvLZK7MmjT3r0axfWOb6I5VWkoRQKar5mHotICHFEZHabOBnD9rX3RHFFuYYZClbueLULrNzfnjKH0_a82J37lN0w_TEN5iWlOrSuz_ZQ-7JhBh0cFAIrgxKwvV84pGmog_obSBKaxvUXYGcECB7UHXzHf1N8dOCybWU9ZXCxHbD5ptR2WBFMf-hKfVdhiyK2x3oe4xHlvlZDDC6HKIauHbyPyohafyosEJ-o_XOtvbckpC-0vBvjvqFjuBdfCOM9OLh7ptHyATt3_hXWZEjtcNWqXt1vcoM9XWk-1hST8A3Y0DbJy91-mELYKZNU12JEbZr87Dx648_7PMJje6QN7OTrfy3LrfNjc56YPX_I2bLzLqgJoiJTl1GZmOefYhXxCcyJW6N_4noUDJAhaYof8aFpMqYH7I3B-kurC5eQuMTg_lIPWdcOW0rlm_jJxxw7-D0g6jviSeN22AO-HhKCKx4k2N1Qz7e0UW0u328qArcQpxkMZJgWpHEIAopcRQDwpu6gqFBx_sSlsU8L6sMGXsLO50DkOaFhGGMRdZDH5APtTBRKx0h6BHDmhpjz2Y45hHTZHVVLLYjojzz2CppJP3r_CCgmgcUltwBqiZIcoka5QmXSgOKyhjbKFxcSZOXP4-b-bNDTAkx7wxv5Xo1y22VWbmhdjsQDREpuhUA7ykD_oprZEp4zGFluFkU_v5Vo5dp9tF0NbTrb4gQDkMGz2pQ4hECNsCmi5zYW4H2avyhxTJkk-hWGmQfkOi1NSfeXsGYu2kLuPo_Fe1LccQIuLHlO897zc5GB62mwSXa_RDS_P1-jpglQ_8XagImXK5c0bzdEep5qnWIcC67m15mOx7m2Jv9KjQVsYTxkki5CsBEVAJXU08x_87hWi_wb0dLbROs9pXYkZFhq78g90bedtD00Kk3s0bTh2uO4vUGwsEFIMXYEfiAfC1zK7l3cHB_xA1AnB119aTJsyYcwXhUDN1sdkN89QbKm8BGy6IU_Kk0pOCZhN1RNp9z4IwyQEtVE1sQ5XHXFeLDwC6vE9LiCzxZ2ffg9aoe2Y92s7iPlsTE2dJT_O2UO1CBCubmGNywQGa0vBuMsDKJitPNjkP9wCQL2Nt3mRT4liEfUmY8sXjhc_mR2x6imdetGx0kZ6v3ovSAJHhkf0cA3cpAPZDSasTLsludlnqbkB9K5wFRJBCBWOhb_YUXFgX22y9J_7wTg5HnHeTI5aYYfgxYXL3PEJgAHPsHyuO2Mk57mbiNGjKFy_VbBZE5wlW7BgL0xiJa68ihjwlY2zaRMFtRIbhkl4Zw-COHd7JlCbqkmXEz3uDaJkWsz1FnD5B-nsIJMVA1DHspQ9sKnFztjMTDrCn6RR-Psb-bIYNT9GOtUXJ-2rNzlzbME7VZm6EvXQ2da4GSM4zqXdwAQmjfCDCuPrqk3IPpQq2rm58s2JIP1BbVoT56REijjTlYOyTmTCuDXPmDe9VMLACr72DOmfrWsRyL5pLKx2fA_A5bvUEHM6eFlgjcaP9gWbVKGWcCxyIC2ZEi73lgkQSc7LkV5deixvvFlje9XBboLyXUpIxRASt1Pdo6qSQyZfCa6FQGS4JHmETInIF-BUsYIv40GRYvHiHwgss-de2c2EvFe4ytCqW3V7bkS06j7WgH2PT1_E4LIrpLj7xKKpQQTYD1F7xazQ2AoA0LfOhg4ddr6nkhuLm1Jwup602fcVnR0TuexMXu5Jfab4vtSyZBK7oheUpoyfNAy7rR9Af8o1XmUZWTm25JF1KMArc8TMtHQPTs8vr4YtWolcxMzYVlW5vscuZBNO2cVawT7KnduKY24hpmYP-E0bXTSYZNLGN01QWqauTNMC9YLab79fWPp6chyFJ3z_n55NOVOmAvwL_elG1fZxw5wW2avqEAINfXgesmoZH8Qv__h8aHCmgK1uYxTwNObETbcg9UQ1NinyrWxCxtm0R_r6wD3ioawkzCQ==",
  "id": "rs_01cd890dadd4e581016ab423b9100087d0a0cef045c402b969",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.37,\"right_z\":0.13},\"note\":\"The right arm is tracking short of its low target and the dark fruit remains ahead of the jaw tips. I’ll lift away from the tabletop first, then approach from a less strained pose instead of repeating the stalled descent.\"}",
  "call_id": "call_IToebJ7c77BoO3p2OIy2wM98",
  "id": "fc_01cd890dadd4e581016ab423ba443487d08168d2c45b2fd2ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IToebJ7c77BoO3p2OIy2wM98",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1684, 1.1152, 0.9878, -0.8684, -0.2455, -0.1047, 0.9962, 0.8906, 2.4252, 2.0193, -1.0222, 0.4553, 0.4751, 0.9965]\nstate[eef_state]: left_x=0.2895 left_y=-0.002 left_z=0.175 left_yaw=0.1108 left_pitch=-0.3892 left_roll=0.1709 left_gripper=0.9962 right_x=0.3723 right_y=0.3423 right_z=0.0175 right_yaw=0.0724 right_pitch=-0.6071 right_roll=-0.3911 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -3.1521, 6.694, 1.2625, -0.1197, -0.0317, -0.0171, 5.3538, -11.9453, 6.3111, 0.0464, 0.2564, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:435930b02001b4aba3bb9ada377a3e5a4bb3f65e923c700da1cfdf3334336c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff32cf55d47d93516a4e009cd13d882804ed79b2380fcbdfb02a4aac207dcb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18eeb52b9bef8e21d63c9acffecfa306eadca8fee2808d2d4bf2d2d394f4ed5b",
      "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 · 8.999 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]: [-0.1688, 1.1145, 0.9878, -0.8639, -0.2459, -0.1055, 0.9962, 0.902, 2.3734, 2.0857, -1.0962, 0.4183, 0.4835, 0.9965]\nstate[eef_state]: left_x=0.2904 left_y=-0.0022 left_z=0.1758 left_yaw=0.1106 left_pitch=-0.3839 left_roll=0.1691 left_gripper=0.9962 right_x=0.3664 right_y=0.3537 right_z=0.0562 right_yaw=0.1243 right_pitch=-0.6008 right_roll=-0.3175 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -2.7009, 6.7487, 1.3993, -0.2271, -0.1148, -0.0073, 0.4581, -11.4256, 5.6274, 0.6764, 0.3834, 0.0952, -0.0171]",
      "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]: [-0.1688, 1.1152, 0.9878, -0.8677, -0.2459, -0.1051, 0.9962, 0.8528, 2.365, 1.9003, -0.9226, 0.4404, 0.4198, 0.9965]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1751 left_yaw=0.1109 left_pitch=-0.3883 left_roll=0.1707 left_gripper=0.9962 right_x=0.3803 right_y=0.3264 right_z=0.015 right_yaw=0.0977 right_pitch=-0.5999 right_roll=-0.371 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.1111, 6.5299, 1.3016, -0.1929, -0.0366, -0.0073, -0.5538, -14.653, 4.506, 0.5934, 0.1978, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1684, 1.1152, 0.9878, -0.8684, -0.2455, -0.1047, 0.9962, 0.8906, 2.4252, 2.0193, -1.0222, 0.4553, 0.4751, 0.9965]\nstate[eef_state]: left_x=0.2895 left_y=-0.002 left_z=0.175 left_yaw=0.1108 left_pitch=-0.3892 left_roll=0.1709 left_gripper=0.9962 right_x=0.3723 right_y=0.3423 right_z=0.0175 right_yaw=0.0724 right_pitch=-0.6071 right_roll=-0.3911 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -3.1521, 6.694, 1.2625, -0.1197, -0.0317, -0.0171, 5.3538, -11.9453, 6.3111, 0.0464, 0.2564, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:435930b02001b4aba3bb9ada377a3e5a4bb3f65e923c700da1cfdf3334336c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff32cf55d47d93516a4e009cd13d882804ed79b2380fcbdfb02a4aac207dcb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18eeb52b9bef8e21d63c9acffecfa306eadca8fee2808d2d4bf2d2d394f4ed5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCO-feLaUx2Obm-Nt5SoTySxGRHY4JQt-ca4TdDtzDhVUuxS72YNtoIFVKltjQjm237wGuoZOYhmCg0m9dYC218JS2AVvx44LUO5qdOpn3RKY-_rYG9bJ4ufSvLZCnjCkta6w2vwUBikrupDYuKWjNcdJzOxqKi29oJO2NYjIgVBWF6O5Bv26UTih1oqiqkBeG5HGk7rIN9Kw65yBTSEyBGzqhyVmUwfkuK7h0B9qbLBCmwLt-beXGhOCICUTYUWiNaQwexhEBaWQnhOXpXQcBZIGhnJ-6HiGC-X3MRjKL0s_ara5tWxJSHWADgXIhv78ZCJg86vteyDH-FUangZko09uSqws0Yc8BLpMwIP3MTlf6P8x32j69dFBr_ncgfPAlrJAmLyHOa4ctjcgWDIiUlvB-HPA7pf69BkXwc7PtKuaAI1UGHag_9FtZPRl4jV5QzPoQFkiTgNFfB5se2XC_lr2KCk6mojLPnmNuVhc9CUwQzDJ31JMr7DGmPZj_6lKX__eEUAsNOcoxKJnXs1gRROdg47-499FF8Ue-Md2D6CWWf9eYPkjAeVBNAgPP2lFwLMyQltQMY5SKzWleqY2BVf13ZI13s5XcClqnLy4-mXfwjsCFR0ksbrqb0GXA-jSgwnOrf6cbg-LFtEc4umvdcU59ucl95bJEfl6cshtat-fbLUS48hQxcHhVMW7xIiHOIqoR6LW_yr-nWWbo6cws9Rplf1daPCe2EZqm1D7hYwp36Guerw3V5GbR_LGCGPqooRnB7RQx5Gkn4baLflgi6x-d-FfeNY5Hfws1cgYlhg4a0Xy1WD4xu39qw269ted5fICZ081So7swjiur4u1xh8AUG4pCFhizl1mnaLap8JN9o5hV6qglzU816mLGeewsGicTkzsePe0oDI9TGM3YqlWADfxyIRdxzkwEJot2dEWLCPBp30Spe5fbxz3-zT35sFnoGNqHHBMeiyTOjqvyzKLl7Sk8IEZfJuytIJIaYdnoXKkoMjxDNWZpxYPcAv5y5C4waSn3uzfChwx0pAyZtVLAt-yJ8OxTH5pQOPxazgQIyAZTwdJYZNczrf79lL67bDHuL5iD6v8jqEjCiV86J2YqA6z-ouzsB1YkOn2379-tYMibLsrhNIXlUcrUbuwLSA585sgs3BOHuSVzZIacvW5NBQDR1o8peGoq1eOnjtY53b6iMrCQR2as-JIgqhJjW-W9OqR1PB-B1007ttMEPac51mKKfCFcSuUC23M0OSkkoe66IEOmdI2I8hQRYl-whLilYZdGFQ5I_ourwkorlu-st7ypIpjUhizdqg0sR3YjScOtJQTYhsosObHzS1GmjYpd03cX1-k7ESB9nuSHFUkCY0xUzjEUqu-qIPGJrWUsWRpTKRzT3kECpoXn9hL2jJWEAHm0Y_CA3cnITFPm4G9Ett4CZjUTkbLwJp0TqFUrdOewHPOuE1SQ5TrGosBoZbDGPwnmgWNS2RbWGc19nUUmJs5I2dH7lmL9YNMDBFXYk=",
  "id": "rs_01cd890dadd4e581016ab423bd4a8087d0b0155366c2ce67fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.17,\"right_z\":0.19},\"note\":\"The right arm did not rise and its shoulder effort increased, indicating contact or a constrained low pose. I’ll withdraw it toward the open centre of the table to relieve the contact before attempting another grasp.\"}",
  "call_id": "call_lYAhvSnl5K3DXOwCfKKAJudX",
  "id": "fc_01cd890dadd4e581016ab423bdc1f887d0bc5859648e7d87b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lYAhvSnl5K3DXOwCfKKAJudX",
  "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]: [-0.1688, 1.1202, 0.9878, -0.8749, -0.2451, -0.1051, 0.9962, 0.7265, 1.6676, 1.5505, -1.2255, 0.4255, 0.3046, 0.9965]\nstate[eef_state]: left_x=0.2885 left_y=-0.0021 left_z=0.1728 left_yaw=0.1117 left_pitch=-0.4002 left_roll=0.1737 left_gripper=0.9962 right_x=0.3062 right_y=0.1793 right_z=0.1809 right_yaw=0.0716 right_pitch=-0.5983 right_roll=-0.3802 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.0154, 6.5299, 1.3797, -0.1538, -0.0611, -0.0171, -0.3214, -8.759, 5.8462, 0.8327, 0.2515, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f6b1536c2e6278352ceb6c8dd033913c915fb704aeb27ed7324b422e89d5c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ad743d81252ec7c64e6dc7549b55a0dfc9369f1781993ef19c478ba2b4045e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd8635915976a58e2fccb49f31eebbc6930aa5e6591fa85836fc4cff990fd3d",
      "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 · 3.152 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]: [-0.1688, 1.1152, 0.9878, -0.8646, -0.2455, -0.1051, 0.9962, 0.8066, 2.3779, 1.9396, -0.9894, 0.3889, 0.3985, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0023 left_z=0.1755 left_yaw=0.1103 left_pitch=-0.3855 left_roll=0.1695 left_gripper=0.9962 right_x=0.3856 right_y=0.3107 right_z=0.0139 right_yaw=0.0808 right_pitch=-0.6682 right_roll=-0.3684 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -3.2205, 6.612, 1.2479, -0.1636, -0.0806, -0.0171, -0.1846, -16.2803, 5.7504, 0.906, 0.8425, -0.1197, -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]: [-0.1684, 1.1152, 0.9878, -0.8684, -0.2455, -0.1047, 0.9962, 0.8906, 2.4252, 2.0193, -1.0222, 0.4553, 0.4751, 0.9965]\nstate[eef_state]: left_x=0.2895 left_y=-0.002 left_z=0.175 left_yaw=0.1108 left_pitch=-0.3892 left_roll=0.1709 left_gripper=0.9962 right_x=0.3723 right_y=0.3423 right_z=0.0175 right_yaw=0.0724 right_pitch=-0.6071 right_roll=-0.3911 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -3.1521, 6.694, 1.2625, -0.1197, -0.0317, -0.0171, 5.3538, -11.9453, 6.3111, 0.0464, 0.2564, 0.2027, -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 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]: [-0.1688, 1.1202, 0.9878, -0.8749, -0.2451, -0.1051, 0.9962, 0.7265, 1.6676, 1.5505, -1.2255, 0.4255, 0.3046, 0.9965]\nstate[eef_state]: left_x=0.2885 left_y=-0.0021 left_z=0.1728 left_yaw=0.1117 left_pitch=-0.4002 left_roll=0.1737 left_gripper=0.9962 right_x=0.3062 right_y=0.1793 right_z=0.1809 right_yaw=0.0716 right_pitch=-0.5983 right_roll=-0.3802 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.0154, 6.5299, 1.3797, -0.1538, -0.0611, -0.0171, -0.3214, -8.759, 5.8462, 0.8327, 0.2515, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f6b1536c2e6278352ceb6c8dd033913c915fb704aeb27ed7324b422e89d5c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ad743d81252ec7c64e6dc7549b55a0dfc9369f1781993ef19c478ba2b4045e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd8635915976a58e2fccb49f31eebbc6930aa5e6591fa85836fc4cff990fd3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCPIAp-xp_xcC2R4gbFzVF5ktvK_fEl-HRiMkieINdlPxXutohlDv7I0kqCr9s8riwUjnAPvQHCQgUwidXvLrFAn-sOGGnjKHMSUq0_lU1UoZnsvjWSKr_x7QJBEcUf1ikbTFTonW2EC_G_Z7xyKvGYBp1wmMsrEBWW8y2UJCkKrBatDJBT_R_QB0djz8NAwvwHp4TlDhv6HOjcN5CSymnP0JSchdlygH8ot2kNxcz4UTPqNSOR67nOiUKCGz0V_ZzSMevvzJQmeR7HSKU61V3CpR1WBQgHuc_QV6pXD_4II5GbeFKAvSvoY92IGqqqnDp9wB2I2WgOhwea8UVGBRoXVgcRNSkr6ku5QmLOvinjAne55ovb7U7AvwT6HpWUJHYgcogWuIsBXv6Kcp8fipBlgMJZsNDXqwKlIHDu3flzy9mXtGzfclRUkd2NFoL-VC54upd0SVA2Ey9wpz0uFCjV4LVPZnpWigH3JboDajkZXpId_LT5JwdUbzmxoCE0m7Ueova0WPRcnCDMEQE49gti05Q44txVdEYIWcnyRKj50XOJDYnVp5KCKebSXxGM39Hq184_-FJdvq5satIjBdPN2sdlD0qzn_2HD0_ukt8B_pejzUKeeoAA2njkVz23Vg3onPRoeM2lMYSwuWG0oz33gNJmM7D9U8bCCNwgQFKbOpA3xvM9K19SwWE02F6Ak1sixrasaoa0aMc1lLk4Gp4MYYpRa_DALGrKVFdggllBwfaa_p6OGaHnfpnIZUl_vWPCG30L1tja1o76qTke22t6089wipBSN_0MdfyVheXn_EeA2abiuax_Nr3PagjWt2TYq0HIj4TrcSuK6nDfJOF1NsNlnT3iRZUFfNZdQ3w2M2bwOaCcish9M3fIxG7H4iHlMGxMpcbwlEmNISjprajqh4P6Q2R0NABEXqgguIIOuPAPesDnhhqJxJFqazI-X1LNQxXNiMLVGUQcRl6M9rWLtmalzleOCOlk9HJZu59mUssxbPbDawy1wFNbkCT4AnA9r-RaxrbAbT9qnfSQ8Z5vDndKzu402BKNWfuUFvOqYGiQiEVXqeN4YHmyrrOnjhcxzDnxS0NRT3m0w5RmHrM1j1G1O8_y41SqdmKT1jNEkCpiwL7fIohbceF8vkiyPGUtDu2KtWMCAsBsTg4m1xpwwD7gx_QGTumfWcn5E_VNxZHS1GcoLDrJ07f1OUDM-IKmxJNIA01OP7xtwk9xHuQw0iR_fyfyrG3AQcY7ETpuCtIAmP-ewy5K1iwCkBcLUp5lIgJuTxaFvdimihme3ZXCQCwhcIQMUaUijTs-XDraRp1dtvCv_yd82lNonnHMTz0OJfhyhOMqxP7czISS-gyHpxmujn_DIiiHSj3jL0EUhnCG1ii0tqXc7mQjvFIiKCnbMkay1iUIal9ri_6kn2hF4H74gfF2SL8aRa8eMyCIuGKD22O6R5e99l8N5oyVaDlkewfZNVT-7n7ILQVA0OxXDY-GXOrcSnLLbZ2Cp6pu87GBREv_ypW9hHvVN6sUEvFKWoVU2NnEGX52bOi28Jozq0jISpy5eNZaXv9smWNU9hhnC6Fd7ffiNM1FJlCBvBrJKrA-Mfzla-OV3rw6Y2ubqLIrmjzLaM28olxmKOHvIcAaEQUbv5OGlXNFnCHUtnFJb8_CpdLHaUK780LRua2Unk3-veqRfna0CMxNjYT-wMhsw0LwMfxfAXfbzOMd2E2N-PUtQNYFc6N-pbj6392nykd1Ka0HfPYZ-aeUjdWL65drqtWAXYQis6il4JA7G1WSUiEBuRwMzD8e1AL-O60y2ExubkwqKTo5OEDLEgFIBn7wiJIfKSa61qNmq-sWTzKfDbeoJB59ACEbEDtQbkA32Miz-T-X0Bo5stqj5kFgazWnQUqXwF7LG_BhnrwUUzKdTAOrQfooG-z2FvIXsgtNZl5ZPGXK0FyTx3daPfIPvJAcUOQPXOozVRVFn2KSMANnSCPx-Fqk3RgRvAF-SCL_nA5jQ_eDYHUiXobWFotn9S5NfzdUTgqY20zhMT7OQRvWBChL9eLEv8KDRg-wsorcFsw5S60YfPIycsN6SfRfeIjd3pcrZj9Br2hsCLoD2j72JrjoDd_hQ5U7wORvxktCrgB2j7ZMsuF1WW-s-BHf1zPA3_ZPQgIxVGmvtfaLwQlS1V4i6iHMt1AoU67M5k1XawvtfVVyfpjTqX8U2j4vFH0fWj3uy0odkf3nz2bSjN5wE1Bcy6-ALhq96mdcZQur6XgepX7MSrN9yG8BwdjWQjX1EWMAsxHH-y8jo4UifeMa1h2mrgwGycYGz0PHfkpbB2w3smASOHrT0SbVj19pMK8g-_DZBuBLlFKpQqvylfWgO9R2Fy6WHce7uFht1_fp26ovTFZNTsmzuuviNM8JIzBFtPwUHnYTLFynn6CRd1sSJgVjjFQ2Rg1pfiAUIliillpVnAnJPTBnR_8z_bV9r2_L2ik4o536v50nWg6TWAgtwkEtRMx0d3j3XuUu7aSYKgmInHtGaj6x3TLnjolaUDFjD4Agx-DSTVl_nSsJaYAmFd8FYuBvqdFp60z29Y23uGmUMaLdQ_Pt8GM9frr8dVcVZynBtABGamj9pRtnpcga0SnXduWf-zG8KZ1Sdpp9bdmZNZtPCe5mM6vpRSQJSwn8s-vepnGYvIN_inbPVBAg0zjMvhtEMgf0ENeM0XXPBc-HOSAW7pggWEh_PERhIxJXgerrYbJCl3iHJoXase1J3_I2oSSAQrDSpjWiefucVRxcqRkvf98dNdmUt2M5Tyq17eE5LJ7f9Cyg6xom7LKYSTRj0iK5U2x3oLfdUNyMRVjncSgWpFTUwM4Y861vR50ibmg5kJWZA0PeMt4c3zdMFiYM7FQKuPgmg8sXR7etGv8dJDEvgWarSxVAZ2tXlT5QPgCAxIDKKtoAZyspBrWk5TBLw0T3PlxRZuDcbftxQqUv6ajk9nKnyLlFEGdclojBP0vPgdlUEvYzbGTPuZ1_rq0w7WkenHV58am_xclTI3oS6gZjSAV61hBSPk4za17GlNXMrmYLi8ea3c51Moq3Kx12r21Yfn8UwSLQ7IGbxbPlc5n4ngtJffnpmV6wYH96B4bH93ZBCeSIcngG4nOLqvh7WXr3tBkvSHdWi4LCUww5t4vwtWEGKee3-riWRkT2j3vQsERREvZaCj46KTg3EkLTjayhj_GOhhU1gROojK3fKvFhaJYdRng_oNwxF3IAyi0-la0cBaysZEuwY5ZsB8DilLWoHU2i_SyeAgHNU3G7EaYdoOXPNSt9znglIwpY23uHZbleG7ydmWxQXUNFGp9FrqnBY2jJS2VDaNVs1SGc3en8__8eX8Gd4QBg6TcGTqNjqdDsfW0IiKrbfbFuRBrhwwAffsk0pLUz9hzIvJAVWopU8MiWWS4NfxPE08m9hjJUOOEMnoHf1rAk4meJs7yhxuXBxjuUWS30w7PjxU4SqA3BCJxdug-pbXKZnnXwjKubiFNBJ59RY0Oz-R2cEmVbJVmob78rekZ9hEVtFNzvdpT9Av8ly9PUr8zvIWLDF5gxeSPoFIZfEsVAZXZQGGqlYyWgNjmkXg5ZZrzpUDDgp-oAIXxGIGkN6Iha8vpOr0Zp3EqJdUbQmap0y-6DBSc6YVk9szrLbnHcvWeN4sZgvPSFwuP65znSmE2tJwIg3eQ6V7wbigLEuhVumFpUu7Cxb8f7klDu7_42IXV475zKq-uwAxkOM4oieTsKfUpijiqI2ByZP3K2jioUp94RS-pPvfS0Q8ghsluFe4OKjKN-mcGkCRdUI8vniKoK51cILmx5ren65U0GRJvfEYauE",
  "id": "rs_01cd890dadd4e581016ab423c1319087d0ba6d722922eeb79a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCPI-rC_NNx_BPlIVEKoEkeucn_Bp6GdMUpWsDGWFZVUQZhFS6X4XB3EI2Ukc3MLSWTgE1RwP-BF9GpqlwNyFDh_Emsw1tUwtPFeNGNGY3pa40fcFQC9x-QK_Nttp0sxAFkFG3DK6AYpp6JwajylwTsRlytDEt0tBXx5BB94CCWIDUAVNCnHu5TvMAICUE7CP9HrilH1N3kG-kHqL9p3rEA8LW2zhwRhWeSxrnKITf7JbFUtqxLZFLxNBjw61f-g8Fpen-Nu7wVkbxy2SS5xTmk1--sELKvbuzd02TZioERIeSBPprrEXkeX3liv6n-Kd_H2ROItjIm-MR8a2mlMuAxBreWbOoLjS7izT-4dEhsUGk8D_blRJgZKNxxTEZU6D7WnxSf3Acfj5m7WkJun8m6MAclz9v2MvX3cf4U5fnW4qln-Yb44chJkGR9h07SSIXzV9uOieK_aSgoZZCPtAohBg7TtZ2CxFC98RAVaGcsLoRpuNXI0o6UKPCwbjOlE9ZQC3DVZj1HvcX1pmP3JxNKN3wDZ81_Ficwqi32s5eMCFR6jkLTj570XOlBWRs4GzauoRFS1hpYkLCAX6G6gTGOz-kCmyXcwV15jDXBdLTm-PW6uvHczF4zB4A7JounKuhYrB3iOBJR9vj2Tf_9kWGkku3HX4naT2-nlaT0NGPWVEW-MCKXNTNTTdpLpuIWJRlmHDPczbMGiQNBZ-2c47W4pMTyfP31eNjhj468LZkkR8McZVM15MRtjmGSTlhan2fhomGbBqw0Cwext0cpD7FxkbboFKrDyBCdV0buuKfTksS4d6DU9BnqCRifJJFvk7B3x5FgDlrhfJA8niBcqO38VWAr0s_uQgy5KJW0r8NmIuHbeI8sVJvuqeNcValAuwc8fLujtjiRYFMYjU8_9PUwGawbKbwlEOn7p2sL0-WGhAURbWI5zG3hYIwKJ0qfjbD_j6G2VJJLu_Eq6bbwkw2xNdL_e0prYx7mmQ22PWM5J7bGi6FAvrw6IMhfeS7qOwxqnSa0WsKUE0QFdLx0Tk_mko5MCb9C_9Cw4QY6Kjsr9P-tetpSACKcInfF8D8VE9u4liztIwDWPPWYvhuQI_2tRJrVAFcASJpw-2az9AQqGh4VqaxiNVrnoXR9lo3yI_2Z939YLgyXOOVlJI_Xfkn5XCcIX9rIwD_cUG7JaT71VBCtgQtOw9xww3R5MDuNk4-VDh23YCO4dfBwWOccduumRMSkEbqSxu3O34pgi-Q4uCY8gb-O_LOpKkS1XRckuqhCbgwR8gjeqBadMZefVW0RKZde7Sl8E_-2ex5Cdt_fSkVHumDLj3Th9hrWiyKuCD04qo8xPzMtzGir-brAhczCYmUXueETSPB30gQY-EofkXxIg4z3bej_pi27VakOPvEyPIIwdvhFsFrebffyQNm_GfRL4ujlCUw42PVItcYnsjGovIjG2bjAEKPDKoWMI5eOdr8XaAurFe3zQK12MCau6yzRtY6BAc3tjs0JzzdD2w2TKWzzoVFj5hOe5SOJ3zqW8bhpa2fzsSBu4d2WRZZQV0k-8G24kfQK0G_Zcet_AiavnDMIUxuhE_UVsHmAKLXkpPS47dhCIlwN8nER1-GmE2u7a8cQbtg2AHVa_NoWtqXrcknTDgQ6RQnxByKz-0ZKB-M5MFF3CWpvKsSwHXzCeSOborOQV3fxO_rzi4CxRObqckzQ7iIwptLDeBVr9EcfIJg68oKPWW7K4OFm4ccFfDAR271Cr_knIJRVFTicbh1yr9cUwHml-idN-_YoswcETPWM3DYrQza3f3fHH0zPaJ2GybaMow-NgH9ijoUxT7f19KRmWiYdeA06_JzoSxOMj3ZkkJZM6VvkqFVsAGFpsoGzPJE_b3rtvBLI3JslpxeNCiaHqeN_t36IRr-9WfY5x9emzrgAgq_X2_O0PBUfd0F9vaCT1ZNcRzLPmGy5d6OFuxdxx4QAKWldJfEasfgt99VKts7TQPlf0r3KErjv85q7XRb-ng8W5JijfxooN7OGwZhdl2esBkLlA0PJo-2EkhNydhW-ClX8oDujU29jpeaEiSqfQTOEtVZMTp0eF66uuE-goyvhD8R_AS11og4P8mxGRV88DBjiRL3t0WUhR3Q5MFdiHfXwuk8zxIZhprIiuy2Uad9RveCHXx8zGf2AkPKra7Mpj9HTfBieZCfg0hMxoFpCVrIfrFaPEUQVn_o6VX_cA7tZDA5rZtpoEBUuKpnjUDNah-Sy6wbE4OyUnGOWq1W_HEeITdnPVGr7r2CigSt5ueLZky0VYI2061dyYDH5HfD1rrkHOtAJaDfzxzwrjBZxtE0PDlrqJpEF38lgGmpO3ZGk8LhnKkYbMDQxMQRATcQfq3Qz5FaOeXt7ePwFD0ciEa9yx69vXIevBkYDqjCyMapnRK3NB1HxtfwylZoYNUg4olaFgOonzeAPjGHUB22NNU68NHDaDnA5bUCaXC8x6POPwM7jDERajRN7jcr19tbxkGTRoaQtLPcwJ-nbY_KACo5Q1DQ-wrRJJjTjnjV52ff6-tZcZWzFkCuyaUlQREiaUHZGeRyYfIhV9QA==",
  "id": "rs_01cd890dadd4e581016ab423c5d1e887d09a0d7e24edd1ad3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.205,\"right_z\":0.12},\"note\":\"The right arm is clear again. The blue bowl visibly holds fruit, while a dark fruit and a yellow fruit remain outside it; with limited time, I’ll attempt to lift the bowl for the requested pour.\"}",
  "call_id": "call_WIG88mKbR8t90tfJoqdKZzmA",
  "id": "fc_01cd890dadd4e581016ab423c8293c87d0ae9ee905e43d1144",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WIG88mKbR8t90tfJoqdKZzmA",
  "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]: [-0.168, 1.1225, 0.9871, -0.8783, -0.2455, -0.1047, 0.9962, 0.6418, 1.9457, 1.6531, -1.0714, 0.4004, 0.2138, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=-0.0016 left_z=0.1715 left_yaw=0.1133 left_pitch=-0.4064 left_roll=0.1763 left_gripper=0.9962 right_x=0.3725 right_y=0.1969 right_z=0.1168 right_yaw=0.0533 right_pitch=-0.6491 right_roll=-0.415 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -3.2068, 6.5983, 1.3114, -0.1392, -0.0171, -0.0171, -0.5949, -9.4154, 7.8564, 0.823, 0.2173, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4ccd53d372f5a313ad40aba5d07d7580cb6cb5c51747e29b2697f024bffc060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb07b0b6a7c9225a78dcf13cb64ee81b6089cb463cafa5f4ec261f068dfae32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71efe9c21aeec597d132b44164ee3d7c5dfeb30dbe9ff90bae9022e10369048a",
      "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 · 2.495 s

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

message 136 changed as sent

message 144 changed as sent

message 149 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]: [-0.1688, 1.1152, 0.9878, -0.8677, -0.2459, -0.1051, 0.9962, 0.8528, 2.365, 1.9003, -0.9226, 0.4404, 0.4198, 0.9965]\nstate[eef_state]: left_x=0.2897 left_y=-0.0021 left_z=0.1751 left_yaw=0.1109 left_pitch=-0.3883 left_roll=0.1707 left_gripper=0.9962 right_x=0.3803 right_y=0.3264 right_z=0.015 right_yaw=0.0977 right_pitch=-0.5999 right_roll=-0.371 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.1111, 6.5299, 1.3016, -0.1929, -0.0366, -0.0073, -0.5538, -14.653, 4.506, 0.5934, 0.1978, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1688, 1.1202, 0.9878, -0.8749, -0.2451, -0.1051, 0.9962, 0.7265, 1.6676, 1.5505, -1.2255, 0.4255, 0.3046, 0.9965]\nstate[eef_state]: left_x=0.2885 left_y=-0.0021 left_z=0.1728 left_yaw=0.1117 left_pitch=-0.4002 left_roll=0.1737 left_gripper=0.9962 right_x=0.3062 right_y=0.1793 right_z=0.1809 right_yaw=0.0716 right_pitch=-0.5983 right_roll=-0.3802 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.0154, 6.5299, 1.3797, -0.1538, -0.0611, -0.0171, -0.3214, -8.759, 5.8462, 0.8327, 0.2515, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.168, 1.1225, 0.9871, -0.8783, -0.2455, -0.1047, 0.9962, 0.6418, 1.9457, 1.6531, -1.0714, 0.4004, 0.2138, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=-0.0016 left_z=0.1715 left_yaw=0.1133 left_pitch=-0.4064 left_roll=0.1763 left_gripper=0.9962 right_x=0.3725 right_y=0.1969 right_z=0.1168 right_yaw=0.0533 right_pitch=-0.6491 right_roll=-0.415 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -3.2068, 6.5983, 1.3114, -0.1392, -0.0171, -0.0171, -0.5949, -9.4154, 7.8564, 0.823, 0.2173, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4ccd53d372f5a313ad40aba5d07d7580cb6cb5c51747e29b2697f024bffc060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb07b0b6a7c9225a78dcf13cb64ee81b6089cb463cafa5f4ec261f068dfae32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71efe9c21aeec597d132b44164ee3d7c5dfeb30dbe9ff90bae9022e10369048a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCPMjyplsFRqkTksq2f7vs1pA1tGO4M99clHuF33mjabqfoHwu0uDD2TfPh-X8iw6z5EzLXSXWvgFHRkWO4TEMcp9HEd9DEgMrYj9fYK-D2Es_MyLFzTggBxKM5BT79Z6yzkC91J8JFadtWoVw6STLqGgTWc-BKpcPDnG9BYjEqyJZWmrodwSKX2kxfpDAPDM3ENQ2ApZQomHrKiqidiZsAuBFc6xC_T-iVWud-o4mDRnZkIdR2Sa2H8YOfjNM7uOOKoZCGJKoAPIdlaU8rDOyHWAm-6Ie_0g7jdgpjK9VAiI51GCGMmkPX0Q7kbT6Reu6cFzNWJ1rg8yfZvi6kO2mjbYQ_bfUenv29D3uyCPMil0xrMDhOajsOrotnSYmMcbh_3LjYTv_qkQ9vHAUow-lblpI1pWlH724GgOzDO2dIH2afQ4cHJzaTfRNFRDqDuTI6xEK4ZF14AiTvGl_ThU10bNyJ-T2q2wITZTkuL3Xj25JC54_gPPKgx75q3pIFrpg6rqeCUQnFZwDAiFhaPqkY-cQKgqTDfSznaSu4-UCXTokKyXgc1V96_tsYGqQyYuKBMP1TiaUudxIWwahD2I-OqlliaaCH9NkcKeXRn997YGpFLBLvvna-W5jJ0Jio04o7wwxS-iH0e_L12gwC6qV4Gpsi4IcmtgNLnT2l43tA6uRsu4JaKnghy_uHAv1xV3NyL_gXPCFWsDgkgz8FvBCheSG51wS3kUOS1JDMSKbbsK6Z95OKc7IE1gqE8qfQjbas70aWgTLJW6Rs8APVMsLuHUwHBPzjbKcagyvzZ8v-bY2hHDqobVh7gkP9lCVdHZbB3Zv2ol6bLMiIqgzyL0HMu1eAJx_bRUjS0a2zVZhAD34BEmG_U1p1LL_H8sAR9yEecKRYa5fCgypeczRPhhILKCvtB_rP2INJwVzbRU5jXRAGD6NBfZ4-pZCdFOxRUTMFwayzkrAxmWxUNc_03x0esZvldAZcLzWE4MiKUBovPzR64_5ddF-7awcSFD7zYv1-tYnkg0q6LWho4XdFAUBAgGjASzLWHDVoyTH38TPyKYvBmb5CK9NFC1fDyuLVq17tZeHWyZM7Sgt5fMBI8G3ccJjnvBV7J4YzmW2avtBsGXyQ553apRPlJaqWbR51hYbkv0QnG-q1qyeBVTDfA_5HuPpyBWe2BJUE9hwXXQsKCkqCXQY9JRICJZ_w2N3vL0oZaz2dc6dnSt95_QWycNVSPhtkTXkwTdrh_0eqQuVbUHXOQVj7XopBfFnlWPh1nYdV2TtwIlb9oz9qwse-sLLN16ugdZrDPuOw1ZgamXcJ_x3iN7hqT5jmtiqF9p8SFVAS3vhKIykAfuTge9RvJ0IWzeKuAreIj-BGZT7cPGA3Ht7ROTYHnsjS0uokjNhHdZuvs-jOI1lCLCB3H2xcj-hZraTblLoijCW55Gp5MDBllXN6PyTsqrlUpUX_Wt0IWPwGA0PrNACRykR4styQCuCCfm7JUj-3udbvYmftmBJ-T4sYVnXvZfdorhwzvb_W3WzjHnhaxi5EwfKh4NjAdFYj41Ns1VYgV4rO6-GJKclDJa0OWfVu7KMhf8OWezszS6IZyK2dZbDFiyo_3QqjZ45QyHa7HnQQjlvTRZpdXq9VIet5RbIdXvNoHYd78MDeTiG95u_vfeYK7VltZet48y5dltqcZ8lbroLU3SSPu0vo-YP0jIObFe7dkNTbtIUKvMi6NEacWPKYuiKBqpZ832fMBLUpcdKDsuz02fXkM7Ri6D8hVV83ZLZtZHbRHNrsZZUdK1BAfWuhJvLwZgX1tzCquX26RI_Ul7Haz9XAJ-1Hppejt7kuRYvnSVHj8fWDun0a4r4r-X1XZrAhQdKsCdg9txdiLwPnwm3YFxN1qkJaT1ZpW7y2UgyAY74pdnLulW5BLKTAYqzMo7pl17g5geh5s7IHX5rD1iYHQSIQ_rc0-ngCp0kmfazLZsVOqWkxW2YLn",
  "id": "rs_01cd890dadd4e581016ab423cac2e087d0b232aab1750bf266",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The blue bowl is centred under the open right jaws, with a fruit visible inside. I’ll lower the gripper to rim height to try to grasp the bowl without pinching the fruit.\"}",
  "call_id": "call_41Wm7oQcKrft0xHEKKUsf7x0",
  "id": "fc_01cd890dadd4e581016ab423cc20cc87d0a16eb31e150e162e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_41Wm7oQcKrft0xHEKKUsf7x0",
  "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]: [-0.168, 1.1248, 0.9871, -0.8787, -0.2455, -0.1051, 0.9962, 0.6506, 1.9572, 1.3933, -0.8169, 0.4145, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.2879 left_y=-0.0017 left_z=0.1708 left_yaw=0.1139 left_pitch=-0.409 left_roll=0.1768 left_gripper=0.9962 right_x=0.361 right_y=0.1899 right_z=0.0489 right_yaw=0.051 right_pitch=-0.6582 right_roll=-0.4472 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -3.2205, 6.7077, 1.2332, -0.1441, -0.0513, -0.0171, -0.0205, -9.0188, 5.6821, 0.8327, 0.3736, 0.1343, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:101bb1580d8f0503d205a41ff85a1878f4f15dc9360ff3e04bce3831217c01da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225f7220ad5b8087488f94660d404e2cb0a3e94738178c2ce6122e0438c0b331",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ceeac9765d5a5d87c840cc2cf01016b4bc67927650725938d5b5299313efd1",
      "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 · 4.487 s

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

message 140 changed as sent

message 149 changed as sent

message 153 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]: [-0.1684, 1.1152, 0.9878, -0.8684, -0.2455, -0.1047, 0.9962, 0.8906, 2.4252, 2.0193, -1.0222, 0.4553, 0.4751, 0.9965]\nstate[eef_state]: left_x=0.2895 left_y=-0.002 left_z=0.175 left_yaw=0.1108 left_pitch=-0.3892 left_roll=0.1709 left_gripper=0.9962 right_x=0.3723 right_y=0.3423 right_z=0.0175 right_yaw=0.0724 right_pitch=-0.6071 right_roll=-0.3911 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -3.1521, 6.694, 1.2625, -0.1197, -0.0317, -0.0171, 5.3538, -11.9453, 6.3111, 0.0464, 0.2564, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.168, 1.1225, 0.9871, -0.8783, -0.2455, -0.1047, 0.9962, 0.6418, 1.9457, 1.6531, -1.0714, 0.4004, 0.2138, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=-0.0016 left_z=0.1715 left_yaw=0.1133 left_pitch=-0.4064 left_roll=0.1763 left_gripper=0.9962 right_x=0.3725 right_y=0.1969 right_z=0.1168 right_yaw=0.0533 right_pitch=-0.6491 right_roll=-0.415 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -3.2068, 6.5983, 1.3114, -0.1392, -0.0171, -0.0171, -0.5949, -9.4154, 7.8564, 0.823, 0.2173, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 153 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.168, 1.1248, 0.9871, -0.8787, -0.2455, -0.1051, 0.9962, 0.6506, 1.9572, 1.3933, -0.8169, 0.4145, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.2879 left_y=-0.0017 left_z=0.1708 left_yaw=0.1139 left_pitch=-0.409 left_roll=0.1768 left_gripper=0.9962 right_x=0.361 right_y=0.1899 right_z=0.0489 right_yaw=0.051 right_pitch=-0.6582 right_roll=-0.4472 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -3.2205, 6.7077, 1.2332, -0.1441, -0.0513, -0.0171, -0.0205, -9.0188, 5.6821, 0.8327, 0.3736, 0.1343, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:101bb1580d8f0503d205a41ff85a1878f4f15dc9360ff3e04bce3831217c01da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225f7220ad5b8087488f94660d404e2cb0a3e94738178c2ce6122e0438c0b331",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ceeac9765d5a5d87c840cc2cf01016b4bc67927650725938d5b5299313efd1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCPPGKy1V2GNArn2vyPHk5-fKWNqo3EWfS2F1bfhTQnzc6UXJtPrObCib6o_zQUxi6LFQSIxsKnbjSoNwBptKaHFLsep7GXYW51LCBT2EtpEOVlPHtZpWqMoLoqvb8N3ZNWOj00eZruFI4LCpCHnrXcdcwjwNxzUypR2QNlU_-LZGZi2-o4k52YqRjyv3ID75I6Wo_T_aGmybj5_gKXy2WrjqRIM_F2_Zp4YPXJvyerMQ-nk4LdSLcyqL-x7RQuLNaVNHLrmZtGEFWaB4JYdt0WmeCYQx10OtZtnfJHJheZN6lR5cTBMexuPxOh7yo0NY-oy7a1UsO1-1b5YXBqioWMvK_Sq4Fnp3IO0ZHavzp2fIqKeUXj6P6yvnmm3AZKdGoNyyjvfMN-N7etokB9NRcontqS8f_tBiin6bPQo-3AVdx_7uxWpMoOHOq_LoPMl4OZp7LeY4spWyNIMr7g9w8frjH1grARYkuX_rBjc1aKv5VlV-1MM8yTarDjR3v_cFWfCEGb8w5NOKBGchgJ8Gbbi878JrC06EcqxJzXBAzjAgJqm1MXdO7wsqSJ11wh4mxaayvdU3TGOJdi9NsP6BfqZ13qKpj6E5K6uAEUAp0MaYRAj0Ft96idCYfXlRIquSKEXOcCDlkEUI7amdLteG2X7PkiuxC6AWx75JUxgzVfGO2bXUdTw6p4z8NoCS1GoKhDyoo2_pN3-oXumck67RZiEOe_feQVqng4HJhAWc9GOfo2RMLKa3NmJcfkAlJv_7KkHcz5iSBSpkl2ZJe7wL9wNkybSbMn2TrqJ0VEjR8VRmvjvrQK6-tpE3y9FDKEjFM8fms6mIYhf4j78ojsRZnopFnUSSTDQ0w2Y0mh7Ot24y4Shh45rwVk4yik6O8-FSOopUNnoapBG0ohbox7MF4rnGP9EcvCYlJAk6RClqAW7pdQpAt0cdjmRtat2H_7KTQjNqVdsyFONDzAuktF41mkqClmMQ_xN3llasSjUBkuztqL--JXL9TvJrExmqjG-2oavJzU0EQg5T3MDCOYEkCKMxFPPzT80eaO5lXk5VLDGIYlTuktoZOoish5ohmFBfT7VB4B65JEEriki3SOGKjPytrEs3kC8iT_3c9xIwZBA6S6fYdlsqUOiRM0xpFXIHzyoj7c046_r-fDBkekv0yfO1kqDK7-SotTCi7xymo0BentmnZ9g7_gpzFPxgTvA0SHzUxrO_dV6QJ2rpCtNoVP7zFs6hGS_7lw06OwlhZFpi_1L01Xcm6TSu2YFcosHHSZMBoHleA8TeSDwT-6GmlOO_ng9qNBB4Rkp8iwQCd2kiMU6hjbGOaArYRj7_b1f_-CooSko-toYNFZoS63Fz6UlCyT6b-AWDUdWPIX1YfPwBjWwfqfwQYL3CqVySGhajH4KtXigtEvMUzkGmA3l0JTVPZJjcejgDmmrJ8oT3mcaizM=",
  "id": "rs_01cd890dadd4e581016ab423ce6ad087d09b750b74fa9e6a74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are at the blue bowl’s rim height, straddling its near side in the wrist view. I’ll close to see whether the bowl can be held securely for a lift.\"}",
  "call_id": "call_pFx6qWEdFbBLelBUZhjgbJbH",
  "id": "fc_01cd890dadd4e581016ab423cf08a087d09c818bc06b9453df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pFx6qWEdFbBLelBUZhjgbJbH",
  "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]: [-0.168, 1.1248, 0.9871, -0.8787, -0.2455, -0.1051, 0.9962, 0.6525, 1.9675, 1.3815, -0.738, 0.4217, 0.2089, 0.0103]\nstate[eef_state]: left_x=0.2879 left_y=-0.0017 left_z=0.1708 left_yaw=0.1139 left_pitch=-0.409 left_roll=0.1768 left_gripper=0.9962 right_x=0.372 right_y=0.1978 right_z=0.0459 right_yaw=0.0657 right_pitch=-0.6054 right_roll=-0.4114 right_gripper=0.0103\nstate[joint_eff]: [-0.0889, -3.2342, 6.5299, 1.2088, -0.149, -0.0366, -0.0122, 0.1983, -9.7846, 5.7778, 0.7839, 0.2955, 0.0904, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea28725c58aaa505777ec6447deb0febaa895180dc2caf5226ba1e57325f14c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb49934b340126e63791a18b0b1984cd90c5943a9d813d85452725c65a036502",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:165c1626f394100b15703a702ea790c1c93dc65c9d4da4b419c9fe6e0d6a7cb7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]