adhoc - adhoc_54caaad7.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: 212.8 s
total steps: 352

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 noteI see three fruits: a dark round fruit near the white bowl, a yellow fruit beside the blue bowl, and a green pear on the right. I’ll position the right gripper above the pear first, keeping the left arm clear.

move_to

right_x0.3000right_y0.1200right_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3824, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6186, -0.3901, -0.0235, -0.0124, 0.9993] state[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2956 right_y=0.001 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.3897, -1.7983, 9.812, 1.8291, -0.1245, 0.149, -0.1148, -0.3214, -1.5932, 9.306, 1.8584, -0.022, -0.0269, -0.0806] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.12,"right_z":0.15},"note":"I see three fruits: a dark round fruit near the white bowl, a yellow fruit beside the blue bowl, and a green pear on the right. I’ll position the right gripper above the pear first, keeping the left arm clear."})

tool

executing move_to over 10 steps (1.0s)

step 10

assistant

agent noteThe pear is very close to the fingertips but sits to the right of the jaw column in the wrist view. I’m shifting the right gripper sideways toward it and lowering partway before the grasp.

move_to

right_y0.0750right_z0.0900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8017, 0.6132, -0.3901, -0.0139, -0.0311, 0.999, 0.6502, 1.0702, 0.59, -0.2512, 0.4988, 0.3603, 0.9993] state[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.18 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0013 left_gripper=0.999 right_x=0.2925 right_y=0.1208 right_z=0.1333 right_yaw=0.0391 right_pitch=-0.0553 right_roll=-0.0392 right_gripper=0.9993 state[joint_eff]: [-0.1573, -1.3333, 7.2274, 1.8144, -0.0464, -0.0611, -0.0171, 0.0068, -3.1932, 8.3487, 1.8095, 0.4615, 0.2173, -0.022] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.075,"right_z":0.09},"note":"The pear is very close to the fingertips but sits to the right of the jaw column in the wrist view. I’m shifting the right gripper sideways toward it and lowering partway before the grasp."})

tool

executing move_to over 4 steps (0.4s)

step 14

assistant

agent noteThe pear is now nearly centred between the jaws in the wrist camera, with its upper half exposed. I’m bringing the open gripper down around its lower half and making a small final centring adjustment.

move_to

right_x0.3000right_y0.0600right_z0.0250

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8024, 0.6132, -0.4011, -0.0139, -0.0311, 0.999, 0.4301, 1.0153, 0.3649, -0.0593, 0.3347, 0.2157, 0.9993] state[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1775 left_yaw=0.0005 left_pitch=-0.021 left_roll=-0.0011 left_gripper=0.999 right_x=0.288 right_y=0.0722 right_z=0.0815 right_yaw=0.0287 right_pitch=-0.0917 right_roll=-0.0496 right_gripper=0.9993 state[joint_eff]: [-0.3077, -1.2239, 7.0769, 1.8388, -0.0659, -0.0171, -0.0122, 0.0615, -2.9607, 6.9675, 1.8486, 0.0171, -0.1294, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.06,"right_z":0.025},"note":"The pear is now nearly centred between the jaws in the wrist camera, with its upper half exposed. I’m bringing the open gripper down around its lower half and making a small final centring adjustment."})

tool

executing move_to over 4 steps (0.4s)

step 18

assistant

agent noteThe pear fills the gap between the open jaws at table height. I’m closing the right gripper on it and will check the settled jaw opening before lifting.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.807, 0.6132, -0.4091, -0.0139, -0.0334, 0.999, 0.337, 1.3052, 0.2165, 0.3614, 0.2562, 0.1555, 0.9993] state[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1746 left_yaw=0.0017 left_pitch=-0.0336 left_roll=-0.0027 left_gripper=0.999 right_x=0.2944 right_y=0.0595 right_z=0.0174 right_yaw=0.0322 right_pitch=-0.1275 right_roll=-0.054 right_gripper=0.9993 state[joint_eff]: [-0.3077, -1.5932, 7.1863, 1.8144, -0.0611, -0.0073, -0.0122, -0.4171, -3.8222, 5.2855, 1.8486, 0.105, -0.105, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The pear fills the gap between the open jaws at table height. I’m closing the right gripper on it and will check the settled jaw opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 28

assistant

agent noteThe jaws stopped partly open around the pear, consistent with a wide fruit rather than an empty close. I’m lifting it a few centimetres to verify it actually follows the gripper.

move_to

right_z0.0950

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.807, 0.6132, -0.4168, -0.0139, -0.0338, 0.999, 0.3363, 1.3052, 0.2165, 0.3614, 0.2527, 0.1486, 0.7133] state[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.1731 left_yaw=0.002 left_pitch=-0.0412 left_roll=-0.0028 left_gripper=0.999 right_x=0.2944 right_y=0.0599 right_z=0.0173 right_yaw=0.038 right_pitch=-0.1283 right_roll=-0.0571 right_gripper=0.7133 state[joint_eff]: [-0.3487, -1.1282, 7.1726, 1.8095, -0.0757, -0.0659, -0.0122, -0.1026, -3.3846, 5.3675, 1.5458, 0.1148, 0.0024, 1.033] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.095},"note":"The jaws stopped partly open around the pear, consistent with a wide fruit rather than an empty close. I’m lifting it a few centimetres to verify it actually follows the gripper."})

tool

executing move_to over 6 steps (0.6s)

step 34

assistant

agent noteThe pear rose with the gripper and is no longer on the table. I’m carrying it high over the blue bowl, which is to the left and slightly farther forward.

move_to

right_x0.3600right_y0.2300right_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]: [-0.02, 0.8085, 0.6132, -0.4236, -0.0139, -0.0338, 0.999, 0.3367, 1.0164, 0.4133, -0.1585, 0.2451, 0.1467, 0.7125] state[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1713 left_yaw=0.002 left_pitch=-0.0496 left_roll=-0.0026 left_gripper=0.999 right_x=0.2883 right_y=0.0593 right_z=0.0804 right_yaw=0.0443 right_pitch=-0.1627 right_roll=-0.0636 right_gripper=0.7125 state[joint_eff]: [-0.335, -1.3197, 7.2274, 1.7509, -0.0562, -0.0562, -0.0122, -0.2256, -3.0838, 8.9641, 1.5751, 0.1099, -0.0122, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.23,"right_z":0.17},"note":"The pear rose with the gripper and is no longer on the table. I’m carrying it high over the blue bowl, which is to the left and slightly farther forward."})

tool

executing move_to over 15 steps (1.5s)

step 49

assistant

agent noteFrom above, the pear and fingertips appear just left of the blue bowl, near the remaining yellow fruit. I’m shifting the carried pear toward the bowl’s centre before lowering it.

move_to

right_x0.3800right_y0.1700right_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4271, -0.0139, -0.0338, 0.999, 0.7753, 1.6165, 1.2129, -0.5472, 0.5201, 0.469, 0.7158] state[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1696 left_yaw=0.002 left_pitch=-0.0568 left_roll=-0.0025 left_gripper=0.999 right_x=0.3523 right_y=0.2274 right_z=0.153 right_yaw=0.0702 right_pitch=-0.2158 right_roll=-0.1038 right_gripper=0.7158 state[joint_eff]: [-0.1026, -1.6342, 6.9949, 1.7656, -0.0269, -0.0806, -0.0122, 0.2256, -8.0889, 8.7863, 1.536, 0.4518, 0.1245, 0.8425] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.17,"right_z":0.16},"note":"From above, the pear and fingertips appear just left of the blue bowl, near the remaining yellow fruit. I’m shifting the carried pear toward the bowl’s centre before lowering it."})

tool

executing move_to over 5 steps (0.5s)

step 54

assistant

agent noteThe blue bowl is now visible directly beside the held pear, with the fruit slightly right of its centre. I’m moving a little left and lowering the pear inside the bowl before releasing it.

move_to

right_x0.3900right_y0.1900right_z0.0800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4278, -0.0139, -0.0338, 0.999, 0.5777, 1.5726, 1.1503, -0.5205, 0.3878, 0.2947, 0.7156] state[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1694 left_yaw=0.002 left_pitch=-0.0576 left_roll=-0.0025 left_gripper=0.999 right_x=0.3745 right_y=0.1687 right_z=0.1414 right_yaw=0.0704 right_pitch=-0.2808 right_roll=-0.1308 right_gripper=0.7156 state[joint_eff]: [-0.2667, -1.3607, 7.2, 1.6825, -0.0317, -0.0611, -0.0122, -0.0479, -9.8667, 6.694, 1.6581, 0.2466, -0.0317, 0.4811] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.19,"right_z":0.08},"note":"The blue bowl is now visible directly beside the held pear, with the fruit slightly right of its centre. I’m moving a little left and lowering the pear inside the bowl before releasing it."})

tool

executing move_to over 4 steps (0.4s)

step 58

assistant

agent noteThe pear is lowered over the blue bowl and the bowl is under the gripper. I’m opening the jaws so it settles into the bowl.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8135, 0.6132, -0.432, -0.0139, -0.0338, 0.999, 0.6022, 1.7458, 1.0737, -0.3286, 0.3878, 0.3058, 0.7181] state[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1683 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.999 right_x=0.3828 right_y=0.1864 right_z=0.0698 right_yaw=0.0796 right_pitch=-0.3305 right_roll=-0.1533 right_gripper=0.7181 state[joint_eff]: [-0.0752, -1.265, 7.2547, 1.7021, -0.0611, -0.0366, -0.0122, 0.0752, -9.1692, 6.3521, 1.5751, 0.3053, 0.0855, 0.7155] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The pear is lowered over the blue bowl and the bowl is under the gripper. I’m opening the jaws so it settles into the bowl."})

tool

executing move_to over 3 steps (0.3s)

step 61

assistant

agent noteThe pear is visible resting in the blue bowl after release. I’m parking the right arm and moving the left arm above the dark fruit beside the white bowl.

move_to

right_x0.2950right_y0.0000right_z0.1800left_x0.2800left_y-0.1800left_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]: [-0.02, 0.8135, 0.6132, -0.432, -0.0139, -0.0338, 0.999, 0.6022, 1.7458, 1.0737, -0.3347, 0.3874, 0.3023, 0.9957] state[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1683 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.999 right_x=0.3818 right_y=0.1858 right_z=0.069 right_yaw=0.0808 right_pitch=-0.3362 right_roll=-0.1585 right_gripper=0.9957 state[joint_eff]: [-0.0889, -0.9368, 7.1726, 1.6532, -0.0611, -0.0317, -0.0122, -0.0342, -8.4991, 6.1607, 1.2332, 0.1587, -0.022, -0.1685] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"left_x":0.28,"left_y":-0.18,"left_z":0.12},"note":"The pear is visible resting in the blue bowl after release. I’m parking the right arm and moving the left arm above the dark fruit beside the white bowl."})

tool

executing move_to over 17 steps (1.7s)

step 78

assistant

agent noteThe dark fruit is visible left of the left gripper’s jaw column and still a little short of the fingertips. I’m centring over it, advancing slightly, and lowering to grasp height.

move_to

left_x0.3050left_y-0.1550left_z0.0450

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9283, 1.2804, 0.6621, -0.3115, -0.6746, -0.6823, 0.999, 0.0147, 1.076, 0.9127, -0.7799, 0.0582, -0.1719, 0.9964] state[eef_state]: left_x=0.2729 left_y=-0.1745 left_z=0.1052 left_yaw=-0.0155 left_pitch=-0.1072 left_roll=0.0279 left_gripper=0.999 right_x=0.2909 right_y=-0.0024 right_z=0.1644 right_yaw=0.0576 right_pitch=-0.3792 right_roll=-0.1625 right_gripper=0.9964 state[joint_eff]: [-0.3214, -3.959, 9.2513, 1.4188, -0.6471, -0.1001, -0.0122, 0.0205, -3.6444, 9.4427, 1.5116, -0.0317, -0.0757, 0.0611] 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":0.305,"left_y":-0.155,"left_z":0.045},"note":"The dark fruit is visible left of the left gripper’s jaw column and still a little short of the fingertips. I’m centring over it, advancing slightly, and lowering to grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 82

assistant

agent noteThe dark fruit is centred between the left jaws at grasp height. I’m closing around it, then I’ll lift to confirm the hold.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7643, 1.4734, 0.5018, 0.0956, -0.5823, -0.5426, 0.999, 0.0113, 1.0771, 0.9169, -0.7872, 0.0513, -0.1841, 0.9964] state[eef_state]: left_x=0.3017 left_y=-0.1497 left_z=0.0392 left_yaw=0.0051 left_pitch=-0.1279 left_roll=0.0476 left_gripper=0.999 right_x=0.2903 right_y=-0.0022 right_z=0.1646 right_yaw=0.0675 right_pitch=-0.3842 right_roll=-0.1639 right_gripper=0.9964 state[joint_eff]: [-0.2393, -5.8872, 5.3128, 1.6923, -0.1538, 0.1197, -0.0122, 0.1983, -3.0701, 6.3385, 1.3993, 0.0806, 0.0806, -0.0073] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The dark fruit is centred between the left jaws at grasp height. I’m closing around it, then I’ll lift to confirm the hold."})

tool

executing move_to over 10 steps (1.0s)

step 92

assistant

agent noteThe left gripper closed almost completely, so it missed the dark fruit; the wrist image shows the fruit still just beyond the fingertip tips. I’m reopening and advancing about four centimetres at low height for one corrected grasp.

move_to

left_gripper1.0000left_x0.3450left_z0.0250

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7643, 1.4738, 0.5018, 0.0917, -0.5827, -0.5468, 0.0091, 0.0109, 1.0771, 0.9169, -0.7879, 0.0502, -0.1844, 0.9964] state[eef_state]: left_x=0.3013 left_y=-0.1492 left_z=0.0386 left_yaw=0.008 left_pitch=-0.1307 left_roll=0.0476 left_gripper=0.0091 right_x=0.2901 right_y=-0.0021 right_z=0.1645 right_yaw=0.0684 right_pitch=-0.3849 right_roll=-0.1631 right_gripper=0.9964 state[joint_eff]: [0.0068, -5.0803, 5.3675, 1.3748, -0.2418, 0.0464, 0.6862, -0.0342, -2.988, 6.6393, 1.3455, 0.0317, -0.0171, -0.0122] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.345,"left_z":0.025},"note":"The left gripper closed almost completely, so it missed the dark fruit; the wrist image shows the fruit still just beyond the fingertip tips. I’m reopening and advancing about four centimetres at low height for one corrected grasp."})

tool

executing move_to over 10 steps (1.0s)

step 102

assistant

agent noteThe dark fruit now sits deep between the jaws in the wrist view, unlike the first attempt. I’m closing for the corrected grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6498, 1.6485, 0.5663, 0.207, -0.5148, -0.4675, 0.9977, 0.0109, 1.0771, 0.9169, -0.7879, 0.0509, -0.1844, 0.9965] state[eef_state]: left_x=0.335 left_y=-0.1408 left_z=0.0153 left_yaw=0.0296 left_pitch=-0.1638 left_roll=0.0652 left_gripper=0.9977 right_x=0.2901 right_y=-0.0023 right_z=0.1645 right_yaw=0.0677 right_pitch=-0.3849 right_roll=-0.1637 right_gripper=0.9965 state[joint_eff]: [0.3214, -5.6137, 7.2, 1.6972, -0.1929, 0.1685, -0.2466, -0.0752, -2.7282, 6.7624, 1.3309, 0.0122, -0.0708, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The dark fruit now sits deep between the jaws in the wrist view, unlike the first attempt. I’m closing for the corrected grasp."})

tool

executing move_to over 10 steps (1.0s)

step 112

assistant

agent noteThe left jaws settled around a roughly five-centimetre fruit rather than closing empty. I’m lifting it to confirm it moves with the gripper.

move_to

left_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]: [-0.6502, 1.6493, 0.5667, 0.2062, -0.5152, -0.4717, 0.5381, 0.0109, 1.0771, 0.9169, -0.7879, 0.0505, -0.1844, 0.9964] state[eef_state]: left_x=0.3349 left_y=-0.1409 left_z=0.0151 left_yaw=0.0319 left_pitch=-0.1644 left_roll=0.063 left_gripper=0.5381 right_x=0.2901 right_y=-0.0022 right_z=0.1645 right_yaw=0.0681 right_pitch=-0.3849 right_roll=-0.1634 right_gripper=0.9964 state[joint_eff]: [-0.1573, -6.4615, 5.1624, 1.3407, -0.2906, -0.0317, 1.0281, -0.0479, -2.988, 6.7761, 1.326, 0.0024, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.105},"note":"The left jaws settled around a roughly five-centimetre fruit rather than closing empty. I’m lifting it to confirm it moves with the gripper."})

tool

executing move_to over 6 steps (0.6s)

step 118

assistant

agent noteThe dark fruit lifted successfully and remains between the jaws. I’m carrying it across the table toward the blue bowl, keeping it well above the rim.

move_to

left_x0.3700left_y-0.3700left_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]: [-0.6502, 1.4197, 0.7433, -0.2207, -0.5148, -0.4789, 0.5399, 0.0109, 1.0771, 0.9169, -0.7906, 0.0509, -0.1844, 0.9964] state[eef_state]: left_x=0.3323 left_y=-0.1389 left_z=0.0916 left_yaw=0.0378 left_pitch=-0.1803 left_roll=0.0706 left_gripper=0.5399 right_x=0.2896 right_y=-0.0023 right_z=0.1641 right_yaw=0.0678 right_pitch=-0.3876 right_roll=-0.1636 right_gripper=0.9964 state[joint_eff]: [-0.1162, -6.5709, 8.4991, 1.3358, -0.2955, 0.0366, 0.989, -0.1162, -2.6462, 6.8581, 1.3651, 0.0269, -0.0562, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.37,"left_z":0.17},"note":"The dark fruit lifted successfully and remains between the jaws. I’m carrying it across the table toward the blue bowl, keeping it well above the rim."})

tool

executing move_to over 21 steps (2.1s)

step 139

assistant

agent noteThe blue bowl is just to the right of the held dark fruit, near the left arm’s inward reach limit. I’m taking the arm to that limit and lowering toward the bowl’s near edge to see whether the fruit clears the rim.

move_to

left_x0.3950left_y-0.4000left_z0.0950

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0103, 2.1696, 1.9919, -0.9649, -0.6888, -0.8612, 0.5436, 0.0109, 1.0771, 0.9169, -0.7918, 0.0505, -0.1848, 0.9964] state[eef_state]: left_x=0.3672 left_y=-0.3672 left_z=0.1581 left_yaw=0.0374 left_pitch=-0.2115 left_roll=0.0787 left_gripper=0.5436 right_x=0.2894 right_y=-0.0022 right_z=0.164 right_yaw=0.0684 right_pitch=-0.3888 right_roll=-0.1634 right_gripper=0.9964 state[joint_eff]: [-0.7316, -12.1641, 8.9094, 0.9499, -0.6422, 0.022, 0.7399, -0.0889, -2.9607, 6.8581, 1.326, -0.022, -0.0464, -0.0073] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_y":-0.4,"left_z":0.095},"note":"The blue bowl is just to the right of the held dark fruit, near the left arm’s inward reach limit. I’m taking the arm to that limit and lowering toward the bowl’s near edge to see whether the fruit clears the rim."})

tool

executing move_to over 5 steps (0.5s)

step 144

assistant

agent noteAt the left arm’s reach limit the dark fruit is still outside the blue bowl’s rim, so releasing it here would likely miss. I’m setting it on a clear patch of table nearer the centre so the right arm can pick it up and place it accurately.

move_to

left_x0.2600left_y-0.2900left_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0027, 2.3836, 2.0407, -0.8856, -0.6731, -0.8608, 0.5432, 0.0109, 1.0771, 0.9169, -0.7914, 0.0505, -0.1844, 0.9964] state[eef_state]: left_x=0.3823 left_y=-0.3876 left_z=0.0716 left_yaw=0.0554 left_pitch=-0.2666 left_roll=0.1484 left_gripper=0.5432 right_x=0.2895 right_y=-0.0022 right_z=0.164 right_yaw=0.0681 right_pitch=-0.3883 right_roll=-0.1632 right_gripper=0.9964 state[joint_eff]: [0.4855, -15.7197, 9.9897, 0.9451, -0.525, 0.1343, 0.6032, -0.253, -2.906, 6.7761, 1.3407, -0.0073, -0.0562, -0.0073] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.26,"left_y":-0.29,"left_z":0.035},"note":"At the left arm’s reach limit the dark fruit is still outside the blue bowl’s rim, so releasing it here would likely miss. I’m setting it on a clear patch of table nearer the centre so the right arm can pick it up and place it accurately."})

tool

executing move_to over 10 steps (1.0s)

step 154

assistant

agent noteThe left arm did not track the attempted low sideways move from its extreme reach; the fruit is still held. I’m lifting and backing away from the limit first, then I’ll set it down in the central handoff area.

move_to

left_x0.3500left_y-0.3300left_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]: [-1.0016, 2.3947, 2.0628, -0.8627, -0.6735, -0.8612, 0.5459, 0.0109, 1.0771, 0.9169, -0.791, 0.0502, -0.1844, 0.9964] state[eef_state]: left_x=0.3876 left_y=-0.3946 left_z=0.0748 left_yaw=0.0491 left_pitch=-0.2495 left_roll=0.1178 left_gripper=0.5459 right_x=0.2895 right_y=-0.0021 right_z=0.1641 right_yaw=0.0685 right_pitch=-0.3879 right_roll=-0.1629 right_gripper=0.9964 state[joint_eff]: [0.1436, -15.0632, 8.4034, 1.0769, -0.5104, 0.1001, 0.5934, -0.1026, -2.7829, 6.8171, 1.3407, 0.0024, -0.0513, -0.0073] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.33,"left_z":0.17},"note":"The left arm did not track the attempted low sideways move from its extreme reach; the fruit is still held. I’m lifting and backing away from the limit first, then I’ll set it down in the central handoff area."})

tool

executing move_to over 7 steps (0.7s)

step 161

assistant

agent noteThe left arm has backed away from the blue bowl and is moving freely again. I’m lowering the held fruit onto open tabletop where the right arm can reach it.

move_to

left_x0.2750left_y-0.2700left_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9825, 2.1101, 1.8595, -0.971, -0.6613, -0.8673, 0.5467, 0.0109, 1.079, 0.9169, -0.7937, 0.0509, -0.1844, 0.9964] state[eef_state]: left_x=0.3593 left_y=-0.3366 left_z=0.1392 left_yaw=0.072 left_pitch=-0.2724 left_roll=0.132 left_gripper=0.5467 right_x=0.2891 right_y=-0.0023 right_z=0.1632 right_yaw=0.0679 right_pitch=-0.3926 right_roll=-0.1633 right_gripper=0.9964 state[joint_eff]: [-0.8821, -15.8017, 5.9692, 0.9353, -0.442, 0.0855, 0.4371, -0.212, -2.906, 6.653, 1.3504, -0.0122, -0.0562, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.275,"left_y":-0.27,"left_z":0.035},"note":"The left arm has backed away from the blue bowl and is moving freely again. I’m lowering the held fruit onto open tabletop where the right arm can reach it."})

tool

executing move_to over 7 steps (0.7s)

step 168

assistant

agent noteThe direct diagonal descent is not tracking from this stretched posture, but the dark fruit remains securely held. I’m changing only the sideways position at carry height to get out of the awkward reach configuration.

move_to

left_y-0.2700left_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9913, 2.0518, 1.8587, -1.0073, -0.6613, -0.8608, 0.5482, 0.0109, 1.079, 0.9169, -0.7944, 0.0505, -0.1844, 0.9964] state[eef_state]: left_x=0.3511 left_y=-0.3318 left_z=0.1628 left_yaw=0.0546 left_pitch=-0.2622 left_roll=0.1173 left_gripper=0.5482 right_x=0.2889 right_y=-0.0022 right_z=0.1631 right_yaw=0.0683 right_pitch=-0.3933 right_roll=-0.1629 right_gripper=0.9964 state[joint_eff]: [-0.2667, -12.6427, 5.9419, 0.8376, -0.4811, 0.022, 0.3834, -0.1162, -2.9744, 6.9128, 1.3407, -0.0024, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.27,"left_z":0.16},"note":"The direct diagonal descent is not tracking from this stretched posture, but the dark fruit remains securely held. I’m changing only the sideways position at carry height to get out of the awkward reach configuration."})

tool

executing move_to over 6 steps (0.6s)

step 174

assistant

agent noteThe sideways retreat worked, and the fruit is now above clear tabletop with the blue bowl off to its right. I’m moving inward and down to put it within the right arm’s workspace.

move_to

left_x0.2800left_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9154, 1.8759, 1.5803, -0.9009, -0.6285, -0.7986, 0.5505, 0.0109, 1.0809, 0.9169, -0.8085, 0.0505, -0.1844, 0.9964] state[eef_state]: left_x=0.3466 left_y=-0.2746 left_z=0.1517 left_yaw=0.0785 left_pitch=-0.2904 left_roll=0.1402 left_gripper=0.5505 right_x=0.2862 right_y=-0.0022 right_z=0.1606 right_yaw=0.0686 right_pitch=-0.4093 right_roll=-0.1619 right_gripper=0.9964 state[joint_eff]: [-0.5812, -10.2359, 7.3094, 1.5311, -0.2564, 0.2076, 0.5592, 0.0615, -3.1248, 6.735, 1.4481, 0.0171, -0.0562, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.28,"left_z":0.035},"note":"The sideways retreat worked, and the fruit is now above clear tabletop with the blue bowl off to its right. I’m moving inward and down to put it within the right arm’s workspace."})

tool

executing move_to over 8 steps (0.8s)

step 182

assistant

agent noteThe dark fruit is now down at table height in the handoff spot, separate from the yellow fruit. I’m releasing it so the right arm can finish placing it in the blue bowl.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0584, 1.8736, 1.1458, -0.6003, -0.6514, -0.9501, 0.5529, 0.0109, 1.0828, 0.9165, -0.8131, 0.0502, -0.1844, 0.9964] state[eef_state]: left_x=0.2789 left_y=-0.27 left_z=0.0416 left_yaw=0.0671 left_pitch=-0.3236 left_roll=0.17 left_gripper=0.5529 right_x=0.2852 right_y=-0.0022 right_z=0.1593 right_yaw=0.0692 right_pitch=-0.4161 right_roll=-0.1611 right_gripper=0.9964 state[joint_eff]: [-0.3897, -7.665, 5.5316, 0.9011, -0.5885, -0.0952, 0.232, -0.1162, -3.1385, 6.5983, 1.3553, -0.0269, -0.0611, -0.0073] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The dark fruit is now down at table height in the handoff spot, separate from the yellow fruit. I’m releasing it so the right arm can finish placing it in the blue bowl."})

tool

executing move_to over 5 steps (0.5s)

step 187

assistant

agent noteThe dark fruit remains on the table after the jaws open, beside—but not in—the blue bowl. I’m withdrawing the left arm completely before bringing the right arm into this handoff area.

move_to

left_x0.2950left_y0.0000left_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0607, 1.8961, 1.1286, -0.5945, -0.6468, -0.9619, 0.9954, 0.0109, 1.0828, 0.9169, -0.8131, 0.0502, -0.1844, 0.9964] state[eef_state]: left_x=0.2747 left_y=-0.2656 left_z=0.0289 left_yaw=0.0804 left_pitch=-0.3409 left_roll=0.1927 left_gripper=0.9954 right_x=0.2853 right_y=-0.0022 right_z=0.1594 right_yaw=0.0692 right_pitch=-0.4157 right_roll=-0.1611 right_gripper=0.9964 state[joint_eff]: [-0.0615, -10.6462, 6.9128, 0.5885, -0.442, 0.0659, -0.1294, -0.0479, -2.988, 6.612, 1.2527, -0.0317, -0.0464, -0.0073] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The dark fruit remains on the table after the jaws open, beside—but not in—the blue bowl. I’m withdrawing the left arm completely before bringing the right arm into this handoff area."})

tool

executing move_to over 24 steps (2.4s)

step 211

assistant

agent noteWith the left arm clear, I can see the dark fruit has rolled slightly toward the camera but is still separate from the yellow fruit. I’m taking the right gripper above it, near the inner edge of the right arm’s reachable area.

move_to

right_x0.2450right_y0.3700right_z0.1100

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1841, 1.1084, 0.9249, -0.7998, -0.2863, -0.1223, 0.9961, 0.0109, 1.0828, 0.9169, -0.8135, 0.0502, -0.1844, 0.9965] state[eef_state]: left_x=0.2918 left_y=0.0001 left_z=0.1633 left_yaw=0.136 left_pitch=-0.3702 left_roll=0.1927 left_gripper=0.9961 right_x=0.2852 right_y=-0.0022 right_z=0.1594 right_yaw=0.0692 right_pitch=-0.4161 right_roll=-0.1611 right_gripper=0.9965 state[joint_eff]: [0.0889, -4.6427, 8.9504, 1.2918, -0.0415, 0.2173, 0.0562, 0.0205, -2.8513, 6.5983, 1.2821, 0.0024, -0.022, -0.0073] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.245,"right_y":0.37,"right_z":0.11},"note":"With the left arm clear, I can see the dark fruit has rolled slightly toward the camera but is still separate from the yellow fruit. I’m taking the right gripper above it, near the inner edge of the right arm’s reachable area."})

tool

executing move_to over 32 steps (3.2s)

step 243

assistant

agent noteThe dark fruit is centred horizontally in the right wrist view but sits beyond the fingertips, just as it did for the first left-arm attempt. I’m advancing about five centimetres while descending so the jaws surround it before closing.

move_to

right_x0.2900right_y0.3700right_z0.0200

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]: [-0.1837, 1.1088, 0.9272, -0.8066, -0.276, -0.1207, 0.9962, 1.1843, 2.0281, 1.6802, -1.0325, 0.5388, 0.9154, 0.9965] state[eef_state]: left_x=0.2908 left_y=-0.0014 left_z=0.1628 left_yaw=0.1273 left_pitch=-0.3778 left_roll=0.1866 left_gripper=0.9962 right_x=0.2424 right_y=0.3647 right_z=0.1042 right_yaw=0.0919 right_pitch=-0.4439 right_roll=-0.1789 right_gripper=0.9965 state[joint_eff]: [-0.253, -3.1795, 6.3932, 1.2918, -0.2271, -0.0562, -0.0073, 0.4034, -10.6735, 7.3641, 0.4518, 0.4957, 0.1978, -0.0122] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.37,"right_z":0.02},"note":"The dark fruit is centred horizontally in the right wrist view but sits beyond the fingertips, just as it did for the first left-arm attempt. I’m advancing about five centimetres while descending so the jaws surround it before closing."})

tool

executing move_to over 6 steps (0.6s)

step 249

assistant

agent noteThe dark fruit now sits between the right jaws at the bottom of the wrist image, and the yellow fruit remains to its right. I’m closing on the dark fruit.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1837, 1.1088, 0.9272, -0.8082, -0.2756, -0.1207, 0.9962, 1.0897, 2.1738, 1.5837, -0.7948, 0.5152, 0.8192, 0.9965] state[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1626 left_yaw=0.1271 left_pitch=-0.3793 left_roll=0.1868 left_gripper=0.9962 right_x=0.2812 right_y=0.3584 right_z=0.0232 right_yaw=0.0623 right_pitch=-0.4765 right_roll=-0.2262 right_gripper=0.9965 state[joint_eff]: [-0.1026, -3.0564, 6.7214, 1.326, -0.1685, -0.0122, -0.0171, -0.4991, -11.3709, 5.6274, 0.8864, 0.2662, -0.0073, -0.0122] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The dark fruit now sits between the right jaws at the bottom of the wrist image, and the yellow fruit remains to its right. I’m closing on the dark fruit."})

tool

executing move_to over 10 steps (1.0s)

step 259

assistant

agent noteThe right gripper stopped at about the dark fruit’s diameter, suggesting a firm grasp. I’m lifting it to verify that it has left the table.

move_to

right_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]: [-0.1837, 1.1088, 0.9272, -0.8085, -0.2756, -0.1207, 0.9962, 1.0889, 2.1929, 1.5768, -0.7898, 0.5011, 0.8112, 0.4507] state[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.1272 left_pitch=-0.3797 left_roll=0.1869 left_gripper=0.9962 right_x=0.2784 right_y=0.3569 right_z=0.0121 right_yaw=0.0631 right_pitch=-0.5002 right_roll=-0.2429 right_gripper=0.4507 state[joint_eff]: [-0.0615, -3.1795, 6.694, 1.2332, -0.1734, -0.0269, -0.0171, -0.1026, -13.3128, 6.188, 0.5006, 0.3394, 0.0513, 1.033] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.12},"note":"The right gripper stopped at about the dark fruit’s diameter, suggesting a firm grasp. I’m lifting it to verify that it has left the table."})

tool

executing move_to over 7 steps (0.7s)

step 266

assistant

agent noteThe dark fruit rose with the right gripper, leaving its table spot clear. I’m carrying it over the blue bowl, where the pear is already resting.

move_to

right_x0.3900right_y0.1900right_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1837, 1.1088, 0.9272, -0.8082, -0.2756, -0.1207, 0.9962, 1.0901, 2.1574, 1.8503, -1.1233, 0.4931, 0.8028, 0.4507] state[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1626 left_yaw=0.1271 left_pitch=-0.3793 left_roll=0.1868 left_gripper=0.9962 right_x=0.2787 right_y=0.3613 right_z=0.0917 right_yaw=0.0611 right_pitch=-0.5207 right_roll=-0.2667 right_gripper=0.4507 state[joint_eff]: [-0.3214, -3.1795, 6.5709, 1.2234, -0.1734, -0.0659, -0.0171, -0.2667, -15.1316, 7.3915, 0.4957, 0.3541, 0.0562, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.19,"right_z":0.16},"note":"The dark fruit rose with the right gripper, leaving its table spot clear. I’m carrying it over the blue bowl, where the pear is already resting."})

tool

executing move_to over 15 steps (1.5s)

step 281

assistant

agent noteThe dark fruit is aligned over the blue bowl, above the pear. I’m lowering it only to just above the contents so the jaws do not press into the bowl.

move_to

right_x0.4000right_y0.1900right_z0.0900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1837, 1.1088, 0.9272, -0.8085, -0.2756, -0.1207, 0.9961, 0.6075, 1.8935, 1.6489, -1.0477, 0.3676, 0.3023, 0.4549] state[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.1272 left_pitch=-0.3797 left_roll=0.1869 left_gripper=0.9961 right_x=0.3794 right_y=0.1908 right_z=0.1356 right_yaw=0.0271 right_pitch=-0.5894 right_roll=-0.3078 right_gripper=0.4549 state[joint_eff]: [-0.3624, -3.1385, 6.5983, 1.2234, -0.188, -0.0269, -0.0171, -0.2393, -12.5607, 8.212, 1.072, 0.1978, 0.0855, 1.0281] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.19,"right_z":0.09},"note":"The dark fruit is aligned over the blue bowl, above the pear. I’m lowering it only to just above the contents so the jaws do not press into the bowl."})

tool

executing move_to over 3 steps (0.3s)

step 284

assistant

agent noteThe dark fruit is suspended inside the blue bowl’s opening above the pear. I’m opening the gripper to drop it in.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1837, 1.1088, 0.9272, -0.8089, -0.2756, -0.1204, 0.9962, 0.5827, 1.9434, 1.5871, -0.9459, 0.3599, 0.2684, 0.4549] state[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.127 left_pitch=-0.3801 left_roll=0.1873 left_gripper=0.9962 right_x=0.3905 right_y=0.1871 right_z=0.1018 right_yaw=0.0261 right_pitch=-0.6072 right_roll=-0.3234 right_gripper=0.4549 state[joint_eff]: [-0.1026, -3.1795, 6.5709, 1.2479, -0.1587, -0.0122, -0.0122, -0.5949, -9.7846, 6.2291, 0.8816, 0.1636, -0.0415, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The dark fruit is suspended inside the blue bowl’s opening above the pear. I’m opening the gripper to drop it in."})

tool

executing move_to over 6 steps (0.6s)

step 290

assistant

agent noteThe dark fruit is now visible resting in the blue bowl alongside the pear; only the yellow fruit remains on the table. I’m moving the right gripper above that fruit, just to the bowl’s left.

move_to

right_x0.3400right_y0.2800right_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]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2752, -0.1207, 0.9962, 0.5777, 1.985, 1.5627, -0.9016, 0.3531, 0.2607, 0.9957] state[eef_state]: left_x=0.2905 left_y=-0.0015 left_z=0.1624 left_yaw=0.1269 left_pitch=-0.3801 left_roll=0.1867 left_gripper=0.9962 right_x=0.3931 right_y=0.1877 right_z=0.0795 right_yaw=0.0236 right_pitch=-0.6305 right_roll=-0.3341 right_gripper=0.9957 state[joint_eff]: [-0.3761, -3.2068, 6.5983, 1.2479, -0.1099, -0.0415, -0.0171, -0.5128, -11.6581, 6.8034, 0.8816, 0.1783, 0.0317, -0.0659] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.28,"right_z":0.14},"note":"The dark fruit is now visible resting in the blue bowl alongside the pear; only the yellow fruit remains on the table. I’m moving the right gripper above that fruit, just to the bowl’s left."})

tool

executing move_to over 8 steps (0.8s)

step 298

assistant

agent noteThe yellow fruit is centred on the right jaw column in the wrist view, with the blue bowl immediately to its right. I’m descending and advancing a little to put the open jaws around the fruit without catching the bowl.

move_to

right_x0.3650right_y0.3000right_z0.0250

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8093, -0.2752, -0.1207, 0.9961, 0.8734, 2.0518, 1.8965, -1.15, 0.3977, 0.4664, 0.9964] state[eef_state]: left_x=0.2903 left_y=-0.0015 left_z=0.1623 left_yaw=0.127 left_pitch=-0.3809 left_roll=0.1869 left_gripper=0.9961 right_x=0.3416 right_y=0.3067 right_z=0.1428 right_yaw=0.1632 right_pitch=-0.558 right_roll=-0.2619 right_gripper=0.9964 state[joint_eff]: [-0.1983, -3.1385, 6.612, 1.2283, -0.1734, -0.0708, -0.0171, -4.465, -9.5385, 6.147, 0.3639, 0.4518, 0.2076, 0.0513] 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":0.365,"right_y":0.30,"right_z":0.025},"note":"The yellow fruit is centred on the right jaw column in the wrist view, with the blue bowl immediately to its right. I’m descending and advancing a little to put the open jaws around the fruit without catching the bowl."})

tool

executing move_to over 8 steps (0.8s)

step 306

assistant

agent noteThe yellow fruit is now at fingertip depth but sits a little right of the jaw centre, with the bowl rim close by. I’m making a small sideways correction while closing on the fruit.

move_to

right_y0.2800right_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]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2756, -0.1207, 0.9961, 0.823, 2.1349, 1.5818, -0.7773, 0.3855, 0.4183, 0.9964] state[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1624 left_yaw=0.1273 left_pitch=-0.3804 left_roll=0.1871 left_gripper=0.9961 right_x=0.3566 right_y=0.2921 right_z=0.0305 right_yaw=0.1412 right_pitch=-0.5918 right_roll=-0.2945 right_gripper=0.9964 state[joint_eff]: [-0.1026, -2.9744, 6.5709, 1.2186, -0.1978, -0.0659, -0.0073, -0.3077, -10.906, 6.1197, 0.862, 0.1392, 0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.28,"right_gripper":0},"note":"The yellow fruit is now at fingertip depth but sits a little right of the jaw centre, with the bowl rim close by. I’m making a small sideways correction while closing on the fruit."})

tool

executing move_to over 10 steps (1.0s)

step 316

assistant

agent noteThe right jaws stopped partly open around the yellow fruit, and it remains between the fingertips in the wrist view. I’m lifting to confirm the hold before moving over the bowl.

move_to

right_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]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2756, -0.1207, 0.9962, 0.8066, 2.1414, 1.5406, -0.7593, 0.3801, 0.3954, 0.1914] state[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1624 left_yaw=0.1272 left_pitch=-0.38 left_roll=0.187 left_gripper=0.9962 right_x=0.3543 right_y=0.2802 right_z=0.0164 right_yaw=0.1302 right_pitch=-0.6219 right_roll=-0.3233 right_gripper=0.1914 state[joint_eff]: [-0.0479, -3.1521, 6.8034, 1.2527, -0.1636, -0.0366, -0.0073, -0.5949, -14.7214, 4.9436, 0.7399, 0.1538, -0.0366, 0.1832] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.12},"note":"The right jaws stopped partly open around the yellow fruit, and it remains between the fingertips in the wrist view. I’m lifting to confirm the hold before moving over the bowl."})

tool

executing move_to over 7 steps (0.7s)

step 323

assistant

agent noteThe yellow fruit stayed on the tabletop when I lifted, so that close slipped off it despite the partial jaw opening. I’m reopening and repositioning slightly left over its new resting spot for a better-centred retry.

move_to

right_gripper1.0000right_x0.3300right_y0.3300right_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]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2752, -0.1207, 0.9962, 0.8104, 2.0884, 1.7836, -1.0527, 0.3809, 0.3916, 0.1909] state[eef_state]: left_x=0.2904 left_y=-0.0015 left_z=0.1623 left_yaw=0.1269 left_pitch=-0.3805 left_roll=0.1868 left_gripper=0.9962 right_x=0.3563 right_y=0.2846 right_z=0.0965 right_yaw=0.1371 right_pitch=-0.62 right_roll=-0.3238 right_gripper=0.1909 state[joint_eff]: [-0.0889, -2.947, 6.6667, 1.243, -0.1734, -0.0757, -0.0171, 0.0205, -13.9419, 7.3915, 0.6227, 0.3785, 0.0513, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.33,"right_y":0.33,"right_z":0.105},"note":"The yellow fruit stayed on the tabletop when I lifted, so that close slipped off it despite the partial jaw opening. I’m reopening and repositioning slightly left over its new resting spot for a better-centred retry."})

tool

executing move_to over 9 steps (0.9s)

step 332

assistant

agent noteThe yellow fruit is now centred between the open jaw columns in the wrist view. I’m lowering straight down without advancing further, because it is already close to the fingertips.

move_to

right_x0.3250right_y0.3300right_z0.0180

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2756, -0.1207, 0.9962, 0.9234, 2.149, 1.9095, -1.1507, 0.3996, 0.4877, 0.9957] state[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1624 left_yaw=0.1273 left_pitch=-0.3804 left_roll=0.1871 left_gripper=0.9962 right_x=0.3283 right_y=0.3262 right_z=0.1044 right_yaw=0.1604 right_pitch=-0.6165 right_roll=-0.3216 right_gripper=0.9957 state[joint_eff]: [-0.1983, -2.8513, 6.5983, 1.2918, -0.1929, -0.0317, -0.0171, 0.3487, -10.4274, 7.788, 0.5348, 0.3834, 0.1734, -0.0708] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.325,"right_y":0.33,"right_z":0.018},"note":"The yellow fruit is now centred between the open jaw columns in the wrist view. I’m lowering straight down without advancing further, because it is already close to the fingertips."})

tool

executing move_to over 6 steps (0.6s)

step 338

assistant

agent noteAt table height the yellow fruit appears to the right of the fingertip gap, explaining the previous slip. I’m making a small sideways correction before closing, while staying clear of the blue bowl’s rim.

move_to

right_y0.2900

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]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2756, -0.1207, 0.9961, 0.934, 2.1841, 1.6573, -0.8879, 0.3992, 0.4973, 0.9964] state[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1624 left_yaw=0.1272 left_pitch=-0.38 left_roll=0.187 left_gripper=0.9961 right_x=0.3199 right_y=0.3231 right_z=0.0267 right_yaw=0.153 right_pitch=-0.6327 right_roll=-0.3378 right_gripper=0.9964 state[joint_eff]: [-0.0342, -2.9744, 6.5709, 1.2918, -0.1832, -0.0659, -0.0171, 0.5949, -10.7419, 5.7641, 0.6471, 0.3248, 0.022, 0.0562] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.29},"note":"At table height the yellow fruit appears to the right of the fingertip gap, explaining the previous slip. I’m making a small sideways correction before closing, while staying clear of the blue bowl’s rim."})

tool

executing move_to over 3 steps (0.3s)

step 341

assistant

agent noteThe yellow fruit is now centred under the right fingertips, rather than off to one side. I’m closing again on this corrected alignment.

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]: [-0.1837, 1.1107, 0.9272, -0.8085, -0.2752, -0.1207, 0.9961, 0.9051, 2.1078, 1.4765, -0.7906, 0.3996, 0.4694, 0.9965] state[eef_state]: left_x=0.2905 left_y=-0.0015 left_z=0.162 left_yaw=0.1271 left_pitch=-0.3816 left_roll=0.1872 left_gripper=0.9961 right_x=0.3123 right_y=0.2921 right_z=0.0126 right_yaw=0.1377 right_pitch=-0.6426 right_roll=-0.3573 right_gripper=0.9965 state[joint_eff]: [-0.2256, -3.0291, 6.612, 1.3016, -0.1929, -0.0513, -0.0122, -0.294, -12.7521, 6.2564, 0.8278, 0.3883, -0.149, -0.0073] camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now centred under the right fingertips, rather than off to one side. I’m closing again on this corrected alignment."})

tool

executing move_to over 10 steps (1.0s)

step 351

assistant

agent noteI placed the pear and dark fruit in the blue bowl, but the yellow fruit slipped from two grasp attempts and remains on the table. I cannot complete the remaining pickup and bowl-to-bowl pour within this trial.

give_up

hindsightThe blue bowl is reachable near right_x=0.39, right_y=0.19; its centre is beyond the left arm’s effective table-level reach, so use the right arm to deposit every fruit. The yellow fruit shifted toward the base when the low gripper closed, even after wrist-camera centring; verify it lifts before transporting. The left arm stalled when moving inward and down from left_y near −0.4; retreat sideways at carry height first.

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]: [-0.1837, 1.111, 0.9272, -0.8082, -0.2752, -0.1204, 0.9961, 0.9169, 2.0941, 1.4357, -0.7517, 0.4145, 0.4641, 0.0091] state[eef_state]: left_x=0.2906 left_y=-0.0015 left_z=0.1619 left_yaw=0.1269 left_pitch=-0.3816 left_roll=0.1874 left_gripper=0.9961 right_x=0.3087 right_y=0.2918 right_z=0.0096 right_yaw=0.1489 right_pitch=-0.6249 right_roll=-0.3627 right_gripper=0.0091 state[joint_eff]: [-0.1026, -3.1932, 6.694, 1.2967, -0.1441, -0.022, -0.0122, -0.1299, -11.3573, 5.3949, 0.7009, 0.3834, 0.1099, 0.7302] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I placed the pear and dark fruit in the blue bowl, but the yellow fruit slipped from two grasp attempts and remains on the table. I cannot complete the remaining pickup and bowl-to-bowl pour within this trial.","hindsight":"The blue bowl is reachable near right_x=0.39, right_y=0.19; its centre is beyond the left arm’s effective table-level reach, so use the right arm to deposit every fruit. The yellow fruit shifted toward the base when the low gripper closed, even after wrist-camera centring; verify it lifts before transporting. The left arm stalled when moving inward and down from left_y near −0.4; retreat sideways at carry height first."})

tool

give_up: I placed the pear and dark fruit in the blue bowl, but the yellow fruit slipped from two grasp attempts and remains on the table. I cannot complete the remaining pickup and bowl-to-bowl pour within this trial.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 4.531 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, 0.8005, 0.6136, -0.3824, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6186, -0.3901, -0.0235, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2956 right_y=0.001 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.7983, 9.812, 1.8291, -0.1245, 0.149, -0.1148, -0.3214, -1.5932, 9.306, 1.8584, -0.022, -0.0269, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bdab3509f722fbccc371e1a16c3529bd970ce64b12f3cb404ef84ab2186a4b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d7dd9e0b94348ddebb5aaa33e76ffc4ea2dafdc2b6781061335c75e106f328c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232a2f0cfe6d9e307b462680e657c42104a684ecf44277d588e92fe0e2603e0b",
      "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 · 6.038 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZwsddcWBttsQ_n8mCOvWn8xMw0lNuIGAtHiagWkqpykDzTcQMJFA6PTAmCw6mZI73zk13jccoLbtfQlPaI9gy_yQPF0_Ttjh_aKFke60xUrUv4WwilpXcyBLMXBEbV2U_RcouwmeAQ0rqYTvtNaKo0f-yZD5wtd8fnpvFQAh5LN_6Ei0_jPLYR01nyMkuN_48egC_BrDaak6Nw2H-PIT98oU_yXRwl_Lt5GPhJ8yPYVojp2qKVBlW_xWnavLtgCowdZf6z3m0BhnqAXCQdDuQ4F02D_YyE4LiXhFmZzijDYmhLY4N-FQzUP_rFbV0OHbmoE7CUO6oEg8Mho4V67n0VvFtPaHNvNf8h4jvHs0rsIoLT3XiYjoMB2Y7DwaCy92eE3b_xV5f-vxlK0xVNx4AL7YQIE-DC44tGqsxGvDU0ywDI-HqowF-MR15Y05HT4KPM7hu52e0E-zEFPnwdAVMHQdqTZdaJHsWtOmLomgFvgIA7z6eEQNdDzZzxvmLH3JH_RMV_MXg5vG-BblTWlRHr_-8dG6k2roK59hH4ZOn0Psvt-sAbAmlQNY13awIkGPZOviGGBiRxK0MJ2y0M_LxrwlKIMmqu2p8FakIp6XGrBYWWdgB1Rs1qPafWVWh65yRK_NzRLI_R7yiRX0rLjkFMcVwIbLgwJ9z1h0AxSRldG6l9L9--4c0YGQG8nsnZ-znuGWkOOfG4RdJ-7piQnuQ7CnnS_RijOSYxe8QalIZCFTX0LVlBieydhNrmBdc_EyfDj2zaChY9k3uC_DMNWDlaqrohlulqu2jRLk_HKf3lJuA1l65KTI-_Vs-XfsrjlsGzjUZaN-l4kucqlUz54YlY1Ex0y28peD8uZOjjPlpnLjKr75oUucbyk5-9YFOXm9sTgCL7Aqk9laT9H46bQbyBrZTmBJrdT2pb_qcIn0vATK7fR3zBfGwFVwlEk1t7Lr3451FEJ--_PB4yx7VySAJIDbje3Jikg8tVpiQtaPODqYWUym8Ka7mMXJVs79O2QbimL6lIbgOzvEM3-CnvuaYpncD4MIEV208HzM8sT5yiY2ZHRsFJ7Tgsg52Q31ZuHR3PYgBQf-0WxMinXH-V6cekyTQxg6IZQ4V3Z75jvwCboBOkGhVfrhdKZsLBPBO9QlHfX6K1zVYwwHi8VecoCoL9WJ59yhjF2XoFBblyAXwRkSgQFDo2LWk9g0Xc8tLJC7Bw0ftnbmxlLd9-TdBDGC0Yx02w6qT_R5KWgaNHoav9mVqJ93xgw1M4v6q_DUycv0sTrMCqfxQwjQFSF736kfHQKT0W-q-7xWtOmR4yAhU4TC7VhMsVD2sMfQo1GDGGNsbiVpQovNmfGbvkduidosJ7Lm1Zax9p9LhZ-DJs8nMD97yXDcKt8Vi6cZxpZ0usLcIdLwXPmmqG8YKcZx8arxzMP8D9Rlo-OaHK2xSnvpGb7xpKc8EEWWor2JHi3-v8gow6rbB91TxsHB5-Mt6urQpQ12oE0TprBaxBrK4M7IwmfBNqOe0EL1bDxnSIhIFBxHdESV6UL_gyg7Kb_6z1TVmjxn5J99jLy9hJjUMSL-rPgFevKPowxxUnvci-FeKH8PHnyYi_c-QBYmkEtmqGlQViOKisEVbjy25OgLuptA28eGQEzRGjgDqfqNw_oR43wJ00x7h0jwJCwM9SFzZxwYqJsWgTnjW9cJUlTS-G7im47BB2DlkwR932Mx56n1lKjXHXrFGixvpdLBjLZ6ubHFwcrCA3PhYZtkLMZ_lw8ZIU_KbGZF6QTcCNqnfErXjvLMb3DV-1L6Px2APkCG9Y1D0TJHZO8-bskCBwJ2QxFhyUOih-9WDUtG5uZbRpxI9YBwru6_rrv2GS6a27i87BkfNY0eZLeHdNhdT3lQbbbsoJbdpQov_fYgKMMJcFaWOjf2AjswzQrBKnQXQOz0CUEhVWNxEm8MavcPpEdwnDJVPbKMe51-9Zr8xXhTGzv2mEaRBYd9M7J5waZ2hdKYoG7o9lz8_xyqAD8ch4BtBF5EXuGBJBqf5LSK9Tmnox-WpZm03VSWjepsHqVAR4PY-4gy86X7nQKLkVWwQlCqsKoSocxghJsFUk_FrsJzUgxNmLg-qHIL9nVn7aU1vh7RZfb40cWu4eer0xtBsBv6MEAy65_V3Q8yP561F6E005EfM8-1JVozHwCqC7n87wNSi0M8mXHYhxc-hPqoDerneBxdRFNLqoLfQ_Tew6lJSmZWRvXGY4fWHVfRBF1oRxDy3GemoicbcE2K0Rp5z7u06F-ChDm_TNIkZUdF6F23-ovOTrs_m4FMaDvanmZ9P5t0BdH64BHSMj6cwgZAB4F4o90ShyJn_P1hfruLaUPxmyKeiPAIfM6lgBcwuaj1Ez2PtTJEBbidgqwsZvE3wPOddXQ08jwwZmyfBL_MVHCXE6kyRbu0XTX4Qyr6BdzHD9ONHqSpUjWDCDRF3v9klhchEkCuoT1wPq6ymj643WXWArSF0M4Q5ZiQuhEg1p-a-u4MVa4bBLidCNh1fyL5H5NwYzrVQhxVlrYmgJnnIaWmO8YAfDHH5QhOUrzYVHWOJA2jJ_15M6n1msH1T6WnGK6MueitRM45ftCipCUFhOGHZtdmIRQLD5KASTQMdxf9mwEd521ClnfM7oCfDu91S5DKP1iWUh4ao=",
  "id": "rs_0b04a746a2a82d0d016ab4366cb22487d0b4d2c2e23b4bbc1d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.12,\"right_z\":0.15},\"note\":\"I see three fruits: a dark round fruit near the white bowl, a yellow fruit beside the blue bowl, and a green pear on the right. I’ll position the right gripper above the pear first, keeping the left arm clear.\"}",
  "call_id": "call_zFPal6H5CnTTyOOkcfTezUVA",
  "id": "fc_0b04a746a2a82d0d016ab4366f6e8887d0be6da13e5ed0e78c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zFPal6H5CnTTyOOkcfTezUVA",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8017, 0.6132, -0.3901, -0.0139, -0.0311, 0.999, 0.6502, 1.0702, 0.59, -0.2512, 0.4988, 0.3603, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.18 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0013 left_gripper=0.999 right_x=0.2925 right_y=0.1208 right_z=0.1333 right_yaw=0.0391 right_pitch=-0.0553 right_roll=-0.0392 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.3333, 7.2274, 1.8144, -0.0464, -0.0611, -0.0171, 0.0068, -3.1932, 8.3487, 1.8095, 0.4615, 0.2173, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51444a6215d06270f5227dd7af2d05c6b896cab689b09e95bdf900254879c82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e51ad577847c082f974360a2876782364d361ce1adfbc6b17aaef4c2237296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e407dd8fa2b949d2324502edcdb61c20e7c066de39d0e3927fbc2a6988e152f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 3.792 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, 0.8005, 0.6136, -0.3824, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6186, -0.3901, -0.0235, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2956 right_y=0.001 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.7983, 9.812, 1.8291, -0.1245, 0.149, -0.1148, -0.3214, -1.5932, 9.306, 1.8584, -0.022, -0.0269, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8017, 0.6132, -0.3901, -0.0139, -0.0311, 0.999, 0.6502, 1.0702, 0.59, -0.2512, 0.4988, 0.3603, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.18 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0013 left_gripper=0.999 right_x=0.2925 right_y=0.1208 right_z=0.1333 right_yaw=0.0391 right_pitch=-0.0553 right_roll=-0.0392 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.3333, 7.2274, 1.8144, -0.0464, -0.0611, -0.0171, 0.0068, -3.1932, 8.3487, 1.8095, 0.4615, 0.2173, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51444a6215d06270f5227dd7af2d05c6b896cab689b09e95bdf900254879c82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e51ad577847c082f974360a2876782364d361ce1adfbc6b17aaef4c2237296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e407dd8fa2b949d2324502edcdb61c20e7c066de39d0e3927fbc2a6988e152f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZ6VrctYK7m_Ik1_hKfvJ1in6coOmHMf_cS1-UZUYF4L5WfgatQpaNKFa9R0TjJUf0m4m2S__qPgER5LjR38f259yVfLXfzYI8hejE-z4F_fDiX3nLCUFke5DX_12lLcUcNQ0bkt_yGAfPk6dboxVrPEtU-5ZbEroyAws8zBTplNjVq54lvJtRCBMYtHBYCYx0Lnv7A8Er5La6injkbLIwBAYiUVutwipeGMX1eBNarIFYmxW_7690rAUcocz2iPxAR159J_d1orSJJX59vQcQhb-cZXkUq7FdsEF6W5C2lyPv6JwLn-AiQ8Q5P1S0K_0KIs0k0vhelcnv1GZsScFzRf4CBspUvmTFXh3Ks1SoNBbiYpayqe9fTm4xHhSoU1ghEekUgOIr8oRQLLe5JSI9F_1fx2VK8FfgQC3Q4U7VY7TvcDlG6yXcwxMU7VEPfWzVF3lIhPCSv4AAJ12broMZ4ElQ8EYyWDL3RffZntJd7cjuGxmxQ_TydnEQcozcIzy2PiWFhp5BbQg6IgOjmhaBJ6GYwv9wHMgPY5FzHiXjgpCi-t_OOh5A_Smn_QW6cwM2ri7FT-IdmBp9LSpJp1DONHCA4wvlWNwfRW9pV_wLv2sqO2vrthIBeVdDmcEfYvKJOcjQkXKYprrTz683MAhGLkPlmpWFY0dSd2JD3Eh997_Fo5c7furs288BSEobIBcLDK3vtIVcXLvLjvQu3KYQZzLIOIKyv6D3zY93arR-b36VliO4xEKVjyA1j3z-e0-_fdEw-dlVwan89EERNqPguyDwusEUCLBTRb9OAkwNbJ6E-jm5z25ciiHJsSuVM8DmrQhYxDsfKXlv5K5dn714Cqt11Vo8VPN5OT6bNuhEAcYNfEgzN6RiZvd49lhF1sGQN1cj5wD_RTmn6vvATLcUkxaE8J_iZZxEpnHmuOuqaM8Rqi2ebauqRH5GWmyOVQ9zCROY5aPRUHrMtJB_pGTjyeV2m7zp26yxzg9iXdnf_6UWa6p0HVsw_j3W67gsYWIU9rGpv8iO8GvlNNkF0TPq9DTMJ3y1qfmmDM_5i2nN10yP0Ipv5g-Qfukz0MMXJUYF-mm3PbDECBZ04iGUNJSeUu9ZwfyDPcWZ1uT8xHn3YRJkS7Hbl5ew4Rt9lYppBTn9GYwXHtvFljvlzQkgxh2SgZgoyrw1FY_8iNj7PVaTHeNXojWS2xrZsRl1Ekn9NDHNGE4Yw5YGc_-hYQS1CLHEPoWhuUG7x9pUcbrUhGt52IHPiJK5GrWAbejnP_37vteeG-g_iU-dp1N_APT7kq6yjsk0lWOfYt3j47S7mrkdBlCf-hD8as8hou6EayWmsK3HdE2zvmwxqGJvxUbQTqD6ksVWzk7wycOoGqY-Lu9FD5y8UTPOV18mpLlRnB5Cxj1vNme8zIsPha_cvTSEq0V373wHKIPmTX5zSOe0Clf3Shh-z9878jiG3wAbzxyow2L5tloPx6-TRWSeQuYIkbr1nUIwrGBJhooYDv5eP2wubBodu8RCssaVXCx4wsaipHvE4j22Bg7rHKIw15YhGMxHWvJat9DjIalIUZ-GA4RT8DpbaJ_4LJMILG1vlMsG5VGOrwNx-sZa3VfUCNKNOPngnv6pyxeD0Ky2woVJFqrnRFuoVerEH_JsMwfYKdTK67VDnaXDIHXwAHBdnDSxRbVG_-C9qT3KbtFXcXIW_Zl68rqeYhf6aBJAJP9AhZNjIvWHyfpJ4NE7jQkIILtrSN2TMnvpVCAj-DR1FWx1tNz2aGheyXzaEd8Qa5jAafd1HIQ5Js0qCCLV8jumzz7hFflT5vnUYshH1j9I7aiL_hBX5nbiPfhqqlTIXDOH_pJho4nWJLWI3Lex8b8KKTTjAa6B4ThkFGAP9nb6biBQLltCFqsz_-a9QNnkAGjTXtxo96g-ikLAFwSHvarK08jZgy1BZisl5ah8w0cvdVcHkm2BcHTjILnAXpk2cJC7xeEfLzadx1XOAF4Ix83cWH9cLkBiMSXLcOwXvDb3TcHbi3uJuxyC8BaMdSMRO0VSREof4bTRhGQyBUaAK27pAQRQdFXVVQKWlfnFOYVZSPDy61BiugYdQJ4v_Cec19lpGET7bdt4TsM0MX4IrFsbDfJVWr7i9SO56SFauOQGNqPs0ER0UOucBWvUn3gTLD-lQ20gZPrsLVBId_UfxLoaPLd88MM4AzqLXbRQ4WAGoujIWjNsXQCEyAGwGKZ9iH_iMmSk9gLCctK1N3kNfoZrjqKbDiebSf00uiTIUoou_NSqN0zqun-UvvmpbX4JezStavq4p2oUta7YY38353ma0L3TWxaC5YFpcRAvidbwVxbSxDXz2WWi5ocsQxXBTsd3k7uQKSsGwOzQdApzyI1lyzvoMFSPfCsAmy4BVC7BQOjM9ugD32vlCwdDy2UC9MfktQR9nXKT6ON7ipIkM0A-Ld8XWFd8u17HppdjT9CjM1smD2O5TXY8G67SA-WuibqDGpvbktWau",
  "id": "rs_0b04a746a2a82d0d016ab43675926c87d0b3ac4f964df42ef8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.075,\"right_z\":0.09},\"note\":\"The pear is very close to the fingertips but sits to the right of the jaw column in the wrist view. I’m shifting the right gripper sideways toward it and lowering partway before the grasp.\"}",
  "call_id": "call_GIbjlhPBSc1PNju7dmtpfVIL",
  "id": "fc_0b04a746a2a82d0d016ab43679393c87d0a8156b4e07ba2b9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GIbjlhPBSc1PNju7dmtpfVIL",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.4011, -0.0139, -0.0311, 0.999, 0.4301, 1.0153, 0.3649, -0.0593, 0.3347, 0.2157, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1775 left_yaw=0.0005 left_pitch=-0.021 left_roll=-0.0011 left_gripper=0.999 right_x=0.288 right_y=0.0722 right_z=0.0815 right_yaw=0.0287 right_pitch=-0.0917 right_roll=-0.0496 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.2239, 7.0769, 1.8388, -0.0659, -0.0171, -0.0122, 0.0615, -2.9607, 6.9675, 1.8486, 0.0171, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d5bdf140952df934d15a95c2104a12566c330c04b4cd3ac8cf1c341e587b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8909bdbb9f23379ce81feda111be04d879ac9cbe654a86e882430332427ea3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579540d3950d36f099f9d2adc2cf16f3878fd71333d9050163d461debb4fbc8d",
      "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 · 2.013 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]: [-0.02, 0.8017, 0.6132, -0.3901, -0.0139, -0.0311, 0.999, 0.6502, 1.0702, 0.59, -0.2512, 0.4988, 0.3603, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.18 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0013 left_gripper=0.999 right_x=0.2925 right_y=0.1208 right_z=0.1333 right_yaw=0.0391 right_pitch=-0.0553 right_roll=-0.0392 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.3333, 7.2274, 1.8144, -0.0464, -0.0611, -0.0171, 0.0068, -3.1932, 8.3487, 1.8095, 0.4615, 0.2173, -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]: [-0.02, 0.8024, 0.6132, -0.4011, -0.0139, -0.0311, 0.999, 0.4301, 1.0153, 0.3649, -0.0593, 0.3347, 0.2157, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1775 left_yaw=0.0005 left_pitch=-0.021 left_roll=-0.0011 left_gripper=0.999 right_x=0.288 right_y=0.0722 right_z=0.0815 right_yaw=0.0287 right_pitch=-0.0917 right_roll=-0.0496 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.2239, 7.0769, 1.8388, -0.0659, -0.0171, -0.0122, 0.0615, -2.9607, 6.9675, 1.8486, 0.0171, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d5bdf140952df934d15a95c2104a12566c330c04b4cd3ac8cf1c341e587b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8909bdbb9f23379ce81feda111be04d879ac9cbe654a86e882430332427ea3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579540d3950d36f099f9d2adc2cf16f3878fd71333d9050163d461debb4fbc8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZ_SSjk6ny9n-vi8UcpgyYvScpZM9A408W5IDKFi1yLimhNLu1YUCB9wKehz47ToxezSH7lNH1Z1TZ4kFh0WUYxSrIh_u630llo8-_rkmYvGTTE5Z4X7LMyZEilfRDV8CD46YArlJ1r-go08Aa0dVQY8p50YzWdRTy25VtQr5VSReg7Y-V5E-njmtytn4leyNi0oNyUanGYOa_hNt2L-MVyluU3R2GyFhGbmk_bd01NwyJZjw8D166hnL7CefuUKDGSIVMpghx4NWl-9fJgQSh-Y3jOm0kKdIlV4ceqnmxSlQLeLXBIy4kdZZunvZdWOO_WXypw8zJ9jNkdkKenKcJROS2hWvLIkXhBa2C_nRy4cxfYTo4pwmzEnmNOQoxKmTSM9FiK4VsJfkC2K8IaZRHJlS6NBNLCxtovQJjgC7M0GF8Y__NlvdFYB9hnLAi3P44sULBfQ8lpYm3AXYlq_-awaPnOHyz1m7dFdrxTd35rlMogIBrfWwSdTqkV3N4WFXl5JpFH58zoSUfZQeWj7e4uQ-7uqETpAg63zgIXs7Dg6VdYEYyisMN3g6Gjb41c3SzkkQ8e3aYufOOrQ8rMv4rYzz0asN9eCWZg7lJmhG9NKGTRjVXmrl3r-FfHGNXezbjR_5VD6XLRIz1DscTqPTckLTszxSvtpj8oJGq_F4V3GqaC6ZD9PFcx64TWL526sUkC3MFzGWm7Bk1ATpKhD1AO6y_ZTyxTo__-D-2Tuz_HToR_iCJHKplkfp9mlyduFLA_v4Q_3NpnKE6sS7Vb5iJReFPrLeh-TIdVaAQXRPltgkh9KeVlx0zy1v99i3OmLBSRROH8NuuFx05d_Rqi3o4zWqDQPevBnyj7eugcujXXla-9pQAxUlZUMqHHp7S0ttjmjEu4iFm9G0fRmtdXi5RzMzb65hkzi5iYDZ-tCSm6kRdPP09fcyBEzu_Mousr5jUChTJQaBSIRLA2G275arKndMKReHZlyY_8FE-YsxvfqiATk9hhfraZbzhq6XLDAPAIeuLvcXHipyiemSRNCrHfROgQyqvEoD5D-9kfgvpaXysh641KDqMyjvLcK1tFulnKLzkj2X7WeotpDW7xAeGOp_Hp8rzm291xcm-vkC63N_0pmSV3Ky8lm2h5mWqqb6z9RQCVq2sDDS_r6M9nXvRHgeQ55x3p-_XWa_lmnIRFFHWCyqna-f-bbqtmWWMiEWjVBhBGFfS3fodo_LCLLrw0i4oFpeTRpHSgxETwDsUzQn3V5kp602Dx9DOfLdMzd2gbzZ7MIQUYArkLluEifkx-ayDByU8dV9rlI2Z7UK0Uk8S0zJLrIQAwtiY2mZuJorQM4WLCzxoHHAYo2yPpnxUOb5Yv3fZvHFapedjUl2qebs8CmnPyEnEUxZxIYkZpzTxy8DUlYWTPOsWiBAhAkR_skFzmA1XAHengZwvanyHqQG_6BnAhvHIOSHqtvVYFvgTEXTF4ET9Lp_h9fv3RUG5WAaMc8LkcMS3oTtAuP3-WNOR_u0usAMVuGg-kPQevM8WlFW48Ltp_jPNG1pYsDxda_1LyfvBnGHpB35aZ0S8r38Z3epnyzHnRmhTPmBzh_PVL_3FyO-Gqc1xjMpEwc9kQQWNXyXWC-Yc3wFB2yGQJd7Y=",
  "id": "rs_0b04a746a2a82d0d016ab4367ded8887d0a00717aa6b295980",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.06,\"right_z\":0.025},\"note\":\"The pear is now nearly centred between the jaws in the wrist camera, with its upper half exposed. I’m bringing the open gripper down around its lower half and making a small final centring adjustment.\"}",
  "call_id": "call_1lKsUzvuWqX215MNyTzb6rZs",
  "id": "fc_0b04a746a2a82d0d016ab4367eed9487d09faf9995990108eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1lKsUzvuWqX215MNyTzb6rZs",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4091, -0.0139, -0.0334, 0.999, 0.337, 1.3052, 0.2165, 0.3614, 0.2562, 0.1555, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1746 left_yaw=0.0017 left_pitch=-0.0336 left_roll=-0.0027 left_gripper=0.999 right_x=0.2944 right_y=0.0595 right_z=0.0174 right_yaw=0.0322 right_pitch=-0.1275 right_roll=-0.054 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.5932, 7.1863, 1.8144, -0.0611, -0.0073, -0.0122, -0.4171, -3.8222, 5.2855, 1.8486, 0.105, -0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f706d04ed861097d1a221dfb89c8bd30cb6170835d9810effc68813587f65c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f596bc178eb31fe40200657bc66334e92ea04c3460b01e52c74ca9a154996f3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d69aaf38a54420a7ad4f4783a30599230f6329f7f908f49f1a32c70b4419ecf",
      "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 · 2.123 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, 0.8005, 0.6136, -0.3824, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6186, -0.3901, -0.0235, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2956 right_y=0.001 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.7983, 9.812, 1.8291, -0.1245, 0.149, -0.1148, -0.3214, -1.5932, 9.306, 1.8584, -0.022, -0.0269, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.4011, -0.0139, -0.0311, 0.999, 0.4301, 1.0153, 0.3649, -0.0593, 0.3347, 0.2157, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1775 left_yaw=0.0005 left_pitch=-0.021 left_roll=-0.0011 left_gripper=0.999 right_x=0.288 right_y=0.0722 right_z=0.0815 right_yaw=0.0287 right_pitch=-0.0917 right_roll=-0.0496 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.2239, 7.0769, 1.8388, -0.0659, -0.0171, -0.0122, 0.0615, -2.9607, 6.9675, 1.8486, 0.0171, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4091, -0.0139, -0.0334, 0.999, 0.337, 1.3052, 0.2165, 0.3614, 0.2562, 0.1555, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1746 left_yaw=0.0017 left_pitch=-0.0336 left_roll=-0.0027 left_gripper=0.999 right_x=0.2944 right_y=0.0595 right_z=0.0174 right_yaw=0.0322 right_pitch=-0.1275 right_roll=-0.054 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.5932, 7.1863, 1.8144, -0.0611, -0.0073, -0.0122, -0.4171, -3.8222, 5.2855, 1.8486, 0.105, -0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f706d04ed861097d1a221dfb89c8bd30cb6170835d9810effc68813587f65c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f596bc178eb31fe40200657bc66334e92ea04c3460b01e52c74ca9a154996f3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d69aaf38a54420a7ad4f4783a30599230f6329f7f908f49f1a32c70b4419ecf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaENIJ3Gm3C9pYwuW1uvHKQbO2pB8-YYMYFbeNADoGdpaGKFdLY44dUWUmAHbGjs7eeCJGcFSe-rFS5NCJG66jZTgiVhLgb45RzNa7BDPa8scyLCNv_lPht6fhIO_EvTuNiZWJwPL8Rc5K8arBSzbTJwS1g-IE95_8rOi4RbKZzkgXOCcdbC_HNwP9L9VZFntKegjNE39QsYltctdDetQcg37JOaTxRF1lapLwl6vupVnuEOuhnmj4pcNF-x0RkIETuWkSbwvoycZdwdAlymOPBDxq9oUZDClwqqAxy8BO2ET8ONQ8x5aoclLv43jei7yOtCexjYwv_pTRIiMh2tmLBVyOw1kGi9lzoy7nyF-yzLzgJpQ0HzNLFqW5NKCbvb5XIZGwMbSIfg2MrWCD3ffZPTCrAM85Cf3ojz0cwYGYeWJ31trKklH_yqSoKWKzvS1kOC_EVRutVXFUgc8MdbtKkAUX6M6Xca_d7Pes7nTTeZkeAolC1cvaWJzAr1EgC9Dd7OYYPlCFXebEjOm5vO5_nfvpdXUpeYN2FCBhCABnY8QRWMaoD2ymZRntAwITGs8V0qjyO9XsYow3KNfawgWhx5xBb39jYqkJIX1a9NGXOtRbAE3xuVlOHZ_vBbWZ_qN-jEYJObP_PtqQ9Brqut7LW9yE9NcToCJTop_dIYJXBic4O1U8dXW80ExgF4mBRUM9jy2SGwG4MHCFFY0HYTAugQW_TLRWDha9Q8Vl3_eip9VhYjDl3CduzfNtRM4L__BR9DzxUvuBIcz3Z0ZjsAU3Er_yJPnzjMipLlfVwvRmIR2gdjXtVwSCLBgVdFB55S37RUmgx6DBYOq4n5iZx3XInN6Nj6jV3NmIzwM4dHSRoZmBjLFxlPb0_ONIXIGepsgLJ-2jsfwZVqvY_gjJaUUkHhyzTESXqEmfDUC_rxphClbz63dEVscyNHCEUoTsrRB0ZPRU9i3oquB9kHFnyTXxgrAUGfekQtjQNREZLuAbVkyYrlM6xkpcsvYWOaHwix1WOFYqKuCZOWIGeudCLZcP5uEed61LpsU26mGXGAyLOpMT-r2f-gU2X0i1Opuy9401seN42FgWwhNFsTdIDd3-R5pdE-wH0VZ2Fk-vX0A6ShVKBsI_dY2kXvGLN2IUZ4Q9ONy6ecmxRLFOuRgn92GS6cV5hHE1P4R6yXRHnq1MmgdWUhb4T-rtwFi8VENjTVMdX6GavZhkY_nwTWW_1X1lIqRcGY1Nyd_ZDBGAUJnUdJ-KECGSP8raIAxUTOu1D6OAq0wkaUfam1cLqQnJmVCnyBdSxFhIlGH8FaAGsKXqH9HdRk-xiqRF997Jy_L0yg1b_",
  "id": "rs_0b04a746a2a82d0d016ab4368307b487d082fe832f422f99cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear fills the gap between the open jaws at table height. I’m closing the right gripper on it and will check the settled jaw opening before lifting.\"}",
  "call_id": "call_gwXPaFRBPZbXYOTeBZxJM7yq",
  "id": "fc_0b04a746a2a82d0d016ab43683936887d0998d14790ff3b935",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gwXPaFRBPZbXYOTeBZxJM7yq",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4168, -0.0139, -0.0338, 0.999, 0.3363, 1.3052, 0.2165, 0.3614, 0.2527, 0.1486, 0.7133]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.1731 left_yaw=0.002 left_pitch=-0.0412 left_roll=-0.0028 left_gripper=0.999 right_x=0.2944 right_y=0.0599 right_z=0.0173 right_yaw=0.038 right_pitch=-0.1283 right_roll=-0.0571 right_gripper=0.7133\nstate[joint_eff]: [-0.3487, -1.1282, 7.1726, 1.8095, -0.0757, -0.0659, -0.0122, -0.1026, -3.3846, 5.3675, 1.5458, 0.1148, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3697633754b4d479a3c98c7b2c3d4b17554d2241a9e669e645c5f906ccbad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92e2ac709380eb76c474efbb07a88872b4887059372cd92613e3c871bfad4bf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d1040c1c66951593eb4b51564df013144ac174511f3ccbc3b120112039ee73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 2.266 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]: [-0.02, 0.8017, 0.6132, -0.3901, -0.0139, -0.0311, 0.999, 0.6502, 1.0702, 0.59, -0.2512, 0.4988, 0.3603, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.18 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0013 left_gripper=0.999 right_x=0.2925 right_y=0.1208 right_z=0.1333 right_yaw=0.0391 right_pitch=-0.0553 right_roll=-0.0392 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.3333, 7.2274, 1.8144, -0.0464, -0.0611, -0.0171, 0.0068, -3.1932, 8.3487, 1.8095, 0.4615, 0.2173, -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]: [-0.02, 0.807, 0.6132, -0.4091, -0.0139, -0.0334, 0.999, 0.337, 1.3052, 0.2165, 0.3614, 0.2562, 0.1555, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1746 left_yaw=0.0017 left_pitch=-0.0336 left_roll=-0.0027 left_gripper=0.999 right_x=0.2944 right_y=0.0595 right_z=0.0174 right_yaw=0.0322 right_pitch=-0.1275 right_roll=-0.054 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.5932, 7.1863, 1.8144, -0.0611, -0.0073, -0.0122, -0.4171, -3.8222, 5.2855, 1.8486, 0.105, -0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4168, -0.0139, -0.0338, 0.999, 0.3363, 1.3052, 0.2165, 0.3614, 0.2527, 0.1486, 0.7133]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.1731 left_yaw=0.002 left_pitch=-0.0412 left_roll=-0.0028 left_gripper=0.999 right_x=0.2944 right_y=0.0599 right_z=0.0173 right_yaw=0.038 right_pitch=-0.1283 right_roll=-0.0571 right_gripper=0.7133\nstate[joint_eff]: [-0.3487, -1.1282, 7.1726, 1.8095, -0.0757, -0.0659, -0.0122, -0.1026, -3.3846, 5.3675, 1.5458, 0.1148, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3697633754b4d479a3c98c7b2c3d4b17554d2241a9e669e645c5f906ccbad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92e2ac709380eb76c474efbb07a88872b4887059372cd92613e3c871bfad4bf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d1040c1c66951593eb4b51564df013144ac174511f3ccbc3b120112039ee73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaHUZ31cio7RxHQph_tDNivgO3fQiItIEm310dKUSEt_s_4ZW61oqattHiJbYKG1_3_SJ_BPz3wf8ZmvQGu61fvf0hpxsIalAESSKL1hhhfSlIzo_thG1AsKyH1UphFkzONgr9bQAbiOH16yqW_eFDbU0QtbGDT6fFMT_F-_m06-lVLNd7VNcdcG2KY73UjmtzmRV1ZhQh2YMazG022rag7c7rAdoUKFXJm2LIfYO5PryCnc-kmWzI91PBLupCd98_go3GJjSKw-UgGS2BVioVFMW9MdXHZjLrVrGCo07plCXFseAe2wwfmr3HQbPPr7RhGUKkht25u60MOiv1rRj6HxGNJ8MtahI7s9mjgmZxZTit8FeH8zrMilHZX8buVJ-uyUcmjUDdhdhTWXHO-VlgLapIMeBnBo9F1v4vEfNXClZYDLsbtMGefgpaHADbomHdxgtUc-F9591iLLcm3yzChb9PU3bx_SFO-Z_A4JTyG_h1uWfjnrpJnABQnPcC2rWe2UVv4g97E7V0g_Li6QyJJ47ihJCXxUQ5RP4dUuPDiNkdgnuN6PoglAGkOL3tcJ5RGxDR8Uduu6fs1wS6zu07-M5lH6OQdCrZSqcJEdwQo9aWVRYoDAfAOY-FCLT_y1CKtVP9-z2CioM2YrIiOI24_WZ4AoL0CPxXFkotEDIAMW3npiEpCvVf-02XNjIcUbBedsf9Zyv9R-cH_sFlh3ebhKeQVnIKNNI2fAJjZT_VBw_oriMWJ7O2givzc5wRQeT9mnY2kDCXC0pxjUlsT7GqAPv3vyLQDoBosde2m5HxQ9pP5d8V0aM8Uiv6PQqzOcgM-vWB2B1yVRLQjCo-IDmh0NQ43SzaBVGIf2V54vTON2lOQi545yGvhNJVZP4auB_jEH1U33YOIRWCaR5X9zOM3LYqgO255cJTwjYR0Jrwi0lSicYJWkhUChaqNqeLnaz44FGl3EHjdl3RAgs60IivfY6bNRtfOHmWhrddODq3ZjII4rfHlWcYFLIUn8PnWJ7pCoEPnbP2ETr63hAxRQhNieWQvUWZSTuzglbmalxEZ9J2vRW2lAt5vk3tPNXGhmhaRS37cZbDcXR7rciwDfskoqZtUipqLRCfkMxrvIvfaRlNTxstymm_tDxtM2akH8rZ8-NA1ddtwKFm3tKR4RO3oIa3AepivJJAiVYexCn6K-X-VLagOQQ1rFSt0It113bVGeX3oVQ7H2nZhjGXi9mXAldlH9ycfVDMlf267OvRF_86i1PIzlIy2AeHXC9kL3uohRFav7P-IeWhfDwoC6wTYsJebUZguTctc9VdNe7WTYFkkDxlS9nSvBvXAgc5D7HPOsqU4Z_0FoES6ziWjh93XMnWuB3ldwt6GHP2BMbztqc4cqls1zz11c1Ufr9EPMLTyKTRVbc4p5eFfahRWOup_PEaEVq2hXZp5m3XJ1D_G-QDAzsXj8d2UY1377s6yzKebzqI_c6G8V2_1OFXm2bRDSvb6uUcfRqpgYCLHoDaBx9pZ7ps30EZdG9h7NnDfi0vs",
  "id": "rs_0b04a746a2a82d0d016ab43685de1087d098cdd67cb808571e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The jaws stopped partly open around the pear, consistent with a wide fruit rather than an empty close. I’m lifting it a few centimetres to verify it actually follows the gripper.\"}",
  "call_id": "call_MtWf5SIhc2PWT418YSYNYpjA",
  "id": "fc_0b04a746a2a82d0d016ab43686879087d0983a3b2f74bbb7de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MtWf5SIhc2PWT418YSYNYpjA",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4236, -0.0139, -0.0338, 0.999, 0.3367, 1.0164, 0.4133, -0.1585, 0.2451, 0.1467, 0.7125]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1713 left_yaw=0.002 left_pitch=-0.0496 left_roll=-0.0026 left_gripper=0.999 right_x=0.2883 right_y=0.0593 right_z=0.0804 right_yaw=0.0443 right_pitch=-0.1627 right_roll=-0.0636 right_gripper=0.7125\nstate[joint_eff]: [-0.335, -1.3197, 7.2274, 1.7509, -0.0562, -0.0562, -0.0122, -0.2256, -3.0838, 8.9641, 1.5751, 0.1099, -0.0122, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6183b9f211de99bbfafbafc290d3d1f652bbaf00fca70640ef7fc1184681f856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:093102ba678ab0329033f10a3af162134b33f61398f33b3dc6d6f7ba4530670c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94430971ef629656f2245e7bf952592628f56464b797cecaebca5188c6b6c10b",
      "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 · 4.325 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]: [-0.02, 0.8024, 0.6132, -0.4011, -0.0139, -0.0311, 0.999, 0.4301, 1.0153, 0.3649, -0.0593, 0.3347, 0.2157, 0.9993]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1775 left_yaw=0.0005 left_pitch=-0.021 left_roll=-0.0011 left_gripper=0.999 right_x=0.288 right_y=0.0722 right_z=0.0815 right_yaw=0.0287 right_pitch=-0.0917 right_roll=-0.0496 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.2239, 7.0769, 1.8388, -0.0659, -0.0171, -0.0122, 0.0615, -2.9607, 6.9675, 1.8486, 0.0171, -0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4168, -0.0139, -0.0338, 0.999, 0.3363, 1.3052, 0.2165, 0.3614, 0.2527, 0.1486, 0.7133]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.1731 left_yaw=0.002 left_pitch=-0.0412 left_roll=-0.0028 left_gripper=0.999 right_x=0.2944 right_y=0.0599 right_z=0.0173 right_yaw=0.038 right_pitch=-0.1283 right_roll=-0.0571 right_gripper=0.7133\nstate[joint_eff]: [-0.3487, -1.1282, 7.1726, 1.8095, -0.0757, -0.0659, -0.0122, -0.1026, -3.3846, 5.3675, 1.5458, 0.1148, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4236, -0.0139, -0.0338, 0.999, 0.3367, 1.0164, 0.4133, -0.1585, 0.2451, 0.1467, 0.7125]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1713 left_yaw=0.002 left_pitch=-0.0496 left_roll=-0.0026 left_gripper=0.999 right_x=0.2883 right_y=0.0593 right_z=0.0804 right_yaw=0.0443 right_pitch=-0.1627 right_roll=-0.0636 right_gripper=0.7125\nstate[joint_eff]: [-0.335, -1.3197, 7.2274, 1.7509, -0.0562, -0.0562, -0.0122, -0.2256, -3.0838, 8.9641, 1.5751, 0.1099, -0.0122, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6183b9f211de99bbfafbafc290d3d1f652bbaf00fca70640ef7fc1184681f856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:093102ba678ab0329033f10a3af162134b33f61398f33b3dc6d6f7ba4530670c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94430971ef629656f2245e7bf952592628f56464b797cecaebca5188c6b6c10b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaKCsKGVV-DcEpEbMiu40o_Byv28p431rs7mTiLMo63Cte_k2ih_3UUHQwafspdV0nzqofBLbjj-k7Uponoznbq80uVrg1OzopErE_6471-O-cwUtqP98W339SNsb9h2Q2taE2M5NDOCCOQmhnOJ2rg1pF1Z5Q3OsAdWaflwN0r4MgUsOA2XuKaEAaGnuJdZuj4ROZxfYHrDQQEJk6ekMnaABCZgACpC5VUq1JIHd85hKzycnD9nAU7m0xf7MTg_ZyRmobhN6fm3MjedSWoZqEi0L4GLE7BY8bfJmOrFJWoOPPEspKjH_A9Bj0P-wcLNWS-puMfkzUi8UlrHeQxcV-OeEw35ZtjnfqiWfkbOSKVntoA0d-ev7Mlj6PnbkA716uIQwbxrKpZs7OyXrL3GFcJlmeRhU_g--a68FdSPprCZkjZ7tOpYjXQLqNxA7Ib1dIirduL62iMmzAIkPT5dRn2W_aGN4_RKw5q8tBO8NPjxT5jgbbbtz8QOJlTP66RVupU6o4egb8Ysz7MfgAMHwOai2kSEhqNX9ew5L1cPZvdwIU_A7XYddi5ikh6N-yQTKArgx0Glw0XIKATGjhyNsY5Y1L6RFH-c_PYJPSvX6-4GNNGmKWvdvywh2AVcHDdemgzKMDK3vDiRBYFFRwhISNuoWKtd3sv7ZXSgp7TD9j0SWf1J641RkIWWIhPW0gRBJqnmlcd4TBRngBTpbDzbH8dygigQKi7cLWgYCvqloejLnTboI1cNmU3NIcS7TnXJ_xIC2xcej_-7NMwjC5S-UEULN-q8FMWYgy3sBZMXUFz6lWviBZay1-y7Cta7NRv9jOTknxFZFDqa7zSy3c7aZaHAY23Mnwxba_UgNUfa2yDpjvoGXlNiPEPVqr3Ihe7mVOVePk5hgjplftk-8LBJyAGDtPYNSvyA2WwUi-EVHwetrNFHh8vMvMV-kf_Vhd9ubuuAbvxajGqE5cpy6bkrJeHV40PosuRnWkHRnXGsiPnuCIdUBJNsUcucbrLlyVfBt0loD5k4nv_kHj1CLgMNtLlV7gEeBQduyqBdIvKE2QX046uqgf6ksBkv190Ilne-cEl7BX0UvLZoEUsEZLrTIpb__C-D3RPlqMKWMGCqXdHrepXjsDl2LVo9HCaBFDmiFWtKJYb0xiRiGZA_HdeuydajiKb7-6KwSJRiIokY9CJ4YEhDASwE_0oiEaXJgkFaGTziskwOx3H5_AhNanB2rQT2lFJ-gihk41ndtavrhRcmRud-Q-9pHLXbnwy5tdf2356pxRMwXb6KWGDCKJotDdZMA6kHOVUWXMBHnKZzbRwSsRhxhYsakRrohbn4FsUK8A_WkV3XVEaBpyJ5thnMX-YMHIh2diLrkPJ59jarpxINrLYgS-f5JZhFAQcAcTcX6BYkzZ4_1bFEop-UUlmTfPNGk_jYiA25zpTHYwxq8r0sRvOlz5xumdVOKYfuA7zNCqY",
  "id": "rs_0b04a746a2a82d0d016ab436891b4c87d0951d6f00f0e6516f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.23,\"right_z\":0.17},\"note\":\"The pear rose with the gripper and is no longer on the table. I’m carrying it high over the blue bowl, which is to the left and slightly farther forward.\"}",
  "call_id": "call_nrv5zM4vptVZL80OisBr95Tz",
  "id": "fc_0b04a746a2a82d0d016ab43689b7d087d0b194f5f33dcd225c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nrv5zM4vptVZL80OisBr95Tz",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4271, -0.0139, -0.0338, 0.999, 0.7753, 1.6165, 1.2129, -0.5472, 0.5201, 0.469, 0.7158]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1696 left_yaw=0.002 left_pitch=-0.0568 left_roll=-0.0025 left_gripper=0.999 right_x=0.3523 right_y=0.2274 right_z=0.153 right_yaw=0.0702 right_pitch=-0.2158 right_roll=-0.1038 right_gripper=0.7158\nstate[joint_eff]: [-0.1026, -1.6342, 6.9949, 1.7656, -0.0269, -0.0806, -0.0122, 0.2256, -8.0889, 8.7863, 1.536, 0.4518, 0.1245, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941e476db50785860263fefb36ed88bf910fca69383b4804bfea1f3afd7ab354",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7a2d28668bfdf81a20c54c07e460b9665a659b12ee032ae8787d68195acc6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdc40725a50b9188f857c521f2d459ba6bc1d0d638802ad9ccb2c95f4fe7ea9d",
      "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 · 3.301 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]: [-0.02, 0.807, 0.6132, -0.4091, -0.0139, -0.0334, 0.999, 0.337, 1.3052, 0.2165, 0.3614, 0.2562, 0.1555, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1746 left_yaw=0.0017 left_pitch=-0.0336 left_roll=-0.0027 left_gripper=0.999 right_x=0.2944 right_y=0.0595 right_z=0.0174 right_yaw=0.0322 right_pitch=-0.1275 right_roll=-0.054 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.5932, 7.1863, 1.8144, -0.0611, -0.0073, -0.0122, -0.4171, -3.8222, 5.2855, 1.8486, 0.105, -0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8085, 0.6132, -0.4236, -0.0139, -0.0338, 0.999, 0.3367, 1.0164, 0.4133, -0.1585, 0.2451, 0.1467, 0.7125]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1713 left_yaw=0.002 left_pitch=-0.0496 left_roll=-0.0026 left_gripper=0.999 right_x=0.2883 right_y=0.0593 right_z=0.0804 right_yaw=0.0443 right_pitch=-0.1627 right_roll=-0.0636 right_gripper=0.7125\nstate[joint_eff]: [-0.335, -1.3197, 7.2274, 1.7509, -0.0562, -0.0562, -0.0122, -0.2256, -3.0838, 8.9641, 1.5751, 0.1099, -0.0122, 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 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4271, -0.0139, -0.0338, 0.999, 0.7753, 1.6165, 1.2129, -0.5472, 0.5201, 0.469, 0.7158]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1696 left_yaw=0.002 left_pitch=-0.0568 left_roll=-0.0025 left_gripper=0.999 right_x=0.3523 right_y=0.2274 right_z=0.153 right_yaw=0.0702 right_pitch=-0.2158 right_roll=-0.1038 right_gripper=0.7158\nstate[joint_eff]: [-0.1026, -1.6342, 6.9949, 1.7656, -0.0269, -0.0806, -0.0122, 0.2256, -8.0889, 8.7863, 1.536, 0.4518, 0.1245, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941e476db50785860263fefb36ed88bf910fca69383b4804bfea1f3afd7ab354",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7a2d28668bfdf81a20c54c07e460b9665a659b12ee032ae8787d68195acc6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdc40725a50b9188f857c521f2d459ba6bc1d0d638802ad9ccb2c95f4fe7ea9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaU9KmXqq7TWuxKaXOM7-n32BKPB0_hnPSREf2zb8PWWD4KDfmAyzd0Ry0FLWYtefgYky6jwxj2mi6_x-QLG8SIjc7S9RBPJ87lUBJ-zPFy1Q53hlkUFSsscD7-8VT68dZiBKHhDk3L-qsn0zmyzaa7kZjZAa5yvlN5-d7T3FWe-UkCcxISnBHSvWhzkNK7dUqsgDnUr250WqZNNhmnYB4cYLKRUt57IjzZ1tDhT3XQbZUkmeltHu7x6eu3z8wyiU4f57AfBwiYnuJDBCGuPK9RVWgYg-SPBzI2NEW6oGnPB5yr-t-r_XPJkgnNem22RdsePxx5zHz0Fa6fVYnYj-39c79MigpBYdgcVthg1I3ZK-bIUU9Y3-7c6t2uKgFVBfSE2wGmZ9o5sYOOSVlkjDlxUh9rdoJhnEjHiVnmxbbsOZjLQYpfjZsvU5JLDl78-si0DXPUXbZGf0f9vTAH8Nc92Zx25kQE_z2ilmtVlDnbbQI6myyxG9wgs4gnZNdkHD7YOPirHmOgg1Kt33TnBw5tkZP5nRDEHYGiGB0oDvaYRiYA6xfcpO6khszjTO9CNpRbEpDETB5EaXPkgtNrqxdTfYFDPwsUyFU3AEowp5mAlbmoW67Q3C4ZqHA84VMZdln9pbR9MxVR6gEDWD8BA1m3ZvT78FRn49iC_3cP9G8Rhrs0KhPHzk_Xc9Ip00aCNr_sZoFtrytYpMbY8-VEChR4UiwRkRm0aoo7tf5cvr-rcIHFz-W73VOtGkz0y9yODBV3WUpkjNi1vX9KZvoC8bjEZcS_ORDG_VgQY09X0vROsUagUD2bmoMSaM6BE5rZMI3mkXkBRedKSKghhq-kpRijeG_cZg8yXvckWI7twhvie0Zy7NGkMvtJbxpcVvFnlRgKFrj3FMV2shb7Ea4N4AE0rMYUKq6LWehCZ7NSdoy9-XoeSyfJgM5M1q_6rYFURS3uoQClWwkROFXlGMYeQ2XODky1XcIpMtSsT4qWHk7a6bTpbQ7y1fKw6Fxy1F1xOtzYesDXx8YXznoou4dOcDv3mJxKJjQpS9aACvOB_jxtK3Uf10HveeRhkk75cOfkhrtA1egd2KLb1wbrbq6j-q1w0JNSAAap3lim6VIb7Di9OBkYuIc8DJNaf5k7xr41rtIe3aYuz2vIIzYxNPYqihv5iN7iai4dgZFSgeojG-KtDSieJkiAFLvoJWByPRgNPs1w4-Dj6a7qT47d1X-0prtwYzBj4TOkBLJ4gYB8foh32cnxRyVkr7De2rqMoXQlq3MmSQS9LNL3V8jpngpN7agCNjDMW3PggCFMIkd6m2cG4fHAA9os_EgPr2LEJbnD9c_PIAgkHa_J2f-ZgsNSURsWOhRB5Ymlw6Q7B19PKfx1n0-jYSfxs5vtOcTYtJNa-kMbfKnTkcWLIq6U5KFHAynhXAgAJXfAGS7K-PiyP10L5inOQWzVp1xcuk6Gxxkgsn3nT0vVZi0Czv3kkff0yB0Z4BgO3pmoUOa9g0hDvnxz09IXsHvsFEGMRt-MCkN9rHahFIEtLoKyRSoptqqxLz1Dre2nNctDjmlwcCRSttI1nuOW5qEwmdlxO5Gkbg57wtrJNbdkNMjRCjdgEf2eWvBKfEhhxhVySdjRr0efcUoEQ3iLTBnJGtfhcwEMqlHbtfrWvVZ0awyMwmM6lgw-0xTkCP9c-Y1GJvKvwTa1I10KqUvSct6zCTfooVABZqcgCm873vMKZHLFTMvyxom5M7bfNdwapTli5s-ZfOrBprRx2J3VTrP252eREMLj-H9j9GxfOkoeQbeGPehaY7gOmisQCiwcnfwWzuZFjtiAEgJ51MqrSI8lTd-yCKLZVIoPlLtKRS2_yUVLgMVClYp6X2kC172Ads1i2YL5ulCxnac_1AFy7vNJZWaaS6V6i8mri-zf56JZGAs0cT9nQG_8VU_FpwHX3_YIg9Ckwr9tt8pBFRgXzmRUnbaVwYEG5QE6o-QUn6XBa7wdHOhsvbyyvTUKthx20NJrxfCeThwR3coYyTUsk93CdM1d-vXWvQw-wmwF85AQN14o3GjygyyvPYpj4TfgWAyIXgN0acbLljWlga2uEJRvzg1RswylXoFS5zuLBsiNcBgXnWPQw7tXYRiaPD28WXRKslfPF_kDlW34PI5d6cmMXO7om9pklzv2xapxvS-wmwhIBYAB2ylHeIN3SasfLy7eBssuFJcY1KZvVSrFpNf7IvSezYAAjQDGjprY5Of9KapqpJfmBjuEX6-IHNds1UiDzlzpMDRtGOHo-hOt8oAGwT2JyiP9h8EbiFlqn0uLZpis1Llvszl-fX_hQExau9nHGFcFi5szwlNlEmjrSYUGnckyhHlyKIiYTZA6jnegTFf19ZnzR8HwokKWIAagRlPx7wiHcckjqJDqiY50CPPdyHafRm7iirTGZUr0g3tcdeMQsy-OkhRcvuZXxwayfZ0YhQBYtt8siHlsT6jSX9BYMEicOPSknBRFuTwCxmmER8FZceA0VXLr9KOyVgfXNiaDSOfS7idUuZKluvTWOwkMCX1yhTJNnlkdjd2s",
  "id": "rs_0b04a746a2a82d0d016ab43690de1087d09981568d10aedcf3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.17,\"right_z\":0.16},\"note\":\"From above, the pear and fingertips appear just left of the blue bowl, near the remaining yellow fruit. I’m shifting the carried pear toward the bowl’s centre before lowering it.\"}",
  "call_id": "call_eVrxnmofaeXyDNluWWdIRr5S",
  "id": "fc_0b04a746a2a82d0d016ab43693744087d0b93709490b3030fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eVrxnmofaeXyDNluWWdIRr5S",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4278, -0.0139, -0.0338, 0.999, 0.5777, 1.5726, 1.1503, -0.5205, 0.3878, 0.2947, 0.7156]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1694 left_yaw=0.002 left_pitch=-0.0576 left_roll=-0.0025 left_gripper=0.999 right_x=0.3745 right_y=0.1687 right_z=0.1414 right_yaw=0.0704 right_pitch=-0.2808 right_roll=-0.1308 right_gripper=0.7156\nstate[joint_eff]: [-0.2667, -1.3607, 7.2, 1.6825, -0.0317, -0.0611, -0.0122, -0.0479, -9.8667, 6.694, 1.6581, 0.2466, -0.0317, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5439cc3fb61f2cc20a9b92c04745f8b0d767381717694b521654bf3462295a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eae10bc0934ad4dbf9af46a963e76ad1557ad10c77296ea0131c3f96c7d420a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1490d182abdc6c28771578fe1df5cb8b6be01489f694c33ddc2828e8da8636a",
      "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 · 2.471 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]: [-0.02, 0.807, 0.6132, -0.4168, -0.0139, -0.0338, 0.999, 0.3363, 1.3052, 0.2165, 0.3614, 0.2527, 0.1486, 0.7133]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.1731 left_yaw=0.002 left_pitch=-0.0412 left_roll=-0.0028 left_gripper=0.999 right_x=0.2944 right_y=0.0599 right_z=0.0173 right_yaw=0.038 right_pitch=-0.1283 right_roll=-0.0571 right_gripper=0.7133\nstate[joint_eff]: [-0.3487, -1.1282, 7.1726, 1.8095, -0.0757, -0.0659, -0.0122, -0.1026, -3.3846, 5.3675, 1.5458, 0.1148, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4271, -0.0139, -0.0338, 0.999, 0.7753, 1.6165, 1.2129, -0.5472, 0.5201, 0.469, 0.7158]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1696 left_yaw=0.002 left_pitch=-0.0568 left_roll=-0.0025 left_gripper=0.999 right_x=0.3523 right_y=0.2274 right_z=0.153 right_yaw=0.0702 right_pitch=-0.2158 right_roll=-0.1038 right_gripper=0.7158\nstate[joint_eff]: [-0.1026, -1.6342, 6.9949, 1.7656, -0.0269, -0.0806, -0.0122, 0.2256, -8.0889, 8.7863, 1.536, 0.4518, 0.1245, 0.8425]\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 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4278, -0.0139, -0.0338, 0.999, 0.5777, 1.5726, 1.1503, -0.5205, 0.3878, 0.2947, 0.7156]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1694 left_yaw=0.002 left_pitch=-0.0576 left_roll=-0.0025 left_gripper=0.999 right_x=0.3745 right_y=0.1687 right_z=0.1414 right_yaw=0.0704 right_pitch=-0.2808 right_roll=-0.1308 right_gripper=0.7156\nstate[joint_eff]: [-0.2667, -1.3607, 7.2, 1.6825, -0.0317, -0.0611, -0.0122, -0.0479, -9.8667, 6.694, 1.6581, 0.2466, -0.0317, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5439cc3fb61f2cc20a9b92c04745f8b0d767381717694b521654bf3462295a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eae10bc0934ad4dbf9af46a963e76ad1557ad10c77296ea0131c3f96c7d420a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1490d182abdc6c28771578fe1df5cb8b6be01489f694c33ddc2828e8da8636a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDabgv-52LOveUpMWZW-O_X34_1q8ezdEmsJkduJbjBgoXezhkkQvlBKIe0GuIMzi4N1cZJy5T1oH2lVsiHQDZh1ni3W5bpTk9sVsdk3FV2vxpEy4dJhHT9H86hoVoh--gLFrv4XErK410Mc5mCWV7i4fg8ZcyrpQi719d-_rieaP-N6p78Gf5fvtwwOalpU11C8sAQ45qLPdwu1I03EB1kZZ9mhdHztRwsoxRXCVe-D2sEhcmrnUIBoUMi4ROl5n4bfHmxnLLfNf37tAozdluYOIQfR9-rmdoXeF_ZaIkftVNrhldOWziuY3KOFWAt6EQOvvV640h8Iop2z24_1GHdBwHhyi1483Ljm1Uap4DFJIo8ngKsXu3p47Z7JKPuO9hLLOjNKxxEo28PphUNJexb48WzwBLeuoAMRTdWINgEn1iqYFuCgTzEwVgGdIyD3erqn5idbZAotAERatfxruMKXfz9Hl4DrZQqOKKTdC5b-ipd-BAxDpHtYBPI4jhNOk5l01Q0gVu9wRv2TRvsRoM0-MAXK8Vb-Wr-v3t_SIyC_LwNSCIA4l_ytYRj7X2dKwH4mwM-4UCTjKqqEGgtOBWEmobSYcSX6RRl_koP456UEZkfk8Mnu0-5W5-RnYCASFFt0d4xNuS57t_wgWP2qyZMnGYFa0PTDC4b9Zv-ELfZxCwQMVEIFzs7bb3Lv72tJEM_BcCN29POslCBfcsOyp_8yb7M0QksVJzNS-DXFI-OS1nGsBBHe0v2Rennqa1_Elg6h0zaZlpGmGYOKmHwJ5vOJkcmOGLCFzPzx1yo6zrwAsYMfGaJ_WqpyM1s049kjjG2PgXrtSW3md2p5J44cGn3BrOv9miXU_3g9yTuIsUmY45z9w4mTvhNEXvK3gGl17FXiplVvWxR9XNr5JsIYEwoAPdBzdh489vU1oAFNBAoR6GLcI1GaenKkYfI8-WotOcoCwWjx3sGltpYcZepbxx5o2JIuBG6xYyje7haZDbw8XVTR0sRlyGZQWLbF5BchHTN-4eqUQ_Lx12-Z8vN7Aaoy_XQr8-vedcTviE8c499v9wDfR5ImpgY4E51IPxUXgqwyitpv4ZOt24RjUSCvPUOvIH2d-8LMe1gPN1jbg4qBoJ_wwIn8M1lqfdpctwGTA8N9wsQoqQYN4jp9VdJAOSPmlBVpSZ57ZlfyXFNaxj-Rq-Yhk-9ldSH4RLgk6vkIcrEZoFw45xsTfZhF4yqoYmEUbuK6jofc8dClPs_KAzt4TETLVz1XOx9JgYrBXrqeNzVx_-6xzfd9BEDQIK8qfU1ojFFf938fGy4_LHnq21y_1xAf200Q-8961hgSmW3xScdw91irE0gC9clgdIl8XawvyULra0qq--p5nwJFG9NkX4jXBzpmW0bhZ4Co3klEeumLffTiv_zgVcRuy4X7AleDRQBjmzEvrdCHvKIAaIYECeGiTZkg0vcku94EedFAcQTU0nnJ6MH_JZJ5q0yivbuNg324YmzVJ7GsqeSBkqC0b_AijpwYdUY099pDbjNS7tzCMR2rfeRvTIzswiuwetNioAquzz8QHwvGGLNk5yMYG-ILRdTBeCX5qUlXAdOGsC5M412WsoPhuB_Cxp6svOOAzIAsL3N2B8tmZAYQuRRY8hPUSdLAMoVqzciBiu7VRbwyqfATXx0lisRAFnB9keFccrKmNLSCLhpYLPfILxFMdn6ik9Px5ElrrhVqB3RUZ5Ex8trx-GHDbc__ZDQco3RG5-qy7S1B6hDJ_PC9yusEbWYkaxU5rIhOSJ4sLbgJWpHR-Iv5J_gn0qdFohgYr_w2udpXQ0q9Kvzn1B4AFQOlq9k=",
  "id": "rs_0b04a746a2a82d0d016ab436995d9487d0a861e574d8f78144",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.19,\"right_z\":0.08},\"note\":\"The blue bowl is now visible directly beside the held pear, with the fruit slightly right of its centre. I’m moving a little left and lowering the pear inside the bowl before releasing it.\"}",
  "call_id": "call_DIcZHGd2XSzC2tIy5Zi471Bd",
  "id": "fc_0b04a746a2a82d0d016ab4369af48087d0b52ae10409a1bd52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DIcZHGd2XSzC2tIy5Zi471Bd",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.432, -0.0139, -0.0338, 0.999, 0.6022, 1.7458, 1.0737, -0.3286, 0.3878, 0.3058, 0.7181]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1683 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.999 right_x=0.3828 right_y=0.1864 right_z=0.0698 right_yaw=0.0796 right_pitch=-0.3305 right_roll=-0.1533 right_gripper=0.7181\nstate[joint_eff]: [-0.0752, -1.265, 7.2547, 1.7021, -0.0611, -0.0366, -0.0122, 0.0752, -9.1692, 6.3521, 1.5751, 0.3053, 0.0855, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650f2d4957df27cf45d63ad51a1db6afff55f26c4837939d480c5155c8f30221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d7acbcd5b03114565e003f56dfa6d46cb972cea53ab347c1b3eb552d1c5e37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c63e1ed6277b85df8fc44650034acb7f95a6a502b6c0f4ba1d58baa7742e19e6",
      "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 · 3.072 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]: [-0.02, 0.8085, 0.6132, -0.4236, -0.0139, -0.0338, 0.999, 0.3367, 1.0164, 0.4133, -0.1585, 0.2451, 0.1467, 0.7125]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1713 left_yaw=0.002 left_pitch=-0.0496 left_roll=-0.0026 left_gripper=0.999 right_x=0.2883 right_y=0.0593 right_z=0.0804 right_yaw=0.0443 right_pitch=-0.1627 right_roll=-0.0636 right_gripper=0.7125\nstate[joint_eff]: [-0.335, -1.3197, 7.2274, 1.7509, -0.0562, -0.0562, -0.0122, -0.2256, -3.0838, 8.9641, 1.5751, 0.1099, -0.0122, 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 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4278, -0.0139, -0.0338, 0.999, 0.5777, 1.5726, 1.1503, -0.5205, 0.3878, 0.2947, 0.7156]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1694 left_yaw=0.002 left_pitch=-0.0576 left_roll=-0.0025 left_gripper=0.999 right_x=0.3745 right_y=0.1687 right_z=0.1414 right_yaw=0.0704 right_pitch=-0.2808 right_roll=-0.1308 right_gripper=0.7156\nstate[joint_eff]: [-0.2667, -1.3607, 7.2, 1.6825, -0.0317, -0.0611, -0.0122, -0.0479, -9.8667, 6.694, 1.6581, 0.2466, -0.0317, 0.4811]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.432, -0.0139, -0.0338, 0.999, 0.6022, 1.7458, 1.0737, -0.3286, 0.3878, 0.3058, 0.7181]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1683 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.999 right_x=0.3828 right_y=0.1864 right_z=0.0698 right_yaw=0.0796 right_pitch=-0.3305 right_roll=-0.1533 right_gripper=0.7181\nstate[joint_eff]: [-0.0752, -1.265, 7.2547, 1.7021, -0.0611, -0.0366, -0.0122, 0.0752, -9.1692, 6.3521, 1.5751, 0.3053, 0.0855, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650f2d4957df27cf45d63ad51a1db6afff55f26c4837939d480c5155c8f30221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d7acbcd5b03114565e003f56dfa6d46cb972cea53ab347c1b3eb552d1c5e37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c63e1ed6277b85df8fc44650034acb7f95a6a502b6c0f4ba1d58baa7742e19e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDahO2rVXd1kQTFf-MKSdTqGrPV53GPR4JUSIfybnz16s3xCsw_0WsUUvezVA8bH-6dtD21CB9VsCVaWgwosgwZZVRWkbPNztEad_0AZdlwyZkOQ1PRw6jVPyACw52CxM-qrSauCoxDIo9z2WGNoKLnZnoiUmtbiynsukaWQePJFZ4aWlTukFJJHwjCdRGciTPbSjoSs8nH-1gfsKCr7kbaS7ubbfOXCPlqELwga1k-dhQ0FNxRJhc7xHVsB8nWn7mH2PmMMFstk6ruG0YicBz3zmldRz9qK9yo9U0Zpqfp24KrIeL5FhPDsG4dwkZcFGTT-qB1d7YwKVbypbBKmLmpLdoyKvNqQ3bcGMg6MCmWTN0rm4lV3hj4-fBSH-qxEDdxWKzX8bNrFTogrxEmyLD2u5N_U4044AnyJzfRFkMZZNZslBOs7pwKV9Og_ds3A5rH7BfbHHm41Zls1_su3t2j2VNLknmgtrGpSgWZlM8iYriWheaMlcyUkAcK_ANjhB_mXv1IhuyLXazmcvZjVI_idKcTITVjkCH90AJNuz5WZYs_PGjyZkVKhREYPvWWn394K7IE-_jr4qXf995KuNrY0xhdSdTzmB02usTp6Te6Usv2IfDCWh09WjjoPstxIO1UnLYV99VaNNxqEscAVxW7gjCS4URN7NfkZPlaY91kQ6bg0VeRRwtpj4n4Lj6A9S_30EjR6BajLeDRZanMVxZ63nauJdzSTplcSYLRH97SAPFOpZTy0CntcnZb--NrTYC7iIRzl0WR0Q8RQKB7J6m4m_ivM5Yh9Yg2eAfiG4eZY1smyYWS0k84eCMK6BRBOfDV-GrIiUD60T-U5f9enVHhYKjqyRL_MxuHJBjtjmpBrN3539dCTsZewgQWwzCykyc0TKtdJFYfPDnZ5Vl3hq7EzgQb9IfgcKUcVOHTrd8avItTtAj6HXJxc4YzBSzl3sbOH6C1V8WMEN7ObYEk8JCAhzB7P42rImbCFpmdsCaYXYx1tuqthGDd5dgyGpAIpDqn0e4q4TRfIaYoD_Vm0AoJdih1Gh3tqt-AfF1jwcggLTfFO2-nVQ9qqBTkQfqRT34ICLLmVCP_tN1tw75YvCsrupgaAk3Fm9ZKJ9Xik4N4y4PsC9kcXMdqH8Prbf4af4sZlZofGUyKD7PaDNP8f1e7Gqf1UR6Pfp5N9wkci0JCKo2BZ-US3uyInquy6uWWQ0p-XWn-fybIZONcuB90dK8xIyXBlrBHhfODKbJbTpE2Njsj2xztrRlwaHxt2ukwlHj7J",
  "id": "rs_0b04a746a2a82d0d016ab436a00b2887d0947f7096edcbe62a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is lowered over the blue bowl and the bowl is under the gripper. I’m opening the jaws so it settles into the bowl.\"}",
  "call_id": "call_5c4PjvvfZ8JITpAgna0VX7UC",
  "id": "fc_0b04a746a2a82d0d016ab436a0403c87d09ed1e396efbfb357",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5c4PjvvfZ8JITpAgna0VX7UC",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.432, -0.0139, -0.0338, 0.999, 0.6022, 1.7458, 1.0737, -0.3347, 0.3874, 0.3023, 0.9957]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1683 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.999 right_x=0.3818 right_y=0.1858 right_z=0.069 right_yaw=0.0808 right_pitch=-0.3362 right_roll=-0.1585 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -0.9368, 7.1726, 1.6532, -0.0611, -0.0317, -0.0122, -0.0342, -8.4991, 6.1607, 1.2332, 0.1587, -0.022, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb9454442696c2413c32c3b1d4315fc9027f8fc7b63af85a297ba8299152f0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b13dfdd4a4568247d642912e7677af3e5ab5e93bb0e613aef458f89f4cc6f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b889e347f55c2ca41b10f6bdf784e8bf73778455d4f8392137784dc09ef855cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 3.15 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]: [-0.02, 0.8124, 0.6132, -0.4271, -0.0139, -0.0338, 0.999, 0.7753, 1.6165, 1.2129, -0.5472, 0.5201, 0.469, 0.7158]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1696 left_yaw=0.002 left_pitch=-0.0568 left_roll=-0.0025 left_gripper=0.999 right_x=0.3523 right_y=0.2274 right_z=0.153 right_yaw=0.0702 right_pitch=-0.2158 right_roll=-0.1038 right_gripper=0.7158\nstate[joint_eff]: [-0.1026, -1.6342, 6.9949, 1.7656, -0.0269, -0.0806, -0.0122, 0.2256, -8.0889, 8.7863, 1.536, 0.4518, 0.1245, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.432, -0.0139, -0.0338, 0.999, 0.6022, 1.7458, 1.0737, -0.3286, 0.3878, 0.3058, 0.7181]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1683 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.999 right_x=0.3828 right_y=0.1864 right_z=0.0698 right_yaw=0.0796 right_pitch=-0.3305 right_roll=-0.1533 right_gripper=0.7181\nstate[joint_eff]: [-0.0752, -1.265, 7.2547, 1.7021, -0.0611, -0.0366, -0.0122, 0.0752, -9.1692, 6.3521, 1.5751, 0.3053, 0.0855, 0.7155]\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 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.432, -0.0139, -0.0338, 0.999, 0.6022, 1.7458, 1.0737, -0.3347, 0.3874, 0.3023, 0.9957]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1683 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.999 right_x=0.3818 right_y=0.1858 right_z=0.069 right_yaw=0.0808 right_pitch=-0.3362 right_roll=-0.1585 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -0.9368, 7.1726, 1.6532, -0.0611, -0.0317, -0.0122, -0.0342, -8.4991, 6.1607, 1.2332, 0.1587, -0.022, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb9454442696c2413c32c3b1d4315fc9027f8fc7b63af85a297ba8299152f0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b13dfdd4a4568247d642912e7677af3e5ab5e93bb0e613aef458f89f4cc6f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b889e347f55c2ca41b10f6bdf784e8bf73778455d4f8392137784dc09ef855cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDak6LaeSXA5hA1AM4z244_ZV-tYRBrAvcv2ygoITsPZvDDK8JRNRciZgyUbVYyD7XhGYIMHYHu9638OKqdAyIuFGtV3hMe5X_KrPPy0x80p9L1ZXi-VwSpJZ8swizDDzSAgLm4v0PjsA2QWOZX1D5HukFgDJNQjhx3D3gcZNOtEpWD-eV0abv5f3v_DO_azTDY7sELO_0j8j5ud64XBPirs7piRtede203iZA0-Y9XOurBB_gSPkLh4YhOaCE7yRkZWoH0pAQ5mNR9b9KJTxtyvmRztBCO0xZLbX7yuz5ifX2ruFJ53Atl7cFoBHkTYPQQxxUtnI4I5DOmU2zkZJiTjZXLna0gt9XZ3Nbzor_cSLLyB_-0Beq_dAoqZ7jSIFEgNNmdGg0UIDT94NgdlDPkpFrG7aD2dZxiHkvabccVzNe1d3KcylfAmyJHrPEC0_l9LgIMzXPmZhDd8JZU8U7pW1W7qSgX2_l4t_JYwfxO1r4cbwR2CzFYIzXd7pbkLFPRrBq27RS0fc3MfIpJx5Zwfr2LbmucV7GcQAPtNCylb3uriERxhSxEbGiUKr38si4XKkAAwIQO8FdydW1R8tuIgyvcXa7Zkzu8G7K6FnNgpnO81mRnkML2Kg8gavUiufmgULz0JhrlVcolBAaDGcTiyruSiVxB1jNLw3RgbBBshwWj4JZhUyvqaumM_2enAtPG65CqNQ7yjY-5K8b2WAYfUUJXTLmFQnpO4OXnrnMolW2-pIpcXdKRUFDdQAzAttw4ssnWPMB88oU6yA5NycEdoWTDrtcjFxo7x6g_37nxFdsf2Iq2wWnVlqdz9pT5fkCCLfPIZW3v_CLL7R3Ka2ni3-ZwN-jzd9VuxqA7wkylS79bRunppUnwaYj5n7e-HISkjAG9wBEsuIu9rHTLHx6LcLhhL1Kmtt-iKubM_RX9hvMPJbAM-jBzhtgkEqRIxwvncN6uY80VQQYH0UxZoHiy6-kR9KeTBCv_c2RexWVytLOOLWnh6Wve_Nd3glfhGZvHPnYSxHGp1rp9JPEiU-r_4QjlKbkLpFxbGKb5DrGmoiwyvIRIkUR67yL-FXP2UrWW9i8Xlmfe8094oelA4j5z2liGjg6FtUsFDv-P3sK61c3s13pKu0wilkd5bFx3eJOISCIQZYIyyfuUDOWQ0pypkW9tZHo6o5fXvXZjaLyBQgQk0QB63kGfb9P6P0tItipF6WQfZKOgXf0WTy5XUJNIQRsxRP5tN_U33C_eS5KCLmQLW__NhQiixasStte80XJrnoS2KuwZjA_Jb_1DHSkrwXpcWTfaltNv4b4ewFqdbjItVkgiDXfl9a7HinFCsGMJyQnUOxivAAvLc6aIWNGLgLlrrSZDRNSK3qI8I9wuLbZNsFLHIYY6Hp4g6hAfrM6o6Z7UQVeDToN32ZbRjcrgcwYcpOkA_qdT5GvZWdKvnYwz4dozuK2qbKd93YDI2dEx4cn-sHkNRp9NT5qSIclZh0TAc3b1Z8O5u3uvEjrhJL9talRFKexHywGB1cE7NcmpqTVufs7aq3EDZ7APOtA9_zgTjSQwQh0yyuTqyO1yiFKWw1sAt6PNFGeVNv0j2ZWPaW3zuhs3o_6O-4RhJDWCN7_aIMwDYpwXxGQ-Cs2HFZVST0lOjyvDruJmV6rdin-HKKvvyTgSOAsbP07Hi_QOYZXjIyd4s-oCZSzZQF3JnnAxpnHT1901hOQz5MsMyFzcRYBjUbNppSaGuEJcC0OV6gKPFLD3qHRoJNZb2dK9XT_BLyicEI4UbkXQfhpdCKVBRTo47GCbcPnkTinVUEfD5IMQVPZkxIvsKqVLxC_GJZtncmkN5UKgybuYqGMULrwvva3TmWRffD9Q-WBFEhob_FmMqTrtO6iy4xdx_RjYZzl3oTNro0knQXCUrMJYm8X339kwReu4UoH6mGh6eTG03uVYeDOnCgTR4-Vm_PiUznuIChGMGGIAKqe65Pc49ovbzr97pAyXw__T-EZTxSVpAidUrn46RjodLWeqXBFK3MN9KKb8SZwpexVtH0ZVoWo_3",
  "id": "rs_0b04a746a2a82d0d016ab436a2c92487d0b2fa5d197768d408",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"left_x\":0.28,\"left_y\":-0.18,\"left_z\":0.12},\"note\":\"The pear is visible resting in the blue bowl after release. I’m parking the right arm and moving the left arm above the dark fruit beside the white bowl.\"}",
  "call_id": "call_wPE0qcCCQ2lK4HIUsXALNUIr",
  "id": "fc_0b04a746a2a82d0d016ab436a42d5487d08de486152e59feee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wPE0qcCCQ2lK4HIUsXALNUIr",
  "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]: [-0.9283, 1.2804, 0.6621, -0.3115, -0.6746, -0.6823, 0.999, 0.0147, 1.076, 0.9127, -0.7799, 0.0582, -0.1719, 0.9964]\nstate[eef_state]: left_x=0.2729 left_y=-0.1745 left_z=0.1052 left_yaw=-0.0155 left_pitch=-0.1072 left_roll=0.0279 left_gripper=0.999 right_x=0.2909 right_y=-0.0024 right_z=0.1644 right_yaw=0.0576 right_pitch=-0.3792 right_roll=-0.1625 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -3.959, 9.2513, 1.4188, -0.6471, -0.1001, -0.0122, 0.0205, -3.6444, 9.4427, 1.5116, -0.0317, -0.0757, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa55bcc561dbca9ba455b25fa50b034b4b39c9c7802e094c1ffbd48a10c18fef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9c60b05a8d4e0340140322e024c2453b0c7dc83742259e0583cc21ff31bb09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d465462384d7979221c1596492839cacd1b1e523a7002636c859b6129f728ce8",
      "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 · 1.747 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]: [-0.02, 0.8124, 0.6132, -0.4278, -0.0139, -0.0338, 0.999, 0.5777, 1.5726, 1.1503, -0.5205, 0.3878, 0.2947, 0.7156]\nstate[eef_state]: left_x=0.2904 left_y=0.0002 left_z=0.1694 left_yaw=0.002 left_pitch=-0.0576 left_roll=-0.0025 left_gripper=0.999 right_x=0.3745 right_y=0.1687 right_z=0.1414 right_yaw=0.0704 right_pitch=-0.2808 right_roll=-0.1308 right_gripper=0.7156\nstate[joint_eff]: [-0.2667, -1.3607, 7.2, 1.6825, -0.0317, -0.0611, -0.0122, -0.0479, -9.8667, 6.694, 1.6581, 0.2466, -0.0317, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6132, -0.432, -0.0139, -0.0338, 0.999, 0.6022, 1.7458, 1.0737, -0.3347, 0.3874, 0.3023, 0.9957]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1683 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.999 right_x=0.3818 right_y=0.1858 right_z=0.069 right_yaw=0.0808 right_pitch=-0.3362 right_roll=-0.1585 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -0.9368, 7.1726, 1.6532, -0.0611, -0.0317, -0.0122, -0.0342, -8.4991, 6.1607, 1.2332, 0.1587, -0.022, -0.1685]",
      "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]: [-0.9283, 1.2804, 0.6621, -0.3115, -0.6746, -0.6823, 0.999, 0.0147, 1.076, 0.9127, -0.7799, 0.0582, -0.1719, 0.9964]\nstate[eef_state]: left_x=0.2729 left_y=-0.1745 left_z=0.1052 left_yaw=-0.0155 left_pitch=-0.1072 left_roll=0.0279 left_gripper=0.999 right_x=0.2909 right_y=-0.0024 right_z=0.1644 right_yaw=0.0576 right_pitch=-0.3792 right_roll=-0.1625 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -3.959, 9.2513, 1.4188, -0.6471, -0.1001, -0.0122, 0.0205, -3.6444, 9.4427, 1.5116, -0.0317, -0.0757, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa55bcc561dbca9ba455b25fa50b034b4b39c9c7802e094c1ffbd48a10c18fef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9c60b05a8d4e0340140322e024c2453b0c7dc83742259e0583cc21ff31bb09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d465462384d7979221c1596492839cacd1b1e523a7002636c859b6129f728ce8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDasNIDDNAbEtFQVWF4czu_TE7Q34DMooVgWjh6yZItV4BPKrdcuTKE-fYcGx3G5yPx__9mslNgl40aSCGy1e6NOADAzEgiPe745rY_7Zb0A84ISgx0xmTeqh8oT_Nki_GAYqwpba9G67Vsiff5dbgWOkNNz-dxqUoApCULRL2xyYM3pw8U-CNKPjjNNYRKVsjdlxEEhI-G3_Z9KQ7LtY-cfDihibksp04eGphbeLvi2Qp9NywmdJahcSrgs-VIKuzoU_NZM4Os75T3Xilago3iIANWb0iwEt0Z-8u326PgBFtBPopLGFIVIoYa3jh0DfLkxRbpNyE0CiSpv5Lcbqi2Wx9QUEM6kwB0MmcTzQ4VLcXTpggukDM-0jEY3EYku23n-QdQO1p37jMFr8oDyozr6eCblX3StwFeuGln-a8PJqKTdPfBGVP6OW_yj1E17TzQWM3IdhCnTl_UHpIm0s6kDyffArQyAuiIiIo8LEmAxnpnjKBT_d7O4VLMjdciUnDOTWumMDj2xvdt5d-JGSMTsCJjdFFu019lSgv2OB2X4kaGCHbTKBjI7S0hwf7sLvgJw94vWjlrs91KvySXmu3-PEqW_Z3LYd6QF8DcBn8ILWpTTEEKWybyMowPHGnQRjVxjWUQp7j0l5oFB1-3mAVfUag2lkd61mNc-mlYwvmYYRmm0xSTqVDH_yW2fz2EOrYCBTmzqeDTCUS09ekvF1Nvgfi4NKEFsnlG7mWlnUdSUR4O3UFMRGJoyr__k1I2tJWL57M1_IeZ1_2lvQT2ygjikFISSuv84SfB3smITSgWa-B_UN1bAanWorB9iNeyA5gdnf8OevYXgQUwHOrlQ5cxyYa9EiWyKyTur3R4T8_PSvAUSnsWsVxqoSDavo7m7BL1EeLKfq7OzN7Bpy_oEteLOAPSURfD4yI6ovZCa2pUeWGqemHyjMvehyNMTrxcqOTcx-aCqzcH1xFqPKcg0yqpymbnSgZhu8LAjTX37XfhG0Y7c55TA_D7S3O6evYiWiLEIdXk0ooYWYeJ-_U5dpKYxy1jLfTmADLVuqpYhOiA6OFlamJe6RvIP3t5M6wbRckG13HLdicQk6dak0FI3C59VLkXyp24CJmv2EOywA95rnsJc81kH68hMi8erB6DD-3jVuskXS43KA7ysgC2v0M8n66DPPKi2Mg6bfqIy1qmhRplzgcOy6b8He22AjTSvFsOBG8CT7ABKNddBgWao6Kie2zKdA8wDjpwSNN5pPIeXAla0Jrml0uF2rwtzSktauKVSPtLUZAVOUh33YHTJqukan_KQLl4UWf7McOAPzr25_5N_QuQI_LdWgv05dug5CZH1SQuz0q6t2vqXKjvVTR9kty9dmCubB3rrF7vZOAL_JTEQpoZMrm7zdnEZ4oHgoCWQAYD8DUdgCZTFZoXxLCRdO6TqkulIh085LjMqR6ZsvSGG99W2LweN69HrQUQ4sm5fa7O2O0VQUYEjDdnDo0GVR0zC7G8aZ_3UhC8c94PFP3tPAluMnbCH_n1sLbO0UTmbyHuBrYn8G2fBzOu6f77kvm0XROiMAt5rGRXFX_yhnLe8zP8znpXmUYpwa9y-rL68Xyibg17MDpwChSDdg_H4EOZrElPo60BGfuw0Q3DFpwWNyyMTpUsjAnRdDZKsEOg9Xha0Nu9X6p2eGGyjukN5WpG9m_0lkVqk_lCh-OVa-ilj2QdFFYEMRnyyMWCJIJWcO5kk5KY-pU6AvPeHj21rnnWUvS7mHD7CGSpQLJORrgrN6rWUgkUSp8qBt_08-4hPfFU1NEjangGaZBdZopu17w==",
  "id": "rs_0b04a746a2a82d0d016ab436aa6a6887d09bfabad28542b062",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.155,\"left_z\":0.045},\"note\":\"The dark fruit is visible left of the left gripper’s jaw column and still a little short of the fingertips. I’m centring over it, advancing slightly, and lowering to grasp height.\"}",
  "call_id": "call_bWvJyx0sxLRPCyrMahXWEN3B",
  "id": "fc_0b04a746a2a82d0d016ab436ab8d6c87d0b91b90b2833172c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bWvJyx0sxLRPCyrMahXWEN3B",
  "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]: [-0.7643, 1.4734, 0.5018, 0.0956, -0.5823, -0.5426, 0.999, 0.0113, 1.0771, 0.9169, -0.7872, 0.0513, -0.1841, 0.9964]\nstate[eef_state]: left_x=0.3017 left_y=-0.1497 left_z=0.0392 left_yaw=0.0051 left_pitch=-0.1279 left_roll=0.0476 left_gripper=0.999 right_x=0.2903 right_y=-0.0022 right_z=0.1646 right_yaw=0.0675 right_pitch=-0.3842 right_roll=-0.1639 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -5.8872, 5.3128, 1.6923, -0.1538, 0.1197, -0.0122, 0.1983, -3.0701, 6.3385, 1.3993, 0.0806, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd2cf7b8de59868488856a1aa7ff0f90cb450a8fb97f26b83af8af0c83c38b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b85380954ff017da7210d41f96a6ea12b6f05c0178ecf6cc69b620c18a8cf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd66861ca4ccdfea8f89dcc75ac4ece2e260807e1adc0750177769103dad8d16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 3.557 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]: [-0.02, 0.8135, 0.6132, -0.432, -0.0139, -0.0338, 0.999, 0.6022, 1.7458, 1.0737, -0.3286, 0.3878, 0.3058, 0.7181]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1683 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.999 right_x=0.3828 right_y=0.1864 right_z=0.0698 right_yaw=0.0796 right_pitch=-0.3305 right_roll=-0.1533 right_gripper=0.7181\nstate[joint_eff]: [-0.0752, -1.265, 7.2547, 1.7021, -0.0611, -0.0366, -0.0122, 0.0752, -9.1692, 6.3521, 1.5751, 0.3053, 0.0855, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9283, 1.2804, 0.6621, -0.3115, -0.6746, -0.6823, 0.999, 0.0147, 1.076, 0.9127, -0.7799, 0.0582, -0.1719, 0.9964]\nstate[eef_state]: left_x=0.2729 left_y=-0.1745 left_z=0.1052 left_yaw=-0.0155 left_pitch=-0.1072 left_roll=0.0279 left_gripper=0.999 right_x=0.2909 right_y=-0.0024 right_z=0.1644 right_yaw=0.0576 right_pitch=-0.3792 right_roll=-0.1625 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -3.959, 9.2513, 1.4188, -0.6471, -0.1001, -0.0122, 0.0205, -3.6444, 9.4427, 1.5116, -0.0317, -0.0757, 0.0611]",
      "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]: [-0.7643, 1.4734, 0.5018, 0.0956, -0.5823, -0.5426, 0.999, 0.0113, 1.0771, 0.9169, -0.7872, 0.0513, -0.1841, 0.9964]\nstate[eef_state]: left_x=0.3017 left_y=-0.1497 left_z=0.0392 left_yaw=0.0051 left_pitch=-0.1279 left_roll=0.0476 left_gripper=0.999 right_x=0.2903 right_y=-0.0022 right_z=0.1646 right_yaw=0.0675 right_pitch=-0.3842 right_roll=-0.1639 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -5.8872, 5.3128, 1.6923, -0.1538, 0.1197, -0.0122, 0.1983, -3.0701, 6.3385, 1.3993, 0.0806, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd2cf7b8de59868488856a1aa7ff0f90cb450a8fb97f26b83af8af0c83c38b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b85380954ff017da7210d41f96a6ea12b6f05c0178ecf6cc69b620c18a8cf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd66861ca4ccdfea8f89dcc75ac4ece2e260807e1adc0750177769103dad8d16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDavmwJgPsNQIIjc_b935hBUgUkTQi7b9GM7utZ2TrUThbNizKfZ3bxG7C-j1ZOZrN_p2tY5wOnLg6yt6Gc4O7Y6NDVsc9pkduaA0NDpsxBJRvyV_RYDqmnpdjw_FnucQHbUmGSr3mJFC79SYze5M9qeQiDPHicS7BuSxe5OQ175kGdL3rkC9LEnvc2pc9iEGULwrCREFQK_500JH5DagZ_vbtgKK6GG97Je28Fi91NR_zFW_FkZhgWKdmm4VHKmuRfgu5RKPf2qOjOhk4TYq1T75Py_PFJM0Xo5R-oAvaLOFFGUQdvomc_MqKsvdK1V3cntGFMjI2S7wkvxEAkbzK0yB2RH_qtqZWgPvdZm_4kTGRQWm4dIq2FscQSFXCBJ-mwYMULmWysv1L4_fyW_WK4chxDi_E7oLGSOKfsvcu-nzDsVkNCSp7N-HnLVIWr4dxpu0EkCzvCa82trowB_5Dvqq45KEehQD8W1Qf5X2oyahepZCGPf53YkokfTadb2DrGLf-kLY-mk8COYeR3Vv8fR2D1H2p3OkjeOmXoPGUgEIfkA8_VZL3jjqz3pQq5hpGvWkePLBMiCHIoL0wNRwZ7vpkgLTxj_jkratKqp9_vupIOr18swf4lwI1vqdLdF9LcJV12pfNACcZlzHFncURB3CK4VpzjOVw8mjrXL2W_vH9CzxjZfCz7fOnR53Wk8qt_o3vv03YOsm5mI3m02n0nP9ILtuMg0a_cIO4oE7tTIhdpunkyvnsAGVC4EH5cMi1JntsCR1uY17tkct05-5EUdg67TPBs4M4VYGhBDXI9JeNvcRsYAoAak44C6YIL_fZqpMXBIQWS8bPswPtz9PeqLr4IMeaCZc6dRg4BlJ2CJF4dZ60b5zGNTwZJdJ2cb6w1PZsEsOoPL5UvhiStGYA6Xo_LLAqHY01IJchEaSKWl5ZHKshNiBEMcARk-RvTGH1yoUX4PbJ8_ar4056132BI7oZg2HPrSnbmPn5QmGIZqnqCtnOdLN6EDaiuF08cgVQf9BnOfzThQ040FYeC5rmFo3Q8WLPJWJxOD-6kWQtNAYvPPPx43Z4IG4yjw7JfSGeRrENeaa4pV2FfocXvcqiMu4u65VifM3dBX7ItJbDrOq2LS84K9d-u90B-yt1jK79SDKrF-QrPPoQdvpoHgTy1SVKILne9GB5EhC1-NAjcPd8Uwt1y0fkDfhVlq_rJNDh6IXpiJoKcyzbRb3pOvsSAbq7xNz4ZlTvNF1Vw9UXiIQvM=",
  "id": "rs_0b04a746a2a82d0d016ab436aef40887d09c468ae2b61e36bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit is centred between the left jaws at grasp height. I’m closing around it, then I’ll lift to confirm the hold.\"}",
  "call_id": "call_llD95S96MjGsalH6EAGVBoHG",
  "id": "fc_0b04a746a2a82d0d016ab436af4d8087d0bbcf7d3272bc2925",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_llD95S96MjGsalH6EAGVBoHG",
  "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]: [-0.7643, 1.4738, 0.5018, 0.0917, -0.5827, -0.5468, 0.0091, 0.0109, 1.0771, 0.9169, -0.7879, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3013 left_y=-0.1492 left_z=0.0386 left_yaw=0.008 left_pitch=-0.1307 left_roll=0.0476 left_gripper=0.0091 right_x=0.2901 right_y=-0.0021 right_z=0.1645 right_yaw=0.0684 right_pitch=-0.3849 right_roll=-0.1631 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -5.0803, 5.3675, 1.3748, -0.2418, 0.0464, 0.6862, -0.0342, -2.988, 6.6393, 1.3455, 0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:116aa4adab0d4f1fba5d99d32881560b3eb75192565cadba1b1e6813def6605f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b43934af635ccc8460f8066a6dbaf8338351926d090b83328b43c930598067d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d05fc21cd5cd37d410bdfde78f7b9d8b0a1c1f912ea7eb32220d83da8392cd85",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.088 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]: [-0.02, 0.8135, 0.6132, -0.432, -0.0139, -0.0338, 0.999, 0.6022, 1.7458, 1.0737, -0.3347, 0.3874, 0.3023, 0.9957]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1683 left_yaw=0.002 left_pitch=-0.0629 left_roll=-0.0024 left_gripper=0.999 right_x=0.3818 right_y=0.1858 right_z=0.069 right_yaw=0.0808 right_pitch=-0.3362 right_roll=-0.1585 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -0.9368, 7.1726, 1.6532, -0.0611, -0.0317, -0.0122, -0.0342, -8.4991, 6.1607, 1.2332, 0.1587, -0.022, -0.1685]",
      "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]: [-0.7643, 1.4734, 0.5018, 0.0956, -0.5823, -0.5426, 0.999, 0.0113, 1.0771, 0.9169, -0.7872, 0.0513, -0.1841, 0.9964]\nstate[eef_state]: left_x=0.3017 left_y=-0.1497 left_z=0.0392 left_yaw=0.0051 left_pitch=-0.1279 left_roll=0.0476 left_gripper=0.999 right_x=0.2903 right_y=-0.0022 right_z=0.1646 right_yaw=0.0675 right_pitch=-0.3842 right_roll=-0.1639 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -5.8872, 5.3128, 1.6923, -0.1538, 0.1197, -0.0122, 0.1983, -3.0701, 6.3385, 1.3993, 0.0806, 0.0806, -0.0073]",
      "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]: [-0.7643, 1.4738, 0.5018, 0.0917, -0.5827, -0.5468, 0.0091, 0.0109, 1.0771, 0.9169, -0.7879, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3013 left_y=-0.1492 left_z=0.0386 left_yaw=0.008 left_pitch=-0.1307 left_roll=0.0476 left_gripper=0.0091 right_x=0.2901 right_y=-0.0021 right_z=0.1645 right_yaw=0.0684 right_pitch=-0.3849 right_roll=-0.1631 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -5.0803, 5.3675, 1.3748, -0.2418, 0.0464, 0.6862, -0.0342, -2.988, 6.6393, 1.3455, 0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:116aa4adab0d4f1fba5d99d32881560b3eb75192565cadba1b1e6813def6605f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b43934af635ccc8460f8066a6dbaf8338351926d090b83328b43c930598067d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d05fc21cd5cd37d410bdfde78f7b9d8b0a1c1f912ea7eb32220d83da8392cd85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDa006qx6BzgmM1ZWnGjJ_FYnbMZB5eEJzvnG4yCA-CMvfNMw5A-atHlBe_MXCnc4f8ds-Jk4Qu9EE3m2Ku75-lssMUbxXJwSxUffdCnBMicBJ00qhKh9Leo9jaTC69j9Va_nd3kAQ3n1Eoq08m6LLOLMXf6jQM-eDMQWi9twpoRlU-sA0YA7KkZqtIGShIbCvCPlbknsoSWN_5DlRkdK6tS4PmJjo-DGFDpevg1R3310qWbGyB8gFQ5EEpqX0ojMhhvNuODCGQiDJjcuVHsL6ssuBZvO1C8ry4jYH23tYUi5GOfwuKASGlkqEAbNA5gXR-ZTF6tqFLknGf65D6sfhgcj33QND4ODqfmCLpkAdJU5FWXtuu-ro58c62LcAed8wxRKY0TGXprgit6JvL8i7aVXDeNM_aG02IUusizMtqYdJ_JoiXzIuYkP-VGfEvBOUfaNTEJdgw9SLIBGhVQpmIAbBUAHfg0eBPXzxAqfVI4GvLTL6l9IkmvGJzfI5nspDgBO9Qs0nLQjnjUc76NozNqnaE7tqFExxw7tWQBg0mk4BlBnlpoPpO8-z7fpvtt7yWjfpmqqQ4VeZfg827traMOpV_Bev_S3TkltgM8MmoaKEW6FJUlH4HakVl4eEf3gmwF-eFVTygkBO40CwQ-9kkgAnvcNYxWvlCJZfa1tPquzl8rH2VxDDjM3x23UcGbFJAQNR3zq7XtkdILeyFtKpJfsTA5z8HKH58w_xfXyzrxJimtMAohuDrgEmMMEl362FYjpmttP5ZgqqFqPUQw0t_Fx90rS3ViKcPVWehYGm7kwuENpn30lTO_9L4GTZTGzTpOLrqMgKRkAKIqFWWNrtHU5FUn--iZAzs0KGcF1xAXmuxGrWndIEYxDc_rRBcAO0ijDykHw4cf50PHKptET_nIC0z4bZrXUuoZMp1PLoAVrrw_VZXgrsWz-IdD1X76cdoMV0g4r8AaBsHHIq03gwuSxgFEOz0ytoOm9b9LOji5uYWucrzQllfokeGzuENgb9QYBQnHkmsrNAPYoUFrQJOwiPbwMN9UC_LidfTTED-rGUc7eMiKQB_Q-KBYvwvnR8s-TO4HEV_fVEDjw_USKzqCoWEqLqv1HX0kR56f523-VnWLG3Tl0_jxvI3Oq_tMM5_bNdkleNKNyvcCakKVwKpm5bDZq6w9RC6uY52Qe35bSQzIusnjIurSonDO-58bDAKsP7cBePf_MNzZMqM_ROpwAgE3zzS5nD46UN0Sgbapjv78KyALQ6Ou0_Dxvt0qVpDs5Ts-08CFoEwAXtJogUMib8BAMhnSS3SqisZi4ShkHbi8X2OwNnEHiQ5tDL4Vz-t02zetN8o1vpXcV8jUjdMAaON-OusVyA23ABC-d3b2rES0L6xTCC6ubJXOOTN1ylPygtjGpqN58OqSuR_eMeD6z2C_4V4xQF7H2VJPTuyM95JRM8ID3HhqGznM21KpgxfwjciBz0TXv7DoPmPLu8mdZvUnHikh7dmU0vA3e-ad8YfLrbIE6GJXr8yfQmOcgO_XF9Zwz_c5iha4IsRElt3fweFmd2hXwS-KVo6Tu85DAUlIppjs5VvNX5iPoMGbfXe-H66mRH-kCPgxek9qlThCDP-Y9Jv59Cm_NziZudJoxbuAvg1QFUbN51jZBjNwVakweEUIn4JKs0eihjt8MhXirnU7id82xO4RFwqEFPHkfA-OQqE-2WyD-vq6Wf8fDV28gqC0yHAZ6RI4_gycFNI7r7r61dt5e6DnP8qf_4QzIkaq5EDlM5WEmrN5oMM8xd8_6IEnR8_IFOqkIRGlhnctvwUQvw1pcFBiABukcTbIeKSGftltwLY_50jXVU1F0VVdZ_hgJjY8XVWRpnkfG-UyXBwD8nP0IJgfU97xdPIyyEJkFiQMa1ZAoZGfXOmiCrBGj949vAwf9_VbyBxmkq3-khA5W2ym26zqThHjGC_7-wVjVlcqh4sIidbbyDlE6LPcvX6JhEWwZmZ6ZVTDyJ9ZnKI3FDmtQ55E-2KjQbtii3Q=",
  "id": "rs_0b04a746a2a82d0d016ab436b1c01087d0955661867a688d44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.345,\"left_z\":0.025},\"note\":\"The left gripper closed almost completely, so it missed the dark fruit; the wrist image shows the fruit still just beyond the fingertip tips. I’m reopening and advancing about four centimetres at low height for one corrected grasp.\"}",
  "call_id": "call_zpB0nGNFLRWP01mYSAQ4oFm8",
  "id": "fc_0b04a746a2a82d0d016ab436b36c3487d0ae8810bdc2cb887b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zpB0nGNFLRWP01mYSAQ4oFm8",
  "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]: [-0.6498, 1.6485, 0.5663, 0.207, -0.5148, -0.4675, 0.9977, 0.0109, 1.0771, 0.9169, -0.7879, 0.0509, -0.1844, 0.9965]\nstate[eef_state]: left_x=0.335 left_y=-0.1408 left_z=0.0153 left_yaw=0.0296 left_pitch=-0.1638 left_roll=0.0652 left_gripper=0.9977 right_x=0.2901 right_y=-0.0023 right_z=0.1645 right_yaw=0.0677 right_pitch=-0.3849 right_roll=-0.1637 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -5.6137, 7.2, 1.6972, -0.1929, 0.1685, -0.2466, -0.0752, -2.7282, 6.7624, 1.3309, 0.0122, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1306ec06b90c4e5cd12ce0e937fa82b64f8fe229edf6087d0660eec86b0ca24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c2adea9d6beb37e96bb07729fa387b7d677e16f74bab8dbf0d85cbc9f33559",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e91a9b3c141688660d1c97f35feeb5ab5eba783bb9553b3e9e47cd891bca884",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 2.247 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]: [-0.9283, 1.2804, 0.6621, -0.3115, -0.6746, -0.6823, 0.999, 0.0147, 1.076, 0.9127, -0.7799, 0.0582, -0.1719, 0.9964]\nstate[eef_state]: left_x=0.2729 left_y=-0.1745 left_z=0.1052 left_yaw=-0.0155 left_pitch=-0.1072 left_roll=0.0279 left_gripper=0.999 right_x=0.2909 right_y=-0.0024 right_z=0.1644 right_yaw=0.0576 right_pitch=-0.3792 right_roll=-0.1625 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -3.959, 9.2513, 1.4188, -0.6471, -0.1001, -0.0122, 0.0205, -3.6444, 9.4427, 1.5116, -0.0317, -0.0757, 0.0611]",
      "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]: [-0.7643, 1.4738, 0.5018, 0.0917, -0.5827, -0.5468, 0.0091, 0.0109, 1.0771, 0.9169, -0.7879, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3013 left_y=-0.1492 left_z=0.0386 left_yaw=0.008 left_pitch=-0.1307 left_roll=0.0476 left_gripper=0.0091 right_x=0.2901 right_y=-0.0021 right_z=0.1645 right_yaw=0.0684 right_pitch=-0.3849 right_roll=-0.1631 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -5.0803, 5.3675, 1.3748, -0.2418, 0.0464, 0.6862, -0.0342, -2.988, 6.6393, 1.3455, 0.0317, -0.0171, -0.0122]",
      "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]: [-0.6498, 1.6485, 0.5663, 0.207, -0.5148, -0.4675, 0.9977, 0.0109, 1.0771, 0.9169, -0.7879, 0.0509, -0.1844, 0.9965]\nstate[eef_state]: left_x=0.335 left_y=-0.1408 left_z=0.0153 left_yaw=0.0296 left_pitch=-0.1638 left_roll=0.0652 left_gripper=0.9977 right_x=0.2901 right_y=-0.0023 right_z=0.1645 right_yaw=0.0677 right_pitch=-0.3849 right_roll=-0.1637 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -5.6137, 7.2, 1.6972, -0.1929, 0.1685, -0.2466, -0.0752, -2.7282, 6.7624, 1.3309, 0.0122, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1306ec06b90c4e5cd12ce0e937fa82b64f8fe229edf6087d0660eec86b0ca24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c2adea9d6beb37e96bb07729fa387b7d677e16f74bab8dbf0d85cbc9f33559",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e91a9b3c141688660d1c97f35feeb5ab5eba783bb9553b3e9e47cd891bca884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDa4De1TblbpZqYd0u_XwxQmaE56xErj-jTwM8KdUtQP7InFGg0OI4cVuLSSDsujAX-y3QSQE9kARhCDeEtcMLxx1KmxYfrh6clwnXzRZ6Hut5EhAmRJDcjSyQC-1_iuE7Bo8k4xvZ8vJ2cePJUeb6jQqhHSjCx8kttR219FIQGvh2Rcq-c4VYUNiA5dOPeu5G3RZ3Kp9pHfXrtDAFANSfN7woiICporwncKOfLQqi0sS8TJnKThn8PQXQRr4Ee71mIV_g-9nZJtSarSLnsGpuDhPaokD9Hfis-i3kBD_QWLZD3VGjjfte3_zPp15xs3TnBwPPnGHLHFgYPN0FDl3mIgT-HpDKrWlell5nGAN2cEjF_QRt9gOmSss0KQCqUa0k02sh4vFb0l2V-UtVa5Y6mdVcyBHd2CanIPhQ63AHOspY22P7s-XmlDg9Y1qiliAIeqAbmAssTxAOPHI8lLiOksZcfHQgTwLGT2DsDcnUZuywAEbH-l0zZ2aalkk-yhHzrao8tiCPd3CRtghvrTxt4mysW_QDeay3wcDPp7OBOsGbftr7dBKn8FQoaksb2JOALlSHLSA6y_mTcDzn53oviCBLm2PY3FOV2R2OWEmVu959t8R1s4bPjCH1aD5YgtPhz00oWcEjk_z1qXCxCsiENgDq5eW07neo0uAXemhZ-6VsiWfDhk14dbVPSyyBPOqND6KyHpuRRp9RfcmSlI4Rc1zqwS7FrcSMRkR2iajPPhNg-gnRtC0fUwbZyPtmsLcZxkkexeMS7mSBn5m-0YJVMoxX-ZqSld71RrEPCKMTa6dud8B9J_PMC8E-8VScAnFDjQhFoiH1DnEC3AiQWR46NVgmtsG3FlmXTm2zjXXBJcyr8Zk3xJrsiAs_khzpRzw4bNhPF_yG45q0j2wfpg2i0M_fTBvjQEYoN4O7-aOi40_hTJmskLNKj1aKYwsjHifk5XrVYUWq1rMVmxpfnKr8cIxau5oo95z-8t_TFJygEoxty2ey9IroAztrS5Ysk3VKndU-DQ0ZolqVMzALRzhvcMDsZFYGZ5pmmrHED3hd8rCYPyXC5CV_UBavjlvaVvPHhJlHfd0Xc-OrvBtamnAK1okBj1CHccv9tkmj0-fP5se0c8EvanBifBbASp49KerKrktM38DUAVqfTtRKUMCUa0c-tsJoSnvaNCoRYAvZy3wP148Oyv715Ra-hvCZ9Y0djU5lMtThWadVGcmSwNaNuylwVad85Ch1fwWPMOym7eM95Nbt8p6hQsZ1GhF8608jOv",
  "id": "rs_0b04a746a2a82d0d016ab436b7de5487d0add1fbe65b28d4e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit now sits deep between the jaws in the wrist view, unlike the first attempt. I’m closing for the corrected grasp.\"}",
  "call_id": "call_ZwafFAIUiRphRYa8IUJ9sXqH",
  "id": "fc_0b04a746a2a82d0d016ab436b8153887d0b78ebc8ce87e6b42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZwafFAIUiRphRYa8IUJ9sXqH",
  "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]: [-0.6502, 1.6493, 0.5667, 0.2062, -0.5152, -0.4717, 0.5381, 0.0109, 1.0771, 0.9169, -0.7879, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3349 left_y=-0.1409 left_z=0.0151 left_yaw=0.0319 left_pitch=-0.1644 left_roll=0.063 left_gripper=0.5381 right_x=0.2901 right_y=-0.0022 right_z=0.1645 right_yaw=0.0681 right_pitch=-0.3849 right_roll=-0.1634 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -6.4615, 5.1624, 1.3407, -0.2906, -0.0317, 1.0281, -0.0479, -2.988, 6.7761, 1.326, 0.0024, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323a25b87cfbbb24ff0c5418803b1540eaf43f162848a72a4cf6a7ad49b10204",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a40b4d68912054058a4c38e3732007a591e5886e7d1b7c8205e6b021f8386b61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63e11000eebe0850934809481c47b2ea260a15edd2fd26831b0ed104ebdcac6",
      "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 · 2.712 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]: [-0.7643, 1.4734, 0.5018, 0.0956, -0.5823, -0.5426, 0.999, 0.0113, 1.0771, 0.9169, -0.7872, 0.0513, -0.1841, 0.9964]\nstate[eef_state]: left_x=0.3017 left_y=-0.1497 left_z=0.0392 left_yaw=0.0051 left_pitch=-0.1279 left_roll=0.0476 left_gripper=0.999 right_x=0.2903 right_y=-0.0022 right_z=0.1646 right_yaw=0.0675 right_pitch=-0.3842 right_roll=-0.1639 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -5.8872, 5.3128, 1.6923, -0.1538, 0.1197, -0.0122, 0.1983, -3.0701, 6.3385, 1.3993, 0.0806, 0.0806, -0.0073]",
      "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]: [-0.6498, 1.6485, 0.5663, 0.207, -0.5148, -0.4675, 0.9977, 0.0109, 1.0771, 0.9169, -0.7879, 0.0509, -0.1844, 0.9965]\nstate[eef_state]: left_x=0.335 left_y=-0.1408 left_z=0.0153 left_yaw=0.0296 left_pitch=-0.1638 left_roll=0.0652 left_gripper=0.9977 right_x=0.2901 right_y=-0.0023 right_z=0.1645 right_yaw=0.0677 right_pitch=-0.3849 right_roll=-0.1637 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -5.6137, 7.2, 1.6972, -0.1929, 0.1685, -0.2466, -0.0752, -2.7282, 6.7624, 1.3309, 0.0122, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6502, 1.6493, 0.5667, 0.2062, -0.5152, -0.4717, 0.5381, 0.0109, 1.0771, 0.9169, -0.7879, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3349 left_y=-0.1409 left_z=0.0151 left_yaw=0.0319 left_pitch=-0.1644 left_roll=0.063 left_gripper=0.5381 right_x=0.2901 right_y=-0.0022 right_z=0.1645 right_yaw=0.0681 right_pitch=-0.3849 right_roll=-0.1634 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -6.4615, 5.1624, 1.3407, -0.2906, -0.0317, 1.0281, -0.0479, -2.988, 6.7761, 1.326, 0.0024, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323a25b87cfbbb24ff0c5418803b1540eaf43f162848a72a4cf6a7ad49b10204",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a40b4d68912054058a4c38e3732007a591e5886e7d1b7c8205e6b021f8386b61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63e11000eebe0850934809481c47b2ea260a15edd2fd26831b0ed104ebdcac6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDa7XTK7eFZ8LOI-ISk_oUXnJ_fthVhK8YX71eLzZarxFqrneth4WufnReJfXStoVqTHfWEHqT_VDqEmSB0UwFpEyZs380CgFNIo-VeG5bzTQRWupv9m8CnhMx7l96pDfCWGvVTF_V8uqxuOgsgrB2gbPE7HfGSDX1uAuZZ6865TtF_IDTMfyLHbrdErTU5UaFdzQjCkEFvQLtHkZbzSXtVEzbWaNxDsFAPQHCkkaHdUBF0W6hMbk1q3ocGMcVbGZ40bpefZCReCCKSSzDuz2VVPHofqlXqL6YrjzM8OQH_cJMvZ2FiyUolRU892VPBNxU9cSJ7j1-z0H-Rjz4hbIOborvO6U4Z0TtsvA9d3-eD2uhUQAS-IUdDb6pykS9HBLoF22fvCWLxJKDDjL_TRdn-m6NJbd4pXUjLXY2h5zt9OuoU_T8B9Fsxw4znx_FsX1tII_I7gIvH6Zz6vYq47OHpbD-v6sP-ZBDgFOskQXco_F6q5ZRRnDRi8KOupcLjwNI-75QC22x1PBuircdS1P9QE4TWG2U_nQQDY3Ck6GXb8SvuCJdaN2NlYSWRpp1RBq01_Fm5qgfpzepf1BHCUvzNRTV2MRgKJkthbQdrw9YXMY-Q8YzFJC3xQ2RW_sslzBdtOpLopdGMkp94z0lGEKLOfiPm4eMzKVR5sYRB43JOKHIH0TPVDtDivDQBFe3m0umrvZWvhdNNI4Awh1vylwbk8ra3Zk2FneMds3EinmIJAuVixELEL1sS-g8IQWa0UogPF3dJXpU4j5w4CA4_lX9SLRDgPI6owBxnkuVfARN1dLs8WPpX7GM0Luvz-xrg244zmIH_gxdvb2fE6cIygN1JppzSZyNLqWVqo0EHAMNxbDbS8Lrn97VXFkqvWDWjfXmHOeKOA6qSDbP2PVNC1x2tPOJiZgzhU0PXc7TIiWIHy3qlSrW7yZJewK_GCkcC08mdrf6G25lshDN8ih-lAyp_fzrqaaVFpynNA27CWgcHo0ZzbpQslzXWbOGm1xBFl3oGXhJZJBQO7Tr-hZYXhFCSn8S7bPjeXqvm-AIVvn8Fr2xbWYrtXNR__oRjCVzqhw9ERXdnfLr5hysggHXPm0DtqDjv9fegLgoK3QKoMkYSbY0J7bs7EIDWP20gp-Vi8EZN1MkrgvRCv2aaL1YyESnh0c_j5McIBlxcQRzjJ3Ldojz6d8Bs3AXbEFYNusQZc3FY-faACQ8VPuloSyzi-NWlNww==",
  "id": "rs_0b04a746a2a82d0d016ab436bb44d887d0bd56d88de3088fc4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The left jaws settled around a roughly five-centimetre fruit rather than closing empty. I’m lifting it to confirm it moves with the gripper.\"}",
  "call_id": "call_484BENQtW0MGK84WyJD04ueO",
  "id": "fc_0b04a746a2a82d0d016ab436bb6b3887d0b93c07772ac5839f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_484BENQtW0MGK84WyJD04ueO",
  "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]: [-0.6502, 1.4197, 0.7433, -0.2207, -0.5148, -0.4789, 0.5399, 0.0109, 1.0771, 0.9169, -0.7906, 0.0509, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3323 left_y=-0.1389 left_z=0.0916 left_yaw=0.0378 left_pitch=-0.1803 left_roll=0.0706 left_gripper=0.5399 right_x=0.2896 right_y=-0.0023 right_z=0.1641 right_yaw=0.0678 right_pitch=-0.3876 right_roll=-0.1636 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -6.5709, 8.4991, 1.3358, -0.2955, 0.0366, 0.989, -0.1162, -2.6462, 6.8581, 1.3651, 0.0269, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7bd07d33a5bebaf7f694a1a7a9f92d2f9d5f8c5521801ef40d2d8fcf545811",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d86bb0bd232b4c31618373ceac7a554e8a1dd7d33791aa755b078c23e8643b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88ebd6ea45998e733d65f3fc1b280248e6cf385609022f473c8d6d8c3495bb2",
      "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 · 5.789 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]: [-0.7643, 1.4738, 0.5018, 0.0917, -0.5827, -0.5468, 0.0091, 0.0109, 1.0771, 0.9169, -0.7879, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3013 left_y=-0.1492 left_z=0.0386 left_yaw=0.008 left_pitch=-0.1307 left_roll=0.0476 left_gripper=0.0091 right_x=0.2901 right_y=-0.0021 right_z=0.1645 right_yaw=0.0684 right_pitch=-0.3849 right_roll=-0.1631 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -5.0803, 5.3675, 1.3748, -0.2418, 0.0464, 0.6862, -0.0342, -2.988, 6.6393, 1.3455, 0.0317, -0.0171, -0.0122]",
      "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]: [-0.6502, 1.6493, 0.5667, 0.2062, -0.5152, -0.4717, 0.5381, 0.0109, 1.0771, 0.9169, -0.7879, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3349 left_y=-0.1409 left_z=0.0151 left_yaw=0.0319 left_pitch=-0.1644 left_roll=0.063 left_gripper=0.5381 right_x=0.2901 right_y=-0.0022 right_z=0.1645 right_yaw=0.0681 right_pitch=-0.3849 right_roll=-0.1634 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -6.4615, 5.1624, 1.3407, -0.2906, -0.0317, 1.0281, -0.0479, -2.988, 6.7761, 1.326, 0.0024, -0.0464, -0.0171]\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 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]: [-0.6502, 1.4197, 0.7433, -0.2207, -0.5148, -0.4789, 0.5399, 0.0109, 1.0771, 0.9169, -0.7906, 0.0509, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3323 left_y=-0.1389 left_z=0.0916 left_yaw=0.0378 left_pitch=-0.1803 left_roll=0.0706 left_gripper=0.5399 right_x=0.2896 right_y=-0.0023 right_z=0.1641 right_yaw=0.0678 right_pitch=-0.3876 right_roll=-0.1636 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -6.5709, 8.4991, 1.3358, -0.2955, 0.0366, 0.989, -0.1162, -2.6462, 6.8581, 1.3651, 0.0269, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7bd07d33a5bebaf7f694a1a7a9f92d2f9d5f8c5521801ef40d2d8fcf545811",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d86bb0bd232b4c31618373ceac7a554e8a1dd7d33791aa755b078c23e8643b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88ebd6ea45998e733d65f3fc1b280248e6cf385609022f473c8d6d8c3495bb2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDa_qxcckvr-85_AfMM-0vZN18yqsP79tl2tHkQO0ZvgQl-oqSoBkOT517aFMoKVU4k8q7uAAskPEFm1lh0xuQLNR_znV1BJ2NdqELuufDBIv0mi5lShDyl_pxznmyoVCwK_4QRcP5z4ED4ST5CClU4oMWABqPYLNn1uiegScLmwc85XGT_jY2g_RgPYsQxhN9uqX_B3NxVStz9kKsPbF76Pn1s-c1HpBUucM86QMu1K-qNi61sSyA_BF5n7chAoLuU-UZ_KYGdUztoMYAkkbyNczraQhCGqdKqs7Cv_y_z9iOQvLNtTQZz7eS0VmwAfeyLJ5mv-CuVj4KmnD2d5KMwD8a7hjZhm7VaQ41TZbTHQrpNl56LZcUw0qGWLmMffSODTBhahhxWUR9x3R8oVFt9IKctgU-uWxIepjMIktoHefkgWs6lqEsy-hXmHSzcUX9IAB96JS1X-sNrEZBXpyJA6CRJLjRZs1JFaxLpLjRBxNshLTEYMmszkIcLg03UdTut_J2LUuHE_EByeSZCnP8TtaGDNUZhTVpmj5MpZVg4Qk2tB_adLW4LhojSu5_RwiHeM27X_l9TCzdFUwdJMhVYS0ibDQMlQdqBIwVhciAn9Qzi8rRPbqMs5gOXe2dwYoO59D0RRut-cNyms5P53SvU43AI6Wpe6ihyPBkZmk-dWp5t47YjjHXjE10D7_rJKrZBVmZfYJtxEzmdN48YFtHy31yTUm1P5BQfkpAvwdnZMTB2-lN5dHqkA8h6hk3rK2t8ONyQSWh9ONHuT6hKc9geB7JrcTrPqZQyU7dLLPow3DOA83tObOUUBXIiAiisC0jrcsEaTzjVhVXuhAqYVxD6-cgf_RbLyQl-TdCGyUvOBY-918WgzlDwwmjv7ypkE2x_7wjanzGMZAHzhLnqcSNRI1wPuZ_w1G_Fjjmpm9eWi-QBeaAQAcKcls95EPr-NZzk-4Px3AgA83QV1oL8IREvIi06Qg0C_w07rS4mELnUXKFSoDKFBsaOXO0ge9sF8zinTH7-xe8hUyhZUAGQublwQ1bpEoHAxHl6Dq7IiXxixNQIZPx_9KJ3p9uPodzK5FOFSmuZX5JzFWmbIeosinRYGuMrHNwCgkJpH1uQTz-dK1ECx7m9hoYio2oQ5XiOSK5m0ch8EV6iU-J_X7aFsvXNz87x6fChiyZI7RGhrB3Dam85Gm2jEBK0znSWJgwt6Tk7JafcgvXKvIyKmDvAkNaX51Z1njAUDHFkBs9USVtURwOmA3cGKmdOtchd4Rhov02RlTys8VMA929TVJso_Q8WnP1YGiR1T3la1pe_tzthqFTilQYDP-0CfLsNg_bg9IGBayIOtkUKYqVBj5haR5mm5i3nV8Csw-IViR6d3wLfDQTgMJcn3W75nu0rPhc2aJEiX82Uz8n1_sFsK7U7l-L07bHiTc9Kjjk0tUl5ddA4iD0nars41i3_xOD3mdbT6pSIGmQMhtX72g6m_nwxiowo6aPRzTkTEavU5Gidpo277DX1wqCpeVHiWIfLqfbSTJg1yxt9Jk_A7SNXaBPJbMDjtWxaATce7ljL5p_hdDOlESIuaSml12l3NAlDxZGu7pNK3",
  "id": "rs_0b04a746a2a82d0d016ab436be0b0887d094ea0603dca45ac8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.37,\"left_z\":0.17},\"note\":\"The dark fruit lifted successfully and remains between the jaws. I’m carrying it across the table toward the blue bowl, keeping it well above the rim.\"}",
  "call_id": "call_hgnR5L6442Khl61uEFGehPXX",
  "id": "fc_0b04a746a2a82d0d016ab436bf186087d08b27c913cf8d959d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hgnR5L6442Khl61uEFGehPXX",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0103, 2.1696, 1.9919, -0.9649, -0.6888, -0.8612, 0.5436, 0.0109, 1.0771, 0.9169, -0.7918, 0.0505, -0.1848, 0.9964]\nstate[eef_state]: left_x=0.3672 left_y=-0.3672 left_z=0.1581 left_yaw=0.0374 left_pitch=-0.2115 left_roll=0.0787 left_gripper=0.5436 right_x=0.2894 right_y=-0.0022 right_z=0.164 right_yaw=0.0684 right_pitch=-0.3888 right_roll=-0.1634 right_gripper=0.9964\nstate[joint_eff]: [-0.7316, -12.1641, 8.9094, 0.9499, -0.6422, 0.022, 0.7399, -0.0889, -2.9607, 6.8581, 1.326, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ba6f6d1e7d5d032fd6e8ee1f5ba9c3fbb301ab0a2a86751feba7e0e66040cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15eaabd28f782fd9dc6afe5598f6d615213fe05aa54209dbb9015876d441cc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7c466c50299551b66a2eef58309f900d538240ff9d325e33786fbcb356cceb",
      "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 · 13.13 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]: [-0.6498, 1.6485, 0.5663, 0.207, -0.5148, -0.4675, 0.9977, 0.0109, 1.0771, 0.9169, -0.7879, 0.0509, -0.1844, 0.9965]\nstate[eef_state]: left_x=0.335 left_y=-0.1408 left_z=0.0153 left_yaw=0.0296 left_pitch=-0.1638 left_roll=0.0652 left_gripper=0.9977 right_x=0.2901 right_y=-0.0023 right_z=0.1645 right_yaw=0.0677 right_pitch=-0.3849 right_roll=-0.1637 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -5.6137, 7.2, 1.6972, -0.1929, 0.1685, -0.2466, -0.0752, -2.7282, 6.7624, 1.3309, 0.0122, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6502, 1.4197, 0.7433, -0.2207, -0.5148, -0.4789, 0.5399, 0.0109, 1.0771, 0.9169, -0.7906, 0.0509, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3323 left_y=-0.1389 left_z=0.0916 left_yaw=0.0378 left_pitch=-0.1803 left_roll=0.0706 left_gripper=0.5399 right_x=0.2896 right_y=-0.0023 right_z=0.1641 right_yaw=0.0678 right_pitch=-0.3876 right_roll=-0.1636 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -6.5709, 8.4991, 1.3358, -0.2955, 0.0366, 0.989, -0.1162, -2.6462, 6.8581, 1.3651, 0.0269, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-1.0103, 2.1696, 1.9919, -0.9649, -0.6888, -0.8612, 0.5436, 0.0109, 1.0771, 0.9169, -0.7918, 0.0505, -0.1848, 0.9964]\nstate[eef_state]: left_x=0.3672 left_y=-0.3672 left_z=0.1581 left_yaw=0.0374 left_pitch=-0.2115 left_roll=0.0787 left_gripper=0.5436 right_x=0.2894 right_y=-0.0022 right_z=0.164 right_yaw=0.0684 right_pitch=-0.3888 right_roll=-0.1634 right_gripper=0.9964\nstate[joint_eff]: [-0.7316, -12.1641, 8.9094, 0.9499, -0.6422, 0.022, 0.7399, -0.0889, -2.9607, 6.8581, 1.326, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ba6f6d1e7d5d032fd6e8ee1f5ba9c3fbb301ab0a2a86751feba7e0e66040cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15eaabd28f782fd9dc6afe5598f6d615213fe05aa54209dbb9015876d441cc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7c466c50299551b66a2eef58309f900d538240ff9d325e33786fbcb356cceb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0b04a746a2a82d0d016ab436c9215487d090fd40ba9c7e8578",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.4,\"left_z\":0.095},\"note\":\"The blue bowl is just to the right of the held dark fruit, near the left arm’s inward reach limit. I’m taking the arm to that limit and lowering toward the bowl’s near edge to see whether the fruit clears the rim.\"}",
  "call_id": "call_xWCadV0hdR3mHhbLCvhLcuqb",
  "id": "fc_0b04a746a2a82d0d016ab436ccb89087d0afe59f733cb7943a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xWCadV0hdR3mHhbLCvhLcuqb",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0027, 2.3836, 2.0407, -0.8856, -0.6731, -0.8608, 0.5432, 0.0109, 1.0771, 0.9169, -0.7914, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3823 left_y=-0.3876 left_z=0.0716 left_yaw=0.0554 left_pitch=-0.2666 left_roll=0.1484 left_gripper=0.5432 right_x=0.2895 right_y=-0.0022 right_z=0.164 right_yaw=0.0681 right_pitch=-0.3883 right_roll=-0.1632 right_gripper=0.9964\nstate[joint_eff]: [0.4855, -15.7197, 9.9897, 0.9451, -0.525, 0.1343, 0.6032, -0.253, -2.906, 6.7761, 1.3407, -0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a701c9b5ba6fec035114a3975d7f142bd3f75993300f6461673344a5f9fd1c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffef490941d9744d1422a52731a6313842f30d3e64b77f0d1240c788b244c628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75bb7c8792c8ef7d0ca5ed0266937fa6932ffe95132e2fadffe714a2f53a0841",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 3.077 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]: [-0.6502, 1.6493, 0.5667, 0.2062, -0.5152, -0.4717, 0.5381, 0.0109, 1.0771, 0.9169, -0.7879, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3349 left_y=-0.1409 left_z=0.0151 left_yaw=0.0319 left_pitch=-0.1644 left_roll=0.063 left_gripper=0.5381 right_x=0.2901 right_y=-0.0022 right_z=0.1645 right_yaw=0.0681 right_pitch=-0.3849 right_roll=-0.1634 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -6.4615, 5.1624, 1.3407, -0.2906, -0.0317, 1.0281, -0.0479, -2.988, 6.7761, 1.326, 0.0024, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-1.0103, 2.1696, 1.9919, -0.9649, -0.6888, -0.8612, 0.5436, 0.0109, 1.0771, 0.9169, -0.7918, 0.0505, -0.1848, 0.9964]\nstate[eef_state]: left_x=0.3672 left_y=-0.3672 left_z=0.1581 left_yaw=0.0374 left_pitch=-0.2115 left_roll=0.0787 left_gripper=0.5436 right_x=0.2894 right_y=-0.0022 right_z=0.164 right_yaw=0.0684 right_pitch=-0.3888 right_roll=-0.1634 right_gripper=0.9964\nstate[joint_eff]: [-0.7316, -12.1641, 8.9094, 0.9499, -0.6422, 0.022, 0.7399, -0.0889, -2.9607, 6.8581, 1.326, -0.022, -0.0464, -0.0073]",
      "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]: [-1.0027, 2.3836, 2.0407, -0.8856, -0.6731, -0.8608, 0.5432, 0.0109, 1.0771, 0.9169, -0.7914, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3823 left_y=-0.3876 left_z=0.0716 left_yaw=0.0554 left_pitch=-0.2666 left_roll=0.1484 left_gripper=0.5432 right_x=0.2895 right_y=-0.0022 right_z=0.164 right_yaw=0.0681 right_pitch=-0.3883 right_roll=-0.1632 right_gripper=0.9964\nstate[joint_eff]: [0.4855, -15.7197, 9.9897, 0.9451, -0.525, 0.1343, 0.6032, -0.253, -2.906, 6.7761, 1.3407, -0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a701c9b5ba6fec035114a3975d7f142bd3f75993300f6461673344a5f9fd1c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffef490941d9744d1422a52731a6313842f30d3e64b77f0d1240c788b244c628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75bb7c8792c8ef7d0ca5ed0266937fa6932ffe95132e2fadffe714a2f53a0841",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbboOE9UpBpSXGElT-OApHDlb3Zl2rOJ-_YsKbzOLy53pgRvVZ1J2-Gk3yoGMbhUqOvc70BoVI_14r6qb5Cwt4KkT6V-DyB9UEk9FlKo-wgPB5Xe9MzFuWTiyNnhbTDpJTkOQBX3JTfit2R8zwAAAmyQxKgP-g7bkVO6hNCryM0InUcXeVgFhgm8F2GRho320OPsc1Uf_ZoVoM4L8Pd5IgB8OooEPT3nqqxh2xpp6AP5ZrDR2I-v-CG3NHbvQYAE-ookyMeFneh_9IgvI14FqHbxhZVWBnoY1td9p6n58e9l6gZxe6mHlkhDbfyHWDOc4fOLET0FrGnZ7EPHPEkUIEI1bG4ILIePda_sOc-VdUym5D1eXPhaF0nCxp_6sE29TxRbL57MMPdKR2oOA7ARAxfamaWJuFVUSRpGb1_8oMJKyeUG_xJAdHAMsHX7FchF82FNp89RviF7KDMnKQhrovROX2YRxqfYa-zHUHup9eF_UC3wwBdliKPrzYEdFIRiqdfxK4JyQA8sU1n0PskEa9OxgZ3sJEIwF1I_87qFyTE7wxyQ8BUKvOCxRBO2Km333gnyqmPOrISzCeuOeRnPrRI-9291iHTAXC5KFlYlTXTE8LtYY4nV72qa-5wqUbdXuviwOJyMAXtvAnU1gl-LTFIQPuxA35GHXRVKzkZ0O6G6-aIxFi1rxskCgzoI4DGJfwDMJVhBy2NFrbppenX6_eGhu9phLeUk1wg_6FrppHbV9yHXpvSzZ-hUtmgrNq3E6ZIePXcg4HRrNf12h9OqNv1Er0v0066sSyQcCEXWe3NDzjbemfUfmQvtyzODFgpAk2-LzUXHfOdrI-v_yiLUHcqjv7Dy5tRnCMW8XE2NOrx3CsHxey8RqsnsFw-RHfhxiKXGZKVaPZusjGSr50bswz-aCVLwS4GRVatlWSkraQ5MP8220C1VpZfdkAzEMFy6NzEpgn2L0ZeCAkiHx2eP0KYgx9ybDPuXjekkaHz1CEQeNOLofpmPjhoWkb_AEH7YNvtRbaAhPKykKSTYbLdaSQkkEDfaLW76f_kXmBpTP8GM49UgV4YK_o_I_hTnR8-P1sPQzxJ1BAwx6nwjbmI__vrauMyGrMMn4R2M1TL5rOKwud2L3lPsnFD_h_4dobm_bfi5USJ_BuAO8omZFyO5C9zxql51C8hs75HyFS1L98Wc5g2pxCgz2jnN-m083Vf6zif02_K_wuOYsHgOPo1e2S7i-_ypdsgxkkh5j6NZnjJSEGkHprtKdRXuv90acdHcvIQsn54pZocQk4uTk6wU3q-_EiCGlDO80vBE-ppp0giw4TT_x-0CqofOTrkIk7vnLL_dYiXTynulpOspGDF8WjBp4iLMrSyVWXRe7fjc5xkOGQqJ9Nem_QceYLcDdpBNDyBrZpEL1UzvSVl4xAn6R43EDpeaUCYQwScRcTL_sbUXn82dcrcm2XExG6ezJ2h67m5IyCp5n11CNUPIhwvjc-P3Ue2v-8U3kEE3x2jJB6fNCOPyOxRXqO7R-kOOZ9nnSeW73g91dRd4gtQI_95ME45QEpvc6MLGCMRTHto4Wdm6GtTVIbNJXeNAuz54t2VZTR156sQP5ScIZz8ZNWsg0bxqiezDG_1FjNkgdY88PV66B1LnxyzIheQHceo7zR-j2ZMfVULXuBf8GwNHyUbPjJH_vqSNp8VpZbX3yQeYg1lr4ge2szNxJAVKQrfcphVwKfIbX30frP2pBzX6QEWlfafdxm0ulATtVV05oMV_669A14AivuUu2gTLWiNbMtzoaM54BWgL9_BrbGCTQz0vlB9z3h2JIgiH1GBrP8BU35WAhA7fvuu9TkJvvrTktw1z1AJLIvtSFsilvw2IyHGZoqNiJTZz_zegh3iB4tsXb4onknFYfWDTBcimFre2fxl52iEi1GF6YgGNZwpNky1JDNCE5zDpIbBxMjTSu_0-clQCcGiTrkPTuL4r4jvjhSn13mXDm-BqqsUZv0vMjTaQfCNkWZ_jOFmeMQDRVkNmKaXNffSUCmvIxxeP9wfQpoW-fTp8hqgyv_yG6vceQoA6ESqmRykxk1CqhofUZv7M10evUQZK1tY5poePGwhg6LzRPqd21eF_FNsJwUMM7_zEwJQNqwRMCtdzyhUcvRhSaWO1q8ppJ-UHTpZKT-FbmJ_Ad76QNWMjmI_iJwdv6_QJcBnvuqorpFcOmRJVQhD5UfdugDzMYTbHPLpQr5fmZSNOfIFyS0rOyaAU4TfygbxZzHxkF_EenKs9t7qSL0ND51chhaE0-tZ64Iqa1uUPz_3z6wNrzsq1YQtNZY2SgHgyhWJvW-DRYMxqyT_28D_xCrXAbapyS68TfrWHuXlZiRQfqUbTjGUTHEJtuM2CJF82WDXFYutY64V_55waU9w-HDVW78FiJLtwEzzHMBtSgIYeNmkuEZTe4CaF4tSBmPBqCTuxqT5iDh51t-051337nFU4YZHMNMxdjNkPZ9qR8KnOL_PjYlvevjqno1REJw5z17tKNYSDYb2Rq5NKHdUWSKId9NiMmp3b-7Dvxk-8TBuBm0X4cha8HvqiARtKllpA2B1mcr8oiTuiHKLogKr93__Rcqndalp1Zj3R2D9ZGKSqeGsDrmu-lOroaLAKKOFL7q8iKT5tVXh0VFIXfezG3QmP8aUZD-wKuuhavXf-TYcFRt29QIKuXYWyGkg9ZVgisE-Hz1b_1wgGCmrJ0J6-4yhx_Ac7pxb7TMmXHhjes57pbzZNpgQ6SCyhCgFZPNYONCxm9wepJXoVH7-bK9m7zTGVGVVkiwUKotI3nkeLgp3BROWfiOoifbaYPyAjuNyhaARewWhL1RrSRRAh3Cu9E5IEmJEf9cK2QFGtXSPh9NL7BsmA-PI7y6LGtPt1s9eFGdiGocopy03M3ahTKIlgmxrxASBhckqF6roEen3Qhx903ILc4HL8kK4bdjAaaoCTeQnXSta7_Hv5YsoMD4sWoZcb7sMNrt6jh8v9p3xSdImcYv5ufPX7cxw5FIhoFQgBNDlt9blWgNu99RTbpVA_He_l09E9cQDvnK6f-tHQGxdKnO88WPofxCqDV3BPi4lxzpzWv2yjBUk7m3LF1N4AqLhupYQEW6qJz7FR6dHLUrU9RwQ62yT3mEHITuNrXNkK-jsjyeYFrgHfMcwSeEbBfwgJsXdlcRgKqWTFJLaB4DKNPTmCgRVg-DysPiv-FhDVKwQ4uG4fBQ-PI6Ap0GJKGE85LF3Yc1aT26I7fhzyQ-rqQRK_nA1WODLlgb-eQQfKGnxfrH0p4MvcdJWW_HOzKpJQJ9kUP5SSmG9N3FTAkXrx9Cv9pNps0IoJtsEBRt0sN_ymVd0DZ98KAHY-m1eE0_hB2ZSNZnmtiZg_2ioToS_0Y86h1DJCsU_6NeOTnCZwJEaKBDjXAIGzsXlGqzE-CIMJF58OrWSC4ES8v_XF-wjRB1V8d2Ud7A7E2x6s0IEf57-Q--AmTnWww2uka97DzyuetyYYwvE6Gy8TqlEBmIreOdncBlXhPDUP0rWUgDiJuDIuea1Uq9rYzwyyfzxXWoo7UxLT_o17fj7Zp917qkJH9iVt-gkSC2wy4FurhvE4yviSeknORR9syvw9NPpkPLHjkrm-VlGNPXAGpJqDIIC_xEF5JIuGXK1qobNiwDk9Euk1GRmYaJ73MrWWcpMWSJkFBnmvQQaNfOVBjbFmL0KmxxU7jzpXZCepibKDLAmTyBactMpYhLuVw_lRdrcDZoEbuAKsJkb1acVJ_z2OpkqdQ9U",
  "id": "rs_0b04a746a2a82d0d016ab436ceef7c87d0b86d62138c101d14",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbbV39UUXAC4x1klGHE7VeEcq_Jr9gpWFmD219NbLw1QRJCMD-LOxMKSWbTrPCy1gduU5tQRl9iM2K2dJT5jBnkN2LL3nVNJ_TjXZIUZ9Ls_Ngg3CYw9PgW8gnSP6llo-1h9ZYxM_WPpBiVYlbf4bK--uMTlwLPU3FbVBEfDi0cSneHfzjKNnHh2ukb9pbFGVUytXKtKhZOa4jBhcOod7HVlmGwq_XdMun1eh4a2garXLFC9camJFu8Nv1JrZjDDMdq8XlqEjolCiJxiFa3HmCdNtF8Ud3L0crpzhLXNCXMe-shWLM2cJGVWtL61t6jXsF8LZhWJdRTBa9Hw6wSo86ZHKfhqpJxJy_bTcA1WGoS9r1qZNXf_ZLeedikCz3xrFPzfsCj7JwYTfg1JkWlubdl_qly1kunueO4-urJha3BIFgk4Wr_uAn5n3mg48h7vThwSeReL9hHgW131iKmWlUy34RXd6cLZNZvi-aYNFoxOH3unIg12_m2in-Dq9TGhw9Xv8KqRMze4it07pxx8TwnKC8_D9oZj1a3U94KqkzgQqfKeKu4Ag2yXhgEFe2DEnrujiG7w7WjU9yB4NVKiXhFa9SySLS-A48Wx7C__iZE2sJHPk0ULRFw2mSCeSfhAhSU5RiuPsW-lgxSTD2IlEXeja2cXRkLzOBQw5tbdomo3t-RbSxskzQ-EbJzwNgs6Ujhjwx-lfAmvfvi0GHmwNP5fuV1YILFCf25bM47ZXUJ3tZ_TnI_OQVyJ6dh6tZCvHJN7MrHYK5xbYMC78n2NbgFb04D3rtpy1RzuachNhBK-5zgE9clgreAvV1emOXi6YqrrtRoj4OaAKAeF_yEdhetj1u9eTYk3Rag2ZCa3m7tN_QLKejhnwSE7pq2jZhpU2Rp_s8aqhcw1wAeqjHe6NV26DOuJgLo1ep5LPgf3fQSOOONFBnBKvnK-nZ-s7ZsQZi7bHTXOmGJGoj5-T7ncWqjUxKNJUDZ4vowb8QUV0DejGRBHrdnx35Xj5Tx7UIPFJM7vl94oRYcU0IdclUlwhh2pVvV4A7nn430s_EmZZk1ftNfg6jGo0Z4priTgjynxfo05Q4r2_SsnBLIfGLe3CfuMQWIiDeRE34T4oq7XIwue9H2EbfOiYxc4PHJXNt8zt3tydv7lKnLWHYvGVQ8U72Skg45DX8GkOgP0ymdilwrYNHvvWA_tf0WXJpiIckQ7bcmgoVmgKqjv206SXbeLfaEJ8XDyggG_uvE2Kcav2AOoPDVI58WgWCDQdtIUFV-YvOic4cNZC9rUj31A_EbJWMT3lEoMEBYcR5GcXNTuDhO27krr6PwQed1lCTe4CBTndKMHjh054kJQbrtotDPAxuRB5WGfRDI5fVVOr7GO3VGv4nTfWxJwWqn_BdORHdeJdJPNShuYR3oSWVX-jtRUUrE1rnk_4iOMor9mknPl53O19LqDtFN03NcMa_LcZrc25H8QPHG56JY7ZDMQHhL-a87FLR62MV9uhnuKlcgK0caSPZdgpPz3k2EYhhB82h_AYsGNAArykErycGAmzL6EuDog-y-t3mk-ZfDVKfvqYuJjrJXO54J1P2e00thxLNksUQDavt7evUYVImOhojoOD6-oWw0QDskBOoPyuKI0AYG6NF41L1yKJMwGl-wXupAtTvGQamHi_Z2VB1pNFZuIimq6FmB_2WEKNQUnsL0TBMLYGXmVpxkRHDJgdkQ_Nee3AQbl0ReMPNERtrsQIxse_RDLg_8ily1e9TdE9sqgBwYnQ9WKT_qjbwJ5PF9gp-q-5XpmyxpfppKfN0iU_DJQErK-W_OKfGLazxUveC881eXTHkNuaS15Tq5w_oLtSR8LWTijeCRbalI0H2_rMR2OyrauHePTyuFAcotsn7LkyTNLSFklhNhQLy7SNF0s0AwQb4wkACaxrHceYrGHooJjSZHdS13goB0ZROea51kK07-G1VlHZGJRZfmy0KPaBA-DW1bnax1BDou31Nsei5N7AQLLIZ8yBNn30mV8Q_BblcmTearw6siLrgW151KSFfxMMjUKIgIqwdtSu5_JbMjOBuLYMLv453xHIRP3hzOiyI-D1y82XQuhi-_dw0RVPVMtj4QMaf1PB6dvqZ-7CARzNbj6JDwqWqhGi1HWxS1P8hZ7KiRyz4bktcyEGqNAMeunuW42ZRsOWg053i9w3q2CVtr_h6lWV1d1tpcYTCxuylmZKduXQ_KZxdx_nJyIcEUbcamlCLucnlMch0KqvGGz39VuYQ4lxTKIn3qIg3V0MGdEiwv7Sc2BNZ0AU6Qi-oTpb4qLT-4slwSgW8OFchG88YvTbzD8fNuuFPRHe7kVt2T8oGs6-ZL3u96P-RcK4zy9T4KoBU0gOMy-0KWDjlIiWgdxrqGUjHsUdARBLvVXwDuQorRtZ3_m3A3YhtoIXplXzwTozJLPiMzZxixdViOmqHFC-xai7JzUttbSCw4ac04WLqt3pteNOVUF2mMRSkc7aiYHF0lqkD79_w_i2t2qBILgsg8bmh26fGIHth3FL2JghpEe3eOa6nemjew8pNJdeYxsxeuK5EiwT2IbYyJF5tJ8AjodAFMedjTaUDbdJtNCr_OIFM-s50yUgos0ovWHMFAx66o3bbcwtFmAksJwEueNOiZ_8DKZs4rdFom6WdSX2J8CdTI6mAg_5ZscD-yK_c1SXXjMN_DbgSsjRt3bt8Hm9O-Y9d7EF4fQpj_xviV6T9yS6wHN75-n178KKF4q4kHCiDdbYIDcV0TgUlm83X4aY-5s7tJ5KWuy2HM6zSwAXqH4BF43X9PiORABqkK1Xi4D7MfCqQQ8ZsSCBLGS3JI0SsfJuVJZLQZ_IDi8Y0xZIl12_4ioV4j1K9GezOYDbClmdFFI_AtDjbVnK4YDuLgLQ==",
  "id": "rs_0b04a746a2a82d0d016ab436d3d18087d0acfd4df7bd44fe81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.29,\"left_z\":0.035},\"note\":\"At the left arm’s reach limit the dark fruit is still outside the blue bowl’s rim, so releasing it here would likely miss. I’m setting it on a clear patch of table nearer the centre so the right arm can pick it up and place it accurately.\"}",
  "call_id": "call_dkIcyCLY47ccqN67slFkVSNY",
  "id": "fc_0b04a746a2a82d0d016ab436da947887d09d90f87d7dce5a1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dkIcyCLY47ccqN67slFkVSNY",
  "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]: [-1.0016, 2.3947, 2.0628, -0.8627, -0.6735, -0.8612, 0.5459, 0.0109, 1.0771, 0.9169, -0.791, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3876 left_y=-0.3946 left_z=0.0748 left_yaw=0.0491 left_pitch=-0.2495 left_roll=0.1178 left_gripper=0.5459 right_x=0.2895 right_y=-0.0021 right_z=0.1641 right_yaw=0.0685 right_pitch=-0.3879 right_roll=-0.1629 right_gripper=0.9964\nstate[joint_eff]: [0.1436, -15.0632, 8.4034, 1.0769, -0.5104, 0.1001, 0.5934, -0.1026, -2.7829, 6.8171, 1.3407, 0.0024, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c4e8b11fe2997f05230446172819d57f29a6845b61e7796efdeb311a900c01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2661ca5d3a996e7ffa79af0e471e1a8a6514799817306775b34507bc55fd4b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ab8ff18b7c6fc185d467d389aee55524069f7ab91c36a410ace3a322acd640",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 2.661 s

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

message 62 changed as sent

message 70 changed as sent

message 75 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]: [-0.6502, 1.4197, 0.7433, -0.2207, -0.5148, -0.4789, 0.5399, 0.0109, 1.0771, 0.9169, -0.7906, 0.0509, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3323 left_y=-0.1389 left_z=0.0916 left_yaw=0.0378 left_pitch=-0.1803 left_roll=0.0706 left_gripper=0.5399 right_x=0.2896 right_y=-0.0023 right_z=0.1641 right_yaw=0.0678 right_pitch=-0.3876 right_roll=-0.1636 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -6.5709, 8.4991, 1.3358, -0.2955, 0.0366, 0.989, -0.1162, -2.6462, 6.8581, 1.3651, 0.0269, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-1.0027, 2.3836, 2.0407, -0.8856, -0.6731, -0.8608, 0.5432, 0.0109, 1.0771, 0.9169, -0.7914, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3823 left_y=-0.3876 left_z=0.0716 left_yaw=0.0554 left_pitch=-0.2666 left_roll=0.1484 left_gripper=0.5432 right_x=0.2895 right_y=-0.0022 right_z=0.164 right_yaw=0.0681 right_pitch=-0.3883 right_roll=-0.1632 right_gripper=0.9964\nstate[joint_eff]: [0.4855, -15.7197, 9.9897, 0.9451, -0.525, 0.1343, 0.6032, -0.253, -2.906, 6.7761, 1.3407, -0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0016, 2.3947, 2.0628, -0.8627, -0.6735, -0.8612, 0.5459, 0.0109, 1.0771, 0.9169, -0.791, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3876 left_y=-0.3946 left_z=0.0748 left_yaw=0.0491 left_pitch=-0.2495 left_roll=0.1178 left_gripper=0.5459 right_x=0.2895 right_y=-0.0021 right_z=0.1641 right_yaw=0.0685 right_pitch=-0.3879 right_roll=-0.1629 right_gripper=0.9964\nstate[joint_eff]: [0.1436, -15.0632, 8.4034, 1.0769, -0.5104, 0.1001, 0.5934, -0.1026, -2.7829, 6.8171, 1.3407, 0.0024, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c4e8b11fe2997f05230446172819d57f29a6845b61e7796efdeb311a900c01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2661ca5d3a996e7ffa79af0e471e1a8a6514799817306775b34507bc55fd4b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ab8ff18b7c6fc185d467d389aee55524069f7ab91c36a410ace3a322acd640",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbfba6xPPlYSowpw_Gx9pWmt3_4nJFeiz80bq0aDrcnOG4iU2tfA1hjFUL0yy7RIKmcYIKlSMexa600GEafHm2-IvHG3dI7jR_8LCSw-kxkxixfzM-VLmfRlcl17HOJwBoRpppOpVdyAqW1Q-cgbMDqtDXPeaEtZaRREihUJDWfH480jknhkOYW6lUbffj_SqCskHmcMhTkPNmWTZeu9NBWJAGJiZE68les9AAyDNNNZRlyVF9ZGnQmqK7uZjeUniVdDpELdxGIIcaVhp-z9FgjloWa7P8XGatuVgR5tqC6U8tPtlmrCvqitXlQ9iAGpOEZJ_dlLoGRol7xnW6k5FKoKtlbgzQnJXx1jeS2hwfEuJT3PknUFTxxMcBcblkJVEfR5PKI9oGxv621cPL-eGTNCnRe1-PSHvuAgYpFONh3VtbjXn6JRvI0DhN93rCVkPtC-DKV_Cxrgh8xh_2eQzgO234D47sqFh-A5KiG9gPAPHYQ5OWOzLv1ayfOFz0ZbLyEf5XcGLcjq2Y7WvzPio5jR5lN7gPGN82lZ-pZyohSKilcGEHHSQtB_4_texakifmWwDXEabwEbvV8pVdrZ8q-1jsAuVn1xCvv1pFyBMV9UtTB9giEbDfTt0cF30Femi4KqV7TBK7uyMrId2Ck6tefx0kmmea4Jmtu_AOrmRErQNE86JeWtI_DkeeoEh9cvucMVpeW1Fx0NoFF7sMVhQ4MOyt7jPo3JITZ95PtYK-Jsdaz53-LoKXPMZQLdpWoG49ecBx9YcNKEHkGDEgxYuiBB90YG47uO71d9LnUXDpfZUgrAOypKKTiwBBZaNgwheRxoZilKDy1MCTVhharmJAWfdqPx_TDhOfJGfHW8bL2zfbEUu3Z9l4Z_Fy_kY5EP_DOywoND7306EWS9fVyk-2OWpAOjTYwHkfbe55ob1eHx5TlC3VpXs5ETZ3n43l-3CMVgiQR8SYKCxkfBfPh7pMHwkYHOFnX4Shsm7CPrxtU8okgbi8B2qBEwIb5EbuYDIku36uN-6zXhod_etn3qeut_qU5irTWHjaCP8qO9O3rMWSqBA88VUZvaS4HzOXIL4XIvP7aH5ZIpoVxu9NKREkdQrYa8C5k0nJK-gcPEvMpdYSOB2KEf1L5tAjMYTwnrfJMGRCjy5LXm_edExdBxVJQpPVAMoSWXwArUwM0yZceb7CEg8e4R-bd7AHsHzXzRFI_4r5bD2PuYkvDUVuTx_fiX3I0VRWuvXOxCGMjLHK4QUO-jBP1R08vS8TT6l043wMemckjFyk28Ni1IJX17bSsWUfYy7z9MmpJdAxJO5rbdkH9cvTk0WPALIER0AFQ3uzwPnOfuHWI6nphA7ZvmjGD8GCSzRBlbvxWRY9iGBPZMmo=",
  "id": "rs_0b04a746a2a82d0d016ab436ddfd9487d089ce6825100d4c36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.33,\"left_z\":0.17},\"note\":\"The left arm did not track the attempted low sideways move from its extreme reach; the fruit is still held. I’m lifting and backing away from the limit first, then I’ll set it down in the central handoff area.\"}",
  "call_id": "call_i8TJagWejhZTmKSkPrcNfGc6",
  "id": "fc_0b04a746a2a82d0d016ab436de764c87d099ad6dd767ed6470",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i8TJagWejhZTmKSkPrcNfGc6",
  "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]: [-0.9825, 2.1101, 1.8595, -0.971, -0.6613, -0.8673, 0.5467, 0.0109, 1.079, 0.9169, -0.7937, 0.0509, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3593 left_y=-0.3366 left_z=0.1392 left_yaw=0.072 left_pitch=-0.2724 left_roll=0.132 left_gripper=0.5467 right_x=0.2891 right_y=-0.0023 right_z=0.1632 right_yaw=0.0679 right_pitch=-0.3926 right_roll=-0.1633 right_gripper=0.9964\nstate[joint_eff]: [-0.8821, -15.8017, 5.9692, 0.9353, -0.442, 0.0855, 0.4371, -0.212, -2.906, 6.653, 1.3504, -0.0122, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d93c23d462fa9e115ef099619fccf255b4c12c9b72e1152db56725972069bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013e1c9bfc0507e2aaf9420f863d2e976658c6bbd6a77b80ce7ed2a10cb3ee8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b54d1352326471f997d1d5204280ffcaf93654e9e012706298c90f829936f8d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 2.859 s

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

message 66 changed as sent

message 75 changed as sent

message 79 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]: [-1.0103, 2.1696, 1.9919, -0.9649, -0.6888, -0.8612, 0.5436, 0.0109, 1.0771, 0.9169, -0.7918, 0.0505, -0.1848, 0.9964]\nstate[eef_state]: left_x=0.3672 left_y=-0.3672 left_z=0.1581 left_yaw=0.0374 left_pitch=-0.2115 left_roll=0.0787 left_gripper=0.5436 right_x=0.2894 right_y=-0.0022 right_z=0.164 right_yaw=0.0684 right_pitch=-0.3888 right_roll=-0.1634 right_gripper=0.9964\nstate[joint_eff]: [-0.7316, -12.1641, 8.9094, 0.9499, -0.6422, 0.022, 0.7399, -0.0889, -2.9607, 6.8581, 1.326, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0016, 2.3947, 2.0628, -0.8627, -0.6735, -0.8612, 0.5459, 0.0109, 1.0771, 0.9169, -0.791, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3876 left_y=-0.3946 left_z=0.0748 left_yaw=0.0491 left_pitch=-0.2495 left_roll=0.1178 left_gripper=0.5459 right_x=0.2895 right_y=-0.0021 right_z=0.1641 right_yaw=0.0685 right_pitch=-0.3879 right_roll=-0.1629 right_gripper=0.9964\nstate[joint_eff]: [0.1436, -15.0632, 8.4034, 1.0769, -0.5104, 0.1001, 0.5934, -0.1026, -2.7829, 6.8171, 1.3407, 0.0024, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9825, 2.1101, 1.8595, -0.971, -0.6613, -0.8673, 0.5467, 0.0109, 1.079, 0.9169, -0.7937, 0.0509, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3593 left_y=-0.3366 left_z=0.1392 left_yaw=0.072 left_pitch=-0.2724 left_roll=0.132 left_gripper=0.5467 right_x=0.2891 right_y=-0.0023 right_z=0.1632 right_yaw=0.0679 right_pitch=-0.3926 right_roll=-0.1633 right_gripper=0.9964\nstate[joint_eff]: [-0.8821, -15.8017, 5.9692, 0.9353, -0.442, 0.0855, 0.4371, -0.212, -2.906, 6.653, 1.3504, -0.0122, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d93c23d462fa9e115ef099619fccf255b4c12c9b72e1152db56725972069bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013e1c9bfc0507e2aaf9420f863d2e976658c6bbd6a77b80ce7ed2a10cb3ee8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b54d1352326471f997d1d5204280ffcaf93654e9e012706298c90f829936f8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbhrb0Ea71vK16okcgYxKwvQw9aMA4_P3v_qfs5Sa3xne0EOetmn5IHPqyVovzhwyAdyq3NeZSgbb2e9TQluB8Fke9TUeY6JQKQnAxM8S4E13beDLs-NLSz2sebILsUIWr1xbDwycqwgWgseMc4mvNkixKrkPtcAzaxNs5LxX2gDe5jlcpX93JSEaH9XWp1p1-O3szKckpc2Tmnbx8pdKjg9hd39xCvdRhWcQtTi8ga3qF-D6lXgI1m7mIPhwcOXWE5mNFFwr7Zu9MLWQfyM17-142-zF8J4tsaqhPl4Afwr218obL7GZFqRs5gee0ZkF2D528ZjiPxYeNG_lB_zRLIw58c2H9YCi9fw_DmhavqgOldtl9ATEemKmgKImtEoe6PcxYW5fvGfb_Y6_xvd_ZP5EL8KKByKAli3bIHZge6Tj4-6DuzhwnoqYfDeiIJ2bSG8uDArmniGs-GbNWwiOye9JGRDPevm-cIiWkg7LekSPP1kXDuOaSh2_JqyWnxAThWqAjG403HCnHi9HlQJ6JbjaK2qZbIkNRKHTzYNS1HDpxQB22r5VGcjZF_8QQIXNMyBr20g7HegNVb5d958deInqvFVFMKd3xg5PvDSc0EmYUCfnhDcHGisTUOOuyivtxJ6S0hZ2ocgB-G5huFRP7cGwctCIsk5AGVgDfS_O1alVDx7cZsFIsKAx9gu-LZi0Bon6LjzsX-1IO7xqf88yItPeiPFXyJsHVExZcv1fBzPL817A4tSVgSHMeQz-hNnZJHJElVa3ufoLU4Hfa7s_5t9IUDEUAMfOZNpXhpULDXTZg6sX2Cxj4J5ky0hLgPl_GXi4ajn_33ri9itadKh7tcsLqg624f7CfwP9gS0H4q_NPvduCmk_UF-H-sNGb3Y04PRHxb4sPyNKE-0Gg6zbs13eYeOkAV9Zs4Avccx3XSUk2TG9_o0CM5BSBQAA3eQGbNQKY3zMhVbv738rQtXkvHJgLGls2nCVVlQBCwz7lx23u_AyGhXzOQzYufE0zt--vxHfj5FCTT-5yh-d00m3QTgScdMpQPuHDfv060kWlHS91lQLBXNGYVjr2UHaUo-xcnuYWFrG6k0jX3Q2hvYPAcD7KPJPlw8uzKnFh0QqEYwZD8qK6dOY11cr9CgcqkHj_XgOMwnkC8pU5tZZtT8E9CiAwYPNxji67-QR__71s1G5QFYB8dQtJWhp7SruDwjoGE75URaYnO2cPcXXiIP2GJb4n-hIjUpT4572V2jgLanms=",
  "id": "rs_0b04a746a2a82d0d016ab436e0c40487d09ceb05faf931d22d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.27,\"left_z\":0.035},\"note\":\"The left arm has backed away from the blue bowl and is moving freely again. I’m lowering the held fruit onto open tabletop where the right arm can reach it.\"}",
  "call_id": "call_ikGqGKyFGuirUqN6VidLXUJW",
  "id": "fc_0b04a746a2a82d0d016ab436e105cc87d08a97bc4058538f10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ikGqGKyFGuirUqN6VidLXUJW",
  "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]: [-0.9913, 2.0518, 1.8587, -1.0073, -0.6613, -0.8608, 0.5482, 0.0109, 1.079, 0.9169, -0.7944, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3511 left_y=-0.3318 left_z=0.1628 left_yaw=0.0546 left_pitch=-0.2622 left_roll=0.1173 left_gripper=0.5482 right_x=0.2889 right_y=-0.0022 right_z=0.1631 right_yaw=0.0683 right_pitch=-0.3933 right_roll=-0.1629 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -12.6427, 5.9419, 0.8376, -0.4811, 0.022, 0.3834, -0.1162, -2.9744, 6.9128, 1.3407, -0.0024, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec375250afaf75d04ffd651fa66b44d2311d27616ff231e0b7f432a01389318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a6857d3791cf42ee5ea5f8e66bb6eb816cb914af43e2d593ec970cf7635be6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f8b4b1a1943b6096d7e734d79f7b20f7c221742e15d3fb2afd32c10612baa8",
      "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 · 2.032 s

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

message 70 changed as sent

message 79 changed as sent

message 83 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]: [-1.0027, 2.3836, 2.0407, -0.8856, -0.6731, -0.8608, 0.5432, 0.0109, 1.0771, 0.9169, -0.7914, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3823 left_y=-0.3876 left_z=0.0716 left_yaw=0.0554 left_pitch=-0.2666 left_roll=0.1484 left_gripper=0.5432 right_x=0.2895 right_y=-0.0022 right_z=0.164 right_yaw=0.0681 right_pitch=-0.3883 right_roll=-0.1632 right_gripper=0.9964\nstate[joint_eff]: [0.4855, -15.7197, 9.9897, 0.9451, -0.525, 0.1343, 0.6032, -0.253, -2.906, 6.7761, 1.3407, -0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9825, 2.1101, 1.8595, -0.971, -0.6613, -0.8673, 0.5467, 0.0109, 1.079, 0.9169, -0.7937, 0.0509, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3593 left_y=-0.3366 left_z=0.1392 left_yaw=0.072 left_pitch=-0.2724 left_roll=0.132 left_gripper=0.5467 right_x=0.2891 right_y=-0.0023 right_z=0.1632 right_yaw=0.0679 right_pitch=-0.3926 right_roll=-0.1633 right_gripper=0.9964\nstate[joint_eff]: [-0.8821, -15.8017, 5.9692, 0.9353, -0.442, 0.0855, 0.4371, -0.212, -2.906, 6.653, 1.3504, -0.0122, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9913, 2.0518, 1.8587, -1.0073, -0.6613, -0.8608, 0.5482, 0.0109, 1.079, 0.9169, -0.7944, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3511 left_y=-0.3318 left_z=0.1628 left_yaw=0.0546 left_pitch=-0.2622 left_roll=0.1173 left_gripper=0.5482 right_x=0.2889 right_y=-0.0022 right_z=0.1631 right_yaw=0.0683 right_pitch=-0.3933 right_roll=-0.1629 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -12.6427, 5.9419, 0.8376, -0.4811, 0.022, 0.3834, -0.1162, -2.9744, 6.9128, 1.3407, -0.0024, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec375250afaf75d04ffd651fa66b44d2311d27616ff231e0b7f432a01389318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a6857d3791cf42ee5ea5f8e66bb6eb816cb914af43e2d593ec970cf7635be6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f8b4b1a1943b6096d7e734d79f7b20f7c221742e15d3fb2afd32c10612baa8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDblzuTmUI68gEb6C22VJI6pLxBGospqqbSpcqY4M2b7NJHRswNXjtfnENNnfTs9BtcA3zAazWV5Mld3h0_P9NFXntcIO7Ufrj5Bv5IILL80PP1aI-B1JHuq7wo7BLfTH_eYUT2oypX_EmWjfjWdAl9KejT80i-YPle-7_lJzd__yizL8qvugGyV_AXABVUiKA6S4lqaK6HgxpoiRLjtxP_jQ0sFXENlZ3oQ2mqKIuEUDP6P-_xkT7ha52QodcY1LHl2HlVjLetKYEvkUExMYSGg2NQL1T_XAmgs8fSupuBynvTfVH9MGyktrUVxVw62uLBJkmK_iA8Fv0H1rnbjzzpK0tAO5atMrAHZkZnkKi2j-jirchUnx6vczM4n-LsrFRNOPU5b2MJ9iZpZpwqulZxjGq6VspwAplrGWTXYoAmy2R_2DoSInyu0iGGzS2hv9yf7Aml9ydmlQ_EvFoPEYdkPYMyrKG9Z-cReo8Frd2q8_DEukYX6HVxVqLNNO7-LBFQft9T6-xThjcgx0DTXQfyCsQ1TnCaOl5ecXe56xSnLshCEttkE1-3cUyxLROBirenkFF3wG8eXF37F2NVBWiuZSNT4GIMnVPFGw94ykzl52dzYZtR7LgYjn-uN5TT4lgNiwkjx1ZreJfLaExw7nF0FIjDSsw7w91YKrcfk6Pz8uzDIZMmBFnakEcV9PEx0XUO4E1HNy5XirS7mDKfFP_tN6mXX1e98lo1252FAOF7aonDQOFV_mL-wUVHdwcS-4UnXv-biAQlMu_i5btq3qssygGkKN5TVVxzVz358aEVIKMon7dCarClzGo2zD6gcaPtRNqMNIzkXmeNRYh6t0YA9XDmHo9OVHiyWKtRxZ47AyhT4tnNvvA87YSJZiUVR7ipmm-Csu8U8pWhkL6BSrb1PlnsmcfKghbmJ1PfpdYoO_VhTCbatMftktlrHsqS3maQ3P98Ye05mwnGlGH4n2yyzUgOGftR65WxtYdFJdup95i3zrASgnGUB402ttaB0BO7lOYS-ZDeSMQCFOZEk9wBlxnWdoJvkEKZOcYo2A_vKTBpRt2fFwyPr5STpjcrJewU9CbgA_zQ4a4FUpswOZ2mC5JY71QEv2H_ZYquk9hb4Xu9Q0jR2ewIC_7fKeHzZhOieLSvWGZ_H78JLML91CRNpXLD_n7_hTYvMPKQRH73cQJrtFIhnkeAowzDLVGqaYz6Ndvluy3X9xwyG3OnA7pbdgHugZCO1pFqDgBBbT62xnqVxmokPmwxJoR_1Vme1iQelkv8VmF7XiWfpmK08TyUTodvZBmkCMbxxxxxU4MAsIuxf5mCe9IJaO3A4VnoX-muppry7RkhoxZw5cguTw2KN-g==",
  "id": "rs_0b04a746a2a82d0d016ab436e4ae9c87d0811e45ebffc82e34",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.27,\"left_z\":0.16},\"note\":\"The direct diagonal descent is not tracking from this stretched posture, but the dark fruit remains securely held. I’m changing only the sideways position at carry height to get out of the awkward reach configuration.\"}",
  "call_id": "call_llbqLo6DnI8qQIuKuoPq4gNf",
  "id": "fc_0b04a746a2a82d0d016ab436e4d80887d09d683f21f95c3e48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_llbqLo6DnI8qQIuKuoPq4gNf",
  "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]: [-0.9154, 1.8759, 1.5803, -0.9009, -0.6285, -0.7986, 0.5505, 0.0109, 1.0809, 0.9169, -0.8085, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3466 left_y=-0.2746 left_z=0.1517 left_yaw=0.0785 left_pitch=-0.2904 left_roll=0.1402 left_gripper=0.5505 right_x=0.2862 right_y=-0.0022 right_z=0.1606 right_yaw=0.0686 right_pitch=-0.4093 right_roll=-0.1619 right_gripper=0.9964\nstate[joint_eff]: [-0.5812, -10.2359, 7.3094, 1.5311, -0.2564, 0.2076, 0.5592, 0.0615, -3.1248, 6.735, 1.4481, 0.0171, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c369337d49c1427b99162bc2eb3ff8c564bdfcb5fd120114469903be217e169",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc27eaa5dfa9388197ddd5ece0a7efde2cc0b2a51400dd5bb9b51e16b69d600e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7043944e21b783cce3f23b4fa99b96b63b78857ce947861b94bd08000834d72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 2.906 s

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

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0016, 2.3947, 2.0628, -0.8627, -0.6735, -0.8612, 0.5459, 0.0109, 1.0771, 0.9169, -0.791, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3876 left_y=-0.3946 left_z=0.0748 left_yaw=0.0491 left_pitch=-0.2495 left_roll=0.1178 left_gripper=0.5459 right_x=0.2895 right_y=-0.0021 right_z=0.1641 right_yaw=0.0685 right_pitch=-0.3879 right_roll=-0.1629 right_gripper=0.9964\nstate[joint_eff]: [0.1436, -15.0632, 8.4034, 1.0769, -0.5104, 0.1001, 0.5934, -0.1026, -2.7829, 6.8171, 1.3407, 0.0024, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9913, 2.0518, 1.8587, -1.0073, -0.6613, -0.8608, 0.5482, 0.0109, 1.079, 0.9169, -0.7944, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3511 left_y=-0.3318 left_z=0.1628 left_yaw=0.0546 left_pitch=-0.2622 left_roll=0.1173 left_gripper=0.5482 right_x=0.2889 right_y=-0.0022 right_z=0.1631 right_yaw=0.0683 right_pitch=-0.3933 right_roll=-0.1629 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -12.6427, 5.9419, 0.8376, -0.4811, 0.022, 0.3834, -0.1162, -2.9744, 6.9128, 1.3407, -0.0024, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9154, 1.8759, 1.5803, -0.9009, -0.6285, -0.7986, 0.5505, 0.0109, 1.0809, 0.9169, -0.8085, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3466 left_y=-0.2746 left_z=0.1517 left_yaw=0.0785 left_pitch=-0.2904 left_roll=0.1402 left_gripper=0.5505 right_x=0.2862 right_y=-0.0022 right_z=0.1606 right_yaw=0.0686 right_pitch=-0.4093 right_roll=-0.1619 right_gripper=0.9964\nstate[joint_eff]: [-0.5812, -10.2359, 7.3094, 1.5311, -0.2564, 0.2076, 0.5592, 0.0615, -3.1248, 6.735, 1.4481, 0.0171, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c369337d49c1427b99162bc2eb3ff8c564bdfcb5fd120114469903be217e169",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc27eaa5dfa9388197ddd5ece0a7efde2cc0b2a51400dd5bb9b51e16b69d600e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7043944e21b783cce3f23b4fa99b96b63b78857ce947861b94bd08000834d72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbocDzqqtz6Yu0Gwh5GhK0tdylbwR1spYt7eT4-oMzEZVg2Mb7e3W9-y7HXXc2KJZFP5nQDXivKdSZupVd_2S_IKsc997h13GRNmpFuWYsXMiv5AR-sSbGjDDAT_Ea2JJwII3hCVsj5WM3FghsxH2fz-PNoj_-887ze5rMiE4HwgS-wczuRXKpFM8rE0HrIQ1WtmGxY-quyd-1onURjjrsmosQmx13eLzIKY7j2B19G0LfCBGYfdhlZOo4sJ_RREsBUoyRe140Eu-FA2vG8R89rUNRKJiOPYQmiR-aAQ5Og1eZjo6vcc-n8cG139cHxCQdS01vF5yj6FSPbPhjft7PFhuZzcsOmYsoqgRrRoPa4-pfy-qJ4jbjG64o2ydcgid7d9xwOyppooJSycAdprCOIheAxuHUuYwAhZ7I1evqJz-RgUwnU9lNk786OnXZ_yxXNrPw09NZxol1v5_R3oz_IE4tKE5MmbmuBIcIE5ZpUJLvMFU_lvXAEiDbn_pWPVVFYiTNQ1LWAugWliQLg87HqJ_4yro-iLuSw3vsgA2Eq6zUcidMaNfJEmFOOTBxBzCqGNwaH-vnvkG1lmlJokJMiXRMjgBAyINNV0rsRs9u_maxuc13W-hhvIezQoWwEDH40L44qoF_QUPGYVEHhSXrGwBFYGxr4CG8pKJv1vYu6_a3XUMt2OYeU6sf7dHnw8BwkHk8DXZ20R7f-q4y8j5ojSz83NdJeitGfyx93xwByk6PGQQMzlntwpfexOv-5IZutRDtx0alHLilx8ScS-uxYNHAwj5wyn9wwolMtRlNV08Ug6V41ojykcWOEFdcvpqT5Ahu8gxyaB0tmFlORQXD2xyCMI7qwssTjhoWKdCPim0IStrwnd_uQsIiESjpDiGHbV0xP0XNGxr4mzcTpYgWFOv43Cs_zv7Z1uTE9Upu8Uct_Rj4R6o4BFub0gcQ-umw-pBB1WHhBc0zHgp3NMqKVrcpQAHUkfuNyz6iLpE_PALhRFWuDAh9EkXZuY4nNzr14ASVpo9HNIewgUp6hjT79JliwugEg55osJnknfsJFNJupaLAkLhRFQ4yawHi9XjbNA-Aikhf8QzuCVzwi3U5WgOykeMbs6NIz3yPH9DCNYmNzbttYoMnCCmtxOmHcDPlH56nOqqnOxYOek4U22i8cbRBcyJfqxloNYau_wbBH8BwYiK_-57aTZp--HENQTGdK",
  "id": "rs_0b04a746a2a82d0d016ab436e7bc9887d0985403514c85dc51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_z\":0.035},\"note\":\"The sideways retreat worked, and the fruit is now above clear tabletop with the blue bowl off to its right. I’m moving inward and down to put it within the right arm’s workspace.\"}",
  "call_id": "call_eWwdyaWUmBvfwSaLzbExoMSm",
  "id": "fc_0b04a746a2a82d0d016ab436e7d19087d0afe544946dae182b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0584, 1.8736, 1.1458, -0.6003, -0.6514, -0.9501, 0.5529, 0.0109, 1.0828, 0.9165, -0.8131, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.2789 left_y=-0.27 left_z=0.0416 left_yaw=0.0671 left_pitch=-0.3236 left_roll=0.17 left_gripper=0.5529 right_x=0.2852 right_y=-0.0022 right_z=0.1593 right_yaw=0.0692 right_pitch=-0.4161 right_roll=-0.1611 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -7.665, 5.5316, 0.9011, -0.5885, -0.0952, 0.232, -0.1162, -3.1385, 6.5983, 1.3553, -0.0269, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671b0a3c653f1b024661a47ab942a82a931d179349db6f72e744e929cc26cd76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68b770c2c0ec8a108de3a88c6cf3bf8e81b75a1a4b456210b133ed52378892e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a22c7fad076e293539468d0f42cfb19d26808796b20234321ef308a26b046924",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.045 s

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

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9825, 2.1101, 1.8595, -0.971, -0.6613, -0.8673, 0.5467, 0.0109, 1.079, 0.9169, -0.7937, 0.0509, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3593 left_y=-0.3366 left_z=0.1392 left_yaw=0.072 left_pitch=-0.2724 left_roll=0.132 left_gripper=0.5467 right_x=0.2891 right_y=-0.0023 right_z=0.1632 right_yaw=0.0679 right_pitch=-0.3926 right_roll=-0.1633 right_gripper=0.9964\nstate[joint_eff]: [-0.8821, -15.8017, 5.9692, 0.9353, -0.442, 0.0855, 0.4371, -0.212, -2.906, 6.653, 1.3504, -0.0122, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9154, 1.8759, 1.5803, -0.9009, -0.6285, -0.7986, 0.5505, 0.0109, 1.0809, 0.9169, -0.8085, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3466 left_y=-0.2746 left_z=0.1517 left_yaw=0.0785 left_pitch=-0.2904 left_roll=0.1402 left_gripper=0.5505 right_x=0.2862 right_y=-0.0022 right_z=0.1606 right_yaw=0.0686 right_pitch=-0.4093 right_roll=-0.1619 right_gripper=0.9964\nstate[joint_eff]: [-0.5812, -10.2359, 7.3094, 1.5311, -0.2564, 0.2076, 0.5592, 0.0615, -3.1248, 6.735, 1.4481, 0.0171, -0.0562, -0.0073]\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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0584, 1.8736, 1.1458, -0.6003, -0.6514, -0.9501, 0.5529, 0.0109, 1.0828, 0.9165, -0.8131, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.2789 left_y=-0.27 left_z=0.0416 left_yaw=0.0671 left_pitch=-0.3236 left_roll=0.17 left_gripper=0.5529 right_x=0.2852 right_y=-0.0022 right_z=0.1593 right_yaw=0.0692 right_pitch=-0.4161 right_roll=-0.1611 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -7.665, 5.5316, 0.9011, -0.5885, -0.0952, 0.232, -0.1162, -3.1385, 6.5983, 1.3553, -0.0269, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671b0a3c653f1b024661a47ab942a82a931d179349db6f72e744e929cc26cd76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68b770c2c0ec8a108de3a88c6cf3bf8e81b75a1a4b456210b133ed52378892e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a22c7fad076e293539468d0f42cfb19d26808796b20234321ef308a26b046924",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbs3r9o-Mphrx7a1Glwcaj_rUzjPAXpkmj3EQ2gDnqLniFU9qxo3spTrZFMYTKXt1F9nIK34KgojpIm2ofjsDVm4Sxlkf_QZSm56jaZU2LOg3IZZz6_33LZ68rUXY2rdAukWa1TvDy81ZkvHXWZNquBhyFkK6okIJfuTGiike5bPaNxtCUqW8rSG_JTN_aNg9rJ7zCWlz3YxOe_MIgzYCXLvtV3svyCPAKKiCiWa-cU6UJPkusgDs4fGb3BjA-QFYIe9P978nxXYix2idPoZcZB-gh-DbHyaCwAoRW9FA5Vk6B6T-f1um8ixfH0A5zgxw1LlkAU0okn5kk5hduQLBAXU1zypWt5GDsPlYcrJrFaivnaaFwUY9FSSkmbVKOUlO2KlXO3BduTo-UKCy-obxjBgxIQ213odjMVZ2IKijWKVFJOoso72AtDc7I5gTa5wxkeilcKYItBDES4hhfGVrXcBiE0XpUTyyC0sjeABT54Bv1604DbU1Bw7E_PfsUTgJ90liGK7V21HL5Brlf7VTO7ev7bRQG5ViUOfF6y8F8Xl44hzmll2c2F2DvUpNkpp3W5iHqg-uoip0rjOlUaGILCVwgAU62_xYIoT3CQqlNHf8c95QJrMQHA40z8zIZYzVyA7iDB9WvVU5UEdhdpL_r7plz8qDDsgT_1kUQ8rRao-H4ixkDhHqb2shVG8kE84xu4Q3ATgGx0HFIgfTkBML1mmMAzz-38nMfDIytILnIn51CAbma5opF3l__ARzt1-ZXqaDJpG6dmhgz-xvGwxhBwhfE80tRlp4oFdAFdYO0FE57GuHAybejmiz67UuQ_sX7yGn_5iLszJY2hR3XjuFEjhFR1RdaX-JfzlDTeNXbKRe-_IRFuWbZWVAg8uXUbEHBkBMvQRluBzTt70hLdrQMNmXsNA2JAxiz4rstDVQFlvj75Hpf1T1eruYoPqlwXOr_HJ7YfmEAU7icDiUn3L_eK8qbN-S65mepVCE0_3ynQqJIrKAnk-8dXPvkdyJZd0uzbwrg_3dgI1rB-9Sl-RhvrBWNN0M_YxH9nK_A9DPEK6gfzrKiQHG92lMSFXi0OH3VbezSvViW0myCsOGkJSgzp031Rg-qdgcqmfx5CoDsRd04ydTrxcni6ghX6pHO_kSu4yIFLgQ9FKXD15qbqNjM7S8PokSvbYoSLV5BUYLVAj3PI-LYEmPgiDKbvyhDL4PI_dlmQkfqmhg8RR0FRNDtUCX5RJIGMuS20D7_CGTf52oH12gbLG2Um_OKwq97J4vIQtmdITIqPfWziQ_W5MMgpGeZ0yfHol31uspPc3Zu0CraXQ4Lr8x2Gxu-cvyjZgmxtXFT2vZLhmkjgIzmCQVskdgQay70ZNWO4lm54vlggLcxx_a7vEPTiVyWWHmd2tFJ6GtVbiyuFm-S2FDaCZhDlsxoS79chizdU6s6Tf-n5Ba6hpFjZu4MwzbNThVmRLg0wMG8fLjBiQc_FeZVaJEPsCkCHK2foLYtCuxxrecVfAeVOCvv0RqdjXUEHHG1W_PdWw-sG3oGkV5YtM2QW-sX0NnGLbY6pbTkrhpvgQkibA3SzFDzhrek__ml0rmbJTpv9Hre0rKBuDqlAD7QtjwPDew==",
  "id": "rs_0b04a746a2a82d0d016ab436ea59f487d0a9c91483222356bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is now down at table height in the handoff spot, separate from the yellow fruit. I’m releasing it so the right arm can finish placing it in the blue bowl.\"}",
  "call_id": "call_OHixzBsDflmzoahM1oK6hBJc",
  "id": "fc_0b04a746a2a82d0d016ab436eb0e7087d095792a6419e171df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OHixzBsDflmzoahM1oK6hBJc",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0607, 1.8961, 1.1286, -0.5945, -0.6468, -0.9619, 0.9954, 0.0109, 1.0828, 0.9169, -0.8131, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.2747 left_y=-0.2656 left_z=0.0289 left_yaw=0.0804 left_pitch=-0.3409 left_roll=0.1927 left_gripper=0.9954 right_x=0.2853 right_y=-0.0022 right_z=0.1594 right_yaw=0.0692 right_pitch=-0.4157 right_roll=-0.1611 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -10.6462, 6.9128, 0.5885, -0.442, 0.0659, -0.1294, -0.0479, -2.988, 6.612, 1.2527, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3444feea0de564388b12339bc9231651246e0a0b4d88ce48c36f25b265c0ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:313eba455c61cfe214bd4a667ca5200c457381c65fc816c0f077912f77b6ec10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86f31386c668ebcbc908b55706ef8a9793d5081bec25b31b404d417f4ffce38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 2.847 s

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

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9913, 2.0518, 1.8587, -1.0073, -0.6613, -0.8608, 0.5482, 0.0109, 1.079, 0.9169, -0.7944, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3511 left_y=-0.3318 left_z=0.1628 left_yaw=0.0546 left_pitch=-0.2622 left_roll=0.1173 left_gripper=0.5482 right_x=0.2889 right_y=-0.0022 right_z=0.1631 right_yaw=0.0683 right_pitch=-0.3933 right_roll=-0.1629 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -12.6427, 5.9419, 0.8376, -0.4811, 0.022, 0.3834, -0.1162, -2.9744, 6.9128, 1.3407, -0.0024, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0584, 1.8736, 1.1458, -0.6003, -0.6514, -0.9501, 0.5529, 0.0109, 1.0828, 0.9165, -0.8131, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.2789 left_y=-0.27 left_z=0.0416 left_yaw=0.0671 left_pitch=-0.3236 left_roll=0.17 left_gripper=0.5529 right_x=0.2852 right_y=-0.0022 right_z=0.1593 right_yaw=0.0692 right_pitch=-0.4161 right_roll=-0.1611 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -7.665, 5.5316, 0.9011, -0.5885, -0.0952, 0.232, -0.1162, -3.1385, 6.5983, 1.3553, -0.0269, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0607, 1.8961, 1.1286, -0.5945, -0.6468, -0.9619, 0.9954, 0.0109, 1.0828, 0.9169, -0.8131, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.2747 left_y=-0.2656 left_z=0.0289 left_yaw=0.0804 left_pitch=-0.3409 left_roll=0.1927 left_gripper=0.9954 right_x=0.2853 right_y=-0.0022 right_z=0.1594 right_yaw=0.0692 right_pitch=-0.4157 right_roll=-0.1611 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -10.6462, 6.9128, 0.5885, -0.442, 0.0659, -0.1294, -0.0479, -2.988, 6.612, 1.2527, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3444feea0de564388b12339bc9231651246e0a0b4d88ce48c36f25b265c0ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:313eba455c61cfe214bd4a667ca5200c457381c65fc816c0f077912f77b6ec10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86f31386c668ebcbc908b55706ef8a9793d5081bec25b31b404d417f4ffce38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbvBiyE7ft7GIom4kaUO7jvBGaTsBs1EFeQOiWUPmQhxzLhL2Vd1oRH-2hNL4SE9dc9MdjduwohMcuxIVQOvESbExLic3kgO5wuGBwBUy-nyQa562pzCtETJ0TyFgrR5HjUYszpXEk0eEOL0WE9eSZnlML6ZpkE52K4e9_VjyCM8s_Ndoa9J5-sKCEuqAy_hajNeWIrNLurrCCv_39XUUI4GJZVbPYOgrcAhI8TJjV1UVNu2sREr1SmshxTAUIr9Szj3gZyAq-KAULxo0qrnXxLo-wgmpOofhOzZ5r0c88TzJYVk_Gm7YVlpfjBmXrFsg2nr7T4xKljnFZbh6eBV_NvLl3i7PKV6lXXkuy26eDs4HHZ-qqoevUMYFWO6tuYzj-plz_G_p0NBk57YaOS6UJeKyDkvBg73w22MTod95FKJqNLNUEskz1jIxKUUQo0JTqajd7ka7g3ra1sSot_tihlqoYOSH4621I7x8kFGle3iMwFiwGXcRZek2pTQTpmyJFbR4boQGSujSICvZum7C2KgUDN5y8i86VxlabkfLWi9SBqWZG4ttj620vPjOJI7AHkQbi42v53f7dB6ey_7eqkXHMHwDSDi56zjteZ9MzwPY0yHLw1USZQNOUJfPIzHoNWs2wZivGQ7BRaynQu5eueSWvDhXKiDZ67VCG4_Zu6VsalZLLjhOFinScb3p3pYPPW7zQhQDPN7avtA1MY3No1FtaB1mXUOZoQYCYjHLKl_qfe-cHzAiI6YW6OMMW80bnxSCVMMfoehMOyOrQzRqSG_elcS-rUKbNtI1ludqw5Zchb5SFDFyIOZc9rp2p8qZgxIFRfzjCpHOE8wfHMH6q5JX_ZIkSjFK_s9z9iUVVKGKCuNmZOFsdro51BuCBR_utGbJY1L4pkV5VP-9REmDimzQywLqpM_zFA43LjXA2jbZM3OHY-QwILrzIFHCaRUXkIzsS_zzKQ5kPiiriIeVq86liPorKH71E5CGv0jX9D9AAYD8uf8BWznkmamZnvAFCAWZip38188awFf1YJWeiN0iCcRK1dZj04c-WYC2LD0s7BjUdluEvIA_wytYhyaKma_Bye7MCHUb7uHsCdRfDtNAALxmOGUuaKHOTH5wyZ3pmjAJt1Us6hJ7Df-jGBERhre8H2MRAuxaNyzBLB-kY6Ugsld3znkkVOuIAjwNIaYNIEZO2iTVbWXqHPv4UC8D1BPu7NDfXPMIhlpbBWF73B7y2G3C6gifx6NkGBxkUtEbeRGzd8XTu2xtUxL_ccsx18vNx85TVZ-p11BeYBB6PekWj1bEqHoHsdkXKuUYcvE5YxPe7cxY2iHH017BdGUQ5kdwFQYIAaOo8vebON1uc2tF0pjCLDip8HEmoMFGkJz6A3_5eP0zGS-pR7MkQuXowAHJM4srcgT8_tXjQ2tDEr_ePvYbYGJJggKLgTipI3-out_-Rw0m35P9Bc9x9I_OtdWBPKDmRIfqxYIVMKdC6N6pwXjtAzte_Qlmgma_cQiOf0BHcUqNesRT4j2KWqtFGPFyK9COfOzZ8p5u_A1Wwa-AS4dQsP3-x7347I_YIxsY_Duk4ZznZBjYx5e1u6OjQ-_LqMm9O9v2eqIbhuBW7svX_K39uHKGZJcxEaaygfUWHU2WuIT1E-hnufgt-3fcyPzqbhSp2z_SVLGxNLji5nXBx_ifLioGWeOAm0NPPK8UKa9ozOb_CBCxNdWxeARJN_IRmO-ipl9mg3sBfMA_cP7fCgmZepo7G7ihcpn5vQJ2EAwLUlknYYg4_dDuu-Gc_lDD6KwoLevprXhI2uXMmiqIgdhmoWn7tWKuSEGbKqnjzL6Y1VfJ7TJ-51lZtlYQhqb9Zdp5yNUwVVLPpfOMK4-lKAL4WdWr0llffY3t2R5i18w49ULA7wVtFGVHg0NeHtEnOwwVIhZ44GLsBfpErSeaNWC8yXZwZIliO2YfzwXl8=",
  "id": "rs_0b04a746a2a82d0d016ab436edb2e087d0b91c7fc73f7d6515",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The dark fruit remains on the table after the jaws open, beside—but not in—the blue bowl. I’m withdrawing the left arm completely before bringing the right arm into this handoff area.\"}",
  "call_id": "call_AnuI12Ktq9R6anbB30MVEWzQ",
  "id": "fc_0b04a746a2a82d0d016ab436eecc6c87d0bbf196bb0eeb1708",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AnuI12Ktq9R6anbB30MVEWzQ",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [-0.1841, 1.1084, 0.9249, -0.7998, -0.2863, -0.1223, 0.9961, 0.0109, 1.0828, 0.9169, -0.8135, 0.0502, -0.1844, 0.9965]\nstate[eef_state]: left_x=0.2918 left_y=0.0001 left_z=0.1633 left_yaw=0.136 left_pitch=-0.3702 left_roll=0.1927 left_gripper=0.9961 right_x=0.2852 right_y=-0.0022 right_z=0.1594 right_yaw=0.0692 right_pitch=-0.4161 right_roll=-0.1611 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -4.6427, 8.9504, 1.2918, -0.0415, 0.2173, 0.0562, 0.0205, -2.8513, 6.5983, 1.2821, 0.0024, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb09793f5a9dd450b9d32943c8cf349c68fc19e54ac1a47b8ce5112ea97d233",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36efffc2c3800606c3b4609e008c242c09175777cd63df4b4aea7064fd07140",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d2968fd268983310765c60ad8115188e1d7822241d830e2da5e1fbc766f420",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.237 s

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

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9154, 1.8759, 1.5803, -0.9009, -0.6285, -0.7986, 0.5505, 0.0109, 1.0809, 0.9169, -0.8085, 0.0505, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.3466 left_y=-0.2746 left_z=0.1517 left_yaw=0.0785 left_pitch=-0.2904 left_roll=0.1402 left_gripper=0.5505 right_x=0.2862 right_y=-0.0022 right_z=0.1606 right_yaw=0.0686 right_pitch=-0.4093 right_roll=-0.1619 right_gripper=0.9964\nstate[joint_eff]: [-0.5812, -10.2359, 7.3094, 1.5311, -0.2564, 0.2076, 0.5592, 0.0615, -3.1248, 6.735, 1.4481, 0.0171, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0607, 1.8961, 1.1286, -0.5945, -0.6468, -0.9619, 0.9954, 0.0109, 1.0828, 0.9169, -0.8131, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.2747 left_y=-0.2656 left_z=0.0289 left_yaw=0.0804 left_pitch=-0.3409 left_roll=0.1927 left_gripper=0.9954 right_x=0.2853 right_y=-0.0022 right_z=0.1594 right_yaw=0.0692 right_pitch=-0.4157 right_roll=-0.1611 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -10.6462, 6.9128, 0.5885, -0.442, 0.0659, -0.1294, -0.0479, -2.988, 6.612, 1.2527, -0.0317, -0.0464, -0.0073]",
      "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]: [-0.1841, 1.1084, 0.9249, -0.7998, -0.2863, -0.1223, 0.9961, 0.0109, 1.0828, 0.9169, -0.8135, 0.0502, -0.1844, 0.9965]\nstate[eef_state]: left_x=0.2918 left_y=0.0001 left_z=0.1633 left_yaw=0.136 left_pitch=-0.3702 left_roll=0.1927 left_gripper=0.9961 right_x=0.2852 right_y=-0.0022 right_z=0.1594 right_yaw=0.0692 right_pitch=-0.4161 right_roll=-0.1611 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -4.6427, 8.9504, 1.2918, -0.0415, 0.2173, 0.0562, 0.0205, -2.8513, 6.5983, 1.2821, 0.0024, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb09793f5a9dd450b9d32943c8cf349c68fc19e54ac1a47b8ce5112ea97d233",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36efffc2c3800606c3b4609e008c242c09175777cd63df4b4aea7064fd07140",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d2968fd268983310765c60ad8115188e1d7822241d830e2da5e1fbc766f420",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDb0y_zH_RTV5HCMT9l2T0Lq_YY6bOSHLvKDkcMOiFby6sdsuVnKh61EpAJ3QnbFLzHlCkVve02yveRx81wuMVzcZ1JO97fnpaeRI5gf9R_rFK-NiHVv-samv2KHJ_B_PtWQRlc5Y1glYYd0MVTy7T-sSXbxwLSZ3j5Mvq7H-AR9mPb71OlfO9CiKeIyY0Cd9J60szyb1kMsty70Qqt8SqiEscumkP1OfphNs8ncp1YDdlJYf79cIlRch9DAlX2XeFXLHG6brDfpUgWOQ1iXYjEeZ7oC0lU82w7HHhKs1NNJvfy1v39f3GHEpkPx1pvAWfnUglqTCfa5NUKa-oZo-tEjVQ4_STnj0calYTAirXhkrtMZnmtfTXH5X4CU-xMhD4-s1wkvVKNFgXETgFxVuJMauePn7gylYRM5AhcWl35w08B0V3TwNX5_gtyg02xPrj_mcQs4x8wkK7IC8daVq7IySYlSbGSmgvBrQp2fWG4ZFOSiQ4a_bLZabxfY2GVzEI2lBkgj_cP3BWE4PBsToaS1wHaSQa9yYXW4cr6ZQ9ExADe_iEF720AM9tFwA8oXgMG6iMdjIQ1kxV7QOIUZuKQcJv7mLAClx0Jhwkgl45sYyxd-1KRul2qg1FCFCfMKWFKfniaojoYqUgSlILfWlsuvNw2WE8rLZQttiyRzw8-nAVTjJd3-AW1aeB6P5c9x80yQwh5JUDRTTGySsKAf18E3OFp6QL9BcB69285spAJY3Q6BDFvWHrq85_8Af7ygYxZiyfOtUE1w0ppCZvyHI3S75kbkJzcXy6qHevBYLtar9nuPMMXcojgO_jxNmDE9gQt4PnK-DIIYgd-4MqRd4oBHwBOda-sgkFAj14eivqMk7W8xj5FZAFzxjXjTr3-uGlEBaOwSjgJiL4Otn8MF-uty5YllxG-IxJllZ8jzFhMST5FdH2t5W3o0rIlWWDmESCFHH29Xy-zyDav91Td_M77cwtnbdzCmeMs0boHuNbmXJ4RMzyS0tKXc0u7ZIt2o-XrrHLRi3cpzEHpB8PzOi5Galgyk-qwhjuJnbu6MnqDk_kwWjWiqtNLoJlmtlrO8txlIsHfUM-MuE4aRNmdZ9_rnNQtGoDkzuOgJZmoTdfT1GMumYLRRvlt8iyzNnfVZ0Sh5BmPduLs-JkeaYhttzgXWUMO0P3GX_aVKbXL-A0PurPWMlKCq5ykg5EPPRsBUvXxg1cq7tfxCnt2ynf0B9daWqZI3UyrwTLjp80VuEfcOgudDQ2wQ3G7sLVUEryEWWaU07cFnON75accjslVQVheHCRIGQtAr13kLk3pP9DBy-qEeBUMjvNGDtwkrhiiLucPEa9whg5E-1KBCquNfl8zxaDqZU2k56jJrLY-NM3DFWcOWP4qeqfj9kouvxY2I4oyIWIhIB286ENyKHd3pQK-mSpir0iW995_oZ7e2m7wvXew=",
  "id": "rs_0b04a746a2a82d0d016ab436f3285c87d0ab4da4346700a345",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.245,\"right_y\":0.37,\"right_z\":0.11},\"note\":\"With the left arm clear, I can see the dark fruit has rolled slightly toward the camera but is still separate from the yellow fruit. I’m taking the right gripper above it, near the inner edge of the right arm’s reachable area.\"}",
  "call_id": "call_ef1WeX3hdCEbvfI4UFOlAYpb",
  "id": "fc_0b04a746a2a82d0d016ab436f39ee087d0beae6a285bd23485",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ef1WeX3hdCEbvfI4UFOlAYpb",
  "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]: [-0.1837, 1.1088, 0.9272, -0.8066, -0.276, -0.1207, 0.9962, 1.1843, 2.0281, 1.6802, -1.0325, 0.5388, 0.9154, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0014 left_z=0.1628 left_yaw=0.1273 left_pitch=-0.3778 left_roll=0.1866 left_gripper=0.9962 right_x=0.2424 right_y=0.3647 right_z=0.1042 right_yaw=0.0919 right_pitch=-0.4439 right_roll=-0.1789 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -3.1795, 6.3932, 1.2918, -0.2271, -0.0562, -0.0073, 0.4034, -10.6735, 7.3641, 0.4518, 0.4957, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a5d5cc47c290e13c70925872c00eea8706445bbc45c07574f92dc29f590af4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd48297253510a794bc4d1832440f70557e5eb9ad9eca43c5598f3aa91b9809c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fa5bb7a3c0dbef53a8b4fedb9fcbb0acad8d2c71fe818d629f8e1bad6881a5b",
      "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 · 2.923 s

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

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0584, 1.8736, 1.1458, -0.6003, -0.6514, -0.9501, 0.5529, 0.0109, 1.0828, 0.9165, -0.8131, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.2789 left_y=-0.27 left_z=0.0416 left_yaw=0.0671 left_pitch=-0.3236 left_roll=0.17 left_gripper=0.5529 right_x=0.2852 right_y=-0.0022 right_z=0.1593 right_yaw=0.0692 right_pitch=-0.4161 right_roll=-0.1611 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -7.665, 5.5316, 0.9011, -0.5885, -0.0952, 0.232, -0.1162, -3.1385, 6.5983, 1.3553, -0.0269, -0.0611, -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]: [-0.1841, 1.1084, 0.9249, -0.7998, -0.2863, -0.1223, 0.9961, 0.0109, 1.0828, 0.9169, -0.8135, 0.0502, -0.1844, 0.9965]\nstate[eef_state]: left_x=0.2918 left_y=0.0001 left_z=0.1633 left_yaw=0.136 left_pitch=-0.3702 left_roll=0.1927 left_gripper=0.9961 right_x=0.2852 right_y=-0.0022 right_z=0.1594 right_yaw=0.0692 right_pitch=-0.4161 right_roll=-0.1611 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -4.6427, 8.9504, 1.2918, -0.0415, 0.2173, 0.0562, 0.0205, -2.8513, 6.5983, 1.2821, 0.0024, -0.022, -0.0073]",
      "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]: [-0.1837, 1.1088, 0.9272, -0.8066, -0.276, -0.1207, 0.9962, 1.1843, 2.0281, 1.6802, -1.0325, 0.5388, 0.9154, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0014 left_z=0.1628 left_yaw=0.1273 left_pitch=-0.3778 left_roll=0.1866 left_gripper=0.9962 right_x=0.2424 right_y=0.3647 right_z=0.1042 right_yaw=0.0919 right_pitch=-0.4439 right_roll=-0.1789 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -3.1795, 6.3932, 1.2918, -0.2271, -0.0562, -0.0073, 0.4034, -10.6735, 7.3641, 0.4518, 0.4957, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a5d5cc47c290e13c70925872c00eea8706445bbc45c07574f92dc29f590af4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd48297253510a794bc4d1832440f70557e5eb9ad9eca43c5598f3aa91b9809c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fa5bb7a3c0dbef53a8b4fedb9fcbb0acad8d2c71fe818d629f8e1bad6881a5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDb7gSGUm7FB7NNORDLTRGzXyli9TGXz9YUVCI7uP5u8uQP4Tfuzn1lkGODHzttpHB8nKOlIvp-kDpXQWm5t_QoUqHpEcTYbMLVqab8Gp3N6cwuk7oo8ViImskEdhAElmxx_9rrjlea5bE36jt_HMdvY8OtHgJUU23sP8VAy1zfzhGa8U_O6AI4VK6Q8SdY4Dv05hJcXnxJ5FcrS1H-wqMsdwDtTj5IBqemauIqAV3vdulMCYE8ncAseBEBFgkJsl5NrXhGAXupnlT46IPMpvYKfsNRCLyfeb5R0RYhQGAzXRwYlZaN6MaKqgPumBSmVSXhOTm0B-_F-GJAoMslqRytVhyuYFRknQxSCMxIRLNEPuRXpVOU1PLAgTHi396oRI76tITJlPkVStjhTuE26TWTjotWa_1ntZ3fb6yo1UtzWFI_XSLO-OHPUdLDOnmsGFdx3wBEM5RphQ3E6IPyP2-sojRxCT4gh_05nKmX-NLb34WIyvwmyPCxK3Ek2FDITEWtQlGaDIeXgIHV0v0JIpI5yUlasLezjWuFiDKbiJtijEA7B56sUC0pqfWyxpsielkV2Vbp_6cZTqISi_0H1S-Zu4ouRpOxWHxT8PEuBiolga-Qe3XQ-IdQQzrOdyUsEFMkGKPN_XEiqmXskKdI8TiRgUW2uwh5DkbmiM7crzwUJrb88zIrupIZyi4khYsj2M7TxwDyZm9pQCTvNRzUbZYcSL96OV3WJNpZEkbC7Tv_WvbSWYdyq9cSsDyPgNV16j3frZ2OqLzyWseqFX-D88VNjKEHF9ZqWV472jjUZIAt5uz0hHU19WyiRLSzEDy8LNN31CtqklDeNqMM6Q6GqwPvrDieTHE6h6PjaubfRsAkMEkhs2ixoUywz-IjLeficH0bugtUld3N4TWOoQz1i31PSH6NXZv31qU1xcg5ywql7XIlZH-QMfjiOcgtv7e1azz877rJnfdAWLJR8DczCxxnMeuWOR_TF23KXAJfcOQIhM3Wo13p3cEjeGD3n2SXQWMzO0NFvXYReLHiCg4zTgKE8J5KKrYwWn5tqOj5YYJJUEcEdXNj0Eh0hvDtG2s71tTsfBl2YOguyIlcCX0W7maopGdZhlEAw9djDhJ8H_7ZrfJmydW7rikel0ubyhIG-NQmanLE4Uz6pkZpj0jYMio0OHgELX1HFnDXG-d35JDeKc6KPUYBPw44QDUXNR76QLfi6TpIgSjHE4X-BPwRYXw4IApETkJj6c3hSzdFWFpQr03NyoGhNw-wLMcfFajyWYqD4vw_RNixtMp_5wDJckn1yjkKe9OXPw6dGP6EE3X3zh9I7r0rLkMBPydvpfH-ZWdE5N0Fz00dckQjSPTglf4SEbdjeo7X1qWSCuHQJJyZhC5lvSSF5xst4ymkg4uHei_VYockwOiSypsCkTn99xIzdkT7g9b1A8ZcQNrZNz_CIYrrbYtzSg4ZHLsc9ZwZX2bRfRBKvFVBWYqp8oh9xi8hq3A==",
  "id": "rs_0b04a746a2a82d0d016ab436f9383487d0a365eed26d630427",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.37,\"right_z\":0.02},\"note\":\"The dark fruit is centred horizontally in the right wrist view but sits beyond the fingertips, just as it did for the first left-arm attempt. I’m advancing about five centimetres while descending so the jaws surround it before closing.\"}",
  "call_id": "call_xNek6KXxb4SlzhUKbcvK2SJs",
  "id": "fc_0b04a746a2a82d0d016ab436fa5b1c87d08099a4782ae6e80c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xNek6KXxb4SlzhUKbcvK2SJs",
  "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]: [-0.1837, 1.1088, 0.9272, -0.8082, -0.2756, -0.1207, 0.9962, 1.0897, 2.1738, 1.5837, -0.7948, 0.5152, 0.8192, 0.9965]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1626 left_yaw=0.1271 left_pitch=-0.3793 left_roll=0.1868 left_gripper=0.9962 right_x=0.2812 right_y=0.3584 right_z=0.0232 right_yaw=0.0623 right_pitch=-0.4765 right_roll=-0.2262 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.0564, 6.7214, 1.326, -0.1685, -0.0122, -0.0171, -0.4991, -11.3709, 5.6274, 0.8864, 0.2662, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa51d9ea248bfef562ad4540355361d23a97f51911a8e4bbb8d7c31b480261d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2855c6aa160f1b027991e1a32f930c754859034253108134327026fdf27b0833",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa3e392e87403f8bf34df8a3a8af8775196e331c370641c4a99a04356c6b429",
      "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 · 3.651 s

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

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0607, 1.8961, 1.1286, -0.5945, -0.6468, -0.9619, 0.9954, 0.0109, 1.0828, 0.9169, -0.8131, 0.0502, -0.1844, 0.9964]\nstate[eef_state]: left_x=0.2747 left_y=-0.2656 left_z=0.0289 left_yaw=0.0804 left_pitch=-0.3409 left_roll=0.1927 left_gripper=0.9954 right_x=0.2853 right_y=-0.0022 right_z=0.1594 right_yaw=0.0692 right_pitch=-0.4157 right_roll=-0.1611 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -10.6462, 6.9128, 0.5885, -0.442, 0.0659, -0.1294, -0.0479, -2.988, 6.612, 1.2527, -0.0317, -0.0464, -0.0073]",
      "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]: [-0.1837, 1.1088, 0.9272, -0.8066, -0.276, -0.1207, 0.9962, 1.1843, 2.0281, 1.6802, -1.0325, 0.5388, 0.9154, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0014 left_z=0.1628 left_yaw=0.1273 left_pitch=-0.3778 left_roll=0.1866 left_gripper=0.9962 right_x=0.2424 right_y=0.3647 right_z=0.1042 right_yaw=0.0919 right_pitch=-0.4439 right_roll=-0.1789 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -3.1795, 6.3932, 1.2918, -0.2271, -0.0562, -0.0073, 0.4034, -10.6735, 7.3641, 0.4518, 0.4957, 0.1978, -0.0122]",
      "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]: [-0.1837, 1.1088, 0.9272, -0.8082, -0.2756, -0.1207, 0.9962, 1.0897, 2.1738, 1.5837, -0.7948, 0.5152, 0.8192, 0.9965]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1626 left_yaw=0.1271 left_pitch=-0.3793 left_roll=0.1868 left_gripper=0.9962 right_x=0.2812 right_y=0.3584 right_z=0.0232 right_yaw=0.0623 right_pitch=-0.4765 right_roll=-0.2262 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.0564, 6.7214, 1.326, -0.1685, -0.0122, -0.0171, -0.4991, -11.3709, 5.6274, 0.8864, 0.2662, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa51d9ea248bfef562ad4540355361d23a97f51911a8e4bbb8d7c31b480261d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2855c6aa160f1b027991e1a32f930c754859034253108134327026fdf27b0833",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa3e392e87403f8bf34df8a3a8af8775196e331c370641c4a99a04356c6b429",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDb-_jUx8qdqBaCE87JScvbLrVllmPYwYJkv7negN5CTVrRMYO6nTPvKBItMqyFC4HO8aXxKy1RZjhS276RJamh7QySmAcGMvwCHJ97qCXfwq9GWtDzM-wLSdBJEm-esx1A1jf3Qk1N0uPX3_OadcAeQAKLe7xzPpwLGR7L_peGVMNgVtFDmPXoLXp6OERYuOjigPyUqdtpMCDNYjfKnyEOft9CdSCoxSeUjz8PPcRT8zmiE_VWjqbyTw9-oCU7e1mlrFyHSfdUQujoIyVz6v60Ro7Xv6p7BBF8v7zDzeHJmj9l05cybEGTE8QxnU0MLc5X7d8m6I9-J7iR7gvx74clkH1iKUCPgrgNxhuTMEHoPSGHdZshBZKROO0LQ9ey6Ijq7zT1-pqlaDz6--7M6jcfGECqfvZP-hr_4wH9DdXZZ7fH4fpzVYWkkGRtaDgA1Rqv3hCx17J3RRz8dZs-qdzpFSnV4GkqwPi8jfaxPDWcoEkifZtbBN5OqptAGBOpvR9R4NZxeSBkagAwH_fRoT7kiJkDH4-TbP6PTLRicjCuTQUD5bgVIZeCuomuDV0AWcB5nLwHLAFeiP1MM8SNva4UENrlOVvIj4AyqamodwTlr4XRcN0EPU-pFDs4AP6Pt1uyS5xw1KCiFXohLKzee4wcIYnOoE1mwzJG5ieIoMhSbm_77opN43_1d3Je0hG8xTkSWzPQ9kiM0HLaw-6kXU0A7M4DL_gChKFSpiVv4C0OGAzb9UIcm3OYICjUzrUsWkPb2pjndEaCHYVnuhGtVmGHxXPPcFUbGKBUCsHjH8ruSpQ0rvX5nMPYuDrevCfR9VkgOHKI4MtpJ-5pJ1JcgOOajmbMce8MyXRt8a78nTqA_z1vJxrsCstIIgk779AbmUnq3CgpLTyiXRVRsZkbIVir7Va_SNkMSLCW5j2xjG2-BCfu9t_k43TzBi4vWwv0cQ5ui4Uc29B6Avs9Ig3pia-wlZzcvEX7JyrRthr6sa-jTBDXkl929S8rBhYJfiFQzvQfG5h7OPljFf--owKqoclWVkKhmCqy-5LIWTCZ6w5dDliIV7Zo9NAlHbM5Bt32BANyzEdEFmiY12NQD5JwFw5UVN61xsuGvJxZktBFFrbKPsaz2JVj8RsiwCQJ3f1YPWnKsmjHxWUw7ch9Om_u7r0Zouuf-VW5y8LcoyLSZl7Qvq7gky42L8nw_Dg0Ggb-WIM-PFjwLHzvtdB1XcWylHuKuPn39vJ3CdiW0e0S9WcVsPVRIBjDUxlW5m1qMGe73_zKMtZMUyCbYXxZ15qieO2a3YspJf49_B4wk6jT1Htxo1ZcWP5ztwWV05mzYta0wtXEj8KtkCCvHIFV7PvSi1VRH992w7NCWzA_cvBBBOy7GMPt5BGpRjqO9cKKzV_bSPchaLuztd13gF8kM8Crvo9Aq6907tO8WUanFt7y_rXIcBVkw-6ugdgRKwatSpvYWp-ACWaVXXbb5JVYDqPuh1hK4Rw==",
  "id": "rs_0b04a746a2a82d0d016ab436fcec3887d0b5c8e5feab8d8fcf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The dark fruit now sits between the right jaws at the bottom of the wrist image, and the yellow fruit remains to its right. I’m closing on the dark fruit.\"}",
  "call_id": "call_cqqQ5jwPjEqxJMev3aI78zdW",
  "id": "fc_0b04a746a2a82d0d016ab436fd8bd087d095a6763ab1dce2a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cqqQ5jwPjEqxJMev3aI78zdW",
  "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]: [-0.1837, 1.1088, 0.9272, -0.8085, -0.2756, -0.1207, 0.9962, 1.0889, 2.1929, 1.5768, -0.7898, 0.5011, 0.8112, 0.4507]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.1272 left_pitch=-0.3797 left_roll=0.1869 left_gripper=0.9962 right_x=0.2784 right_y=0.3569 right_z=0.0121 right_yaw=0.0631 right_pitch=-0.5002 right_roll=-0.2429 right_gripper=0.4507\nstate[joint_eff]: [-0.0615, -3.1795, 6.694, 1.2332, -0.1734, -0.0269, -0.0171, -0.1026, -13.3128, 6.188, 0.5006, 0.3394, 0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1352c42469f491ea5eb29fa89d4acb5c9b111ff73d700ed226a5e025ecea5af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de78b95bba57649614713fbf7e6b6203ede9f0aaaaa48e9c0f68056d216cd53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84674019735d90d908f05cd149af6f7a6c46ee401011ad4a96eb6d740d104e7",
      "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 · 1.962 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]: [-0.1841, 1.1084, 0.9249, -0.7998, -0.2863, -0.1223, 0.9961, 0.0109, 1.0828, 0.9169, -0.8135, 0.0502, -0.1844, 0.9965]\nstate[eef_state]: left_x=0.2918 left_y=0.0001 left_z=0.1633 left_yaw=0.136 left_pitch=-0.3702 left_roll=0.1927 left_gripper=0.9961 right_x=0.2852 right_y=-0.0022 right_z=0.1594 right_yaw=0.0692 right_pitch=-0.4161 right_roll=-0.1611 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -4.6427, 8.9504, 1.2918, -0.0415, 0.2173, 0.0562, 0.0205, -2.8513, 6.5983, 1.2821, 0.0024, -0.022, -0.0073]",
      "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]: [-0.1837, 1.1088, 0.9272, -0.8082, -0.2756, -0.1207, 0.9962, 1.0897, 2.1738, 1.5837, -0.7948, 0.5152, 0.8192, 0.9965]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1626 left_yaw=0.1271 left_pitch=-0.3793 left_roll=0.1868 left_gripper=0.9962 right_x=0.2812 right_y=0.3584 right_z=0.0232 right_yaw=0.0623 right_pitch=-0.4765 right_roll=-0.2262 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.0564, 6.7214, 1.326, -0.1685, -0.0122, -0.0171, -0.4991, -11.3709, 5.6274, 0.8864, 0.2662, -0.0073, -0.0122]",
      "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]: [-0.1837, 1.1088, 0.9272, -0.8085, -0.2756, -0.1207, 0.9962, 1.0889, 2.1929, 1.5768, -0.7898, 0.5011, 0.8112, 0.4507]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.1272 left_pitch=-0.3797 left_roll=0.1869 left_gripper=0.9962 right_x=0.2784 right_y=0.3569 right_z=0.0121 right_yaw=0.0631 right_pitch=-0.5002 right_roll=-0.2429 right_gripper=0.4507\nstate[joint_eff]: [-0.0615, -3.1795, 6.694, 1.2332, -0.1734, -0.0269, -0.0171, -0.1026, -13.3128, 6.188, 0.5006, 0.3394, 0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1352c42469f491ea5eb29fa89d4acb5c9b111ff73d700ed226a5e025ecea5af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de78b95bba57649614713fbf7e6b6203ede9f0aaaaa48e9c0f68056d216cd53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84674019735d90d908f05cd149af6f7a6c46ee401011ad4a96eb6d740d104e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcCkHiLjNkizhfPrfKDeyvpYTrKNZkfDH810aODZ7vctyaI-gWTpObVDVoDhX4kzG_avDnfLJOQ0-pHCgpWxxokbf92NkLU-7me7hf63TaWnj8PqDPZVudwEIfaOw9HyHyQbP6DPziSHyIW81dPfDxL2g7v23JdD8BxnX9E9qUermFKu3tIoipAFu84UNKjdC5GT4gYs6ytcVw9N6fyLgaiEi4YpC8C43VdQQQbbtcAm7TaGFLapDe7-p4Hj4abixyxV1zt5-68d-8RqALipghmXiMHN03oEZl5TZXvv0sCVwj_tQFOqkCZ7ZI5iqchqlpH_0zAORZ_PYAAMo7NVYTX-FrS9bIphUtmn3zjldsgq2GKaVRgoZUF7eZ4zn8Ede6jxYJgMhp-UNnhlkpXzuLO8yhHf-cI-aq2L3mv6ZCVGWQqYQURiNevHdgSG4_KVlvezp8ryNvKgUHDebYv1wjmw01L72AMA7uT2AX8fEd_53xopJ74thF8rd2xAB0TGx2kkTsy2orJqNunKCo7GjecK_miQgBVcu0CgaJqulNq3xKCxDN9T7kkKHU1e7KZgCL4mlfDO9TbPxXHzCWT1-TAggHJRdKH6AaT8AnppYSlWB56HTYo_3N1PokOV01EMejzgetkNyTZPRd3c2U7UOfoj_IMXG54GlXsbpMFjU36221z2Mwa_8y1qeyRhZhuLolene9t2J0ZfsYFpM5bxen_H6AI18oOnyrxMJN6IwqQI5YzkCc32N2v5JEEqNxWgTg8XQz14pUakPSxbw4iggeNhRBmDB3O9SSBwRL3eMzQlbKPILwghQp0PZtTuv9RCIniRzEqpjLOYGvOguBfiJhvoxij_sKHAnKjKn2tsT5R2ERdCLlLmA4fC19T72bvkaMuzdDkmgPkEQ_bMX98h8m5zoVV425rxyOMU-kKcoN5YwAkGYf5Xm1e8awlvc0T2eHDKH4gqe4jwjkhAON6TEJveyCbex7ocCKEeqhrB9CZfn7hoozn62xOcmAyrpfoeQSeQi0nBNxaMVmSabhIC102xtc7JOPRs2Tk6A7C9xiauk74b3y_m1fvMf46SFS2vlF88NtPcKphjiHfvATQYtVkH7jXrbXItCOvxG346QmL7HuEFLKtZ6KI2V5dA-b2f5jBzuLLBX_YytHItaDbmXJ9DELlAfMFux6cNwjmKTZk2BPunXBklvhSGipK0QKID7ByXtrGMsexe-TbspvSUqixCyhJ_Ag8WIHHF07S9jqotYSksedNoBVZ5IISYSK_i1FiQRSPU3jYmJJPgVIcCsgyzA==",
  "id": "rs_0b04a746a2a82d0d016ab43701153087d0809bd8d92c8feb53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The right gripper stopped at about the dark fruit’s diameter, suggesting a firm grasp. I’m lifting it to verify that it has left the table.\"}",
  "call_id": "call_ODjC3O26d1MAARmc9Czu2mnz",
  "id": "fc_0b04a746a2a82d0d016ab43701644c87d098c4090961bc9660",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ODjC3O26d1MAARmc9Czu2mnz",
  "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]: [-0.1837, 1.1088, 0.9272, -0.8082, -0.2756, -0.1207, 0.9962, 1.0901, 2.1574, 1.8503, -1.1233, 0.4931, 0.8028, 0.4507]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1626 left_yaw=0.1271 left_pitch=-0.3793 left_roll=0.1868 left_gripper=0.9962 right_x=0.2787 right_y=0.3613 right_z=0.0917 right_yaw=0.0611 right_pitch=-0.5207 right_roll=-0.2667 right_gripper=0.4507\nstate[joint_eff]: [-0.3214, -3.1795, 6.5709, 1.2234, -0.1734, -0.0659, -0.0171, -0.2667, -15.1316, 7.3915, 0.4957, 0.3541, 0.0562, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dfebdfa738ed74db9003488d104c47a7bab7061c8ac1527cc26f9d395def726",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37bb6883ed329ebe8ad6f2ca725befec16ac46b657bee5e8f24ddf132f5a7384",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc9f1eb8472055252c99354f90888948a73cc5f3c1500b785061b5c23551ed4",
      "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 · 2.783 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]: [-0.1837, 1.1088, 0.9272, -0.8066, -0.276, -0.1207, 0.9962, 1.1843, 2.0281, 1.6802, -1.0325, 0.5388, 0.9154, 0.9965]\nstate[eef_state]: left_x=0.2908 left_y=-0.0014 left_z=0.1628 left_yaw=0.1273 left_pitch=-0.3778 left_roll=0.1866 left_gripper=0.9962 right_x=0.2424 right_y=0.3647 right_z=0.1042 right_yaw=0.0919 right_pitch=-0.4439 right_roll=-0.1789 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -3.1795, 6.3932, 1.2918, -0.2271, -0.0562, -0.0073, 0.4034, -10.6735, 7.3641, 0.4518, 0.4957, 0.1978, -0.0122]",
      "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]: [-0.1837, 1.1088, 0.9272, -0.8085, -0.2756, -0.1207, 0.9962, 1.0889, 2.1929, 1.5768, -0.7898, 0.5011, 0.8112, 0.4507]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.1272 left_pitch=-0.3797 left_roll=0.1869 left_gripper=0.9962 right_x=0.2784 right_y=0.3569 right_z=0.0121 right_yaw=0.0631 right_pitch=-0.5002 right_roll=-0.2429 right_gripper=0.4507\nstate[joint_eff]: [-0.0615, -3.1795, 6.694, 1.2332, -0.1734, -0.0269, -0.0171, -0.1026, -13.3128, 6.188, 0.5006, 0.3394, 0.0513, 1.033]",
      "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]: [-0.1837, 1.1088, 0.9272, -0.8082, -0.2756, -0.1207, 0.9962, 1.0901, 2.1574, 1.8503, -1.1233, 0.4931, 0.8028, 0.4507]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1626 left_yaw=0.1271 left_pitch=-0.3793 left_roll=0.1868 left_gripper=0.9962 right_x=0.2787 right_y=0.3613 right_z=0.0917 right_yaw=0.0611 right_pitch=-0.5207 right_roll=-0.2667 right_gripper=0.4507\nstate[joint_eff]: [-0.3214, -3.1795, 6.5709, 1.2234, -0.1734, -0.0659, -0.0171, -0.2667, -15.1316, 7.3915, 0.4957, 0.3541, 0.0562, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dfebdfa738ed74db9003488d104c47a7bab7061c8ac1527cc26f9d395def726",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37bb6883ed329ebe8ad6f2ca725befec16ac46b657bee5e8f24ddf132f5a7384",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc9f1eb8472055252c99354f90888948a73cc5f3c1500b785061b5c23551ed4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcFQX2AyTiZpXS1IVmVFwYVmVG5v0-lJ1z8noot2N1WJ6Jx1dRsiEB0R47yzxeY2riucfhXPnLLglb9qZwE7C63mnagam2RPQcL9jLhue0S0OwOumjguTqGHExEQ-4D8IUtnpSueSTm7KGtxkITVE_X4JvDU-HKA5Ics-mQgrVz9ppUivGcWUuvYpDSwALZDn3f3RTSKGzc6-_e5LweqdCEvhzE9HD-uS4IMEU4PqkDZqTUuaCxqkSmAIGXiCHJZu8rlZqLgokDtnulWvL5DH3O1cTnwSgacGoM0W6jL01m4FF6QMzYRUju9DmgvbFCvU8ztvF0_XqlrBVjHPyx-OTHt1gauL8x7nW1ACPRvPlZ-EIcbVM41Y3Xt5JNOWNXJ3Ar0FARD8QTkAC9-_IxKCOyIb1C1BQfhEKMZJYC2qm6GhEUf0sjk8TwVW-5GxGUAz-s_1SSx4w0KH0Z4883IhGB5wfuyvyvMngOxi6JfPtjVvSxptQbS1d3ShVAly0tgktNzeYffHNrOS2ncDrsIVWqi6khrKlfvYTHoQYsUKvpQPnxSNnsq5rcEUG18Q02Pm6FOAdaFAruSI3qt6dPDvGuaZjgdLkBIzwMuPdnhBeIX734XxI5772Sun69Vx9lv_9kQd_Bn3xGh6rm-hBsGGSeM35KATQs31JLP10sYlsdVHw2WrfwraZbBIcoT10t1bkPNg3T-jtTMcdSQw1MgxDhVSM80_i2oWtq1SIR4LjlYIqlhomU5Khyf4_YRTWl33clUZEYZrexPqBpQoZ6CQs7PTejzEkg_uWbKMh00J-wzpWsSJaB29zO0nbrjygZ0EzcMIdXn_2y3cCoPx_kF5-6oq51Nt1tJEme_TigO7-yEQiGXb5AM2wxRRkB7Hvfvy0X8m11rtVAQbwcAFOd4AKftGLrNRgK_BTkL-YdRCLY1y-La9yiZJN-oto51V1fbYUlq41tXfzDApsvg3mauouN0gYD9H9TzR5G1dqawDGWifLjawvnotF0txXhztD_xpr0tXY3Dp-Y7yq3DtSjNEwUA83MRjvJUYVSPwL1bs0-T-lNp_5b03YC867vrf3iN-ynK2xnmnos3bTQWOJ_vrPlLB4SKgJD9lLlOrVF6mRT241qYhyie5kN3FcJnYYMLI4vgN8LiDhzQBTP0CCui8_rV06fxDTVoIVydzjFYyzdOogEVMYoN-xzzNLp_ZMECIwuwmEupqtN4vSL4aIaLbqfDUHsh3jngQXif4SRaL3E0gcaKKsjM9j1ovqnE9-N61dLXaP624XYdYFX3JECXBW80ANsMb-5fiTYSpgj1ITkmYs=",
  "id": "rs_0b04a746a2a82d0d016ab43704ef0487d0ae9783f155f2ce6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.19,\"right_z\":0.16},\"note\":\"The dark fruit rose with the right gripper, leaving its table spot clear. I’m carrying it over the blue bowl, where the pear is already resting.\"}",
  "call_id": "call_eCyFEB63PFylYZKUbR9mzKnW",
  "id": "fc_0b04a746a2a82d0d016ab43705222087d0b0ded94cb85c3c56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eCyFEB63PFylYZKUbR9mzKnW",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1088, 0.9272, -0.8085, -0.2756, -0.1207, 0.9961, 0.6075, 1.8935, 1.6489, -1.0477, 0.3676, 0.3023, 0.4549]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.1272 left_pitch=-0.3797 left_roll=0.1869 left_gripper=0.9961 right_x=0.3794 right_y=0.1908 right_z=0.1356 right_yaw=0.0271 right_pitch=-0.5894 right_roll=-0.3078 right_gripper=0.4549\nstate[joint_eff]: [-0.3624, -3.1385, 6.5983, 1.2234, -0.188, -0.0269, -0.0171, -0.2393, -12.5607, 8.212, 1.072, 0.1978, 0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ba4680db319856bbadcc5c4806e57edb8feca456a6bf92508b28df4b92a487",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8767d221e21ca967468346fa8db3b2042324a696dafb6edfc60a0dae87458ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d34cfb3dd8fb633fac3a3e34a9633e63a30d5403a41bf9d17ee27a85e4c7d63b",
      "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 · 2.515 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]: [-0.1837, 1.1088, 0.9272, -0.8082, -0.2756, -0.1207, 0.9962, 1.0897, 2.1738, 1.5837, -0.7948, 0.5152, 0.8192, 0.9965]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1626 left_yaw=0.1271 left_pitch=-0.3793 left_roll=0.1868 left_gripper=0.9962 right_x=0.2812 right_y=0.3584 right_z=0.0232 right_yaw=0.0623 right_pitch=-0.4765 right_roll=-0.2262 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -3.0564, 6.7214, 1.326, -0.1685, -0.0122, -0.0171, -0.4991, -11.3709, 5.6274, 0.8864, 0.2662, -0.0073, -0.0122]",
      "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]: [-0.1837, 1.1088, 0.9272, -0.8082, -0.2756, -0.1207, 0.9962, 1.0901, 2.1574, 1.8503, -1.1233, 0.4931, 0.8028, 0.4507]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1626 left_yaw=0.1271 left_pitch=-0.3793 left_roll=0.1868 left_gripper=0.9962 right_x=0.2787 right_y=0.3613 right_z=0.0917 right_yaw=0.0611 right_pitch=-0.5207 right_roll=-0.2667 right_gripper=0.4507\nstate[joint_eff]: [-0.3214, -3.1795, 6.5709, 1.2234, -0.1734, -0.0659, -0.0171, -0.2667, -15.1316, 7.3915, 0.4957, 0.3541, 0.0562, 1.033]\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 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]: [-0.1837, 1.1088, 0.9272, -0.8085, -0.2756, -0.1207, 0.9961, 0.6075, 1.8935, 1.6489, -1.0477, 0.3676, 0.3023, 0.4549]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.1272 left_pitch=-0.3797 left_roll=0.1869 left_gripper=0.9961 right_x=0.3794 right_y=0.1908 right_z=0.1356 right_yaw=0.0271 right_pitch=-0.5894 right_roll=-0.3078 right_gripper=0.4549\nstate[joint_eff]: [-0.3624, -3.1385, 6.5983, 1.2234, -0.188, -0.0269, -0.0171, -0.2393, -12.5607, 8.212, 1.072, 0.1978, 0.0855, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ba4680db319856bbadcc5c4806e57edb8feca456a6bf92508b28df4b92a487",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8767d221e21ca967468346fa8db3b2042324a696dafb6edfc60a0dae87458ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d34cfb3dd8fb633fac3a3e34a9633e63a30d5403a41bf9d17ee27a85e4c7d63b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcK6ddn_c6pYH9QQTx_xUnZCdoF56ss0c2rWzr8FsJS3ku6jN2xkjfrmoDEoSIkSvrRxc8unCCHD6k_V4Zm7HsEt0Vurf6r-hqTkjIvVi81TIl1LvBqcKXLu7Ez-N_oBJogtVleBApbIYRl99W9sd5xfsnaTY8grwASD_PKxcFjmLFjjWPF8B36eMohDumZQ2PoZ-TMjEkTi1WBT9rkBT8BoeZLMwspxR7ymcZntA6gnQUGksZagrB_uZLCEfVTVRybD7YA8Ow87NF5r9I8QoZbrggVgURxm0TxkWQzgNPSr5j7FBnNmO8ZixhM0UHnESnjUKJnq_v0lvCd-Ne09F8XCGy8GfG9Ujx5NdeRU7O1rVxS2n_p2CZA9rtzM-E8WfODOrIYurzyg-0TgxMiiets4QmSnR0Ge8l87EPhquHL7DILcbFOwccSkf6mVsuzKnYDPiydpYeNVDVW-kv-zCKwbk_KnznfehAXJxIlKdiac_70QnfJSWd55vD06nFSs75GBDuO3F4aM83itYlWpHAvZ-JGoPkEiUDHpcPVa6I_SwXpMOcLroEbb1aTRpbls8VfI27VdTN7lWHTr6TwV2meVgJoX0fs0rSTlBafZG2lK4E79SLaE5rfkVBC_zOiiVbzmANK32nEyEhD0zCtVsYaBlZqZQBHTESTTP_IonzvzvTvJk_c38GtUo5nNWw_QTMvpwIutDSUCdH0gk5Bw9Hosgct73WaEBNq4XKhM-vwnc1aoxXS_3XZP_RU0H0ZWvlPuNY5YGNNOeq1D8GcuqFZ6f0Zs61aamX2CqQ6Bm1wkRPd0sNTfJGTg69GoeM7PsXcGFW-LDJDalY_3HZHPKVsnHUo3HplqhXTQXxJ3VS1iK6NsdbHq0pal-n1elE1tmxBTFd80mDGGUPnxisFBlQh9g8kQa-GHYRnxeGIBmSolQb9w3FggoolbcMbvmHn-NkndaGzJEj9vf2loUh3e_cHjH9z0xYFJ6EiqkFOmpBe50IpjaMssmkbSTciY2SBjhyMrGBX4f8Rg-VwpoSBjnjPbeWMLQTKTygfkjb2WuWqtCsRd5qhh8ZRyfIGN257sjXC3U9jbp16aatQmx-fSmOV9WOIix6r8QKvQlTYTaWJwBvQ5E3n4aKF77Njed4aHtcq7myHQ0RIhH3cc_BBkOAFiMZ_1U9qoBmyWzCBPz0xCt0O4X2R2JWS_KD_HPrRu2jMGxnmW-MD3WOdA12QM3sIJqx1hlCGROfxSogqOiyu5VSIp3N4zJsrQg34uPFlEEu7qjMgArat9d2_a6Pqmno9DIVXRSNNIuEHSu6qNFarUhHIGRuPBgJTZOiSLq9AUtgT2cBG3Uz-USxJognLWwGMqcMm-RmcagIQ0_9V_qSsyF7zco3f93beeBSZckCBwWptLEmcajmSDmK10Z4ZBmjBzT3pgCbCKOnGuGKhpjlsc_PnZd_RxT9Snx4AoDzOfj3huegsDj_Y20dU400qnxpuezh6N2oiP7YJ1mI5xpaykPM4cIDxUGY6pr529i4fa7Z0DGbtfOcGdMVHiF-kplh4Q0i_vDiBCF1ulY3ReooB-cuTUS4OrDWlGjHjqGCK7K2aC8xo4bcEfsfapu6M_mn00UdTVZTxMEwGGfvud3E7ep6rzF9hT23qGC6mPpwGXCCKwcuLeh971gkybCLI4zXmgEOiQrfM_34Jvu6dqApBSCMfI-Hxyw97oOL269rOBeBKSpJQE7X6oEsiso9EU_9tHA==",
  "id": "rs_0b04a746a2a82d0d016ab437081dc087d08908a75981e24973",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.19,\"right_z\":0.09},\"note\":\"The dark fruit is aligned over the blue bowl, above the pear. I’m lowering it only to just above the contents so the jaws do not press into the bowl.\"}",
  "call_id": "call_23GbcLaAW36NlLrhCeApIvfy",
  "id": "fc_0b04a746a2a82d0d016ab4370951fc87d096b48d519486e591",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_23GbcLaAW36NlLrhCeApIvfy",
  "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]: [-0.1837, 1.1088, 0.9272, -0.8089, -0.2756, -0.1204, 0.9962, 0.5827, 1.9434, 1.5871, -0.9459, 0.3599, 0.2684, 0.4549]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.127 left_pitch=-0.3801 left_roll=0.1873 left_gripper=0.9962 right_x=0.3905 right_y=0.1871 right_z=0.1018 right_yaw=0.0261 right_pitch=-0.6072 right_roll=-0.3234 right_gripper=0.4549\nstate[joint_eff]: [-0.1026, -3.1795, 6.5709, 1.2479, -0.1587, -0.0122, -0.0122, -0.5949, -9.7846, 6.2291, 0.8816, 0.1636, -0.0415, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978041fe8bea68450cd7de8910fa1c15c7d960cd2ef32e4cce53a390eb4e1d25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8fc8a1831baec19dc5f879d9deee81951b73a362dc9e87306ca6e980918a68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e0f3fa09f67c28356fa8c879d7875c2b2afec05ee600395d1f4e32dc97ec831",
      "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 · 4.115 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]: [-0.1837, 1.1088, 0.9272, -0.8085, -0.2756, -0.1207, 0.9962, 1.0889, 2.1929, 1.5768, -0.7898, 0.5011, 0.8112, 0.4507]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.1272 left_pitch=-0.3797 left_roll=0.1869 left_gripper=0.9962 right_x=0.2784 right_y=0.3569 right_z=0.0121 right_yaw=0.0631 right_pitch=-0.5002 right_roll=-0.2429 right_gripper=0.4507\nstate[joint_eff]: [-0.0615, -3.1795, 6.694, 1.2332, -0.1734, -0.0269, -0.0171, -0.1026, -13.3128, 6.188, 0.5006, 0.3394, 0.0513, 1.033]",
      "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]: [-0.1837, 1.1088, 0.9272, -0.8085, -0.2756, -0.1207, 0.9961, 0.6075, 1.8935, 1.6489, -1.0477, 0.3676, 0.3023, 0.4549]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.1272 left_pitch=-0.3797 left_roll=0.1869 left_gripper=0.9961 right_x=0.3794 right_y=0.1908 right_z=0.1356 right_yaw=0.0271 right_pitch=-0.5894 right_roll=-0.3078 right_gripper=0.4549\nstate[joint_eff]: [-0.3624, -3.1385, 6.5983, 1.2234, -0.188, -0.0269, -0.0171, -0.2393, -12.5607, 8.212, 1.072, 0.1978, 0.0855, 1.0281]",
      "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]: [-0.1837, 1.1088, 0.9272, -0.8089, -0.2756, -0.1204, 0.9962, 0.5827, 1.9434, 1.5871, -0.9459, 0.3599, 0.2684, 0.4549]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.127 left_pitch=-0.3801 left_roll=0.1873 left_gripper=0.9962 right_x=0.3905 right_y=0.1871 right_z=0.1018 right_yaw=0.0261 right_pitch=-0.6072 right_roll=-0.3234 right_gripper=0.4549\nstate[joint_eff]: [-0.1026, -3.1795, 6.5709, 1.2479, -0.1587, -0.0122, -0.0122, -0.5949, -9.7846, 6.2291, 0.8816, 0.1636, -0.0415, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978041fe8bea68450cd7de8910fa1c15c7d960cd2ef32e4cce53a390eb4e1d25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8fc8a1831baec19dc5f879d9deee81951b73a362dc9e87306ca6e980918a68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e0f3fa09f67c28356fa8c879d7875c2b2afec05ee600395d1f4e32dc97ec831",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcMiNG-kNNXpvdo6R8CWcVMzzf189R882yPEFJBLWiivewwWp6UNUquZ_e1hWsJ3qQcvBZYGZbZShI0LhtH-tF69pKi9jpsiy6x-qLDZ_1vhXPnB0eURGpMmbiK5hIhZp2FI_ZYQmdeFQRq5NePRvIrFfyRa7f6y_HAPOiWRm7GSY8fZcXPe-jw7ezVjCm7guSL9DuXYRrx781rrqnOEefm1UjoOgaLGDQkZtJIsFQglVHWHHVJVlGsnBNONq888kMuFF5sTjfdT8nvObUrLgEzVRktICcgt1uvvJTB67ukpBaTsC51bktpr_Elae1MjEKrlEA45gDTF66-rxyKfnLAk8d04Lus-8BbhliZ7naeoP7-QVFYNj6-ziVc5LQByXOuC9IEJRv9MK4yyYE94F15Piw7f-WStEnLLl2foR4nCjUvg-vSLNmGtKcpmLL6NHpOBNSUw64a2I5wDym2PAiM12b4MO4slfauAwoV90-QdZOwOPLEX2irNJpFKQ4URwBPI3-2wv5buM4amZ27Y5f6V-uB1eFQjQfiNrB7Wf7DyO0w-vc2nlcSfD_kZ6v41y975xeVkORM6lyqbqo8qcvVpkPIKKRtfVZesHWhY41hOAlMGa0ySdgtFT7FYi1gXh-EDpkUvAZK3WrbpklqGmuqpXS7H0bIo_8rXTM7z_Nx7bKuFUi8Tx_8awL4EvOC5O_nWIQmaqIgjNcBqvg_FRHJvOUmWCey_LowVKuVVXqhb9cibYNXny_t9-hj_khXQtuTa3vpoGFhSWoELkOcFpE7zxN2e3vdCAvQtW27WJK0HGxImzxituOe1vjqCUSvYrCoH-wqzg122k9rsEtVkYuOGKrqERTbZ0gJ6O6bXEVD81ARh2yrXiThd8jkdThSXOVsmKGd6o3g1XjZF3C4kR3S1S2UPKRlo6lhmq5dtSmbY3ygiSfoaD_2POTOWJuXndqXZtekJu0aFgZsmf-Q_2krFNNrs5edfw4ZegFqSLUQwoR102TlZNcW2BVbhk2vybcwRwLWHf3IImRQrfVL5h0OjcgaVMkL-td0XUzlVzykCGOYhfGCALHy_M0_YfYdqtQG1_VR-IEeqgIRADkwpJZAQ63C_Shy4_9cKHdq-i0vFnXBFa8XLOEeZfOP7BaYtuSLAj8Z5Pmr1r6q8yIT-WyiRiTyRH9u82cyupNalBMxSd4=",
  "id": "rs_0b04a746a2a82d0d016ab4370bc4b887d09aa875397124d687",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The dark fruit is suspended inside the blue bowl’s opening above the pear. I’m opening the gripper to drop it in.\"}",
  "call_id": "call_ed0vz67Q8GwQbfwkd6zytTo2",
  "id": "fc_0b04a746a2a82d0d016ab4370bf7e087d0a9a613af5777ce07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ed0vz67Q8GwQbfwkd6zytTo2",
  "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]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2752, -0.1207, 0.9962, 0.5777, 1.985, 1.5627, -0.9016, 0.3531, 0.2607, 0.9957]\nstate[eef_state]: left_x=0.2905 left_y=-0.0015 left_z=0.1624 left_yaw=0.1269 left_pitch=-0.3801 left_roll=0.1867 left_gripper=0.9962 right_x=0.3931 right_y=0.1877 right_z=0.0795 right_yaw=0.0236 right_pitch=-0.6305 right_roll=-0.3341 right_gripper=0.9957\nstate[joint_eff]: [-0.3761, -3.2068, 6.5983, 1.2479, -0.1099, -0.0415, -0.0171, -0.5128, -11.6581, 6.8034, 0.8816, 0.1783, 0.0317, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b1169ee33115e501cfbc3e4dc466826f592fa4972f73907e0623a41a75f602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387ddb62463b34a05668790856d7a7d7b1ff62a9b50995c698648c1009bdc263",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd392a77dd5c9618af20764f724c8c1e5b738bc0933ea0cf8d463ee88e7da7d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.311 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]: [-0.1837, 1.1088, 0.9272, -0.8082, -0.2756, -0.1207, 0.9962, 1.0901, 2.1574, 1.8503, -1.1233, 0.4931, 0.8028, 0.4507]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1626 left_yaw=0.1271 left_pitch=-0.3793 left_roll=0.1868 left_gripper=0.9962 right_x=0.2787 right_y=0.3613 right_z=0.0917 right_yaw=0.0611 right_pitch=-0.5207 right_roll=-0.2667 right_gripper=0.4507\nstate[joint_eff]: [-0.3214, -3.1795, 6.5709, 1.2234, -0.1734, -0.0659, -0.0171, -0.2667, -15.1316, 7.3915, 0.4957, 0.3541, 0.0562, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.1837, 1.1088, 0.9272, -0.8089, -0.2756, -0.1204, 0.9962, 0.5827, 1.9434, 1.5871, -0.9459, 0.3599, 0.2684, 0.4549]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.127 left_pitch=-0.3801 left_roll=0.1873 left_gripper=0.9962 right_x=0.3905 right_y=0.1871 right_z=0.1018 right_yaw=0.0261 right_pitch=-0.6072 right_roll=-0.3234 right_gripper=0.4549\nstate[joint_eff]: [-0.1026, -3.1795, 6.5709, 1.2479, -0.1587, -0.0122, -0.0122, -0.5949, -9.7846, 6.2291, 0.8816, 0.1636, -0.0415, 1.0379]\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 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]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2752, -0.1207, 0.9962, 0.5777, 1.985, 1.5627, -0.9016, 0.3531, 0.2607, 0.9957]\nstate[eef_state]: left_x=0.2905 left_y=-0.0015 left_z=0.1624 left_yaw=0.1269 left_pitch=-0.3801 left_roll=0.1867 left_gripper=0.9962 right_x=0.3931 right_y=0.1877 right_z=0.0795 right_yaw=0.0236 right_pitch=-0.6305 right_roll=-0.3341 right_gripper=0.9957\nstate[joint_eff]: [-0.3761, -3.2068, 6.5983, 1.2479, -0.1099, -0.0415, -0.0171, -0.5128, -11.6581, 6.8034, 0.8816, 0.1783, 0.0317, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b1169ee33115e501cfbc3e4dc466826f592fa4972f73907e0623a41a75f602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387ddb62463b34a05668790856d7a7d7b1ff62a9b50995c698648c1009bdc263",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd392a77dd5c9618af20764f724c8c1e5b738bc0933ea0cf8d463ee88e7da7d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcRbLxFAn4TXUEowNqPAouWZnOZ7rAxcl_N5WsHNsP9iuhn8iUip3k8cbH7TzwKSbBTarnPHmNdliDCq8ZblKqn57Y_pKo9EygqhBEnPhIjQ8k2WaZRHRHAbm0NR-EGfjF7Rx5TwyjWIi7O1ZhXNt34e-Riii2GjuJB6oqf_I4l7g9QH08jmVHcYhc0Rpy204fOqbLM9jcVErcHf0oZRDoaeUwf6ewXVoYnlqcgBSAVs7SC0UiwdhgObNAqAp2Xak5cOmHX66pZxgI_bvx679-VM92q-FtwNafryBL6R3cOWn3WjSRJq5YI1hDzupIOwJw0E1vdJgnQGYepRcwSY6__sJQ67ZR0lEqQ-L0AYCCmKX3S0ORMy_tymm6lkMbXVSx2amZ34KRzuBSxdqDFn6RrzNtaAIgImhkVA3qihxRLfwZDHuoJPBIo2QFUVW47g53-yvBEGkVaCcL9Gk3uc0sLP7R2bLgztwd1zvWUygDpIgTkZ7E4yDbOd8Q03MhRhGAWXCE0x8Vt4S--pdgWURHwDB4UVXB99ErC_xo8HTcUwJHlXsfVpi9yeYBDXY5VhOBBb2RyRrcp_CEPAf2FHdyd1-if227nK4HHag8UUrqAAWyRt4sQswPy60qfPW6NzBCUmSK_x8iggDFIzqDRqCEm2qC2H3mztwyrZzNb8vYvJuhFYFvP4DBD20kVfZmrVJWPC_lAQOytRl48GcDdV77OqfUIFKX8Ou9ezPbXl3r4YS_2dlffKbh7CLB2XLBvI1kTzJslnNTlVV7-3cBCgyhlRDWN6YA7Vau6tDmCdGIPvdWf-4D6wPWsCK_TKQP8pEu9GQ5uMZ008Nyc_kty5tVmim8wDPXQXARnHlngz7yWyIMu6mtRYv_y1RrmfN6ufSUXHmaZZmrQu60a6hIcC3z5PLi7JgQ18q62wmrnarIqVgBaxQvw03Wsvh26SIg5UFiOK8uBcLm4NpdtVARf_xkqmd-Rtl2gpOvS68MT16jqdVNJ7lyG4sYzzeyDa4rMBlTmB6zRH2pEi74_zZtJnKK48KwRZ-KgyP7A0XtJB0X5Us-LJl5LYowCUw6NDQjTJpyu8cNbsTcwg4UPOiEkvJdzZ3YOLYGb3nTWME3yADwbAp9DR0QxwxpQvjHLiVBGcUzVSsa5N5vV1tWwToKl2OIE1aOC0YTre4syU8y6AZeAq_iYiHNhxIxhMiDnkFRK9bNg8Ts5DmTE1EgTQcx1Xuppi7sTGBg2dvXUSG-l5bZO80pqrqr5qXm1YFH_m8PsyW-9TZ2qwi4dfZUtd26B196W9Mz6q2_kDplabP4YdCOuBf8_Q09w8gW1sMfAaOhUmominE_IKqWpJ98lMuSKPL3lUAcoW6oGl5PLK0PDKMgYItBN1l2x4sMYfOqoKD4DEJOz_giTCx4NDh4gt52V7ndhURP-Q0AMiMhtDWkqtDxHhd8o9agOepZ9gkU_W8yvO5PmLHd3_IFWCbjwiifbD5KVR9SAKvu7oyjBm6uFKkQ_LG4fH0tQDPHnWtfH0KMg63m2wUQF1gCy3WxZ87fgC26e1qn1QEx15oT05by8ynIX6jjxCZS-ieIQNUETViNdTTmPQ2Ql9C2FO60Abe3x9_KI-eJcSPZ0bkFvL4qGkYnqHA-GVg522Ct5l-wO525HoOtQPQ4F906bOCzrimkNFVGgGs6aVG8sgHZrfkBfJFcJDD1TYVyeuWpFEDRueW5e6hHp5vqpAW-j77CeOiyldnaewTJbn7p1EpEJKv3x1SW9uaE=",
  "id": "rs_0b04a746a2a82d0d016ab4370eaae087d0949922cca5539bee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.28,\"right_z\":0.14},\"note\":\"The dark fruit is now visible resting in the blue bowl alongside the pear; only the yellow fruit remains on the table. I’m moving the right gripper above that fruit, just to the bowl’s left.\"}",
  "call_id": "call_GwOyu9UtbwXQIwN02eguE8Ie",
  "id": "fc_0b04a746a2a82d0d016ab43710411c87d09f6f8c9290038945",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GwOyu9UtbwXQIwN02eguE8Ie",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8093, -0.2752, -0.1207, 0.9961, 0.8734, 2.0518, 1.8965, -1.15, 0.3977, 0.4664, 0.9964]\nstate[eef_state]: left_x=0.2903 left_y=-0.0015 left_z=0.1623 left_yaw=0.127 left_pitch=-0.3809 left_roll=0.1869 left_gripper=0.9961 right_x=0.3416 right_y=0.3067 right_z=0.1428 right_yaw=0.1632 right_pitch=-0.558 right_roll=-0.2619 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.1385, 6.612, 1.2283, -0.1734, -0.0708, -0.0171, -4.465, -9.5385, 6.147, 0.3639, 0.4518, 0.2076, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ced88e5e958689a504aec5fd92973814288cbd05ad00b6f78f0b6cf0f75fad57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879a611fae6352981fbced26ff400ddb5000c1747b0548ffa726da7989ba3899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4ab6241b0435f2450644b12e104480d81404e26dc4c186260f63a2cc08ceb1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 4.036 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]: [-0.1837, 1.1088, 0.9272, -0.8085, -0.2756, -0.1207, 0.9961, 0.6075, 1.8935, 1.6489, -1.0477, 0.3676, 0.3023, 0.4549]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.1272 left_pitch=-0.3797 left_roll=0.1869 left_gripper=0.9961 right_x=0.3794 right_y=0.1908 right_z=0.1356 right_yaw=0.0271 right_pitch=-0.5894 right_roll=-0.3078 right_gripper=0.4549\nstate[joint_eff]: [-0.3624, -3.1385, 6.5983, 1.2234, -0.188, -0.0269, -0.0171, -0.2393, -12.5607, 8.212, 1.072, 0.1978, 0.0855, 1.0281]",
      "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]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2752, -0.1207, 0.9962, 0.5777, 1.985, 1.5627, -0.9016, 0.3531, 0.2607, 0.9957]\nstate[eef_state]: left_x=0.2905 left_y=-0.0015 left_z=0.1624 left_yaw=0.1269 left_pitch=-0.3801 left_roll=0.1867 left_gripper=0.9962 right_x=0.3931 right_y=0.1877 right_z=0.0795 right_yaw=0.0236 right_pitch=-0.6305 right_roll=-0.3341 right_gripper=0.9957\nstate[joint_eff]: [-0.3761, -3.2068, 6.5983, 1.2479, -0.1099, -0.0415, -0.0171, -0.5128, -11.6581, 6.8034, 0.8816, 0.1783, 0.0317, -0.0659]",
      "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]: [-0.1837, 1.1091, 0.9272, -0.8093, -0.2752, -0.1207, 0.9961, 0.8734, 2.0518, 1.8965, -1.15, 0.3977, 0.4664, 0.9964]\nstate[eef_state]: left_x=0.2903 left_y=-0.0015 left_z=0.1623 left_yaw=0.127 left_pitch=-0.3809 left_roll=0.1869 left_gripper=0.9961 right_x=0.3416 right_y=0.3067 right_z=0.1428 right_yaw=0.1632 right_pitch=-0.558 right_roll=-0.2619 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.1385, 6.612, 1.2283, -0.1734, -0.0708, -0.0171, -4.465, -9.5385, 6.147, 0.3639, 0.4518, 0.2076, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ced88e5e958689a504aec5fd92973814288cbd05ad00b6f78f0b6cf0f75fad57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879a611fae6352981fbced26ff400ddb5000c1747b0548ffa726da7989ba3899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4ab6241b0435f2450644b12e104480d81404e26dc4c186260f63a2cc08ceb1",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcVaOY7l5KupIe9DFjwm-ODfqg27QFNFCGi9JN_c1RqU44PYKdrzRIG45xZfHEErP35gQ91It_KRl8YRzGYCoPt3_uMhwmBcX3V7ArVa8QYTdr2Iysym-VjlTuVTq04XCaBugBakHv7hjQzFvI0jkyGukZBya8a2VCS-erljq7lMgBZodncUOSJ0JdfHUSJYAORkewpAHb1iOqv6Jf8pXu7WsCR_9QbYOrdwFxFuNYVdDKqstxpltob1L7Xby4CYDpDooX-n2X0ILntrjL3rLtMciuIUtLSNRejXYSL0hsqwcXEpArCRkPh-LbrIKSJtIK-99r7PDolX4O8bs7n000H1csD168Iz_KEaRCis557nmZRrgs0T-Bp2NhvEDaApV6fGtp6gvBzmM2ZbcRUucE86P5a_WXgElMQf_KcVdv4b2UQ3vg4JXDj0XAIapiuy8XwEhOlOH5xR0YVIO1myhH-5_fHNBDG8fLujXFBSNOnKGpxGC1tmAHNsc_MJESFp9F5mfD5pZrOzb2KUzGx7H-3B7mxUEwY0DFfANgB051QqKWWhy33teAkzYDsmPiBODTxYjx5VsZiBb9ba6Lmd7qsaT8WGT6nOJyJW_Hm7bGy4XdUNrsHmtntEshUubqnDafeoJ5pL1umEx-Q_xUtcaVaYAPmEFwwerqcFyyV1GgatUz4leflLS75V3HKliS0oAmcdmsURHUYL2cBBfKqL44uPXl3kuHAemlTKlkmVecD3Tkj6s40miD6ewiLSEpeWhkpT3x4Z07bQSWRogPBEc750OJKL9l3HN5vz1eoAimcZUPCnpwAuXFTDVf7ne1Lu3CyAIeglyKm4ryahEf_9UhQyxpLDeGA1fM6ec6rs-WhqgXC2D0zb2Pkr5XUGX-WZw_df4ixkZdEymrd3ywr-paNaUis9N2wPZzQFBbaynQI9ByJXvSbNvtrf-FnC27Ovy6aIS3jTbCjtP_g5yYmDDJzIwZZ3zeqYP4rrYTvtaReeAMxiy7fAQ_JscVFzAFnQNZ9AFPgos1Duv51AEy0RrM4w9ItKXsCj3dQpIBSn9Szs5rRyvbmqMXC7HIw0gqcSCYyrfU4cLUrb8I4xInS3vkmx2v_e4qH8XJPK-v_cFVBP5RKoph0UcscWDCdlci_elrTbUDfikbNMpP1Il8RVcZ9ef3iBFgw8EUOuHlvIXX1194XcqStrrKSHAZXNCRJpM_4XkmhgF8DGfEDWH8Qu06anyGBgFzIP5OckykxzpPQffdGVQg3-OtoYPGGlBoEX8Y5l5brG5tHBUG1BdqwXawTh6wMFPU-lBRbkcuw1TR8GcKlwF1pXGgsWnuoNIF5ejPHZqkB2NpYBr63wsklY9yXaQYxv_4Cik8HFXDNSK6uqAJOgxJb8I0na_hG6wkBb-Qk_5Rc8KBr-Am9_TKQiekH8G_pjqSRSaP6QDpNjt9wlT0ELWZldsq5dQTtvSyRffUFp0sEbSjyVDifwgf7aBjMj-U_hne1dGQw0bg3qVyaMek5vqQgvJDGK88McXd1X1J4dT0QIF9lEgGboPw2NwnT_QVXBq3TZjjB7pg7ysX2K4T_fPHQkSkkFtU6wC48x_Ka0qtfVWbx2KT0Klr_BDIryqEiuME19kHPQzCJaWO6CjDTE7ZTQhMB8a9pmhOfy_vvHncEqVNq9DopAIAgEf1oOpdkp7B4OINtpbAvZwMVpMhla-NSiaJLw4GcnKzHZPclZVk5P3Xt2xGgvt2kxrl7IrOiQMFKe7Q_7POVG9Xbjznwk31zS5qJMo2xPD68d9TUB1qBUjP5_RrKhH9Ir5CnAJh4qS1f9P8j4PKLO0Tc2wk3KC7vodNDckvrIgkN2-N5LSBRgK_dkiP7qS6L9zY0oGZuDtejlcWPjL4l4f9XNn1hthA3ovCw0vXzJIMrLLRm4FKElQMtqQ3cLSsB3qKWyvMJKsPh6M78rB0_MklbvEU4JnIGfE6qCplnTFF2Hp4C9QI9th0p0lD6MSokMCDRiHONNsa_ux3P6ctvc6VQdQorFhL8c40ZBg7f8Ux7_xeDokN5oOcZpkYBgBoyGkARcyJM92nIrn3Fn8M6xW5mLFXxtCcVW7BCfEK85OzTtFOS",
  "id": "rs_0b04a746a2a82d0d016ab43713192887d08b1d434ecedbcad0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.30,\"right_z\":0.025},\"note\":\"The yellow fruit is centred on the right jaw column in the wrist view, with the blue bowl immediately to its right. I’m descending and advancing a little to put the open jaws around the fruit without catching the bowl.\"}",
  "call_id": "call_AiGkN2jUTY9JRL3jSVR8Jjli",
  "id": "fc_0b04a746a2a82d0d016ab43714d69087d0b4bc88e5ae3b54cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AiGkN2jUTY9JRL3jSVR8Jjli",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2756, -0.1207, 0.9961, 0.823, 2.1349, 1.5818, -0.7773, 0.3855, 0.4183, 0.9964]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1624 left_yaw=0.1273 left_pitch=-0.3804 left_roll=0.1871 left_gripper=0.9961 right_x=0.3566 right_y=0.2921 right_z=0.0305 right_yaw=0.1412 right_pitch=-0.5918 right_roll=-0.2945 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -2.9744, 6.5709, 1.2186, -0.1978, -0.0659, -0.0073, -0.3077, -10.906, 6.1197, 0.862, 0.1392, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a834fa2e366a00d8464d1e4c5c1f8771aaade4406f7be6b9c92036eaddafb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5b35135d60fc48e6277c276442cbaaa6d9060c8ab99c27e60eacfb7b897a018",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd9ebaa2526920c969bbe6adf5e30d0801b7463baf0db541a0eed712d02d1a3",
      "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 · 2.211 s

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

message 123 changed as sent

message 131 changed as sent

message 135 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]: [-0.1837, 1.1088, 0.9272, -0.8089, -0.2756, -0.1204, 0.9962, 0.5827, 1.9434, 1.5871, -0.9459, 0.3599, 0.2684, 0.4549]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1625 left_yaw=0.127 left_pitch=-0.3801 left_roll=0.1873 left_gripper=0.9962 right_x=0.3905 right_y=0.1871 right_z=0.1018 right_yaw=0.0261 right_pitch=-0.6072 right_roll=-0.3234 right_gripper=0.4549\nstate[joint_eff]: [-0.1026, -3.1795, 6.5709, 1.2479, -0.1587, -0.0122, -0.0122, -0.5949, -9.7846, 6.2291, 0.8816, 0.1636, -0.0415, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1837, 1.1091, 0.9272, -0.8093, -0.2752, -0.1207, 0.9961, 0.8734, 2.0518, 1.8965, -1.15, 0.3977, 0.4664, 0.9964]\nstate[eef_state]: left_x=0.2903 left_y=-0.0015 left_z=0.1623 left_yaw=0.127 left_pitch=-0.3809 left_roll=0.1869 left_gripper=0.9961 right_x=0.3416 right_y=0.3067 right_z=0.1428 right_yaw=0.1632 right_pitch=-0.558 right_roll=-0.2619 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.1385, 6.612, 1.2283, -0.1734, -0.0708, -0.0171, -4.465, -9.5385, 6.147, 0.3639, 0.4518, 0.2076, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2756, -0.1207, 0.9961, 0.823, 2.1349, 1.5818, -0.7773, 0.3855, 0.4183, 0.9964]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1624 left_yaw=0.1273 left_pitch=-0.3804 left_roll=0.1871 left_gripper=0.9961 right_x=0.3566 right_y=0.2921 right_z=0.0305 right_yaw=0.1412 right_pitch=-0.5918 right_roll=-0.2945 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -2.9744, 6.5709, 1.2186, -0.1978, -0.0659, -0.0073, -0.3077, -10.906, 6.1197, 0.862, 0.1392, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a834fa2e366a00d8464d1e4c5c1f8771aaade4406f7be6b9c92036eaddafb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5b35135d60fc48e6277c276442cbaaa6d9060c8ab99c27e60eacfb7b897a018",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd9ebaa2526920c969bbe6adf5e30d0801b7463baf0db541a0eed712d02d1a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcZnaD9xh8CtHbZ_elMPJh_teiod5N1aOO-0s4-HobNPETo2Ch_9RvsOFXsNxXVcX7SM4Ub5UXZqmKpnscPLRUaad0zTi22i4ML-muNoyVFgRqefbBunXilRa-MkfhYnmG2jYS9qRKu42sNjuVziKMqcpgzh9rZZTwf2Ds9nOxoPqhIguQIsmRyE5VWIgv7uXZ2TVf3INaIYxStyoSCv4xmBDczehNqNL3idonUs69QIjKWO6LfSMP9bbO8srHyXrE6i8M-8t07hZMNTT5oWn0onDXUY5B411_oIP6cifPr2utTjfhh4UbuzITm6Agm0M5Ak2b11-z8-6aMMnjbOmZnCrdc0g9k3c2yZikK183WB_-Cb5aiOyfbZbU-GRq6bO4vqM4O0-sWX6Pw6ZiwLRKIIA75wOGGmZ9p3eEst8rn4H7Gba_313fudxGrkRZza6G1h7qwX8HNRVpIl_re0jZ-lPoCnnImJV9nY5hhOhRC7hy7kGrPGhXmAxVHA8wPgy95qDcduFPPTkWnf6n1UBkdxH39Od54uWAE7fsD_-I2U6HuerVzEcYC9FtrpoyL6BUVsymqIvSAiUPXnzblUjuzU1VQJ7_jKul8yvN4IDKEdwLVHAdIcdDEjqgmscySqHsNZYyDnMtq2kBmpTnJN6E0AN-Br33-RVGbwHxE9J4BL1jZQyQrjECanEr08PC4AxxQ11LsTetYaWlNBceN2ochdth-osH490ejdHItI4_EmpKsFsA0IsKnpnVCp_5KfM-4qwKA8tG6BMGNW1u8oyJoTRuWcd6fkO0Aa_FIKukndAW8aoEUTzNhZ67TY8CafNvuOABJ2-EIlBvN4RnoqetO76VMznPhvJcKLnkJVooT4vmjg8pPJBP2VlfV6g5k60UmgxAx9QJb13tuswVSG6XPcWsU-9B7_7IznHXngA_o6betb3MrB3D7Z0M1QT3tqBazSteqocSvS7jazHH0SSVw5nOsO530QdzrO_D9z56ZLAn7YWAKkbZwVYEfU9x7IToXPTpuB_PfHcq2Bo-y5bv1AB73uIJw0YgvKo0vf6ktFs1ut0kv_gGhHvKywA9RGya9NtIFOEnk5kngW8hcoLg_OHrpw4l8u9VfwVuyCcVJi4WrG7gGqHkIPvNhepojd-BHjQgIdLxs8ItNtYj4DWquVRQA1JEKIt4Q8vH9F67KLxOfN-rBOcI6v7MFSdv98HY8xIZU5tOKg4y4V8VQmFuChef-lfxLKF-l0WGj7L6-EtQMvP5RuqeuwyuHqRw7Pq15Tir-dZBJ1vGOv73t8YhsHAOWRlmjUk7-XFDCRg-z3vLs596GRqtSdQweqqRqn1doTbZpcA-cKFrOt9mJs_xsxvLhbDQkEIO5qmoiwbJPcf3YMwATTGr87uK0HO6b2o02iUxhVzvQ-ToIwenHrcAarDA0uhX--G_a9FcHtfniC6M9_x3AHYEcafSOR9e1PusZf8waUMuzFotqDEA-An5l_u2IxCNadR0weVm5ChuQYryMhRGofYZx5fpXv4prLLsQqUk5xZ9amssdxeJTNfgQ6xI5VbudSBfJqkPSyAl7o05wq9Z8RepH9v6FJ0Q8rFgusnZkc6956kbarpaW0GCQUVy9Ezm0cWL2Gg-O9F7sCZRRPjhVBnbMd8lyr6B2RL16erqqGuJ0ddOrRaLwE0YcBkRbEj8RrKbs0T-eCOkZP2yClW6B1MBz_GSuqEgHVj9Y73Utkfkwykq6vAfirZyOj-6ckHvLvVRUNNexED2ZMTHyu1ij9pbGv5XxxBJrQK8esP65ZQRs8s4U1HAT2npowQ==",
  "id": "rs_0b04a746a2a82d0d016ab437172fbc87d0888bc863e931a8fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.28,\"right_gripper\":0},\"note\":\"The yellow fruit is now at fingertip depth but sits a little right of the jaw centre, with the bowl rim close by. I’m making a small sideways correction while closing on the fruit.\"}",
  "call_id": "call_BRcFJWvcfThlFvXd0uv3B57T",
  "id": "fc_0b04a746a2a82d0d016ab43718c18887d0809a1f4d6e7fb654",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BRcFJWvcfThlFvXd0uv3B57T",
  "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]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2756, -0.1207, 0.9962, 0.8066, 2.1414, 1.5406, -0.7593, 0.3801, 0.3954, 0.1914]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1624 left_yaw=0.1272 left_pitch=-0.38 left_roll=0.187 left_gripper=0.9962 right_x=0.3543 right_y=0.2802 right_z=0.0164 right_yaw=0.1302 right_pitch=-0.6219 right_roll=-0.3233 right_gripper=0.1914\nstate[joint_eff]: [-0.0479, -3.1521, 6.8034, 1.2527, -0.1636, -0.0366, -0.0073, -0.5949, -14.7214, 4.9436, 0.7399, 0.1538, -0.0366, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c63356ca86dd4616dcb99a20895512573c3c6f347be553858656cc8495414a3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31424ee2a43d369836fc5d11a861bd92415ec5c823ae3c598b0070cd1b717ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd3e5d3d2512f6e584f593d7251d642418943793a63a14a2bd60352e93eaceb",
      "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 · 4.46 s

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

message 127 changed as sent

message 135 changed as sent

message 139 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]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2752, -0.1207, 0.9962, 0.5777, 1.985, 1.5627, -0.9016, 0.3531, 0.2607, 0.9957]\nstate[eef_state]: left_x=0.2905 left_y=-0.0015 left_z=0.1624 left_yaw=0.1269 left_pitch=-0.3801 left_roll=0.1867 left_gripper=0.9962 right_x=0.3931 right_y=0.1877 right_z=0.0795 right_yaw=0.0236 right_pitch=-0.6305 right_roll=-0.3341 right_gripper=0.9957\nstate[joint_eff]: [-0.3761, -3.2068, 6.5983, 1.2479, -0.1099, -0.0415, -0.0171, -0.5128, -11.6581, 6.8034, 0.8816, 0.1783, 0.0317, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2756, -0.1207, 0.9961, 0.823, 2.1349, 1.5818, -0.7773, 0.3855, 0.4183, 0.9964]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1624 left_yaw=0.1273 left_pitch=-0.3804 left_roll=0.1871 left_gripper=0.9961 right_x=0.3566 right_y=0.2921 right_z=0.0305 right_yaw=0.1412 right_pitch=-0.5918 right_roll=-0.2945 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -2.9744, 6.5709, 1.2186, -0.1978, -0.0659, -0.0073, -0.3077, -10.906, 6.1197, 0.862, 0.1392, 0.0073, -0.0073]\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 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2756, -0.1207, 0.9962, 0.8066, 2.1414, 1.5406, -0.7593, 0.3801, 0.3954, 0.1914]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1624 left_yaw=0.1272 left_pitch=-0.38 left_roll=0.187 left_gripper=0.9962 right_x=0.3543 right_y=0.2802 right_z=0.0164 right_yaw=0.1302 right_pitch=-0.6219 right_roll=-0.3233 right_gripper=0.1914\nstate[joint_eff]: [-0.0479, -3.1521, 6.8034, 1.2527, -0.1636, -0.0366, -0.0073, -0.5949, -14.7214, 4.9436, 0.7399, 0.1538, -0.0366, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c63356ca86dd4616dcb99a20895512573c3c6f347be553858656cc8495414a3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31424ee2a43d369836fc5d11a861bd92415ec5c823ae3c598b0070cd1b717ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd3e5d3d2512f6e584f593d7251d642418943793a63a14a2bd60352e93eaceb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcdl4bQB3qVAZeHZxJsV4FTtMWfjTor8lIXIafiZXSD_O5zX2T0SPq1aw1m6v1uKs1UGCOfN6aiC-ZoVQQ_Vzo-WuoxVfhyGJMA7IubXXaIXCopCim8HAvZAYGRHFCoVuMH2AvTAzTHYnyHJWDitRiaijhJ6jCeUbJ0PUncbkcZMfLyOyUBjV7vWgSfK3VcHuZ01R8sgZyVGm6aUbgBh0zBsQ9GNq_OmiFl4lbTFJwb5-ulzvuDdxhFkdebcUntXq86lTBCapTugbNQBoso4IxKTNwTrgcof7UiX0RE2r5RYMc_qG2qKfq-tJy0nN9X6xefWWTBi4BV1NnkwO5QE6WmulGIWRY8iOtYyVFBq6LJZZCmGwM5xlvIf6UyB0fuJH4jo0FhCjkqqEMPS7AeHEOZKDBIOZP32jJrcDb4U8xmLIs4BnJtHiJaifURcG5GkAg9VQSizyHiENjmQIj_EAFMaVgBaj0S8dMFJ7b7Dao8v0hujwZ0Nl_FPJ_JkKUstyfLq9qR4lNZRAcBrWMvtKf-TjUAvVbtJdBgZVgxRJoRe5KQT5p69vVi4U0apk0WwPjRCMITGOre478AjyJ0gx5VlzzTQRzxsizUf7hlMmM7eaGljaMnG-w0fPXWFF6j83znrz5iqtaYQKrD1q5KaEUv4o-1e3N30D37hD4CFGzBhmWI31zozrWt7OtBdD9h4HxGtkte_sQ1Pcj1aVT3MQkYGSvodxN_ZKi6eiyNwj7TSA7Dt5_dtiKGfkOZf2Qi9pWR-rjFUXXXoWC9yFGPI6FBlpK3f4uYb-01lC-ezcAKGCjKypvG2ucxsZseNMGXBExTLnVqhC0kOa3OYqA0-CYTxBFgiCZlYCvR-d52CsEHlHWR3grHDkuvftfzSfMDOEy-vRVpcQ2XbEhpBkBsquAjWRJQbGyxzKDqGTm4B41WfgFdroh8Gb5T2iaTLi3cvlKl8yVFUR6mrJ4rKaYhaRuXwC7mSmsRJ10aqOkv7-s0_t1uBFVDrWY74EwD_X7p9nCP-9gCGe7pZlSxuK-R4w8SjfXwi5dFZDNxvdHZhiwPaNSxVeNJwqZZ0FUgWigjOkiOr1RYaYKMRRZsLppI_xcf1LwkK6H945ghcMSJ67BzhmGSXLvJSixksQaFVHm8CRUXYe9rVamWSA2RWf-4VpAtlTY5HkhZHhZRUedoJPJ0V-Kah2xxCl7qpOdHnuptd0vYovMrpSdDGwVY83GkY3QopI8CIIkq7FGY_atI2t9-BxoLlW4d8xrn0vJfdU13Zg2q",
  "id": "rs_0b04a746a2a82d0d016ab4371c56d487d0a32b9aaa0adbd815",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The right jaws stopped partly open around the yellow fruit, and it remains between the fingertips in the wrist view. I’m lifting to confirm the hold before moving over the bowl.\"}",
  "call_id": "call_Rvh9pTcBv0FfQ4LLQGYQ9qxt",
  "id": "fc_0b04a746a2a82d0d016ab4371ca2e887d08a39f5ed2dea2ca0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rvh9pTcBv0FfQ4LLQGYQ9qxt",
  "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]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2752, -0.1207, 0.9962, 0.8104, 2.0884, 1.7836, -1.0527, 0.3809, 0.3916, 0.1909]\nstate[eef_state]: left_x=0.2904 left_y=-0.0015 left_z=0.1623 left_yaw=0.1269 left_pitch=-0.3805 left_roll=0.1868 left_gripper=0.9962 right_x=0.3563 right_y=0.2846 right_z=0.0965 right_yaw=0.1371 right_pitch=-0.62 right_roll=-0.3238 right_gripper=0.1909\nstate[joint_eff]: [-0.0889, -2.947, 6.6667, 1.243, -0.1734, -0.0757, -0.0171, 0.0205, -13.9419, 7.3915, 0.6227, 0.3785, 0.0513, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee9fd18a3ac1da5a5be38ba38202391fb033f8f8a42e6903dc696076d143038a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd627691f12c10b51bf4ded58c2f8b9aebcb306a6f93010665f45226cc5b25af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f226baef2d88facfccebd7d2551b08a2122d6187ee3ee9cf98b4e4e9a85b3762",
      "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 · 6.688 s

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

message 131 changed as sent

message 139 changed as sent

message 143 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]: [-0.1837, 1.1091, 0.9272, -0.8093, -0.2752, -0.1207, 0.9961, 0.8734, 2.0518, 1.8965, -1.15, 0.3977, 0.4664, 0.9964]\nstate[eef_state]: left_x=0.2903 left_y=-0.0015 left_z=0.1623 left_yaw=0.127 left_pitch=-0.3809 left_roll=0.1869 left_gripper=0.9961 right_x=0.3416 right_y=0.3067 right_z=0.1428 right_yaw=0.1632 right_pitch=-0.558 right_roll=-0.2619 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.1385, 6.612, 1.2283, -0.1734, -0.0708, -0.0171, -4.465, -9.5385, 6.147, 0.3639, 0.4518, 0.2076, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2756, -0.1207, 0.9962, 0.8066, 2.1414, 1.5406, -0.7593, 0.3801, 0.3954, 0.1914]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1624 left_yaw=0.1272 left_pitch=-0.38 left_roll=0.187 left_gripper=0.9962 right_x=0.3543 right_y=0.2802 right_z=0.0164 right_yaw=0.1302 right_pitch=-0.6219 right_roll=-0.3233 right_gripper=0.1914\nstate[joint_eff]: [-0.0479, -3.1521, 6.8034, 1.2527, -0.1636, -0.0366, -0.0073, -0.5949, -14.7214, 4.9436, 0.7399, 0.1538, -0.0366, 0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2752, -0.1207, 0.9962, 0.8104, 2.0884, 1.7836, -1.0527, 0.3809, 0.3916, 0.1909]\nstate[eef_state]: left_x=0.2904 left_y=-0.0015 left_z=0.1623 left_yaw=0.1269 left_pitch=-0.3805 left_roll=0.1868 left_gripper=0.9962 right_x=0.3563 right_y=0.2846 right_z=0.0965 right_yaw=0.1371 right_pitch=-0.62 right_roll=-0.3238 right_gripper=0.1909\nstate[joint_eff]: [-0.0889, -2.947, 6.6667, 1.243, -0.1734, -0.0757, -0.0171, 0.0205, -13.9419, 7.3915, 0.6227, 0.3785, 0.0513, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee9fd18a3ac1da5a5be38ba38202391fb033f8f8a42e6903dc696076d143038a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd627691f12c10b51bf4ded58c2f8b9aebcb306a6f93010665f45226cc5b25af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f226baef2d88facfccebd7d2551b08a2122d6187ee3ee9cf98b4e4e9a85b3762",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDci1kaLWnjCC4p5yO6_8ScNWEdaqC10h_SHoBcF_H58X7x82wyf6vG8OxsnrZN6IToQcN43qxnsFET2xIaPDj0qJgIhJpb_ZG8iRJLPhrKsHILKULRWPFjZkN_d0m76n-uruMF5KdNrYc_KOt6vDhvkb24m3z8nOvhMirRVu6Ie_9qZ6e8rxL9TrHk8zC3R5rHNZuxad6lhYQbsC3SH67WJsioCMF1KKHz9DkZ1cT9FiTuj7IYPT3FnA9B1iZtHIYGyXC5pLFmv3HBO_6G4MP3p8iOdq2gM-6COzZRgw45MzdV3CAkzptBief2be81wYN3dKO9PMP8rZHiWlsGINnOY9FGORIyfNFxF7KNAj6J1G3Hgkck8qDmWyfvTeiI8x82B-4WyVJtJVo_g699maI0s-Z2tpM4w5WUX8ab1bDCia1_SwOmUVmEFT0aKb4CDv1jwpyA0-PJ0JWoGH6bMws-QWwxELCeEggYNmmwIyne5NB7mC38SMi5cYFOCgIoxFE9YzuxTgwzr7q59lSP5FwFjOkd-qBOblHBMIowmvrvm2_V5JgvbDytLZiwkBYbQ6V8KstPxzKID-joGTauxkoII5hVDPg7ghQxLI8ibF5lk_sbYtkB8wohj__ZDn0xJ1_2rVNd1DT5nt3-emErrJEOt30cr2F8s3Mr36NpS18HI8PMDsPd0HgVNnSnorgIvPX2d2v7AxNlb3ddHPheC-pzEkHkXnGPOC4O3fAeN8IhRgy0l145A14lfOWwT4p0lDoLIrSo1QfpxzMFp9jJ_06wuujjCnBoZJfiA3SfNKhEIsyaKmQAJAW99jNROPIdslG1zSeDiZIovIUmVhtTJux8LnEiXLeUl09bZ-fO4cJGyh6k3kF0gIHI9bHcGCY3VFpRjaHBNZ6e8lQvI_BjFXPayb3gOQhihA8X1wmVnqsW8ws6DqnialDF6kRxspMeWGWtMBJsdjSym1lJlRDhY_R63vFzPdZWEvpJ5I-mN2tP0D4HMlTgagoyKI8tVkINS2ZU0mf5c3SwFWWa3_Y_TDOc9kyrUjJvJ-HA0d0jN1T_YYDyBaKbTLQQBxnaqRYWPDASYt6v21kIsFuiRG3ooxM9iYPATHyDGOO7IExtnk_sBeMa0KNnbYt3zQN-RlfKF__5tH3kSvBrtfCyHqV-zBPmT36hJsdJhou8rXF8Nt0qlZ4KDODhxQtGfvPAKqeWAyWiAqxUrUyaqWx90dyTkianbBQ20YBeemj3WyselMStcNtCTzkARRPO8srT_pzdLn2Fv-XDw5CSrtKIP82v6ILOt24NrLXrxZLRtvMMeiOG1ZvU127wKsn3cbYXF_6ZbUnHdL455_nZdvKIQdpuCwyFxgCpuyeQweGoLi4GNARpvNL8Me1vVYPxWIOM9NpCwbrEcQq17I5HqIP6XOiYOaLpER2EUFRnwrQXZmqfYxQHc2cnQodBBnIBVP0Qw4F9G1rw58O5kn10nthAemFZ39f4FOTYw9tIWv3PUQfAorzPfTBm90Oas0WGw-Xc2h5_LkUYWaekKQoIHyBo4D-4yI1OwjWffxpUHtjhRUd-1g2yT63yC5PHRvoksICk7GFrASI-XJUWl7dKOIT8z9qlT_UTtCYsrbg1Z2uaNyFDKsCcI9yG8MtUaJm-WJVcuQunAmeRa6ZjDRyUb7fRb5dJwPIpbGIEKv53hx-fJBtrEfui1tr1WqbdNfTwsOkHX5w4r1HRuUviEsCEzAWh4gGpiIvWDnavnlS2cKL3gvDwtNmkc4zShxUF8KbZ31kVD6la8dTVogCUg1jInWMzg3SzTrDsDDApZPw102KHk-tczWI80j1cV3J7KgnXc9rMmkQeP3wtW-rQS3PILMwcKS3pQ9wyEOVMnI_UEpOc6W0FfDH-GsVPozAOUEgrvCiMoUZ2rhHjdlOgzyuqXP9BxPM_kHcG4MZmf2H5bz4PNaPkMIwH69saOb4UVn7eqv0alZifIH6xQtz4uqfZRlTbQya5vR8HeNP85vftBXY5KH576CT7DYv5WkN1vcuvq0woRYD3PloVaTTuTkrxZGw6nycXJq9-szerhDlpzlZiGNmchlz4rjVXfcxUlCn7p2tNnZztktcoCQXRV0bZQrHy8K66MZxvrII_IYpiLNekVhK04xkuRB76aKfaQmmvxXqlyM_G99ctKZSvYpq9D63JLnLAKeCpGlgwzAvPxWFEWlB6PCoxjbOI9AEl9GHlqfyip3EQ_NOD4lLN0kfGwx7Iw-mbNbrAjukjk7_0iX6zAmM27vwiHtxTZQcMLnQ6y8PucVSYzmTWSf_8BdNeMEJ4KD3D6fq597XQHj0Wetc0IcyopuCc2XWawOaJVjnJCtoMDNBqfp74S7oonYTP6pOqK0ledZFHC9ilQuLZpSErOUsADIx_8UHF9YrLMu20x2-ay-unhliBZ",
  "id": "rs_0b04a746a2a82d0d016ab4371f450887d0b57145d3ec12d27a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.33,\"right_y\":0.33,\"right_z\":0.105},\"note\":\"The yellow fruit stayed on the tabletop when I lifted, so that close slipped off it despite the partial jaw opening. I’m reopening and repositioning slightly left over its new resting spot for a better-centred retry.\"}",
  "call_id": "call_QgJAO64gApj0PYpVYpKYSxKM",
  "id": "fc_0b04a746a2a82d0d016ab4372193dc87d0a14fec000b11bfa0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QgJAO64gApj0PYpVYpKYSxKM",
  "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]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2756, -0.1207, 0.9962, 0.9234, 2.149, 1.9095, -1.1507, 0.3996, 0.4877, 0.9957]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1624 left_yaw=0.1273 left_pitch=-0.3804 left_roll=0.1871 left_gripper=0.9962 right_x=0.3283 right_y=0.3262 right_z=0.1044 right_yaw=0.1604 right_pitch=-0.6165 right_roll=-0.3216 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -2.8513, 6.5983, 1.2918, -0.1929, -0.0317, -0.0171, 0.3487, -10.4274, 7.788, 0.5348, 0.3834, 0.1734, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f866ab0b1cd4250693867b91f318f7617c92bbb321b269f57f104a68e97ee485",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5d9fdff9bc90261bfcc723f193856f8b5882e36be80f148fd37b3d86cace34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf1a3fe4a473f7b5329293d9b8d10d521640ead79f94754a78bc37afb964895",
      "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 · 4.173 s

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

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2756, -0.1207, 0.9961, 0.823, 2.1349, 1.5818, -0.7773, 0.3855, 0.4183, 0.9964]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1624 left_yaw=0.1273 left_pitch=-0.3804 left_roll=0.1871 left_gripper=0.9961 right_x=0.3566 right_y=0.2921 right_z=0.0305 right_yaw=0.1412 right_pitch=-0.5918 right_roll=-0.2945 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -2.9744, 6.5709, 1.2186, -0.1978, -0.0659, -0.0073, -0.3077, -10.906, 6.1197, 0.862, 0.1392, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2752, -0.1207, 0.9962, 0.8104, 2.0884, 1.7836, -1.0527, 0.3809, 0.3916, 0.1909]\nstate[eef_state]: left_x=0.2904 left_y=-0.0015 left_z=0.1623 left_yaw=0.1269 left_pitch=-0.3805 left_roll=0.1868 left_gripper=0.9962 right_x=0.3563 right_y=0.2846 right_z=0.0965 right_yaw=0.1371 right_pitch=-0.62 right_roll=-0.3238 right_gripper=0.1909\nstate[joint_eff]: [-0.0889, -2.947, 6.6667, 1.243, -0.1734, -0.0757, -0.0171, 0.0205, -13.9419, 7.3915, 0.6227, 0.3785, 0.0513, -0.0659]\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 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2756, -0.1207, 0.9962, 0.9234, 2.149, 1.9095, -1.1507, 0.3996, 0.4877, 0.9957]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1624 left_yaw=0.1273 left_pitch=-0.3804 left_roll=0.1871 left_gripper=0.9962 right_x=0.3283 right_y=0.3262 right_z=0.1044 right_yaw=0.1604 right_pitch=-0.6165 right_roll=-0.3216 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -2.8513, 6.5983, 1.2918, -0.1929, -0.0317, -0.0171, 0.3487, -10.4274, 7.788, 0.5348, 0.3834, 0.1734, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f866ab0b1cd4250693867b91f318f7617c92bbb321b269f57f104a68e97ee485",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5d9fdff9bc90261bfcc723f193856f8b5882e36be80f148fd37b3d86cace34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf1a3fe4a473f7b5329293d9b8d10d521640ead79f94754a78bc37afb964895",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcmQMFvf9PdPmSNjhFe3NoB_cIiKkI1PjQ6wgaFZcW7XYm9AUkXGb0ewzS3FxII8knL4s2NskJK9YMFU61ON_0ZUgLZ5EKScHaHOaJWllxk77BdtQo7Jzcb5DqYkSx0QpEH7r4wnkGapCWPemU12qdqDctjcFie4ZNeLGJNR-WW25WXBN8f4JS82m7zU8lD6t0S0AmR8uA4SKyW0_KBKc5FlKRH1sb_zBpcMwT41lbFvoK_oocdo_VmdTxFqdKvM_RP3ZI1Kzv1aVXC0AFHQr7Y6CQJ-HxDThg7tBOumrIUoSk77Os9HE1-0dqogRG1mVsf5WZhjiMY7BLau9QHjgK--dmAVchhM8afPhpAZQ1wxmzNRJhxdThQxEiJ6sEyQAOm1Lkg9qI3O_46ezXpZDEGx_iHyKOt51wMQwpHdnLLzfKG3M4hTOjRZXXCU-qhhpgMOWCzXJt45v7keGndhxHWTJsCQp103ZXqhNu_gzrtTDmkNbvsWXJmZ6gc6AwDirau2dNChVT2abopRZJhNIcbEOH7t_gW6cAFbtZ1kWJUeUUeatv_LLwluyy4BwBwcEmI1TLdGpTUDHyMTwhuPj_LOy-7zCe87kyEzWS4wmrdAugbMMBw3JsMrdNgZk0cV-LUP0gtueNJeZECdUm4uVp7tF5ougDWGhMBbq0o2wrnXpkujJVayuow1NZvBCh7I8IegdHcWWruAcwDo_bidP3Y1y4KsSBfr93ynV9Ib8TolosPJFdmEb9KYuvWCteGACF9sjgGuSI8kn2sQwtFUT10Hl0oCgNnU0HA23gUqdN822mTzBO6SJgOzfz824kiCw-23LEe3xHaipBDEesUkX3uPHIQC9fLGMKnmE-qn0ke6CcrZcimjnWyOf_Cp5U09FZzfZj-M-tAt2G5OEntIOmhGDM_AXrMrZuFYmDB3P4AsMAC9KkSq7RNH6aGneCa3-YSi99IFVrlMFEbESpuL22FJh1E4rpMlHYG1Bcirpo7H4rIpowsI4oWGUBJsJ5i5RZSR1Xt9S0xnzpZP_N1psPzyG1-FHys5DL9UNM--cDCLwpDbCI4txlfH6kdXZDo0re6dHtXNLXP5R-v4ORwcgqyKBc7Wr2Ld_ESY9J1A9zVYW9t3r8pXnZnzSqK-PqdR5OyopIbYlRdU3GGZAKWV0YrZasqjoBtSrWUlU-BLVG2PdHY8DS0gdb94P-adScGWOt_8Z2Uq2nOYYIuFAoMzUFQ9vbAn9UnSbLRFv1JpFqp5RF97xTqjRCRLEJPdnqn1vHYF1KlpVAt_095NPfgxDmFconip_RktLST5hMhpGaiAsY-U4O9a_oez234P6Sq9peanykhQqfzhk_L2uQj2woCD4Ot1KolVH81pI-WrECtcl9vrkUBeJtd2j_zVxbIBQxGdrOhPN8T4SHLr-e5UoIYnVpkhFyszhxXu7IjgwS517ECJWyv9enlpNVCAq8vwh6-r33UwjbRehh5HbpFVIFsRGr2bAQYpHfTU6xXzvp8lCJ3iyrqlU9CAjsFdLuWG7Vk3xLi9AitDxBIZ2nv8xOvtHvqCipSEDwRM1oea_d_VoA7C1WqZElnEs58UDbHK2KWIlBS_qHh3At2ZrHb_hnFZARs5iZaYgDc9CXa9mjlsfpuZ3o7_SH6Qt-pm3YfvGUPvkLf5tk2-ikO2ZMfLwTWSb9nUQeJaPGa-S_tyUBZ5U6Gy49xoMEqWCW0aLCRc98xYajjPgGPBIfNVCoaa9Qhp6D65UgaRoI1uift4U-akPpUogqHP8vamAzvo7Aoug5U2Ee5yBxU_84gHfBhUJpvINnbHQoZ_RhXoDWCrDRqwatdi1HRLCWROr5SY8NXzJ4drhAURmzrU-fiskJKBeYyOL2jQUJowU7R7-l_Z6jPb4-TYKa_gQNjaKf-_6M6oJqjWENcTtOEQKhPxyCsUudXHA==",
  "id": "rs_0b04a746a2a82d0d016ab437246b9887d0af0b3d4e15b0689a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.33,\"right_z\":0.018},\"note\":\"The yellow fruit is now centred between the open jaw columns in the wrist view. I’m lowering straight down without advancing further, because it is already close to the fingertips.\"}",
  "call_id": "call_hInCxWU3j7dae8gXNZyPqjrv",
  "id": "fc_0b04a746a2a82d0d016ab43725d8d087d0b848a279245cec07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hInCxWU3j7dae8gXNZyPqjrv",
  "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]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2756, -0.1207, 0.9961, 0.934, 2.1841, 1.6573, -0.8879, 0.3992, 0.4973, 0.9964]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1624 left_yaw=0.1272 left_pitch=-0.38 left_roll=0.187 left_gripper=0.9961 right_x=0.3199 right_y=0.3231 right_z=0.0267 right_yaw=0.153 right_pitch=-0.6327 right_roll=-0.3378 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -2.9744, 6.5709, 1.2918, -0.1832, -0.0659, -0.0171, 0.5949, -10.7419, 5.7641, 0.6471, 0.3248, 0.022, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7111dab6b1d7f61ac61097e7d72e7f27e4c01703674216899c8152c0fa617f70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597ec40ba0f6df2a001ab5ce79f370b72de5a4f3a95f2574a3951c6c065268cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8396c40556d25d13ef3d1b75634a113d7cd25f2901a81f56d5f354a30b0bfaee",
      "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 · 2.157 s

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

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2756, -0.1207, 0.9962, 0.8066, 2.1414, 1.5406, -0.7593, 0.3801, 0.3954, 0.1914]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1624 left_yaw=0.1272 left_pitch=-0.38 left_roll=0.187 left_gripper=0.9962 right_x=0.3543 right_y=0.2802 right_z=0.0164 right_yaw=0.1302 right_pitch=-0.6219 right_roll=-0.3233 right_gripper=0.1914\nstate[joint_eff]: [-0.0479, -3.1521, 6.8034, 1.2527, -0.1636, -0.0366, -0.0073, -0.5949, -14.7214, 4.9436, 0.7399, 0.1538, -0.0366, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2756, -0.1207, 0.9962, 0.9234, 2.149, 1.9095, -1.1507, 0.3996, 0.4877, 0.9957]\nstate[eef_state]: left_x=0.2904 left_y=-0.0014 left_z=0.1624 left_yaw=0.1273 left_pitch=-0.3804 left_roll=0.1871 left_gripper=0.9962 right_x=0.3283 right_y=0.3262 right_z=0.1044 right_yaw=0.1604 right_pitch=-0.6165 right_roll=-0.3216 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -2.8513, 6.5983, 1.2918, -0.1929, -0.0317, -0.0171, 0.3487, -10.4274, 7.788, 0.5348, 0.3834, 0.1734, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2756, -0.1207, 0.9961, 0.934, 2.1841, 1.6573, -0.8879, 0.3992, 0.4973, 0.9964]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1624 left_yaw=0.1272 left_pitch=-0.38 left_roll=0.187 left_gripper=0.9961 right_x=0.3199 right_y=0.3231 right_z=0.0267 right_yaw=0.153 right_pitch=-0.6327 right_roll=-0.3378 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -2.9744, 6.5709, 1.2918, -0.1832, -0.0659, -0.0171, 0.5949, -10.7419, 5.7641, 0.6471, 0.3248, 0.022, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7111dab6b1d7f61ac61097e7d72e7f27e4c01703674216899c8152c0fa617f70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597ec40ba0f6df2a001ab5ce79f370b72de5a4f3a95f2574a3951c6c065268cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8396c40556d25d13ef3d1b75634a113d7cd25f2901a81f56d5f354a30b0bfaee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcusJmIxM9GrcYJNveCgEsYA3BN42QwHKiSC4fGtIF693CDKMGd8_VBHxE332d02Q_-E352DzB5tJrbkPkAlHMQz4RioW1hBgja8oM4x-rAAnP6yt0qZxYEUmIIYEihykMFeP4ZUBDEtyx1k0hPHSy-XLZHbqTsX4s--WcaXu-2G8h8nTPGQMsD19Kn-AWZGp-y8Uu8eapS7CVd5ZSaucRU-6WSJp9JaKtBBvYSPebxdU3s2ioQVh39aEDZm7lXnZ-KXqKLkz5wrZxpHmZVFOw024ZXt_Uky8N24uko9Fu43Q3jvAuUbAtN5AMLIFYrFEDO71sugR0y9_O7qsFigxqUmcRwO6VhZGjCP_b2tN7uOWh4PhmtWJr9G59_vK6CMm4y7akMGJQ2w_JhvEujyeKK-uI81EZe2XIJwjVzPheWc2Q3a-bMya28ty8qdCJ3_V0kjuKFte08Atb2Fn__S42GVuhoacmiYHID993AwpFwJMVWge8Jss8z44WgTzeB6V2dMoF-TsmuBset7t7Kqajo7gydxirelNLpA2xzr-nZfMRmXUSA1mPCURvGNVAqyrMlzrQHv7_TWKcAF20GrYvCGDld1nNJhdpnviHTIOMX_umtm35B4aJF6mxsxgaotA-uXUMUEBgr--Mw0m9Of2BpcN_Xu387B917RiNg-x9qILtzz9bKCXWX7PeQBTtPUgVjJQZYuAJIIa7CJ5DVDr60izMDCLGAYlpWitp_O4X05GJoiiJFrzQSxGHJHNEBahzMDOV_mYKQko2m4n8N77dyzoSfVYv0leMn5OYpCerWn3hCeuIfbK5g_ieCAUN1DpOmdt1AEWqAyQ6BpzBPl5JSIfrXBuHf4XYId605sJ46ZIT7khh8wJATP8bglNbWbsuJBcSqYGbXOo0n0Q5t1vRSOIsfe06esjxCA7kjLeHsl3572DzlKl5HcuuagTnxcOZ05j4-j6z9RceBOk-zthA0FStW5NThKBzXWRqNplutN-9tKNt3-YoH21inAflKuTlzHNlpGdVe4xa04N8Zg1mF5PnXC-o4qAyXC2Gyvs4PY8DasqUpvWaWd5dE8WBHfzrYdsb0R7CvKkLecSViyHn5vXR9X0a-779GIU5CbZgH7QVs3j1_XzyXdUFrsI6XZfa4BcMMmV6acn4lY4qfLvZ4d4pZZwmsQeHjmjx4rG-YelQbyRZdTFOi0KQLfKPyoYfdVuj-2anUbjUEDYJ_NySJTOlHpO9wK_yCv2qLKLevDsVC5fOkHyeOsCgQg7-I4rsuaYY0hawJBh3t79xZTBFiCD5DupBE9pI4oZ9DwXeSKAA4ZdHrEbCH5ebrfehGdPr3nSCqwRWlbfEfvQJSdKFrdB5CYzxnvvpy_mCeetXGt8buVh1gMAVie1GoqrcL-BRcv2o2jzePSIG1yWdivhTS_JcNOODAEa8gF4bqJOD1oDhVKMDUvky5Hrr3uV19BsnEqcJYyIdCl2M4VWSgXU1Xo1I0f8_utKlpcqxWrj80F4bjTJLq_zT27l71ZSinJFvw-4-qoKIoE9PwD5VjwDrz-kI7hIQjRr7SJTUJ9dClrDQ5Ok9k5whBVEHN0JWlYcA5uE7XeaLepqe5hqrDKqsllkJgppPWjzgxQ5fqcFNBTWcnSEaCwr40pTYipfn2mUdKEKhTRjZFRHwbmePlbLTD4VyucN8p2FbARdLX4xYrP3OQVMTE4gDlELl9fPxIlWfhA9SwK1qr-1zj21q5LjHsEQJ_8KZYnD6vKsO1J0KTttykQVo1zPZs9eC680Hhdm5SJh2YXZLD6AtOEscmz0iWeUXr9Yyll9L6EUvI3yadqqMoDCLe4QTk1OsffkwqhxFVL8vUiKhyRl68-kt25D9X6eHnqFbTg19qoVX9jbj6rNIX6Oh1ul4U1fYdhAwxdQudc8xAU3cSYtzS_WufKzVwXEzgtyTRXYCM8XK6xuUU0xqpp5W353vkKlDvUxpE7ALtWg4Vfd-Zz_xgOjyd68zWHX0_opnIu5DZSLwJ1LMGTKvbLbFhU7l9_GJcqRNs7OZqco3qxtKyq0CMUcVq2VvxCjxWQAC_mEcHrsXHl7dx3STJhkcsehIeGtEHmqOCT3OmAy4myG9hHSlX_xTKAj_eGLcQYoTpGTzh2-f09l1lxt-c7XsJsxDec26CDcpi3WVvff2Vz5D9WU9T3XKjJ1COxQiLXLpc4ikEOCK9m6djAQ3A0CZWEzYBKxgInX9_TwRSlhVnfCsPkZd-80Kx9Rb1-k-Kxr__YrSeSL0qQNRgjc9EiRMXJhJ4QqTLOV4unntmALbTckgMSG8t3F6ZTbzP5bqwGMHBBeTxdQLRUiS0Vzw=",
  "id": "rs_0b04a746a2a82d0d016ab4372c1ca887d0b58575fdd705b2c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.29},\"note\":\"At table height the yellow fruit appears to the right of the fingertip gap, explaining the previous slip. I’m making a small sideways correction before closing, while staying clear of the blue bowl’s rim.\"}",
  "call_id": "call_awl0B88TWbyAIw42mqPWVaKK",
  "id": "fc_0b04a746a2a82d0d016ab4372e0ca887d092507f36abfcff6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_awl0B88TWbyAIw42mqPWVaKK",
  "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]: [-0.1837, 1.1107, 0.9272, -0.8085, -0.2752, -0.1207, 0.9961, 0.9051, 2.1078, 1.4765, -0.7906, 0.3996, 0.4694, 0.9965]\nstate[eef_state]: left_x=0.2905 left_y=-0.0015 left_z=0.162 left_yaw=0.1271 left_pitch=-0.3816 left_roll=0.1872 left_gripper=0.9961 right_x=0.3123 right_y=0.2921 right_z=0.0126 right_yaw=0.1377 right_pitch=-0.6426 right_roll=-0.3573 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -3.0291, 6.612, 1.3016, -0.1929, -0.0513, -0.0122, -0.294, -12.7521, 6.2564, 0.8278, 0.3883, -0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afecac02a41b50532b8e2ba4dc919238e2f91bdb75e2e3e4fccf41a71136993c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7cd2b34314617e00c771aa2d498b7b5a1f26223e4c21971f556ab689d0c516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ba1349c5e15eb8a5960f07829a26ca3fb4f7b036aec73530124343e63c8a602",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 5.688 s

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

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8089, -0.2752, -0.1207, 0.9962, 0.8104, 2.0884, 1.7836, -1.0527, 0.3809, 0.3916, 0.1909]\nstate[eef_state]: left_x=0.2904 left_y=-0.0015 left_z=0.1623 left_yaw=0.1269 left_pitch=-0.3805 left_roll=0.1868 left_gripper=0.9962 right_x=0.3563 right_y=0.2846 right_z=0.0965 right_yaw=0.1371 right_pitch=-0.62 right_roll=-0.3238 right_gripper=0.1909\nstate[joint_eff]: [-0.0889, -2.947, 6.6667, 1.243, -0.1734, -0.0757, -0.0171, 0.0205, -13.9419, 7.3915, 0.6227, 0.3785, 0.0513, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1091, 0.9272, -0.8085, -0.2756, -0.1207, 0.9961, 0.934, 2.1841, 1.6573, -0.8879, 0.3992, 0.4973, 0.9964]\nstate[eef_state]: left_x=0.2905 left_y=-0.0014 left_z=0.1624 left_yaw=0.1272 left_pitch=-0.38 left_roll=0.187 left_gripper=0.9961 right_x=0.3199 right_y=0.3231 right_z=0.0267 right_yaw=0.153 right_pitch=-0.6327 right_roll=-0.3378 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -2.9744, 6.5709, 1.2918, -0.1832, -0.0659, -0.0171, 0.5949, -10.7419, 5.7641, 0.6471, 0.3248, 0.022, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.1107, 0.9272, -0.8085, -0.2752, -0.1207, 0.9961, 0.9051, 2.1078, 1.4765, -0.7906, 0.3996, 0.4694, 0.9965]\nstate[eef_state]: left_x=0.2905 left_y=-0.0015 left_z=0.162 left_yaw=0.1271 left_pitch=-0.3816 left_roll=0.1872 left_gripper=0.9961 right_x=0.3123 right_y=0.2921 right_z=0.0126 right_yaw=0.1377 right_pitch=-0.6426 right_roll=-0.3573 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -3.0291, 6.612, 1.3016, -0.1929, -0.0513, -0.0122, -0.294, -12.7521, 6.2564, 0.8278, 0.3883, -0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afecac02a41b50532b8e2ba4dc919238e2f91bdb75e2e3e4fccf41a71136993c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7cd2b34314617e00c771aa2d498b7b5a1f26223e4c21971f556ab689d0c516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ba1349c5e15eb8a5960f07829a26ca3fb4f7b036aec73530124343e63c8a602",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0b04a746a2a82d0d016ab43730566887d08dfa641dfae77d8f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now centred under the right fingertips, rather than off to one side. I’m closing again on this corrected alignment.\"}",
  "call_id": "call_CISRCH1zbfUYZSkgl1F01Req",
  "id": "fc_0b04a746a2a82d0d016ab437306c1087d09ffd27b98f2fa323",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CISRCH1zbfUYZSkgl1F01Req",
  "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]: [-0.1837, 1.111, 0.9272, -0.8082, -0.2752, -0.1204, 0.9961, 0.9169, 2.0941, 1.4357, -0.7517, 0.4145, 0.4641, 0.0091]\nstate[eef_state]: left_x=0.2906 left_y=-0.0015 left_z=0.1619 left_yaw=0.1269 left_pitch=-0.3816 left_roll=0.1874 left_gripper=0.9961 right_x=0.3087 right_y=0.2918 right_z=0.0096 right_yaw=0.1489 right_pitch=-0.6249 right_roll=-0.3627 right_gripper=0.0091\nstate[joint_eff]: [-0.1026, -3.1932, 6.694, 1.2967, -0.1441, -0.022, -0.0122, -0.1299, -11.3573, 5.3949, 0.7009, 0.3834, 0.1099, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6f789e5f06e5c5370c843d93daf7d0de08ba97f1f4a7d03e8b33dc2d0f57adc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f596818800bfd6bbfdfa81835aa484ca7d45c8b72909b9fa8bbbcae816c4d80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8074040f337107b82ffbb383e800d46224ea9c6ac1084c8109683250f7fa8b23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]