adhoc - adhoc_3533124b.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: 391

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 a row, with the dark fruit closest to the left arm, the blue bowl behind them, and the large white bowl farther left. I’m moving the left gripper above the dark fruit to line up a first grasp.

move_to

left_x0.3420left_y-0.2150left_z0.1400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6132, -0.3824, -0.0139, -0.0296, 0.9993, -0.0227, 0.8005, 0.6201, -0.3874, -0.0174, -0.0124, 0.9991] state[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=-0.0001 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4718, -1.7983, 9.5795, 1.7851, -0.0952, 0.1441, -0.0806, -0.1299, -1.7709, 9.0598, 1.8584, -0.0855, -0.022, -0.105] 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":{"left_x":0.342,"left_y":-0.215,"left_z":0.14},"note":"The overhead view shows three fruits in a row, with the dark fruit closest to the left arm, the blue bowl behind them, and the large white bowl farther left. I’m moving the left gripper above the dark fruit to line up a first grasp."})

tool

executing move_to over 20 steps (2.0s)

step 20

assistant

agent noteThe dark fruit is visible near the bottom-left of the left wrist image, while the gripper is still well above it. I’m shifting a few centimetres left to centre the jaws, then lowering toward the fruit’s middle.

move_to

left_x0.3410left_y-0.1810left_z0.0320

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]: [-0.8425, 1.5051, 0.8658, -0.1738, -0.659, -0.5632, 0.9993, -0.0227, 0.8024, 0.6186, -0.3943, -0.0204, -0.012, 0.9991] state[eef_state]: left_x=0.3359 left_y=-0.2087 left_z=0.1252 left_yaw=-0.0111 left_pitch=-0.0426 left_roll=0.0262 left_gripper=0.9993 right_x=0.2952 right_y=0.0005 right_z=0.1814 right_yaw=0.0024 right_pitch=-0.0103 right_roll=0.0022 right_gripper=0.9991 state[joint_eff]: [-0.5402, -6.3932, 8.6222, 1.5897, -0.5641, 0.0024, -0.022, 0.0889, -1.0325, 7.159, 1.8046, 0.0073, -0.0904, -0.022] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.341,"left_y":-0.181,"left_z":0.032},"note":"The dark fruit is visible near the bottom-left of the left wrist image, while the gripper is still well above it. I’m shifting a few centimetres left to centre the jaws, then lowering toward the fruit’s middle."})

tool

executing move_to over 7 steps (0.7s)

step 27

assistant

agent noteAt grasp height, the dark fruit still sits left of the jaw centre in the wrist view. I’m making a small sideways correction before closing, rather than squeezing it off-centre.

move_to

left_x0.3320left_y-0.1460left_z0.0260

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]: [-0.7616, 1.6981, 0.5941, 0.3046, -0.6086, -0.5022, 0.9993, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991] state[eef_state]: left_x=0.338 left_y=-0.1778 left_z=0.0281 left_yaw=0.0001 left_pitch=-0.0599 left_roll=0.0407 left_gripper=0.9993 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991 state[joint_eff]: [-0.1573, -6.9538, 4.7795, 1.746, -0.1783, 0.0464, -0.0122, -0.0752, -1.306, 7.0769, 1.7021, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.332,"left_y":-0.146,"left_z":0.026},"note":"At grasp height, the dark fruit still sits left of the jaw centre in the wrist view. I’m making a small sideways correction before closing, rather than squeezing it off-centre."})

tool

executing move_to over 3 steps (0.3s)

step 30

assistant

agent noteThe sideways adjustment brought the fruit between the jaws but slightly to the right. I’m easing back about a centimetre and closing gently around its middle.

move_to

left_y-0.1550left_z0.0240left_gripper0.1600

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]: [-0.683, 1.6417, 0.4831, 0.3477, -0.5621, -0.4526, 0.9993, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991] state[eef_state]: left_x=0.3279 left_y=-0.1408 left_z=0.0159 left_yaw=0.0184 left_pitch=-0.0921 left_roll=0.0631 left_gripper=0.9993 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991 state[joint_eff]: [-0.3624, -7.6103, 5.0393, 1.6239, -0.1929, 0.0562, -0.0122, -0.0479, -1.2786, 7.0632, 1.7363, -0.0366, -0.0708, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.155,"left_z":0.024,"left_gripper":0.16},"note":"The sideways adjustment brought the fruit between the jaws but slightly to the right. I’m easing back about a centimetre and closing gently around its middle."})

tool

executing move_to over 9 steps (0.9s)

step 39

assistant

agent noteThe gripper stopped with a roughly five-centimetre opening around the dark fruit, consistent with a grasp. I’m lifting it clear of the table to confirm it comes up with the jaws.

move_to

left_z0.1550

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]: [-0.683, 1.6417, 0.4831, 0.3492, -0.5564, -0.4419, 0.5465, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991] state[eef_state]: left_x=0.3278 left_y=-0.1418 left_z=0.0157 left_yaw=0.0082 left_pitch=-0.0939 left_roll=0.0673 left_gripper=0.5465 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991 state[joint_eff]: [-0.1162, -7.5692, 4.6974, 1.7021, -0.1783, 0.0024, 1.033, -0.0205, -1.265, 7.3915, 1.746, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.155},"note":"The gripper stopped with a roughly five-centimetre opening around the dark fruit, consistent with a grasp. I’m lifting it clear of the table to confirm it comes up with the jaws."})

tool

executing move_to over 9 steps (0.9s)

step 48

assistant

agent noteThe dark fruit lifted with the left gripper; the yellow and green fruits remain on the table. I’m carrying it high across to the near-left side of the blue bowl.

move_to

left_x0.4250left_y-0.3900left_z0.1900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6834, 1.3033, 0.8085, -0.3374, -0.5526, -0.4454, 0.5464, -0.0227, 0.8043, 0.6178, -0.395, -0.02, -0.012, 0.9991] state[eef_state]: left_x=0.3266 left_y=-0.1418 left_z=0.1402 left_yaw=0.0084 left_pitch=-0.1132 left_roll=0.0772 left_gripper=0.5464 right_x=0.2951 right_y=0.0004 right_z=0.1804 right_yaw=0.002 right_pitch=-0.0137 right_roll=0.0021 right_gripper=0.9991 state[joint_eff]: [-0.1846, -6.147, 8.9641, 1.2967, -0.2515, 0.0073, 0.6374, -0.2256, -1.4291, 7.0496, 1.6972, -0.0171, -0.0659, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.425,"left_y":-0.39,"left_z":0.19},"note":"The dark fruit lifted with the left gripper; the yellow and green fruits remain on the table. I’m carrying it high across to the near-left side of the blue bowl."})

tool

executing move_to over 23 steps (2.3s)

step 71

assistant

agent noteThe carried fruit is over the blue bowl but appears slightly right of its centre in the overhead view. I’m nudging left and lowering it into the bowl before releasing.

move_to

left_x0.4230left_y-0.3510left_z0.0760

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]: [-0.9424, 2.3661, 2.3459, -0.981, -0.6998, -0.7124, 0.5488, -0.0227, 0.8082, 0.6178, -0.395, -0.0204, -0.012, 0.9991] state[eef_state]: left_x=0.4273 left_y=-0.3884 left_z=0.1792 left_yaw=0.0098 left_pitch=-0.1323 left_roll=0.0749 left_gripper=0.5488 right_x=0.2954 right_y=0.0005 right_z=0.1793 right_yaw=0.0024 right_pitch=-0.0175 right_roll=0.0024 right_gripper=0.9991 state[joint_eff]: [-0.9778, -13.5043, 8.7726, 1.1746, -0.5055, -0.022, 0.5299, -0.253, -1.6342, 7.0222, 1.7216, -0.0415, -0.0611, -0.0122] 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":{"left_x":0.423,"left_y":-0.351,"left_z":0.076},"note":"The carried fruit is over the blue bowl but appears slightly right of its centre in the overhead view. I’m nudging left and lowering it into the bowl before releasing."})

tool

executing move_to over 7 steps (0.7s)

step 78

assistant

agent noteWith the fruit lowered, the left wrist camera shows the blue bowl just to the right and slightly behind the fingertips, so the current point is off-centre. I’m lifting a little and repositioning over the bowl’s interior before letting go.

move_to

left_x0.3920left_y-0.3900left_z0.1400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.907, 2.2494, 1.6814, -0.4625, -0.6727, -0.6781, 0.5485, -0.0227, 0.8089, 0.6178, -0.395, -0.0204, -0.012, 0.9991] state[eef_state]: left_x=0.4171 left_y=-0.3487 left_z=0.0578 left_yaw=0.0139 left_pitch=-0.1699 left_roll=0.1111 left_gripper=0.5485 right_x=0.2954 right_y=0.0005 right_z=0.1791 right_yaw=0.0024 right_pitch=-0.0183 right_roll=0.0024 right_gripper=0.9991 state[joint_eff]: [0.335, -15.0906, 6.4205, 1.3895, -0.3297, 0.0806, 0.6569, -0.0205, -1.3744, 7.2547, 1.7705, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.392,"left_y":-0.39,"left_z":0.14},"note":"With the fruit lowered, the left wrist camera shows the blue bowl just to the right and slightly behind the fingertips, so the current point is off-centre. I’m lifting a little and repositioning over the bowl’s interior before letting go."})

tool

executing move_to over 6 steps (0.6s)

step 84

assistant

agent noteThe blue bowl is now centred behind the held fruit in the wrist view. I’m lowering to its interior and opening the jaws so the fruit drops inside.

move_to

left_z0.0650left_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]: [-0.9966, 2.2986, 2.0754, -0.8818, -0.696, -0.7868, 0.551, -0.0227, 0.8097, 0.6178, -0.395, -0.0204, -0.012, 0.9991] state[eef_state]: left_x=0.3915 left_y=-0.3901 left_z=0.1298 left_yaw=0.0079 left_pitch=-0.1897 left_roll=0.104 left_gripper=0.551 right_x=0.2955 right_y=0.0005 right_z=0.1789 right_yaw=0.0024 right_pitch=-0.019 right_roll=0.0024 right_gripper=0.9991 state[joint_eff]: [-0.4171, -13.0803, 9.3197, 0.9792, -0.569, 0.0269, 0.5299, -0.1162, -1.2103, 7.2274, 1.6923, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.065,"left_gripper":1},"note":"The blue bowl is now centred behind the held fruit in the wrist view. I’m lowering to its interior and opening the jaws so the fruit drops inside."})

tool

executing move_to over 5 steps (0.5s)

step 89

assistant

agent noteThe dark fruit is visible inside the blue bowl from the right wrist camera. I’m clearing the left arm back to its home pose so the right arm can pick up the remaining fruits without the arms crossing.

move_to

left_x0.2960left_y0.0000left_z0.1820

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]: [-0.997, 2.3085, 1.882, -0.6743, -0.6907, -0.791, 0.9979, -0.0227, 0.8116, 0.6178, -0.395, -0.02, -0.012, 0.9991] state[eef_state]: left_x=0.39 left_y=-0.3895 left_z=0.0769 left_yaw=0.0063 left_pitch=-0.1913 left_roll=0.0947 left_gripper=0.9979 right_x=0.2956 right_y=0.0004 right_z=0.1784 right_yaw=0.0021 right_pitch=-0.0209 right_roll=0.0023 right_gripper=0.9991 state[joint_eff]: [-0.0479, -11.3162, 6.0513, 1.2381, -0.3834, 0.0317, -0.2222, -0.0615, -1.5111, 7.0906, 1.7363, -0.022, -0.0757, -0.0171] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.182},"note":"The dark fruit is visible inside the blue bowl from the right wrist camera. I’m clearing the left arm back to its home pose so the right arm can pick up the remaining fruits without the arms crossing."})

tool

executing move_to over 35 steps (3.5s)

step 124

assistant

agent noteThe left arm is parked; the dark fruit remains in the blue bowl, and the yellow and green fruits are still on the table. I’m bringing the right arm over the nearer green fruit.

move_to

right_x0.3410right_y0.1360right_z0.1250

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]: [-0.1062, 0.9676, 0.8093, -0.6064, -0.1658, -0.0605, 0.9978, -0.0227, 0.8139, 0.6178, -0.395, -0.02, -0.012, 0.9991] state[eef_state]: left_x=0.2998 left_y=0.0009 left_z=0.181 left_yaw=0.0609 left_pitch=-0.1848 left_roll=0.0877 left_gripper=0.9978 right_x=0.2958 right_y=0.0004 right_z=0.1777 right_yaw=0.0021 right_pitch=-0.0232 right_roll=0.0023 right_gripper=0.9991 state[joint_eff]: [0.2393, -3.0838, 6.9265, 1.5702, 0.0366, 0.1294, -0.0269, -0.2256, -1.2786, 7.0496, 1.7167, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.341,"right_y":0.136,"right_z":0.125},"note":"The left arm is parked; the dark fruit remains in the blue bowl, and the yellow and green fruits are still on the table. I’m bringing the right arm over the nearer green fruit."})

tool

executing move_to over 12 steps (1.2s)

step 136

assistant

agent noteThe green fruit is centred near the bottom of the right wrist image, with the jaws still above it. I’m lowering the right gripper to the fruit’s mid-height and slightly toward the base to put the fingertips around it.

move_to

right_x0.3140right_y0.1320right_z0.0290

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]: [-0.1055, 0.9703, 0.8093, -0.622, -0.1638, -0.0528, 0.9978, 0.5827, 1.2926, 0.6289, -0.0925, 0.437, 0.3172, 0.9991] state[eef_state]: left_x=0.2973 left_y=0.0011 left_z=0.1775 left_yaw=0.0565 left_pitch=-0.2034 left_roll=0.095 left_gripper=0.9978 right_x=0.3272 right_y=0.1304 right_z=0.1044 right_yaw=0.0471 right_pitch=-0.1041 right_roll=-0.0481 right_gripper=0.9991 state[joint_eff]: [-0.1709, -2.4821, 6.8308, 1.6679, -0.0757, -0.1245, -0.0122, 0.1983, -5.2171, 8.5265, 1.7314, 0.3687, 0.2564, -0.0122] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.314,"right_y":0.132,"right_z":0.029},"note":"The green fruit is centred near the bottom of the right wrist image, with the jaws still above it. I’m lowering the right gripper to the fruit’s mid-height and slightly toward the base to put the fingertips around it."})

tool

executing move_to over 5 steps (0.5s)

step 141

assistant

agent noteAt table height the green fruit sits between the right-hand jaws in the wrist view. I’m closing on it now and will check the gripper opening and a short lift before moving it.

move_to

right_gripper0.1700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1055, 0.9703, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.614, 1.4773, 0.4278, 0.1932, 0.4595, 0.3313, 0.999] state[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1769 left_yaw=0.0564 left_pitch=-0.2068 left_roll=0.0958 left_gripper=0.9978 right_x=0.3039 right_y=0.1228 right_z=0.0199 right_yaw=0.0457 right_pitch=-0.1801 right_roll=-0.1041 right_gripper=0.999 state[joint_eff]: [-0.3487, -2.2496, 6.9675, 1.5556, -0.0952, -0.0269, -0.0122, 0.6222, -5.0256, 5.053, 1.6532, 0.1685, 0.1392, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.17},"note":"At table height the green fruit sits between the right-hand jaws in the wrist view. I’m closing on it now and will check the gripper opening and a short lift before moving it."})

tool

executing move_to over 9 steps (0.9s)

step 150

assistant

agent noteThe right gripper settled with a substantial opening around the green fruit. I’m lifting it to verify that the fruit leaves the table with the jaws.

move_to

right_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1051, 0.9703, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.6189, 1.4906, 0.4194, 0.2985, 0.4633, 0.3332, 0.6424] state[eef_state]: left_x=0.2967 left_y=0.0013 left_z=0.1769 left_yaw=0.0568 left_pitch=-0.2068 left_roll=0.0958 left_gripper=0.9978 right_x=0.3144 right_y=0.1314 right_z=0.0298 right_yaw=0.0532 right_pitch=-0.1081 right_roll=-0.0597 right_gripper=0.6424 state[joint_eff]: [-0.3487, -2.2496, 6.8171, 1.5311, -0.1148, -0.0171, -0.0171, 0.0342, -4.6838, 4.9162, 1.6044, 0.1245, 0.0806, 0.989] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.17},"note":"The right gripper settled with a substantial opening around the green fruit. I’m lifting it to verify that the fruit leaves the table with the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 160

assistant

agent noteThe green fruit is no longer at its table spot after the lift, and the blue bowl is ahead and to the left of the right gripper. I’m carrying the fruit over the bowl at a safe height.

move_to

right_x0.3920right_y0.2610right_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1051, 0.9714, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.6189, 1.1957, 0.7841, -0.3798, 0.4519, 0.3298, 0.6425] state[eef_state]: left_x=0.2968 left_y=0.0013 left_z=0.1766 left_yaw=0.0568 left_pitch=-0.2079 left_roll=0.096 left_gripper=0.9978 right_x=0.3138 right_y=0.1332 right_z=0.1519 right_yaw=0.0628 right_pitch=-0.1283 right_roll=-0.0655 right_gripper=0.6425 state[joint_eff]: [-0.0342, -2.3726, 6.8581, 1.5507, -0.1148, -0.0708, -0.0122, -0.3214, -5.3675, 8.8137, 1.6239, 0.3346, -0.0122, 0.7643] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.392,"right_y":0.261,"right_z":0.18},"note":"The green fruit is no longer at its table spot after the lift, and the blue bowl is ahead and to the left of the right gripper. I’m carrying the fruit over the bowl at a safe height."})

tool

executing move_to over 11 steps (1.1s)

step 171

assistant

agent noteThe blue bowl is centred beneath the right-hand jaws in the wrist camera. I’m lowering and opening the gripper to deposit the green fruit alongside the dark one.

move_to

right_z0.0730right_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]: [-0.1055, 0.976, 0.8093, -0.6266, -0.1638, -0.0525, 0.9978, 0.7788, 1.7439, 1.3598, -0.5205, 0.527, 0.4316, 0.6431] state[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1752 left_yaw=0.0566 left_pitch=-0.2136 left_roll=0.097 left_gripper=0.9978 right_x=0.3822 right_y=0.2574 right_z=0.1609 right_yaw=0.0999 right_pitch=-0.1833 right_roll=-0.1011 right_gripper=0.6431 state[joint_eff]: [-0.1709, -2.6735, 6.8171, 1.5311, -0.0757, -0.0562, -0.0122, -0.0205, -9.7026, 8.4855, 1.3993, 0.5739, 0.3297, 0.7253] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.073,"right_gripper":1},"note":"The blue bowl is centred beneath the right-hand jaws in the wrist camera. I’m lowering and opening the gripper to deposit the green fruit alongside the dark one."})

tool

executing move_to over 6 steps (0.6s)

step 177

assistant

agent noteThe green fruit is now visible inside the blue bowl beside the dark fruit; only the yellow fruit remains on the table. I’m lifting clear and moving the right gripper above the yellow fruit.

move_to

right_x0.3120right_y0.3170right_z0.1400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1051, 0.9768, 0.8093, -0.6258, -0.1638, -0.0525, 0.9978, 0.7815, 1.8301, 1.1393, -0.2558, 0.5312, 0.4202, 0.997] state[eef_state]: left_x=0.2971 left_y=0.0012 left_z=0.1751 left_yaw=0.057 left_pitch=-0.2136 left_roll=0.097 left_gripper=0.9978 right_x=0.3762 right_y=0.2523 right_z=0.077 right_yaw=0.1004 right_pitch=-0.2146 right_roll=-0.1391 right_gripper=0.997 state[joint_eff]: [-0.212, -2.4274, 6.8171, 1.5165, -0.1392, -0.0366, -0.0122, -0.294, -7.6376, 5.6821, 1.3553, 0.105, 0.1636, -0.149] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.312,"right_y":0.317,"right_z":0.14},"note":"The green fruit is now visible inside the blue bowl beside the dark fruit; only the yellow fruit remains on the table. I’m lifting clear and moving the right gripper above the yellow fruit."})

tool

executing move_to over 6 steps (0.6s)

step 183

assistant

agent noteThe yellow fruit appears on the jaw centreline near the bottom of the right wrist image, with the two fruits already in the blue bowl nearby. I’m lowering the open jaws around the yellow fruit.

move_to

right_x0.3070right_y0.3170right_z0.0230

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]: [-0.1055, 0.9771, 0.8093, -0.6281, -0.1638, -0.0525, 0.9978, 1.0164, 1.8313, 1.3811, -0.6018, 0.6235, 0.6125, 0.9976] state[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1746 left_yaw=0.0567 left_pitch=-0.2162 left_roll=0.0974 left_gripper=0.9978 right_x=0.3165 right_y=0.3222 right_z=0.1293 right_yaw=0.1517 right_pitch=-0.2214 right_roll=-0.132 right_gripper=0.9976 state[joint_eff]: [-0.3487, -2.1538, 6.8444, 1.5556, -0.0757, -0.0366, -0.0122, 0.2803, -9.7026, 7.9795, 1.1893, 0.3883, 0.1734, 0.0513] 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":{"right_x":0.307,"right_y":0.317,"right_z":0.023},"note":"The yellow fruit appears on the jaw centreline near the bottom of the right wrist image, with the two fruits already in the blue bowl nearby. I’m lowering the open jaws around the yellow fruit."})

tool

executing move_to over 7 steps (0.7s)

step 190

assistant

agent noteThe yellow fruit remains between the open fingertips at grasp height. I’m closing the right gripper on it and will verify that it lifts free.

move_to

right_gripper0.1200

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]: [-0.1055, 0.9791, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 1.0267, 1.9347, 1.1217, -0.2718, 0.635, 0.6247, 0.9977] state[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1734 left_yaw=0.057 left_pitch=-0.2222 left_roll=0.0984 left_gripper=0.9978 right_x=0.3066 right_y=0.3113 right_z=0.0344 right_yaw=0.1425 right_pitch=-0.2338 right_roll=-0.1556 right_gripper=0.9977 state[joint_eff]: [-0.3487, -2.4957, 6.8444, 1.5458, -0.1294, -0.0757, -0.0171, 0.2803, -7.6923, 4.7521, 0.9988, 0.3639, -0.0122, -0.0073] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.12},"note":"The yellow fruit remains between the open fingertips at grasp height. I’m closing the right gripper on it and will verify that it lifts free."})

tool

executing move_to over 9 steps (0.9s)

step 199

assistant

agent noteThe narrow closed-gripper reading and wrist view suggest the yellow fruit slipped away instead of being held, and the blue bowl may have been nudged. I’m opening and lifting clear to locate both before another attempt.

move_to

right_z0.1450right_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]: [-0.1051, 0.9791, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0248, 1.9579, 1.1076, -0.2729, 0.63, 0.6205, 0.1245] state[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1732 left_yaw=0.0574 left_pitch=-0.223 left_roll=0.0986 left_gripper=0.9978 right_x=0.3032 right_y=0.3054 right_z=0.0202 right_yaw=0.1383 right_pitch=-0.262 right_roll=-0.1865 right_gripper=0.1245 state[joint_eff]: [-0.3487, -2.2359, 6.8171, 1.5067, -0.1245, 0.0024, -0.0122, 0.0068, -11.5761, 6.5983, 1.0427, 0.3394, 0.0024, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.145,"right_gripper":1},"note":"The narrow closed-gripper reading and wrist view suggest the yellow fruit slipped away instead of being held, and the blue bowl may have been nudged. I’m opening and lifting clear to locate both before another attempt."})

tool

executing move_to over 9 steps (0.9s)

step 208

assistant

agent noteThe yellow fruit is still on the table, while both earlier fruits remain in the blue bowl; the bowl shifted farther forward when the gripper approached. The yellow fruit now sits well ahead of the fingertips in the wrist image, so I’m advancing toward it at clearance height before descending again.

move_to

right_x0.3690right_y0.3380right_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]: [-0.1051, 0.9798, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0248, 1.8282, 1.3754, -0.6983, 0.6239, 0.6098, 0.9955] state[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.173 left_yaw=0.0574 left_pitch=-0.2237 left_roll=0.0987 left_gripper=0.9978 right_x=0.3036 right_y=0.3078 right_z=0.1193 right_yaw=0.1417 right_pitch=-0.2851 right_roll=-0.2127 right_gripper=0.9955 state[joint_eff]: [-0.0205, -2.441, 7.1453, 1.4628, -0.1294, -0.0073, -0.0122, -0.3624, -12.506, 8.0889, 0.9499, 0.359, 0.0464, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.369,"right_y":0.338,"right_z":0.12},"note":"The yellow fruit is still on the table, while both earlier fruits remain in the blue bowl; the bowl shifted farther forward when the gripper approached. The yellow fruit now sits well ahead of the fingertips in the wrist image, so I’m advancing toward it at clearance height before descending again."})

tool

executing move_to over 6 steps (0.6s)

step 214

assistant

agent noteThe yellow fruit is now clearly separated from the bowl, but it still appears ahead and a little left of the jaw centre. I’m advancing roughly five centimetres and making a small lateral correction to align for a clean grasp.

move_to

right_x0.4180right_y0.3550right_z0.1050

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]: [-0.1051, 0.9825, 0.8093, -0.6338, -0.1638, -0.0525, 0.9978, 0.9398, 2.0354, 1.6341, -0.7376, 0.5766, 0.5144, 0.9962] state[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1722 left_yaw=0.0575 left_pitch=-0.2271 left_roll=0.0992 left_gripper=0.9978 right_x=0.3572 right_y=0.3317 right_z=0.1096 right_yaw=0.1403 right_pitch=-0.3207 right_roll=-0.2378 right_gripper=0.9962 state[joint_eff]: [-0.1846, -2.5231, 6.8034, 1.5116, -0.1197, -0.0513, -0.0122, -0.7316, -10.865, 7.8838, 1.0134, 0.3443, 0.0952, 0.0611] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.418,"right_y":0.355,"right_z":0.105},"note":"The yellow fruit is now clearly separated from the bowl, but it still appears ahead and a little left of the jaw centre. I’m advancing roughly five centimetres and making a small lateral correction to align for a clean grasp."})

tool

executing move_to over 5 steps (0.5s)

step 219

assistant

agent noteThe yellow fruit is almost on the jaw centreline now and near the lower edge of the wrist view. I’m moving a little farther forward while descending, to avoid closing behind it as happened on the first attempt.

move_to

right_x0.4320right_y0.3500right_z0.0290

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]: [-0.1051, 0.9848, 0.8093, -0.6346, -0.1642, -0.0525, 0.9978, 0.8745, 2.2547, 1.9217, -0.8089, 0.5388, 0.44, 0.9963] state[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1714 left_yaw=0.058 left_pitch=-0.2301 left_roll=0.1 left_gripper=0.9978 right_x=0.4068 right_y=0.3509 right_z=0.0918 right_yaw=0.1398 right_pitch=-0.3568 right_roll=-0.263 right_gripper=0.9963 state[joint_eff]: [-0.0615, -2.5231, 6.9949, 1.5214, -0.1245, -0.0757, -0.0122, -0.4855, -13.4359, 7.9932, 1.0916, 0.3297, 0.0708, -0.0073] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.432,"right_y":0.35,"right_z":0.029},"note":"The yellow fruit is almost on the jaw centreline now and near the lower edge of the wrist view. I’m moving a little farther forward while descending, to avoid closing behind it as happened on the first attempt."})

tool

executing move_to over 5 steps (0.5s)

step 224

assistant

agent noteThe yellow fruit is still visibly separate from the right gripper in the overhead view, and at grasp height it disappears below the wrist camera’s lower edge rather than sitting securely between the fingertips. I’m backing up and lifting to reassess its position before another close.

move_to

right_x0.3350right_y0.3100right_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]: [-0.1051, 0.9855, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 0.8368, 2.3535, 1.8671, -0.6727, 0.5186, 0.4046, 0.9963] state[eef_state]: left_x=0.2963 left_y=0.0013 left_z=0.1714 left_yaw=0.0576 left_pitch=-0.2294 left_roll=0.0996 left_gripper=0.9978 right_x=0.4242 right_y=0.3448 right_z=0.033 right_yaw=0.131 right_pitch=-0.3871 right_roll=-0.283 right_gripper=0.9963 state[joint_eff]: [-0.0752, -2.4274, 6.9812, 1.4481, -0.1294, -0.0757, -0.0122, -0.2393, -12.6427, 6.2701, 1.2821, 0.3199, -0.0122, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.31,"right_z":0.10},"note":"The yellow fruit is still visibly separate from the right gripper in the overhead view, and at grasp height it disappears below the wrist camera’s lower edge rather than sitting securely between the fingertips. I’m backing up and lifting to reassess its position before another close."})

tool

executing move_to over 7 steps (0.7s)

step 231

assistant

agent noteAfter backing up, the yellow fruit is clearly visible ahead of the jaws in the wrist image; the blue bowl still holds the other two fruits. I’m approaching by only a few centimetres while lowering, so the fruit reaches the jaw area without passing underneath it.

move_to

right_x0.3770right_y0.3170right_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]: [-0.1055, 0.9913, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 0.9379, 2.0155, 1.5574, -0.7532, 0.5377, 0.4896, 0.9963] state[eef_state]: left_x=0.2968 left_y=0.0012 left_z=0.17 left_yaw=0.0574 left_pitch=-0.2343 left_roll=0.1005 left_gripper=0.9978 right_x=0.3408 right_y=0.3177 right_z=0.0883 right_yaw=0.1573 right_pitch=-0.4007 right_roll=-0.2819 right_gripper=0.9963 state[joint_eff]: [-0.2256, -2.5231, 7.0222, 1.536, -0.1099, -0.0806, -0.0122, 0.3214, -12.0137, 6.1744, 1.0769, 0.4518, 0.1197, -0.0171] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.377,"right_y":0.317,"right_z":0.034},"note":"After backing up, the yellow fruit is clearly visible ahead of the jaws in the wrist image; the blue bowl still holds the other two fruits. I’m approaching by only a few centimetres while lowering, so the fruit reaches the jaw area without passing underneath it."})

tool

executing move_to over 4 steps (0.4s)

step 235

assistant

agent noteThe yellow fruit now fills the space between the right fingertips in the wrist view, with the blue bowl off to the side. I’m closing at this more conservative approach point and will test the hold by lifting.

move_to

right_gripper0.0700

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]: [-0.1051, 0.9939, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 0.8783, 2.1418, 1.5372, -0.6392, 0.5064, 0.4309, 0.9963] state[eef_state]: left_x=0.2968 left_y=0.0013 left_z=0.1691 left_yaw=0.0579 left_pitch=-0.2377 left_roll=0.101 left_gripper=0.9978 right_x=0.3635 right_y=0.3096 right_z=0.0317 right_yaw=0.141 right_pitch=-0.454 right_roll=-0.3187 right_gripper=0.9963 state[joint_eff]: [-0.1709, -2.5504, 6.8171, 1.4725, -0.0904, -0.0659, -0.0122, -0.3897, -12.3419, 5.8188, 1.3065, 0.4322, 0.0024, -0.0171] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.07},"note":"The yellow fruit now fills the space between the right fingertips in the wrist view, with the blue bowl off to the side. I’m closing at this more conservative approach point and will test the hold by lifting."})

tool

executing move_to over 10 steps (1.0s)

step 245

assistant

agent noteThe right gripper stopped with a wide opening around the yellow fruit, so contact alone is not enough to confirm a secure grip. I’m lifting slowly to see whether the fruit moves with the jaws.

move_to

right_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1051, 0.9939, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.8749, 2.162, 1.5269, -0.6144, 0.5003, 0.4183, 0.7628] state[eef_state]: left_x=0.2969 left_y=0.0013 left_z=0.1692 left_yaw=0.0579 left_pitch=-0.2373 left_roll=0.101 left_gripper=0.9978 right_x=0.3642 right_y=0.3094 right_z=0.0207 right_yaw=0.1469 right_pitch=-0.4643 right_roll=-0.3257 right_gripper=0.7628 state[joint_eff]: [-0.0752, -2.2906, 6.8034, 1.4872, -0.1343, -0.0513, -0.0171, 0.1573, -13.3812, 6.694, 0.6276, 0.2759, 0.0806, 1.033] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.17},"note":"The right gripper stopped with a wide opening around the yellow fruit, so contact alone is not enough to confirm a secure grip. I’m lifting slowly to see whether the fruit moves with the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 255

assistant

agent noteThe yellow fruit stayed on the table after the lift; it is still visible in the right wrist camera, so that was not a secure grasp. I’m reopening and moving the fingertips back toward its table position for one more carefully aligned attempt.

move_to

right_x0.2760right_y0.3100right_z0.1150right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1055, 0.9951, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.8749, 2.1212, 1.972, -1.1198, 0.477, 0.4068, 0.7684] state[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1689 left_yaw=0.0576 left_pitch=-0.2384 left_roll=0.1012 left_gripper=0.9978 right_x=0.3651 right_y=0.3161 right_z=0.1433 right_yaw=0.1626 right_pitch=-0.4955 right_roll=-0.328 right_gripper=0.7684 state[joint_eff]: [-0.0615, -2.3453, 7.0085, 1.4921, -0.1099, -0.0562, -0.0122, -0.1162, -14.0239, 7.7333, 0.9109, 0.4371, 0.0611, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.276,"right_y":0.31,"right_z":0.115,"right_gripper":1},"note":"The yellow fruit stayed on the table after the lift; it is still visible in the right wrist camera, so that was not a secure grasp. I’m reopening and moving the fingertips back toward its table position for one more carefully aligned attempt."})

tool

executing move_to over 7 steps (0.7s)

step 262

assistant

agent noteBacking the arm revealed that the yellow fruit rolled closer to the base, and the green fruit is also on the table rather than inside the blue bowl. I’m lowering beside the newly exposed yellow fruit first, keeping the jaws centred in the wrist view.

move_to

right_x0.2610right_y0.3100right_z0.0270

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]: [-0.1051, 0.9977, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 1.0336, 1.9457, 1.5848, -1.0317, 0.4999, 0.5507, 0.9981] state[eef_state]: left_x=0.2972 left_y=0.0012 left_z=0.1682 left_yaw=0.058 left_pitch=-0.2407 left_roll=0.1015 left_gripper=0.9978 right_x=0.2779 right_y=0.308 right_z=0.1059 right_yaw=0.1731 right_pitch=-0.5406 right_roll=-0.367 right_gripper=0.9981 state[joint_eff]: [-0.0068, -2.4684, 6.8034, 1.5702, -0.0904, -0.0562, -0.0122, 0.5538, -11.3026, 6.1197, 0.8474, 0.4225, 0.0855, -0.0611] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.261,"right_y":0.31,"right_z":0.027},"note":"Backing the arm revealed that the yellow fruit rolled closer to the base, and the green fruit is also on the table rather than inside the blue bowl. I’m lowering beside the newly exposed yellow fruit first, keeping the jaws centred in the wrist view."})

tool

executing move_to over 6 steps (0.6s)

step 268

assistant

agent noteThe yellow fruit is now upright at the bottom centre of the wrist image, between the right jaws. I’m closing fully at this lower, more proximal position to see if it can be held.

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]: [-0.1055, 0.9977, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0676, 1.9884, 1.3617, -0.8143, 0.4995, 0.5774, 0.9983] state[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1681 left_yaw=0.0577 left_pitch=-0.2414 left_roll=0.1017 left_gripper=0.9978 right_x=0.2589 right_y=0.3023 right_z=0.0351 right_yaw=0.1685 right_pitch=-0.5664 right_roll=-0.3963 right_gripper=0.9983 state[joint_eff]: [-0.1162, -2.5094, 7.1726, 1.4823, -0.1392, -0.0269, -0.0122, 0.4581, -8.6632, 5.3949, 0.6178, 0.2613, 0.0806, 0.0073] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now upright at the bottom centre of the wrist image, between the right jaws. I’m closing fully at this lower, more proximal position to see if it can be held."})

tool

executing move_to over 10 steps (1.0s)

step 278

assistant

agent noteThat close was empty—the yellow fruit is just to the right of the fingertips in the wrist view. I’m reopening and shifting the grasp point a couple of centimetres toward it for a final aligned pickup attempt.

move_to

right_gripper1.0000right_y0.2760right_x0.2390right_z0.0290

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]: [-0.1055, 0.9977, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0687, 2.0052, 1.3506, -0.8116, 0.4946, 0.5686, 0.0107] state[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1681 left_yaw=0.0577 left_pitch=-0.2414 left_roll=0.1017 left_gripper=0.9978 right_x=0.2558 right_y=0.2992 right_z=0.0258 right_yaw=0.1646 right_pitch=-0.5878 right_roll=-0.4208 right_gripper=0.0107 state[joint_eff]: [-0.0479, -2.3043, 7.0359, 1.4432, -0.1343, -0.0513, -0.0122, -0.4308, -11.4256, 6.4752, 0.4762, 0.2613, 0.0562, 0.9353] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_y":0.276,"right_x":0.239,"right_z":0.029},"note":"That close was empty—the yellow fruit is just to the right of the fingertips in the wrist view. I’m reopening and shifting the grasp point a couple of centimetres toward it for a final aligned pickup attempt."})

tool

executing move_to over 10 steps (1.0s)

step 288

assistant

agent noteThe yellow fruit is now centred between the open right-hand jaws in the close wrist view. I’m closing once more and will use the settled opening—not closing effort—to judge whether it is actually held.

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]: [-0.1055, 0.9977, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 1.071, 1.9366, 1.2308, -0.7921, 0.4923, 0.569, 0.9953] state[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.2411 left_roll=0.1016 left_gripper=0.9978 right_x=0.2408 right_y=0.2742 right_z=0.0203 right_yaw=0.1507 right_pitch=-0.6089 right_roll=-0.4492 right_gripper=0.9953 state[joint_eff]: [-0.2256, -2.441, 6.9812, 1.5116, -0.1392, -0.0464, -0.0171, 0.4444, -11.7675, 5.0393, 0.4518, 0.2564, 0.1294, 0.0855] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now centred between the open right-hand jaws in the close wrist view. I’m closing once more and will use the settled opening—not closing effort—to judge whether it is actually held."})

tool

executing move_to over 10 steps (1.0s)

step 298

assistant

agent noteThe right gripper closed empty again, and the yellow fruit is still on the table near the base. I’m clearing the right arm; its low, tilted approach is not reaching this fruit reliably, so I’ll switch to the left arm rather than repeat the same failed grasp.

move_to

right_x0.2960right_y0.0000right_z0.1840right_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]: [-0.1051, 0.9981, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0706, 1.9327, 1.2243, -0.7856, 0.4923, 0.5652, 0.0107] state[eef_state]: left_x=0.2971 left_y=0.0012 left_z=0.168 left_yaw=0.0581 left_pitch=-0.2418 left_roll=0.1017 left_gripper=0.9978 right_x=0.2407 right_y=0.2738 right_z=0.0202 right_yaw=0.1547 right_pitch=-0.6075 right_roll=-0.4475 right_gripper=0.0107 state[joint_eff]: [-0.1983, -2.4821, 6.8855, 1.4774, -0.1148, -0.0757, -0.0122, -0.0752, -9.1829, 5.4496, 0.4469, 0.2759, 0.0562, 0.9304] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.184,"right_gripper":1},"note":"The right gripper closed empty again, and the yellow fruit is still on the table near the base. I’m clearing the right arm; its low, tilted approach is not reaching this fruit reliably, so I’ll switch to the left arm rather than repeat the same failed grasp."})

tool

executing move_to over 23 steps (2.3s)

step 321

assistant

agent noteWith the right arm parked, both remaining fruits are clearly visible: green nearer the middle and yellow closer to the front edge. I’m bringing the left arm above the green fruit, which is less constrained than the yellow fruit near the bases.

move_to

left_x0.2550left_y-0.3540left_z0.1250

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]: [-0.1055, 0.9985, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.1398, 1.2659, 1.1301, -1.0218, 0.2481, -0.3614, 0.9977] state[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1679 left_yaw=0.0577 left_pitch=-0.2418 left_roll=0.1017 left_gripper=0.9978 right_x=0.2912 right_y=0.0008 right_z=0.1692 right_yaw=0.1132 right_pitch=-0.6308 right_roll=-0.4493 right_gripper=0.9977 state[joint_eff]: [-0.1709, -2.4821, 6.8718, 1.5067, -0.0904, -0.0513, -0.0122, -0.1709, -5.0393, 8.841, 1.1355, 0.0171, 0.0757, -0.022] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.255,"left_y":-0.354,"left_z":0.125},"note":"With the right arm parked, both remaining fruits are clearly visible: green nearer the middle and yellow closer to the front edge. I’m bringing the left arm above the green fruit, which is less constrained than the yellow fruit near the bases."})

tool

executing move_to over 32 steps (3.2s)

step 353

assistant

agent noteThe green fruit sits just right of centre near the bottom of the left wrist image, beneath the open jaws. I’m making a small sideways correction and lowering to grip its middle.

move_to

left_x0.2540left_y-0.3680left_z0.0280

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.2221, 1.9854, 1.5974, -0.9867, -0.7147, -1.1507, 0.9978, 0.141, 1.253, 1.1007, -1.0073, 0.2382, -0.3817, 0.9982] state[eef_state]: left_x=0.2541 left_y=-0.3496 left_z=0.1171 left_yaw=0.0498 left_pitch=-0.2686 left_roll=0.1027 left_gripper=0.9978 right_x=0.2879 right_y=0.0024 right_z=0.1635 right_yaw=0.1371 right_pitch=-0.6376 right_roll=-0.4479 right_gripper=0.9982 state[joint_eff]: [-0.6222, -10.441, 7.9658, 0.3932, -0.6862, -0.0171, -0.0073, -0.253, -5.2718, 6.2701, 1.1697, 0.2466, 0.1832, 0.0415] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.254,"left_y":-0.368,"left_z":0.028},"note":"The green fruit sits just right of centre near the bottom of the left wrist image, beneath the open jaws. I’m making a small sideways correction and lowering to grip its middle."})

tool

executing move_to over 6 steps (0.6s)

step 359

assistant

agent noteThe green fruit is now centred between the left jaws at grasp height. I’m closing around it and will confirm a secure hold with a lift.

move_to

left_gripper0.1500

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]: [-1.2312, 2.1372, 1.4914, -0.7731, -0.7101, -1.161, 0.9978, 0.141, 1.2377, 1.0672, -0.9882, 0.2375, -0.3859, 0.9982] state[eef_state]: left_x=0.2532 left_y=-0.3604 left_z=0.0337 left_yaw=0.0572 left_pitch=-0.285 left_roll=0.1384 left_gripper=0.9978 right_x=0.2846 right_y=0.002 right_z=0.1577 right_yaw=0.1405 right_pitch=-0.6378 right_roll=-0.4491 right_gripper=0.9982 state[joint_eff]: [-0.8684, -10.7009, 4.9709, 0.5885, -0.4274, -0.1245, -0.0073, -0.1026, -5.2855, 6.1333, 1.2088, 0.0757, -0.0317, -0.0073] camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.15},"note":"The green fruit is now centred between the left jaws at grasp height. I’m closing around it and will confirm a secure hold with a lift."})

tool

executing move_to over 9 steps (0.9s)

step 368

assistant

agent noteThe left gripper settled around the green fruit at a plausible fruit-sized opening. I’m lifting it and carrying it toward the blue bowl, which was pushed farther forward on the tabletop.

move_to

left_x0.4710left_y-0.3540left_z0.1750

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]: [-1.2312, 2.1483, 1.4853, -0.7547, -0.7246, -1.1687, 0.5553, 0.141, 1.2171, 1.0344, -0.9649, 0.2375, -0.3859, 0.9983] state[eef_state]: left_x=0.2553 left_y=-0.3604 left_z=0.0299 left_yaw=0.0645 left_pitch=-0.2704 left_roll=0.1361 left_gripper=0.5553 right_x=0.2822 right_y=0.0017 right_z=0.1538 right_yaw=0.1405 right_pitch=-0.6268 right_roll=-0.4491 right_gripper=0.9983 state[joint_eff]: [-0.2667, -12.2462, 6.0239, 0.3932, -0.2808, 0.0562, 1.0281, -0.1299, -4.9162, 6.2427, 1.2088, 0.0757, -0.0757, -0.0073] camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.471,"left_y":-0.354,"left_z":0.175},"note":"The left gripper settled around the green fruit at a plausible fruit-sized opening. I’m lifting it and carrying it toward the blue bowl, which was pushed farther forward on the tabletop."})

tool

executing move_to over 17 steps (1.7s)

step 385

assistant

agent noteThe green fruit has lifted off the table, and the blue bowl—with the dark fruit inside—is directly ahead of the left gripper. I’m adjusting toward the bowl’s centre, lowering, and releasing the green fruit into it.

move_to

left_x0.4850left_y-0.3800left_z0.0800left_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]: [-0.8291, 2.6854, 2.8746, -1.3174, -0.6033, -0.72, 0.5575, 0.141, 1.2053, 1.0149, -0.947, 0.2367, -0.3862, 0.9983] state[eef_state]: left_x=0.4674 left_y=-0.3565 left_z=0.1387 left_yaw=0.0912 left_pitch=-0.2753 left_roll=0.1225 left_gripper=0.5575 right_x=0.2816 right_y=0.0017 right_z=0.1518 right_yaw=0.1415 right_pitch=-0.6166 right_roll=-0.4484 right_gripper=0.9983 state[joint_eff]: [0.3761, -15.6786, 7.4188, 0.2613, -0.2759, 0.3199, 0.2125, -0.1573, -4.506, 5.9009, 1.1355, 0.0806, -0.0317, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.485,"left_y":-0.38,"left_z":0.08,"left_gripper":1},"note":"The green fruit has lifted off the table, and the blue bowl—with the dark fruit inside—is directly ahead of the left gripper. I’m adjusting toward the bowl’s centre, lowering, and releasing the green fruit into it."})

tool

executing move_to over 5 steps (0.5s)

step 390

assistant

agent noteI could not complete the transfer. The dark fruit is in the blue bowl, but the green fruit did not land securely inside it and the yellow fruit remains on the table; the fruits have not been poured into the white bowl.

give_up

hindsightThe blue bowl can slide forward when contacted, leaving its interior near x≈0.49 m, where the left arm cannot reliably descend: a target of x=0.485, z=0.08 stopped at x=0.470, z=0.110. Verify deposits after retracting; a fruit released above the rim can roll back out. At low x≈0.24–0.36 on the right arm, the tool pitched about −0.6 rad despite zero being targeted, and multiple visually centred closes on the yellow fruit were empty.

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]: [-0.828, 2.7495, 2.8983, -1.3109, -0.59, -0.7303, 0.9953, 0.141, 1.2041, 1.0039, -0.9421, 0.2371, -0.3859, 0.9983] state[eef_state]: left_x=0.4697 left_y=-0.3609 left_z=0.1097 left_yaw=0.0984 left_pitch=-0.3047 left_roll=0.1361 left_gripper=0.9953 right_x=0.2804 right_y=0.0015 right_z=0.1487 right_yaw=0.1409 right_pitch=-0.6214 right_roll=-0.4487 right_gripper=0.9983 state[joint_eff]: [-0.3077, -14.8581, 6.0923, 1.243, -0.4615, 0.0366, -0.0513, -0.1983, -4.8479, 6.0513, 1.1306, 0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not complete the transfer. The dark fruit is in the blue bowl, but the green fruit did not land securely inside it and the yellow fruit remains on the table; the fruits have not been poured into the white bowl.","hindsight":"The blue bowl can slide forward when contacted, leaving its interior near x≈0.49 m, where the left arm cannot reliably descend: a target of x=0.485, z=0.08 stopped at x=0.470, z=0.110. Verify deposits after retracting; a fruit released above the rim can roll back out. At low x≈0.24–0.36 on the right arm, the tool pitched about −0.6 rad despite zero being targeted, and multiple visually centred closes on the yellow fruit were empty."})

tool

give_up: I could not complete the transfer. The dark fruit is in the blue bowl, but the green fruit did not land securely inside it and the yellow fruit remains on the table; the fruits have not been poured into the white bowl.

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 · 4.431 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]: [-0.02, 0.8001, 0.6132, -0.3824, -0.0139, -0.0296, 0.9993, -0.0227, 0.8005, 0.6201, -0.3874, -0.0174, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=-0.0001 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.7983, 9.5795, 1.7851, -0.0952, 0.1441, -0.0806, -0.1299, -1.7709, 9.0598, 1.8584, -0.0855, -0.022, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b2f557534861d3d46deb0d4f1a8681583d7626a61533ab79675036bbbbfc7f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50575b84d39d0f7dff12549186984962a11abe8a67c007324f7d15ba1448a695",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bbe082435dd733ec1aae09175e55d0ceca8bfc818bf801e9534c77e7bcc2602",
      "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 · 5.356 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrMcXIjMrhBpWLFaz9cNNHZa1B7vgoXSuDT0oLPSuDm4GVs8DBOfS8I_4l2TGnd_5pdwUDfZ7G878kFEnXFcdFQkU-f_xtVErMOnRoo2gSsWYuzPfHxMMlMPsE2U0jVpyhYp5miROx2j5Md1ctidRVz4CjGYDAS99qB57Xse8z-Wp-jLF-h-tS8KTd7F2XZ-LseJ_KMDrHSRAzGFgp7ukC-oIwlcpA8dI9MLSyLjQ4-NVhbOTMsfkPqUaq7AXjozSuloVPJWnRikVkMz8k9oGvKdT2NjmHdtqih6OLHgUPDgMqBO6H30A58DqV4nfSi2OxWCaJltX9iabnHghTNpQITnC44Mha_aJE6e6691jjdi34HAvV3l7ZeIqwyckIkxh1eJf3OKcQmQdGejpGzu2gc4JTtyqfRJfrEoLyzzspNTM3rhmZlQbQHEmwdgiWVyttKTdw_jHVm0iPP3Mwi7UQjc9_e-crl_sP-NooAMGyVnYd5qmdvgGWucLWckB-0PG3VWitkOIlLvLwcgFt9t_CZDaU7dwgdN-SxkV1knRkyptiUhuXbojEOTFR1GRgr2tELqvGzIzpAhvp6newZ6Q1_0hYvR7xDX7KwXnxIi3Z71iDoVmS1tNh-zlB9XrDlP5W1ie9prGFr8Cr1YENuHrtu7K-DKec3EqYhxRAVKtq_GWpzvqVpCpc3zL9QA5ubsExN6rAinEAmR08J2MeeRSCa8UKLVWUxfjgq71SxCkQycLF_KVxT7bCs7i-7urNYXAuQmlcDC-lC4Qf80DhTcXKsuMLETat-zK7oyl_XKbAx4QMKGyg5Y70hnZiWzObT77UAiWVzglvwfY5oW5WgRz5XIz6FMoaMLVX36f7AWdK2gDTKfmkVQrA99wD8kwWMm7_WoZI-FVzbYYD6ISmFsi3eS8ZV9wPy6Wwzramrfz2uhxoGUd-DifhK6bSZP_Li3mLJWWis9mjuNsOvE1yQkFnQ-pkNQMKIKeu3idHzlPOgMJ77lxFjdMWGeoEy8JMz8vkKeZ67dLkrR6ECqaHRHblnFxUirDaySgZ3FPlzOeGLyOXDMltQH0iyYSP98vQEf0oVUkuQzoCqmKX-9OksZPErh8ZNZlK4WPL7rUfyNDmsWXZ0EmQ7vPMF79DwI48yoP-nb0r3WOLnsKWXo0bM_L9VS3T7Ag6kt1NuXRIHSKetxwHWxUBKlQtt5RGdigivRZuNgtNzjcM8n1N3G7yQ5TSDQtN9OyRbMPPNRWPT7M75WjPwgsLRpMLugr_NiusLbwXlITQglqe2YdkBcSkFaEmsw3WODPNTmRD5EZM0dAO3EN26y4Eyz25w5R3jorQqKYFlkVdn8D4IV9VWcVo9hwnKomViyr-yBMyVdZt3WNXlG2vkHT7Y3WZxbOZoBJIHfuWksy1kD-1C4X7qIhTwU5pR4dwenYXUOD2uOSnAme5i1brF2ZARfORaMSTe_sH0LtXXISV84c70SFT8vWF5JaMmc604KeLu0LC3RVR51LkI7x26gFcJ3d3ilUBes1dGSE2oVtchJ7IPqQB5yGKglKIFG9OxPt1abbC7iFaKNN1_ETT6LbOQ665GX-sSzqiF0_EwcfRq9FBck3r_b1ks1AbBD48iyULrOv17wC5lzSdVEJUtUCijxto9RsN8MHV1c-3_lgv3S7XhKb1GgvFbNi17gS26uXxmvPft1vkNwUzhFk6TGt1hj8NlZAWi3jTpWN8RAVSZq6fBlP7dHyJRP3LwmQRFEDlAMfv6hf2LTwNiYT632cEYGNCwKKTF9lf4SGCiccVTFdxFdKHPO3we3usjuyT1vbMSHqQ3fEO3NNMWwFhlH8w99-9og14HD0tTKRDjWIVLR2Zi4F30ZBQfoP4wZKeaqX7CC4JS6dotE-bRe1DqXC8wl7NGI_c39EUFeN0wqel7l-opyy7chCCmffjIwV5zKjt5-4iu0ECzhpJtWwz_SxzdVgoaNKu0OL9PDzwBB8g-5y34Evb4TVlo2P_4XtTytxOLefdH0atnmEPRBQEZJ4IkDLcyfpTQsHWqt9MV-J-jFJJKxrzJRPUoqdKcF1jwe3I0fBjp5T4Rey_lmqiGVfd97unS_3DbY2FEM9qrfmZA27QCfhFo3EtXLr1vWy7aEk0WzWAzZRa7gDebtJIlm15qcCxmrdTn1Gy9P4v45pDpC5T1PDyeliBe2DSs_tfaC08XWXlWGdpQNlNxeYu2VCKZI5RavwtAel0_kjd2F_-sKEChs0areATHFAKej93z2Jycwmglholzrb_lkFh6nXXBVDjjblwLrXS0BaaJPThKZjKTQTsEiCXqLR59RgRBD289Q_BOLb_smJlHsKpd6m4pj-a1uVbOxiWBop5RDbEuqw5sT04ZwWJByIjrKaDJonNKdc1fy_uQ06uRqeB1WU2ZAvGlKlQnqYNySEk97aFE3A9_QpZAb72zpKqcUp8Jq-pHo9jgsXlON6ttbQCWOb87_6y_6rUB4LNcHFmqffvICyUybZ-zaDfKUeoGWMP1WI4knmv5uBRpniTeHpJQkyJYKsmOBCnokOf5KQLRHAftf17gKAJQDyApZ5BvJyFRasaAo2Gsw84oQ-pchYS-ZBxahSLUq121F2ltEdejLY5tCX-BVOQpgktQacX6bNYblXCmjvMHOi3FV_B-8rby5ZtvVTatSA006LytmKOf_Gv7mqNlP5Wrli4jaQu9YHJbkLA3H1XqsY8aOsR_mOZdJZ1FBlKoGGHWA2ThcK1vBF5it6NqHS5gO7OnKm7Hig==",
  "id": "rs_09ad9d8756f70e63016ab42ac938cc87d0911a78a3f38551d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.342,\"left_y\":-0.215,\"left_z\":0.14},\"note\":\"The overhead view shows three fruits in a row, with the dark fruit closest to the left arm, the blue bowl behind them, and the large white bowl farther left. I’m moving the left gripper above the dark fruit to line up a first grasp.\"}",
  "call_id": "call_jvMIeaGm6ouoEbjf2i1Jk1Q1",
  "id": "fc_09ad9d8756f70e63016ab42acc1ce087d08047f1bc07a74d28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jvMIeaGm6ouoEbjf2i1Jk1Q1",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8425, 1.5051, 0.8658, -0.1738, -0.659, -0.5632, 0.9993, -0.0227, 0.8024, 0.6186, -0.3943, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3359 left_y=-0.2087 left_z=0.1252 left_yaw=-0.0111 left_pitch=-0.0426 left_roll=0.0262 left_gripper=0.9993 right_x=0.2952 right_y=0.0005 right_z=0.1814 right_yaw=0.0024 right_pitch=-0.0103 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -6.3932, 8.6222, 1.5897, -0.5641, 0.0024, -0.022, 0.0889, -1.0325, 7.159, 1.8046, 0.0073, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ec424c1014ef29a2e49510e07ac3afefcd65959181f22010dfa00928db0ec8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c36ec73ef15ef8df5ec4e1b5c89bcec1a5b807b2a82c0bca307aec736c216af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:964f3f6bd13e9f617f06a83c12c72805b3d07dd461f1cf36bf4d20a9cf5f07d2",
      "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 · 4.304 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]: [-0.02, 0.8001, 0.6132, -0.3824, -0.0139, -0.0296, 0.9993, -0.0227, 0.8005, 0.6201, -0.3874, -0.0174, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=-0.0001 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.7983, 9.5795, 1.7851, -0.0952, 0.1441, -0.0806, -0.1299, -1.7709, 9.0598, 1.8584, -0.0855, -0.022, -0.105]",
      "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]: [-0.8425, 1.5051, 0.8658, -0.1738, -0.659, -0.5632, 0.9993, -0.0227, 0.8024, 0.6186, -0.3943, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3359 left_y=-0.2087 left_z=0.1252 left_yaw=-0.0111 left_pitch=-0.0426 left_roll=0.0262 left_gripper=0.9993 right_x=0.2952 right_y=0.0005 right_z=0.1814 right_yaw=0.0024 right_pitch=-0.0103 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -6.3932, 8.6222, 1.5897, -0.5641, 0.0024, -0.022, 0.0889, -1.0325, 7.159, 1.8046, 0.0073, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ec424c1014ef29a2e49510e07ac3afefcd65959181f22010dfa00928db0ec8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c36ec73ef15ef8df5ec4e1b5c89bcec1a5b807b2a82c0bca307aec736c216af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:964f3f6bd13e9f617f06a83c12c72805b3d07dd461f1cf36bf4d20a9cf5f07d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrazaXRbtpPEF-hJsu1VzuA7Q46LsZvC-Yu2aClPvF1ggXwxi0Nyoxm3d7-ixJ7ic-r7ufpjLLC9KyPF5p2W8azUTm6HU_kqPHMWU7f0UfZqTZGU4qgC376_sFZQhWsxaa65wZ03O3jQZrSYjPKLVaNBGjA2OtcmUKt__MaXCdE3rPgJUW1MsedoYRq5nchDXlGWRq98ZPFJ72zyxFfyObrxkyXHzGnW3UNd5drakpnLn6Tp23cSlCq_L61HouC9dTxoPZ30i6i62VBY8XRSpB_OBs8sLY-23msNzEUwrFu4b7dBvWkv4R0GNpDxDbzU7koSM31xGeJ0qMa-NjwK9IVlHuaQDSzXGxVtsh442N8gOwHvDd2KY-N7-z45ygPhas4TD0t-QLP5ySIB5UdPTczvH0Nvyff8vR6n6hX3HamNoJ1lM2DPKCUpiN8wjpW2WUNq_StLtvP0t0zGVC4iDL1sqVT5SV2yLo1fnAHgcewZhPQrtnH3gagtCQQD3S1nrPgRSIpBRi0dYvCGHY4ipddVL5CNKQs3wQ1HeWPT3yl-VFWLUzcKuenX6QTsk_91vGI-WSPNSRRDcX3oY9nzjB_bElTSfbWt-0nb63eWSco-4x5DLsW2fhSBgPjoBKJ3BFR9t5dzK4M1yQwYnJID6ZITq2GP4hAs42x3q1tsbzPyOoEDYOn9APdEUmmNdEfBgD7vs-iWUTYmc2FUqFu95aLFyUEYvPS14L--8ww9tinyDmyjSQFG9q9c_EMogaTIeFUp-iKblxgG-WiiqmKvOj0dLgMpMOjSa6OCGxaE8SXU74IcpcyRdZYqNFU0WPaWcWxpOy3axWG6HktCYhcq8ppNUeVlcA34eRCoyVuocUD0qomgPIK-33G6diSLUSn3AM0tjnTa62HYnmGrQQpKfBXjMw5Il-Es1blmQagb_Fx_CDhsHtOJOc_8pWjfDaaBhgOK2SD1lv-LMLny1Njwuu2uZ9A-xIMZBYBN8a_ELLvnz0ZikZo__MgOhjLEAaMFAyKjZw3RBp_U5rsZvxZsthsmevGf4GspniABsM3N-9MoBFBqzgNYO2jgIGrtZYhyoSpt3VGvLE5xyfa0fcWJgYbRlgUEBMJ1JdpYhgUbfPxdOe0_oHI9oCSuuCq-fL1zSgrKPfkYnkpPsQAZU3aXa_C1idSxDrkt5wk4Jf8KHhOAF1SO8llgdlLHvVkOdM-fe4VQPnmGnhA6NuFNOlo05qbGtuJW6Dc9OnbK295GpgpRwMYae9WbtfgGbvWg6WR5tCmwGuP3IlJeNks_MNVxFaQxIujiv9dNHpkYJb2Nvz38mbMVbgVg77fIuaYgnv8OqQczZfZUveLzTuqxcLen4YJ8uxbi3qaGWf4FSG5hPxdP8KHKNSN5mT_wlaacxELQ1t__OzWo6VYRiRTYbDhr0z1pomkErKH_lmKq6XJB9bcjmKbKUTXqxFPNS8Lu26YAUpQxPkLG-oi7VKelVmBAYX8faBEMO7qMao_tlSP0eNPUe4M-PWVLmtfClxkPU2mTq5_hWTlBgG0EkFYIwAcRUzckg71nGL-BYoOF9IHA9IGoHxqKps4R_WNq4iaeVslDP0OMKJ5kN-2_yEcTQ5qd691po07vZW0Ij-AHqgcZP0gnZKID9nvrGNTPhF0YD5mgz-5_kxqDaLYQ3w6WsUKO7harpV-shJjZt4-Q2_3g59kSxVn73QdbvEnFWPNMNsyKM0Q8PMp-NyrJ77Gl7TM1fkvUb8qRdY6TKnigUQUtXaW_GjYn38jqKwhwRBPVhkX3n3779JscwUvcoxZCJ6FK0SKT1YyJqzsLpG--keBlAO5rg_YosSdpNDnpGkCV16kZ_LdmkBC_rGeQHqIeG2EBpDe4GO5Dy3sG1_L8x7E3ViePMTPGg2KS5knlD8JQ5IijgAUnjlusaXbvY9BijVv9d_IOAz7dM4PKHqvE5GwWpGRlCziJG4QDKXE-4NVe_u8C-sJ9yNrB3R62TUTOBH1prz0TepqDiCvRvvukTQmp24IBkp8XfFfEg1ZfGG_KZRrQLRnaW3Jy1-3XBlBEEUoWjh29kCDmnsz-PS9aDXHnYne7jeANBNPASNTXztWtJXd2SKXjF-6HqadSexDbkwyGDPC3TfbcvhFgF0xK6W7KtFDstUYDP1RGaNyVsYUIMUPI1sEabKjy1JrdrxxvN1VbdG3lzImmKc6R1K90dzpI_VOxvWsYYm8ZM5N8HyLTEjAi7EyE3bKo5stD-7lN3DtbyFdel9TkGkGPlI_7EK30X_ypf8vDLA38qlG04RwvcJdWyH5R_tPsBo20OkSKfNXXZHjQmnYpBkk6SnFmdSzBwQc5qxmrdYba588z0hI2SYm8UhwAr-kRQ9QYh-lOQdWCwfIMVVgJW1He9RN-xz63VXmDlAVZvhWZOO-kxAk0PBqS05e6_pOHniQuU2PLapcx3qx6Q6DyF4YcZQbx_dD6S2xrfatMm038CjhijMwCb73oA7Dnf_Y88rqDEUW-8gZyoKsPyuhsbsP9TF4f1s5uyLvtTg=",
  "id": "rs_09ad9d8756f70e63016ab42ad61a3087d0a8254d28ccdb3122",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.341,\"left_y\":-0.181,\"left_z\":0.032},\"note\":\"The dark fruit is visible near the bottom-left of the left wrist image, while the gripper is still well above it. I’m shifting a few centimetres left to centre the jaws, then lowering toward the fruit’s middle.\"}",
  "call_id": "call_QikbNu8Vk8TatX0GiJI6Z3D4",
  "id": "fc_09ad9d8756f70e63016ab42ad957b887d0945caf32415edc5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QikbNu8Vk8TatX0GiJI6Z3D4",
  "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]: [-0.7616, 1.6981, 0.5941, 0.3046, -0.6086, -0.5022, 0.9993, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.338 left_y=-0.1778 left_z=0.0281 left_yaw=0.0001 left_pitch=-0.0599 left_roll=0.0407 left_gripper=0.9993 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -6.9538, 4.7795, 1.746, -0.1783, 0.0464, -0.0122, -0.0752, -1.306, 7.0769, 1.7021, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5f47fc92af779ac34a82a423e8215606b3d67846abbad822853a2630ab3c8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8a5fa6991a63c9aabf881a1a0b22d2b9a0a2e69837e89ce7e96bed5c052c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d5c820adcb9ddef1f0c8c88df9b501dbcf1302fab14e6a0985441681464bd79",
      "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 · 2.753 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]: [-0.8425, 1.5051, 0.8658, -0.1738, -0.659, -0.5632, 0.9993, -0.0227, 0.8024, 0.6186, -0.3943, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3359 left_y=-0.2087 left_z=0.1252 left_yaw=-0.0111 left_pitch=-0.0426 left_roll=0.0262 left_gripper=0.9993 right_x=0.2952 right_y=0.0005 right_z=0.1814 right_yaw=0.0024 right_pitch=-0.0103 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -6.3932, 8.6222, 1.5897, -0.5641, 0.0024, -0.022, 0.0889, -1.0325, 7.159, 1.8046, 0.0073, -0.0904, -0.022]",
      "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]: [-0.7616, 1.6981, 0.5941, 0.3046, -0.6086, -0.5022, 0.9993, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.338 left_y=-0.1778 left_z=0.0281 left_yaw=0.0001 left_pitch=-0.0599 left_roll=0.0407 left_gripper=0.9993 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -6.9538, 4.7795, 1.746, -0.1783, 0.0464, -0.0122, -0.0752, -1.306, 7.0769, 1.7021, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5f47fc92af779ac34a82a423e8215606b3d67846abbad822853a2630ab3c8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8a5fa6991a63c9aabf881a1a0b22d2b9a0a2e69837e89ce7e96bed5c052c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d5c820adcb9ddef1f0c8c88df9b501dbcf1302fab14e6a0985441681464bd79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrgE5xl0uHc0l4H2tIVCexG_lZyZ0zioy_mYn__Uh5ODtRf2uKwvY86T41SzNK4__Dkz4Ie3QCWqcTIb17evJ3gbp1pqM5HAAqy2d6NvaKm-hu5XYXxcDoSuBPDxGtsV4aTcgtz6HJqD8KvH1Gteb_R09nJtkhequUilFu0cfdUS9hvRAsnAk3TBZse7yCFTkofYP1rjkhNI3Gc9S5XHCh9orWEWJ9zDwO35P3Ea1oMHtJz_ZWvW2jmAOgZv2LNX6fQ8SdGZsJCNLgLet5YIcDYG6Of8QfhJliWMthsAnN_Zuid5aQLZgRdod8-4JvulhU65wxlaydGTKMDPlMcCFNKSxaUvr-m9Th5PmbIrsPqv4vpqcJ5nLovqjF2zsOIjjvVdRRDrMBdGcBt_2N2WwYfMokqPbKP3YQXbfFns7e6vaJ9dmeccLQmcqCY6Pgr_ScDkI2UCASb7I26BUzoYXEDeSvP4_D5P7RzCZL1cyQZXvR0nxsfFl6J9HYZzzewVaFjjVfbrLFoQLDj9tXqF6BB-FObqgYgWuEPMvYxhrWzMhAEr_Rw66D5CjKsZXaJSDkkSz3gWucybxFBU5sUA58WMnKU3r2LFQIK2WZ5mMbKZw7eAYI5vaA7T4m4rCZMX6CdzfQNc3HDtgm3stiK-W0XXc54XySa7DhAkcB_zGyjsfwR1mIm8gwMjiGZ-FxVtSnD25wGFyzbzzFVUHWGKsdFaCI15uAJPCPVJ453NXQ0Rg7zlpkPVk_twIWYT0HyWPrT96kH6tte4y3c3lFK34Hi-Lpg8HkgLyM4cv1HukXDueL7VNmIzmblZTyj4WIpcW2Mqh9kxlAqJitsxTLP7HOCkTVcvxVT9VgBfUZyP1KlXSE3fcox7aWabQSeummXHWtP-FiwrwTo595mtPJxYZDG2JUtrYT2mpKVrsYDUMwQCET4C0jj2ENEKVm-xjHYojAtGXurO-am1zc6KAhr0PMPpacwgr6vC7JadS2U3QH0CU-rEqjTVUl_mTi3x906ljdBqR933Dm8d563HdsyTnxx7t7K95rpeUm9v64yzUaCHfur7zlw_A2F6RM4uSwUZscQRm6eD3DPqZkUc3qdT81RvsenSR0GcWNMlMIiWrOY8L3W-X82QVbFgOfcKlB64ljpVk_EdrHE-w5pADXhBrmUfhjZVatf52OnPKHwnzQXlZ5xJjyQj51isY9n1kW8IkCILV7GjnhzKU3s-IbYcwtKK4lp5qG6uqow5qqSw6gyFG4F3mDbsDvVMPB-mbDbFHetzizqLGhJEvK0kHdtXI6ldGExRQd08LNfn09dt3VQyp8VgQAjaibqVgMypLwSrdrot10dLgf8NPjh4nIJyUtH6_3ByH62we3xnfWhQWYbKxa211MKpJsaxs6y0ZoujHOYfCo_YEqc3lJDoJU2E2VG5Acnqv5Zqd7oJxLWsCXU5eRSOfQiFjsVg5osjCsaTMvBEApK0NE_VeH5Rb-SyTrwDkMDVhaHwlauqFTX9K_pSO470uHjZOJEtXSMy4aKYA-EAMJOndjDuKhwRqsjld26wdNC_4IUUqAa3g3XnlDpHNZOeojm-OWjcDAG4oM1_OJZsGUsWZ6Y0ABNUdmNo5mqR4e-ftoGxyft9Hz5TNdMjyrmUjydwdZzX1Vlu6IpwXf8w3k7hvXvGSUH11ZDH71PcHaq3_hAD5LJYrh7XsgswjqNlq5hq2ekIV59fCqhNZdrmgDEB2MeINYWBHegrNBD9qO4y9mid0ayCOE0tYUQrRbr4I8eprHbQ7rOy0Q5TxlTWOmOkFXYy2kDeiWQLUpsqjUXXeTqcmwi9DeDa9UIE3XvtY8RJTWAuGKy5nMaRcluU6upKQZI_q6HwHombR_EHRRWGVMImuwS6ROLf7kR7wUWv2J3hKJtoBWy_EKOswfVfw8ClY4UOdYP4ZmXpDT8KwhcItpm6sfRbky99BZFePrbUSoHPF1nSmXBJQUmJEwG8Tqr2NUeJ68hzHJT7Sx54GKYcpR5U7fl8rIFQ966CWDGzvv3bqE9ee7UZHAlzHCgGrLri7Op-AjOi_Vo-1ErxjypS2N--uceNiqqrOiavynOajD1JktX38qa1puOZG5YVPLNunmh6AyJpmPg_9HbixXhP-q0XFRj561ZZBD-qUnZbmaG6SnVEl3GYTe--co4EomTBFwg5ct4Zh11rnZxLnNiGRpQmqysy4OgWTdmQqz3FgoQwJUSvCOuDuRNasrAwnewI0sEc7JxhPBslofC_pjKpNpsUgtv1-1Pf18z3Oocvh54imT40qRmD8chQ_MEddRuuS7wASI0yJBzfAm1LMXXTV9QPPbKWCfrb_pbPEyKy-r3hzzrtNjqwYhlsxig5jZKeTMa_UYzhlnahT5brK3_ss-YkgA35jA0XjUu44zt18KckFvROKuezJQzSdInRMyf1W5L4tI8v2AT174UUw==",
  "id": "rs_09ad9d8756f70e63016ab42add98b887d0b6fd0358e6ecc5db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.332,\"left_y\":-0.146,\"left_z\":0.026},\"note\":\"At grasp height, the dark fruit still sits left of the jaw centre in the wrist view. I’m making a small sideways correction before closing, rather than squeezing it off-centre.\"}",
  "call_id": "call_cy0kJp618P03D2aXmbxxUxY0",
  "id": "fc_09ad9d8756f70e63016ab42ae01c0087d0bee2f8e3d089b29f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cy0kJp618P03D2aXmbxxUxY0",
  "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]: [-0.683, 1.6417, 0.4831, 0.3477, -0.5621, -0.4526, 0.9993, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3279 left_y=-0.1408 left_z=0.0159 left_yaw=0.0184 left_pitch=-0.0921 left_roll=0.0631 left_gripper=0.9993 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -7.6103, 5.0393, 1.6239, -0.1929, 0.0562, -0.0122, -0.0479, -1.2786, 7.0632, 1.7363, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355c8854f998ae6a9699c5d9f130b2209f868e43bedd100724dd07439b4397c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb50275fd33ecdcce11b1bd784b5e78cb9b0de2ae22011b894d41a03e5614ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2d5bae7ad86274736012a7bae70ed3959fb9b9ba47dcde57a3bf6fe0dbf8d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.022 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]: [-0.02, 0.8001, 0.6132, -0.3824, -0.0139, -0.0296, 0.9993, -0.0227, 0.8005, 0.6201, -0.3874, -0.0174, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2962 right_y=-0.0001 right_z=0.184 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.7983, 9.5795, 1.7851, -0.0952, 0.1441, -0.0806, -0.1299, -1.7709, 9.0598, 1.8584, -0.0855, -0.022, -0.105]",
      "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]: [-0.7616, 1.6981, 0.5941, 0.3046, -0.6086, -0.5022, 0.9993, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.338 left_y=-0.1778 left_z=0.0281 left_yaw=0.0001 left_pitch=-0.0599 left_roll=0.0407 left_gripper=0.9993 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -6.9538, 4.7795, 1.746, -0.1783, 0.0464, -0.0122, -0.0752, -1.306, 7.0769, 1.7021, -0.0171, -0.0513, -0.0122]",
      "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]: [-0.683, 1.6417, 0.4831, 0.3477, -0.5621, -0.4526, 0.9993, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3279 left_y=-0.1408 left_z=0.0159 left_yaw=0.0184 left_pitch=-0.0921 left_roll=0.0631 left_gripper=0.9993 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -7.6103, 5.0393, 1.6239, -0.1929, 0.0562, -0.0122, -0.0479, -1.2786, 7.0632, 1.7363, -0.0366, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355c8854f998ae6a9699c5d9f130b2209f868e43bedd100724dd07439b4397c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb50275fd33ecdcce11b1bd784b5e78cb9b0de2ae22011b894d41a03e5614ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2d5bae7ad86274736012a7bae70ed3959fb9b9ba47dcde57a3bf6fe0dbf8d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrk-TOIfGkiy1BDdXs7InS_stOkdxn4p2lMTXn3kAn_w17gl5RFu5Ii8rCB1ORKQj0okqCyi5FfegKzOLQ5991OmcKbYDP597HPyRxmIAAbJ3hHwIBPVd6T_Knd_1ctOBCTg5emm0xpcIt8pJOZENB_vtxL1DvDI_W5vI2JqV8QAYgcm10FLpNGG75tjKdFYtn2BqXLtbhjECRH0RJDmgwp3cSxMYedNFAqt8eMcchUbu6QE_z3pykci5XuVvBVy9f8XzSNCatmvUn0BHMBqhQC0xPq0LIHtqBSBPM5qoEh1XnU-rvbo9YKjfJdUlShg2eTsx2KNQFowx57sE3pDPXfWpNOWZjoVnhywXi3uyhTqEGNa79G41rRpcaUX8MHFta5mxaYhKrzgJL5g04ZyIk3-ze69CGoA4REIVY6yzMUR8PGolK_R8nxuPuGMki_ima7yA8sLpBAjyvDC3QJ4lU4B79lPUxuQBx60OtTBhDHWajjffYaIBEQeOtMNa_TuLqU0AV6zLsdMtugNtVpqPDBmThxE9ytfLgLMkUT0DtwG9YVbplt6SLBSGvxu5oBVHnpWjFV_nWQLz87uFcloWhs0PQDzJTjrU6a4XcJqfZZEIhTHyGZtpfARyPEDGePsxRkQBRHyI7tcRvzcYwvtFtZmX4LUKV4GrbU7y4DvLw3PtKv8DKYnUEApTExEnayYC8LPShvJPWT0OdZsL7x8Y3k9Sg6KFuJaYxmixeLi4ub2uCiZ38v_ikJVyqpcdSUuuNIM_AG3WqxIcjz4w8qIPif5V4usyVa-o-o4-VE1szcLb-UporhaAkJPlEhrSPg2cz7-YXOJYaqFBBIaqz8nJuNNxrTcKQTVbLJfMkLH5FaRRf-9s6kzrXmxEu5u2Uhg-fCrnFaFDBwO0hpXxmgQPFLXcaNz3tdLwma1Y_wrjyuRmAJSdjaZvKJnSmEfDacjh8XmzUpJ4NSrO_UWc49UTszpnP-bO25u_22jOPyFjY8Ns1IOl-VvtibDwGPJBBxJRsz2OV0flNGpy8jXQoHF6zSgPN3VkylDF5YrZOJ9q6CmDCq-cEsyaqTGWpHKX9IkTQBGz93vborSc1SMhZmsWjfh7RRuo5FczWAn7fXLck9530vk1hcROy-q3befJOo7g2o-hC2r8IPQIG42vFhDzRZxUm4PJ8TooQaMT5pmKqdDJOFdgrTKGv8lb4FYK4krAHFZ77D8z6VCiOzVZc1SM1rszkEDAYkmgBS4cNQkgiwlJqALh6hd36OkAcfySOTUdCssEUHaQU1NFZWU8dV4ZtzE7gycE4dJIn2iTxPBxldg2TpG3_1BJ-XH_4qgQDBAWBxCsyQsPx8my3sbwdqFGzexIoaFRwdyYmQDdmcmcLSRuvnKbWJ8rcq_KnFB4ao7nLCb4YF37rrkWJ7HaUBNpQfiJbqd4BkEqrAF7wOFYut4QzdPW6KPGMHPisCGDW9tbRkp_DdUmzRuDMWXin4U0o5vQfcKLI8ltKLEvAWbpfCzCGc1PK2UTuaAnGj61Ow-ZQbDQiCldmgcn5Q6xAVzMYn7fyhRUYsuL6Ug_QdZeaE_RhtGiB1X44h2jpXJgQWnM0cxQSWC5fSCIkifAL_Zjc2zbH6n9-vo5I6dFqDpskgnbfrNLiXIc01ehBiFF-FH-tTT3ck3FIsCh5zeP5XDeKtPw==",
  "id": "rs_09ad9d8756f70e63016ab42ae2522887d09906b2b0fa3ccbcc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.155,\"left_z\":0.024,\"left_gripper\":0.16},\"note\":\"The sideways adjustment brought the fruit between the jaws but slightly to the right. I’m easing back about a centimetre and closing gently around its middle.\"}",
  "call_id": "call_gYWg6qjsId8inrTurO9GRL9V",
  "id": "fc_09ad9d8756f70e63016ab42ae366cc87d0b1098b6ac8edfa82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gYWg6qjsId8inrTurO9GRL9V",
  "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]: [-0.683, 1.6417, 0.4831, 0.3492, -0.5564, -0.4419, 0.5465, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3278 left_y=-0.1418 left_z=0.0157 left_yaw=0.0082 left_pitch=-0.0939 left_roll=0.0673 left_gripper=0.5465 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.5692, 4.6974, 1.7021, -0.1783, 0.0024, 1.033, -0.0205, -1.265, 7.3915, 1.746, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a48cd9be0092ebe2b56711d87f44e2f33251561e57523152435ab071701aa08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3510f9b5a283adaa60c20142ce79c762abdb5f931997cee986b3ae19445d09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41eee6b733eaa29f58c9c8f7cd656172baf4c7fe17314e437f93ba3ffd0d919b",
      "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 · 5.678 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]: [-0.8425, 1.5051, 0.8658, -0.1738, -0.659, -0.5632, 0.9993, -0.0227, 0.8024, 0.6186, -0.3943, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3359 left_y=-0.2087 left_z=0.1252 left_yaw=-0.0111 left_pitch=-0.0426 left_roll=0.0262 left_gripper=0.9993 right_x=0.2952 right_y=0.0005 right_z=0.1814 right_yaw=0.0024 right_pitch=-0.0103 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -6.3932, 8.6222, 1.5897, -0.5641, 0.0024, -0.022, 0.0889, -1.0325, 7.159, 1.8046, 0.0073, -0.0904, -0.022]",
      "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]: [-0.683, 1.6417, 0.4831, 0.3477, -0.5621, -0.4526, 0.9993, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3279 left_y=-0.1408 left_z=0.0159 left_yaw=0.0184 left_pitch=-0.0921 left_roll=0.0631 left_gripper=0.9993 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -7.6103, 5.0393, 1.6239, -0.1929, 0.0562, -0.0122, -0.0479, -1.2786, 7.0632, 1.7363, -0.0366, -0.0708, -0.0122]",
      "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]: [-0.683, 1.6417, 0.4831, 0.3492, -0.5564, -0.4419, 0.5465, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3278 left_y=-0.1418 left_z=0.0157 left_yaw=0.0082 left_pitch=-0.0939 left_roll=0.0673 left_gripper=0.5465 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.5692, 4.6974, 1.7021, -0.1783, 0.0024, 1.033, -0.0205, -1.265, 7.3915, 1.746, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a48cd9be0092ebe2b56711d87f44e2f33251561e57523152435ab071701aa08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3510f9b5a283adaa60c20142ce79c762abdb5f931997cee986b3ae19445d09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41eee6b733eaa29f58c9c8f7cd656172baf4c7fe17314e437f93ba3ffd0d919b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrmjOjaPDO0Zk1NaZoW3Wz6dltIneKfrg0kvRmskAn3FkQJO2FSWkqWgh3DMbDpDfftpvWfH4jd3QnLl7JCeH-m1bY1u4Yn22DlvHdRztUGAYYNQGQY8v5GfD2K5j6UT2vmaw3YhV6HITQw3huXH8q1WCtWeMCpxjjlCloQHr0MItG4ujzU5dACSy6NoXd7nIUwbo_MHJln0ZGKrFroAGkWHA-BrlakBMjih4og0FBcqYRMHFNFCLLAgRgwHtvW5vWWgPjN78ZhVEdngIl84pbiDYbaCYDhp1QFa6xev-sYBKuIuu_jeWxHttRqUXG8Dco1QJD5oNuOLr8zVH18V_F1OS2c2Z0tsCpS6_eaS83NK1-lv2QzvArOEQfU5TsXi9id3-Er6kB8JIhrR2fP52dFp3PvYKvO3HXMNZvm_8SGhJNikuvsIlJM5xC5K2IV6Sroiu2uzk9mMq4iE6X_a0ArqzvBm7HYzrHQZg6KBW1AxPekMByVJY9aZvVrhRRu7erkMKKjeKuZwXnx-UdfGl-lFDuhYYtKQPLEHwBniAZ1VONVjuaRQtELrc0CtZVcQawAwi0c7e-XbUiWilDmm-IkPMuOEOf-4qPHBM7TqVdzJpRKE8btWxNqeQBta-e-Ek9_zygT6SdaPQSAZYEs67S_1A-H1P2BRfZ3mdpwhagYOJ8PXZkNkh5qp_YXUr1WY3vZtjp6WFwSMLNYIkYpWNay77lq75KQS-p5Xd2mtczqMlLir6meDrWhZsC22gVIzAbuvQcP74OQ57XCOUWgMCvUazC_Chef3DYQre_Ekhp2KRmAQdkniy5LrIUROUuaY0Ox_LDkhyg2d__KmcH-u-46H9JIAkoIJZDhhFy7pLC8Psvs5L0NfgJV-3UNDOtfaXLzacFHDOhOiPyV3iKbEcLR8_ODeoD-dVQ3MbSTSTX9_RX__rFpcKAd8dmxW7JsdWK4P2szp5Tk9DQVakKzrpMh2QiarjEXRfQcNpnR-17L6JngDY2-HsWeP_skpIhYY9N-LHL7BOrAwdg93bYpXP81-YbodU4zZvjZl0xu8rz8EtVXKqEEwr5Cjn-ct_qfINsHN5LXUUxFkwUKYb4tTC9tWHFYlH2r3TgA6OUqxIrCvxisUkLNe-AniN1WIXWrom_KFZmV35qEXWeAnE1B-Y9HSBM4g6jqYZpVX2XZDgYtNFwcu1GK4lg_ebhRnWRmhPQS8TSjNG6DHMG3wVHTI2HEAXDkambssW9-oTKhoStyM8OGlGl5VoG4fHYvYHRpB3UE6J6e0CCJbcOT0zzW1cQnLeSR2CzjkD6aoadIqcBK89BcE_Cn1wgteJO3NHj1GMtSRc3lWU-oXpt2nXMuyfnKr_VfmygJQfeXUauF0uXsTk4=",
  "id": "rs_09ad9d8756f70e63016ab42ae5d9e487d0ab0b16198ce0958e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.155},\"note\":\"The gripper stopped with a roughly five-centimetre opening around the dark fruit, consistent with a grasp. I’m lifting it clear of the table to confirm it comes up with the jaws.\"}",
  "call_id": "call_vUEbp2EmAqMZQSYizdLwLU1K",
  "id": "fc_09ad9d8756f70e63016ab42ae6393087d0a623e3affab09357",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vUEbp2EmAqMZQSYizdLwLU1K",
  "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]: [-0.6834, 1.3033, 0.8085, -0.3374, -0.5526, -0.4454, 0.5464, -0.0227, 0.8043, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3266 left_y=-0.1418 left_z=0.1402 left_yaw=0.0084 left_pitch=-0.1132 left_roll=0.0772 left_gripper=0.5464 right_x=0.2951 right_y=0.0004 right_z=0.1804 right_yaw=0.002 right_pitch=-0.0137 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.147, 8.9641, 1.2967, -0.2515, 0.0073, 0.6374, -0.2256, -1.4291, 7.0496, 1.6972, -0.0171, -0.0659, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b5ea894d32fb067c9b94ebf14bcb1bafddde938e5b13094ac3ecc962bd6993",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e446a5ff23cb06018d538ca8dd06c905e8d8df4f4f21347a4d70906b954c3640",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22314fefa348dae2c6ec7a14f6aceba4e9d4eab6d9029fd26c66fbcdcb68a17",
      "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 · 3.597 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]: [-0.7616, 1.6981, 0.5941, 0.3046, -0.6086, -0.5022, 0.9993, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.338 left_y=-0.1778 left_z=0.0281 left_yaw=0.0001 left_pitch=-0.0599 left_roll=0.0407 left_gripper=0.9993 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -6.9538, 4.7795, 1.746, -0.1783, 0.0464, -0.0122, -0.0752, -1.306, 7.0769, 1.7021, -0.0171, -0.0513, -0.0122]",
      "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]: [-0.683, 1.6417, 0.4831, 0.3492, -0.5564, -0.4419, 0.5465, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3278 left_y=-0.1418 left_z=0.0157 left_yaw=0.0082 left_pitch=-0.0939 left_roll=0.0673 left_gripper=0.5465 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.5692, 4.6974, 1.7021, -0.1783, 0.0024, 1.033, -0.0205, -1.265, 7.3915, 1.746, -0.0122, -0.0513, -0.0122]",
      "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]: [-0.6834, 1.3033, 0.8085, -0.3374, -0.5526, -0.4454, 0.5464, -0.0227, 0.8043, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3266 left_y=-0.1418 left_z=0.1402 left_yaw=0.0084 left_pitch=-0.1132 left_roll=0.0772 left_gripper=0.5464 right_x=0.2951 right_y=0.0004 right_z=0.1804 right_yaw=0.002 right_pitch=-0.0137 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.147, 8.9641, 1.2967, -0.2515, 0.0073, 0.6374, -0.2256, -1.4291, 7.0496, 1.6972, -0.0171, -0.0659, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b5ea894d32fb067c9b94ebf14bcb1bafddde938e5b13094ac3ecc962bd6993",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e446a5ff23cb06018d538ca8dd06c905e8d8df4f4f21347a4d70906b954c3640",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22314fefa348dae2c6ec7a14f6aceba4e9d4eab6d9029fd26c66fbcdcb68a17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrueC_dfZd0kaUDCiDJo_dhjVQWwwPATY04zdBKx-wxgzzSo7R7PRsDv8EYvSjdRIxbba74In_HF5Rs4d6OkY_4-5C1zZdEM9FAcYr2gtAbuqFN_qHq5DXpQLk3EqpLDX78qi4zqQ2SND4JFE4-hJSXNwLFhZS3SbpOxwl52V8P02kkOOy2b9XJMH0HmOKzRIlvM8oEIDgZm-cpZCzQfEYYn5kcjMLKsg4X143ERQnd2gfRV75EQQkpzQPlbmFjf6K_k-LsrhjjL1ouveKQO4iC08BO13ZF750S_sHy0vlpmQ1ialmG1UOWFEo-9h3ZGFNj13bzrFGoCaHNUzc173r4MgnMr865j2MpvqG89afZpSpMozmZ-xgFrVSvqBX-cJ_ppvSyV78NeS2a26o-oGf0j0hSTtvHEhN89u7dWQdtfUrXpvWryO6zy3ww8eXp-r8Zq3K5IfcIA1kpPfnFI2QiuFLYoSnh86pjqSa5gg6RmBSorOWXm9Z2Ay4GUOReY8e0gGdPFn1YNH6ygof5pdLG5-aZRuxPfqGNeeFvdUNTrtz2q_jZpetcorUl71jdiOiCEIHaLEJdiCLbjasBUbkm-71FL4z3nLXG4n3C8OyxcFWhk9PW3AEacFAIuK4TgRTlOcfmJbLY0GyPpytXJt_MlJi5f1BAyM4xnwqP1ipcG3wm4pLNQtZyYc9tODtIN9LxM2xEnN_FSpC_0kJZ9h3AAVqgUwPktIPIAQ487RNASUG9p4RHtzrV4LoRnXRbRv4kpneRrXyI0lnR5mRQVFrcpy6FGobP6FT2oYEaMZGoiVBsqLZR7MIqtUHwoqxlA5gaVEC2nC_0mJw6RA8YxASkeQ4q4iP4nu7iFvaMkIn_MIfYy1pznS4mouJ3ru1-GjNDrk-n7OBqkOfg9euBesgrY4Gp_TGjKCzrCMAtLYsKE1mZovrT1pef3nT8cx5Nc77oNcy5FRfxDBy71mfaW7PJ0COAemONUu5Uyxi3BIOWPhxr00ji_8MF_0okuufo6P2rJxdrJ_BLEJP1mjz1zEtlWpDB4VxXX98tcNWusDaVMt5zW6xSosnJpkKc_xE4yUAGH3drtaoKTcn2LOFUYkqMWrZikL4cOwydyUbJUnrHGa7IvqXAOV8M8RbN7vmE9ZPZvnJ6NEc6KPd7p4NOfpYaq47Jfje-DYknEiseTPz4f1RcgLCPrtMYN7as1x7nbnX58K4uMka_myaqWucVR9m-5DI12wz6aq8eFx23nwCCKIRxcXdkQ1peXpz2AoSnxx_en3Be--LY0TxW6w9S6xkcblJFCray4_7os3dphb0Phi8pqFgjH_cVzVol7ybnLfvcfu5eDcTqKZf5g5YtTodefvFsI2PTsYGuSLjGVp3zKp2mPvKVIaFLziIrsE2eNyZ5t7qKfmGIW4iAh385g0Zsg7M7nyVp1Z0pIzt71Ti75yUQfB9jzfozh8qAx22K5u_RuaeUVCsPEPcnbScAPMkXUWy8aFlVFsIt-EVQ00sOQNdlH5ESyNoi3bQnnllRqSHvPA0CfKoyim4Ln17vrCfySYCh99t79_Ko7QVzBWrIp8g3I-vZpKnT-x-hHi2yvtrGzg3zYwDzAmH3ypc_016C29ItffpKjjC5L3cZPd-rC-nvidjYO4wG8tkj9mhP8aBL1BJmta_hPdACpta7b5C8vBHBbp2vA4-YvyqfkpXQoE5YxhO65nodMcYi6KzqAoMqLjp8MkwqIECtRSn55AWpYc8M8ty9ThMLw1Ze0wm73PERrSHgCYV2nrFv3qdDgGkjiCKGNPrgeLdxKkdudWzkWXPcd9AYtb8S3cKkUiPW7oZQgh-bXkCEPjWE7mDMk3mIyZ-9935HvhW2pZdsAbLy-b7ftZdWepDhfzqvai3A9rAyxqB3kW06PvOAKKi45TQ2yDp-8-lTkphMQTv5ZLhxM0Z4JDafdep7isgI9NdX2IYOx8Xjz0hascgn1hEuVEQS1i6BXZpj4mV4EDh1SNVFIwW1NC__WI71pGzgCrD67tcp_MMuGqKN9Wd9jInu6H5v0ECU1ccCPxjsiVnZrUlMke7OYh56kh_CQ9IzTszG8je1pmWxfJGfdQ69nm-Q9DQN8fS93stId5kSRpaSmpgrSVmQLCUhQXMjC7kZSTd7dcNzTkC5NZBVMitD443XB54d3O3qFXTs7kxUlJwqxbgoxevlZjw9X-wUW_oOSV6YFxdw4LordY7C1-IK93Z7Dfa-MoRP1wMV4cB_aVht4FbmS5EbKB3ypJZPkiZaotHlGYx7kH0o4O_zT0MRuUtLxDpBPXpoeGnqjDQCQhE2aslAFh1qyCDQ-5fDn_27UAQkADoT-D31Y_y6cXMATQDqjjQa2Brc_14-KMYds3LAepE8Rf8uAHeyEG0XC8f5RDFzUDRVpFa0qK8FivmRJVzIU7n5GA4_UDTkRtE-7dvUQVaSL2SMIB2wXd6B5mObxfdNuqXAvv6ENHmZStFl2N60PrY8iChgG6f3EPliJzl7NgJuGzyjAP9igcM7jBkylzc3-wbGI_VWMpMwZHa3tWVIq-scmsHZrmMdYYizGLnEYurRKgA0ouIWidH-I0rvdA2OacX0_x2ZbeA9kNIPei8LEQ5QMOsYJxmW1tXBd52iFyFswczmXpQKG-wwfVw31fcUAz3UKryMQh4MiW7ZJq4iMfPJHzcfVpdAsGdHiAh3cy35yuIZx15yi0oDNCEGdEKaW55xNykIluv6slU2e0icoKkxHO3s-I2SMPE2icbS1YMpAFjnvjiAnwGrZ8VBkbWVPMMKuQCEornlOd86DBWNGyEM5qecCSvmFVXnYywCSzaf1Df0SeIz_RBo2hKsEeEddkPiqJSyyjkAsMTfvT1oYu9-jUbfCVsTVEmw1_DFKjQcXpNwlNCcmUVfwwugs93A5W1S1Ogjs_oaTRJB-2G8wY2TNA8py5R55P9rtzOLKt38kcaqJgeaWAidkf9JGhpIQc2ehVeM0g4nIBRRIiRLsr7R7_Ni_BHCHuCv70W6o8FLSA==",
  "id": "rs_09ad9d8756f70e63016ab42ae984a887d092bf4a3fbf7f2fbc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.39,\"left_z\":0.19},\"note\":\"The dark fruit lifted with the left gripper; the yellow and green fruits remain on the table. I’m carrying it high across to the near-left side of the blue bowl.\"}",
  "call_id": "call_ephi7RMMv93pMmz9mqdRteUw",
  "id": "fc_09ad9d8756f70e63016ab42aeda2a487d0b3655c37a5caacc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ephi7RMMv93pMmz9mqdRteUw",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.9424, 2.3661, 2.3459, -0.981, -0.6998, -0.7124, 0.5488, -0.0227, 0.8082, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.4273 left_y=-0.3884 left_z=0.1792 left_yaw=0.0098 left_pitch=-0.1323 left_roll=0.0749 left_gripper=0.5488 right_x=0.2954 right_y=0.0005 right_z=0.1793 right_yaw=0.0024 right_pitch=-0.0175 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.9778, -13.5043, 8.7726, 1.1746, -0.5055, -0.022, 0.5299, -0.253, -1.6342, 7.0222, 1.7216, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bdb457d54522def6987e881991d6c0b224320092afeccc5c2601801ebe1f3f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61d8e3d814959a5789e70666f47a9761326fa7988738be34d292cc166c1e4cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7fae0a39258699bd85b9ab8b39f3c1fe228ac65a103b5643893951b451096f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 5.438 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]: [-0.683, 1.6417, 0.4831, 0.3477, -0.5621, -0.4526, 0.9993, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3279 left_y=-0.1408 left_z=0.0159 left_yaw=0.0184 left_pitch=-0.0921 left_roll=0.0631 left_gripper=0.9993 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -7.6103, 5.0393, 1.6239, -0.1929, 0.0562, -0.0122, -0.0479, -1.2786, 7.0632, 1.7363, -0.0366, -0.0708, -0.0122]",
      "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]: [-0.6834, 1.3033, 0.8085, -0.3374, -0.5526, -0.4454, 0.5464, -0.0227, 0.8043, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3266 left_y=-0.1418 left_z=0.1402 left_yaw=0.0084 left_pitch=-0.1132 left_roll=0.0772 left_gripper=0.5464 right_x=0.2951 right_y=0.0004 right_z=0.1804 right_yaw=0.002 right_pitch=-0.0137 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.147, 8.9641, 1.2967, -0.2515, 0.0073, 0.6374, -0.2256, -1.4291, 7.0496, 1.6972, -0.0171, -0.0659, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.9424, 2.3661, 2.3459, -0.981, -0.6998, -0.7124, 0.5488, -0.0227, 0.8082, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.4273 left_y=-0.3884 left_z=0.1792 left_yaw=0.0098 left_pitch=-0.1323 left_roll=0.0749 left_gripper=0.5488 right_x=0.2954 right_y=0.0005 right_z=0.1793 right_yaw=0.0024 right_pitch=-0.0175 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.9778, -13.5043, 8.7726, 1.1746, -0.5055, -0.022, 0.5299, -0.253, -1.6342, 7.0222, 1.7216, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bdb457d54522def6987e881991d6c0b224320092afeccc5c2601801ebe1f3f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61d8e3d814959a5789e70666f47a9761326fa7988738be34d292cc166c1e4cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7fae0a39258699bd85b9ab8b39f3c1fe228ac65a103b5643893951b451096f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_09ad9d8756f70e63016ab42afb0f1887d09d0de96351a17ebf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.423,\"left_y\":-0.351,\"left_z\":0.076},\"note\":\"The carried fruit is over the blue bowl but appears slightly right of its centre in the overhead view. I’m nudging left and lowering it into the bowl before releasing.\"}",
  "call_id": "call_5zHU2JexMDIPEv0HzJkJJAvK",
  "id": "fc_09ad9d8756f70e63016ab42afcd56887d0805823cb80c01f36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5zHU2JexMDIPEv0HzJkJJAvK",
  "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]: [-0.907, 2.2494, 1.6814, -0.4625, -0.6727, -0.6781, 0.5485, -0.0227, 0.8089, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.4171 left_y=-0.3487 left_z=0.0578 left_yaw=0.0139 left_pitch=-0.1699 left_roll=0.1111 left_gripper=0.5485 right_x=0.2954 right_y=0.0005 right_z=0.1791 right_yaw=0.0024 right_pitch=-0.0183 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [0.335, -15.0906, 6.4205, 1.3895, -0.3297, 0.0806, 0.6569, -0.0205, -1.3744, 7.2547, 1.7705, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad476cfd98f3044709c852e334226a54fb64ac7fb59cd00a1ec19542d93fc07f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e90a6b13894d350cecad616c1a3a60ac94a2242979b4a4be312eb220b4215c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b736a79663613cecf6b9808ef194622c37676a49398301c49933676b40f715b",
      "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 · 2.491 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]: [-0.683, 1.6417, 0.4831, 0.3492, -0.5564, -0.4419, 0.5465, -0.0227, 0.8024, 0.6178, -0.3946, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3278 left_y=-0.1418 left_z=0.0157 left_yaw=0.0082 left_pitch=-0.0939 left_roll=0.0673 left_gripper=0.5465 right_x=0.2951 right_y=0.0005 right_z=0.181 right_yaw=0.0024 right_pitch=-0.0114 right_roll=0.0022 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -7.5692, 4.6974, 1.7021, -0.1783, 0.0024, 1.033, -0.0205, -1.265, 7.3915, 1.746, -0.0122, -0.0513, -0.0122]",
      "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]: [-0.9424, 2.3661, 2.3459, -0.981, -0.6998, -0.7124, 0.5488, -0.0227, 0.8082, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.4273 left_y=-0.3884 left_z=0.1792 left_yaw=0.0098 left_pitch=-0.1323 left_roll=0.0749 left_gripper=0.5488 right_x=0.2954 right_y=0.0005 right_z=0.1793 right_yaw=0.0024 right_pitch=-0.0175 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.9778, -13.5043, 8.7726, 1.1746, -0.5055, -0.022, 0.5299, -0.253, -1.6342, 7.0222, 1.7216, -0.0415, -0.0611, -0.0122]",
      "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]: [-0.907, 2.2494, 1.6814, -0.4625, -0.6727, -0.6781, 0.5485, -0.0227, 0.8089, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.4171 left_y=-0.3487 left_z=0.0578 left_yaw=0.0139 left_pitch=-0.1699 left_roll=0.1111 left_gripper=0.5485 right_x=0.2954 right_y=0.0005 right_z=0.1791 right_yaw=0.0024 right_pitch=-0.0183 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [0.335, -15.0906, 6.4205, 1.3895, -0.3297, 0.0806, 0.6569, -0.0205, -1.3744, 7.2547, 1.7705, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad476cfd98f3044709c852e334226a54fb64ac7fb59cd00a1ec19542d93fc07f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e90a6b13894d350cecad616c1a3a60ac94a2242979b4a4be312eb220b4215c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b736a79663613cecf6b9808ef194622c37676a49398301c49933676b40f715b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsICZqM4w6pBRInT-UDCKwKuM6IIgPSSEgMUzXByKVXp9XSDyJ4iyFeOMMDQ9tjzZWIat3WA1WXLDtMV0IIslNIxzzm6h84k07zFI1FRNKCHIHIkmNN3s3750_i9Opeorbg6rZqmA-2yzh4mZdSTQ0jb2lTWkYlthMPQzl-14C0cHT_9fqHLBMRfdUB8Tt1T8fFwcVdCoTKABNkpzCm4ejVBmN7Tk2841Y_UMb8FAU1HCqXmkYZIK9Ktv27ma30gpovBU1-rzMJYipwxT31S4-UYrcgieNZSi2iM_jH9BosfvCRYulxMzrScUbXmjirHMsOCurKE4d2BjujW5cHTwoJELkEsdyC1Diqd4SpTQLpTcbTw_gEDSoZLgvfsbxbjwZkUK3uK7oRzFh3ftH65tPqEJUkcL-VQ_B7QhuCSjnr6DqQrElGYHyB4gyPmeh-Ux1ikfDnlQyOGmL4EfP602bUU1xUJJF32twH4LPlBxE-dsUGb3RDeKBhEjYbObtJ89IHo6PEB1VhmG5JqlfEjArIiHNaJv9DwhzrYWCZiZrDlUnU8WZoj9qXWTMKb62ZGURqem5T7Sps-VwrwNaOkO5OPRewJn2cDlolz01BWsvejJ4G1ZF7aFxZ8GaFtxPeH3H8K_RtBAIdSQi4rpzmaCLVnplhQm1YPdGjEjEu4Rpz3we9vr2-z8m1g3FqextikB8hK6rvZHPRFbg4dzoXEOaqAQPDKl5Y1WygxeKWJJXYvKloe1zmfc9OeBm1B5wCAS2H4vtT0LrqjTZ843AChMV0M73u0xV40BgL_Tt3UgVZcX3JbZs52BREjcZ5cb10DS8l8ZEAzFFepH41oDRPrPw5dWUGjGlAzoeUvk6WFWC8QGd4Q6FkfXIpoOpodldcK9UZOoUSLcS4UxIARAOxN1EbmUzAzLSZQ8EnXzEUxEEcd66OIpFU50pukQR6Mk_-QMQPU-0X2iXAdgLSqUrUNc97Eht9cx94WISv_30t2Y54rNEYZ7niWL8GRui9dZYjD1_An4Vuu8ZRWJm3_EeWemrkGIq9_onNnSCAeRONR7WHDQNbFAehGneJzt5xQnlUyKu8sxb-aLEg5In2TZzaiVVZWRignZrFDdByr0jZZzwQ7mZhocUV3zmpEC2RP30zleIXSyCqF4ui7NE5xgA1t_0BNwhR501tCzZ2B21xEGWgw_jSsHTcSd0n7DuMqB0LTzGLqY78CqykxOdivUmQfK0LNEoKQygt5jr7rF39BLxoZcXWfwi7dlaRCkbZE2IE0tfDQpnA-sC-lY_Hy0gbmFP6WeFWbXmg83AsNo9djPr9H2AWWbhwJ45SnSlxFEd2IHmdVqzNsXekc6BYDZTshKMRRwO-HN4YFzkNc4lH-s9qCSeg6u3X1C4H2xcU3eF-nqg0fEV4pYpBjvfkHJgK_qy9G7W-wP1P8DGycTvj5tVdoDo5ybTO-oILXvPAxmi4VpgKH06j6Mx7xsFS0_GBVNIBLZUVIFLl0thP5Th_Nf_cNX_6ydcVnhb85jbqf5K0MZJX-3FkwC1pxmZUb8f4MppHwof0zudOVMIMVNNBSaUNyM-usYN98FKRSWTNZ6DHbBhcm_olTKmJIQeuKHjTm7GmXS_y7vpBG7kyU-D3K8EQGo4B80RJ9qn1nbx6LPaxlqOmhw3rZ7gsJ3v-V0Uqs_HVE0JK75L8SQEHRXw6IqV_ilF243t96fQLhSDwYEX_UFUI53ARIl2I2eu9SsDtdmRELBgKMwgb7kA2as28jmtIodReAU_RFss0BZSQ-dNFKNtdQA7QAs9RKpFgFwgKYj_JaxRcPiWOJOOIBl33VD8Mlb8zfANhdm0MrW0eUcNXUajCudgFOUv6gC9GgYZksij6nH7PBKGX2kba-XNm1YYzl_WQJlzWJtEzi2he68v7oab9uwxzHRJTGD-epmyCepJI7kIUnEqw8wHAqOm7t3XrftoJtva0WhxzHxre1jwqmkbR8dAq3Vw9cz4OG1WjHeQAACMgLtezaElp0Ph9yfOqa_VSSEOQekw62bm3dS9L0pbnlhglrzISFT3ywg5VGJzOtOCqdh9q3qiHuBvjKkleIzUskJ3RVzo-1_lJZS0iyvYaScFEqRPITy8PoWapkA5h24blIcxt_OkPhZ0fRJmDTrsFajJprVYDDPjwgSt2niTGKmZZUlSF5gtBH4Ez9vORvRsmeOam54r09hl0-Sj-cYSG2EWtb94OH6T9OUPHKJyIoMqJfXqPtcxTXGH0Gzlv6HfsTMLS4Ar3q8jQptISSE-JjgYPGtuIonH-b8i16L4nzzILkyK7vvujHR-27_vg8t6owodcdP9yzhv0vlAZq4Inh8KT4e7UVu2l-ElzVjLmY0vnVy4R2waAv7Lo5oEs86w6Cx7SzM2BVABqcaE1RS4eGQkGJyPkg2L3cNC3dAEeRcMDpZr_4nZ07Xk_2aDfYRw-WLkWF6H_4KhXgPtgf0_gkInUdXRhtBj_9cyd9uFoHkrbvMwLPdD2XvngqyFnw5ZQhOy7A1I5DkXveRIY9XFEDSuy26qfPn-rPKZnKqF617KiF3_crplUB1dPkXkfN9g-MF5BZFa0CjubYuoKTH6-t9IGPOSl133LD-wSFb6vwRZRb-qSjPprgMcehjCZdw==",
  "id": "rs_09ad9d8756f70e63016ab42b04e67c87d0a82de68ae9a21745",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.392,\"left_y\":-0.39,\"left_z\":0.14},\"note\":\"With the fruit lowered, the left wrist camera shows the blue bowl just to the right and slightly behind the fingertips, so the current point is off-centre. I’m lifting a little and repositioning over the bowl’s interior before letting go.\"}",
  "call_id": "call_pp7O2rF3yo0ceiQorb7hp2Pr",
  "id": "fc_09ad9d8756f70e63016ab42b07f71087d0a0db54a95af9b834",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pp7O2rF3yo0ceiQorb7hp2Pr",
  "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]: [-0.9966, 2.2986, 2.0754, -0.8818, -0.696, -0.7868, 0.551, -0.0227, 0.8097, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3915 left_y=-0.3901 left_z=0.1298 left_yaw=0.0079 left_pitch=-0.1897 left_roll=0.104 left_gripper=0.551 right_x=0.2955 right_y=0.0005 right_z=0.1789 right_yaw=0.0024 right_pitch=-0.019 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -13.0803, 9.3197, 0.9792, -0.569, 0.0269, 0.5299, -0.1162, -1.2103, 7.2274, 1.6923, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2455f44e1aeb8ccc17fbafb8a378e94e464b4dfdee29f0d675f2a76386f0b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4045e9239706d2c875c4cb1e61d9d63cbf14d805becbc5cba9c91dbecbd114bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558a860fdde822f01567c430b619a5faa0dbe703b8ba7d662507518cc7f2d27e",
      "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 · 3.816 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]: [-0.6834, 1.3033, 0.8085, -0.3374, -0.5526, -0.4454, 0.5464, -0.0227, 0.8043, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3266 left_y=-0.1418 left_z=0.1402 left_yaw=0.0084 left_pitch=-0.1132 left_roll=0.0772 left_gripper=0.5464 right_x=0.2951 right_y=0.0004 right_z=0.1804 right_yaw=0.002 right_pitch=-0.0137 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -6.147, 8.9641, 1.2967, -0.2515, 0.0073, 0.6374, -0.2256, -1.4291, 7.0496, 1.6972, -0.0171, -0.0659, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.907, 2.2494, 1.6814, -0.4625, -0.6727, -0.6781, 0.5485, -0.0227, 0.8089, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.4171 left_y=-0.3487 left_z=0.0578 left_yaw=0.0139 left_pitch=-0.1699 left_roll=0.1111 left_gripper=0.5485 right_x=0.2954 right_y=0.0005 right_z=0.1791 right_yaw=0.0024 right_pitch=-0.0183 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [0.335, -15.0906, 6.4205, 1.3895, -0.3297, 0.0806, 0.6569, -0.0205, -1.3744, 7.2547, 1.7705, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.9966, 2.2986, 2.0754, -0.8818, -0.696, -0.7868, 0.551, -0.0227, 0.8097, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3915 left_y=-0.3901 left_z=0.1298 left_yaw=0.0079 left_pitch=-0.1897 left_roll=0.104 left_gripper=0.551 right_x=0.2955 right_y=0.0005 right_z=0.1789 right_yaw=0.0024 right_pitch=-0.019 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -13.0803, 9.3197, 0.9792, -0.569, 0.0269, 0.5299, -0.1162, -1.2103, 7.2274, 1.6923, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2455f44e1aeb8ccc17fbafb8a378e94e464b4dfdee29f0d675f2a76386f0b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4045e9239706d2c875c4cb1e61d9d63cbf14d805becbc5cba9c91dbecbd114bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558a860fdde822f01567c430b619a5faa0dbe703b8ba7d662507518cc7f2d27e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsM5mxXdT1kv07mmDxu1Ep33B3WvXAvYqF1Iwe6gDIjGFUlYU7KSYMUQPryMxi3KyucN-b5ztmSeHcAwGrINlTNXfB3bY62eeZ5mO5sDN5y7pv1zgPaI0724XYKBQsUjXxFaZO-CCwFNQiPH0t_em9fnyaU_skDNZFkrlxDVsHxDmN-08S8UhhJNdwaZDoXltHvM_pvuT8dynwviEaMtnGHKne25OTiRPbrbx8ZAw8tIZF4iUY7g5B0mZ3uQhouCLmpx4Tz3yRmvs9H0UFug8RVJMHvalvDM1fpFG5NrPNfzC2kVwbTVSbIzH43qn5QKsQ-8-VFLZnvqM8BVdo0mX0r5gPKqaslFFj5MEXS6xWJY885DDtsXPdN7p4zM8n_XJTheQYRU5RXPqwRckoKYS5AH8pPtuK5Rb_Q5wL9haAZQKPYmVPVyRtAoT_vTSsHSQGI494PYXtVuXC9Cs1Maxob6UunTn1vEEU1ci1NRqyMX3mXDXfI6VMaH3een8Wqf3Lgirh6ldUTdHNXPcFes2UOJSCXe3GozD2W5cNjo8WAY1e2ethVgv8ZFIj7m-C5axDz5kD6GczmsCyg1E45SjzxShMcxNqqm4z65IyTI4ws0RTpi7rsVLfOy1vl0-9gpGiXj-VmLObAJqddX6bMm6HIeXUyj0AOVEKSSdUAouCRrA1VPlgM-MqS1nzYbKONgkjOgaY6TvuIz_aaI3eENAQbTDpw1WDhdt3j5QojMkZSHCJTrWMTGyDJJv8lDojIZx-AnqAORRCOxK41WZ5LwQbi5epYjpHMEznTiZqZasnsGFGYpR1JyxiH2d9T67jJ1PUhd5CUh0-_aIjJoBAsNSaVO5tQTdOULDPS6O0KyCyUQX2HJ-ql3IxPwI-2t321vW9ubMI67EVGaCLfKIJYAwe-UL3pfYTbY2nTiSQXgamV7wM8pEb1WhDoMiXzFOYoBBkFIhsiSXLo_vfzkoJTfw1amEPJqUljWj93Wsu9tvW8kQio3AGnFe2f2x9S3uQp1D8NQAx2k4KUhZSWi4k9h2pBlMt6a9ZUX47-72uq8ebTEbswxY_g9E-pYbucTwDPmVmzYhXwqGC33gmedtxTWVgBbZhMpkdgW9ckQ296HcCX1nbOl89QC09VCVDWomUiImSLCgfRlsQyRGF5rLANWy2PbgLF6OeM_apKQmRqr1qBpuq_d-rM5Nx-WxiZgJwKiKjPrsaBM53EJYWKHxuZXuex23XkON6GLQU-aj7Z06kr9yMAQ0YzWnvFi9Hux6Foe_lIqcsIYfNFmXepMRhzTIzVCAYRWKlOURLu_HPD29SOc3FmoC-VGDpBF4SEHPcDNpJcBrQqIKsZoyYV0Zpy_C20bA==",
  "id": "rs_09ad9d8756f70e63016ab42b0b1e4c87d0b2e0ea63b4a2dca1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.065,\"left_gripper\":1},\"note\":\"The blue bowl is now centred behind the held fruit in the wrist view. I’m lowering to its interior and opening the jaws so the fruit drops inside.\"}",
  "call_id": "call_eMcT93FDx9Cz2RdV8Sx4uJOh",
  "id": "fc_09ad9d8756f70e63016ab42b0b793887d0b6d594884ed3fdb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eMcT93FDx9Cz2RdV8Sx4uJOh",
  "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]: [-0.997, 2.3085, 1.882, -0.6743, -0.6907, -0.791, 0.9979, -0.0227, 0.8116, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.39 left_y=-0.3895 left_z=0.0769 left_yaw=0.0063 left_pitch=-0.1913 left_roll=0.0947 left_gripper=0.9979 right_x=0.2956 right_y=0.0004 right_z=0.1784 right_yaw=0.0021 right_pitch=-0.0209 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -11.3162, 6.0513, 1.2381, -0.3834, 0.0317, -0.2222, -0.0615, -1.5111, 7.0906, 1.7363, -0.022, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ff172353d63bfc60449e824c52b034700a7fbe2ec5856d35725c78512a5a61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065691163975faf0c9e339bef16734c0155c2a61e8e22f288fea7af2ca2c9d65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1978313c68d8a703d38db9b4009781f1da5b4624d6411fe08aa003c8331bef59",
      "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 · 2.789 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]: [-0.9424, 2.3661, 2.3459, -0.981, -0.6998, -0.7124, 0.5488, -0.0227, 0.8082, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.4273 left_y=-0.3884 left_z=0.1792 left_yaw=0.0098 left_pitch=-0.1323 left_roll=0.0749 left_gripper=0.5488 right_x=0.2954 right_y=0.0005 right_z=0.1793 right_yaw=0.0024 right_pitch=-0.0175 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.9778, -13.5043, 8.7726, 1.1746, -0.5055, -0.022, 0.5299, -0.253, -1.6342, 7.0222, 1.7216, -0.0415, -0.0611, -0.0122]",
      "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]: [-0.9966, 2.2986, 2.0754, -0.8818, -0.696, -0.7868, 0.551, -0.0227, 0.8097, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3915 left_y=-0.3901 left_z=0.1298 left_yaw=0.0079 left_pitch=-0.1897 left_roll=0.104 left_gripper=0.551 right_x=0.2955 right_y=0.0005 right_z=0.1789 right_yaw=0.0024 right_pitch=-0.019 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -13.0803, 9.3197, 0.9792, -0.569, 0.0269, 0.5299, -0.1162, -1.2103, 7.2274, 1.6923, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.997, 2.3085, 1.882, -0.6743, -0.6907, -0.791, 0.9979, -0.0227, 0.8116, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.39 left_y=-0.3895 left_z=0.0769 left_yaw=0.0063 left_pitch=-0.1913 left_roll=0.0947 left_gripper=0.9979 right_x=0.2956 right_y=0.0004 right_z=0.1784 right_yaw=0.0021 right_pitch=-0.0209 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -11.3162, 6.0513, 1.2381, -0.3834, 0.0317, -0.2222, -0.0615, -1.5111, 7.0906, 1.7363, -0.022, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ff172353d63bfc60449e824c52b034700a7fbe2ec5856d35725c78512a5a61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065691163975faf0c9e339bef16734c0155c2a61e8e22f288fea7af2ca2c9d65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1978313c68d8a703d38db9b4009781f1da5b4624d6411fe08aa003c8331bef59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsRzUNi8myzaEL8Isx7Y_pcKezyuToM4Gdn7KG5csDHlx8HWiRnMadU1HCGHHIdMO6koEUxmXjx6q4Qh7mKY7wUVtF5WL4KxCUj1AtkOPT7lSmO6ii048NADEGeB32KHS2Z18UeYTD51IXCqYkIi00h02sjTtXmvsJj2Eo3G3bQnlSbgslhEwuBuSP6evV96BPQsMiP89Q5gf2E9C2uzoJLmjLYiMLMA__9IPT2Pcfk9--52wxtlffwPQSCEKxaFo2KeGPsuPkQb19DiZVvsFZlTjYkdaH9_KgOHRfqtSYblbroAc6rLQsf_Tr0PmAmTzSSU3puYaoCLhCB1JuOyUFDdxrJ_J_laRQX4inq0ZqFvhK-FZ0DigSdIB3gafwwt_9KHKjLbbCf0blIrRvaN6Hvhdt-UmOQOnE0fiGR1r9k2OwAVKOMXodbPVaFZ_nlSe-MaQ8Ft4w0qww_lWKnl2hyH0jBSzDfyrDKUZ1EjeQps0OnHJRJWV0T3H5zC1WD64D1JETZei_C5kbGLtPDMZynFiYjEwmVLqjb-TV6psi7sBoDoIaEqHgtlD3E5VZ91EJGV3wqkDimM0cDPEWeAqLVsfB9ACj4CZlgTYW8MkmwMQBMrcoU7x_ofHsLjii7CpE6MXNFvEDcWXSzyTZs3nMDJq8nt1sthgd8wsur00pcfLSQ-Ut5X9sHxNHM7nDyFmac7wjWczvN79_wVQ6Py7lIja_19GrivmLcDjPJOLl3bSg9hDk5oRd17RFu--X1ohUo_nBSsiHIWCx7ctXXcY6G4B0o6pg3b1qtG5EOzlXyCjUpUBqnAMoP1Yc5uqeR1c2ZlT5nGxvcZ7cck9IjrUDKBGI8nE6DfYOxvlUQJ-OrTo0PMCQjYumibad278qekFHRr4axoLbcu6lqI5yO4_NYCtryXNhotH8wwvZIojTw-3nkxoyt_imhwL4ZsctQ411Njc3aIbYJm12qQK18GZ1PkCMcaZM4YMelwa4YucI4pIuZt2JYjtLqL0b0mdMQZsc6-LMMWuDtA9f2GFy0UqzU6aeLbIx-hqFhnNt2bhnJRn0aqDUg7cbAo1L9BbJKBtUJiYZ8I5PX9E4qAcvlzbq1nxKNYlTyS7cKtLOxkjjMoeqmGZrLh6GBLP9BAUCHdb1Bpj4twF0PTw3QJPJJhgz9sWof3oHlzFE87Nu-n10FSuRPghT6x20gLR9tw9QWdRwrJV79d1yBD3z66tql9OshRLbUnyc0SQa2Bm5dsT2AH3cb2tGfR8i5CptfO96jDSjVQonNZ7kpJH_k8kQr8ThEyRJIZDzZzpblfUNfzAl2ejss3V1W1PsKF035acGqM9TeXBTTekgpvBvlogPS6sRV1bPpAkKzki-H-xrAAh4DAkgheUAqmWB9XVicQHGV2KT5olQ0G4kBS3GZVFJM-1NUeoat9FaUS93cE55KiLk1pIzh_5LWeOCZtSdLir90Got5lV3Yq6xGYEQ-Tg4tVMsZ-ZcuiXDZLyxFbzcqJ8y0GEEaTdhjkCqB6MJcXWQT1Khn-nlwumdyrX2WcgI75fx4Q6G877lVeNxpgyarKaXrtcAyLWwrwJAsXn3NwGDxkPsPYH8R9vh01FM3bzhZ4HW-gcrV2dHuzreIV9N9WEeiDV-3vzq8KpixI0QXRC71Bl-U8GyFMKqk4pnMq4PQATOLzFnk6lF8eZCDxDff7XJuwlcM2JnQec3Fg-n-o-NRHLma-Vl-JBLexy7246iUVi5sF_g_OONaUeltPTVzZhXMXtDvo0xFIsDQqX4jE5N5tqXh25AaCNOsjTqchBZ1Qhv3zXQDH0mYCgpfhNjYpUgQtkrKb4XBhcbY10BduukXBEQCtYh6G9GGl66xcwTTQ6q-DkBJVysDzu4Z_DJr_lyajequfQxdduRcDL0kGeb7A_c94uxtN6ms28Y9XIW9EBF2I4XNsU-MP-ZL3FV38_Cbrs9UlPg7q2iS8lvZ8yYR8qudVpIvq6rVlwi4fjYs6fC_2UHZXRCGIVVpjl4NoCEgge_FeHUKlG42AfZsJVpGwL5PJJ_URcmi3pndWl3044LO-8wso54hWkio0h9TJ5tLjIMun_jmYDXgSO6YZVMsI5FBGhSKmimR5hVz67B_Pah4Tkzvr5pFjQ1IqujDgYfFK9K8SelD_X9wrEQWwzUeqlU5rsDD8mD4aG7tS9ayQ0bRTceEwtsB1otld4YlllY-46-_PCCVLXOojTtgN8hqMz4qMHxSjKxku78oWBJrnlqCi9p6Ed-EJXxuyq2-yaid9maaIegdaOVRrzX7MdAIck_W4atY9-RAEVC13D3QdtuO1-LK5u_J3hnqQOFwfmbJ9dZFpCTCls0MAZcGlsJNobxO",
  "id": "rs_09ad9d8756f70e63016ab42b0e8f2c87d0a29b2362dc3f0fc2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.182},\"note\":\"The dark fruit is visible inside the blue bowl from the right wrist camera. I’m clearing the left arm back to its home pose so the right arm can pick up the remaining fruits without the arms crossing.\"}",
  "call_id": "call_NOKpCGzyqGNGUdmCO9Q9QNbm",
  "id": "fc_09ad9d8756f70e63016ab42b10abcc87d0810778e89d44bdd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NOKpCGzyqGNGUdmCO9Q9QNbm",
  "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]: [-0.1062, 0.9676, 0.8093, -0.6064, -0.1658, -0.0605, 0.9978, -0.0227, 0.8139, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2998 left_y=0.0009 left_z=0.181 left_yaw=0.0609 left_pitch=-0.1848 left_roll=0.0877 left_gripper=0.9978 right_x=0.2958 right_y=0.0004 right_z=0.1777 right_yaw=0.0021 right_pitch=-0.0232 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -3.0838, 6.9265, 1.5702, 0.0366, 0.1294, -0.0269, -0.2256, -1.2786, 7.0496, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b138f6ac5d7a6d1224b2bcda66b8641a11625cd03d28a8e498f3d697691be828",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e515d38fa1677e7a2d90027eac5c8d3e7ac11ed9ab9e0d54ba45e49f67c47f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06f92077add807d5d904f3a40ad81806ff2952f0ccff252b88245f39a1d1127e",
      "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 · 2.831 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]: [-0.907, 2.2494, 1.6814, -0.4625, -0.6727, -0.6781, 0.5485, -0.0227, 0.8089, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.4171 left_y=-0.3487 left_z=0.0578 left_yaw=0.0139 left_pitch=-0.1699 left_roll=0.1111 left_gripper=0.5485 right_x=0.2954 right_y=0.0005 right_z=0.1791 right_yaw=0.0024 right_pitch=-0.0183 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [0.335, -15.0906, 6.4205, 1.3895, -0.3297, 0.0806, 0.6569, -0.0205, -1.3744, 7.2547, 1.7705, -0.0317, -0.0513, -0.0122]",
      "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]: [-0.997, 2.3085, 1.882, -0.6743, -0.6907, -0.791, 0.9979, -0.0227, 0.8116, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.39 left_y=-0.3895 left_z=0.0769 left_yaw=0.0063 left_pitch=-0.1913 left_roll=0.0947 left_gripper=0.9979 right_x=0.2956 right_y=0.0004 right_z=0.1784 right_yaw=0.0021 right_pitch=-0.0209 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -11.3162, 6.0513, 1.2381, -0.3834, 0.0317, -0.2222, -0.0615, -1.5111, 7.0906, 1.7363, -0.022, -0.0757, -0.0171]",
      "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]: [-0.1062, 0.9676, 0.8093, -0.6064, -0.1658, -0.0605, 0.9978, -0.0227, 0.8139, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2998 left_y=0.0009 left_z=0.181 left_yaw=0.0609 left_pitch=-0.1848 left_roll=0.0877 left_gripper=0.9978 right_x=0.2958 right_y=0.0004 right_z=0.1777 right_yaw=0.0021 right_pitch=-0.0232 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -3.0838, 6.9265, 1.5702, 0.0366, 0.1294, -0.0269, -0.2256, -1.2786, 7.0496, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b138f6ac5d7a6d1224b2bcda66b8641a11625cd03d28a8e498f3d697691be828",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e515d38fa1677e7a2d90027eac5c8d3e7ac11ed9ab9e0d54ba45e49f67c47f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06f92077add807d5d904f3a40ad81806ff2952f0ccff252b88245f39a1d1127e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsYNlH-hULKW9TVaugm_0qNlYOeXIfDg0cfXRBZPMyDHWztdZrEVkQFySC6m-eqdb6Fjq4LkT7Yh5RVvIdxk2bCM3EkXdyFY9sa18agdcoQogpdqMIdmhFPitPGHqBs1h_wlDJ4VBABcEB4j1kTj-XehXHsrKduEGa5UaHM9mzFinh_9VBtqc0zwXZTfkl0OpXKL_huY15hodrCF6yRrDfmQ7RP2Xd3VG8F3VfLF02D9va7Ikh85qymruo_OTnp7aqPNxVm7TbZQ3LdBbeAXCimBTpoEWplu2BJ7Brw27hm8dyYcN1nfKKovVHz-YQ2N-4APU3SMbx1SvJ5778X15np8wREE82dL5LUh719WCv8dPYeuiMKsZFPgDXdRZabLfR_snd9OJZzmSoWqDL2F3E8ow3vr9oRp324l2FqYE04IiUqG1anMDV-Z2UPkDN-0AKy5neB7qiAvLm-KqPDw_0rdRTYfPhof1TwsctbMUVZtDFLnSilOVCuAG--WvPt8Vo6jWVLakXeo6ycT6fsRp3QMaFuboFgh5RVkMbt3dnbmuxJXUbEDPBcIOWESKp4p-AfcQn5z0T7B7uMNmvZulECAmRYtz7W9hs_25dFOchFH-UL9g08aTbNVKU4JvTmk5WaxZ9f4n_oGK5SjWOaBJ1WSw5HM8yDKL-THwrCOB4Ez9FV65IGp2FgVU44T74jXI5bTxt8HkCpOSuMWJ2WwT-lENcfT0oqLIR6e0ITdT7zmdHvxYk9DTWZSy890dEit93qJPmsToQswacSPexE9wHXgOLKM8FBGrQb35485nQSz6XcRQmK5JRZxXQ-9uSRb85JtVjxjbAbPLWuwLYy6Kn1vr2qeymzeBnWA5Yi2vKkk5vwNUnwIQ_eqoBmfRFKfMxv78QNYVvW_qtT_6Wcav_048imFJU2VTKq7TeWtIbe0QNPKCnXq5gMN17H4ohugkPVvkgpMaVb2VatiG-CXGgRX26k9vZlQ8B8UdL2KhCShRYR_m3iK7XOPEVKWYjWuZQn5ixXAYT4-OvyZwJDhj0mnZtYfd4Lhh9IW9TKG_c6IMq079kpVqtEqgrSBo8vP4qlays8oHXn0vlQeKSVnrpctd8cEXfFg3TwR0n-Lpk1ifZfm9uBUecNJpRnav3evif39g_TyKzAA-GuKuhTyWj-6dCIZ-Kvo6Mo5_m4MT1JmIV8xNyUTaNa7_NmQAsKJil_6bNWxbMY819xVxKCwlSPIwh-FfW7jktbhIg4jdWvnkHUThOzMTAlHaej-R9bVWV_yugXoz2G-oE7EmxS2qOrILtJpaHdrzhqPurtT6N945Hp6eLa8PhR0M4ZND85UL2bQxS3LS1KjalzKQzcUdKLWBoiEJMikpkhg1Xusbw91aD5autoq2wR6hgN7zq6EoxOAc1pgNyjEYUr63zy8M2hYBp3xjAtjuiUKqWlz7q82wk=",
  "id": "rs_09ad9d8756f70e63016ab42b171b9087d085c1ed95f625441a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.341,\"right_y\":0.136,\"right_z\":0.125},\"note\":\"The left arm is parked; the dark fruit remains in the blue bowl, and the yellow and green fruits are still on the table. I’m bringing the right arm over the nearer green fruit.\"}",
  "call_id": "call_Obt2P0le6LQg6QyoIgtUmZsq",
  "id": "fc_09ad9d8756f70e63016ab42b17c72887d0baf8fd29895142d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Obt2P0le6LQg6QyoIgtUmZsq",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9703, 0.8093, -0.622, -0.1638, -0.0528, 0.9978, 0.5827, 1.2926, 0.6289, -0.0925, 0.437, 0.3172, 0.9991]\nstate[eef_state]: left_x=0.2973 left_y=0.0011 left_z=0.1775 left_yaw=0.0565 left_pitch=-0.2034 left_roll=0.095 left_gripper=0.9978 right_x=0.3272 right_y=0.1304 right_z=0.1044 right_yaw=0.0471 right_pitch=-0.1041 right_roll=-0.0481 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -2.4821, 6.8308, 1.6679, -0.0757, -0.1245, -0.0122, 0.1983, -5.2171, 8.5265, 1.7314, 0.3687, 0.2564, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c985cc9d3bca9743ba8ed89fa5387c6259e2f0df389e6be6d65b7b39c7c4e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db22fecb244a3d28a1e9cc39a35b8942185c644fded2b4e809e2224a42e06d15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e72957d140e89ef5b3ea3ac436a49257f31f75d68a4259e2bc7ba61c30e889",
      "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 · 2.841 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]: [-0.9966, 2.2986, 2.0754, -0.8818, -0.696, -0.7868, 0.551, -0.0227, 0.8097, 0.6178, -0.395, -0.0204, -0.012, 0.9991]\nstate[eef_state]: left_x=0.3915 left_y=-0.3901 left_z=0.1298 left_yaw=0.0079 left_pitch=-0.1897 left_roll=0.104 left_gripper=0.551 right_x=0.2955 right_y=0.0005 right_z=0.1789 right_yaw=0.0024 right_pitch=-0.019 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -13.0803, 9.3197, 0.9792, -0.569, 0.0269, 0.5299, -0.1162, -1.2103, 7.2274, 1.6923, -0.0562, -0.0366, -0.0122]",
      "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]: [-0.1062, 0.9676, 0.8093, -0.6064, -0.1658, -0.0605, 0.9978, -0.0227, 0.8139, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2998 left_y=0.0009 left_z=0.181 left_yaw=0.0609 left_pitch=-0.1848 left_roll=0.0877 left_gripper=0.9978 right_x=0.2958 right_y=0.0004 right_z=0.1777 right_yaw=0.0021 right_pitch=-0.0232 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -3.0838, 6.9265, 1.5702, 0.0366, 0.1294, -0.0269, -0.2256, -1.2786, 7.0496, 1.7167, -0.0317, -0.0659, -0.0122]",
      "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]: [-0.1055, 0.9703, 0.8093, -0.622, -0.1638, -0.0528, 0.9978, 0.5827, 1.2926, 0.6289, -0.0925, 0.437, 0.3172, 0.9991]\nstate[eef_state]: left_x=0.2973 left_y=0.0011 left_z=0.1775 left_yaw=0.0565 left_pitch=-0.2034 left_roll=0.095 left_gripper=0.9978 right_x=0.3272 right_y=0.1304 right_z=0.1044 right_yaw=0.0471 right_pitch=-0.1041 right_roll=-0.0481 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -2.4821, 6.8308, 1.6679, -0.0757, -0.1245, -0.0122, 0.1983, -5.2171, 8.5265, 1.7314, 0.3687, 0.2564, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c985cc9d3bca9743ba8ed89fa5387c6259e2f0df389e6be6d65b7b39c7c4e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db22fecb244a3d28a1e9cc39a35b8942185c644fded2b4e809e2224a42e06d15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e72957d140e89ef5b3ea3ac436a49257f31f75d68a4259e2bc7ba61c30e889",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsc7tYvLHEsM-vLJR4_FICO1JLX2qVtVLIvOu4twTukWdXor5fB0Lhz2G63T70aJmh8SuA8SjNjJOWR8cmhbFob5a6Wz5Tt92xXnWJ1kCMflV4zoLnj2J8Q9yFYCxBtiRyN8m_Lyh_TKyRWP9HqO4fIdAd0ic2q7KtbHsvP5H2c-bg1VBe3XLYtlnovUurFLjEX4Rqf6Z5Qp7wM0U492QSv9aMwciuaV9153x1kaODSVa3GghBIcQpleiEv5hY6tFDI3QNmbfuWTmTlC71s3-yxOPyZKtOuPsNNIf4zBHx-n_rCe_SdGMhEtw3W9p-35lAr5EIZOe5RvGxt5IXWSwLKtJKqp1N8uHuh1dABrLQ0sOESyYbS4X9OuH1ntBLzT6H3g0bmvzJIXKqxO8DtsHfSx-nnL9L1O1seT8c_BA-mP_QmnSOZI9ZVdJI3_SiJYQAR1u6Hl_S-2S0pxUYHX5wisNWp6f_nobtsDJBqsheiRy0nsiuQi7L5c-en-I6V8UjAKjBneCbCDns7pwx-HFPItWRz2-O_vIYrfO8KqZN9bBFd_VSffZC6yZ__gJAWAkSyVr7R68mELUY3AuaSu0gK1g095AcLuiWYyBQy3Fj851h6Yh6J35EDHxp8KE3bolHYYtqQsAQgzsDO2alRwnEwxrl6oAl6hAlWGZIMpQOgcoD76O32hai8XOswuNNyvDmzW5yaLYDJO6MbJ0XIadF1snS84t5REEBklhLGDZ8lzQ7ZEwTUYNEIU9hsSKRj6zf1tARwNxYguIq0YTMIPgjGwTitICDo_sn7JVqLUlf2tQyqy18gXq6mcE8u1CTCwKOufLokFN2lvE03YVjI947_qDreDoCrOCCSI7buHA8QoRf-xtE-1k8Cu6GrWDVDNS6yxsu0Ryg9NKZiYk908m5KVWUN7sJ8VD4GE82rxugTFuvMxKg_KS2Efi7yV55S69d3T8j0f4TGzy3Am5DpgK0FGuUW8BCZs0TA7WpUrhFKXrlKhm2sj6h8VwKiJNE5DjAryQHTyAX0JeTayx4uyk4Asy9piqjHuFCZxyzDkiy9S41-WtdPhEthhCgHTsEfeVqJQ5wM5nyk3G2Q7GT2p9H01CWcouWWMpYNkuYClruIAi67NoHWfD2C-kb0rJSEzs0naqBJAIBbWzEtUxM_CWex7CNHDvFjnFUZHeXDOYNXjyhWXCP85xVtOn3ISn_WM2H8SaKFEQ2mimWeUlRWz0XxXrE8b_MNBAuw0s8LSeIzofGtvbTZX5_M2t67tcn2Nnth2dX3jwVxybmepe7HuT7Y34MLHF2WgF-77E13howsDUsHgbzCbs61nxIALnfCmUDxDX3nPh9gE8XekaF5X64p-38K7zcAfveu9E5ktgMh3L349RlYQA1DyTIERy90MllAiw5dJrUSMTE9o8UDjFtfNRTXu6K9bqPozOae8yVHf180vhbXnWgSlCMxeJnbWJ_M5lSIG0SZRbDkuDYF3aLqOczCRg2msrMpMPKZk845YVORdIadpHVfWIrlRsYDJs_O8PmhPyDbIvzY8gwwDlDm3rTo5as1rgt4pO18RBPe_vjqBHibM7BZ3S3UYOMbP7RMB827VaInU1MSTjAOMUncuU1cv1-F-t47nBEqvsrFHMc=",
  "id": "rs_09ad9d8756f70e63016ab42b1a947887d091948c4b76c883fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.314,\"right_y\":0.132,\"right_z\":0.029},\"note\":\"The green fruit is centred near the bottom of the right wrist image, with the jaws still above it. I’m lowering the right gripper to the fruit’s mid-height and slightly toward the base to put the fingertips around it.\"}",
  "call_id": "call_QBduDkULmn88FLBoi2PPOPw1",
  "id": "fc_09ad9d8756f70e63016ab42b1baf8487d08cfc38380143b3cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QBduDkULmn88FLBoi2PPOPw1",
  "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]: [-0.1055, 0.9703, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.614, 1.4773, 0.4278, 0.1932, 0.4595, 0.3313, 0.999]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1769 left_yaw=0.0564 left_pitch=-0.2068 left_roll=0.0958 left_gripper=0.9978 right_x=0.3039 right_y=0.1228 right_z=0.0199 right_yaw=0.0457 right_pitch=-0.1801 right_roll=-0.1041 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -2.2496, 6.9675, 1.5556, -0.0952, -0.0269, -0.0122, 0.6222, -5.0256, 5.053, 1.6532, 0.1685, 0.1392, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86bc3012129e0b6c59b40fc03e5f89867d3681531e47ccf03aa338167fdffe6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981b14e44b14dec93d3abe7398485926b92a306aea19aedb5e4fed396b339f87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8debfc825e5ec689125c5e8e9d00966434e01497dafea6679e28e1bd29039cac",
      "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 · 1.935 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]: [-0.997, 2.3085, 1.882, -0.6743, -0.6907, -0.791, 0.9979, -0.0227, 0.8116, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.39 left_y=-0.3895 left_z=0.0769 left_yaw=0.0063 left_pitch=-0.1913 left_roll=0.0947 left_gripper=0.9979 right_x=0.2956 right_y=0.0004 right_z=0.1784 right_yaw=0.0021 right_pitch=-0.0209 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -11.3162, 6.0513, 1.2381, -0.3834, 0.0317, -0.2222, -0.0615, -1.5111, 7.0906, 1.7363, -0.022, -0.0757, -0.0171]",
      "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]: [-0.1055, 0.9703, 0.8093, -0.622, -0.1638, -0.0528, 0.9978, 0.5827, 1.2926, 0.6289, -0.0925, 0.437, 0.3172, 0.9991]\nstate[eef_state]: left_x=0.2973 left_y=0.0011 left_z=0.1775 left_yaw=0.0565 left_pitch=-0.2034 left_roll=0.095 left_gripper=0.9978 right_x=0.3272 right_y=0.1304 right_z=0.1044 right_yaw=0.0471 right_pitch=-0.1041 right_roll=-0.0481 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -2.4821, 6.8308, 1.6679, -0.0757, -0.1245, -0.0122, 0.1983, -5.2171, 8.5265, 1.7314, 0.3687, 0.2564, -0.0122]",
      "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]: [-0.1055, 0.9703, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.614, 1.4773, 0.4278, 0.1932, 0.4595, 0.3313, 0.999]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1769 left_yaw=0.0564 left_pitch=-0.2068 left_roll=0.0958 left_gripper=0.9978 right_x=0.3039 right_y=0.1228 right_z=0.0199 right_yaw=0.0457 right_pitch=-0.1801 right_roll=-0.1041 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -2.2496, 6.9675, 1.5556, -0.0952, -0.0269, -0.0122, 0.6222, -5.0256, 5.053, 1.6532, 0.1685, 0.1392, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86bc3012129e0b6c59b40fc03e5f89867d3681531e47ccf03aa338167fdffe6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981b14e44b14dec93d3abe7398485926b92a306aea19aedb5e4fed396b339f87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8debfc825e5ec689125c5e8e9d00966434e01497dafea6679e28e1bd29039cac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsfZFyFg58qLdfWhdUhOYoW6rDo_9q2LTZMtDnJx_OdycMMZ4cTlK8fEwhdCGxdYVc6kAAwfyqiVa3b6FO8d_AFV-3GtN6_jnkHi3tBqWv2_35pUJPiFWLmH6BZkHJ5zO7aDmEVyUlBn7wqB8zWG5HmQIFQQwVyRi7wWnhPwmkQ4-iMAZmhHqxD_GR8VdI0f_EWtFGV2l1XXQY0554DWsZrKOJyiHowPwk0-Fo6C7vHi1ExLLLS16_vsv6k3gNpPUB1j4krpM_s0E0aQQNXAWaxEwHTxsm9tClM3G5WVVGA3jPeZNP06eB4v2wVx_IUMixnavUe8KhuQ8IvijChmX4l727zesfwndoNAvFyvidsze5wVzGxTbfZxZw9tivlPDnAmSh5AWyRJaWvFgGEKo4t-MbIJ0QLgDJIhzaK3InUH9uCiEEc9QC27Tz83VU6pfMwYi1ZNIJIxcdROO3QntplS0djlonQEKjpcQtjmq9DkPzWpaehYAfZUP627Lfg4U5NCazJc_32PzW6fjs5vb4fDOk3OfQdaXeEPiVG2ZZXAxfL8oOVioNfOohYkPHDUuy83BsMibnB91pGJyTif8NnVsr2w5FvHrpXjOUZSX_9h5d3ACHI-_RpbJD8LpZXATi9d2kgPtnR1h1RR6Joe6XUBmcJF708MWoN3hEknbCnGnrj9OBvdZ1-gEQPZiSIu1zynRmdRjYZqS9h5AO16DqlmEV6oV--jd1HNppN5hBG-DWwCbm0YoMJY7qLOq_KYjP0Vqk2ZlfDSJPgyQWSmL8rygY9kR7W10hRctjmKlEKG46vru13FxYp3nfiLhN0-tdSMAFLuwaANkS2LDZglnDf8iBRsiSlVLMEdME6UPg9WY7s5uTskNDVnlGw9hWVG8YFzJOp3Vas_vJBtEIoWkLsN5EL3DSY2Jvr4gx5xzHImwWUKXLot9RcXL5Mq40HfMF6krFWT5OqExLqERf9jrGfrPv34ZlgNtBboBsMBgBPBa5FNPVlaMgSGVMp2-OWSyJl_0uMJenaw4On7yfXYPFJm47OdbSCjzJiuKBZ_ABXHHoyFRU0HbhDNmFbiqHpkjvXDbs-vc9GxzHMaNJeL8w9Jt--o-kXMjuE0ptyTVboy_x9nqR3_Tj5imO01omQmPLHA2BaD60cgqBVSKizOD4pud6maiv2LmeFjquY4uvx7VfiWn5XGywDcMkSJxdEOPtwbt0TQf7t8_jtQerCrUvNik-YFDD7Eol-ABLO9FGts9dIYxNhbwW1lqzGYOEFeKqyiLGFNMl2SeP4ZUVP5eqpBxn6lD_AsXf9sHa3Fs_8B4if9XwKo_eWY-2Ikqq5LpIkM4T2kVoLDeKZY-MocHpu_A==",
  "id": "rs_09ad9d8756f70e63016ab42b1eaafc87d095e1b2d9b967553f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.17},\"note\":\"At table height the green fruit sits between the right-hand jaws in the wrist view. I’m closing on it now and will check the gripper opening and a short lift before moving it.\"}",
  "call_id": "call_o5Qocl6mfid9ghGIoxmqETl3",
  "id": "fc_09ad9d8756f70e63016ab42b1f0b9887d090e00bce60940ae5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o5Qocl6mfid9ghGIoxmqETl3",
  "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]: [-0.1051, 0.9703, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.6189, 1.4906, 0.4194, 0.2985, 0.4633, 0.3332, 0.6424]\nstate[eef_state]: left_x=0.2967 left_y=0.0013 left_z=0.1769 left_yaw=0.0568 left_pitch=-0.2068 left_roll=0.0958 left_gripper=0.9978 right_x=0.3144 right_y=0.1314 right_z=0.0298 right_yaw=0.0532 right_pitch=-0.1081 right_roll=-0.0597 right_gripper=0.6424\nstate[joint_eff]: [-0.3487, -2.2496, 6.8171, 1.5311, -0.1148, -0.0171, -0.0171, 0.0342, -4.6838, 4.9162, 1.6044, 0.1245, 0.0806, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db400dd0799390f9bd5b45377d399651625ea8de76deec51e52d7a1f25748f62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:112a72915e044f46ed4cfb8b27ffb61044ea1feb2be72fbbde89a1c1d7110220",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea4d6ab9ef71acb3239fec63368df290bb9537068e20ccfb7d5ba86ac51c30e",
      "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 · 3.887 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]: [-0.1062, 0.9676, 0.8093, -0.6064, -0.1658, -0.0605, 0.9978, -0.0227, 0.8139, 0.6178, -0.395, -0.02, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2998 left_y=0.0009 left_z=0.181 left_yaw=0.0609 left_pitch=-0.1848 left_roll=0.0877 left_gripper=0.9978 right_x=0.2958 right_y=0.0004 right_z=0.1777 right_yaw=0.0021 right_pitch=-0.0232 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -3.0838, 6.9265, 1.5702, 0.0366, 0.1294, -0.0269, -0.2256, -1.2786, 7.0496, 1.7167, -0.0317, -0.0659, -0.0122]",
      "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]: [-0.1055, 0.9703, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.614, 1.4773, 0.4278, 0.1932, 0.4595, 0.3313, 0.999]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1769 left_yaw=0.0564 left_pitch=-0.2068 left_roll=0.0958 left_gripper=0.9978 right_x=0.3039 right_y=0.1228 right_z=0.0199 right_yaw=0.0457 right_pitch=-0.1801 right_roll=-0.1041 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -2.2496, 6.9675, 1.5556, -0.0952, -0.0269, -0.0122, 0.6222, -5.0256, 5.053, 1.6532, 0.1685, 0.1392, -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 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]: [-0.1051, 0.9703, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.6189, 1.4906, 0.4194, 0.2985, 0.4633, 0.3332, 0.6424]\nstate[eef_state]: left_x=0.2967 left_y=0.0013 left_z=0.1769 left_yaw=0.0568 left_pitch=-0.2068 left_roll=0.0958 left_gripper=0.9978 right_x=0.3144 right_y=0.1314 right_z=0.0298 right_yaw=0.0532 right_pitch=-0.1081 right_roll=-0.0597 right_gripper=0.6424\nstate[joint_eff]: [-0.3487, -2.2496, 6.8171, 1.5311, -0.1148, -0.0171, -0.0171, 0.0342, -4.6838, 4.9162, 1.6044, 0.1245, 0.0806, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db400dd0799390f9bd5b45377d399651625ea8de76deec51e52d7a1f25748f62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:112a72915e044f46ed4cfb8b27ffb61044ea1feb2be72fbbde89a1c1d7110220",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea4d6ab9ef71acb3239fec63368df290bb9537068e20ccfb7d5ba86ac51c30e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsiiJ1h-9NcNcvNe_EbpkMyhQGtUJlPmnius7gbVbq1PAZPt_6h0OjkHpQvTvty-qKfXXdGLKbZHO_8dyJgdot1c6TD3-Hx56QQESZt2mgWrzlk9ZNJZeYB7tiO8BJWWDhLcoAyET4xiKeTqs4NbLeOp7hNeoAK_loDje-2jNNJKmIhw3u9iGnIUrLWAVHsO1U_xP4UO4SX02dShK4O7OtPGwOQ--bttG_ja7kd0FWQCAm0QdS2CY-yGf49uHF-qmTUQlUFY-mB2Ss4fo5EdHpPCNtIjKnmlYFlM4fBRhIMrkvZ-p_51WHi_GxWohgkd95m_Vje-H_jlCmqB-_Up28YoAZzhOMNlC_avhj6Yyhg_7FrbDTfT_fx000BgIPosTTBAkRTK0ukckKC0nvN8yQX0QE3g2UPMVU3SLH6oaQ5GdJ_3IJ99Bc_gW28b8udYFTjnrmpVly9YzpqFsf-5f71b53WCTsW1Wts6VtJwBZYyhUG8AUp5hyBqAKWAwcvbEFJVlub7TNDHOW2tUOZrtJPlTsowIgDTm1_TtXtnE3v1IhcHhGOTmdeOK2cD3N4SCgxjwm53aveanbkH1FhYYdIcLGVO4q4RFKOzkQM_9CtEZIJhnVAwLDydRSOIl29e9eL94X1MiDNCQ1ypa6ozu36gQ5UxmSqVDV6vM2QXflitvwZsB3izobdF_324wyMOO7hc3R1RyNNSbR_jLfOQNNABYFBC-m5j6CkkpQSqfMSjYXvI_0T8vQ5op_sfwLjllA5l_RhGEu9flYrngIJlwSQWpnTHdKdhhymtjJqTwV_FEQjewaIiikv13atKzNwWhb-DsQ9fP24DbN231jRD7kmVz0k2g5iyQG9MZJeE6BxBtOvGtBguRFLZ-V9WG2qY49n0okMlFQDWS91emEDx8Xm7gKGL0NticcvPEHHd0AxWpDOx3c0peVyopzVDXc-5r0iqh7oy3UpCjl8-7DzB8uz4TVbzz0bJxnPOx5sCslchPxm_3i6TFY5HYZwfbS5HwPzc3KBWLgZQGRofSPtHyX6bpPRgNiDXUR7NB6ExhA5G69ThCwTIPSrcl4kAbmHc0lNYDtGs0AdhuyYCRBIPLhnnIhS3-3IZE-wSjcpE7dIoSJnm7vk1Y_4kDI8NOV3GD7PSqO0yX8d2mKwObYCJa-HHoMkJD_m8VzXor7RasCkJ8uoaGxmLM8JCEEUiS_Wes9PnaUNK6hYXRHVY8Xnt2BFRA==",
  "id": "rs_09ad9d8756f70e63016ab42b21dc2887d08981c1a7fa2ecb20",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper settled with a substantial opening around the green fruit. I’m lifting it to verify that the fruit leaves the table with the jaws.\"}",
  "call_id": "call_nPys115cdcHs3ydXl1Vc9kRY",
  "id": "fc_09ad9d8756f70e63016ab42b22075c87d0854c14dbc413d810",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nPys115cdcHs3ydXl1Vc9kRY",
  "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]: [-0.1051, 0.9714, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.6189, 1.1957, 0.7841, -0.3798, 0.4519, 0.3298, 0.6425]\nstate[eef_state]: left_x=0.2968 left_y=0.0013 left_z=0.1766 left_yaw=0.0568 left_pitch=-0.2079 left_roll=0.096 left_gripper=0.9978 right_x=0.3138 right_y=0.1332 right_z=0.1519 right_yaw=0.0628 right_pitch=-0.1283 right_roll=-0.0655 right_gripper=0.6425\nstate[joint_eff]: [-0.0342, -2.3726, 6.8581, 1.5507, -0.1148, -0.0708, -0.0122, -0.3214, -5.3675, 8.8137, 1.6239, 0.3346, -0.0122, 0.7643]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a150efb6abe1f590ee3092e7dcfa761da4d402a97cd0b96787b479b3e091db1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc1b585df28b2422aa4465f630ee6d58b397f56ca202086b946c47a948087145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd53769366dabc950e475a9e560f6c645030107fbef8d148f72fe51f0e4760cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 3.034 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]: [-0.1055, 0.9703, 0.8093, -0.622, -0.1638, -0.0528, 0.9978, 0.5827, 1.2926, 0.6289, -0.0925, 0.437, 0.3172, 0.9991]\nstate[eef_state]: left_x=0.2973 left_y=0.0011 left_z=0.1775 left_yaw=0.0565 left_pitch=-0.2034 left_roll=0.095 left_gripper=0.9978 right_x=0.3272 right_y=0.1304 right_z=0.1044 right_yaw=0.0471 right_pitch=-0.1041 right_roll=-0.0481 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -2.4821, 6.8308, 1.6679, -0.0757, -0.1245, -0.0122, 0.1983, -5.2171, 8.5265, 1.7314, 0.3687, 0.2564, -0.0122]",
      "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]: [-0.1051, 0.9703, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.6189, 1.4906, 0.4194, 0.2985, 0.4633, 0.3332, 0.6424]\nstate[eef_state]: left_x=0.2967 left_y=0.0013 left_z=0.1769 left_yaw=0.0568 left_pitch=-0.2068 left_roll=0.0958 left_gripper=0.9978 right_x=0.3144 right_y=0.1314 right_z=0.0298 right_yaw=0.0532 right_pitch=-0.1081 right_roll=-0.0597 right_gripper=0.6424\nstate[joint_eff]: [-0.3487, -2.2496, 6.8171, 1.5311, -0.1148, -0.0171, -0.0171, 0.0342, -4.6838, 4.9162, 1.6044, 0.1245, 0.0806, 0.989]\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 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]: [-0.1051, 0.9714, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.6189, 1.1957, 0.7841, -0.3798, 0.4519, 0.3298, 0.6425]\nstate[eef_state]: left_x=0.2968 left_y=0.0013 left_z=0.1766 left_yaw=0.0568 left_pitch=-0.2079 left_roll=0.096 left_gripper=0.9978 right_x=0.3138 right_y=0.1332 right_z=0.1519 right_yaw=0.0628 right_pitch=-0.1283 right_roll=-0.0655 right_gripper=0.6425\nstate[joint_eff]: [-0.0342, -2.3726, 6.8581, 1.5507, -0.1148, -0.0708, -0.0122, -0.3214, -5.3675, 8.8137, 1.6239, 0.3346, -0.0122, 0.7643]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a150efb6abe1f590ee3092e7dcfa761da4d402a97cd0b96787b479b3e091db1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc1b585df28b2422aa4465f630ee6d58b397f56ca202086b946c47a948087145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd53769366dabc950e475a9e560f6c645030107fbef8d148f72fe51f0e4760cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsnFFGRqws7-5Rq02rNUONykAvvv0kjNMCYd1og0Oje0dDMCYKxwMhcy76EPS1UFkum6QT2YQwzVCr0i5DKHYVLvr7jyiQLCpEyWog-vOWu1D57JgHROjPOBIOfGB0vBkNwP089uqN9ndTmL41PgertWuWfR9MuXom1AwpPW5hGkbjU6hUVDHXINIn8xW6lARTRB005cvmOm7cs8LE4j60bmYj3yWle9FbV0kemhTJHEukFpUiEyE0rXCRMjeFb82OMWf3jip4ZPuFabaccYh5eoKeOYOaN2TkbcDSXlpL1g7thHFo2RFpETz1ODHL12H6Ve0oeE6ObvVEdeDPmtUmKI7ZXW5t2SHJ_LIbDtP8kb9PywayRj8j2rY3E1GqK3BWm0pAh4-sHOGpi_TayifEgXcWOHps8Cz9YGH7E0Iunj6Yzj1aHUgwuz-AacbvRhf9JD-Y_rawrAuGcuxhItks9ocPcH-cqyqoQ8tXPiRWAfDXZQj40HPVDWbEgYjU488dCaUbcgo1q2PgEnVWKonnEpP7A2vyMszkQQrlMgHvxxl5nP6VCzQtu86IE_DaTbWSedvMPdF1xLXqAszDdRuApWbxFF62QybtBoUfpXM4WxheRpWHHVtVUXmwEGtmCYmp9FFbZsLQ8lvJp-vfQnYRBnKShbOQMpCtjIVsp6K7v3ZFdfAd_3hLlnPQbjy-H8x73jjmPDBQOkc-UakB66DZ346ZEcK9tvpHaqmU3UC41gMZJQ80n_FGXzD7kqSECdDmCERFhSm8tlQosIVyx5P4UTnsz_l_8ba37fLnJW3Xa-TfSZouruTh3V2xMAW5vtcngRLl4wRp1N8DAJsQs6jCDKjeGA_-F_MsuVJH9_nR3ViWeBUE-6obCOEO3IXyjKcCtaaeahoENForZ_SOX2TebYqYJm66FOt91gPwUPV-nO0yuadCpj1wlRxZFv5xoldc7xyTGMzFhXk02txzaQU1S1-b7B6QBlUb7Xno3OIso3iM4IPKc33HgGymq20_PMMn_tJp3sVHRkU1fiQWgViqEGw9AFXmbHJDucVWKt8gN7q2OprFZx05zKR4xxhTIjYSCOaghf39U9sda9B7aGaKCMv1C_xSG1C24M1TIcxLppPCMi0w5M6-kkTOI_bK6uVBFPgT10gXRui2RmMJN7sQS2KipEdrpPPJqV4Hju2vDSi3hJOhq1zC4wBL0CXy909qGUreb65GQW9rskru6kwb6qKxQZFPjTrk4BAgnEyoWL6oFduwk0B2lnAk1N2TYGiD8bF1OgrIlu0_MPJvbmkjryj6u-IcS91k-uecqkvXWQMDiiS43qxmrzJB2Vfr92ZF6BTBbIWvvSwGF5ybwSbrEuVUr-PZZIfE6V1XQGRkzPtsUGYLWjIFMCUHYTyGoiU9ax58KfHu7VcXwB3Sx0hZ4CrlNldcFRAtYOB-piPucDwIDAguw97b6_zxuOjsdH2SB051_XJSnBZk3DCT4P-5csnMxYRv5c-VuP9pe1XLDC4G2ubkGx3Sla_XPiVWlrMLYJBn8prpfZQyvw-JTmnZCuMes7GIfINikDxV_qLxndRbGczTE6cNFBWbPYy9H0Vw_GbrkTxwUJdBOJV6Fltp8fYGO476ztayE58qy_46VrfmkKfmK77NcpR0kXufhznBaNIY7uXkFhRozBw7aVKzHBpWx-Ly7drVelOtWXpykxtPDjGgeFkI-rtXZdCs4DWM_GVtYVH4E4GYjSVoac3zORSpbXIgIH19TNsJ0xK3M_jl4NRd4CzrJPdIIhIYMvptVFmnS5OFYmOLuibc44RqiWslOhSlxqWTU_2j8xLBEA0tl2Dc9dLgwR_xqcAynKcZfzxHa83HmisnKXyGqfusajHMB_xZLhTENA75aFxoMQVCJ-4JIAkG0WtyYJKfHLmEM3V2RUbbVfc6bV5hBQyhKQ12-d6Jhrdpdmo-fwUcN-S3CNqPCSwdxmWO2DgU5xU1TRlQCX-ngHLg50_NAhaPUQQ==",
  "id": "rs_09ad9d8756f70e63016ab42b24d9ac87d0af79f1f35b159745",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.392,\"right_y\":0.261,\"right_z\":0.18},\"note\":\"The green fruit is no longer at its table spot after the lift, and the blue bowl is ahead and to the left of the right gripper. I’m carrying the fruit over the bowl at a safe height.\"}",
  "call_id": "call_Jr9n0i8iFMZb23ls7DslkKZG",
  "id": "fc_09ad9d8756f70e63016ab42b267bec87d0a4dc000306ecc046",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jr9n0i8iFMZb23ls7DslkKZG",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.976, 0.8093, -0.6266, -0.1638, -0.0525, 0.9978, 0.7788, 1.7439, 1.3598, -0.5205, 0.527, 0.4316, 0.6431]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1752 left_yaw=0.0566 left_pitch=-0.2136 left_roll=0.097 left_gripper=0.9978 right_x=0.3822 right_y=0.2574 right_z=0.1609 right_yaw=0.0999 right_pitch=-0.1833 right_roll=-0.1011 right_gripper=0.6431\nstate[joint_eff]: [-0.1709, -2.6735, 6.8171, 1.5311, -0.0757, -0.0562, -0.0122, -0.0205, -9.7026, 8.4855, 1.3993, 0.5739, 0.3297, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe3cecf9b195e5c08704dc8b56e3c32cc8bc7867ab4f718c7e159372aa62914",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c94626f27af8cc3eebc0f2aede59e7f936d56569bef3a0ad8cb53be913e1bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf8ae40e833f33e8a976b0d2f6dbd59013efc0d10eab931d3d401d235fa021c",
      "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 · 3.231 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]: [-0.1055, 0.9703, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.614, 1.4773, 0.4278, 0.1932, 0.4595, 0.3313, 0.999]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1769 left_yaw=0.0564 left_pitch=-0.2068 left_roll=0.0958 left_gripper=0.9978 right_x=0.3039 right_y=0.1228 right_z=0.0199 right_yaw=0.0457 right_pitch=-0.1801 right_roll=-0.1041 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -2.2496, 6.9675, 1.5556, -0.0952, -0.0269, -0.0122, 0.6222, -5.0256, 5.053, 1.6532, 0.1685, 0.1392, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1051, 0.9714, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.6189, 1.1957, 0.7841, -0.3798, 0.4519, 0.3298, 0.6425]\nstate[eef_state]: left_x=0.2968 left_y=0.0013 left_z=0.1766 left_yaw=0.0568 left_pitch=-0.2079 left_roll=0.096 left_gripper=0.9978 right_x=0.3138 right_y=0.1332 right_z=0.1519 right_yaw=0.0628 right_pitch=-0.1283 right_roll=-0.0655 right_gripper=0.6425\nstate[joint_eff]: [-0.0342, -2.3726, 6.8581, 1.5507, -0.1148, -0.0708, -0.0122, -0.3214, -5.3675, 8.8137, 1.6239, 0.3346, -0.0122, 0.7643]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.976, 0.8093, -0.6266, -0.1638, -0.0525, 0.9978, 0.7788, 1.7439, 1.3598, -0.5205, 0.527, 0.4316, 0.6431]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1752 left_yaw=0.0566 left_pitch=-0.2136 left_roll=0.097 left_gripper=0.9978 right_x=0.3822 right_y=0.2574 right_z=0.1609 right_yaw=0.0999 right_pitch=-0.1833 right_roll=-0.1011 right_gripper=0.6431\nstate[joint_eff]: [-0.1709, -2.6735, 6.8171, 1.5311, -0.0757, -0.0562, -0.0122, -0.0205, -9.7026, 8.4855, 1.3993, 0.5739, 0.3297, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe3cecf9b195e5c08704dc8b56e3c32cc8bc7867ab4f718c7e159372aa62914",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c94626f27af8cc3eebc0f2aede59e7f936d56569bef3a0ad8cb53be913e1bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf8ae40e833f33e8a976b0d2f6dbd59013efc0d10eab931d3d401d235fa021c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsrktHIGJjS6WYSVjtMVaxFYjWloD8VTJFgwO2qQT1KoO1Vaw-tlzvusjI_jBgkt0oSjPYK3wdaCRignFq1ff7ZscQf6e-C8kzOm_1hIv3OdgSVDZ2Zzloayu6K8PvUKg2A0YkmvXniE_9hspzFu51aD892tJPNEsYErEo0g7T0o7VXNTWBvchNvtlFHUaf14xU1CtFk7stYWuHUOZsLmYrA6YawbQ8hzNO1mpvgTAhH7fGFudoVJ4oBdfapUj5LhqQgnLm5fO0bbMYGQGm07TIJZGL7TNbYPmJOe6dy79qUZbnVb89MRVuUvCI7O66zEigA5Ykll1K85tB2oWCTtXTUGGoIM04EkbQ_BxiHD2mg1MzwvaXjQm3DBaUDfsaz1wCtD0iTcqZ26_35zpilBq9hnK4mugwBYbJ-ppxPjF27VZLqZlo2xcDA0VP5c8UrYDF3MJFVa2dqk98u9ePR0k8iyieBLDgcK04p5SRoz1YxWIw2VuP2X78ucsfrP7eir4W_z4qsCUkWfAhBsnI9aQCoePQZhDQ4_3QyrL9LkXdf5RFX6d5KKHmNIIgIFRxGqIK2g-SaQeftg4LNlNHM6Lhb0AiI3ff9KHfMyBhLhFNQAtU6abcYurQJZk1oetnLyJIGftdQkowJ5ZNAnSnGe06Alx2KX0rlYkhjjArZaqvJRc0xsTUsUD6c1WtDJ9W2Qu3k1-vt7oo5k-6620fmU-7tYUWaoODW1Kw0ev3Pis381w__dUOHXCWLBA21OJN7jE-uy1grqzZK5AWT_DJ3OOya8DVaY7vG5LQ1O5WvriWfHTRAsAt8jHvX583U3UvJMubrV6eRx3nVEviQwTb_sOwGA1hIV1VWoS_smrTJ3shvN4cTNsBbQNW-bnq6VadI10G7k7IdVFQUVQZXVccQ2ebz_OHglPcxlgLuj_MRwPjB1MiXvR6YfcHaKat2iymieuqrRuYT2BFLbwzfICuBk8j4MFV79uSSNpUW3DpLBQpIpLfSe0ZA65qJHVESSlmY1a7easTCGcAm_nyo5bSKEzCPM3RjpkKLDgPAhu1yuGByY5QkUWObE5pBXbRFolOlZZZ_4CJQMc84R8ETgj9gCqpt1cZvzzuIVIU3iiWZuH18JcD0C-N3k1tD-cT4Q-xREYO5cnMg9JcL87cLpVE3UU6-YXZIJ7ijc8lY7eVQciML7pBZ4xR5G75xZpzBvhQsQAJ02xjO9YyvpOysVepO0BUtLFOasJ8dyxLPDGzePiFp8-V5vUlZOGIpQsd7AiBQtAVzHJXdKDmZfy0Cv6-W5ibFudxxZBHbVkiszrkXtWWN8e_ZhudQar8dJpgsPfYOqTgTM2fIP0pq5dKEm-TmmvxLG0gbRP_-JK4ECoP1K-LOQ-JePcfCsjATg5WlUTzL1UjWw4C2vpe9lbqoZiolg2PlRkz9T5XsWTK_15HaJ01VoNUwNkAn4VBuNQK4iwm3tngY9DsqnAw0VohFnHLu_UPmeKi7iRbyVazdp-AvkcQi8hz3EeWg7gj3Uf9jskS5Urx3BabdbOQe4foTW7Q_pduuXnIAiveNBNAPrdo__FsG1BEE10zJ27VkVe1KEGFjDP7THra3lZKEIHcUBfi7W2tTEmArqkj7wrKWQE2OitHVS40QoNMBJmzqlHRN5p3FpfQcwFUKfY8QQBp48n7UnfQvVH94NTnEWcyyPqfoap4YArcmvAt4Vfs_kqBwZrZ4z66U2B2zKcQlOmNGPSfESCSTd05_yM0ILNyb12N5ZAH5bA2ji6OIpHzg3KNp0gPS0rMf1QbPFVmsMy6i3odQY4P8Ly2VEdoZIgQkDz9V9wjil__USMxhCsdGaxAMsuAL6v41lIiYXzGfwu1p1UK0-DLdpnbS4PERLL4cRhNeeMGDPj2GPbhapMgI63eENmUM5iRFRT974SSZpanJoB9B4Hef21rPeX0bwgdBaBfWj5K1XXDlb6uD38aRnqH9x8cgWgR",
  "id": "rs_09ad9d8756f70e63016ab42b298c4487d0be0a11a4bed32319",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.073,\"right_gripper\":1},\"note\":\"The blue bowl is centred beneath the right-hand jaws in the wrist camera. I’m lowering and opening the gripper to deposit the green fruit alongside the dark one.\"}",
  "call_id": "call_QL2Mo4bjPTsh1hovM1f58FWb",
  "id": "fc_09ad9d8756f70e63016ab42b2b0e5887d09c277956c558f43a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QL2Mo4bjPTsh1hovM1f58FWb",
  "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]: [-0.1051, 0.9768, 0.8093, -0.6258, -0.1638, -0.0525, 0.9978, 0.7815, 1.8301, 1.1393, -0.2558, 0.5312, 0.4202, 0.997]\nstate[eef_state]: left_x=0.2971 left_y=0.0012 left_z=0.1751 left_yaw=0.057 left_pitch=-0.2136 left_roll=0.097 left_gripper=0.9978 right_x=0.3762 right_y=0.2523 right_z=0.077 right_yaw=0.1004 right_pitch=-0.2146 right_roll=-0.1391 right_gripper=0.997\nstate[joint_eff]: [-0.212, -2.4274, 6.8171, 1.5165, -0.1392, -0.0366, -0.0122, -0.294, -7.6376, 5.6821, 1.3553, 0.105, 0.1636, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60614cdfbea569f8383a3fa317d1f7dd9b76cb3755d2edf6acb77f609f0fc6e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4e5ebafde2f59f869c20716a6badc94a7625e44e171b212f6d735a3225253b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61ada78ee3d37a238949fecb77615bd85f330310794decd565cc34a9114a0234",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 2.589 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]: [-0.1051, 0.9703, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.6189, 1.4906, 0.4194, 0.2985, 0.4633, 0.3332, 0.6424]\nstate[eef_state]: left_x=0.2967 left_y=0.0013 left_z=0.1769 left_yaw=0.0568 left_pitch=-0.2068 left_roll=0.0958 left_gripper=0.9978 right_x=0.3144 right_y=0.1314 right_z=0.0298 right_yaw=0.0532 right_pitch=-0.1081 right_roll=-0.0597 right_gripper=0.6424\nstate[joint_eff]: [-0.3487, -2.2496, 6.8171, 1.5311, -0.1148, -0.0171, -0.0171, 0.0342, -4.6838, 4.9162, 1.6044, 0.1245, 0.0806, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1055, 0.976, 0.8093, -0.6266, -0.1638, -0.0525, 0.9978, 0.7788, 1.7439, 1.3598, -0.5205, 0.527, 0.4316, 0.6431]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1752 left_yaw=0.0566 left_pitch=-0.2136 left_roll=0.097 left_gripper=0.9978 right_x=0.3822 right_y=0.2574 right_z=0.1609 right_yaw=0.0999 right_pitch=-0.1833 right_roll=-0.1011 right_gripper=0.6431\nstate[joint_eff]: [-0.1709, -2.6735, 6.8171, 1.5311, -0.0757, -0.0562, -0.0122, -0.0205, -9.7026, 8.4855, 1.3993, 0.5739, 0.3297, 0.7253]",
      "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]: [-0.1051, 0.9768, 0.8093, -0.6258, -0.1638, -0.0525, 0.9978, 0.7815, 1.8301, 1.1393, -0.2558, 0.5312, 0.4202, 0.997]\nstate[eef_state]: left_x=0.2971 left_y=0.0012 left_z=0.1751 left_yaw=0.057 left_pitch=-0.2136 left_roll=0.097 left_gripper=0.9978 right_x=0.3762 right_y=0.2523 right_z=0.077 right_yaw=0.1004 right_pitch=-0.2146 right_roll=-0.1391 right_gripper=0.997\nstate[joint_eff]: [-0.212, -2.4274, 6.8171, 1.5165, -0.1392, -0.0366, -0.0122, -0.294, -7.6376, 5.6821, 1.3553, 0.105, 0.1636, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60614cdfbea569f8383a3fa317d1f7dd9b76cb3755d2edf6acb77f609f0fc6e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4e5ebafde2f59f869c20716a6badc94a7625e44e171b212f6d735a3225253b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61ada78ee3d37a238949fecb77615bd85f330310794decd565cc34a9114a0234",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsviNR5rWvQJc1m3vgOgd1GQv2nKoLK5tbgQ9cxEXwubVfsPBpjRl_gtRge1Y6zgrV0RWJ58dkwgSTTo4yzImcaLq6rKA_Ptz9N1rXhNTHk6AhTCU5Dqur2MP-GYwR1NQhJoOk5SFEau0FnB9hJEN4IA8mFce_ALm1AvCz99z6FVbyWL7Om_VcCD2gL0u4XFaf4Znds64uyxzdngIR3vHH9prk_RGYT-3WySILkN96KMeQ6Tgh5j89Xh0uRxQ6rW5nwZhTH4VsHkB-NA_ReNpQeEFn58TRQ_UTfNE2g599G5Wvdqrt6lG1u7nbsy32UNAX8NpB6egX0CjKthIjyzhrzKjOHkIk6rvvgtzuEjzHQPGLj4LfjFvoD55DLhf3z09IJW1BHqGmXE2QkDwtxVPMXCbsQv4PHlPVKPi9TLxJKeO9Q855SWSVuioQQQz5p6A-cCV1y-tImLwCH_iMgcFPE-x806emp6AsUCpF2CHJwZGzrqsqsPBswdDl2_9Fy4LzxCDD5zxVrTR6eB-bgqFi55X4vdPsg8z1lNpc78dl18oACRZdcHg4xHqIvxeTgxnISTXxqKg-_K5ARloAVKf--HhE7xqDOYHoUCS5lfNhes63B9PYssOT33TV7DrRoa1aMmcjLMvrYTfB93EtPEqMa1_WMQt9wpLk__hgWkjSDp9up1fGlktWJW8AAEcPs3V3V5iOnUSo5pEOjyNzhVMiW4pned7jDBVUEXGSwRTP9lGOBxKm1PTpM_45pAMPokCy8MCyQmL64_xkBezu1eaMxDCoDVkCkoM1RzqQNx0p2Z9tE8Iq74PwzpR52MObwAmxFQ5OdDLqkJ4TokYw1KdlQXEk5_AGzs8PScL5divhKoPc2T5NwGclGVi-12caWj-da2nBnWiXp3CtVsmna4S_MmaTsaD8BHvtDtC6tfBlflohqAz2mY02lK5HqQZyn-wZ-YNH1o-D1njBaOYNRjvZVlKyXjtSH5Wg9TxaVaXM49uLx_nI7MzChnwIKiSClwxEhEDTPuNAnYlnilNsnfALMh2wDAIC_uuZUcybeWR8gT5dekqtXSql7UtJ-JzZhgInECaG9HMMZAnAKxY2-egi0PpMqYklMo-7zUG_TPhHnPsc8cnkHnIc_AdYc8lXbn7jDSWUQcGcegWl66NSEsciu3_jCghTq05johwd468NXIsU50jTR5GRoNVLcOgDFjXFc1KquUfSniTlTvDwIBmi11ZWgbU1V7F5czeI5p0IzevG7ScJT9c1jdpb-NvHdqYrmEFfAwvEVA1Rbql5Pd2_1SeMxD5h6pDidI0pt-pcRLEhz8JeX4fVV906zZ3gvv-VrUZZCDLUHYGAq4MtmswTCsXzZBMuiBcAxEYw8rlZOQzFSehWz22N7eeBXQGlkcx3fzZINCUwWFGkatlaPwPXQF5k4fgmnCEqhyZcmo-fdQH3_CooxfXpf4KML4UYYs3wDgF60p7lFOlN_TiPY-yFqYJSMbtX3TcA5ejG4yMHx51xfu7rlzfLx78Z5FpCgYf7dbTi5NEVr6gujOuadEGURafDuLk8-Ja7X39yI1qc3h06t2F39BUflWg4EXiBVvtr7biw66vzPq7LHDZcSrAkFnYqUZhX35xKlMxKfIZi2F-aN9qTv_TBv6fP9TH0_L2xyUIhiTowok-eWC4F17B2chZIECtkOYR-38cggANDB2qmIjlHy3rBIm_AC0mMuwXXCUKs7ycrdSK0pEVYovJI0TCic98ZJotCnAUraDzcslhImYazm_BSzNuDrwhNYWKi1SK7kmhSmn3j-C4OCWmgmPVHT2W5_5tb688wy6izZtZfavjz1zaai6jtF9UIVGtijxXByHTQcp2APlE-_6WyLrR4tlCS0MSzdz--fxhmSOJm-21MXUkIY6J_F3LTaJeNb2dIMNhtXOfanjLXfR-k9NNqCzEfoO_wdwYp8LENqFVpFNSgoDXIlXROA9-w5EYiv",
  "id": "rs_09ad9d8756f70e63016ab42b2d005887d09c23d09687c8adfd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.312,\"right_y\":0.317,\"right_z\":0.14},\"note\":\"The green fruit is now visible inside the blue bowl beside the dark fruit; only the yellow fruit remains on the table. I’m lifting clear and moving the right gripper above the yellow fruit.\"}",
  "call_id": "call_CUB5CgACTTd5qlVIcvZiZBKa",
  "id": "fc_09ad9d8756f70e63016ab42b2e9bc887d080748721852fc754",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CUB5CgACTTd5qlVIcvZiZBKa",
  "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]: [-0.1055, 0.9771, 0.8093, -0.6281, -0.1638, -0.0525, 0.9978, 1.0164, 1.8313, 1.3811, -0.6018, 0.6235, 0.6125, 0.9976]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1746 left_yaw=0.0567 left_pitch=-0.2162 left_roll=0.0974 left_gripper=0.9978 right_x=0.3165 right_y=0.3222 right_z=0.1293 right_yaw=0.1517 right_pitch=-0.2214 right_roll=-0.132 right_gripper=0.9976\nstate[joint_eff]: [-0.3487, -2.1538, 6.8444, 1.5556, -0.0757, -0.0366, -0.0122, 0.2803, -9.7026, 7.9795, 1.1893, 0.3883, 0.1734, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9373aebcd1cc137b2d95fbe8477d697742f38a1b1be9cb50434b8d68c875668",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8728d33938d2cb5b5d34a87e94d0ff601539702049e33132d0794741c770e806",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde8d3e9edc2d2e0fcb8731910220d82e2064394be137377e092a83ddddcc0cb",
      "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 · 1.784 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]: [-0.1051, 0.9714, 0.8093, -0.6254, -0.1638, -0.0525, 0.9978, 0.6189, 1.1957, 0.7841, -0.3798, 0.4519, 0.3298, 0.6425]\nstate[eef_state]: left_x=0.2968 left_y=0.0013 left_z=0.1766 left_yaw=0.0568 left_pitch=-0.2079 left_roll=0.096 left_gripper=0.9978 right_x=0.3138 right_y=0.1332 right_z=0.1519 right_yaw=0.0628 right_pitch=-0.1283 right_roll=-0.0655 right_gripper=0.6425\nstate[joint_eff]: [-0.0342, -2.3726, 6.8581, 1.5507, -0.1148, -0.0708, -0.0122, -0.3214, -5.3675, 8.8137, 1.6239, 0.3346, -0.0122, 0.7643]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9768, 0.8093, -0.6258, -0.1638, -0.0525, 0.9978, 0.7815, 1.8301, 1.1393, -0.2558, 0.5312, 0.4202, 0.997]\nstate[eef_state]: left_x=0.2971 left_y=0.0012 left_z=0.1751 left_yaw=0.057 left_pitch=-0.2136 left_roll=0.097 left_gripper=0.9978 right_x=0.3762 right_y=0.2523 right_z=0.077 right_yaw=0.1004 right_pitch=-0.2146 right_roll=-0.1391 right_gripper=0.997\nstate[joint_eff]: [-0.212, -2.4274, 6.8171, 1.5165, -0.1392, -0.0366, -0.0122, -0.294, -7.6376, 5.6821, 1.3553, 0.105, 0.1636, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9771, 0.8093, -0.6281, -0.1638, -0.0525, 0.9978, 1.0164, 1.8313, 1.3811, -0.6018, 0.6235, 0.6125, 0.9976]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1746 left_yaw=0.0567 left_pitch=-0.2162 left_roll=0.0974 left_gripper=0.9978 right_x=0.3165 right_y=0.3222 right_z=0.1293 right_yaw=0.1517 right_pitch=-0.2214 right_roll=-0.132 right_gripper=0.9976\nstate[joint_eff]: [-0.3487, -2.1538, 6.8444, 1.5556, -0.0757, -0.0366, -0.0122, 0.2803, -9.7026, 7.9795, 1.1893, 0.3883, 0.1734, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9373aebcd1cc137b2d95fbe8477d697742f38a1b1be9cb50434b8d68c875668",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8728d33938d2cb5b5d34a87e94d0ff601539702049e33132d0794741c770e806",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde8d3e9edc2d2e0fcb8731910220d82e2064394be137377e092a83ddddcc0cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsyvDVcjw9D5QlhIq6kbtl-zmQJjs8cnuh8G4WXcNwQulD1PJH1TWsLXttJYbhLeY5nDQRDKiFYUqQuhoGhyG1PXP-D-aGk5O90piTYvy2yrZJSKRTpgvFsGsKUiwVE8tMxZBttaaMEy8YHOmD8K4KDbITlJyn3anGYxV0EIYCrO9yB3wAF-9GzJG-BJB8gF-202VCqWX27VJAALWIkaXOi9-X_Y5otLvsOounJM07k2ueeb9Y337HR18iljK6RMSYTZ_SLdZ1Vlu5t4178gb6hsPCGNOJadxysabNZV1MUA8thLj1aY1FvHgt4_HbC7pXwYBdaTqP4YAROmqLsVaTpyj_VmtumJN3RthASIWFohad1N54cDbH9pYq8T2lVC9dlET5hrcJWqfp3HYIZCDGUD3ZWJwbx77EUy2P3Z-Te7DjqirZqdD-_JMResRoocELi83-ajM1E_nhx5TN2wWOI5KCeSurQZld8siVGMOgRR0sGWWYxRh8n3L_yY0K8IBXyNc3SH7MsLT9sl0YsbX3jWZw0RKv-7muiZiNIwwCCJphYQ_AIku_9KyNJ9yWkpruk2XE-WvG0b04m5M3ymtMLnunDzBemJ9UVBIYDJQ6yjRFstbNVlvRvgX9cHdSYOdpVPrVv4-00d29yB3GLOchvyvKxR3yYgyA97ELPWgJUqOzRe0Y9-jpbWkqz06E0hNf3ir7PBUW3c8JiNWcnfmTXbLg_-AjfOa2p6OlqpXZx4RwhFA9-rNl-pWMJ-5JIFJe7ZRmT1mCtZgZydA2V_icxnxr-kUKhgFlwIFRH60V5XoxfEiZ0AhpUzA0X3Y4fEnhi1z2G71tstzzFXL35o_Dfi8g3oofjXj-hAMd7fd0G6Qtce3WhZsA3i1KoIAH4ivzlfkipCeIr0bgN-bHi5e4ixISDpBTIYph_T4kgHzSah8pb0DGUwxgJMGPRh09Ljk6uWAQxE74NjO_soZY5Xg3oQNXdMvJCt4P3Q5RhsIq7mimq97SPaztxfbn1Zc6yI2deZNsOkOHnzvQI6wYeh_z89r2qvM7_vX75pXGMM6lbN46DQqDVWG2CvEV6lHim4Dh8plZrNQ1I5_bidwH8TwaicNbxF6lcL8NJIRHpxKYlgZk5QwkKAXa1YlaEiOCUJbMDuavkXq8BgbXXELRKr7rwOMPpIZaiWinubtzPX74ZjGiZwBjZQ28Sd2Je4eIizGk1RPrWZ0cYua2YkRLdP2Jp1zfOagh8VTsIY-tJb0Tzb_o3bxK4tEULsrgVffagdBwHLiSy1KXBU2LYor5StuGdg1WYIQ9LzndCjQlhBRRkoq-Q6v6omAYT8FijASq0HWdQk4Vado3s43kZnhsWtVCwbHUGxXBcMxN7M1X6WjP0S90PI9UnJ7K5nhVESIh3vhqHwNt7BLJEUXXMlOIjoHN9Eh_Rxg1PKl2zcVXfwHFBqtY=",
  "id": "rs_09ad9d8756f70e63016ab42b31233887d0971205ae04a389ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.307,\"right_y\":0.317,\"right_z\":0.023},\"note\":\"The yellow fruit appears on the jaw centreline near the bottom of the right wrist image, with the two fruits already in the blue bowl nearby. I’m lowering the open jaws around the yellow fruit.\"}",
  "call_id": "call_10yrgXNkXhIOlKoSUlwvklPa",
  "id": "fc_09ad9d8756f70e63016ab42b318e9887d0a11b8db1bfb279ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_10yrgXNkXhIOlKoSUlwvklPa",
  "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]: [-0.1055, 0.9791, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 1.0267, 1.9347, 1.1217, -0.2718, 0.635, 0.6247, 0.9977]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1734 left_yaw=0.057 left_pitch=-0.2222 left_roll=0.0984 left_gripper=0.9978 right_x=0.3066 right_y=0.3113 right_z=0.0344 right_yaw=0.1425 right_pitch=-0.2338 right_roll=-0.1556 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -2.4957, 6.8444, 1.5458, -0.1294, -0.0757, -0.0171, 0.2803, -7.6923, 4.7521, 0.9988, 0.3639, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879afd633734c413c4ba480646aee95c3a1fe6ba09fcc950d64c9ffd3cdd39c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb5c9df071d6558ebe494addd6dca654998d9a58b5f02cabcb81a5a49f79857f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bae19197bf974cc8fbbac86611c90726364d8919848d490c47509f7622920bf",
      "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 · 3.137 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]: [-0.1055, 0.976, 0.8093, -0.6266, -0.1638, -0.0525, 0.9978, 0.7788, 1.7439, 1.3598, -0.5205, 0.527, 0.4316, 0.6431]\nstate[eef_state]: left_x=0.2969 left_y=0.0011 left_z=0.1752 left_yaw=0.0566 left_pitch=-0.2136 left_roll=0.097 left_gripper=0.9978 right_x=0.3822 right_y=0.2574 right_z=0.1609 right_yaw=0.0999 right_pitch=-0.1833 right_roll=-0.1011 right_gripper=0.6431\nstate[joint_eff]: [-0.1709, -2.6735, 6.8171, 1.5311, -0.0757, -0.0562, -0.0122, -0.0205, -9.7026, 8.4855, 1.3993, 0.5739, 0.3297, 0.7253]",
      "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]: [-0.1055, 0.9771, 0.8093, -0.6281, -0.1638, -0.0525, 0.9978, 1.0164, 1.8313, 1.3811, -0.6018, 0.6235, 0.6125, 0.9976]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1746 left_yaw=0.0567 left_pitch=-0.2162 left_roll=0.0974 left_gripper=0.9978 right_x=0.3165 right_y=0.3222 right_z=0.1293 right_yaw=0.1517 right_pitch=-0.2214 right_roll=-0.132 right_gripper=0.9976\nstate[joint_eff]: [-0.3487, -2.1538, 6.8444, 1.5556, -0.0757, -0.0366, -0.0122, 0.2803, -9.7026, 7.9795, 1.1893, 0.3883, 0.1734, 0.0513]",
      "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]: [-0.1055, 0.9791, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 1.0267, 1.9347, 1.1217, -0.2718, 0.635, 0.6247, 0.9977]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1734 left_yaw=0.057 left_pitch=-0.2222 left_roll=0.0984 left_gripper=0.9978 right_x=0.3066 right_y=0.3113 right_z=0.0344 right_yaw=0.1425 right_pitch=-0.2338 right_roll=-0.1556 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -2.4957, 6.8444, 1.5458, -0.1294, -0.0757, -0.0171, 0.2803, -7.6923, 4.7521, 0.9988, 0.3639, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879afd633734c413c4ba480646aee95c3a1fe6ba09fcc950d64c9ffd3cdd39c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb5c9df071d6558ebe494addd6dca654998d9a58b5f02cabcb81a5a49f79857f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bae19197bf974cc8fbbac86611c90726364d8919848d490c47509f7622920bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCs0ZneR_HNkGnCxpf3OOO9OE8wzkJd7ex7astgVg7uBzAlgn8i83e_xUWWFh6kjnyFvj2_tMREWwpBh8cU6y8jgAjPH2ZVbKd7vVkFbupSvu_90xCxxwOBIz79jrFqVciBwaHpBvVt5HP4d0ebu4omy3uiZ0jJjZNwq7YyJZhdk2yeNjGOPI9gD6MELJ9Dlm-affAByeM8FsL619IUZC8aTtq4Ti-bQMz3Vyj80IgH7vg0zHEmIT8bc-bKPqdqO9FDacBLW_aFMrSx-g--nEbU-f-4d-h89SvkvdfjPl33SyArE3kYZT42vdjpP0ZfzvbazQgVDnDeKhnZvqehy2zGh6GLAHaFvJFHc8ho7NnuX6JrKOe7w6f18piWGql-i0ANBb8gL-c_MNl_leHd62x_efWV6_6OZIJffkeHu4HFMydxDq63hGAp5n2Y16dN_jt_MZVdPhAtSF-A7gUNrknmcmae2c4iAeglyj06YV5hfjJev3qK1uaTWd24Wpj9WcHnIXnJEYUf0SV9CiCvDOy73xJVVcnKAYF6O7chI8MXmnpYBvDt9F2CMdPT81VlgFlIM6QVKxSn4HkkNTIK-eSUIV7fyxHTOJRZW5h7VC9tw1orvfPFObE-d_G3RS6J_o8x0MiUry67g5TQbKIsu-R7pJGHRCJUdOr8s7drSHfWCnzK5UTOCCoURPIsTbHUx40b5p1E4KjwIDhVQmWsJuAOt0u-noodlZ80cQUyfKhczwL0fP_wZziCpxmOZvJ1V7G3-tZMwVB6QcaxM8NaJnK0VNEwgmC-NWVkT6qRyMlr2G1CJrCdqw7_XL2bijiSAmix2eeKuYxZk03n_L11DDI7Krjl5LS2fd0uqtfq-YSc3IcOahL_ScDsTvEKoqiisiwambxWRbnqW-PyxEK1XyV38eXCaYIe_H7n2wpZbdyxzVk2JQbOJb-dkNjTO_Da6od960wFyh5Zn71dCSAdT5zOzlErztsI-3hASMhlcoi6JRqWzVYNqv2_AsXHLNdxmNn2yyV4PNda62pZqPfLL423gE_PwZFwgj9J0LzRIMsTFyd283ZR5mzNMxRSzupKrMQUsJMW18o7Mya2oJMhZkjdoC7FB3WVZ0HqT5CV_lzOFU3YgneHxMP4z5XLesUnxvC1VFAucaKqMHFPtGxDQefLJoJIBrriSDzUuJpCkDV9MNyO74InP0h1RnPqmuouBNM4RhOiSnI95SKjbpFg5_gtkwOXzdo2LONygYysDWdi1LH0gql5jEjv5DSlJ-05XqudRR9m6pSwVuk758x--0SIEaw==",
  "id": "rs_09ad9d8756f70e63016ab42b33f71087d0b5c2e7f93800a537",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.12},\"note\":\"The yellow fruit remains between the open fingertips at grasp height. I’m closing the right gripper on it and will verify that it lifts free.\"}",
  "call_id": "call_IuKeHVPwfpY1Hb2awPVUVG27",
  "id": "fc_09ad9d8756f70e63016ab42b343f7c87d0883bfc06a184dab0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IuKeHVPwfpY1Hb2awPVUVG27",
  "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]: [-0.1051, 0.9791, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0248, 1.9579, 1.1076, -0.2729, 0.63, 0.6205, 0.1245]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1732 left_yaw=0.0574 left_pitch=-0.223 left_roll=0.0986 left_gripper=0.9978 right_x=0.3032 right_y=0.3054 right_z=0.0202 right_yaw=0.1383 right_pitch=-0.262 right_roll=-0.1865 right_gripper=0.1245\nstate[joint_eff]: [-0.3487, -2.2359, 6.8171, 1.5067, -0.1245, 0.0024, -0.0122, 0.0068, -11.5761, 6.5983, 1.0427, 0.3394, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14dc238baee554d65f84d78897ee14cc69cfac8dc892fdf082a822856fe1537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31091ad5a4d5a9865ba1e00c758d8b980c7f359dcdadfa30806b41b4ddba4bee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30093746e68c00af8077472f676a0097925eacd3076f2a896801d74b5c90d367",
      "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 · 4.088 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]: [-0.1051, 0.9768, 0.8093, -0.6258, -0.1638, -0.0525, 0.9978, 0.7815, 1.8301, 1.1393, -0.2558, 0.5312, 0.4202, 0.997]\nstate[eef_state]: left_x=0.2971 left_y=0.0012 left_z=0.1751 left_yaw=0.057 left_pitch=-0.2136 left_roll=0.097 left_gripper=0.9978 right_x=0.3762 right_y=0.2523 right_z=0.077 right_yaw=0.1004 right_pitch=-0.2146 right_roll=-0.1391 right_gripper=0.997\nstate[joint_eff]: [-0.212, -2.4274, 6.8171, 1.5165, -0.1392, -0.0366, -0.0122, -0.294, -7.6376, 5.6821, 1.3553, 0.105, 0.1636, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9791, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 1.0267, 1.9347, 1.1217, -0.2718, 0.635, 0.6247, 0.9977]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1734 left_yaw=0.057 left_pitch=-0.2222 left_roll=0.0984 left_gripper=0.9978 right_x=0.3066 right_y=0.3113 right_z=0.0344 right_yaw=0.1425 right_pitch=-0.2338 right_roll=-0.1556 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -2.4957, 6.8444, 1.5458, -0.1294, -0.0757, -0.0171, 0.2803, -7.6923, 4.7521, 0.9988, 0.3639, -0.0122, -0.0073]",
      "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]: [-0.1051, 0.9791, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0248, 1.9579, 1.1076, -0.2729, 0.63, 0.6205, 0.1245]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1732 left_yaw=0.0574 left_pitch=-0.223 left_roll=0.0986 left_gripper=0.9978 right_x=0.3032 right_y=0.3054 right_z=0.0202 right_yaw=0.1383 right_pitch=-0.262 right_roll=-0.1865 right_gripper=0.1245\nstate[joint_eff]: [-0.3487, -2.2359, 6.8171, 1.5067, -0.1245, 0.0024, -0.0122, 0.0068, -11.5761, 6.5983, 1.0427, 0.3394, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14dc238baee554d65f84d78897ee14cc69cfac8dc892fdf082a822856fe1537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31091ad5a4d5a9865ba1e00c758d8b980c7f359dcdadfa30806b41b4ddba4bee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30093746e68c00af8077472f676a0097925eacd3076f2a896801d74b5c90d367",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_09ad9d8756f70e63016ab42b37029887d0acdbbaf6a938ec10",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.145,\"right_gripper\":1},\"note\":\"The narrow closed-gripper reading and wrist view suggest the yellow fruit slipped away instead of being held, and the blue bowl may have been nudged. I’m opening and lifting clear to locate both before another attempt.\"}",
  "call_id": "call_AtMbnyfeVvD6VYIYk765Nciv",
  "id": "fc_09ad9d8756f70e63016ab42b3804b487d0b737e59c214430d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AtMbnyfeVvD6VYIYk765Nciv",
  "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]: [-0.1051, 0.9798, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0248, 1.8282, 1.3754, -0.6983, 0.6239, 0.6098, 0.9955]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.173 left_yaw=0.0574 left_pitch=-0.2237 left_roll=0.0987 left_gripper=0.9978 right_x=0.3036 right_y=0.3078 right_z=0.1193 right_yaw=0.1417 right_pitch=-0.2851 right_roll=-0.2127 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -2.441, 7.1453, 1.4628, -0.1294, -0.0073, -0.0122, -0.3624, -12.506, 8.0889, 0.9499, 0.359, 0.0464, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78baadb53115a7590603f81c776f9fc5bb644b6c88b9fc1db85feb120d7cf64f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14d161a9b2369cf677b5319e84ab093cd8906051032e251171ced823cae7348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a0108f060ad8118ae30c9ce30ad213277307e02be9f4d682ca214ca6b77bae0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 4.202 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]: [-0.1055, 0.9771, 0.8093, -0.6281, -0.1638, -0.0525, 0.9978, 1.0164, 1.8313, 1.3811, -0.6018, 0.6235, 0.6125, 0.9976]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1746 left_yaw=0.0567 left_pitch=-0.2162 left_roll=0.0974 left_gripper=0.9978 right_x=0.3165 right_y=0.3222 right_z=0.1293 right_yaw=0.1517 right_pitch=-0.2214 right_roll=-0.132 right_gripper=0.9976\nstate[joint_eff]: [-0.3487, -2.1538, 6.8444, 1.5556, -0.0757, -0.0366, -0.0122, 0.2803, -9.7026, 7.9795, 1.1893, 0.3883, 0.1734, 0.0513]",
      "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]: [-0.1051, 0.9791, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0248, 1.9579, 1.1076, -0.2729, 0.63, 0.6205, 0.1245]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1732 left_yaw=0.0574 left_pitch=-0.223 left_roll=0.0986 left_gripper=0.9978 right_x=0.3032 right_y=0.3054 right_z=0.0202 right_yaw=0.1383 right_pitch=-0.262 right_roll=-0.1865 right_gripper=0.1245\nstate[joint_eff]: [-0.3487, -2.2359, 6.8171, 1.5067, -0.1245, 0.0024, -0.0122, 0.0068, -11.5761, 6.5983, 1.0427, 0.3394, 0.0024, -0.0122]",
      "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]: [-0.1051, 0.9798, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0248, 1.8282, 1.3754, -0.6983, 0.6239, 0.6098, 0.9955]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.173 left_yaw=0.0574 left_pitch=-0.2237 left_roll=0.0987 left_gripper=0.9978 right_x=0.3036 right_y=0.3078 right_z=0.1193 right_yaw=0.1417 right_pitch=-0.2851 right_roll=-0.2127 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -2.441, 7.1453, 1.4628, -0.1294, -0.0073, -0.0122, -0.3624, -12.506, 8.0889, 0.9499, 0.359, 0.0464, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78baadb53115a7590603f81c776f9fc5bb644b6c88b9fc1db85feb120d7cf64f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14d161a9b2369cf677b5319e84ab093cd8906051032e251171ced823cae7348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a0108f060ad8118ae30c9ce30ad213277307e02be9f4d682ca214ca6b77bae0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCs917bGY2un4yRz8xCk7ExuF1Hx14aofhIq9U8AcHN5VAilGSlJr_BJU_uNROoHB6CMYWam0iSNt7EqwYPpS6ommRo77z2dBn12l-YoRCYjqJB9A2NKsqQLHBfUGmC7NAcOizP8tryEQMx8NLny1F6Mg8WQrHFok-1OUrLL695LRMNyTB0k8upw4VakBJndR8bf9E-VPJ4Pv8Oxhm4OB542gzKZIswhAH05kT3sOBtaJ0zqMEaadBZJ7L5iVLGNfSv1zSelT99BakIgOlPR3UT3dOU41xb79YKoF27F-WmVV9EA44sc_Caf89DBpD3-kdG02V60gQpE_r64dUsybVqD9wzD4nk9RElij9MtKzisXOH47QSiqH86hBIjfGRi5JApxZ5_97_wSgH2Ranw1g9lUW2fYsYSnM8XQqin2QVxh8Ro8wHjifrZUVERg4lNN0QKgc6cCf6u41JvtcyDFJkURMRj_YPRdMynZfU2joLvTQOgoZ5PqkeAPaHpgD0CrWgThFfbP8fsXlYtjPk44eeGaCfWqx3J2tfFGF9-D-GuEBoFShsXaBBb2jjMdWyI59u3hrzvnMfhu-DKEVLoIt2efirDEtyM8GjXK2w1NBe9Nlnlcjz8tdhxwbQvO1bndcWybJ56rkLQ4HCTtvys6XVDp1yPjwBmFYsBme--PgoXsFPdrbLyn8akBoNk5OR6JosKVmI0-WeWkFGlzMdSjb-RWcx3o_IgeqaLsw4TZRddmPOrKcAkCVtBBYVXot6MbzZBJ2hD69hEfawhJbfysTsMH7rNQYiu-c7Sw_WuJD-Hx7wgb45mD3eP4U1Aimi9N5iIt2oTv939NdkRrj-idgBAKGt2N5nixHklyrN06Pl7kUiEkyRolb_L409FzBda0Tv4NhoaV1nNtDfJXENu2JtfK62NKs6bV1RG1ydGfZU0u9xJiBAcSbBXwYguKx7TYD3EFlmt0RC--TMtxzrtLc-QNJikuoF9IZuGnql_nkoNXoUOibMoXm4IrfereE2agXpX85Mz5OFxUmsKWFpVXlBXb0gn0tug6uqwBTOOXBKtKgcJ9VgUKPQCpCs92XGrBC0ryjOemtpPnCYvZ6btA5pPodde6LqH4FElIg3d-iEmCtSVVT00jae6eOe7fXYIYcpiwD8c_nAl-iMqNW0fp2BCcc6HjGXPygaEZJoLHcsINQAWWtoImtgasCEf9QYCDQRNf81thY1pSFUuhC5BP4t2i6y0AgTnLvapa0vAA4la6vZq9MdBhTjsSrZOT2_eB_99X9MwffVtJaopPLtBkKNWNCmDPTJua3JqR3qcBrbZWy-VPpohWO4CpSUTjmEwFLoeUIRLVjokoOhipYcLG3ss0gyhqSvRJtPeJzAEd4Zt8YRL_vVN6sMK2C6M0dcwEvQ8psUxSfYY6Ot1u74mJzetqryqD1otCmLriY-_WT4T-yn45aJbkDCgcCa0yGZaCqUN_iROC3ZFE2C-1-K_KHGSQjayXpB0wywVysCjJfaYF1eqafBwzjNBVknaU5goQRce5-d8Srn5wfMz_fi8G-ArwA9ztTNO4cR1IVup7PzYNZ-cD5MuhKYSo4wiTTENkBBcX0sA1tn5hAtr5MmK2fyxn9-D2h1UE4UYC_56lEA7tpiur08DtTRX4Eki09RyLyE8aTR-oURZ4jGqQCm7hx4rh1QW6MLFwYXMyltrklK8QpzyMWa9S0tWgEPqa0FhQ7YtefdtU65y4ug1ZYhdc_wMN4ua8l3FjytnHZu8yuncoQbt5pyAoxmbIzcVjokyR2TCFVkNKPqbWlaItuuVQxXYRWHJ69jWLGzk063PeOvTbDBFRHmyE-LfcZEDxPfDmfjqvU_R71YIIq3Ggxi6deA72xSkUpXn8M_-ZDURy9kF3pKB_3jHAHUPPrAhMImQVg4_SKTuhV5w5rMUHQZJn0R7OWOdDcqNNNWL1BvOiS1vRkL4TpFWJkwBzQqU6EcwSoIha6DDswurlI3ooeAbZQItSMd_Qe3O8Nwn0tcF9ebmNLIYuHp4PoXSttX9xz37gDoIlYqcE9PFXYMKyb5Ck3SviOY1M9ezRmIxNagY-gblTvURfBWkRtbUxEtqj5opVp9tVkySds9xK3Fj_SyPwJYG3-sfQ_tlmzqo3lwpFY-DjoSYMHnpB3Em45ibcINcNW6SndvasgXS0hI4cfT6o6LLvA==",
  "id": "rs_09ad9d8756f70e63016ab42b3ae2b087d0b26901d940867e17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.369,\"right_y\":0.338,\"right_z\":0.12},\"note\":\"The yellow fruit is still on the table, while both earlier fruits remain in the blue bowl; the bowl shifted farther forward when the gripper approached. The yellow fruit now sits well ahead of the fingertips in the wrist image, so I’m advancing toward it at clearance height before descending again.\"}",
  "call_id": "call_jURGsHnRCdeQ6nNrwrOquuXQ",
  "id": "fc_09ad9d8756f70e63016ab42b3cae4c87d0a1caf89c530e3905",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jURGsHnRCdeQ6nNrwrOquuXQ",
  "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]: [-0.1051, 0.9825, 0.8093, -0.6338, -0.1638, -0.0525, 0.9978, 0.9398, 2.0354, 1.6341, -0.7376, 0.5766, 0.5144, 0.9962]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1722 left_yaw=0.0575 left_pitch=-0.2271 left_roll=0.0992 left_gripper=0.9978 right_x=0.3572 right_y=0.3317 right_z=0.1096 right_yaw=0.1403 right_pitch=-0.3207 right_roll=-0.2378 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -2.5231, 6.8034, 1.5116, -0.1197, -0.0513, -0.0122, -0.7316, -10.865, 7.8838, 1.0134, 0.3443, 0.0952, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8acbad0f31cbf6984af1d8715d4f3254684decd1c4005669f0e82d66299480f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d47a2cb903e09da5777e01083ac3fea40d75bba26326c0a38ef3b9247caa66b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:328084f7867974597565c94dcb689426af5bbd0f9c78ff26b98008b565bb5e07",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.902 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]: [-0.1055, 0.9791, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 1.0267, 1.9347, 1.1217, -0.2718, 0.635, 0.6247, 0.9977]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1734 left_yaw=0.057 left_pitch=-0.2222 left_roll=0.0984 left_gripper=0.9978 right_x=0.3066 right_y=0.3113 right_z=0.0344 right_yaw=0.1425 right_pitch=-0.2338 right_roll=-0.1556 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -2.4957, 6.8444, 1.5458, -0.1294, -0.0757, -0.0171, 0.2803, -7.6923, 4.7521, 0.9988, 0.3639, -0.0122, -0.0073]",
      "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]: [-0.1051, 0.9798, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0248, 1.8282, 1.3754, -0.6983, 0.6239, 0.6098, 0.9955]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.173 left_yaw=0.0574 left_pitch=-0.2237 left_roll=0.0987 left_gripper=0.9978 right_x=0.3036 right_y=0.3078 right_z=0.1193 right_yaw=0.1417 right_pitch=-0.2851 right_roll=-0.2127 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -2.441, 7.1453, 1.4628, -0.1294, -0.0073, -0.0122, -0.3624, -12.506, 8.0889, 0.9499, 0.359, 0.0464, -0.0269]\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 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]: [-0.1051, 0.9825, 0.8093, -0.6338, -0.1638, -0.0525, 0.9978, 0.9398, 2.0354, 1.6341, -0.7376, 0.5766, 0.5144, 0.9962]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1722 left_yaw=0.0575 left_pitch=-0.2271 left_roll=0.0992 left_gripper=0.9978 right_x=0.3572 right_y=0.3317 right_z=0.1096 right_yaw=0.1403 right_pitch=-0.3207 right_roll=-0.2378 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -2.5231, 6.8034, 1.5116, -0.1197, -0.0513, -0.0122, -0.7316, -10.865, 7.8838, 1.0134, 0.3443, 0.0952, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8acbad0f31cbf6984af1d8715d4f3254684decd1c4005669f0e82d66299480f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d47a2cb903e09da5777e01083ac3fea40d75bba26326c0a38ef3b9247caa66b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:328084f7867974597565c94dcb689426af5bbd0f9c78ff26b98008b565bb5e07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ad9d8756f70e63016ab42b3f375487d0915e49aba5609212",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.418,\"right_y\":0.355,\"right_z\":0.105},\"note\":\"The yellow fruit is now clearly separated from the bowl, but it still appears ahead and a little left of the jaw centre. I’m advancing roughly five centimetres and making a small lateral correction to align for a clean grasp.\"}",
  "call_id": "call_axGHpunVb31lYHaIe7na4KFq",
  "id": "fc_09ad9d8756f70e63016ab42b41425c87d0b4e36dbdd537ea28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_axGHpunVb31lYHaIe7na4KFq",
  "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]: [-0.1051, 0.9848, 0.8093, -0.6346, -0.1642, -0.0525, 0.9978, 0.8745, 2.2547, 1.9217, -0.8089, 0.5388, 0.44, 0.9963]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1714 left_yaw=0.058 left_pitch=-0.2301 left_roll=0.1 left_gripper=0.9978 right_x=0.4068 right_y=0.3509 right_z=0.0918 right_yaw=0.1398 right_pitch=-0.3568 right_roll=-0.263 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -2.5231, 6.9949, 1.5214, -0.1245, -0.0757, -0.0122, -0.4855, -13.4359, 7.9932, 1.0916, 0.3297, 0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b568b5d870e5bc5002424e426cd371a6a9d6b1aabf6667ddcbb07a2a17d7cd63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfda8acc77bf6a805c1ea94681fc996a8f6e1fc2cdd171be5beec708a1769f57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52eeb28eefbb16747a7d68dd7f36678746d3786bd891269e888dda5fa5752e22",
      "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 · 10.66 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]: [-0.1051, 0.9791, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0248, 1.9579, 1.1076, -0.2729, 0.63, 0.6205, 0.1245]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1732 left_yaw=0.0574 left_pitch=-0.223 left_roll=0.0986 left_gripper=0.9978 right_x=0.3032 right_y=0.3054 right_z=0.0202 right_yaw=0.1383 right_pitch=-0.262 right_roll=-0.1865 right_gripper=0.1245\nstate[joint_eff]: [-0.3487, -2.2359, 6.8171, 1.5067, -0.1245, 0.0024, -0.0122, 0.0068, -11.5761, 6.5983, 1.0427, 0.3394, 0.0024, -0.0122]",
      "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]: [-0.1051, 0.9825, 0.8093, -0.6338, -0.1638, -0.0525, 0.9978, 0.9398, 2.0354, 1.6341, -0.7376, 0.5766, 0.5144, 0.9962]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1722 left_yaw=0.0575 left_pitch=-0.2271 left_roll=0.0992 left_gripper=0.9978 right_x=0.3572 right_y=0.3317 right_z=0.1096 right_yaw=0.1403 right_pitch=-0.3207 right_roll=-0.2378 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -2.5231, 6.8034, 1.5116, -0.1197, -0.0513, -0.0122, -0.7316, -10.865, 7.8838, 1.0134, 0.3443, 0.0952, 0.0611]",
      "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]: [-0.1051, 0.9848, 0.8093, -0.6346, -0.1642, -0.0525, 0.9978, 0.8745, 2.2547, 1.9217, -0.8089, 0.5388, 0.44, 0.9963]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1714 left_yaw=0.058 left_pitch=-0.2301 left_roll=0.1 left_gripper=0.9978 right_x=0.4068 right_y=0.3509 right_z=0.0918 right_yaw=0.1398 right_pitch=-0.3568 right_roll=-0.263 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -2.5231, 6.9949, 1.5214, -0.1245, -0.0757, -0.0122, -0.4855, -13.4359, 7.9932, 1.0916, 0.3297, 0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b568b5d870e5bc5002424e426cd371a6a9d6b1aabf6667ddcbb07a2a17d7cd63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfda8acc77bf6a805c1ea94681fc996a8f6e1fc2cdd171be5beec708a1769f57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52eeb28eefbb16747a7d68dd7f36678746d3786bd891269e888dda5fa5752e22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtG_-qd5P8_STsavv-9JADMoMIoLvV-ZKuuj5CbMx8wFS3AK0nc5hw_DPU49z0VvxFOatsobAdDbpZHg-v7maYshCIkC1NGEIOf_Zlyic7m_lLL7vp2fGPkgHMm5IEUTSdsYrpmxiOZOJVOCt-Zy4eFXT6cx7fxFPpnagnp61PQUAyhKr4Nq9Npd5GI55XfNyzc_xaqNrL5HUkDa67-r1Yclp2jXnqe_ZEXgLVaG1UWE_-UUU-5LPJkbshWVoK_WJ-HC0OXqcC0OZws7Hxm9D8VTDz20enqoNuKROKBOjI-Jmk2TftM4l1OFhkS3RwpdCCTwYNfVDp6oKeERaUjhTs3NXo8UzOrKvFmAz558_c0qDfhI2fuWcWWR8VQ5KrN3yCD8CB45IbR4nxzK8mMMye6aRIJ-ZlpNhAcLYMMzSgWdmA8VUc_bxbb3NcyMvBsnPn6Sgd49d1v2fqrejn1lYhR7wHVk8A4wLHA_BQ56feHvJVploKmI3_anKU5aEy8S2oVEccs0VI7Wy3CosDsYJ_jpLIXYGFRx2ILaPS8j6e1wAWNNd1cG4IfiZDd5Xga418H9nl8viHMhtG1soAgwVYVPzUfe2iP0xpDXPOtl0u7JyZpzaprai4s0fWV2Z7XUDbPM443hp_w4zSlm2QArSWNVdnIJr5mHu0LWcQMJQ6qVkk_85cuLXiTq_ECvAL9ZVW8_XjFixSIYG-2BZajfGoob5wFOwGMTkZQiAZv70ofUOQma46UXvuABo4Zvmr6jcjJgRDHv1XtDmdTWDzmpn6FPCTnTRPC7HCdxZP33BW2TnVClfzhahVAaii6W7R1KbDcLtenBWWLdOtF37i_W8KtKMyBBUKUNv140eNH3McmFj2qi2w2yyLdSue8ZncoM-yOsZ5H0yl7OmMEHorYggKWSvR2iuyb6WtulWlLfglAUk5PyTxPuk5CqswB9K3XShOHC1qsg8wcu33kjGctQR-NqJA5LTiZxqyyit-ugfwmuFdXkjrOzjzFOR_dY_aoeMJ8JVm3dpXhlrB1Z0BkELCdTMPMDe9kSqpL4GwceRwbtUvrpC5AAO1mN4liNXfAXkrMrCb2u-NTS0khEP9TZyURHhVHU6RWnBXbd4wqPjGKo8igpsimdFm7zGivqhija4qf8JQd4DGrHemLpdQXb_LV1js8Iwk43n3k1FPUEtTlYYNrZpHGWJRYd7dXA68veBVh-TzkrGUoOcZ0_2VBgtcD337DDqTors9IM2JIJ6Dxa04jYXLH5pPW9O7A-W_EBGOzG8zz-dfnorroVWz73oaHj7u81BJGn0phDzifgB1AI7WYr9kmxaQnOS_6Qx3kMmR4qZM69RGrrMUyVP94Qzmn4UOg9FCld2RzL5YCxVWVT5gnJannXtcXdEOHGTHweM64SnCZPfw0sbbbwVhloK4v5pKbCXUebvTU8rdl5PW-WXLY0pGyjkvvtqY_3H7v2CEfLkc0VK5T-sv7shSjLAejzfyB6pcW6XLnAN9Ne2q5qw8XYXR65f3vxuBarmTZmTYCkg0rOpHHfX0XvoP8m31RfMFtQIXufNcqylIQqSNxyoHF4i5twsn-suTYiJiUcTYlDEF6_KTgljo_7cpZLvGaK2zw5j5fjcVzujPPx2ORcrUKh8Rif1YwltnQDabhoK_9emMTkF6Hfr14k0ZA5I62w2s2-mQceGXNwhjrZSO1ma3hmBV06ISdrjWdsm1xhKVvdyf1T7L2re2oeP60FLwuvPSL7BKyHz1E68xhfOuo-6alOL4TFUIed7ucCNIlCZSpt1sUM_j-Apexct0UZeB6-2t2KYH6hRmirC0kxOHEjaj0ehjLxjsXfP2ngUQVumSUm5JFQ9_LHkhomkBoYPX7Ji9xkDVzGACOLIi3U7_BeqDNh1DWANRf4oUdXxkQe4tfg7RzQ5Fa-oaPIHH4TkTH_ouS0hrflsdl_dcnT8aklxzaKM8DHmQ_vY_JBFcA-Y3bpfnAUL8unlS6slGmU9U2ZBEWBFBZYGXW5Vq3zqteZKrL4ZefbD5Ua1BmVC7hI3k2qksjdoctwqRCy6YylaLbPAquSc9A_2vaBiBD83_fdctR5nK5PqwznKbu0Zq9jVjXd8VXQ_qNiME_5Aw5vY8Q3UOJCtzFaTQGMHThPwWwEwr_fIvAAd3s9DkdAcPgbwaW7hTloC1Gv1DQEcKjy6bz-AgEpJfXDQz4e63nhHcxR-fRn-33RTh02aRUt-9zEkbzqr93lXuDw1QFpNs7qoWzc9hCql1vDcvLpWiDn-cMldLUA9fiZ3qym5DX6aSxeW5LGlpnK_aBFzSE0dBHGlBrniovQbyxn6pfZuZozI7PTLfqWU_6b88C1AJsh_QXoFQE-QAGE9Oju_Lqhr7W6c7QDa7OunaxRCy4MvqTswbcYxPzXHijgW-QU2sZK9CnydPh",
  "id": "rs_09ad9d8756f70e63016ab42b44840487d0b2879ac2eabadeb0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.432,\"right_y\":0.35,\"right_z\":0.029},\"note\":\"The yellow fruit is almost on the jaw centreline now and near the lower edge of the wrist view. I’m moving a little farther forward while descending, to avoid closing behind it as happened on the first attempt.\"}",
  "call_id": "call_smUZJowvBToO11OcaDTT0LzN",
  "id": "fc_09ad9d8756f70e63016ab42b45f42c87d0af9ef285e68f0199",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_smUZJowvBToO11OcaDTT0LzN",
  "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]: [-0.1051, 0.9855, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 0.8368, 2.3535, 1.8671, -0.6727, 0.5186, 0.4046, 0.9963]\nstate[eef_state]: left_x=0.2963 left_y=0.0013 left_z=0.1714 left_yaw=0.0576 left_pitch=-0.2294 left_roll=0.0996 left_gripper=0.9978 right_x=0.4242 right_y=0.3448 right_z=0.033 right_yaw=0.131 right_pitch=-0.3871 right_roll=-0.283 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.4274, 6.9812, 1.4481, -0.1294, -0.0757, -0.0122, -0.2393, -12.6427, 6.2701, 1.2821, 0.3199, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728c00bae30e348f81465034d2e4ec71b174aca187969865b3dc3fadd06c8dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b17cc0b060eb90755e6eb4db4efce06a8c1cf3d6e5a38925e3e49bfac7ec6e62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d84156f48ae0d4276265660b0ae6c7d4ba3d220503f1b1dd28366ee4f934c78",
      "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 · 4.496 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]: [-0.1051, 0.9798, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0248, 1.8282, 1.3754, -0.6983, 0.6239, 0.6098, 0.9955]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.173 left_yaw=0.0574 left_pitch=-0.2237 left_roll=0.0987 left_gripper=0.9978 right_x=0.3036 right_y=0.3078 right_z=0.1193 right_yaw=0.1417 right_pitch=-0.2851 right_roll=-0.2127 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -2.441, 7.1453, 1.4628, -0.1294, -0.0073, -0.0122, -0.3624, -12.506, 8.0889, 0.9499, 0.359, 0.0464, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1051, 0.9848, 0.8093, -0.6346, -0.1642, -0.0525, 0.9978, 0.8745, 2.2547, 1.9217, -0.8089, 0.5388, 0.44, 0.9963]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1714 left_yaw=0.058 left_pitch=-0.2301 left_roll=0.1 left_gripper=0.9978 right_x=0.4068 right_y=0.3509 right_z=0.0918 right_yaw=0.1398 right_pitch=-0.3568 right_roll=-0.263 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -2.5231, 6.9949, 1.5214, -0.1245, -0.0757, -0.0122, -0.4855, -13.4359, 7.9932, 1.0916, 0.3297, 0.0708, -0.0073]",
      "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]: [-0.1051, 0.9855, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 0.8368, 2.3535, 1.8671, -0.6727, 0.5186, 0.4046, 0.9963]\nstate[eef_state]: left_x=0.2963 left_y=0.0013 left_z=0.1714 left_yaw=0.0576 left_pitch=-0.2294 left_roll=0.0996 left_gripper=0.9978 right_x=0.4242 right_y=0.3448 right_z=0.033 right_yaw=0.131 right_pitch=-0.3871 right_roll=-0.283 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.4274, 6.9812, 1.4481, -0.1294, -0.0757, -0.0122, -0.2393, -12.6427, 6.2701, 1.2821, 0.3199, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728c00bae30e348f81465034d2e4ec71b174aca187969865b3dc3fadd06c8dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b17cc0b060eb90755e6eb4db4efce06a8c1cf3d6e5a38925e3e49bfac7ec6e62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d84156f48ae0d4276265660b0ae6c7d4ba3d220503f1b1dd28366ee4f934c78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_09ad9d8756f70e63016ab42b48273487d0b28ac4a7fd385881",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtRJkYqJt8aX59ODaSwXWhdOehrYtmOIm8XmbMKd2tqUXMEwnADrdlbyjwNsO_eqGoIC2B4OlIGTu9v0w4-cVEKPzFBol8J5tElgdpzbencBPRstqsymiXH8Kec68MavtVGkzL6dJVdeO8y48qdeqSLcLZP__iU2nsbKVw_7j1PyxpAWSz5CPij0Ix6Vn32UtcALNE7MXj81_VT_TKsX7TTgCLqTnqP9vZds18_iKlP6yW1PXfMGy_m1MQB3EhC-mPHrjfuxC7UUkd-G0jBpgqIO1Bm8pN_pBRa4_s-eZmvbL-cprUgeKyBf15H2kSWJk0Xig8wu3Bpvd7kf05QoekUEBweWKtoHPHHyd-o9UyY2SQc6wfW64iJWS6pZjwWka7QCpgz-Iav8wpa2egzx4v3zW3lLoJ0g7IfkinnVmW0MqJHYp56_NTNiF4YLTc2Fl8wQDBPXNOKRcSKckykMmLrztw03BOtSHRvgROB7gxtIcRbPS2gcPZkMgZ0ZRZH6hemDqPiGPs1dn8xsjmg8z_lKEKs5aKAf4xvnC5QJFRyDxkXreH03uWS9k7KZEedICxDG90tQug7uPfax-Z4F-TqVqQDpPJ1P9D--OEbFps5HP6-L7V_N74hHcpSGz91R1hcGcU_7-_7ykeBWZ0o6V5cnLT-eiHe8R5RYH85uo2vBzLCNzwRPPhQBFx9Nv-GmDOnTdVA8-x0dXvGfsAHPKIfWbH-Axnm5obW5Px6cqJKWreKkcRAPRM1EyVRpCfjLRBiNGqtI7kHlewsg51QNV8krQAmZfPpgr33ExsP9TyxEqxjy2h21odpgtPAbf_uIqiF7Fy-6O_wNFJSD9Nbjhgk3HBUxr-NJQu9EsQ8INfmI9JEEYV26KbdiVq2L6CWdFE442G53yLI5PDyPElpRjyQUdfiwt4sPB0wMfs_p8URWA5v4q2gajiollaGjquGGyaKuRhMgtm4foGMaUg5mtqAXr8FvHXvz7eI7yVtcn0tmjC3UgnpTqR3DF0cMOkIcdrc60s8sdwAQA5qMKg4dhUtXn8ONal-q7zY-FX96vOcFYsvGwAZ-hW2PGDcanSn4cSzrHulhj4-psk1JT9FYkFC3P2WU7NkpLjno5fmc2OT1ZizVrlSUTZpeymWjrAq5YQbw7luuPUSixwoO0uMWlH_OUQ4NgYqjpCve8t0ZHYeIhJVTQTJXnTDPwPLMw5h4Gt25txLFweBExCyW2PtXsdtZYkAhCJXG6HRZ12kC3HyCixv0VYy4ktOmdrdrIZlIz1kzbD8Xow38UL9g90NzXpuYmV_JTLfB-F3EoEfbcFXP--5Brfi5boOfC6Dseos1-qtLpYBGrTF4hfz0zF7JNVh1EDnnoM5HkpEEqm25b8F9ZdgBv6D8MmWznbhCNypp5BlFOaKJzArLwP4gApubqp9rxnPM18p6vOVX190mmFyivs2BB5cRC1UTM8myv7BW8PKS3NI9SVuD-DsYiDkhHIDbqxx-5rQ2dYS4JALa0g7F9vTxg0sx4kRisU3AjorQAqqdP1bbLrczLJwcepKyZwnY3yZidW6cfFRKRv4BvBfVCig1zd-SemdhOAVfwsDvZRcUARWYmk42mwoDFzQjgEzB5KBsOAkCO1Qq0BFJwXdAGtW3Dr560pONJtyW0FArg6MT-SCequzDJ1rGlecqIOkpUBW6cVhuxo6MhKAwQRsg5oTOG-FCBF5KerL_bb97CaxslsXvQjrG6CheO20LSftxq6d7s_JIL2bHBfQ7rzhJcWNNDhNMNZ8TM0D4c9KWfCakI04h6yysdnQnmDPx3ehjTMRXPS9Q1LJULtOzvienFutI2gUPScl_5Y581NZBlbR8Q2koADB8LU6PQyaKrzPFVA05iLK1nSFnd9lbn_HWGeshSWzu8TWsqJQtj7Wkb2xDF3-DJ_kYhzPZb6vpDDqmK2MKOCYT1RnHx84xIP-MpTNLqDAUMmS4fO-c4RgdeB74pQSe0H_ekGkQePSqfA0Amn7wVpfXNIHYHlTPn7Cg6VFHUDLeIVUCRCFADgtkPZU1yh78IZ-nTlljxgVASS0yks2KytmOZyjqUM6gCba48cnJpiW5PnnbwhyAriwJ20w2TbwS5QAoUpcjkkeneZutSNKybn06qdLQxLr5yfVwI8BirGYS1H64vg8QdsAv0n3XxB4273TnpA_3H2peK5de76zzAfa7pSiUl9VnPGqdnY-XSnUyQ91kVNNlVaca__92WsPX7QVqRjIzlF79S0GP4F14HO8taJewIOWmBRoPmkJIbHgPtcbko3P0WpzqauZepWpDLLE3S80LuTPzRd3oALWYrL3Eex8kLkGPCM9LGGezkSKPQM8fDm6a9Y-Acbeq2QDGU4lUdt5-5JdVg3QUbzPrDXT5fffWgS9oxgUL6Ig1CWNkdLtCSRp3iEMRYHli0P3UScNEBeSGo3-uz5NJKWe6ryVUjnmM9ykQyR8CPlzaeLw5NSszFEeB76CnSzCo24y21jv5iUMUwcSVwVl55ZYvspIUzXwy9ypXD8ue8Wa9Op6hjMfLBKP3EbBHDmcs9JdQDROXZwdMVhv4ASKALMtl2_VrFgt0B3KNEAjCvQdHKs8mmZ2vFNFROehz6YJvUnuUuZR8h54RPp0jwN_WgWQSZPorpiUJGJiMBPfwxlwFal8TctQtdImxsiIFWKlDnVS8Ipj0sA4JLeW1vDK7UIrb7fvQJ3tgaBPz5AcI8LAKPtbd1RUJJOE-cTWmksGFCqTvR8EmbJSHYiWOb9xGbRMbErKCPExRxl9De49YnSy5zPZ6XIxDPHU9eAanaHTOMpgTfCv-LASyd0MKDW0SvuGe36KN2Nd7C0qyEiMZczCT6oe6dmzfP8poVMyMwI3QGP1A6wiNWTV3vhh1k4OxMPKVwsrCM7ytM7awOlhfBtQ4qgl1GylVPw-LEdZW8UkgcYsG6g7WYY_MFolFOEc58qFJYKkvfakuWOPDlYcmu9_kjstimt4AGn2zh68p60mSLmX_DOQCtrH6AwZxOSRD2Pb5zZyI_9IA5hkhN3l5-F2PtP77M-8u8l9w6FW3iy4snfww31x3LLXOH1OkKf0zkh1X6Ez-g0mdeEWC2GqITtHy4_OAnUVqk8GWCfN2BnTBrONR59t4DAujQHd4wICZ9CffOUGYWn0oM7rOuzRl_npxcUSlVsQ-Le8pz6UwqdElyKvGRtJtA2C7lJd7y6JbSwoqRg8-XeNtsrYTmQ_p2x_6BwYrRKlNy5CH2OH-wk8OrGLfhJb-p5Cd9gcTYsrQRc-A1MbBqvbmHx2eAsuwQQKEcsUj6nidQpp4h1bU-jFn4EqDdziFaWgzqJIkoHFHcUULgJvYK2BVQKkuTx7sqNdavD3rW__gXMoo4eYahK1",
  "id": "rs_09ad9d8756f70e63016ab42b4ca88c87d0b4d1c488925cb192",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.31,\"right_z\":0.10},\"note\":\"The yellow fruit is still visibly separate from the right gripper in the overhead view, and at grasp height it disappears below the wrist camera’s lower edge rather than sitting securely between the fingertips. I’m backing up and lifting to reassess its position before another close.\"}",
  "call_id": "call_wLqG9aHuHbxHt0D3Kzl24O4R",
  "id": "fc_09ad9d8756f70e63016ab42b50df4487d09316671205f0ad2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wLqG9aHuHbxHt0D3Kzl24O4R",
  "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]: [-0.1055, 0.9913, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 0.9379, 2.0155, 1.5574, -0.7532, 0.5377, 0.4896, 0.9963]\nstate[eef_state]: left_x=0.2968 left_y=0.0012 left_z=0.17 left_yaw=0.0574 left_pitch=-0.2343 left_roll=0.1005 left_gripper=0.9978 right_x=0.3408 right_y=0.3177 right_z=0.0883 right_yaw=0.1573 right_pitch=-0.4007 right_roll=-0.2819 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -2.5231, 7.0222, 1.536, -0.1099, -0.0806, -0.0122, 0.3214, -12.0137, 6.1744, 1.0769, 0.4518, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f974cacd3869935f671d6f004ef24eacd6673a89241535c4b5ec7b2f4bf727",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a4d11395e50289230ccbb1b6ab446e6be3d4eb3a814bc484bf4e50b209e8ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384cc213d483a41fcb1010eca6242820edc34595122d710a4afe4215344a5caf",
      "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 · 2.982 s

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

message 86 changed as sent

message 94 changed as sent

message 99 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]: [-0.1051, 0.9825, 0.8093, -0.6338, -0.1638, -0.0525, 0.9978, 0.9398, 2.0354, 1.6341, -0.7376, 0.5766, 0.5144, 0.9962]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1722 left_yaw=0.0575 left_pitch=-0.2271 left_roll=0.0992 left_gripper=0.9978 right_x=0.3572 right_y=0.3317 right_z=0.1096 right_yaw=0.1403 right_pitch=-0.3207 right_roll=-0.2378 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -2.5231, 6.8034, 1.5116, -0.1197, -0.0513, -0.0122, -0.7316, -10.865, 7.8838, 1.0134, 0.3443, 0.0952, 0.0611]",
      "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]: [-0.1051, 0.9855, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 0.8368, 2.3535, 1.8671, -0.6727, 0.5186, 0.4046, 0.9963]\nstate[eef_state]: left_x=0.2963 left_y=0.0013 left_z=0.1714 left_yaw=0.0576 left_pitch=-0.2294 left_roll=0.0996 left_gripper=0.9978 right_x=0.4242 right_y=0.3448 right_z=0.033 right_yaw=0.131 right_pitch=-0.3871 right_roll=-0.283 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.4274, 6.9812, 1.4481, -0.1294, -0.0757, -0.0122, -0.2393, -12.6427, 6.2701, 1.2821, 0.3199, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9913, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 0.9379, 2.0155, 1.5574, -0.7532, 0.5377, 0.4896, 0.9963]\nstate[eef_state]: left_x=0.2968 left_y=0.0012 left_z=0.17 left_yaw=0.0574 left_pitch=-0.2343 left_roll=0.1005 left_gripper=0.9978 right_x=0.3408 right_y=0.3177 right_z=0.0883 right_yaw=0.1573 right_pitch=-0.4007 right_roll=-0.2819 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -2.5231, 7.0222, 1.536, -0.1099, -0.0806, -0.0122, 0.3214, -12.0137, 6.1744, 1.0769, 0.4518, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f974cacd3869935f671d6f004ef24eacd6673a89241535c4b5ec7b2f4bf727",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a4d11395e50289230ccbb1b6ab446e6be3d4eb3a814bc484bf4e50b209e8ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384cc213d483a41fcb1010eca6242820edc34595122d710a4afe4215344a5caf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtW-CxB3J_bd2mb9VHlUI4wd2ljdQGo9J5kOLhAZbRjkpeUIeNSneEaOFTXkNpayVl4ix5UKVtY46nXjcy6lxa1Ml9KWCD7PY7WAo6wPNpMNresotyZQTvrdTUWZDWMbol48TE_ea6NrTClA15fKvx3XZ5gbzzD-iipAFeS_UykKJbqP5-n5B8_hs1zUkw2NrbXgu4em--2EH590Nq13N6lLsqvygrqaGopJCOuOsbxovujpw-4ZD0Cwer2acihSwI6Y3Fj9TfIwQbHtOym4Rlk1A7mWSpwBrxcY0q4wUaNmOrxdIDowYs3I30M_R7vhm709jqZBJC4LcYSgVDqWP0HapHAR3wltD0Va06dH34xL0aOGxwyxH2LYdlPrbtAY3K4BL_kFVRikRloRL-7Xfi2bSxZn23lMGytj1ClNSXDhVQ9k5IiqKeAW90nHZu3et6J2-a-QLfDAGsnM75NuADqL-DCjPMjq89dHWH8JOC71Y6jM9InW-ZWsBdmsEbmO66yK4IU9mF4if4YA4gElUGCM7-gVXMcHasb1_a9xPe6hhM7J3vm9N6YZELDFTEPkQCZRXAkYg34PC_uq7fxWNAKFyM-rUEMiSZ_gE-2iNu8czplTyHJRcinwOVWmtrdBAJXcI7ixbT59zsOD0JyB1tcPAvMMYR6qfw249q9ppmpxQdNAMmyEsWbd1YxEH54x1lgqoF5L6SZis15EIAfWMwJ6L5SFnbIOhJrskfWtkqiNQ_rQP0Ct9bCsP6MRG4GO4-ORZzIgizM6D-GcAkrzylqb2BgYXeotzduaEgJFndKy7-5WP8xWoh1TFwqgGuUDGP1UEWd3Zf2ocdOOGoACbHG8VBXYeqiOdNJ3rUIP0ws_RuIjtcy5xfkDX9g2DVea5ZEOsu7sh4IXDrlLZ3zDO4AcTlwSE4GteGzwzsbb4jXtUJmni2P6l4jJkHorqD7zxS7CWAkcuEKmmtRbyMtxC-rDX9_X6bsSbXwn0tOd-_tLC6sdWEj3H62iHMYHbyPZCNwTOpQYroDbnYo4yQWiio_KHfDniVS7lX3d3MWZTYw9sn3UQVDo4By0e4pun6oGbN8u2IbMdIQa3X_rMagM9xdz3Q1g2dbKmQ_6etAH6Tq69pNIhkp5COVue4ZPH8qYxwSgMs2kxrWeQBSAZzaSWI6j9Kh6HzWSBaC7gqx5bCOiNJxT9_-QysEwuF9oPbFNewTWz1hEEbJYD4VuyZfu5JvB3oLDbfEs1Hv2bX6NY0Hz946Qp0nb6RFUT1_65sVMrQZobLTtW_iveftiuB9-hJ9DosfVF4vuk88VjkQmgnCGqmu9SpnyRPTycWCJttAZCbxElT53a5qj6TiYa2c1kE8UOt89pckQRFZ1pwEJ2BCF5zFOnauGPRbCYskNY4aoRruZBbq7Ye3qbCh99nPJBn1oMdqvvDJ16xN4IyCPUMVUIIfGhLxsgumY2CjeTe0zThBXWbAqbfGFWZnERdE6njYLMlJspW5FJJUaFRUAQB_LFBINDBKspm1zAdgTpDcay0843sl0KOOoy52GNSqsL2XS84sxBQ3c0HUaQGDGkyanL3s7VxXkYePrYZFpIOms6010e8XFYbCEduD3GTGzQQvlfQhPE5JykoEZgcHzzuGGY7dIqy6vwhYnVV-bM20crr6_LV7YuAoauZ42jqcjfc3y57BBFFFNDebccxuJyj21RY-GCB_1LtNXRp9WddR_aT74LmAIx6dAt4AXn3nWXDP5P59oWjgsBSoPHYIZC-IK43stQ8gxDRKZhqraiuDlftVNbH_cneENXlAid8vW4My1S0TeGY-GMmoLRAKx9YX8o2NT2pAMM4WV_2jOtGEHa_YuqISeW20F8FCarFneVg9nO_34pJHQ4b67sPxCyfPQQ0qGO0THU9R0RW3yHxAZnht1XU0HEStET1dX0IeJazDOi5bUrb2fYrp96rwFy1oMGfSMr9UQkHKTSrL9NpPNwwt50KEy9D2sDCED3gD4E_cA23ZgXVNGfN7RvOhKggAgK5UxkZolj7e3breWHra5-qoyGJNHenCqK3_9XAlazo8riJkj5L3GJnWgNRBZT_sCBF4yZNyYcHGAwGmZUBguzLdFhFjVySUAlZAnwX9ZE2tX47iFZv3dGq2xsPloNvhSn2J-sTqVczdLpemLjAX-L3qL6hJ4FeojHihIkfGf6fX7SOFM8TDPdj98xEkSObL7h5VrsR_BTJcHr5eNf1GadEdrZp6LfD9j5evSHS5dLRPszwDgeRrPQUYXIEmNSuMUXnZFoNMgpGq9zdBNKUvO9-_78FvPtN4TrNo_PY-mULrwKGr4LgLJBUH0OZz5b1iQGoBMe5ADM_vHJWJ81Vggj4QiBPEfd-zVv08X-0N2rZ8_IeI2o39vy5aRqDni4FCwPgn-7WihQpybpceqLy0ZQ-7XBGpqyqLi1VV54COPOIGAq1N_w8gyhugn1FEmmdKU7SAO-P7rxnzq6xXkl1W-2imR_dSREkq0Zl_pGWe-cZKR-1yTjQzbAXElFvw6fL23yWttN9rroU-iXqXSl5x-Bio77YsixrqssVa6V_QAizHZCF3JTuoCVZ5PWLNlmXPSPzCAsXt817bST_l1Kf7hkqp636gtafzTFOViLmSwF_PgQ==",
  "id": "rs_09ad9d8756f70e63016ab42b536c1487d08fe1195fbb296c74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.377,\"right_y\":0.317,\"right_z\":0.034},\"note\":\"After backing up, the yellow fruit is clearly visible ahead of the jaws in the wrist image; the blue bowl still holds the other two fruits. I’m approaching by only a few centimetres while lowering, so the fruit reaches the jaw area without passing underneath it.\"}",
  "call_id": "call_3v8TUrk33QoK2108P0mGfkvZ",
  "id": "fc_09ad9d8756f70e63016ab42b561e9c87d08f38cf550df1114f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3v8TUrk33QoK2108P0mGfkvZ",
  "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]: [-0.1051, 0.9939, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 0.8783, 2.1418, 1.5372, -0.6392, 0.5064, 0.4309, 0.9963]\nstate[eef_state]: left_x=0.2968 left_y=0.0013 left_z=0.1691 left_yaw=0.0579 left_pitch=-0.2377 left_roll=0.101 left_gripper=0.9978 right_x=0.3635 right_y=0.3096 right_z=0.0317 right_yaw=0.141 right_pitch=-0.454 right_roll=-0.3187 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -2.5504, 6.8171, 1.4725, -0.0904, -0.0659, -0.0122, -0.3897, -12.3419, 5.8188, 1.3065, 0.4322, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7786acbb2b9fdd35534932695b2fb1eeeb4f88f3e57b8c7b8bba38d4d2946d77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:696ceebff43c968363782bbf6e0e0e505a5bc9ed642a297fa8b40955d0300985",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b4c1c3ff28442cdb8a56e49e66ae2c01529b49c625f5b5049dc53ba17b91c73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 2.579 s

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

message 90 changed as sent

message 99 changed as sent

message 103 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]: [-0.1051, 0.9848, 0.8093, -0.6346, -0.1642, -0.0525, 0.9978, 0.8745, 2.2547, 1.9217, -0.8089, 0.5388, 0.44, 0.9963]\nstate[eef_state]: left_x=0.296 left_y=0.0014 left_z=0.1714 left_yaw=0.058 left_pitch=-0.2301 left_roll=0.1 left_gripper=0.9978 right_x=0.4068 right_y=0.3509 right_z=0.0918 right_yaw=0.1398 right_pitch=-0.3568 right_roll=-0.263 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -2.5231, 6.9949, 1.5214, -0.1245, -0.0757, -0.0122, -0.4855, -13.4359, 7.9932, 1.0916, 0.3297, 0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9913, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 0.9379, 2.0155, 1.5574, -0.7532, 0.5377, 0.4896, 0.9963]\nstate[eef_state]: left_x=0.2968 left_y=0.0012 left_z=0.17 left_yaw=0.0574 left_pitch=-0.2343 left_roll=0.1005 left_gripper=0.9978 right_x=0.3408 right_y=0.3177 right_z=0.0883 right_yaw=0.1573 right_pitch=-0.4007 right_roll=-0.2819 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -2.5231, 7.0222, 1.536, -0.1099, -0.0806, -0.0122, 0.3214, -12.0137, 6.1744, 1.0769, 0.4518, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9939, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 0.8783, 2.1418, 1.5372, -0.6392, 0.5064, 0.4309, 0.9963]\nstate[eef_state]: left_x=0.2968 left_y=0.0013 left_z=0.1691 left_yaw=0.0579 left_pitch=-0.2377 left_roll=0.101 left_gripper=0.9978 right_x=0.3635 right_y=0.3096 right_z=0.0317 right_yaw=0.141 right_pitch=-0.454 right_roll=-0.3187 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -2.5504, 6.8171, 1.4725, -0.0904, -0.0659, -0.0122, -0.3897, -12.3419, 5.8188, 1.3065, 0.4322, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7786acbb2b9fdd35534932695b2fb1eeeb4f88f3e57b8c7b8bba38d4d2946d77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:696ceebff43c968363782bbf6e0e0e505a5bc9ed642a297fa8b40955d0300985",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b4c1c3ff28442cdb8a56e49e66ae2c01529b49c625f5b5049dc53ba17b91c73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_09ad9d8756f70e63016ab42b58817c87d09e5101ebaae272a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.07},\"note\":\"The yellow fruit now fills the space between the right fingertips in the wrist view, with the blue bowl off to the side. I’m closing at this more conservative approach point and will test the hold by lifting.\"}",
  "call_id": "call_got5oSYamfOMTHAca4nLifU1",
  "id": "fc_09ad9d8756f70e63016ab42b594bb487d0bd1937ac4696291b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_got5oSYamfOMTHAca4nLifU1",
  "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]: [-0.1051, 0.9939, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.8749, 2.162, 1.5269, -0.6144, 0.5003, 0.4183, 0.7628]\nstate[eef_state]: left_x=0.2969 left_y=0.0013 left_z=0.1692 left_yaw=0.0579 left_pitch=-0.2373 left_roll=0.101 left_gripper=0.9978 right_x=0.3642 right_y=0.3094 right_z=0.0207 right_yaw=0.1469 right_pitch=-0.4643 right_roll=-0.3257 right_gripper=0.7628\nstate[joint_eff]: [-0.0752, -2.2906, 6.8034, 1.4872, -0.1343, -0.0513, -0.0171, 0.1573, -13.3812, 6.694, 0.6276, 0.2759, 0.0806, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5b893ba18c5ba42ebb5c52d1bc2098516646f889cce498c5fa1f735e75a4f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e7646dae20e8956784a93472ea3ac4b56a4d6f8e2118286c76df33d7fa0f01d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a814d3121c39eab9d79c98188dfbd325a1156fb9328963b7fd10dded03a8fb7",
      "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 · 6.173 s

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

message 94 changed as sent

message 103 changed as sent

message 107 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]: [-0.1051, 0.9855, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 0.8368, 2.3535, 1.8671, -0.6727, 0.5186, 0.4046, 0.9963]\nstate[eef_state]: left_x=0.2963 left_y=0.0013 left_z=0.1714 left_yaw=0.0576 left_pitch=-0.2294 left_roll=0.0996 left_gripper=0.9978 right_x=0.4242 right_y=0.3448 right_z=0.033 right_yaw=0.131 right_pitch=-0.3871 right_roll=-0.283 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.4274, 6.9812, 1.4481, -0.1294, -0.0757, -0.0122, -0.2393, -12.6427, 6.2701, 1.2821, 0.3199, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9939, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 0.8783, 2.1418, 1.5372, -0.6392, 0.5064, 0.4309, 0.9963]\nstate[eef_state]: left_x=0.2968 left_y=0.0013 left_z=0.1691 left_yaw=0.0579 left_pitch=-0.2377 left_roll=0.101 left_gripper=0.9978 right_x=0.3635 right_y=0.3096 right_z=0.0317 right_yaw=0.141 right_pitch=-0.454 right_roll=-0.3187 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -2.5504, 6.8171, 1.4725, -0.0904, -0.0659, -0.0122, -0.3897, -12.3419, 5.8188, 1.3065, 0.4322, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9939, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.8749, 2.162, 1.5269, -0.6144, 0.5003, 0.4183, 0.7628]\nstate[eef_state]: left_x=0.2969 left_y=0.0013 left_z=0.1692 left_yaw=0.0579 left_pitch=-0.2373 left_roll=0.101 left_gripper=0.9978 right_x=0.3642 right_y=0.3094 right_z=0.0207 right_yaw=0.1469 right_pitch=-0.4643 right_roll=-0.3257 right_gripper=0.7628\nstate[joint_eff]: [-0.0752, -2.2906, 6.8034, 1.4872, -0.1343, -0.0513, -0.0171, 0.1573, -13.3812, 6.694, 0.6276, 0.2759, 0.0806, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5b893ba18c5ba42ebb5c52d1bc2098516646f889cce498c5fa1f735e75a4f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e7646dae20e8956784a93472ea3ac4b56a4d6f8e2118286c76df33d7fa0f01d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a814d3121c39eab9d79c98188dfbd325a1156fb9328963b7fd10dded03a8fb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtCtdEnsVACh41Q-XZfHlPrLv4mn6qquBedpm9-6mpfQ_48Hrgcjyy2-y4qKq57errKc5DGNEQDYYAk9T-Scx5betiMS9Onl0-c1unQICB59nhAh3H7oOnL4jvBhvrLBVE3OzzKvANhGBEx7xZ8_4lUcyLI421KN9Se7svow3J6XBeUrz7fydUMs462jcWTFRywk5y-RF7F6NPgXpLdjv1fbJ4yRejQq-nIt3UooTOHQKVKku2o3u1MfAyfb54p72QNUaWWYmeuHH3g5-6LHfGft8w65Q2lc5Sg6UpkFajNHUm2B_zbBYNuX22rw9w7B2suOmhH8P9jzlVCVR2JrdxDJ4H79nNVOX5WGXbaAbLilffcYEZoGIAQ0gokyxHc-O_YDIEXxKK02QRZdSlafASVKSR2F1mH0CuHSQerPz_i5OUj8lLAa4Kz2ocQMvaVVnL7dBWHiJt2ioBA4YPhdK53dNinsAcIj5BUTVccadVbjgEnq_-pvYP0A1J7liUET8EhwvtIlpEFJVWep_FSkypReNBS2QUEywTsdLx_jh5DlYpgrqNqfmXwi0yi1ZHpAX2QkCZ1lG7poO1r9DYTBiFEJLDz2j0tUK8ACCD9ocDzy-QSCJ0CEhP3Mq6L7tIrbFxxXXLHR5yC8gzCdHiyHTfP90bEHCPjlAnh0bZcB7a7Z2OC4-TxJPbdfBSucbJFb-6wS9vPLJTst3h8SGtrh9iZFBs5U7qk9SNq8xrQSMUva9Xjdp8Q-NXFfRqOHSY8Pg3B3rkwdD0QyYS_V9SRydI-A5GiGLX5i34Bi5Sj81M1Is-ueruqo4PwlSbuqP-X-55j1TLBXqyd6r70M0CNeW_lS-XHnJIF7uRppOwFOaMMQmTu4GK2j9kNcKJ1xo_ZAz98-9TRZgMz3cfmlz07p9r5JZm4uf_Uw6-nGFOsHMVxXif2yyZYoWEKObWTryNiEfx1EVCEgmrR8MCRwalxgB9bdcx1w_Nd7So2Ozn3vRFzqwMpst8JypIa3YS2wDMYuOWoSc7nrMH_DeFBNHbonSk_XJfJ0k0YEzB91IUb_RiQxxt2Z62N7oHSyqg0LsasGPUqsC6yG7k9qt7UGhs4LABG7V-JLTX2yRX4zz6pK8TFJ_wUJC4kpG6KnZhrI_HQ22-HsPSS4ShiND1xknQei4UCLGgigOYsE8lunK_9Otzx2PljzaVegOSspY70G8KyF23Wyv327J4x4yiYD0Qc2ZXOlMMg2VLFGBttjzvJRZkiKizsl6IchbKCJiQ84xYnIcktwWWN9BCHKf3xKN58NiXb4ApNLQG1HNRbyWEnT9d2C4t5UwxIj7DCzygOEGBFaRpC5u",
  "id": "rs_09ad9d8756f70e63016ab42b5c68bc87d0813c59aeed167149",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper stopped with a wide opening around the yellow fruit, so contact alone is not enough to confirm a secure grip. I’m lifting slowly to see whether the fruit moves with the jaws.\"}",
  "call_id": "call_mYx9DX2zhiuWSRF0fft1nvF0",
  "id": "fc_09ad9d8756f70e63016ab42b5cd06487d08d284c57bb21bc0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mYx9DX2zhiuWSRF0fft1nvF0",
  "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]: [-0.1055, 0.9951, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.8749, 2.1212, 1.972, -1.1198, 0.477, 0.4068, 0.7684]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1689 left_yaw=0.0576 left_pitch=-0.2384 left_roll=0.1012 left_gripper=0.9978 right_x=0.3651 right_y=0.3161 right_z=0.1433 right_yaw=0.1626 right_pitch=-0.4955 right_roll=-0.328 right_gripper=0.7684\nstate[joint_eff]: [-0.0615, -2.3453, 7.0085, 1.4921, -0.1099, -0.0562, -0.0122, -0.1162, -14.0239, 7.7333, 0.9109, 0.4371, 0.0611, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b963033183f215fb3bbc998773d50d1a9e2c8e6375c6813ce630bc2ea7503bb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ad6f298d4d1f24e727ff9ebe5db94e68013975760f88c127cffd38a7ffaf7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17eb4916f78801088e20ca190dcd91a518b4a22d0eba3269b700952437e72a3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 4.266 s

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

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9913, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 0.9379, 2.0155, 1.5574, -0.7532, 0.5377, 0.4896, 0.9963]\nstate[eef_state]: left_x=0.2968 left_y=0.0012 left_z=0.17 left_yaw=0.0574 left_pitch=-0.2343 left_roll=0.1005 left_gripper=0.9978 right_x=0.3408 right_y=0.3177 right_z=0.0883 right_yaw=0.1573 right_pitch=-0.4007 right_roll=-0.2819 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -2.5231, 7.0222, 1.536, -0.1099, -0.0806, -0.0122, 0.3214, -12.0137, 6.1744, 1.0769, 0.4518, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9939, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.8749, 2.162, 1.5269, -0.6144, 0.5003, 0.4183, 0.7628]\nstate[eef_state]: left_x=0.2969 left_y=0.0013 left_z=0.1692 left_yaw=0.0579 left_pitch=-0.2373 left_roll=0.101 left_gripper=0.9978 right_x=0.3642 right_y=0.3094 right_z=0.0207 right_yaw=0.1469 right_pitch=-0.4643 right_roll=-0.3257 right_gripper=0.7628\nstate[joint_eff]: [-0.0752, -2.2906, 6.8034, 1.4872, -0.1343, -0.0513, -0.0171, 0.1573, -13.3812, 6.694, 0.6276, 0.2759, 0.0806, 1.033]",
      "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]: [-0.1055, 0.9951, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.8749, 2.1212, 1.972, -1.1198, 0.477, 0.4068, 0.7684]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1689 left_yaw=0.0576 left_pitch=-0.2384 left_roll=0.1012 left_gripper=0.9978 right_x=0.3651 right_y=0.3161 right_z=0.1433 right_yaw=0.1626 right_pitch=-0.4955 right_roll=-0.328 right_gripper=0.7684\nstate[joint_eff]: [-0.0615, -2.3453, 7.0085, 1.4921, -0.1099, -0.0562, -0.0122, -0.1162, -14.0239, 7.7333, 0.9109, 0.4371, 0.0611, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b963033183f215fb3bbc998773d50d1a9e2c8e6375c6813ce630bc2ea7503bb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ad6f298d4d1f24e727ff9ebe5db94e68013975760f88c127cffd38a7ffaf7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17eb4916f78801088e20ca190dcd91a518b4a22d0eba3269b700952437e72a3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ad9d8756f70e63016ab42b5fa5fc87d083d740f1a13b07b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.276,\"right_y\":0.31,\"right_z\":0.115,\"right_gripper\":1},\"note\":\"The yellow fruit stayed on the table after the lift; it is still visible in the right wrist camera, so that was not a secure grasp. I’m reopening and moving the fingertips back toward its table position for one more carefully aligned attempt.\"}",
  "call_id": "call_792EzgG4006cn2Wdfrv457v4",
  "id": "fc_09ad9d8756f70e63016ab42b63ee0c87d0b82d637885e9cf54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_792EzgG4006cn2Wdfrv457v4",
  "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]: [-0.1051, 0.9977, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 1.0336, 1.9457, 1.5848, -1.0317, 0.4999, 0.5507, 0.9981]\nstate[eef_state]: left_x=0.2972 left_y=0.0012 left_z=0.1682 left_yaw=0.058 left_pitch=-0.2407 left_roll=0.1015 left_gripper=0.9978 right_x=0.2779 right_y=0.308 right_z=0.1059 right_yaw=0.1731 right_pitch=-0.5406 right_roll=-0.367 right_gripper=0.9981\nstate[joint_eff]: [-0.0068, -2.4684, 6.8034, 1.5702, -0.0904, -0.0562, -0.0122, 0.5538, -11.3026, 6.1197, 0.8474, 0.4225, 0.0855, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a2e58e9cd91a8dfc3c8501d6647ade3089fce1a86f786ab126bf91fc3a7f44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83ffd2a76de548df56be147743e0cf47f21c30d2d2a01d9669f25bc59ee37d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cdefa471bd94b6e1642b5515b06e22c2aad3fbed40afac4b7133f0197f563a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 2.322 s

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

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9939, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 0.8783, 2.1418, 1.5372, -0.6392, 0.5064, 0.4309, 0.9963]\nstate[eef_state]: left_x=0.2968 left_y=0.0013 left_z=0.1691 left_yaw=0.0579 left_pitch=-0.2377 left_roll=0.101 left_gripper=0.9978 right_x=0.3635 right_y=0.3096 right_z=0.0317 right_yaw=0.141 right_pitch=-0.454 right_roll=-0.3187 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -2.5504, 6.8171, 1.4725, -0.0904, -0.0659, -0.0122, -0.3897, -12.3419, 5.8188, 1.3065, 0.4322, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9951, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.8749, 2.1212, 1.972, -1.1198, 0.477, 0.4068, 0.7684]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1689 left_yaw=0.0576 left_pitch=-0.2384 left_roll=0.1012 left_gripper=0.9978 right_x=0.3651 right_y=0.3161 right_z=0.1433 right_yaw=0.1626 right_pitch=-0.4955 right_roll=-0.328 right_gripper=0.7684\nstate[joint_eff]: [-0.0615, -2.3453, 7.0085, 1.4921, -0.1099, -0.0562, -0.0122, -0.1162, -14.0239, 7.7333, 0.9109, 0.4371, 0.0611, 1.033]\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 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]: [-0.1051, 0.9977, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 1.0336, 1.9457, 1.5848, -1.0317, 0.4999, 0.5507, 0.9981]\nstate[eef_state]: left_x=0.2972 left_y=0.0012 left_z=0.1682 left_yaw=0.058 left_pitch=-0.2407 left_roll=0.1015 left_gripper=0.9978 right_x=0.2779 right_y=0.308 right_z=0.1059 right_yaw=0.1731 right_pitch=-0.5406 right_roll=-0.367 right_gripper=0.9981\nstate[joint_eff]: [-0.0068, -2.4684, 6.8034, 1.5702, -0.0904, -0.0562, -0.0122, 0.5538, -11.3026, 6.1197, 0.8474, 0.4225, 0.0855, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a2e58e9cd91a8dfc3c8501d6647ade3089fce1a86f786ab126bf91fc3a7f44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83ffd2a76de548df56be147743e0cf47f21c30d2d2a01d9669f25bc59ee37d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cdefa471bd94b6e1642b5515b06e22c2aad3fbed40afac4b7133f0197f563a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtpaZHkc1XzfbCBAY9bURF5P2Yam2_E0TpLmqTo1TM4dcX62H-a1Uxd45zngfb22XjZM5i_ZjtO6DICjKgywFX-jIf5pB7df--6IYj1W6viltnPaFXZJmjHDfO0Av0z1iW9yUeLk25X_-5dN9hOG5MfuXv0wkAZyaE-LMw4RC9pRWIOe_YZYiLJvfMq89WkcTrWipsS0tPU-u12u-tHisXXgE8FiPxteCzLGicpwzDQNBXl9HXSVkAKjjlG__fsDlI9AuvT7Znz2hPd1tPoVJwkSZbrQZKezDontrcKdJKSQCrBZ5beBY7N_ePB4m-cKDI5x7hLxhUPHd99JM_uuBYReDNF5-fSXVCZ54CMkbjN1S4pI5lrqvl7BKF2fqCY5Cs3C168THgyyeHoAWw2HAgovDpXTmKdh4uAmqqvi5y_cnVQapBzNE0oY4vNe-ELKv5Lysw_NpvZkST-TQu9CxBVdDC5nxz2u05h7KfTpV528gOY72mjpA3k4dfn9kmHuTR_-vLWbPQlA0Ud-rUjdGZ_-PhVWZSkmnRncs4Xbz61YGMmVEMEDGF2tpwrwCrawLy87Ck-z0fS4JgS8PcUL31qBVj8UGEIYXpQ9HkUkGwSsHJ1D9ZQ96mz8KPR5ZYr3mmjiYRW5ZRxt3GPeSwUICWbAiB5vjrTafe8uBtZD_Fr80UTviqCiqxmkQaOeeO61I4HINYlJRsdLGfJBYTWW4bhMvkwJxenfYJDwnq-t_u2g56gcYk2VKaa4vO7qpNXLZuod2LC4uSkfflECjyQk0jJUehc_bmeKhSxjcb9Z7Ni0JsSBUpmbK4S76SASvxa-6ZBchzeAHrYx2DVh9IwLiynE2669sUlY44TBCkHhL-qGsgKTF2G-t9tD25o9g5Zou8OGzyp54scTv8EnVcvFPODV_Br1CbCxeqBVYOLPZ0eLwRj2h7HE4kcfoIn09zC8SpiSfhQ8GcnVj9e2cwaDuLG1DQu_p3CHFDyi_n_efho9NZ7eSoo0ZcBHmEW2ln4rMdPI7-46BjsOakW9OQsiOzr8uoT_SwOM9fnu5pV4m8OwoFfeyELjA1xaD0xr0norU-udqTZvnABn2N_4t14SfwdKGiySGYgy25SLbf602bX524joieKpVx6X0eWkQ8UhRpSxy_7nyi1Qdkq7rHKXk1swKrueRXFC9GY0mxp6HuSUSJHXxjuMXQgsClJUOLFYLQFoCY2E8tpvem1-3eMSMxDEdi4k0IrAQR8EzfhkRqbB1TsmoXnNlXUVYAsUZN3Wvhqc0DnNm4fDoLUekBLpZOFWxsF9SzhvJIslfTHWK-BY_A7J8gDGDl82Z1YRxSZR-1CmjJwg5rHECf3D6ySGDPg5MKa0L5cd8r-pQpaC1CNTCwZbdsmpQfcuzR-5y5P37xbu0RBt358GIbzHQx-mXvPYJE_niAJtM-hMuBdi46kq_CKm7KVXbui9BEIhvv5KHHnkHFxRqrfLkwcoiiekZOLfDQBQBa3hoXwG4NrR3dUDc1fL2usj7TFB09tVTyIDs_u-P4OGnDLLKPO3dOPrapGb-UmTy2LzqJP43YVWp63H8_zFZKfU_I0IOiehdDKsCV-VKVKFbAWV1hc4sGgNNtUbhCfrZl1Md_kVhSHz2W13ftqDNq9eIJTEJjbDyi63rq8laQuQflD-eeGCl93PKmgdHuIetWOIvdl2Rm0NFGULa3Wn4B1J9QtuIxEjiMZSDAbza-9-jTNJoYO3WigVcUu39ywMyvxo3IxNtfpoxPW9WN3luQB0gFYXyKsNhQFqEjvOas_ytbNeyZUsl1ugqu-6iEXbr0ZjwtbFdRahAn_lLBpfJNay1s9FOxmYbbfMT5ynW6q0kfBoizdJGOfZOaDi1ME4OBj_Reb_KZxYt1YtN3iJJmgwPC2joYX9Jt6BEwoO_LKIk4zt4P-rjVl0UqcaGgv0xqdlie4-4KP-Ie2FwNWk_pW0Nt9On3U1YaQ4mfMvQC50XX4Ev_ewoj_5hxZXzNRbiW9_BotuagfaNgWIjUaceSWUdYaxJn5gZB9BuTLJq5WgmNomL2Lw2U6eeiJQnH-NfNtlvuMbgg5wBU9xsDcL7-tzgzMJFmnWiC65hCpqlieAZGFB9PVR6j7G9ykMngNYVTT7Vlxb5UChJBBjDpFN42JpB8s3wwqYTRBjGzE2UYYIE1vIV5-tL-ULE9PvfpPmc1VUaTYUIxMslCrU-FZq5JbL7eGwEUqqNWBzbZvbhJdBluK4LSevKtv2hLRyxUdCU4c8wSBfpYqxu_gHoihcHOZN1BZEcirrPAyAEgl3D37Igd6-9Qbp87kxin9ee415NWaTbgibELA2-zyImGtabZYzV_mNDZy3pMcMatqx20LSGR__nGWibr1h30Kid9A0abPRo62V6zJ-B329s4tzctuK-BdEBEzxcMgzRUKTTcvXBKJlo6mnQvT3fR4rGHZTHcaf6HExQ3nRyPzz-UgtBqnxaF_0Ajt7iEKlnOk8CasaAgMFzOJW9gpbFQymw==",
  "id": "rs_09ad9d8756f70e63016ab42b66a41887d0a2d9bc31485c2829",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.261,\"right_y\":0.31,\"right_z\":0.027},\"note\":\"Backing the arm revealed that the yellow fruit rolled closer to the base, and the green fruit is also on the table rather than inside the blue bowl. I’m lowering beside the newly exposed yellow fruit first, keeping the jaws centred in the wrist view.\"}",
  "call_id": "call_Kt24sJL9wEShJDOT9OlK5MoU",
  "id": "fc_09ad9d8756f70e63016ab42b68c92487d089f398848658286e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kt24sJL9wEShJDOT9OlK5MoU",
  "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]: [-0.1055, 0.9977, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0676, 1.9884, 1.3617, -0.8143, 0.4995, 0.5774, 0.9983]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1681 left_yaw=0.0577 left_pitch=-0.2414 left_roll=0.1017 left_gripper=0.9978 right_x=0.2589 right_y=0.3023 right_z=0.0351 right_yaw=0.1685 right_pitch=-0.5664 right_roll=-0.3963 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -2.5094, 7.1726, 1.4823, -0.1392, -0.0269, -0.0122, 0.4581, -8.6632, 5.3949, 0.6178, 0.2613, 0.0806, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1642ecf9d3d76ca98596bfba2d03fd97e17fa56032e17d70f696aa28aa1c08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e86b3ee2d41631916c9827be8765e6ab586647f5be6353bc5aa8e2de8de9b82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a82955596680d4026bf092ea8a6b016e9bfcfb91446e2100076eeaf99b9f7bc",
      "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 · 3.445 s

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

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9939, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.8749, 2.162, 1.5269, -0.6144, 0.5003, 0.4183, 0.7628]\nstate[eef_state]: left_x=0.2969 left_y=0.0013 left_z=0.1692 left_yaw=0.0579 left_pitch=-0.2373 left_roll=0.101 left_gripper=0.9978 right_x=0.3642 right_y=0.3094 right_z=0.0207 right_yaw=0.1469 right_pitch=-0.4643 right_roll=-0.3257 right_gripper=0.7628\nstate[joint_eff]: [-0.0752, -2.2906, 6.8034, 1.4872, -0.1343, -0.0513, -0.0171, 0.1573, -13.3812, 6.694, 0.6276, 0.2759, 0.0806, 1.033]",
      "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]: [-0.1051, 0.9977, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 1.0336, 1.9457, 1.5848, -1.0317, 0.4999, 0.5507, 0.9981]\nstate[eef_state]: left_x=0.2972 left_y=0.0012 left_z=0.1682 left_yaw=0.058 left_pitch=-0.2407 left_roll=0.1015 left_gripper=0.9978 right_x=0.2779 right_y=0.308 right_z=0.1059 right_yaw=0.1731 right_pitch=-0.5406 right_roll=-0.367 right_gripper=0.9981\nstate[joint_eff]: [-0.0068, -2.4684, 6.8034, 1.5702, -0.0904, -0.0562, -0.0122, 0.5538, -11.3026, 6.1197, 0.8474, 0.4225, 0.0855, -0.0611]",
      "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]: [-0.1055, 0.9977, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0676, 1.9884, 1.3617, -0.8143, 0.4995, 0.5774, 0.9983]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1681 left_yaw=0.0577 left_pitch=-0.2414 left_roll=0.1017 left_gripper=0.9978 right_x=0.2589 right_y=0.3023 right_z=0.0351 right_yaw=0.1685 right_pitch=-0.5664 right_roll=-0.3963 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -2.5094, 7.1726, 1.4823, -0.1392, -0.0269, -0.0122, 0.4581, -8.6632, 5.3949, 0.6178, 0.2613, 0.0806, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1642ecf9d3d76ca98596bfba2d03fd97e17fa56032e17d70f696aa28aa1c08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e86b3ee2d41631916c9827be8765e6ab586647f5be6353bc5aa8e2de8de9b82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a82955596680d4026bf092ea8a6b016e9bfcfb91446e2100076eeaf99b9f7bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtsJ8fyr7yZqK-NmeieMmnj8k9CR7Qwoeu73-ZSkJV6F54nTXk7J7eNe-LTRqIk2y6vIsynZnBc_VoWMvqVoJxFANP1GlQNr1x1VxL0Css9_5bxuINc1fInsT5rgl_FLRc8rwh7jl2r2KUFnOO4SL5JC3AzErNZA0gmU5rIIleiImm8G7PkoP_eyHQjaq7KQ3RUROA-L1XFJQuo34qdMVRbhw9bfQkJbQAwfzf5gbEMZz2K1GhrlXeXHwq0ix5DA67xbrmiFMbfFQwqk2Yejr3k_zBNu1pv8RH7P3Jh-Xxq_BzIGriMfYKo3BXyM0ypQqLjSBaKrBPoGi5SSqsRzBTQcXlYnePPUanyJ68oqRzskd7UuZTLZdbFGaNPFl8doMinPgdReRv7tJRW9aQ-m4muYbqxuBr-3bsLSanNvKAFtZxcEC9ultv2CSksYJk3i-eb6OU3-aVKtaGe1Q5EA5UK9ZiqKI3aMYe7Thbh3CGbPAgEnw1ejXkaE-QVxp31eao9OOmARMW609HuhUStDtdpkefWSRYgRCqHemmj1IjDIWeGJbS_aigCty50wSQZ5gc2OYcNe24afcIMRSfml4gHKneGs09wlYdwmFObAp9goXQVehd_XiqBBV7P8U8d6Or76hA6HBznP7gec2u3p9m_ly5EDAzVUtfnfl3N9c4aOJWRSuuK7p5khCJaqIL23hZWZiQJBrapNxQxpMWb0edbYcqdPQcGR01smRX6I9LVAS0INVJTtyixeOlmoMXzEn7fm9Tppus0uzS7z-8vv-64LM8AYoXSIgFlApOc7nvoXas3gMaGyiRG42Bqdf9Zo0knIHPoud469CexCXizClZidD-9Ay5ng8dNxNzEocwSrtEsqwHeJlqcQMioNgvqPvcym2uPfHL7NQHn5Hl1nRFJpzD24KTzjERirTsgkCQ-bH8GtcRPxpBPFxImcRP__5o3egF871Deu6J_Q8rTaYLFUWqklaMq2lu6jMawqj3DrUyWbs2RPmMfGmAJqkkEZqRYt2zC2foKVJsbo6xXrDxh4dVUrIDgWSOI2VZZOo4PP0yvdIbJIPq1rVJkvSeQUgftsVKsvuSgh4QYVoqitbYdZOqPorte88TYti5sTZ5yPjCYWEUp6rjBf5hckTRnFtGl31eSsp-bVl5Ujbd0CLQEjDwyP8ggPjO67SEZ0INX7E2q23Ta1idOhl1m6RcLj5SpnZKQEKy_F2y43QqKq2geVTRAsoEHXIH5DeC2oSsoA2bK9CFLZV-pX7pjS6TLXyGI94-JgFgo6p7JvyT6oqhwWKuicLJEgCmeLt0Jep9mHKiJ5VbxhqgkIYO-K7bGOZVXJjB-L4Ul7hAHusvEx3em1gF40EwBEnZEkfIQcfoaG7g=",
  "id": "rs_09ad9d8756f70e63016ab42b6b81fc87d08de806ee48a80a56",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now upright at the bottom centre of the wrist image, between the right jaws. I’m closing fully at this lower, more proximal position to see if it can be held.\"}",
  "call_id": "call_KZlv53Z3jQHLlfmWuifU5g3e",
  "id": "fc_09ad9d8756f70e63016ab42b6bed1c87d0b28c9dcd7c7818f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KZlv53Z3jQHLlfmWuifU5g3e",
  "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]: [-0.1055, 0.9977, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0687, 2.0052, 1.3506, -0.8116, 0.4946, 0.5686, 0.0107]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1681 left_yaw=0.0577 left_pitch=-0.2414 left_roll=0.1017 left_gripper=0.9978 right_x=0.2558 right_y=0.2992 right_z=0.0258 right_yaw=0.1646 right_pitch=-0.5878 right_roll=-0.4208 right_gripper=0.0107\nstate[joint_eff]: [-0.0479, -2.3043, 7.0359, 1.4432, -0.1343, -0.0513, -0.0122, -0.4308, -11.4256, 6.4752, 0.4762, 0.2613, 0.0562, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afba2063476238696c000d8e3c3c8e09a155204e85da9e18566930c1718c693c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f5653ec2987af9d8ac907cf676c5ef261aee3bb6a111fa38be6a08b2f2d3e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1529f0a3139c0eb1eee7f272fe7093c674209e494477f7a750144acc2bf16f73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 2.625 s

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

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9951, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.8749, 2.1212, 1.972, -1.1198, 0.477, 0.4068, 0.7684]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1689 left_yaw=0.0576 left_pitch=-0.2384 left_roll=0.1012 left_gripper=0.9978 right_x=0.3651 right_y=0.3161 right_z=0.1433 right_yaw=0.1626 right_pitch=-0.4955 right_roll=-0.328 right_gripper=0.7684\nstate[joint_eff]: [-0.0615, -2.3453, 7.0085, 1.4921, -0.1099, -0.0562, -0.0122, -0.1162, -14.0239, 7.7333, 0.9109, 0.4371, 0.0611, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.1055, 0.9977, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0676, 1.9884, 1.3617, -0.8143, 0.4995, 0.5774, 0.9983]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1681 left_yaw=0.0577 left_pitch=-0.2414 left_roll=0.1017 left_gripper=0.9978 right_x=0.2589 right_y=0.3023 right_z=0.0351 right_yaw=0.1685 right_pitch=-0.5664 right_roll=-0.3963 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -2.5094, 7.1726, 1.4823, -0.1392, -0.0269, -0.0122, 0.4581, -8.6632, 5.3949, 0.6178, 0.2613, 0.0806, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9977, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0687, 2.0052, 1.3506, -0.8116, 0.4946, 0.5686, 0.0107]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1681 left_yaw=0.0577 left_pitch=-0.2414 left_roll=0.1017 left_gripper=0.9978 right_x=0.2558 right_y=0.2992 right_z=0.0258 right_yaw=0.1646 right_pitch=-0.5878 right_roll=-0.4208 right_gripper=0.0107\nstate[joint_eff]: [-0.0479, -2.3043, 7.0359, 1.4432, -0.1343, -0.0513, -0.0122, -0.4308, -11.4256, 6.4752, 0.4762, 0.2613, 0.0562, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afba2063476238696c000d8e3c3c8e09a155204e85da9e18566930c1718c693c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f5653ec2987af9d8ac907cf676c5ef261aee3bb6a111fa38be6a08b2f2d3e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1529f0a3139c0eb1eee7f272fe7093c674209e494477f7a750144acc2bf16f73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtwV78Z7eUF97DEXXh_gCbtPebk0zEVvIdqGGMdcmNH1NsqoVIDKxEfSH5k-tY9cD0stocV2u9YGzWCqqIXd2POZDMz4atH-VvpjKUctacGrTt5Jo8fS8Kbn4XyGlk_-ZvEnUxG4l6-lLML0mSL3lLGPUR26iR-_74xxIPuwnCDUmcY3SaPfqsgVAiE9_JTOwJlVKixiEpB1yPhphmh2R8LkLKSTgxY8exRksi7G_U7gGKufuRvjEC0CFG1_55dfgnm51TmQPkk4X8_y2Oa8uT-GSXYNIMFB4CRWnkJJiEenQNiGC65wIs6PeEVAQTHF3qZG-07A4ftAL4PweBuZBesDiB0hDV6hVLwQuZopnEe6H5r-SB9VKHjNLhayrjhMXqAKxAVODFXI0vn0KmvoAuUfmEkIYVPbQ9jvJ2loe7Zo0XcAIezfhZLw6WT8b9r-PRhYeTZ0FRHODV7goKqE0vWOm9S8r8ftC032VO5VQ_eoJPuBCMDo6IQyFAuCzo0_mhqKdxqwvCeUlNhSEqSUdO_7dZts4oxyj5DSQT4R-iGcmmwZ4BTQyXpPTnqdjB1FS0-Uh_fZ2NoKdt7Al54bBwpvc2rM6jWEHalOg7iWfO4sh6W60d6mEK-nhu60pdGyoF6ZHcUf1sVVR_JxRerg1sWfTa2M7i5sw4IEYOkB_g74VN8mH-4tY5bXHR_x9nbOR_wdtEKpJPDaZUfsD7zFx_YVywcsTXZVpc7iXZO85sf-OQP8d7qvXnK6WiNpWHAk4dbRh_7NivtQIp3yDphFOTmkaLrD7OxU8Q5CIHxSBVSUyYJ1-aZKZtQiKgD24aIWHLbFgLqu3cRCa01DzOA0JuzQj7aWMo5udZHumDAMLD8X9L4Xm5jB77Gd6U1aVLHRoMpZesyUvIiZltVF5nepVR3b45eu-UFoOqB3dUOfHv4Rj71m36dHnltaFSWLFRyyAEcQDqNBk5kr1dAuqFXCa5MFMa_3bXTqCFhIqG7szD0uw2wPHp-OMa2k0SYLiWeShKUOVvVnfSrc5HBfe-kp5rdAgBBVOeBT29717A3gjqQz2c55ylMqO2affpn7JnGonWTp_X0lDwuR2C5aGN1quPWxZR81AQ6ArdDesvUz-LCNC1b5rS3kn1szZVO2xXL2LSatWkngr9RzyLlcjKQTQuv4CDqbjh1537IEHp77bbdkOM4LlvO-EKrDiYdUX0KVHGDfW64PtEReEari5LCppHI9lcb4gAyaSZMMUthtGYX7xlVGcCU4Zk77Jnm9gBOXIRQ24eNdTxkq_196QEIXlJzlJv5B2-BJlyVB6Qnnftmr3gQR3I5qbouKleGrQlrozbJ_KNQ5veVmWihYEiXaLgpy0dWyE1gWSv_x2e1OSG4w-k0EMSlzQpHTGB5gvJpA2qnMqbdwEAdVJX38EAinSp7HEkuoj635oQGRpfrfk7sTs2_roPT1eDfeU6ElRbvvNTya9W0yaOMLXIXy--DKmzFxk1Tte0Fzpf-sxZRk-RyzYAFM45EvMCWuHXswysJ4ISO_vSS92swa7B4jL3-17T1ovrRgTkdF_iHY8_Y9NDGPlcBiwnLNc-dAUq5Sv0w8GhfnKsva02ICKiZPftpU6AA9e9meIBlsrMZju66CzeHwoqVuDtiVY5kwGn2XZtauFItiVTAxD1xQ3R5hllHRJjY_7pVSMk0dRJ35LeIO1sl95JRMYSU1Gfm69ithzLQlzgBDVCFKtONseClSRrBtygMywvg3zzvRMyTtwD4AimEE5khsFNcsbcTIlhgXmd0sgw7BLM4dAZ_CLVWUHZ3v_z3t32KrbQ-sXGHoYKpZOeV2ACCQ8SpDpb_fh8THzswtgr3hdCu4JTAQfLKkx0zk4-_1tFltbvHpg-dAvyQ2EM1qg-mds7c-WgqO15AH5FY5EukX--oyRXItk6dR_Tpk5Oxf3v2hV5siA-rQCakWNORaKiuQ3mQCYXs-QNyfPhaBBb_-782dRF59JIQ-UA3SwQ-G_EarsR4JYYc0DK7-DWNUnToNOnEHCxn1dRf73vFIXed2iQ8t-TuaUNXYIN44RYArlb36XKkeAUy1CfZBMoaa8GXyIQnNgWu5dPNfpqfnYNlUzSopljtzgC8z4qsPtq2Gg==",
  "id": "rs_09ad9d8756f70e63016ab42b6e9c7887d0b241afc3f6d24e92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.276,\"right_x\":0.239,\"right_z\":0.029},\"note\":\"That close was empty—the yellow fruit is just to the right of the fingertips in the wrist view. I’m reopening and shifting the grasp point a couple of centimetres toward it for a final aligned pickup attempt.\"}",
  "call_id": "call_mFl3Puwaaz0QbMIFOt4n10s5",
  "id": "fc_09ad9d8756f70e63016ab42b7032dc87d0b4936b9c17b758bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mFl3Puwaaz0QbMIFOt4n10s5",
  "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]: [-0.1055, 0.9977, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 1.071, 1.9366, 1.2308, -0.7921, 0.4923, 0.569, 0.9953]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.2411 left_roll=0.1016 left_gripper=0.9978 right_x=0.2408 right_y=0.2742 right_z=0.0203 right_yaw=0.1507 right_pitch=-0.6089 right_roll=-0.4492 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -2.441, 6.9812, 1.5116, -0.1392, -0.0464, -0.0171, 0.4444, -11.7675, 5.0393, 0.4518, 0.2564, 0.1294, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed0a516e6487f6aeddbc57dfb0dc21f53e85ca08d85be9d5907622f9f6ea9a5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e4b55a496c796359d0a6ed0debcdf6bf64d1805f6f7c6ef31219bbe7f47f67b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3179a7a48624b7ad99aa57bf5daaa7038f7c16c84148ca001cfbc8a4d6bb227",
      "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 · 8.448 s

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

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9977, 0.8093, -0.6323, -0.1638, -0.0525, 0.9978, 1.0336, 1.9457, 1.5848, -1.0317, 0.4999, 0.5507, 0.9981]\nstate[eef_state]: left_x=0.2972 left_y=0.0012 left_z=0.1682 left_yaw=0.058 left_pitch=-0.2407 left_roll=0.1015 left_gripper=0.9978 right_x=0.2779 right_y=0.308 right_z=0.1059 right_yaw=0.1731 right_pitch=-0.5406 right_roll=-0.367 right_gripper=0.9981\nstate[joint_eff]: [-0.0068, -2.4684, 6.8034, 1.5702, -0.0904, -0.0562, -0.0122, 0.5538, -11.3026, 6.1197, 0.8474, 0.4225, 0.0855, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9977, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0687, 2.0052, 1.3506, -0.8116, 0.4946, 0.5686, 0.0107]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1681 left_yaw=0.0577 left_pitch=-0.2414 left_roll=0.1017 left_gripper=0.9978 right_x=0.2558 right_y=0.2992 right_z=0.0258 right_yaw=0.1646 right_pitch=-0.5878 right_roll=-0.4208 right_gripper=0.0107\nstate[joint_eff]: [-0.0479, -2.3043, 7.0359, 1.4432, -0.1343, -0.0513, -0.0122, -0.4308, -11.4256, 6.4752, 0.4762, 0.2613, 0.0562, 0.9353]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9977, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 1.071, 1.9366, 1.2308, -0.7921, 0.4923, 0.569, 0.9953]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.2411 left_roll=0.1016 left_gripper=0.9978 right_x=0.2408 right_y=0.2742 right_z=0.0203 right_yaw=0.1507 right_pitch=-0.6089 right_roll=-0.4492 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -2.441, 6.9812, 1.5116, -0.1392, -0.0464, -0.0171, 0.4444, -11.7675, 5.0393, 0.4518, 0.2564, 0.1294, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed0a516e6487f6aeddbc57dfb0dc21f53e85ca08d85be9d5907622f9f6ea9a5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e4b55a496c796359d0a6ed0debcdf6bf64d1805f6f7c6ef31219bbe7f47f67b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3179a7a48624b7ad99aa57bf5daaa7038f7c16c84148ca001cfbc8a4d6bb227",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCt0tzopOh7cIstNy0vCqJgGioow5lIDgHFcPxKLwKU8uGoJkcFILWROqyGbO2Df8EapaDOUrvBxSWp8ogMgRQG6_wyeIgftCWhkJqaZVj9sLERffXpG1Nx_5-O627Eu2-WLWQnr_GOK7pIOIiv17rKxfYCwnGlmJ3ljWJn7M288U1zfPOfcow--EXaeJa5HZ9rFWgmojfJ76xhxC_DEtpdmzEszyJd43d55C3R3J1W9tY5_NGUSlh9C6oEXm4dGpVQBmcn0Yh6i_seoKkm3rmCh4cahdFjUFnMQQY5hFwZHpdMt3xF-PNu-gN7uj8ARngS7CPTHowUhjWGmYETgIqWCvhnPlrGrztLOSpCm7WtzTBP3LziMoR_MGB02aLFKxHNYsEh4-VImOjzwOqn1rv_sF-Obag6iCaPt7sTxd1RfOKPcDQG2CXqmf2EORGU7vaq7tD27fzAyxuX_txnHQHeDTg9QfaidiUO15nIYZ_yrOZFgvhzoxK8lXlIQWwNfmBbLPy99WUVzvtrLLjUxUVIDtWk-2OqBr_9dvpVv9b9_CV6dTnfuNTLygHBGLVYcnv5EE8mP8WAGV0narI8TmzIKOLjd3NLCTM23g66iZl3ySGPWPkbdzNwxL2BRFYOLl6zpQQQqlT6-8xA7qwv_BO5jtjEZ4sQA3Avn8ZETMlZWTWfxmeivbzMF-Ot933U2zQDkAIXiOh6jWdh4pdGx8o0-C5v4cBdGVfg6ktawAaLuebgrjSi6sb7djKNwf6Oz3wCOyJe_49Bbge0MU2c6tYaKxSlY_zZQYVRS9pWHG2k54qBFS5tV8AzKaJfDtbB9QCECPyWjCFZqP6hI3A7SXJSEMT1MGr2pHVjUMMhKd0LvYwCX0HvPq1RlOsdkcEkM1tiSC2ZEKtvCitYg3ZTU0xZknDffXhST5Q4WsLzQ88NEUH21x0Y5XCcF62dtHjPuAH1gZSMfkcTPhdHzln_RB8X0X7bRj2d-yJk2LcloP8g-vIYukwbu6CwHqPWPL-qavT5sS46zAb4NvBIXZz4PgJ2F16LDPSHJ0Y7qt2goy4LhcFAiQZ5Gr0WXgZvhJ_WMlZeVjY-Ljq3iC_FSeOLDM46U5XyQB-SkKr1Nn4TlAHNK1YcQobfgQHtGzoKl0AoMBlmSQyVkYfuEi5HJJaJ1zFP6yVF0YPBGcv-LIZ1-1ldziWCc-i3vZD85sV4t3kkl6kVr4iz5Wl61AQ-KNHK7_trh772yU-yUmJQ3OY90Oyhbg_-mMmIcpZunTwi5VrfdFUNpqOXg6rds5rPW1xFbCEE7S0y64YQLU5qC7WMlOh6qRoKLkJia35j1u5F-X4vKaGGhaF3UC6bVt3Q10Fas2--v1AGUFvjZCv_Fg4zXRqX_Dwu5hYY4BWF2AsoRB0r3R6SM",
  "id": "rs_09ad9d8756f70e63016ab42b735b1087d0aeb8c2390e361507",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now centred between the open right-hand jaws in the close wrist view. I’m closing once more and will use the settled opening—not closing effort—to judge whether it is actually held.\"}",
  "call_id": "call_l1v9i5gPD2D3M1GjMAmvQQip",
  "id": "fc_09ad9d8756f70e63016ab42b73cbac87d09c107dbcee8808d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l1v9i5gPD2D3M1GjMAmvQQip",
  "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]: [-0.1051, 0.9981, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0706, 1.9327, 1.2243, -0.7856, 0.4923, 0.5652, 0.0107]\nstate[eef_state]: left_x=0.2971 left_y=0.0012 left_z=0.168 left_yaw=0.0581 left_pitch=-0.2418 left_roll=0.1017 left_gripper=0.9978 right_x=0.2407 right_y=0.2738 right_z=0.0202 right_yaw=0.1547 right_pitch=-0.6075 right_roll=-0.4475 right_gripper=0.0107\nstate[joint_eff]: [-0.1983, -2.4821, 6.8855, 1.4774, -0.1148, -0.0757, -0.0122, -0.0752, -9.1829, 5.4496, 0.4469, 0.2759, 0.0562, 0.9304]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8acee1e9eec1ef46f9179dca9c8cf9b8881024386aab87e14629d869c044eb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edef25f366387545336af0f17e9c7eea0111625d0b65542042b04ca9c0fd43b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f7fabb16f5563ad627e1847b4c7abe674854d62052175cde5799fff530d514",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 3.467 s

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

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9977, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0676, 1.9884, 1.3617, -0.8143, 0.4995, 0.5774, 0.9983]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1681 left_yaw=0.0577 left_pitch=-0.2414 left_roll=0.1017 left_gripper=0.9978 right_x=0.2589 right_y=0.3023 right_z=0.0351 right_yaw=0.1685 right_pitch=-0.5664 right_roll=-0.3963 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -2.5094, 7.1726, 1.4823, -0.1392, -0.0269, -0.0122, 0.4581, -8.6632, 5.3949, 0.6178, 0.2613, 0.0806, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9977, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 1.071, 1.9366, 1.2308, -0.7921, 0.4923, 0.569, 0.9953]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.2411 left_roll=0.1016 left_gripper=0.9978 right_x=0.2408 right_y=0.2742 right_z=0.0203 right_yaw=0.1507 right_pitch=-0.6089 right_roll=-0.4492 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -2.441, 6.9812, 1.5116, -0.1392, -0.0464, -0.0171, 0.4444, -11.7675, 5.0393, 0.4518, 0.2564, 0.1294, 0.0855]\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 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9981, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0706, 1.9327, 1.2243, -0.7856, 0.4923, 0.5652, 0.0107]\nstate[eef_state]: left_x=0.2971 left_y=0.0012 left_z=0.168 left_yaw=0.0581 left_pitch=-0.2418 left_roll=0.1017 left_gripper=0.9978 right_x=0.2407 right_y=0.2738 right_z=0.0202 right_yaw=0.1547 right_pitch=-0.6075 right_roll=-0.4475 right_gripper=0.0107\nstate[joint_eff]: [-0.1983, -2.4821, 6.8855, 1.4774, -0.1148, -0.0757, -0.0122, -0.0752, -9.1829, 5.4496, 0.4469, 0.2759, 0.0562, 0.9304]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8acee1e9eec1ef46f9179dca9c8cf9b8881024386aab87e14629d869c044eb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edef25f366387545336af0f17e9c7eea0111625d0b65542042b04ca9c0fd43b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f7fabb16f5563ad627e1847b4c7abe674854d62052175cde5799fff530d514",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCt9TbmgB0OuzY23agfx4efcQcy_3rJkYrpc9QJwdlVgbUoybaNcu9uY01v2ei0SoHQLWaHuF3yulj3pdmymp1MKew3-snS5B_7AYzcxkme0BTBZbsXXSp3x_HCE1VbryTILclGuKXyezYwqy7P0rEZmCm92x7UwP1r6w9u-E6YHOJSWbX2hHW7ZVS3L7YNQq4SMG77eE3R7j2_M9mCr_IibdyRkmjFrzm_L7NjFog9Lr1G3A-oBSdS5bk0KzJsxM1OwP7deySk2_82lopHrTmnKYPeXGvjqn2BUPDsw0OETCCcOdfh89BWjEu4tzMEVAtvUpy1Hp6naQgYlKotWJ_YIjICdV_ZielxIYnWUMwAvLdhJjHCiy7ZkzCECvv3T6iqI3rEt6RvJfLh5W4KLKT71fXkYUA1wnzUuspn_abhSvhJyb9Cs3NXKU4LtB24c21qSYImX1ZiT1VwQDWYam9sgUr-zLnaNgXc4gN31HufERbK9vOG2F-wKukuHE9sQ3PxcNBVTS9F3g5apwUGAYm4hQEWECkNIjdJ7Nzm8KDf67pp2NfW3KLez-ivilxofCxmA1GbvA6WTiC_LSN_uj8yTxRDQl9Zyv4QurBo_mlHUWmIL7DA9SwfZHl8hhzxT2eYhmcYQIxT89HGeEaNe5hX3B-bs9S8pH96bR9ei1yPV2zRCw4UzVPaJMVxc2gTppdX1uTL0Y-cdc75qVeJiuDmNZJGSZPxuZh13GJHKaSHzJjlR4cjoBpiTbBYoW4iLHOziBKI93QCsV6E6gP2o2Ec0xLx2WFSYLlbqBDv-js4xK08JXl90l5ybLBz1e5oL25wuJGx1UmNcpYDc63ToRL99oRxwPVUQrR40J8bcMPmOqhI4S79qn7zaMNRPDHTwpNMM2aiUzl37BYbSvaN6EmGtxqzJtQQ0HWT6u8k-DsVbcIMgGqGMPrnNDk_zoYKw_wy9cN4TABVaBhiKAeYcxf3OYujt0sgYKQ_ecLoW0_jqb7KB1VPQA1H2TucNI2sX-8znz1y8RdpwvkCyhiBbIojUyAm82_FuzRWCTIrlBYaDq_idsSTK7GbJyjqBf2gdGHnEPiJVvR4yUvSPChsy_kaPJJqrt3kcs1G-rn4r-uhF5AO1q_5UmKrSnLNiovEucdNiQYVs8729_cAL8jEZL6OHkwB4hVugPoQHKWhv2VX_SmZ36PTcuUcZ5FRC0iZom4KP6tiGaLJD6PyxcPv06u5yS9NqjTe8D2pjVph7V3Owrlnt1uz99gGsSxP5Bx1eKaVELq4PhPdQiDb4IteoUh15jwvZ6oAu6IAXdYIBPiuPHGhd3mLHQZy80mIP4N__VXb92i2eM83ggZV-MJMym_7Qfr5uQctce0IMAJm7qUvSqKhOkF9oXO5vStMRcfyk8Hd9toW9wuCdLSugn-zzje9yv3ztYLfEmpVhpz9rO0bwi3L-SMYFtbTXqNiE1GCUXgRRYX0Ipf3JO7GcKhGL70zzU7w04oLSKt7E8sds-FXxxLtJ796CaJGx7877FGXwXPMJV7-WnNA7UgIirk_MeGHom_Fnu9NRsGUlA1Axa3dnBQl4j-B7LhO34xMsRuYdYvgyrO0OiqWMkcnZa7RISiCWpCR95IqDEYUKxMVqdZ_HqRq73Ben7oS8ng65ttUJCdZTpcZx7pHP4L5H4yIiGsJaWPFdhqZM0xLUbtN-VHqrbOnzxMfrouYhCQg5NlMtl3t7TcmIIF8126-awyJFfymvCiBxxme4tZLoFjQpgWPRLApCHY-2hko552CM8ZuBLw7cilbixuZU-DoZiQruYLxRALjBrF20z06_8EQ19RK2rEPKFd_KeecNBZ_hiWOVFjQmi9LwlkXkYpOiqHfK_6t4rJ4r7PVcko1EIqSUzQ4a5VZaHZTJgv65-uuI02mdCCy0vZb-pO2VfvixdworHPdAdweyinXF39kwC8dd9wPtdBZzeFKJlhSPb0X6TJQBBU0LKtg-wRfQs2QxrlTpOf9dhlyY8b1GsmiH8ARDcf1dvzJofdAXCZQL2BrpOPqgskeSg32c6hvgM-VKoh7HseXg0GuuZRnJOwg49S9OvUQPuITcM6vD4skrACYBg91uwhtBBceGsw9XH8yM_Iet80zLyJ9-t4mDRbbxKjXG4nZFBWoH01oJ169bWcOcisefLUyw1v2l5RqrSFfBxqKKoe4w4k5gFkIdc2efiFbTbTpA1HE_J89N8tPgk7KesKcJEdg4Rk8owdbr3uVQbV_P16clT-WOBsRMZs8l7DS06G8uEiEasjnAEQCn5YCHqNSCLOuGg6LIkjvc5f-ScIeFVefiuj9j_rmSLXJ3Fl-KA3vR2EGW3Rh2nctxuJ5e0s8Bo_bGaTvcTrGQNK30mNobXPa8mhfIOmbGFyAKq62pREtVVEngT_JZPXt388tq-JM-XgTuggzIXxfSYbnfObwBxXTWy674EFVAGUp-cf5SLfFUjRalE0n5lrcJg9pWG0hLIP-ikwozRoAjpxwsvsYjzltYcM6yF08kobpVXSCt2yrRMVg7e4zAdObXyz3E-ODxjjvvqClKGs5YOsMPOzvcGWklWUvC6vcqJFtThvsmkLLnchTJrvLdBPQmwwKCH8apr__1LVMK69cQ7GRlYtiHfBP5U2F3DCybmgJlKtNw0pGxJxs9eEMmWM9m5e9Uhp96nEfxyjqnNX26dATNy8ZkCIWqpDbkj2cyDFtVAeDjGLQyGrKiNGo7ouWsYfTDyepkpog6wW12rPYK33IDBkoNnNEF5GVXoi5MabWL8HmHXu3vnDC3cnaNkOyURmGySqbjhSUDBiwOhHMF0bcXUGllSXaKvXbrNBh7eha4n_X9oqfHmWUFy25MGe6hfAu1kicYYVXT2fZSo8o8Be71ZxSFrnis2IrmL2ebZqtX9BsPNek-wpxzAv5xXomF5YnqaHVWFO22Jg8MiB_jXl7bxkvlQssRXmKG_efS7sY8RkIOH7SP-wAlwF9lig4D-GyA_hpBsOJdZkHMfihY_-fPWEG2FRfpBw-8OWZo-uWqXPyemTS7CqNr_OGkmJFXDm8t2GO4anRl72BQrzD7zP25rIQI0MdS9RGPUC6f8lmEztMwq5PNNVXoDSrf9gqOAUtkvAxs9yX4wvOU9fatBmSKzhcsvJeZmHZJH45zk0Sk4EkEZ3k5YiZtbz6POj-vT_Qrm21NDds94E7lmsQ4Iwc_EHZ_9ITP4Q24IFY7QozDJKGPm_gU-xeAHQOlZOLimLeFuzZXMVYjebhJAu1qj5DHO2jOknMY8pFR5-3ktD7KRZdrK3mJghgyILpGRQMCzyZRalcGFOxCtmmmgP0yYnXs7CJxTJzC9Ft0OlSC3R5DUAPt5v_H8J5M-6XQ-1wdEsMyUA1MHz3DmMSPBP9qVtTgUSUjUUhhZnXGmyOJoAgBkaMEHi_7NzYbAE7fFunNYMw2apw_XHosohIhudHYpbQxN5expgerG2x9yDkqnkc9hXs7LM8k2DKaYHBEWgGnQZYwiED9yolNqSyyzAouVFF06D7PRu0_r0E_laJYqLFH7ZqLE2eETtpv2Q-91tRSPgdIqq-I7keaSGMifkKIQBH2-EXvg6vmtfu6GR0W5x3Vq0o5K1deHPca2d2BocesE8XUEg75x64S9PRsNgPLMhfbgFMWo5lWdv04wEFYwbaV3v4V3IlOUdLHVVcx9rKxUfL0W142Ud1k1KsUL60PBZTOl5VioMU-ia1V4OF6Y10fAL8S2v5qH11FCiYBdiIXyF6xgnBiIX6Ic1RXSGVa1t7YyC6RNcTieQ3bemppHasXFn7EsEWq5NRL3cCNuS0CyBRLsG7t5WB1DdjvvBVTXvfg1dhcfhOWlcSIqn8hV3q8-t-cQUPapXwnTdK9gUZZ2dxArtFSC84nGczlB53eSYaC81P6ThcWSwGjU6CQGIWdprRl2TNnjDxAsRY64hCuoR5FiwlxfZpV",
  "id": "rs_09ad9d8756f70e63016ab42b76a7d087d08d46957d4bd3fbad",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCt9Lk0-ANomjuSf5f8xfRFG3WkSZiQZk6EJ5EuQ_If8KdHX_VO7hgNrkIvUGZlHs6Y-c4vFWOEGHvL1EFnw9A1KHlDqMWWo69GpcOj3DpgqeaoBDUrVKUAOwbJ-GpJ7Cog9nO1SEq_uo2ypO_wNYs48XoWPFV-RteD5FkRmHeQoF4dFsx-TmvQbG9To9zwFpfqXDEMvjQ_2oxXapnPjIfYG87E35kRTIKkQXsW2wCX9Og_M4adkz9fdzG8JKCGOuf4FGDsCn51MeRSgNkr25xH3jlL8d_-xGszBWlgInkqpsnqeIaYM6wXpRCaVFd0nboBg4AZIESOhHgTCBjbMXLAhlwAVVW9N-dzjZj-dO8l4YCTephQZqAehNCI2q9F6piqAYKzAb90ILykjISLLkWUpWzmmIxyOZDHdMmacrFwBjuZAzSxCLdpbYCDc3s27arH9XZtRYyHLUHNswrHBsBvtwsDCMbhJJy-wzkQb72bl6IuOq0XouXEulic57cGmMdf22Ql-XyewqX4a7Ip44L2RCVsqtB2hJCqi9y8lUL73TsyyUmemQywpc30vhDw-zcOP51yLx7yEu4bBaxHp0MKhqkUWmi8DgNaMCzs1zkv7OQUJ9GpjmFDHtoH1srPh45CwbptjROgV45zprOXCicGqKlG8Q-VIcnoFYgoQZx6m3P2dlMoIoScqSaiXlgs0f7iavnv1qwneMj9dThvOKUeYWBmzeN4Th-wcu-MTkuI28jDJFVL_E_b7fwZo6aVz9NEbTNWoBpfn0VeaiHg2dsiV-kmShn51SBHfe_gY3mR7MjrA9_DECuHkONPaC97EmndAUr58EpvNU30Fu5gQWlTorwGXAM1Z3n9fJZCW_ppKBXreDRAXdFMpoA51QcCMftn2JzQ3YlTmNa39ZtbsPiQsCPOsLCglZhnAIDfUh65VGJSWgAdCkcthPqzBR2q2jflMnyxixmc2qvgR6CFZBypjqpkquVFnP6nry0GBgUGM6NH8S41WfrilGXfCgsPZtwIBcYVejVdBSihWQcfr2oP3IkWcoIPcIGM8b0plJDXnPpdcwSd6e7AMH6rG_bg4zoGhzyfRLO8tgkpxyZ-NG-PXXUEHxR1Al87MdSA31zelG2oprU5oD3zddIDqtVb_Cl3BGDS_-3z-Ln_UNUwjuLzkTt20cG7HFocQ-e9PRwBh9TyzwUKZgy_LpqBvtPoRW_4suOIgW1giSBOh53U_AKewsI5XbyQyLMK3-fX4Kqu7QSzFLgobn9kSc3pqYFDr-OvLmUA-SsLLKDIiCdLFDpI55DvVAwWdzLBd62-b5wzzMQEGn_piElH4v62QM0cfmeU2KWqtBTWjExmosWkSupkX0kr_p9qLu8YdScPJJIWJXRCKmJjVJOQlhZBnXCZJKjkI54IS_Ii34V_mHQbm0bWg1H2JkXWXPe6co18k3s7adJALYTUSfYjwPfefuZqeh6M--w5kO_IfZahyIrv1KNU5cvWOjvvKSiffh8Ymu7R47mEe2QDZgk1H708wXHf_EEHc",
  "id": "rs_09ad9d8756f70e63016ab42b7c5a1c87d0be65a4c6908e1c32",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.184,\"right_gripper\":1},\"note\":\"The right gripper closed empty again, and the yellow fruit is still on the table near the base. I’m clearing the right arm; its low, tilted approach is not reaching this fruit reliably, so I’ll switch to the left arm rather than repeat the same failed grasp.\"}",
  "call_id": "call_yXrXxn2UMmdTcCVYAsCwWRc9",
  "id": "fc_09ad9d8756f70e63016ab42b7cf44087d083592b883b8060eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yXrXxn2UMmdTcCVYAsCwWRc9",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.1055, 0.9985, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.1398, 1.2659, 1.1301, -1.0218, 0.2481, -0.3614, 0.9977]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1679 left_yaw=0.0577 left_pitch=-0.2418 left_roll=0.1017 left_gripper=0.9978 right_x=0.2912 right_y=0.0008 right_z=0.1692 right_yaw=0.1132 right_pitch=-0.6308 right_roll=-0.4493 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -2.4821, 6.8718, 1.5067, -0.0904, -0.0513, -0.0122, -0.1709, -5.0393, 8.841, 1.1355, 0.0171, 0.0757, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29926512bddcc206b68f196fa87ebaaeba8d9a81a0ef9562f3caf271ae41ae21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1bcf39027bd8318d2f21df246342d139d9720d87779d6627b77c4b206ba66ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09cf27b1de17bbb81772c2b386148935ff65d728680208b7b8338b46ad3f85ac",
      "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 · 2.568 s

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

message 123 changed as sent

message 131 changed as sent

message 136 changed as sent

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9977, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0687, 2.0052, 1.3506, -0.8116, 0.4946, 0.5686, 0.0107]\nstate[eef_state]: left_x=0.297 left_y=0.0011 left_z=0.1681 left_yaw=0.0577 left_pitch=-0.2414 left_roll=0.1017 left_gripper=0.9978 right_x=0.2558 right_y=0.2992 right_z=0.0258 right_yaw=0.1646 right_pitch=-0.5878 right_roll=-0.4208 right_gripper=0.0107\nstate[joint_eff]: [-0.0479, -2.3043, 7.0359, 1.4432, -0.1343, -0.0513, -0.0122, -0.4308, -11.4256, 6.4752, 0.4762, 0.2613, 0.0562, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9981, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0706, 1.9327, 1.2243, -0.7856, 0.4923, 0.5652, 0.0107]\nstate[eef_state]: left_x=0.2971 left_y=0.0012 left_z=0.168 left_yaw=0.0581 left_pitch=-0.2418 left_roll=0.1017 left_gripper=0.9978 right_x=0.2407 right_y=0.2738 right_z=0.0202 right_yaw=0.1547 right_pitch=-0.6075 right_roll=-0.4475 right_gripper=0.0107\nstate[joint_eff]: [-0.1983, -2.4821, 6.8855, 1.4774, -0.1148, -0.0757, -0.0122, -0.0752, -9.1829, 5.4496, 0.4469, 0.2759, 0.0562, 0.9304]\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 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]: [-0.1055, 0.9985, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.1398, 1.2659, 1.1301, -1.0218, 0.2481, -0.3614, 0.9977]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1679 left_yaw=0.0577 left_pitch=-0.2418 left_roll=0.1017 left_gripper=0.9978 right_x=0.2912 right_y=0.0008 right_z=0.1692 right_yaw=0.1132 right_pitch=-0.6308 right_roll=-0.4493 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -2.4821, 6.8718, 1.5067, -0.0904, -0.0513, -0.0122, -0.1709, -5.0393, 8.841, 1.1355, 0.0171, 0.0757, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29926512bddcc206b68f196fa87ebaaeba8d9a81a0ef9562f3caf271ae41ae21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1bcf39027bd8318d2f21df246342d139d9720d87779d6627b77c4b206ba66ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09cf27b1de17bbb81772c2b386148935ff65d728680208b7b8338b46ad3f85ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuDzTiUNK12E5SZ85n6cVxhA4dmCSLHzNx7lCT4YPYbDNsJyBjtdB8Q5TF5p3a3jmDOD3SqwOfZvsXM_1EIQwF0TA0n22DjKNPbLZ-CUVZux5NZhFb1CprIlnu795sfeQikkMr2a_5HorlukOE4vOJC_iK9TWueQuINna0ZoAmHCCZI_BpzGhpcur06Gll2zg5VrzQWqBNrd3VLQUII_vA5bPYZ8UJgK1IOkTEcgV0rEiUFXkteFJNVQThaoCxhKv8y_tk-ONrHPMRxadHKWhO-uljpn-yN8-_OPpd4vJkbOoO-hAMAiHLnTeMxy_rh2zb5LPOwIh4eIryocOwhm9FO-9rSRFXusaMJlF-3NEP0rQJv8nwnkFe7su-OlKapr6LF2W-xkOe1X5UuiZbeXCOUFvJ9KqGyJ-CQYKcKX0YlA3JOJf42dgPOackWwb15vobDvjleLpEzs3T2QTPwOCV7xAKkCTU7dwo0og8Tml0wlCgGcxeAUfFe43Gki6d4SGqBCKgokolhhdqJAXyeAE7eP1HV0-K9OgjYv0g5HjHZVIrrv-8NAy7AXUWfB6y5elyLWjT-65h7an9R2tuKGJk3Aa9uJfrT1YstP-1R5nMcVfR57w0WbA5ZiUU6CfuK4TYH3wk7ypToTyJtxd_cv0V5sL4kKUJi-d8t4SPPJwSzYw85HuEMryzURhUH0MSELrDxPwjlAw4N-n6gq9KRVR1Kuw0eTAHx92pu8banSc2qb_YqsduYftlZhKTm1mq1jnA5uQq-0KRemZN1Rdb5kSLNl8x1ZZGpWWhM7YD-JlN6VCqDztPe6lBOfpbWd-swTWdVFX6zv8i07souNwqPaU_eJ1I8Xlc6feiZIEISQ_tjD9SGKKy-Sr2gO4Z3QhfWBapVJi4MKzZLrTMHr-l7z4NBijfiBUQcQSgnW_iyyG4MsmtRchAyz2S_LlO1BSP1dpmI4mjt0rr3gpBGLsk4GT7TLzYOopdz75L2VvbNzLTS8kPGxZ7h6qgQvxYf7qSWir84aSEXXMgsDp-Qj5tGoOF2hxDnRkzg5b0XoL6p1IHh_13cMDW5oSMzIh25z6KPqHG1L9qgwWWoLYaxMLACvxgFp5qR7QmEagDOdoZgme-n_3sVADAIdnioHYpDYMCnbaJ4fAd5LbBtn84r8FAnWF50c5NtsyLhcxrKbjD5yowFQibYhBwBYtR5SQu7GPmZdymoq0ygCmMMUB28Kg98IgfRhScEUF-hpAWMPYqbUwXw_BNzlxVnsS-78YbKXUAuWQJKKXNfjgLfKHxOpxDSAudzO98gqxmpKmd-AYfiM4x3AATiJ9VCuJ0ukNMDCLIhn0rcvlOGiCBkcJYzPtMrTYzSEwyLeVqwYbfuvBD8U5BkLab_xncGn4SqkWrOGa8_L3J4l2MULeaVvtCkLUYRgu-fXmEGkjQAiuolW2zd4qiGTbqE6xZt_qRKcIvZy4bTPFxXMmuw9mOvXmqNYQnixW_advAPp9AzXGY83YBgctq4aVvW8LZd2UAPIvYvMltmftR6MjinDzXgd1RZPR716X0i6wX9wOpJ9PBJ7XoV0M7WzJeMo723n2XTuW3HR6XLNpnKawnQqKuoJ7Va6zP5PMEuKGayNrXGPDSftPFRkb7UhGVAh0fhpf5IEKXGj4SpmqISkyUrl2areGL99SSHYfTr0WIET7ibtvI6OU4t29ULMUtRFU2UcoevpfKDVRXAcBm_Survjo3zIq-NmmUKZtGeMeZ18ETOdNiJcUx1L9_PDKvOUNate8WozBvrvpSc7lveyW-Ve1B__bw8rRM3av2JItjuwjXLHltVydSD9KLsdrzCBS6E6p_XjKmmxQOc5cqnYmJBDX5aJ8Dw-B00YphbvbveNOBrNGAw5q5CXUNKfVXSda26TbeSjvLHO0DtuYA9B9QHTDZEBRf1OZ3fDoLgmA==",
  "id": "rs_09ad9d8756f70e63016ab42b8139d487d0b761d922e954fca7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.354,\"left_z\":0.125},\"note\":\"With the right arm parked, both remaining fruits are clearly visible: green nearer the middle and yellow closer to the front edge. I’m bringing the left arm above the green fruit, which is less constrained than the yellow fruit near the bases.\"}",
  "call_id": "call_AGo6fKziiJTpRZ4ihiUvRU8o",
  "id": "fc_09ad9d8756f70e63016ab42b8292a487d08956c12b7bf5c171",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AGo6fKziiJTpRZ4ihiUvRU8o",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-1.2221, 1.9854, 1.5974, -0.9867, -0.7147, -1.1507, 0.9978, 0.141, 1.253, 1.1007, -1.0073, 0.2382, -0.3817, 0.9982]\nstate[eef_state]: left_x=0.2541 left_y=-0.3496 left_z=0.1171 left_yaw=0.0498 left_pitch=-0.2686 left_roll=0.1027 left_gripper=0.9978 right_x=0.2879 right_y=0.0024 right_z=0.1635 right_yaw=0.1371 right_pitch=-0.6376 right_roll=-0.4479 right_gripper=0.9982\nstate[joint_eff]: [-0.6222, -10.441, 7.9658, 0.3932, -0.6862, -0.0171, -0.0073, -0.253, -5.2718, 6.2701, 1.1697, 0.2466, 0.1832, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:791f186203dbc48bca3545abc7f9bd632fb90c6bec79f9d6b354d660e4f20cd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ee14a3684ac7c002e3a9f2726f59cae03a5fd65a4f2597956d520b3f403bfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3aadbc474e266b3a9e97d4a019da5e5b1645fc954d16e018415cd0deae590c7",
      "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 · 2.09 s

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

message 127 changed as sent

message 136 changed as sent

message 140 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9977, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 1.071, 1.9366, 1.2308, -0.7921, 0.4923, 0.569, 0.9953]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.2411 left_roll=0.1016 left_gripper=0.9978 right_x=0.2408 right_y=0.2742 right_z=0.0203 right_yaw=0.1507 right_pitch=-0.6089 right_roll=-0.4492 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -2.441, 6.9812, 1.5116, -0.1392, -0.0464, -0.0171, 0.4444, -11.7675, 5.0393, 0.4518, 0.2564, 0.1294, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1055, 0.9985, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.1398, 1.2659, 1.1301, -1.0218, 0.2481, -0.3614, 0.9977]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1679 left_yaw=0.0577 left_pitch=-0.2418 left_roll=0.1017 left_gripper=0.9978 right_x=0.2912 right_y=0.0008 right_z=0.1692 right_yaw=0.1132 right_pitch=-0.6308 right_roll=-0.4493 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -2.4821, 6.8718, 1.5067, -0.0904, -0.0513, -0.0122, -0.1709, -5.0393, 8.841, 1.1355, 0.0171, 0.0757, -0.022]",
      "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]: [-1.2221, 1.9854, 1.5974, -0.9867, -0.7147, -1.1507, 0.9978, 0.141, 1.253, 1.1007, -1.0073, 0.2382, -0.3817, 0.9982]\nstate[eef_state]: left_x=0.2541 left_y=-0.3496 left_z=0.1171 left_yaw=0.0498 left_pitch=-0.2686 left_roll=0.1027 left_gripper=0.9978 right_x=0.2879 right_y=0.0024 right_z=0.1635 right_yaw=0.1371 right_pitch=-0.6376 right_roll=-0.4479 right_gripper=0.9982\nstate[joint_eff]: [-0.6222, -10.441, 7.9658, 0.3932, -0.6862, -0.0171, -0.0073, -0.253, -5.2718, 6.2701, 1.1697, 0.2466, 0.1832, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:791f186203dbc48bca3545abc7f9bd632fb90c6bec79f9d6b354d660e4f20cd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ee14a3684ac7c002e3a9f2726f59cae03a5fd65a4f2597956d520b3f403bfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3aadbc474e266b3a9e97d4a019da5e5b1645fc954d16e018415cd0deae590c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuJW_9NOQl9_CFGz_gzF8J9eQy8vnZQ-UgzIsxhTjx32XJfvnqCzo7h7cx4Q_2TCO7BrLbnGu5FMeIy9fyaLF3rZfJQx25FpN7X9PgYbT4EzHP9EJzgxWItZ6UrGiAj1o-FeGIikX63hMLHHj3w5qS3ijPCz-wdPmPSkhcIf6TyHDlyMVR-93XpWyaAuMxh5Rzyck46uSMCMcWPbd9bZpWCh8yDqJxTa-0lwQ6bvsQMyJMnWfqK7mRYJg4DDPfV14BNoaFIHwdny5ytgqndNDJnABT_aiduxt2XEh-LFkIyuhqGnNM5DISyXtRT_e8IqryJRrLa3ucR0baccv10wktjozC7xdMNmbDKe4UlgekgbTxcvgoSWqtvuQiH1-ANtkfq2cyBPgER3p8wk3n2UhQqI_Tme71cWd82li-LaUp3AW6WpX_GqTkneuccabA6Evr6LvW8rmmT1fMc1Cg98L7MmY7q7efaqMtjSUqsnRMjHJ8B_ED7zcnjmGMv0TB2o21r9gojS3D_t3vkYkGZUJT6DKrZDTkZKxD6Cs8wfSpWlCWC7HY4Ma9QKZkylR4RcsVYyDyE-94k7YZrz4fqRIHgSHHJ_ViVd_1JmlFVVLJDMkTJz9PGEri3X7voPL3eYOCtPYvu52z_9jCt4JrKvBSqmX0A3Xxf2HKN5VS6GE20fJS1mInJcAJV8DBBeds3t-P4O6Ijya9j3Hm2MizCupQNCmuEeWpIKKAi8V9PZj7xsLtznW1ms1vbdC0s0cnhf87FyLwbDt1pEd_iYCbW3TkWYVVX08rIWd2Aajiww_06T_pzQ5sFxRO3menYszx0SAh5Bt2Jt-j0wq1HFeY21FfqTIXQFE_uF8zBcP56OJdB51oHI7u7OLHl4g89HIsIB7m8pX-c2zcSZKkWSZhC65NIJf4kzsXA1qaGPdEa2JiHrYukZbJXEzRHvAtO9Njf5-NfEPNGzDNJEBlHyFeqEqQRPoCb7RoHCZSbYAVax4q-rnLbk37U_QF3d6qILIpUR9MVipUk4GFmuVMamauPhR2yl04Qv5MCqs07sL3GNiV4h9ymwKZh19POFQCyVXQp6Xzv6PcKklv-b5RixOxSp3_O-Mictt0T0b5VreoMtZz8y64u8_d0M7rDBBHjpKclYXPfbP_TnuOAqZ_pXPFGDFZBCZr47IqHA_Fp8PrDUo_lBCRMemxsVad1zEZfzip8PeTftb6Qw7Q-TmBIWVE7BSelHAVF9kdK8hlMye1hdiUUwFwuBA8YX3gs1Urt-u2zc7autR_qXe-snTrn9hShIOgOiOX5LLT0hK2QBv-y1AiV57OnshS4tc_GlcobCwMXmnPtz534fMwZ_8Tqckuk_hDYx1xSzzn_XwLfqL2tEEwQwiHDqN5Dit_SkO6WLSdKVJhfI0UXINK2gFXuTISOvRAYgwJMrhH5_xgY9XPV1sIBeQU=",
  "id": "rs_09ad9d8756f70e63016ab42b87c62c87d09a36a0c9974c41d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.254,\"left_y\":-0.368,\"left_z\":0.028},\"note\":\"The green fruit sits just right of centre near the bottom of the left wrist image, beneath the open jaws. I’m making a small sideways correction and lowering to grip its middle.\"}",
  "call_id": "call_cmK7cpuFaSUkQ59EGoIODLoo",
  "id": "fc_09ad9d8756f70e63016ab42b88660887d0803fce8efc2c4369",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cmK7cpuFaSUkQ59EGoIODLoo",
  "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]: [-1.2312, 2.1372, 1.4914, -0.7731, -0.7101, -1.161, 0.9978, 0.141, 1.2377, 1.0672, -0.9882, 0.2375, -0.3859, 0.9982]\nstate[eef_state]: left_x=0.2532 left_y=-0.3604 left_z=0.0337 left_yaw=0.0572 left_pitch=-0.285 left_roll=0.1384 left_gripper=0.9978 right_x=0.2846 right_y=0.002 right_z=0.1577 right_yaw=0.1405 right_pitch=-0.6378 right_roll=-0.4491 right_gripper=0.9982\nstate[joint_eff]: [-0.8684, -10.7009, 4.9709, 0.5885, -0.4274, -0.1245, -0.0073, -0.1026, -5.2855, 6.1333, 1.2088, 0.0757, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876b991fa8f6b5da1102c62260dac1756d32d816df9295ade95fe8a863fa9844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e425b5433fa05f59652118f848b8e36907fb281d4e8214c537868c77c90b92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9254c110d2514e5d44a697b79394147e5507d1f4fcf789a9fd63340048ad2c",
      "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 · 3.725 s

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

message 131 changed as sent

message 140 changed as sent

message 144 changed as sent

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9981, 0.8093, -0.6331, -0.1638, -0.0525, 0.9978, 1.0706, 1.9327, 1.2243, -0.7856, 0.4923, 0.5652, 0.0107]\nstate[eef_state]: left_x=0.2971 left_y=0.0012 left_z=0.168 left_yaw=0.0581 left_pitch=-0.2418 left_roll=0.1017 left_gripper=0.9978 right_x=0.2407 right_y=0.2738 right_z=0.0202 right_yaw=0.1547 right_pitch=-0.6075 right_roll=-0.4475 right_gripper=0.0107\nstate[joint_eff]: [-0.1983, -2.4821, 6.8855, 1.4774, -0.1148, -0.0757, -0.0122, -0.0752, -9.1829, 5.4496, 0.4469, 0.2759, 0.0562, 0.9304]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-1.2221, 1.9854, 1.5974, -0.9867, -0.7147, -1.1507, 0.9978, 0.141, 1.253, 1.1007, -1.0073, 0.2382, -0.3817, 0.9982]\nstate[eef_state]: left_x=0.2541 left_y=-0.3496 left_z=0.1171 left_yaw=0.0498 left_pitch=-0.2686 left_roll=0.1027 left_gripper=0.9978 right_x=0.2879 right_y=0.0024 right_z=0.1635 right_yaw=0.1371 right_pitch=-0.6376 right_roll=-0.4479 right_gripper=0.9982\nstate[joint_eff]: [-0.6222, -10.441, 7.9658, 0.3932, -0.6862, -0.0171, -0.0073, -0.253, -5.2718, 6.2701, 1.1697, 0.2466, 0.1832, 0.0415]",
      "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]: [-1.2312, 2.1372, 1.4914, -0.7731, -0.7101, -1.161, 0.9978, 0.141, 1.2377, 1.0672, -0.9882, 0.2375, -0.3859, 0.9982]\nstate[eef_state]: left_x=0.2532 left_y=-0.3604 left_z=0.0337 left_yaw=0.0572 left_pitch=-0.285 left_roll=0.1384 left_gripper=0.9978 right_x=0.2846 right_y=0.002 right_z=0.1577 right_yaw=0.1405 right_pitch=-0.6378 right_roll=-0.4491 right_gripper=0.9982\nstate[joint_eff]: [-0.8684, -10.7009, 4.9709, 0.5885, -0.4274, -0.1245, -0.0073, -0.1026, -5.2855, 6.1333, 1.2088, 0.0757, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876b991fa8f6b5da1102c62260dac1756d32d816df9295ade95fe8a863fa9844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e425b5433fa05f59652118f848b8e36907fb281d4e8214c537868c77c90b92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9254c110d2514e5d44a697b79394147e5507d1f4fcf789a9fd63340048ad2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuLx3-nGItLAxBNIvD_yc1Pawru4nYGeABSiFCg9WaazeY0VgUJGco44ZyD8dhy8ThgJs-qFPMEjnrwNWyBZQCfYq8gxV6--pBCr8zfnfjz1lPcw48Xgrg1LZ_pvh9GCE0UmRXkGY_gO_GxUGznLOE9mZnxRvIPfV_U_4SSalmkVGo-FxikKckY3-XcgoUV3BjpMwkJAESmWFS8aXtPQFdjsXGBas1AHAh9r0zjPg1DgW6wdylwONGCM7AqYp7GzFvI_SZoAl6tFmJZz1p3iuxpSP3bGU07FRnGZOtWHyJVuvEQwZJE6aujWjEP-JaFpV8thZLf6fnbYnj-Nr8FWU9zx3ynS7IB6Y3eB6vEi16h0XkDvRMiLz-Nfm1RTfVmAC0lwDb0Mp6aOoYQIF08t14pZI6ENUZr3HLHi7ne15Er5H_S3ArWzoHnxmJTLpTB4SkWuvJlaIEVOsjqqzJth_hyeGD2WzCcQP9CWnipb-Yel5H1c4YodMPFVnCsn6mzPy1g8iFin1_Ok6jB9Jv5Bv1t4eGpL7TVXYzfljXulSCKvuVrYrz7PrlpS7x6FwtGxXFr9XYajj9Gk8uYjdRP3j1bQwY8tf8K2dqdTl2lAzPimC3P2KxZrzLDEZTGXKJcVbFhgIJVlQ-8KgR5lX5l1knhIbzNNJDgKN6AZy3V_KPB1BLZ0sWofCUyfAGmKAEZIpoXyobm0rMcobmd3TPaENDXEgTCatL2lE7L7kRMTyoTTtDdBGZ0XvRemfNDXtSjM3_5_sIgnTAImrRaL8d2hcK9h06o4bCsEFMlOtbgmu9FZb4F-JEesf1jbnaRJV7v7hVf0XrBDGyS6eVV0JsO7gVyYL9G4l8-EO4ZKAzrdE9ptGZGacJ4Qi0pJd6KHMPYGqprxwrTbNGnhqFs0RwYvlrhh5xfIFpS5FWQniAjcxmgzqcUFIWXtD7WF8KYND-4l5OElgdvuOf536HYKqGK4IB5_EPdJrnTUwTe42rGaGnu5dl-5nStjswjYzGLDBhdR3XbtzxayIopAib1eouvx0dh-lvUeDthk5IXQM9utZ2U1Jg_MzERhwrLSZdJfgGPfWorEdWK3hy5KzV9oUOrzJU9ai5MJ1laojTOb5XxCMq6HO2go7lb-uyG8I7v9XQNCsNEDkQniVWVxKzLFOXA4B94hq28fqffX_BmftRGaiIfV7Xvl6RPvroVi9gEne-wv1FBcxe2fZTXJ5ki3HrHntaTtqsNaMN3FDFfy-OvR07B-QM=",
  "id": "rs_09ad9d8756f70e63016ab42b8b1abc87d080fd185c69ce9d97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.15},\"note\":\"The green fruit is now centred between the left jaws at grasp height. I’m closing around it and will confirm a secure hold with a lift.\"}",
  "call_id": "call_KFIygKhijIK2SDLWcMCpAZRH",
  "id": "fc_09ad9d8756f70e63016ab42b8b412887d0b2188a85bd0af58d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KFIygKhijIK2SDLWcMCpAZRH",
  "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]: [-1.2312, 2.1483, 1.4853, -0.7547, -0.7246, -1.1687, 0.5553, 0.141, 1.2171, 1.0344, -0.9649, 0.2375, -0.3859, 0.9983]\nstate[eef_state]: left_x=0.2553 left_y=-0.3604 left_z=0.0299 left_yaw=0.0645 left_pitch=-0.2704 left_roll=0.1361 left_gripper=0.5553 right_x=0.2822 right_y=0.0017 right_z=0.1538 right_yaw=0.1405 right_pitch=-0.6268 right_roll=-0.4491 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -12.2462, 6.0239, 0.3932, -0.2808, 0.0562, 1.0281, -0.1299, -4.9162, 6.2427, 1.2088, 0.0757, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4699fdeb2ac1f85341b1959a2a0132bdbab203b56d73ab00b18b30b6a851e0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f46bc0de1d3ef17c8d86a225e6fbfd7769715f0fc5f70041881bc57c35dc86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98363f22df80d5308592c96a1974491963852e0126ef58f96de3fea3780dba60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 4.219 s

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

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1055, 0.9985, 0.8093, -0.6327, -0.1638, -0.0525, 0.9978, 0.1398, 1.2659, 1.1301, -1.0218, 0.2481, -0.3614, 0.9977]\nstate[eef_state]: left_x=0.2971 left_y=0.0011 left_z=0.1679 left_yaw=0.0577 left_pitch=-0.2418 left_roll=0.1017 left_gripper=0.9978 right_x=0.2912 right_y=0.0008 right_z=0.1692 right_yaw=0.1132 right_pitch=-0.6308 right_roll=-0.4493 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -2.4821, 6.8718, 1.5067, -0.0904, -0.0513, -0.0122, -0.1709, -5.0393, 8.841, 1.1355, 0.0171, 0.0757, -0.022]",
      "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]: [-1.2312, 2.1372, 1.4914, -0.7731, -0.7101, -1.161, 0.9978, 0.141, 1.2377, 1.0672, -0.9882, 0.2375, -0.3859, 0.9982]\nstate[eef_state]: left_x=0.2532 left_y=-0.3604 left_z=0.0337 left_yaw=0.0572 left_pitch=-0.285 left_roll=0.1384 left_gripper=0.9978 right_x=0.2846 right_y=0.002 right_z=0.1577 right_yaw=0.1405 right_pitch=-0.6378 right_roll=-0.4491 right_gripper=0.9982\nstate[joint_eff]: [-0.8684, -10.7009, 4.9709, 0.5885, -0.4274, -0.1245, -0.0073, -0.1026, -5.2855, 6.1333, 1.2088, 0.0757, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2312, 2.1483, 1.4853, -0.7547, -0.7246, -1.1687, 0.5553, 0.141, 1.2171, 1.0344, -0.9649, 0.2375, -0.3859, 0.9983]\nstate[eef_state]: left_x=0.2553 left_y=-0.3604 left_z=0.0299 left_yaw=0.0645 left_pitch=-0.2704 left_roll=0.1361 left_gripper=0.5553 right_x=0.2822 right_y=0.0017 right_z=0.1538 right_yaw=0.1405 right_pitch=-0.6268 right_roll=-0.4491 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -12.2462, 6.0239, 0.3932, -0.2808, 0.0562, 1.0281, -0.1299, -4.9162, 6.2427, 1.2088, 0.0757, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4699fdeb2ac1f85341b1959a2a0132bdbab203b56d73ab00b18b30b6a851e0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f46bc0de1d3ef17c8d86a225e6fbfd7769715f0fc5f70041881bc57c35dc86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98363f22df80d5308592c96a1974491963852e0126ef58f96de3fea3780dba60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "encrypted_content": "gAAAAABqtCuQbBtLBYsbU7x16qcEu4TJiAW5J4eX2zKNLmjnCmkuqQGsWfO3v2_BnZlAAAVLs2dGBXWgiqjkC4_tpJPbos9WtF5DOF3-E2ddt-JDOvHa5Vx9fFesnVs0Oxs2XQ7IAbLw5xL1JJroDkfGVhAtOPwfesa-d25u3jjR3udOpEhPr40yLC1DUhWThPFKtN3AFr1Z4g8_p_1TcwVPu7t2yV2IYPkp1dzDGxssPFIS2nuNJMw_ycDyZ6ywT705tnZK4LsgtJCOtp60HRZto_YNKktj_d_z6O5Rx8U3wLxpr6ktp3icYxXixSLiXaPwQUPNy8G7khrv1X-Ja0_Rc0BeboMkkNg5jOG1vjQX-gRftVmrV9jIY9nmaE-uC8a56Lo2isZ1Mtdf3JKKlvrVEokOPkOMvRGD9CN21sM3HXZDeihiNOHVzGU4jlUetXCq_qAp9MdTaf_oOHFGtS5oA42YEGaPTWal-atpUOuECpzQBtm4bJugXS5G3xuiyBkeIYfVNPpg_CnWHeC3EVCce4K1-4SPsIMSr0bK4txro43acZF5phjjfEFHqg9Fjh0zuqYl-rXBzOt2qGn3aLfMRa5_S-8PiM5m7gBTCLUAqyV-k3CD-_jT0AjBl0VMuZjTSSO_dMdgXKcnZxKVSugjjwJb2UypUaCuy4dnVlV1dZjehWtJHXVXbhxM89qC-g99lf4VuQt_gFh4jVYXZzA_ijfG0GDo_WgRF5oZknNnHayru6xI-qJq9wpoF3EB3jquCe_6eJDba9tosCLzeH9QoggKAkSs4aKvyczih6Ao6MMIGJKN3ExTV4_VNtupb0voi-UTXAWaSfg9H6ZJ7CDzJhelW5z_izhmfAgn3bY6wnNF66Ig_dRe5f4RbHPRpCYkLA5LWqvTN2pl_B7xw4cqFFoSn2-TiWWH56zVbDRmgX1E7I36E6blif5DRjgldxi99tfrSnbDk3Lu0jAwUmmc0mY1qDcrlB0n0jjEjiMLY5HCfCS_pbaMq-0Sl3KU_2Rzu-fZZzrvhbJhLxRFmGVhd3hEQxSeQt02TAEwW2NmvJcSe7oh1eNCFxMsptAAJ13PwkbbNQC6Q_4K2iPmA6HDAqmcwYHKTW3e7rcjz2Vmf1nR0NHbuMKCZxTbq0KNsw3A4kZoyM-3E9Gsyuto3tvynuTskEHOqcy-XHPwfQg9YA_JntgjBwczFj7dfzdFSP11BjSroCCKK3LVQ5DeWsJbhyBMxBSQJGm52T4oiqMzdd3ieJRFzHWaGB8x-OYgSgMvuYSH2dBiRuRjwD0TS9_jjTAA38j8s0wYANadQBMKs0_3_3-kMBo9Qm9WJ827Nhw3KMpPLC37wE5_ccYIa_uYZfxdAPDzuNnPXJZmKcZWa01bag7TRzsAedr_xV5sI6WrodZQUGfIqgEPM81hgFlrGZiNv8Fe_FvQ9CEW7ViyKKVGKIL1u-ptob92ANRGHEVacNBTfpwUKPsHshXPfdgryE7g4Bu7s-jXbhPMBGOK81dMVb3aMruvJGzcP47e9FG3QHA7_4DiQTWa9tQ1YuvXGrNPfGyrmiw4VMT8XJvGtAC8l4Aol56zv47wgWQBtN8nHTTYVdGdtcYXSHm0RSzJ4BBShKXJTg==",
  "id": "rs_09ad9d8756f70e63016ab42b8e8e8087d08cf9f608b8637415",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.471,\"left_y\":-0.354,\"left_z\":0.175},\"note\":\"The left gripper settled around the green fruit at a plausible fruit-sized opening. I’m lifting it and carrying it toward the blue bowl, which was pushed farther forward on the tabletop.\"}",
  "call_id": "call_br1eMoBlACgFVYYKjpIlo1p8",
  "id": "fc_09ad9d8756f70e63016ab42b8f921887d08d59e2913d30096d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_br1eMoBlACgFVYYKjpIlo1p8",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "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]: [-0.8291, 2.6854, 2.8746, -1.3174, -0.6033, -0.72, 0.5575, 0.141, 1.2053, 1.0149, -0.947, 0.2367, -0.3862, 0.9983]\nstate[eef_state]: left_x=0.4674 left_y=-0.3565 left_z=0.1387 left_yaw=0.0912 left_pitch=-0.2753 left_roll=0.1225 left_gripper=0.5575 right_x=0.2816 right_y=0.0017 right_z=0.1518 right_yaw=0.1415 right_pitch=-0.6166 right_roll=-0.4484 right_gripper=0.9983\nstate[joint_eff]: [0.3761, -15.6786, 7.4188, 0.2613, -0.2759, 0.3199, 0.2125, -0.1573, -4.506, 5.9009, 1.1355, 0.0806, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d01e6570ba436c312ed2e848b3d296acc32cf4505b002e9531fec4f6638c6f02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5221b529fdd42e8f2d2998ca63c4ea800d52ff13589aa586201f1691a1b1715c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d818d0d2687c9fc4521f4eea51f4daa810ec3a0822d311613642400b7785907",
      "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 · 8.378 s

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

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2221, 1.9854, 1.5974, -0.9867, -0.7147, -1.1507, 0.9978, 0.141, 1.253, 1.1007, -1.0073, 0.2382, -0.3817, 0.9982]\nstate[eef_state]: left_x=0.2541 left_y=-0.3496 left_z=0.1171 left_yaw=0.0498 left_pitch=-0.2686 left_roll=0.1027 left_gripper=0.9978 right_x=0.2879 right_y=0.0024 right_z=0.1635 right_yaw=0.1371 right_pitch=-0.6376 right_roll=-0.4479 right_gripper=0.9982\nstate[joint_eff]: [-0.6222, -10.441, 7.9658, 0.3932, -0.6862, -0.0171, -0.0073, -0.253, -5.2718, 6.2701, 1.1697, 0.2466, 0.1832, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2312, 2.1483, 1.4853, -0.7547, -0.7246, -1.1687, 0.5553, 0.141, 1.2171, 1.0344, -0.9649, 0.2375, -0.3859, 0.9983]\nstate[eef_state]: left_x=0.2553 left_y=-0.3604 left_z=0.0299 left_yaw=0.0645 left_pitch=-0.2704 left_roll=0.1361 left_gripper=0.5553 right_x=0.2822 right_y=0.0017 right_z=0.1538 right_yaw=0.1405 right_pitch=-0.6268 right_roll=-0.4491 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -12.2462, 6.0239, 0.3932, -0.2808, 0.0562, 1.0281, -0.1299, -4.9162, 6.2427, 1.2088, 0.0757, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8291, 2.6854, 2.8746, -1.3174, -0.6033, -0.72, 0.5575, 0.141, 1.2053, 1.0149, -0.947, 0.2367, -0.3862, 0.9983]\nstate[eef_state]: left_x=0.4674 left_y=-0.3565 left_z=0.1387 left_yaw=0.0912 left_pitch=-0.2753 left_roll=0.1225 left_gripper=0.5575 right_x=0.2816 right_y=0.0017 right_z=0.1518 right_yaw=0.1415 right_pitch=-0.6166 right_roll=-0.4484 right_gripper=0.9983\nstate[joint_eff]: [0.3761, -15.6786, 7.4188, 0.2613, -0.2759, 0.3199, 0.2125, -0.1573, -4.506, 5.9009, 1.1355, 0.0806, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d01e6570ba436c312ed2e848b3d296acc32cf4505b002e9531fec4f6638c6f02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5221b529fdd42e8f2d2998ca63c4ea800d52ff13589aa586201f1691a1b1715c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d818d0d2687c9fc4521f4eea51f4daa810ec3a0822d311613642400b7785907",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09ad9d8756f70e63016ab42b93534087d0a9e831982bb915e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.38,\"left_z\":0.08,\"left_gripper\":1},\"note\":\"The green fruit has lifted off the table, and the blue bowl—with the dark fruit inside—is directly ahead of the left gripper. I’m adjusting toward the bowl’s centre, lowering, and releasing the green fruit into it.\"}",
  "call_id": "call_ucbZVqQfNdqkmdIWAvXGtVqF",
  "id": "fc_09ad9d8756f70e63016ab42b957b8887d0b44bed0c9132f600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ucbZVqQfNdqkmdIWAvXGtVqF",
  "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]: [-0.828, 2.7495, 2.8983, -1.3109, -0.59, -0.7303, 0.9953, 0.141, 1.2041, 1.0039, -0.9421, 0.2371, -0.3859, 0.9983]\nstate[eef_state]: left_x=0.4697 left_y=-0.3609 left_z=0.1097 left_yaw=0.0984 left_pitch=-0.3047 left_roll=0.1361 left_gripper=0.9953 right_x=0.2804 right_y=0.0015 right_z=0.1487 right_yaw=0.1409 right_pitch=-0.6214 right_roll=-0.4487 right_gripper=0.9983\nstate[joint_eff]: [-0.3077, -14.8581, 6.0923, 1.243, -0.4615, 0.0366, -0.0513, -0.1983, -4.8479, 6.0513, 1.1306, 0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:826e91af062f526beb705e56ff3c50e34e5b318a19fc8ebb9e9fca59d7678bc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a571aa12e722d35f70737327f15eb8a15cc064b47d4e220d688bddf26ae9dee7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65228c96e845e58b9c68721c35867403427bd3d1080b29e22d160d19fd887599",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]