adhoc - adhoc_59f942aa.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: 205.4 s
total steps: 368

operator

scenes

trials

errored

scene-0

completed

Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.

Raw transcript

system

user

Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.

step 0

assistant

agent noteThe dark fruit is near the left arm, while the yellow and green fruits sit nearer the right; the blue bowl is between them. I’ll bring the open left gripper above the dark fruit to line up a grasp.

move_to

left_x0.3600left_y-0.2000left_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3878, -0.0139, -0.0296, 0.9991, -0.0227, 0.8001, 0.6197, -0.3878, -0.017, -0.0124, 0.9994] state[eef_state]: left_x=0.2953 left_y=-0.0004 left_z=0.1811 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9991 right_x=0.296 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994 state[joint_eff]: [-0.3214, -1.7162, 9.7436, 1.8486, -0.0904, 0.1392, -0.105, -0.1983, -1.7573, 9.1966, 1.8144, -0.0611, -0.0562, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.2,"left_z":0.15},"note":"The dark fruit is near the left arm, while the yellow and green fruits sit nearer the right; the blue bowl is between them. I’ll bring the open left gripper above the dark fruit to line up a grasp."})

tool

executing move_to over 18 steps (1.8s)

step 18

assistant

agent noteThe left gripper is over the dark fruit in the overhead view, and the fruit is hidden directly beneath it. I’ll lower the open jaws to the fruit’s mid-height before closing.

move_to

left_z0.0220

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7662, 1.499, 0.8906, -0.1749, -0.5991, -0.4992, 0.999, -0.0227, 0.8032, 0.6178, -0.3943, -0.0162, -0.012, 0.9994] state[eef_state]: left_x=0.3522 left_y=-0.1957 left_z=0.1323 left_yaw=-0.0122 left_pitch=-0.048 left_roll=0.027 left_gripper=0.999 right_x=0.2952 right_y=-0.0002 right_z=0.1808 right_yaw=-0.0008 right_pitch=-0.0111 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.4171, -6.7897, 9.1145, 1.6581, -0.4322, -0.0513, -0.022, -0.3761, -1.347, 7.2, 1.7656, -0.0317, -0.0366, -0.0122] 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":{"left_z":0.022},"note":"The left gripper is over the dark fruit in the overhead view, and the fruit is hidden directly beneath it. I’ll lower the open jaws to the fruit’s mid-height before closing."})

tool

executing move_to over 8 steps (0.8s)

step 26

assistant

agent noteThe open fingertips now straddle the dark fruit at table level. I’ll close the jaws and check their settled opening to see whether the fruit is captured.

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]: [-0.7662, 1.7863, 0.6628, 0.3145, -0.5919, -0.4984, 0.999, -0.0227, 0.8062, 0.6178, -0.3943, -0.0162, -0.012, 0.9994] state[eef_state]: left_x=0.3491 left_y=-0.1942 left_z=0.0183 left_yaw=-0.0169 left_pitch=-0.0702 left_roll=0.0413 left_gripper=0.999 right_x=0.2954 right_y=-0.0003 right_z=0.18 right_yaw=-0.0008 right_pitch=-0.0141 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.335, -7.2137, 4.8068, 1.619, -0.3443, -0.0464, -0.0122, -0.0889, -1.4154, 7.0222, 1.7118, -0.0562, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The open fingertips now straddle the dark fruit at table level. I’ll close the jaws and check their settled opening to see whether the fruit is captured."})

tool

executing move_to over 10 steps (1.0s)

step 36

assistant

agent noteThe jaws closed almost completely, so that grasp was empty. I’ll reopen and advance the left gripper about 2 cm toward the fruit for one corrected attempt.

move_to

left_gripper1.0000left_x0.3800

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]: [-0.7635, 1.7802, 0.6678, 0.3664, -0.6239, -0.4957, 0.0067, -0.0227, 0.8082, 0.6178, -0.3946, -0.0166, -0.012, 0.9994] state[eef_state]: left_x=0.3584 left_y=-0.1953 left_z=0.0324 left_yaw=0.0061 left_pitch=-0.0091 left_roll=0.0164 left_gripper=0.0067 right_x=0.2954 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9994 state[joint_eff]: [-0.1299, -7.0359, 4.6564, 0.9744, 0.022, -0.0269, 0.6764, -0.0479, -1.4564, 7.2547, 1.7607, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.38},"note":"The jaws closed almost completely, so that grasp was empty. I’ll reopen and advance the left gripper about 2 cm toward the fruit for one corrected attempt."})

tool

executing move_to over 10 steps (1.0s)

step 46

assistant

agent noteAfter advancing, the dark fruit still appears slightly to the image-right of the left jaws. I’ll shift the low, open gripper sideways by about 3 cm and close over it.

move_to

left_y-0.2200left_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]: [-0.7197, 1.8179, 0.7082, 0.3637, -0.6003, -0.4721, 0.9949, -0.0227, 0.8082, 0.6178, -0.3946, -0.0162, -0.0116, 0.9994] state[eef_state]: left_x=0.3734 left_y=-0.1898 left_z=0.0289 left_yaw=0.0195 left_pitch=-0.0203 left_roll=0.0244 left_gripper=0.9949 right_x=0.2954 right_y=-0.0003 right_z=0.1794 right_yaw=-0.0011 right_pitch=-0.0164 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [0.5128, -6.4479, 7.0496, 1.6532, -0.1929, 0.0659, -0.1099, 0.0342, -1.265, 7.0222, 1.7558, -0.0122, -0.0073, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.22,"left_gripper":0},"note":"After advancing, the dark fruit still appears slightly to the image-right of the left jaws. I’ll shift the low, open gripper sideways by about 3 cm and close over it."})

tool

executing move_to over 10 steps (1.0s)

step 56

assistant

agent noteThe second dark-fruit close was also empty, so I’ll stop repeating that alignment and clear the left arm from the view. I’ll position the right gripper above the green fruit, which is clearer to approach.

move_to

left_x0.2950left_y0.0000left_z0.1800left_gripper1.0000right_x0.3600right_y0.1200right_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]: [-0.783, 1.8626, 0.7837, 0.2955, -0.6376, -0.5308, 0.0088, -0.0227, 0.8082, 0.6178, -0.3946, -0.0166, -0.012, 0.9994] state[eef_state]: left_x=0.3708 left_y=-0.2156 left_z=0.0278 left_yaw=0.0162 left_pitch=-0.0287 left_roll=0.0205 left_gripper=0.0088 right_x=0.2954 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9994 state[joint_eff]: [-0.5812, -6.8171, 7.1179, 1.5311, -0.3443, -0.0171, 0.6374, -0.1026, -1.3333, 7.0359, 1.6923, -0.0415, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_gripper":1,"right_x":0.36,"right_y":0.12,"right_z":0.14},"note":"The second dark-fruit close was also empty, so I’ll stop repeating that alignment and clear the left arm from the view. I’ll position the right gripper above the green fruit, which is clearer to approach."})

tool

executing move_to over 20 steps (2.0s)

step 76

assistant

agent noteThe green fruit appears low and slightly to the right in the right wrist view, while the gripper is just beyond it in the overhead view. I’ll bring the open right jaws a little back, rightward, and down to center them over the fruit.

move_to

right_x0.3250right_y0.0900right_z0.0700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.078, 0.8379, 0.5953, -0.3801, -0.1307, -0.0944, 0.9971, 0.4953, 1.3045, 0.6842, -0.0998, 0.3832, 0.2642, 0.9994] state[eef_state]: left_x=0.2961 left_y=0.0035 left_z=0.1647 left_yaw=0.0768 left_pitch=-0.0424 left_roll=0.0159 left_gripper=0.9971 right_x=0.347 right_y=0.1165 right_z=0.119 right_yaw=0.0334 right_pitch=-0.0902 right_roll=-0.0404 right_gripper=0.9994 state[joint_eff]: [0.2256, -1.9897, 10.3179, 1.7314, 0.2271, 0.1441, -0.0806, 0.1846, -4.9846, 9.0051, 2.044, 0.3492, 0.2564, -0.0171] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.325,"right_y":0.09,"right_z":0.07},"note":"The green fruit appears low and slightly to the right in the right wrist view, while the gripper is just beyond it in the overhead view. I’ll bring the open right jaws a little back, rightward, and down to center them over the fruit."})

tool

executing move_to over 4 steps (0.4s)

step 80

assistant

agent noteThe green fruit now sits between the right wrist camera’s jaw columns and beneath the fingers in the overhead view. I’ll lower to its grasp height and close the right gripper.

move_to

right_z0.0180right_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]: [-0.075, 0.8425, 0.6003, -0.4019, -0.1188, -0.0868, 0.9976, 0.437, 1.2865, 0.4534, 0.0414, 0.3504, 0.2352, 0.9994] state[eef_state]: left_x=0.294 left_y=0.0025 left_z=0.1612 left_yaw=0.066 left_pitch=-0.0646 left_roll=0.0183 left_gripper=0.9976 right_x=0.315 right_y=0.0842 right_z=0.0567 right_yaw=0.0133 right_pitch=-0.1656 right_roll=-0.0733 right_gripper=0.9994 state[joint_eff]: [0.0205, -1.8803, 6.5983, 1.9072, -0.1099, -0.1441, 0.0415, -0.1846, -4.9709, 7.4325, 2.0684, 0.1343, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.018,"right_gripper":0},"note":"The green fruit now sits between the right wrist camera’s jaw columns and beneath the fingers in the overhead view. I’ll lower to its grasp height and close the right gripper."})

tool

executing move_to over 10 steps (1.0s)

step 90

assistant

agent noteThe right jaws have settled around a roughly 3 cm-wide object, and their descent stopped above the table, consistent with a green-fruit grasp. I’ll lift it to confirm the fruit follows before moving it over the blue bowl.

move_to

right_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.075, 0.8452, 0.5999, -0.4084, -0.1219, -0.0971, 0.9976, 0.4381, 1.2919, 0.4343, 0.1204, 0.3477, 0.2283, 0.3413] state[eef_state]: left_x=0.293 left_y=0.0031 left_z=0.1591 left_yaw=0.0743 left_pitch=-0.0737 left_roll=0.0132 left_gripper=0.9976 right_x=0.321 right_y=0.0879 right_z=0.0612 right_yaw=0.0235 right_pitch=-0.1168 right_roll=-0.0544 right_gripper=0.3413 state[joint_eff]: [-0.0479, -1.4838, 6.9812, 1.7314, -0.0415, 0.0415, -0.0073, 0.1026, -3.6308, 5.4906, 1.2918, 0.2076, 0.0269, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.17},"note":"The right jaws have settled around a roughly 3 cm-wide object, and their descent stopped above the table, consistent with a green-fruit grasp. I’ll lift it to confirm the fruit follows before moving it over the blue bowl."})

tool

executing move_to over 8 steps (0.8s)

step 98

assistant

agent noteThe green fruit rose with the right gripper, confirming the pickup. I’ll carry it over the center of the blue bowl at a safe height.

move_to

right_x0.4250right_y0.2400right_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0753, 0.8459, 0.5999, -0.4114, -0.1223, -0.0978, 0.9976, 0.4374, 1.1286, 0.7395, -0.3763, 0.3397, 0.2245, 0.3454] state[eef_state]: left_x=0.2926 left_y=0.0031 left_z=0.1583 left_yaw=0.0747 left_pitch=-0.0775 left_roll=0.0134 left_gripper=0.9976 right_x=0.3198 right_y=0.0885 right_z=0.1494 right_yaw=0.0298 right_pitch=-0.145 right_roll=-0.0637 right_gripper=0.3454 state[joint_eff]: [-0.0479, -1.6342, 6.9538, 1.7216, -0.0659, -0.0611, -0.0122, -0.1709, -5.0393, 9.5385, 1.707, 0.2173, -0.0122, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.425,"right_y":0.24,"right_z":0.18},"note":"The green fruit rose with the right gripper, confirming the pickup. I’ll carry it over the center of the blue bowl at a safe height."})

tool

executing move_to over 13 steps (1.3s)

step 111

assistant

agent noteThe blue bowl is just to the gripper’s right in the wrist view, with the held green fruit above its near side. I’ll center the fruit more closely and lower it into the bowl before release.

move_to

right_x0.4050right_y0.2050right_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]: [-0.0746, 0.8513, 0.5999, -0.424, -0.1223, -0.0978, 0.9976, 0.68, 1.7931, 1.4292, -0.5274, 0.4793, 0.3862, 0.3475] state[eef_state]: left_x=0.2909 left_y=0.0035 left_z=0.1544 left_yaw=0.0757 left_pitch=-0.0952 left_roll=0.0161 left_gripper=0.9976 right_x=0.4153 right_y=0.2357 right_z=0.1621 right_yaw=0.0633 right_pitch=-0.197 right_roll=-0.096 right_gripper=0.3475 state[joint_eff]: [-0.1573, -1.9487, 7.1043, 1.7705, -0.0757, -0.0562, -0.0122, 0.3214, -9.8667, 8.5812, 1.3797, 0.5446, 0.3492, 1.033] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_y":0.205,"right_z":0.105},"note":"The blue bowl is just to the gripper’s right in the wrist view, with the held green fruit above its near side. I’ll center the fruit more closely and lower it into the bowl before release."})

tool

executing move_to over 4 steps (0.4s)

step 115

assistant

agent noteThe held green fruit is directly over the blue bowl’s interior in the wrist view. I’ll open the jaws to deposit it.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0746, 0.8528, 0.5999, -0.4244, -0.1223, -0.0978, 0.9976, 0.6315, 1.7706, 1.1419, -0.3641, 0.448, 0.3561, 0.3475] state[eef_state]: left_x=0.291 left_y=0.0035 left_z=0.154 left_yaw=0.0757 left_pitch=-0.0971 left_roll=0.0164 left_gripper=0.9976 right_x=0.391 right_y=0.1957 right_z=0.0833 right_yaw=0.0406 right_pitch=-0.297 right_roll=-0.1552 right_gripper=0.3475 state[joint_eff]: [-0.1299, -1.5795, 6.9949, 1.6484, -0.1099, -0.0611, -0.0122, 0.1846, -10.7966, 8.1983, 1.8046, 0.3248, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The held green fruit is directly over the blue bowl’s interior in the wrist view. I’ll open the jaws to deposit it."})

tool

executing move_to over 7 steps (0.7s)

step 122

assistant

agent noteThe green fruit is visible inside the blue bowl after release. I’ll move the open right gripper toward the yellow fruit, keeping clear of the bowl rim.

move_to

right_x0.3200right_y0.3000right_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]: [-0.0742, 0.8536, 0.5999, -0.4244, -0.1223, -0.0978, 0.9976, 0.6384, 1.7706, 1.1038, -0.3111, 0.453, 0.3405, 0.9958] state[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1538 left_yaw=0.0761 left_pitch=-0.0978 left_roll=0.0165 left_gripper=0.9976 right_x=0.3892 right_y=0.197 right_z=0.0767 right_yaw=0.0548 right_pitch=-0.2836 right_roll=-0.1609 right_gripper=0.9958 state[joint_eff]: [-0.0752, -1.6479, 6.9538, 1.6142, -0.0611, -0.0611, -0.0073, -0.0479, -9.7436, 5.8051, 1.3504, 0.3346, 0.0562, -0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.3,"right_z":0.14},"note":"The green fruit is visible inside the blue bowl after release. I’ll move the open right gripper toward the yellow fruit, keeping clear of the bowl rim."})

tool

executing move_to over 9 steps (0.9s)

step 131

assistant

agent noteThe yellow fruit is low and to the right of the open jaws in the wrist view, and the overhead view shows the gripper slightly beyond it. I’ll shift back and right to align the jaws at the fruit’s height.

move_to

right_x0.3000right_y0.2700right_z0.0700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0742, 0.8539, 0.5999, -0.4244, -0.1226, -0.0978, 0.9976, 0.9905, 1.8225, 1.4601, -0.6861, 0.5739, 0.6155, 0.9965] state[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1537 left_yaw=0.0764 left_pitch=-0.0982 left_roll=0.0168 left_gripper=0.9976 right_x=0.3212 right_y=0.3216 right_z=0.1478 right_yaw=0.1567 right_pitch=-0.2505 right_roll=-0.0977 right_gripper=0.9965 state[joint_eff]: [-0.0205, -1.4017, 7.159, 1.6093, -0.105, -0.0122, -0.0122, -0.7863, -7.747, 7.3778, 0.9353, 0.5641, 0.1734, 0.0611] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.27,"right_z":0.07},"note":"The yellow fruit is low and to the right of the open jaws in the wrist view, and the overhead view shows the gripper slightly beyond it. I’ll shift back and right to align the jaws at the fruit’s height."})

tool

executing move_to over 6 steps (0.6s)

step 137

assistant

agent noteThe yellow fruit is centered between the right jaws, with the green fruit still in the blue bowl nearby. I’ll lower onto the yellow fruit and close around it.

move_to

right_z0.0200right_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]: [-0.0746, 0.8581, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 0.9615, 1.739, 1.0161, -0.408, 0.556, 0.5922, 0.9966] state[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1524 left_yaw=0.0758 left_pitch=-0.1027 left_roll=0.0173 left_gripper=0.9976 right_x=0.2917 right_y=0.2614 right_z=0.0562 right_yaw=0.1342 right_pitch=-0.3196 right_roll=-0.1658 right_gripper=0.9966 state[joint_eff]: [-0.294, -1.8393, 6.9538, 1.6093, -0.0757, -0.0562, -0.0122, -0.3897, -9.6889, 6.5573, 1.4237, 0.2662, -0.0904, -0.0073] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.02,"right_gripper":0},"note":"The yellow fruit is centered between the right jaws, with the green fruit still in the blue bowl nearby. I’ll lower onto the yellow fruit and close around it."})

tool

executing move_to over 10 steps (1.0s)

step 147

assistant

agent noteThe right jaws closed almost fully, so the yellow fruit was missed; it appears just behind the fingertip point. I’ll reopen and move about 2 cm back toward it for a corrected grasp.

move_to

right_gripper1.0000right_x0.2750

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]: [-0.0746, 0.8585, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 0.9592, 1.7935, 0.9688, -0.2604, 0.5678, 0.5854, 0.0095] state[eef_state]: left_x=0.2911 left_y=0.0034 left_z=0.1523 left_yaw=0.0758 left_pitch=-0.1031 left_roll=0.0173 left_gripper=0.9976 right_x=0.2993 right_y=0.2675 right_z=0.0367 right_yaw=0.1387 right_pitch=-0.2813 right_roll=-0.1429 right_gripper=0.0095 state[joint_eff]: [-0.1983, -1.6479, 6.9538, 1.5995, -0.0806, -0.0611, -0.0122, -0.0479, -6.5846, 3.6855, 0.8962, 0.1587, 0.0317, 0.6813] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.275},"note":"The right jaws closed almost fully, so the yellow fruit was missed; it appears just behind the fingertip point. I’ll reopen and move about 2 cm back toward it for a corrected grasp."})

tool

executing move_to over 10 steps (1.0s)

step 157

assistant

agent noteAfter moving back, the yellow fruit is now clearly between the open fingertips in the right wrist view. I’ll close once more and check whether the jaws retain its thickness.

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]: [-0.0742, 0.8585, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 1.0168, 1.7855, 0.9363, -0.2905, 0.5732, 0.6365, 0.9955] state[eef_state]: left_x=0.2911 left_y=0.0036 left_z=0.1523 left_yaw=0.0762 left_pitch=-0.1031 left_roll=0.0173 left_gripper=0.9976 right_x=0.2754 right_y=0.2699 right_z=0.0273 right_yaw=0.1521 right_pitch=-0.3098 right_roll=-0.154 right_gripper=0.9955 state[joint_eff]: [-0.0479, -1.4427, 6.9675, 1.6484, -0.0855, -0.0366, -0.0073, 0.4991, -10.6598, 4.6017, 0.9744, 0.5055, 0.1538, 0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"After moving back, the yellow fruit is now clearly between the open fingertips in the right wrist view. I’ll close once more and check whether the jaws retain its thickness."})

tool

executing move_to over 10 steps (1.0s)

step 167

assistant

agent noteThe jaws have stopped at a roughly 2.7 cm opening around the yellow fruit. I’ll lift to confirm it stays in the gripper before carrying it to the blue bowl.

move_to

right_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0746, 0.8585, 0.5999, -0.4252, -0.1223, -0.0978, 0.9976, 1.0172, 1.784, 0.9367, -0.2741, 0.5972, 0.6281, 0.2888] state[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1523 left_yaw=0.0758 left_pitch=-0.1035 left_roll=0.0174 left_gripper=0.9976 right_x=0.2796 right_y=0.2703 right_z=0.0316 right_yaw=0.1469 right_pitch=-0.2821 right_roll=-0.1598 right_gripper=0.2888 state[joint_eff]: [-0.212, -1.5932, 6.9675, 1.619, -0.0757, -0.0708, -0.0122, -0.1573, -8.0752, 5.6274, 0.8327, -0.0464, 0.0317, 0.4664] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.17},"note":"The jaws have stopped at a roughly 2.7 cm opening around the yellow fruit. I’ll lift to confirm it stays in the gripper before carrying it to the blue bowl."})

tool

executing move_to over 9 steps (0.9s)

step 176

assistant

agent noteThe yellow fruit lifted with the right gripper, and the green fruit is visible in the blue bowl. I’ll carry the yellow fruit over the bowl and lower it toward the open space inside.

move_to

right_x0.3950right_y0.2000right_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]: [-0.0742, 0.8585, 0.5999, -0.4252, -0.1223, -0.0978, 0.9976, 1.0176, 1.6428, 1.2881, -0.7734, 0.5873, 0.6205, 0.2877] state[eef_state]: left_x=0.2911 left_y=0.0036 left_z=0.1523 left_yaw=0.0762 left_pitch=-0.1035 left_roll=0.0174 left_gripper=0.9976 right_x=0.2812 right_y=0.2759 right_z=0.1504 right_yaw=0.1559 right_pitch=-0.2941 right_roll=-0.1644 right_gripper=0.2877 state[joint_eff]: [-0.0752, -1.5932, 7.1316, 1.6386, -0.0708, -0.0366, -0.0122, -0.212, -9.9761, 7.8701, 1.033, 0.3541, 0.0659, -0.1343] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.395,"right_y":0.2,"right_z":0.11},"note":"The yellow fruit lifted with the right gripper, and the green fruit is visible in the blue bowl. I’ll carry the yellow fruit over the bowl and lower it toward the open space inside."})

tool

executing move_to over 9 steps (0.9s)

step 185

assistant

agent noteThe yellow fruit is still at the fingertips but hangs near the blue bowl’s near rim rather than above its center. I’ll lift slightly and shift forward and right so it drops into the bowl instead of catching the rim.

move_to

right_x0.4250right_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]: [-0.0742, 0.8616, 0.5999, -0.4267, -0.1223, -0.0978, 0.9976, 0.6239, 1.7092, 1.1843, -0.4732, 0.3939, 0.26, 0.2876] state[eef_state]: left_x=0.2909 left_y=0.0036 left_z=0.1512 left_yaw=0.0762 left_pitch=-0.108 left_roll=0.0181 left_gripper=0.9976 right_x=0.3823 right_y=0.1961 right_z=0.1068 right_yaw=0.1278 right_pitch=-0.3339 right_roll=-0.1816 right_gripper=0.2876 state[joint_eff]: [-0.0342, -1.5658, 6.9675, 1.6435, -0.0904, -0.022, -0.0073, -0.1983, -7.9111, 6.3385, 1.5946, 0.149, 0.0317, -0.022] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.425,"right_y":0.17,"right_z":0.16},"note":"The yellow fruit is still at the fingertips but hangs near the blue bowl’s near rim rather than above its center. I’ll lift slightly and shift forward and right so it drops into the bowl instead of catching the rim."})

tool

executing move_to over 4 steps (0.4s)

step 189

assistant

agent noteThe fingertips and their held fruit are now above the interior of the blue bowl. I’ll lower slightly and open the jaws to release it beside the first fruit.

move_to

right_z0.0950right_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]: [-0.0746, 0.865, 0.5999, -0.4335, -0.1223, -0.0978, 0.9976, 0.5068, 1.7367, 1.3952, -0.6083, 0.334, 0.1654, 0.2876] state[eef_state]: left_x=0.29 left_y=0.0035 left_z=0.1489 left_yaw=0.076 left_pitch=-0.1182 left_roll=0.0196 left_gripper=0.9976 right_x=0.4219 right_y=0.1721 right_z=0.1543 right_yaw=0.1196 right_pitch=-0.3205 right_roll=-0.1752 right_gripper=0.2876 state[joint_eff]: [-0.0068, -1.7709, 7.1453, 1.6777, -0.1148, -0.0269, -0.0122, -0.1983, -7.4735, 7.706, 1.199, 0.0562, 0.0708, -0.0122] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.095,"right_gripper":1},"note":"The fingertips and their held fruit are now above the interior of the blue bowl. I’ll lower slightly and open the jaws to release it beside the first fruit."})

tool

executing move_to over 8 steps (0.8s)

step 197

assistant

agent noteWith the right arm clear, I can still see a dark fruit and a separate yellow fruit on the table, so they remain to be collected. I’ll park the right arm and approach the dark fruit from the left at a more rearward grasp point.

move_to

right_x0.2950right_y0.0000right_z0.1800left_x0.2900left_y-0.2100left_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]: [-0.0742, 0.865, 0.5999, -0.4343, -0.1223, -0.0978, 0.9976, 0.4946, 1.7432, 1.4265, -0.6567, 0.3161, 0.1375, 0.996] state[eef_state]: left_x=0.2899 left_y=0.0037 left_z=0.1488 left_yaw=0.0764 left_pitch=-0.119 left_roll=0.0197 left_gripper=0.9976 right_x=0.421 right_y=0.1687 right_z=0.1562 right_yaw=0.135 right_pitch=-0.3507 right_roll=-0.1881 right_gripper=0.996 state[joint_eff]: [-0.0479, -1.6342, 6.9538, 1.6044, -0.1197, -0.0464, -0.0122, -0.0068, -8.3761, 7.5556, 1.3455, 0.1392, 0.022, -0.1197] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"left_x":0.29,"left_y":-0.21,"left_z":0.095},"note":"With the right arm clear, I can still see a dark fruit and a separate yellow fruit on the table, so they remain to be collected. I’ll park the right arm and approach the dark fruit from the left at a more rearward grasp point."})

tool

executing move_to over 19 steps (1.9s)

step 216

assistant

agent noteThe dark fruit is centered between the left wrist camera’s jaws at the corrected rearward position. I’ll lower the gripper and close around it.

move_to

left_z0.0250left_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]: [-0.9611, 1.5089, 0.8062, -0.3599, -0.7002, -0.8139, 0.9976, 0.0162, 1.0866, 0.9546, -0.7734, 0.0532, -0.2268, 0.9965] state[eef_state]: left_x=0.2848 left_y=-0.2027 left_z=0.0838 left_yaw=0.0555 left_pitch=-0.158 left_roll=0.0493 left_gripper=0.9976 right_x=0.3001 right_y=-0.0009 right_z=0.1791 right_yaw=0.0991 right_pitch=-0.3507 right_roll=-0.1905 right_gripper=0.9965 state[joint_eff]: [-0.5128, -6.4068, 8.0752, 1.1258, -0.6667, -0.1099, -0.0073, -0.1983, -3.6444, 6.2974, 1.5751, -0.0659, -0.0757, 0.0464] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.025,"left_gripper":0},"note":"The dark fruit is centered between the left wrist camera’s jaws at the corrected rearward position. I’ll lower the gripper and close around it."})

tool

executing move_to over 10 steps (1.0s)

step 226

assistant

agent noteThe jaws closed empty again, and the dark fruit slid below and slightly left of the wrist camera’s fingertip point during descent. I’ll reopen, retreat a few centimeters, and shift left to put the fruit between the jaws at the low height.

move_to

left_gripper1.0000left_x0.2600left_y-0.1750left_z0.0480

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9627, 1.6367, 0.7013, -0.0834, -0.7269, -0.8162, 0.009, 0.0158, 1.0893, 0.9543, -0.7864, 0.0475, -0.244, 0.9965] state[eef_state]: left_x=0.2919 left_y=-0.2075 left_z=0.0419 left_yaw=0.0652 left_pitch=-0.1154 left_roll=0.0219 left_gripper=0.009 right_x=0.2977 right_y=-0.0001 right_z=0.1762 right_yaw=0.1141 right_pitch=-0.368 right_roll=-0.1951 right_gripper=0.9965 state[joint_eff]: [-0.212, -4.5744, 3.7128, 0.779, -0.0708, 0.0073, 0.6422, -0.1983, -3.2615, 6.6803, 1.5409, 0.0415, 0.1197, -0.0122] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.26,"left_y":-0.175,"left_z":0.048},"note":"The jaws closed empty again, and the dark fruit slid below and slightly left of the wrist camera’s fingertip point during descent. I’ll reopen, retreat a few centimeters, and shift left to put the fruit between the jaws at the low height."})

tool

executing move_to over 10 steps (1.0s)

step 236

assistant

agent noteAt the lower, rearward pose the dark fruit is now between the open left fingers, slightly left of center. I’ll make a small lateral correction and close without descending further.

move_to

left_y-0.1550left_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]: [-0.9905, 1.4712, 0.5659, -0.1356, -0.7258, -0.8501, 0.9946, 0.0158, 1.0897, 0.9543, -0.7872, 0.0479, -0.2447, 0.9965] state[eef_state]: left_x=0.2625 left_y=-0.18 left_z=0.0447 left_yaw=0.0576 left_pitch=-0.1273 left_roll=0.0144 left_gripper=0.9946 right_x=0.2976 right_y=-0.0002 right_z=0.176 right_yaw=0.1142 right_pitch=-0.3693 right_roll=-0.1958 right_gripper=0.9965 state[joint_eff]: [-0.5812, -6.188, 5.0803, 0.9988, -0.5055, 0.0171, 0.0024, -0.0479, -3.1111, 6.653, 1.37, 0.0024, -0.0611, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.155,"left_gripper":0},"note":"At the lower, rearward pose the dark fruit is now between the open left fingers, slightly left of center. I’ll make a small lateral correction and close without descending further."})

tool

executing move_to over 10 steps (1.0s)

step 246

assistant

agent noteThe dark-fruit attempt is still empty, so I’ll clear the left arm rather than keep closing on an uncertain target. The yellow fruit remains plainly visible beside the blue bowl; I’ll approach it more rearward with the open right gripper.

move_to

left_x0.2950left_y0.0000left_z0.1800left_gripper1.0000right_x0.2500right_y0.2700right_z0.0550

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.931, 1.3945, 0.4919, -0.1001, -0.6968, -0.7921, 0.0091, 0.0158, 1.0901, 0.9539, -0.7876, 0.0479, -0.2447, 0.9965] state[eef_state]: left_x=0.2629 left_y=-0.1573 left_z=0.0436 left_yaw=0.0644 left_pitch=-0.1287 left_roll=0.0132 left_gripper=0.0091 right_x=0.2975 right_y=-0.0002 right_z=0.1757 right_yaw=0.1143 right_pitch=-0.3704 right_roll=-0.1957 right_gripper=0.9965 state[joint_eff]: [0.5812, -5.559, 5.135, 1.2137, -0.3443, 0.1001, 0.6569, -0.0889, -3.1248, 6.9402, 1.37, 0.0073, -0.0611, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_gripper":1,"right_x":0.25,"right_y":0.27,"right_z":0.055},"note":"The dark-fruit attempt is still empty, so I’ll clear the left arm rather than keep closing on an uncertain target. The yellow fruit remains plainly visible beside the blue bowl; I’ll approach it more rearward with the open right gripper."})

tool

executing move_to over 23 steps (2.3s)

step 269

assistant

agent noteThe yellow fruit is now centered on the right jaw column and fully visible just ahead of the fingertips. I’ll advance about 2 cm into it and close at this low grasp height.

move_to

right_x0.2650right_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]: [-0.0978, 0.9039, 0.704, -0.543, -0.1585, -0.1493, 0.9974, 1.0683, 1.7226, 1.0195, -0.5812, 0.5541, 0.6971, 0.9966] state[eef_state]: left_x=0.2906 left_y=0.0031 left_z=0.1643 left_yaw=0.1126 left_pitch=-0.1572 left_roll=0.012 left_gripper=0.9974 right_x=0.2458 right_y=0.2617 right_z=0.0492 right_yaw=0.1377 right_pitch=-0.4078 right_roll=-0.2237 right_gripper=0.9966 state[joint_eff]: [0.2667, -2.0308, 9.4701, 1.5604, 0.1099, 0.2027, -0.1148, 0.2803, -7.9248, 7.1726, 0.6813, 0.5348, 0.1392, -0.0073] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.265,"right_gripper":0},"note":"The yellow fruit is now centered on the right jaw column and fully visible just ahead of the fingertips. I’ll advance about 2 cm into it and close at this low grasp height."})

tool

executing move_to over 10 steps (1.0s)

step 279

assistant

agent noteThe yellow fruit is still on the table, just to the camera-right of the closed jaw, so that close was empty. I’ll reopen and shift the right gripper laterally toward the fruit while backing off slightly.

move_to

right_gripper1.0000right_x0.2450right_y0.2250

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]: [-0.0948, 0.9039, 0.7124, -0.5549, -0.1486, -0.1497, 0.9976, 1.0195, 1.7412, 1.0275, -0.5716, 0.5312, 0.6384, 0.0091] state[eef_state]: left_x=0.29 left_y=0.0023 left_z=0.1657 left_yaw=0.1076 left_pitch=-0.162 left_roll=0.0058 left_gripper=0.9976 right_x=0.2574 right_y=0.2547 right_z=0.0439 right_yaw=0.1346 right_pitch=-0.4333 right_roll=-0.2456 right_gripper=0.0091 state[joint_eff]: [-0.4034, -1.8667, 6.2564, 1.6874, -0.1734, -0.0269, -0.0024, -0.4991, -7.241, 7.3915, 0.9988, 0.3687, -0.0024, 0.7448] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.245,"right_y":0.225},"note":"The yellow fruit is still on the table, just to the camera-right of the closed jaw, so that close was empty. I’ll reopen and shift the right gripper laterally toward the fruit while backing off slightly."})

tool

executing move_to over 10 steps (1.0s)

step 289

assistant

agent noteThe yellow fruit is now between the open jaws, but it still has clear space beneath it in the wrist view, indicating the fingertips are short of it. I’ll advance about 3 cm radially and close.

move_to

right_x0.2750right_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]: [-0.094, 0.9039, 0.712, -0.5579, -0.1486, -0.1501, 0.9976, 1.0046, 1.6466, 0.9039, -0.5537, 0.5194, 0.6163, 0.9954] state[eef_state]: left_x=0.2894 left_y=0.0026 left_z=0.1649 left_yaw=0.1087 left_pitch=-0.1653 left_roll=0.0062 left_gripper=0.9976 right_x=0.2434 right_y=0.2262 right_z=0.0388 right_yaw=0.1352 right_pitch=-0.4522 right_roll=-0.2602 right_gripper=0.9954 state[joint_eff]: [-0.1846, -1.7299, 6.9128, 1.6435, -0.1294, -0.0366, -0.0122, -0.5128, -8.2393, 5.2855, 0.8327, 0.2808, 0.0366, 0.022] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.275,"right_gripper":0},"note":"The yellow fruit is now between the open jaws, but it still has clear space beneath it in the wrist view, indicating the fingertips are short of it. I’ll advance about 3 cm radially and close."})

tool

executing move_to over 10 steps (1.0s)

step 299

assistant

agent noteThe right fingertip appears to be riding over the yellow fruit; the jaws still closed empty at a 4 cm height. I’ll reopen and lower the grasp point nearly to the tabletop while shifting back slightly so the jaws can surround the fruit.

move_to

right_gripper1.0000right_x0.2550right_y0.2250right_z-0.0050

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]: [-0.094, 0.9066, 0.712, -0.5625, -0.1482, -0.1505, 0.9976, 0.9234, 1.6814, 0.9459, -0.5163, 0.4984, 0.5251, 0.0094] state[eef_state]: left_x=0.2888 left_y=0.0026 left_z=0.1634 left_yaw=0.1089 left_pitch=-0.1725 left_roll=0.0071 left_gripper=0.9976 right_x=0.2705 right_y=0.2237 right_z=0.0408 right_yaw=0.1352 right_pitch=-0.4497 right_roll=-0.2624 right_gripper=0.0094 state[joint_eff]: [-0.1026, -1.8667, 7.0769, 1.5751, -0.0855, -0.0757, -0.0122, -0.6496, -5.3265, 7.2, 0.8474, 0.2369, -0.0024, 0.7204] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.255,"right_y":0.225,"right_z":-0.005},"note":"The right fingertip appears to be riding over the yellow fruit; the jaws still closed empty at a 4 cm height. I’ll reopen and lower the grasp point nearly to the tabletop while shifting back slightly so the jaws can surround the fruit."})

tool

executing move_to over 10 steps (1.0s)

step 309

assistant

agent noteLowering the jaws moved the yellow fruit up against the near side of the blue bowl; it is now ahead and to the right of the fingertip point. I’ll place the open jaws around its new position before closing.

move_to

right_x0.3000right_y0.1850right_z0.0070

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]: [-0.094, 0.9066, 0.712, -0.5648, -0.1482, -0.1501, 0.9976, 0.9668, 1.7458, 0.8497, -0.3458, 0.5331, 0.5571, 0.9957] state[eef_state]: left_x=0.2884 left_y=0.0026 left_z=0.163 left_yaw=0.1087 left_pitch=-0.1747 left_roll=0.0079 left_gripper=0.9976 right_x=0.2626 right_y=0.2289 right_z=0.008 right_yaw=0.1421 right_pitch=-0.4145 right_roll=-0.2603 right_gripper=0.9957 state[joint_eff]: [-0.0342, -1.8803, 6.8718, 1.663, -0.0855, -0.0122, -0.0122, 0.0342, -6.6256, 4.7248, 0.8523, 0.1685, -0.0855, -0.0806] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.185,"right_z":0.007},"note":"Lowering the jaws moved the yellow fruit up against the near side of the blue bowl; it is now ahead and to the right of the fingertip point. I’ll place the open jaws around its new position before closing."})

tool

executing move_to over 4 steps (0.4s)

step 313

assistant

agent noteThe yellow fruit is now centered between the low right jaws, with the blue bowl directly beyond it. I’ll close the jaws to secure the fruit rather than push it farther along the table.

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]: [-0.094, 0.907, 0.712, -0.5652, -0.1482, -0.1501, 0.9976, 0.7834, 1.71, 0.7925, -0.2363, 0.4744, 0.4126, 0.9965] state[eef_state]: left_x=0.2883 left_y=0.0026 left_z=0.1628 left_yaw=0.1088 left_pitch=-0.1755 left_roll=0.008 left_gripper=0.9976 right_x=0.299 right_y=0.1889 right_z=0.0078 right_yaw=0.106 right_pitch=-0.407 right_roll=-0.2401 right_gripper=0.9965 state[joint_eff]: [-0.0889, -1.7026, 6.8855, 1.5409, -0.105, -0.0708, -0.0122, 0.0205, -7.7744, 4.3419, 0.8278, 0.232, -0.1245, 0.0659] camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now centered between the low right jaws, with the blue bowl directly beyond it. I’ll close the jaws to secure the fruit rather than push it farther along the table."})

tool

executing move_to over 10 steps (1.0s)

step 323

assistant

agent noteThe yellow fruit is larger than it first appeared, and the closed fingertips only touched its near edge rather than surrounding it. I’ll open, advance into its middle, and raise slightly so the fingers flank its body.

move_to

right_gripper1.0000right_x0.3500right_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.094, 0.907, 0.712, -0.5652, -0.1482, -0.1501, 0.9976, 0.7834, 1.7092, 0.7895, -0.2367, 0.4664, 0.4034, 0.0093] state[eef_state]: left_x=0.2883 left_y=0.0026 left_z=0.1628 left_yaw=0.1088 left_pitch=-0.1755 left_roll=0.008 left_gripper=0.9976 right_x=0.2975 right_y=0.1892 right_z=0.0065 right_yaw=0.1162 right_pitch=-0.4149 right_roll=-0.2412 right_gripper=0.0093 state[joint_eff]: [-0.1573, -1.6752, 7.1179, 1.5263, -0.1294, -0.0366, -0.0122, -0.1026, -7.1726, 5.4632, 1.0085, 0.3443, 0.0806, 0.779] 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":0.35,"right_z":0.03},"note":"The yellow fruit is larger than it first appeared, and the closed fingertips only touched its near edge rather than surrounding it. I’ll open, advance into its middle, and raise slightly so the fingers flank its body."})

tool

executing move_to over 10 steps (1.0s)

step 333

assistant

agent noteThe yellow fruit has rolled beside the blue bowl and is now left of the right jaw column. I’ll slide the open gripper left to center it before closing.

move_to

right_y0.2250right_z0.0400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.094, 0.9096, 0.712, -0.5732, -0.1486, -0.1501, 0.9976, 0.6739, 1.7668, 0.9512, -0.3153, 0.4126, 0.2939, 0.9957] state[eef_state]: left_x=0.2871 left_y=0.0028 left_z=0.1607 left_yaw=0.1095 left_pitch=-0.1859 left_roll=0.0105 left_gripper=0.9976 right_x=0.3403 right_y=0.1857 right_z=0.024 right_yaw=0.1166 right_pitch=-0.4366 right_roll=-0.2475 right_gripper=0.9957 state[joint_eff]: [-0.0342, -1.9897, 7.0222, 1.619, -0.1294, -0.0562, -0.0122, -0.4034, -6.8034, 8.1299, 1.0818, 0.1587, -0.105, -0.1538] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.225,"right_z":0.04},"note":"The yellow fruit has rolled beside the blue bowl and is now left of the right jaw column. I’ll slide the open gripper left to center it before closing."})

tool

executing move_to over 4 steps (0.4s)

step 337

assistant

agent noteThe orange-yellow fruit is centered between the right jaws but still a short distance in front of their tips. I’ll advance about 3 cm while closing to catch its sides.

move_to

right_x0.3700right_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]: [-0.094, 0.9104, 0.712, -0.5774, -0.1482, -0.1501, 0.9976, 0.7609, 1.8236, 1.0836, -0.4168, 0.4252, 0.3454, 0.9965] state[eef_state]: left_x=0.2864 left_y=0.0028 left_z=0.1598 left_yaw=0.1093 left_pitch=-0.1908 left_roll=0.0113 left_gripper=0.9976 right_x=0.3377 right_y=0.2258 right_z=0.0354 right_yaw=0.1574 right_pitch=-0.4452 right_roll=-0.2431 right_gripper=0.9965 state[joint_eff]: [-0.1299, -1.9761, 7.1863, 1.58, -0.1001, -0.0317, -0.0122, -0.4991, -8.2667, 6.9812, 0.9353, 0.442, 0.2076, 0.0708] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.37,"right_gripper":0},"note":"The orange-yellow fruit is centered between the right jaws but still a short distance in front of their tips. I’ll advance about 3 cm while closing to catch its sides."})

tool

executing move_to over 10 steps (1.0s)

step 347

assistant

agent noteThe orange-yellow fruit is pressed against the outside of the blue bowl, leaving too little clearance to close around it from this side. I’ll place the open gripper on the fruit’s far-left side at mid-height to nudge it over the rim.

move_to

right_gripper1.0000right_y0.3100right_z0.0500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.094, 0.9104, 0.712, -0.5812, -0.1482, -0.1501, 0.9976, 0.7044, 1.8835, 1.1606, -0.4347, 0.3943, 0.2829, 0.0093] state[eef_state]: left_x=0.2858 left_y=0.0029 left_z=0.1591 left_yaw=0.1095 left_pitch=-0.1945 left_roll=0.012 left_gripper=0.9976 right_x=0.3603 right_y=0.2218 right_z=0.0327 right_yaw=0.1612 right_pitch=-0.4696 right_roll=-0.2537 right_gripper=0.0093 state[joint_eff]: [-0.0752, -1.894, 6.8308, 1.5702, -0.1245, -0.0317, -0.0122, -0.5402, -7.788, 7.747, 1.1453, 0.2369, -0.0073, 0.7692] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_y":0.31,"right_z":0.05},"note":"The orange-yellow fruit is pressed against the outside of the blue bowl, leaving too little clearance to close around it from this side. I’ll place the open gripper on the fruit’s far-left side at mid-height to nudge it over the rim."})

tool

executing move_to over 10 steps (1.0s)

step 357

assistant

agent noteThe orange-yellow fruit has moved away from the bowl rim and now sits between the open right fingers in the wrist view. I’ll try to grasp it at this clearance rather than push against the bowl.

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]: [-0.094, 0.9104, 0.712, -0.5877, -0.1482, -0.1501, 0.9976, 0.8616, 2.0762, 1.5116, -0.6624, 0.4305, 0.4122, 0.9954] state[eef_state]: left_x=0.2847 left_y=0.003 left_z=0.158 left_yaw=0.1098 left_pitch=-0.2009 left_roll=0.0134 left_gripper=0.9976 right_x=0.3558 right_y=0.3068 right_z=0.0456 right_yaw=0.1941 right_pitch=-0.4897 right_roll=-0.2555 right_gripper=0.9954 state[joint_eff]: [-0.335, -1.7026, 6.8308, 1.5653, -0.0708, -0.0562, -0.0122, 0.1983, -10.1265, 7.8701, 0.8034, 0.4078, 0.2466, 0.0269] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The orange-yellow fruit has moved away from the bowl rim and now sits between the open right fingers in the wrist view. I’ll try to grasp it at this clearance rather than push against the bowl."})

tool

executing move_to over 10 steps (1.0s)

step 367

assistant

agent noteI placed the green fruit in the blue bowl, but the dark and orange-yellow fruits remain on the table. Repeated grasp attempts missed or displaced them, and I cannot complete the remaining pickups and the bowl-to-bowl pour within this trial.

give_up

hindsightThe green fruit was grasped by the right arm near (x=0.32, y=0.09, z=0.06) with a settled gripper reading of about 0.34, then released over the blue bowl near (0.39, 0.20, 0.08). The other two fruits repeatedly appeared centered in the right/left wrist images but remained radially ahead of the actual fingertips; closing while they were visible high in the wrist frame pushed them sideways rather than grasping them. The orange-yellow fruit rolled against the blue bowl's outside rim, making subsequent pinches difficult.

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]: [-0.094, 0.9108, 0.712, -0.5884, -0.1482, -0.1501, 0.9976, 0.8639, 2.0853, 1.5188, -0.675, 0.429, 0.408, 0.0091] state[eef_state]: left_x=0.2846 left_y=0.003 left_z=0.1577 left_yaw=0.1098 left_pitch=-0.202 left_roll=0.0136 left_gripper=0.9976 right_x=0.3541 right_y=0.3069 right_z=0.0428 right_yaw=0.1951 right_pitch=-0.5026 right_roll=-0.2668 right_gripper=0.0091 state[joint_eff]: [-0.0068, -1.894, 6.8171, 1.5507, -0.1001, -0.0415, -0.0122, -0.5128, -11.959, 5.4632, 0.989, 0.2027, 0.0122, 0.7448] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I placed the green fruit in the blue bowl, but the dark and orange-yellow fruits remain on the table. Repeated grasp attempts missed or displaced them, and I cannot complete the remaining pickups and the bowl-to-bowl pour within this trial.","hindsight":"The green fruit was grasped by the right arm near (x=0.32, y=0.09, z=0.06) with a settled gripper reading of about 0.34, then released over the blue bowl near (0.39, 0.20, 0.08). The other two fruits repeatedly appeared centered in the right/left wrist images but remained radially ahead of the actual fingertips; closing while they were visible high in the wrist frame pushed them sideways rather than grasping them. The orange-yellow fruit rolled against the blue bowl's outside rim, making subsequent pinches difficult."})

tool

give_up: I placed the green fruit in the blue bowl, but the dark and orange-yellow fruits remain on the table. Repeated grasp attempts missed or displaced them, and I cannot complete the remaining pickups and the 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 · 6.109 s

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

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "input_text"
}
],
"role": "system"
}

{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3878, -0.0139, -0.0296, 0.9991, -0.0227, 0.8001, 0.6197, -0.3878, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=-0.0004 left_z=0.1811 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9991 right_x=0.296 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.7162, 9.7436, 1.8486, -0.0904, 0.1392, -0.105, -0.1983, -1.7573, 9.1966, 1.8144, -0.0611, -0.0562, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d05d7ce44ec9bd65bf9aa33e693dfa9b04418dc819e487a56a59c91a998d9f44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab22d6be00a9358ddf0994c3a282d53bc4585d1e8144e17f07dd81aaabf758a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea255b2003fa2d3c56b366083424ec84fc7d662428847c426b11a01a56b1aba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 3.409 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIUCVIAsmMRl9Fdjn7aQeO56SSdBhJ-q_B8gi7SgDU2bJ9KX48662t21VDUaVt7vnermG13PjmOXvmftze2VcQUFs2KsSaqQuqgcI9SQePjIBZU6A2HHY1OxurnJSu00gXsrGikMa6qAZikSVXGIq35ndBILi2HHIOOlQ5gTzFWqbzO9MPdxg2RTCaxznkZSuofmxrM7EpUbc7Zoup1etEfIsijpD0ZByWkM68ZRmFsiMNwQFm5Tfuchnx2lRACSryi1gcDZO4JN6hyK5ISGyvLx_aX7Xn7OWOtBin-YkxFQamMuvz0YMohaDx0WUMvI5FR2tVMhE4qwV3Ua9SRKNIQ2OIgD95eOkQHu5mS28Vt5QUyaIqBuoKd4z1oUVKnvicMmngFX05gmyYXUBz29r-Cr9HhXhXGtDeBj1Hl2XAK4wGZDO_29Y-l2fUxoxdLaB65ahqkk2jkcJuuH1ATQJfrTPPpyfVGBrF51ObbZ06S20EMvKUUDEh286xsjDZawgFYUD-n_DmcHPzVDCWvtf8dKUH2_nbygXwfc-st3r1LTS5TBw8U04UozijRwnIMZO1hymwDfyS7npzq88X64r5i7HMWGwFHhI1HyNfTifNVFRBl87CI8lrwlSfGfGMbOK62oGy04KgN57ETHwoH5DfR2xVSD6C5lFf7il7B7AqrQK3y_0rbGiVAwXeFlStAxe_yVJPzzhWVoPRgs8gUp6jYYdsJt85evl6JYzxyH5T9PFB7RJhNqVJdQGMkHu2wNKhiREnh4hsLVkHgW03pZyGMvC3w8VVSniTlyrvszj19aggNEMRNwUaytHhZhtX3GNrYywSAONWLbt22tWOlpoDIL0Zy2jGlA3lgC8xDfv8FpvqItC8HivWLauMGWsCzo-uyx_PiEfv_JpUvAul5jjLmQh5a8Gv_6e3vn4FFCh1JIzdQo8otpy1jzEyENANgjl4Ej8fFY0WOENPwsuxge_6v_ZffKoyGcgUNwveKB9nSt242bUfiAe-AfyN003fdYn_OT4-VIp_dKFex2WoKhw-MvX-f7RabNlIf4Si6HoR1IySLQwLHPCA4U-ZK0ymROgyyHsxAWZ7adDOwPo3pckMQ0Df5UQifIXOcS25CWOF-pkJ92lF8SMvBcjAxcTT0n6uqYofUYgbKay7ZzePmNYqU6bLJ21hQWZuAx4yFkISfWJp352UCzPO1gfxK3mGB8CuYKD2hIXdWsztGNE8-ZySIwUIcPMABBcM7Y6MIIj8b-TOeixmphbCghonY5NKlVMVDkNZqub2r2ac-1AmDuPd07Tb1hiHCE5qC2OtqIiGl5yT1hgYwFQDvv3AyhpSgORwqwyElwJ_wsPI6weHCXc0zxt9azYY4QLlQM4mxuxV6lj8AckYI49si4j6xDf-B1ckGCB3QwA9EEjDf6ygTLW4RFSEZiPZp1K_zPEqK01jOSajhnCKalxs0eIwhKVeLrX09ksokRKrTgPI4g58NyJv8V3wEHx3ttGtyPiZq2MxmWSKu2zB9KYE0KWiKvnvjWc3fWTPgkBJN87ML1YBs6fNH8pGMoyY2X9awo-cMsiC6_UzhVolFqQhtJlNLlYeHi5gUT-0tevOy4krWIS2Gt3BdV3VqyupBJn_k2FE72Zd34NIzCp5JERxJ57UUDyuPBlGN7iQwJmlu8Db2fwtHprweYMLvwNhkeE-GOzKLWA4TF86wEYnu59Ue1RyWXMvwChVjeyupGiyqW_rh529GDugJSwe3ERDS0KFa4W5GT085csQ99GROUOm39Jw49r2P_i4Etqah-8M4tyazrV7o1XBvwIZaDt7ImDxSydrag6Ee-ssYGwGd5pKck_TwvEyteczta-2GdCPij4H1O5UsJBwubUp15TVbfmQsMsyY4E9laCZ_R_v9nGMdLV0zpxrc8mrm4LTtUQA-2GKm-SLd8IG7wZivrLidPJokeINj7FrIzyhCiiZVVu3ksWAgQlBJ2I4F7gi_shC-toYaRkBJ44u0pwytWw8iA1xXbYF31Bx0ATbrAY6RJMRXZzzIrnM6FENyTMoknNyVzaid2veBfxKQBDimq3J5HCFvIj5vDuXggElKPAUhiiqZufy40vYBgndqtlfUOA69bMuadOAbpJdZu0lhhFYjE5t3tNJtlzqGl-OoJaFcJ8nV7bYf8wecEUe6MvYm6tfgD5tb3etpqRtYB-9qig8GGncmdrwmewimxKHlKYUZhcGB9MRykb1L0wLoSSRFOrQBHe6cUO8mBy2I0XwGGOHGOlZCR_XWcBsVBiKQ-5f0cUFvHCIZ0UOamjyre3oRq_IGAsytXPtucDcfgwboy3s7nsh0uU05Wn_3MDgVypFbXovqdNUEzz-QdATIiy52prTgfL9xKA0nGScqnxM4C5LZa1eFZphqtD5mQgHi-0V2URXYJ6eXBgGoYzg8f80-ETRQM94UgE0jQ5W2Mt-Fh4W7F5V-_zwdsLf_08BgBLw5wue79v9Bv8943mZYa8y7rqYQ3ywwBAZCyQb2Q_uN9Bpwn95VAZY9xWvcNnjctQd555L_QiMQPunbmNL1-4cLVcqD6-ykDVUIoxP0URUqGvfyH_SF7UGblg0CKOrMOC5HFyloNnqw1bj_lsaNirSqOafsidnyctUj0HttO_MixkgLZ6I7bSZcKNk5uwlfTvs2Vrv_bQ29WYyG8Kn51uhZ3yDItdpiOwT2Xt7IZxQVLbqZagciwBXdO7ehPinLjzmG-HKhf1YFXg20S_RnExkNvucr-_sHFQAZGUyqXp04eYHOjLPlyyKF3nP9yTjh5NTOqI1QP8K411eG0NiE2BueD4qs-4B--GghWDNBXd6RgNNmc0t0zrQvFz7V9Y8IWSCT6VJGwMEAF-vlHQGQOraFs1avMCbWQOav2owqLohm4E1jI-D7qF-hfsHQWEBda6AEYp90QpqW3O2udjRbWeowA0Jr_vw1XyeVfxb8uOBYPI9CA1vbWJaFY57tT-H9LBBcWEjJ5PsYAZkgSlemreUiUVtTGsONvWWWwuYAr_JaHZBvZbmSNXX2m9qiwsWfAr2DuzkniA9RBSRlSXn4inQdA3OahDIIo5LuKWrZMxme3Rxg4LQDkADPXnc_YvPMc2qOl-R_0jL83fWC0SqmfHn6NZrJWnjB5DxV8geyLkN4ER_jwk8S82F2FMeQW1sKX4IK60JstU9SLn5MKmPddSND7Siu86gRk5WgR23YCOv9qaqMA6PL1KKIDCe-IBuCI8-sjwJCHMOtBXBieHE7XdY6ojZOKOuJLFJn9HW5IXAMM7R4BJyfpjAXmz_XSAHBpLIgJ3tcrhksThqkJup3WNJLwbvSMIRnM9ydidzdhMAXu8Kfk7g9X_cTkeJNnFN8odD-8AI95HOlf_cs8RUx",
  "id": "rs_0a315bbe47e44596016ab4320f260887d0b3989d6d82cc0f89",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.2,\"left_z\":0.15},\"note\":\"The dark fruit is near the left arm, while the yellow and green fruits sit nearer the right; the blue bowl is between them. I’ll bring the open left gripper above the dark fruit to line up a grasp.\"}",
  "call_id": "call_tKPwKOAwkecR5tY8xEpoLvAO",
  "id": "fc_0a315bbe47e44596016ab43213271c87d0a8e066746a305f24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tKPwKOAwkecR5tY8xEpoLvAO",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "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]: [-0.7662, 1.499, 0.8906, -0.1749, -0.5991, -0.4992, 0.999, -0.0227, 0.8032, 0.6178, -0.3943, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3522 left_y=-0.1957 left_z=0.1323 left_yaw=-0.0122 left_pitch=-0.048 left_roll=0.027 left_gripper=0.999 right_x=0.2952 right_y=-0.0002 right_z=0.1808 right_yaw=-0.0008 right_pitch=-0.0111 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -6.7897, 9.1145, 1.6581, -0.4322, -0.0513, -0.022, -0.3761, -1.347, 7.2, 1.7656, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fe0b086b7948ee2226dd9e4083d67c65fdab8c271183fe2f010a39310dba2dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de399a14b89e9975bc30eea01c01f15406b7de473fbd029943b9a19e88f4fc99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6d5d34501a6df8cc5ec60a5261cd68631d31d815433be28d84d796207173a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 1.852 s

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

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3878, -0.0139, -0.0296, 0.9991, -0.0227, 0.8001, 0.6197, -0.3878, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=-0.0004 left_z=0.1811 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9991 right_x=0.296 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.7162, 9.7436, 1.8486, -0.0904, 0.1392, -0.105, -0.1983, -1.7573, 9.1966, 1.8144, -0.0611, -0.0562, -0.0708]",
      "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]: [-0.7662, 1.499, 0.8906, -0.1749, -0.5991, -0.4992, 0.999, -0.0227, 0.8032, 0.6178, -0.3943, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3522 left_y=-0.1957 left_z=0.1323 left_yaw=-0.0122 left_pitch=-0.048 left_roll=0.027 left_gripper=0.999 right_x=0.2952 right_y=-0.0002 right_z=0.1808 right_yaw=-0.0008 right_pitch=-0.0111 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -6.7897, 9.1145, 1.6581, -0.4322, -0.0513, -0.022, -0.3761, -1.347, 7.2, 1.7656, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fe0b086b7948ee2226dd9e4083d67c65fdab8c271183fe2f010a39310dba2dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de399a14b89e9975bc30eea01c01f15406b7de473fbd029943b9a19e88f4fc99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6d5d34501a6df8cc5ec60a5261cd68631d31d815433be28d84d796207173a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIfjAUqxYVfEfo4LlEnapXVgFKX4ZmMSzQid22LP7RsFBpa7ZV98DB1h7w2Pev97gdO4uwLsHUQL9WypCFaIYeIK3cNObf5pbcjtqMYzE0bhdduE_jZXpzY4zTcE6sxOvBOfMETRr9-V41U57aGeFKNOCGmBXoBgbrleV1Mm-rJbIVgjKAzFuFVv4OhUv4XP6BoTmQoJJTHSlPAubvSfGpso955sTaSfbwYK6AgK34XRiSyKvHzTcPrWljsm3bneuM52zdOclXFXc1HY57_3jktxpNVs9sxmr2REjYRXwtpHw5F8YwjQvvu9QLLDLaG2hYTW0FmbGJuZ8qUD4fiHUMbXKayVQEHify59fefS3yugFdn0V1fcLP2UBri1whwoXIUCED0yOMww9xi7Zqh_jYJFqnKbKWhZtbHTBq5oWJoIPRRSPZhX4VDk9TRgFCJI5S7r5TtffpMVf5DK1DcQWvSBXOjZLnanjRJWCJMGYvT2Sw_e1DFjRplPpNZlaCPeO0xYBB2fOvSX-y-BPiTGqt06U3S2N56SBUXiVf6Xt7A8q09NsScI1Ep12-CpUKnHwiEz06JP3fKn4s2DRYuFXjDgRL_-liMwXNvZV6yzexwE3XSBw5ytdmu4JctaTdCJxsbVVE2pvIvXtHm9MDGTMxM14VrtE4radD0wC4ytffgkEL8Zj3zaS1zhdDQ8GRcb7S8qqhdUGsZMDDWZC4Z5cbwJF-Hyy5TE6qYef2xfisThuEaLtL61L24RjozqPH-gZs-Sejgb_3Z7CTxUaZMEPCEhco21aioCNnapsxil07yRxdUBloeqBr8OTfyRKRSNE_K8yvCxw0mMc-VKv72oSVE5xtETW3jSRtNnDgStVTF28P2busQTTApExvHodVY8a1T3ERrMIUUFo23s1ikLNz405VjaOnFraEU6FDqLfB4faAA7L5eKATpez94jLRKbMPLVnRQwM2FB56B4DzCbT5rsWuvJ_Rp48eLrEi0olPeM2YPetNQgQtXjfPJVlTKn1Az7Z-OzyBdv__EJXVgXo0jg5a7JL72uuJMLHaLUBYKLQBJkqIfv9CjS6VgChzqOyROXY4LcOIsMzc9ooCSGYhdlq5Ti0TJ99GwThGHOQ25t5kBkvJTbxKDqpD-IsKnKuRejznMg1ns5xXP8PQwulDP62O_LZq_t8LUIdj1iBWcni10FswJhTgeWY5avcBeE9H2oC-iMLd3Pd-6gMr6CrfuV3Y4zGS1ymJVDD1pAo2R7J4BjJ6zMF5FpBCXGQ6m3WB6yG6EjzQm5gr4BrI_J_QO9wffjwABSVOrnHpuNwISOxP1_Qp6z_pUJncs7LZ4M5-biAdBR_qnNjkFLliGE0rXwc0zzXLvDrQ-6VqEvCajZLbQXAOb9syc7ulKtcW2RG37rYWLm_WaLU5YuJGLU3E02LufTi039CCl5_Ifs4FQt2W55BdiNULFwIAywezslrFF1QxV8JNB0jXD2kgW39w6NA9t8CR2DHv6Cz-oZ8lSUpK5keY2GAiax5zcd4niDjysXshN50rlGHELLTvN2cLnHKJHjrYPsTp61w0jsX6ywxAwVzco0M1hWkwHWwjyUxQUqOqcCqYP6ctTs3Z5-mpFv9SL0fZan1yFD5ZW6sjNgGf9mBaGcW5ULebMR0i69GoCsawQ_VFiH6GIMS1aHTSpdEYr2KOvF1Qy52dB2nEH7lwH_ARCe3IvncCogIh9YTGM6hnRnhQbx161ypndVR_BaYxoQKoIhzEZ4MZbeKA1jTkylb5X66H-8HHB7D2GwonUcGbhWAGpqdLxgMIpDnHCWQUA8HI5N8q_hvweKUlzHftXemc1UkMfru1X_O49f8VrpRBRBg99J0h-N2XZf2ABbw==",
  "id": "rs_0a315bbe47e44596016ab4321d473087d0b7a32ca65314bf87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.022},\"note\":\"The left gripper is over the dark fruit in the overhead view, and the fruit is hidden directly beneath it. I’ll lower the open jaws to the fruit’s mid-height before closing.\"}",
  "call_id": "call_WrLzDBnLtPDY3eUvUfNzdUan",
  "id": "fc_0a315bbe47e44596016ab4321ed5ac87d09ee690220a3fa1f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WrLzDBnLtPDY3eUvUfNzdUan",
  "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]: [-0.7662, 1.7863, 0.6628, 0.3145, -0.5919, -0.4984, 0.999, -0.0227, 0.8062, 0.6178, -0.3943, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3491 left_y=-0.1942 left_z=0.0183 left_yaw=-0.0169 left_pitch=-0.0702 left_roll=0.0413 left_gripper=0.999 right_x=0.2954 right_y=-0.0003 right_z=0.18 right_yaw=-0.0008 right_pitch=-0.0141 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -7.2137, 4.8068, 1.619, -0.3443, -0.0464, -0.0122, -0.0889, -1.4154, 7.0222, 1.7118, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1cc04a01ac1406bbc97f0d8cac08316e5040a98733ccf8058bf81336be8994",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52f9cca1bd751ed0c07745d3bcc537eef994b90e76a3ffcf783bc4acf7fd5652",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536cc776809289ea49752893f360dc5e03b36464f9fc113d38c6762488bc5b10",
      "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 · 1.974 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]: [-0.7662, 1.499, 0.8906, -0.1749, -0.5991, -0.4992, 0.999, -0.0227, 0.8032, 0.6178, -0.3943, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3522 left_y=-0.1957 left_z=0.1323 left_yaw=-0.0122 left_pitch=-0.048 left_roll=0.027 left_gripper=0.999 right_x=0.2952 right_y=-0.0002 right_z=0.1808 right_yaw=-0.0008 right_pitch=-0.0111 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -6.7897, 9.1145, 1.6581, -0.4322, -0.0513, -0.022, -0.3761, -1.347, 7.2, 1.7656, -0.0317, -0.0366, -0.0122]",
      "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]: [-0.7662, 1.7863, 0.6628, 0.3145, -0.5919, -0.4984, 0.999, -0.0227, 0.8062, 0.6178, -0.3943, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3491 left_y=-0.1942 left_z=0.0183 left_yaw=-0.0169 left_pitch=-0.0702 left_roll=0.0413 left_gripper=0.999 right_x=0.2954 right_y=-0.0003 right_z=0.18 right_yaw=-0.0008 right_pitch=-0.0141 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -7.2137, 4.8068, 1.619, -0.3443, -0.0464, -0.0122, -0.0889, -1.4154, 7.0222, 1.7118, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1cc04a01ac1406bbc97f0d8cac08316e5040a98733ccf8058bf81336be8994",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52f9cca1bd751ed0c07745d3bcc537eef994b90e76a3ffcf783bc4acf7fd5652",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536cc776809289ea49752893f360dc5e03b36464f9fc113d38c6762488bc5b10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIjVcC0GTw-cl40m3_vwsxedtZe3LXw3djSWn3k-vTMaU-6O94pxDCtXiKlD2h0zvIdRKJeOl1GV06Y-9C--Z23Co8PaEyOWbZMviqhtLTSZ4R9AS7bctQ5YIHTgvvk9KHF3iYffXX6vwzmLkxCj-SrocwlEqT_1Cw2QIA6nRQCoLNjhYQ71VGO8pbNbtu8l5gT8Ql00LrH6wUVSolgZEOeRdVQRZQwrYIM5UsoTq0ezuVu92S6gnzt3lU6RqfzFQJmb4ZuFQSiZEWulMvx1QACaTdtYIyzV2BwfWEsPLRJuoHTqonKDN_pPFfek1qFlBUMMUzx4W58tKM2yaGMNy8QTZG5uZaCltq7__uUzj73klxXuIfyYVUqFQXyzQKjYHywaOfB7AajdOU7EgwdVHsOGQpjqQFY3Fc84vWFIQo5LwjHzpFmiwzsdGcYyBgUnAx18kqIvAtSHRouKK9SpleAW4ZWIHFoPj7sb0sKN1wF6fHbx1TiGJfYo4QNkfKrlkgZnpGUI-66cisHp6Bfkk50p4gdVypqnvcEhqtFFfXbef4JajVI-HILR6BdlNnytYqzNiCJKNdKy4C9hAaQlcEjv2g85emceJEdOg7b5CT3Nu21vRn6PUyG39rmOifnhKJFMjHuD_52StWLqQLvqMqPDlTxvnnt_1qpTxMlBRQdMJt9uP3TIw-TSjXzCIFWELGKer3XGkaaImdRCuoLz91xooal6TufUANm_CfZL87rfHdUIBx4CXaEQ-DNAXJpZh2Cf-sp1VhGUkyldy80_VMunXEaCoq1I1HBIbGSFx1ySbatiaVGy6Z3dsuWqpQ3A47JZl1a-QqZ7gaOmeURJ0UrkgOEqm8w1pGGzHt9z34u9r2_62uyZRybc_p-FS2CbG1ltlFIba7tSCbnZUS-bYsy2YiutAsulcrRyAYumJUx6DOs6rzJmDTT1pRdUmVtwjNdsfFFkPbct5-PHRlcxbhaqD0FX6jVbVqLpvP6tEszgCO6QuoSO4tmnHPqUPbcEacbrtIsL-2iTzQaB5kZ4vfeEbvCZGhUkZogORh3NIynkl1sES6MjKYgM__GJAP3lwXtl5DB3OnUV_UBhWH8vflarbEapSZn4JDCryqru0xWkieQZt2nSmTBeFVCH3a13pi3PK-ui1NJ4bSGQ4-DeJIq8m5axrIu8d8_HECqh4f0HaqIaR_RHPjG6TN4SJPc1PBLx0WKv0n0YP1vufxrUWQx8DEFxoWlmHCCOfevuSLJ83tpTFz8alQLrF10Fx2ss7fbL2rmvx0s5CQFUaOSPM_MAf2LCdfVABf281lhc8UiYEhTYDW1PTXXxUFl8X-8M4SZksbARf32HTxmWpIQ_MajoA==",
  "id": "rs_0a315bbe47e44596016ab43222e75087d0b9d86aa4226ea2ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingertips now straddle the dark fruit at table level. I’ll close the jaws and check their settled opening to see whether the fruit is captured.\"}",
  "call_id": "call_Sq2lUtJc3nvvwHEeevAojLX4",
  "id": "fc_0a315bbe47e44596016ab43223651c87d0a5f9ed8ab29f3505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Sq2lUtJc3nvvwHEeevAojLX4",
  "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]: [-0.7635, 1.7802, 0.6678, 0.3664, -0.6239, -0.4957, 0.0067, -0.0227, 0.8082, 0.6178, -0.3946, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3584 left_y=-0.1953 left_z=0.0324 left_yaw=0.0061 left_pitch=-0.0091 left_roll=0.0164 left_gripper=0.0067 right_x=0.2954 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -7.0359, 4.6564, 0.9744, 0.022, -0.0269, 0.6764, -0.0479, -1.4564, 7.2547, 1.7607, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea5edca2eb5059f4996b4d25e2615adae2b7234ab8615587eecef6c6fe5c64c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b0540022ec8b2f5044d2c104c03c8de2cd0659d759557ae8fe9d606c9a61be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e46d8c88fb63b5d7a941efc6a171674c401df8e7e2700eaced820dd553dd84",
      "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 · 2.743 s

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

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3878, -0.0139, -0.0296, 0.9991, -0.0227, 0.8001, 0.6197, -0.3878, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2953 left_y=-0.0004 left_z=0.1811 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9991 right_x=0.296 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.7162, 9.7436, 1.8486, -0.0904, 0.1392, -0.105, -0.1983, -1.7573, 9.1966, 1.8144, -0.0611, -0.0562, -0.0708]",
      "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]: [-0.7662, 1.7863, 0.6628, 0.3145, -0.5919, -0.4984, 0.999, -0.0227, 0.8062, 0.6178, -0.3943, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3491 left_y=-0.1942 left_z=0.0183 left_yaw=-0.0169 left_pitch=-0.0702 left_roll=0.0413 left_gripper=0.999 right_x=0.2954 right_y=-0.0003 right_z=0.18 right_yaw=-0.0008 right_pitch=-0.0141 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -7.2137, 4.8068, 1.619, -0.3443, -0.0464, -0.0122, -0.0889, -1.4154, 7.0222, 1.7118, -0.0562, -0.0708, -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 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]: [-0.7635, 1.7802, 0.6678, 0.3664, -0.6239, -0.4957, 0.0067, -0.0227, 0.8082, 0.6178, -0.3946, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3584 left_y=-0.1953 left_z=0.0324 left_yaw=0.0061 left_pitch=-0.0091 left_roll=0.0164 left_gripper=0.0067 right_x=0.2954 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -7.0359, 4.6564, 0.9744, 0.022, -0.0269, 0.6764, -0.0479, -1.4564, 7.2547, 1.7607, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea5edca2eb5059f4996b4d25e2615adae2b7234ab8615587eecef6c6fe5c64c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b0540022ec8b2f5044d2c104c03c8de2cd0659d759557ae8fe9d606c9a61be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e46d8c88fb63b5d7a941efc6a171674c401df8e7e2700eaced820dd553dd84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIsBxVzMYC5QfuaLBpxm_phptZuPxdZo91MYNtrHw86q1Oay8A_qpTlDFO_QmkA7INYa0pqZG8KAGPFe6yvK8TUZEuOtFdH-SuNpLvOiPlCouQjRCLrIVxXAfFttVQyLlDhznmPnwrx-QYvPyT3HEGHHXBCQ98CTKZNhZDVVwok6GZmaC4M1HkydG6Q7IHwG7gV7DYvbHZyVNT1xxui1sQk7jWFxK-J3aot2RhT3Q4O526ceVxsdMe0r5cYm7IWrxkz8oee5HD1cSGuOTR2jfja5FOpyyEvnyzT0Wa8skfq2sxrQf5rU3KUeCP_peFyAGezVjw_5olBEKRRpWszEmZKGH4MAgAQL6bzCpQzoI3438xzknJKxua4wK6-G8rLRUHf9039IGmXbVPvB2sPpiVDQc4hp7RdfTiDOTL1N49VelnIf6Fc_oQ9Ru6TiQQNp6RalvlDW4atHtZuz_Xnyp-EI8pjnvL9FOZJ7200W0dytt2gQNhgeqXSuMmHsGCCnTIJ7mcPma__3FRvraCOIGUZxSUozURpgjXw6H9khTCxjCcOh1YW9uIz4njfmlcvNzDhkgEobnhAMzbSbwbRKG5bHWI66H1iENvC2e9hyee0gHRk_vUvh4l66ZIMqDpePk8YS7yOi6rcv_oQtQW05nzFKjCF2mhcLgUPoes6X2bYJgVrB47QPGh8nKA0wJ06D-N5VnTZcdT2K7KsYFlUPHNCcaWuH_0YNYRgfrx3h2yQW3zwyN6KTRZcycmk8ge29iJ_fh51409W_rc8trK-lFfFjREZ5qvSgmeVBJXFTeYwm4u7IXXGmSDG8qGy3rv5wLCmhn721VKZgE-5vPjrspiFI-BcPv5rZNkp2umb4v-OPqtbl44RDm_xGtNfkKdqYibMCA1tjn6rJnVV1EvZyCsRcW2pL5tKypAKmy6cIhTo7BMUiQxuQyg_16KLYWVO_vcJzF9h-9vDx-o2XMHDTC90CqQdHLiRZsDTx5lbz8blJNsFDdw1hhJYxp7SzvXcEFHWzYgIGT6hJByzHmrEGa6uqsQCWJFXeAswzRQS5ZfDEYShAH80TaXDNefQnzZSjXgISYfhTsucpWv98jdNcfExNeqsA7pzLTykXAj_1Cn4Ma1KT3iIOutoOIrYMYWnwt4rHoA7ha1BVzvjjMdun3Mq_32kaGdWuOQA8qTDU9Dw09GjwRi6_YqmOKyqiMNGn8BwwT408lY4ZSFf8CNKaW39ramcgZMQxc5zXLxCq109vWV6XhmWE0-w7vuk3vCcoFMSd7jLV4UFx4m4EvNr7Nj-9QZLtrlBxUYbV0_w9BvlKPJPzMTO9jgJGFeSUOI4S7Dz5iGVc2xcuK7c8JwZt-cnnlH_Ql8gOPjbAagNQsRSZ1I8Fcr7qa9I14Y4CyvVAjSkc_P4kpBEvs67RUaawi8GWkWXdEsck_CfZqLku84pwj6TXrzymYIp_DfzQKJxPC27BS9NH6GMCXIObSeLaG8EU1LwECjH4hgMtpMAm-ssCkPle6sb_s3cpSDROkYmrb0e",
  "id": "rs_0a315bbe47e44596016ab4322b3b6887d0a695ae9e5bc3db56",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.38},\"note\":\"The jaws closed almost completely, so that grasp was empty. I’ll reopen and advance the left gripper about 2 cm toward the fruit for one corrected attempt.\"}",
  "call_id": "call_gCw2uEifAhZGRhYZr0dvTG2o",
  "id": "fc_0a315bbe47e44596016ab4322bc39c87d0afc7e3e2333f1fb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gCw2uEifAhZGRhYZr0dvTG2o",
  "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]: [-0.7197, 1.8179, 0.7082, 0.3637, -0.6003, -0.4721, 0.9949, -0.0227, 0.8082, 0.6178, -0.3946, -0.0162, -0.0116, 0.9994]\nstate[eef_state]: left_x=0.3734 left_y=-0.1898 left_z=0.0289 left_yaw=0.0195 left_pitch=-0.0203 left_roll=0.0244 left_gripper=0.9949 right_x=0.2954 right_y=-0.0003 right_z=0.1794 right_yaw=-0.0011 right_pitch=-0.0164 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -6.4479, 7.0496, 1.6532, -0.1929, 0.0659, -0.1099, 0.0342, -1.265, 7.0222, 1.7558, -0.0122, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a49d23c9b37515f1056380a3d1d3736ac10a161c36baad1444683eb5339304d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db48a90532c10f925bb0879059aed921e891d1363fbab922cea93e6eb711058",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cde555d6cd6186a7b05989d427f005c99d730ec4ceb2ab82ef9cce95913b3b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 3.338 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]: [-0.7662, 1.499, 0.8906, -0.1749, -0.5991, -0.4992, 0.999, -0.0227, 0.8032, 0.6178, -0.3943, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3522 left_y=-0.1957 left_z=0.1323 left_yaw=-0.0122 left_pitch=-0.048 left_roll=0.027 left_gripper=0.999 right_x=0.2952 right_y=-0.0002 right_z=0.1808 right_yaw=-0.0008 right_pitch=-0.0111 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -6.7897, 9.1145, 1.6581, -0.4322, -0.0513, -0.022, -0.3761, -1.347, 7.2, 1.7656, -0.0317, -0.0366, -0.0122]",
      "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]: [-0.7635, 1.7802, 0.6678, 0.3664, -0.6239, -0.4957, 0.0067, -0.0227, 0.8082, 0.6178, -0.3946, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3584 left_y=-0.1953 left_z=0.0324 left_yaw=0.0061 left_pitch=-0.0091 left_roll=0.0164 left_gripper=0.0067 right_x=0.2954 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -7.0359, 4.6564, 0.9744, 0.022, -0.0269, 0.6764, -0.0479, -1.4564, 7.2547, 1.7607, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7197, 1.8179, 0.7082, 0.3637, -0.6003, -0.4721, 0.9949, -0.0227, 0.8082, 0.6178, -0.3946, -0.0162, -0.0116, 0.9994]\nstate[eef_state]: left_x=0.3734 left_y=-0.1898 left_z=0.0289 left_yaw=0.0195 left_pitch=-0.0203 left_roll=0.0244 left_gripper=0.9949 right_x=0.2954 right_y=-0.0003 right_z=0.1794 right_yaw=-0.0011 right_pitch=-0.0164 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -6.4479, 7.0496, 1.6532, -0.1929, 0.0659, -0.1099, 0.0342, -1.265, 7.0222, 1.7558, -0.0122, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a49d23c9b37515f1056380a3d1d3736ac10a161c36baad1444683eb5339304d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db48a90532c10f925bb0879059aed921e891d1363fbab922cea93e6eb711058",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cde555d6cd6186a7b05989d427f005c99d730ec4ceb2ab82ef9cce95913b3b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDIwo7Zf1z79kF6Ynd5FA7O43643OMzTByDawhMr1LTArasMKu-0ihhhfcmHLFPLPnpEgNP-oAkfwuK5RFpYVlraBKt0oDoHai3tUVa11H0KN3EReGc3jGzScjMSDFxZfJ0LTOmQn6uzaaidVZMESryHN6pLR6JF1tfZ0GRFW9c_OWvB72SXDCPmJ2iU1w_bqbYom01PATAciKhrp4AM1j7OL4Fq22oMoLWSrf7vtfIBiPRoJ1yAiVZw_6d8mq-jtdmzBuEP0WtijlLSt7XIq2Bw8eK6sawUmL_l7HmtzqOZ4nOheur7PGUZbmvf1Qm_921xYh43PvpO-zbDgrGDeeNUA6C_HfpLanhfKwHYDj4SkkeFOiJWxWkC4pXEUkYdBOhvTMYTFPL5WF5XgXMt6aBUvdbwmSkPiHtTJB7zXQz89t5O-jQ7Lb4vgI3Bec3b7Vi1l1jUVUhEyrCoA62olEa302y9e5voVfKVgM_P--b36G378iHScFgfIxMzprXtxwH8_aE0qSQKpuJh_lbWWq9erS6lkcymbX-FAv9is13MOxtnJghxukHaGQP6tZWkqZwUCkfYtIWDVopp_aFICfPs6WQ2WeUUUh3Pd4FLWb5dPuBDSgYS-5A7fQNfAuulkQmW2qReiJh0U3yBVESFtvhlo_zGI2TCSplo0yU1LicuqLNP0vdJ_UvkRixLSgwbcVwU5pSK-0Ilwb2eEcVqgR9-aeoNkzveZEdP4BEyv3LcBhimu6bBx5FcjCuYlQxU87xL4JzNVPnqm4RGM0RPo1YvvnlqiMXnnZMCj3GgrAFaswoPElQ4Q2H8KDM5kgtFe3ULANuI0rIQgupWpnlNOUk2AbYx5FDETxnR3Fkjv8Q5lHn1fZ-EeaJLoZ1lubK3dKm0ngbEHNGGldal-TsDJsmhP1-A-CXbSx0X5oh6ZdAlTpFcej98E3AHFnFCDgwzWhRPsmyZV5GKnpuxR_MJS2m4UqT9ZzmpPgUc_xnY_9Eg0DAusd9R2cbSlhX2LMimSpyRUq_BiI0iqcgboObMrNdBKq6Jv-jJjip5eNsBaCSTiDg54Cou2hFI3qAI0Y5tyN1GydgXlnhccu_XVBbn3dZBFKTTU_YDUx6QE-HnnxkwdDy1ig5gmOOynVAc4nIkw-VMTdbyMvYI1Nd6w3sTUZqSUSuRyuzBVS1GnfSZ-WcYdCIT6Bre0Jl8Dxiaan0gAyx62LwGdYJo3A5WS7PplK_nMa3BlhfLfLR87i4aosqn8d_n6sBIMHMpG_V8vVASAyvTpJ9_IPfxTKsCwmn174uNgbLav-GWOsJ7ENd7JKnNYUTDzBu_w6NySi6zXNx2GZzl9_doHUtk8TjN8qavklykkJ_88YUYweql-vtiEVZ5Hs4-rLfCulWAXD1YkKRmmfhNZZh0QHVHXNmQxntgV0NSJz-k7-z-E86G-Nwnbwm0M9bmRnoknFLWWV02Zv7J7vt6nhBPVE9flPaBDq-Kg5Mt9rBhKQgfHAdUJ-nLVD8590aZLhE8tq29GyZ9vTI5F5ms1yaoewlmQ-bSsK-1e_cb3x8PItKR4VR_0SnC-M78jBxiHS6leIhFWCV5rqw9UH5Xil-UArdD5-v71fKXjAIo8Krn6t4NRyUXIfpUG3kqOoH_Au_9YPqo0bVc4e036ueM0zKb0sZhqt0py5MAdKc7xQ==",
  "id": "rs_0a315bbe47e44596016ab4322e5d4887d0b2479c13e478e0dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.22,\"left_gripper\":0},\"note\":\"After advancing, the dark fruit still appears slightly to the image-right of the left jaws. I’ll shift the low, open gripper sideways by about 3 cm and close over it.\"}",
  "call_id": "call_RuqCkypEjoGyFzJL6PErlsW6",
  "id": "fc_0a315bbe47e44596016ab4322f5c7087d095ba89296120f3bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RuqCkypEjoGyFzJL6PErlsW6",
  "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]: [-0.783, 1.8626, 0.7837, 0.2955, -0.6376, -0.5308, 0.0088, -0.0227, 0.8082, 0.6178, -0.3946, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3708 left_y=-0.2156 left_z=0.0278 left_yaw=0.0162 left_pitch=-0.0287 left_roll=0.0205 left_gripper=0.0088 right_x=0.2954 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -6.8171, 7.1179, 1.5311, -0.3443, -0.0171, 0.6374, -0.1026, -1.3333, 7.0359, 1.6923, -0.0415, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34db5eb9ba6c215327d4fcc669f20941642ad97482af914191b90967b5b7b0b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac515acdad11dafa2e639bf3e75a912e4efa0940c9e034b3292d454b2672fe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a826a0e0be0d4316b2d57f30d841c0069065b6fda6fb07a017fc03a750b6447",
      "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 · 5.133 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]: [-0.7662, 1.7863, 0.6628, 0.3145, -0.5919, -0.4984, 0.999, -0.0227, 0.8062, 0.6178, -0.3943, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3491 left_y=-0.1942 left_z=0.0183 left_yaw=-0.0169 left_pitch=-0.0702 left_roll=0.0413 left_gripper=0.999 right_x=0.2954 right_y=-0.0003 right_z=0.18 right_yaw=-0.0008 right_pitch=-0.0141 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -7.2137, 4.8068, 1.619, -0.3443, -0.0464, -0.0122, -0.0889, -1.4154, 7.0222, 1.7118, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7197, 1.8179, 0.7082, 0.3637, -0.6003, -0.4721, 0.9949, -0.0227, 0.8082, 0.6178, -0.3946, -0.0162, -0.0116, 0.9994]\nstate[eef_state]: left_x=0.3734 left_y=-0.1898 left_z=0.0289 left_yaw=0.0195 left_pitch=-0.0203 left_roll=0.0244 left_gripper=0.9949 right_x=0.2954 right_y=-0.0003 right_z=0.1794 right_yaw=-0.0011 right_pitch=-0.0164 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -6.4479, 7.0496, 1.6532, -0.1929, 0.0659, -0.1099, 0.0342, -1.265, 7.0222, 1.7558, -0.0122, -0.0073, -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 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]: [-0.783, 1.8626, 0.7837, 0.2955, -0.6376, -0.5308, 0.0088, -0.0227, 0.8082, 0.6178, -0.3946, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3708 left_y=-0.2156 left_z=0.0278 left_yaw=0.0162 left_pitch=-0.0287 left_roll=0.0205 left_gripper=0.0088 right_x=0.2954 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -6.8171, 7.1179, 1.5311, -0.3443, -0.0171, 0.6374, -0.1026, -1.3333, 7.0359, 1.6923, -0.0415, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34db5eb9ba6c215327d4fcc669f20941642ad97482af914191b90967b5b7b0b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac515acdad11dafa2e639bf3e75a912e4efa0940c9e034b3292d454b2672fe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a826a0e0be0d4316b2d57f30d841c0069065b6fda6fb07a017fc03a750b6447",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDI0VByCrvna_3C1AgL7di2SGx4X1HuHEnuINtkvJw4RIL7deq4qOFhbA_dy5XApA_uDdihFv58rrirjAX4bDbI3ds6-hUA_mn30A35pndNgqwWPL3Vf1T0-OrQxTFPz6rkIKOLHAQ3R16N4mJ3FH_nwcyAWoU7PRbu1S06cy8VnWq0j7FGbbLIMD2lbHznK4IxM2DpQWUigFtTIpt1evZh666trl8nGNnWoK41zryvTHf2qs33hCHA0-9xAVK6zy28tGpoAHfRDJ9e4uaDAJi2fsJEAEwerckGdX3TqxeenIH9v8fD1jXCbCfP3Fg3m0tDNlv4FR6SpOV60JHZlJWrtwTi9ra5wVnS9eRo_5oDZ0KngE320VSqY2ZhErTZGBzEp4IDvqsxN_K4tjSi9zCsmbuE1JT7VdH3y9hjy8IVaXzCljHB0aGy8U--q7bd_iCS_9IkWzX8MByhVR_N4LoIaqbCpbcVMHO6XOCRuvu6ULKleyGbYcckiY24KqxbLRI1OgG5OPMBjdD1l6pxhrfU4bV15uRNH1Vxd4gXAUymSwFK6XB5eEpk2Hz-WfayTquxrvbWuJRi3zSYF1aUDHgQUPkWQClvQwlBBHq4HZs9BdQz3IGYEZYICFLtjLQueR1wC3AhfrKbsEGkPIWgt7XbNPEfDXcTCirQvFGlB_UJi7LfkmKnJUAoRUn4NrZKt0nyVmjTzDuuJ25IQjP_aSJfE_nCcDuy2xDdilLbmo6Z0ZVDplfov0QGSAd8FGVpnR0jSVKXVCG2X1irZnHQFeyM5vDuBR0h784EuoPMkRu644yMTcfFhWAg42h3qTMafYW-SWUde6a_XCkGMpC02s7bQn7fJ-5_ZPM6Aa-1VDVx_fqe7Oir7ATcGaqfwe7M7Cl8c1MITqaOiVQexFjMCWtr2f0y-TfNcFwUY2OMR9MZ3TbIvCtr_sBFjxGKhaSq3UuiT6oX9IqxRedIVLFlF6aEoeWWASKLrNA9mPAOJ2NiYsUXjW1xHCj6RZEpB8-11xLrNYz0IjqIAlMHMPOuCBDKOOOf2xuz234kDkXDeMpegrIEJa7u4vFpb9yE8DzGI4vqsg6pyGlFiDiq0Auryapvxl8hT5GhDYHGb-t3urTG4EmlV1KLvlSpuXfZYIhOPOV1W8Dq6Lz9pxfseMawnUaAIr2j9ZYBZPYnlZoVbtTUD6LvTqg5tT4U-4aljv0aYzCEYxaUEHXrvdIxPbkYNUUB4-kHHZHFUUC8IBjoqixJgdfvcGShgk61HMR6jjHHmDpPQC6AmsYqb2rxTqyT0x5BUhmyW55Xw8p1nIpqxy_3IFI49oZIxi2bnaOJpGaZpnOXg5tSVOGJ5FIg22UgxM5NCq-9mZG0xmr2W7pcTLdV_2ynVygVApmQyksG-i0j-uaUzBlswb1nJR9WHQEuES65vFge8Nj25LteT3NJY6wJwVvGP_6lkBM_cNp5TaaSSptVt1aZY5or5Rqf2QGpSC24XBvLg0IK79h3JJbheBcHnC47PF5si2-SJC1_iQzEWdemlDVY_4ghRK4tA2lopKoNgfMdGBIKOZ6E07OBYrWichkiUYJengdJpCKl45Vyvf2XgdLE0DMnuVf4e8rs7_j44_-APGlb3MjST88l8mLOwGFeACdIgI9RGmgfF_r2StaRwsk_fOLJZvIIjDnvhfEWZ8xVDciLwgwFDSNQ8swjPIU0sKnIKw6vadF1c4dwYfO27zxuJvxnkow6ueSIF-mDnmUGEtNJrHVRqv-CRDxBAQ-2QKoG2CTQX9MhFI7wACqKtTs7oEV5UU7d1cghrnzU0gKOvn2fs7tpr5msBC7wqIiMipuE1L1000RUoGg4RXEUoknzOomxtRrxL1hb24wRjUEdmUu4UwW_XQGW8C3gNYOugeKHr-lbchJKEDTjpI_e5HeurCu5wBXnwxozq9hBs7jixsTNgYDJ8apLjsnhyhIdFCkjNXhd6M4RW0mHjNbVcieSfp-0jO8eoOg5nObhe_4a-2BT94lZkx5lvYsyseuZ3-KleOY32AU_XqH33XXLk8JgNvG-aW7Dwd1w74OYOJZnPf8XblVcB1uXrCyMnSUqBijVrHdSBcs-WFeURTnjLx5CjhIUzTb0z0_Q4QobOJzOu5Mh3ADd9pbFEyu1PUKI=",
  "id": "rs_0a315bbe47e44596016ab43231d21c87d0a955f540f9c348db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.36,\"right_y\":0.12,\"right_z\":0.14},\"note\":\"The second dark-fruit close was also empty, so I’ll stop repeating that alignment and clear the left arm from the view. I’ll position the right gripper above the green fruit, which is clearer to approach.\"}",
  "call_id": "call_j5ApaM0xq6hn9v0SjTHMzCx9",
  "id": "fc_0a315bbe47e44596016ab4323346ac87d08338dcab5ded6c12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j5ApaM0xq6hn9v0SjTHMzCx9",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.078, 0.8379, 0.5953, -0.3801, -0.1307, -0.0944, 0.9971, 0.4953, 1.3045, 0.6842, -0.0998, 0.3832, 0.2642, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0035 left_z=0.1647 left_yaw=0.0768 left_pitch=-0.0424 left_roll=0.0159 left_gripper=0.9971 right_x=0.347 right_y=0.1165 right_z=0.119 right_yaw=0.0334 right_pitch=-0.0902 right_roll=-0.0404 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -1.9897, 10.3179, 1.7314, 0.2271, 0.1441, -0.0806, 0.1846, -4.9846, 9.0051, 2.044, 0.3492, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f75cfa81dcc158f6604ee47adcc921703d1bb6064a8068386cd88ba54eb251de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008e092521dddde29607844f9a39130e746ec34be27ef61fd2137f5ace6dcedb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13549eae61e022cf85b7319ea6f985f96c9df246237c8715b68be5bc16f7b9e2",
      "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 · 3.572 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]: [-0.7635, 1.7802, 0.6678, 0.3664, -0.6239, -0.4957, 0.0067, -0.0227, 0.8082, 0.6178, -0.3946, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3584 left_y=-0.1953 left_z=0.0324 left_yaw=0.0061 left_pitch=-0.0091 left_roll=0.0164 left_gripper=0.0067 right_x=0.2954 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -7.0359, 4.6564, 0.9744, 0.022, -0.0269, 0.6764, -0.0479, -1.4564, 7.2547, 1.7607, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.783, 1.8626, 0.7837, 0.2955, -0.6376, -0.5308, 0.0088, -0.0227, 0.8082, 0.6178, -0.3946, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3708 left_y=-0.2156 left_z=0.0278 left_yaw=0.0162 left_pitch=-0.0287 left_roll=0.0205 left_gripper=0.0088 right_x=0.2954 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -6.8171, 7.1179, 1.5311, -0.3443, -0.0171, 0.6374, -0.1026, -1.3333, 7.0359, 1.6923, -0.0415, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.078, 0.8379, 0.5953, -0.3801, -0.1307, -0.0944, 0.9971, 0.4953, 1.3045, 0.6842, -0.0998, 0.3832, 0.2642, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0035 left_z=0.1647 left_yaw=0.0768 left_pitch=-0.0424 left_roll=0.0159 left_gripper=0.9971 right_x=0.347 right_y=0.1165 right_z=0.119 right_yaw=0.0334 right_pitch=-0.0902 right_roll=-0.0404 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -1.9897, 10.3179, 1.7314, 0.2271, 0.1441, -0.0806, 0.1846, -4.9846, 9.0051, 2.044, 0.3492, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f75cfa81dcc158f6604ee47adcc921703d1bb6064a8068386cd88ba54eb251de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008e092521dddde29607844f9a39130e746ec34be27ef61fd2137f5ace6dcedb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13549eae61e022cf85b7319ea6f985f96c9df246237c8715b68be5bc16f7b9e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJD9H06U2rEcgoRcqp_YlDiuU25hTnQ_sNgrCtqu3y7Hii1zKY6tyAgt8yNF5bWP_41VmXAyUpsLpVnEkCaQC1Bk0K32y8Z2yI_kSdggmJuXVSaPc2Gk8Swr5KVgEY73BN8CjZKOJc53TKnc_O-8VvpPQjulX8EUPQ_5Cq3eITvMfKeTy7RwaQasiuZGkL7ioEj_DD5bOeW9estWPmSsLQL7Bo7yQLsKRqg5P80PQmxmh_1vuOPVvl-bVaYP8toWF1cN8mRkaVqt2eYjkBQQzzmjdjkZPf1HHoAZp2oiaDaWYEvyUMHq1ROVBHcVN8gjQILuQ7ASqupUlE_Io9SljXrauiHwJEEO_M_X-RLQ2oVje1dAvomRkL9W58hwj_40Ec5YkOwPR1ZtLuVNxoXeW64FLf3DGhqT4Ul9pM25KWnlwSJ3pMBVgbAgUIw7so9WQuE5X8sedQ71uDbp7n56M9E-HswIjiNoMFoumE8wT7SDafJnJvoaQhu9Qo9zY7MlcuE3pRsIVNFkkLgnumsYPpL3tVtlzoJ75Uba-ZEmgznJwsk0soiXJ3Y_9e6DzTFdoc6s4yZqY8FTWpkEI4UJbjcalO5tJkFCEfkIFpDbC-mYAYd50w9NVh_LazYYuD6jFQTCRYL88vXKw0HYS2oIIOYHHMAstxTitJeBKgOKq9bwhKyhK5HB6Xhj1BHy6uE8JiXizrjw9bm8Xx9oMeF-zfCe30qk6nEVamYPljL_wW2txgOrENXkBJbJix6oOrrsm6Ua7NlzRiAgxyT2SkmadB2Tp4JIyjD7vnHIur2bTIK0gvHaBVl5eV87MHH9HiKiT9a6ngOEUNi87CVuSsV9r55ILCtJXs_Mh2OPdwI-EitfpK5JsFdE2ai6V3-NM55S0ZrqsqlAPVrF_gNNULm1TGUZA5RYZ6qWMW-Q3ihEsgsfwZROaLPJIO__yMMKJKFHNKrT8hFSiWmSPo1f3XwN9EGTKzJq0aulJPGeY5KQ6SWRXhWMxNGw9Rjg9ukvu-HjQjeZWgKmcad_jbhqMYo3tUQzWGxrQX88S985S_svidUWpeflnjgk2XwstVe4-pvyQUDGWuM5Y89wqHJGqx52ENqVmVggShTXm3Ne6p4goWhFtqC9jzDnTx-S2thHI2F9jsAjnZ_sM1uJ7O4M_iAtD04lvk0_PZ-CfsAkeQJupDht-bYda8sKVs-pXG8sT8SksN9k6U_8pE9XuiDQvkAKrAqfT1ux3GoQplaN3rNewtYd2eofBDV8PYo25kySawOK8saTsvBcsCdCLsUq9jKyGwvCnT18Cyd21WRw_TtuApSa-5_2AdSbZf97RaD8lC-99U2Z9q-J9RbT4jPplrrE21YaBbm0A-xZbiTp1_Y6OEoS9wDmel1yCEWwyjYhNVANAYkl2u_hPjR_mWpr01y3f8vZh0Qs1X63A-IkWzCS7e4Q6_sIMHBOqqI0Rp3mpFdBEI8sfP32vKhNUm967Hiwsr5DgZgt4a1Qo_2J-sM4eU_2qUWmx7iiuNc-rUmYERv26IiPhmqhG8cF3_fqo2UwHV4lXHcWFut9JQ59VSAT5ivGTc4hANjDWWqHauqCYA5eu_puKor8t0Wl1HCtgUmywpuUcSPPNm1SZbQq5jKSYKZTqRWoVG67CWh1YLzjXyw9tVOXwGd_s8GZvH-_O9ArInvKgQfjIQRFWcaTP8nE2hZyj8dwK-X9Jx0b6Xg0N-zgR71rSn-Akw9QDu11wNVtHo81dl0wY-hO0qMHVqdiKOS6zJq22VDaJy-xKXupQn84JnBZoVgrqui6likyagSPojDbJfLbcloWcyGcwoX31GNgs5gLcJMEOdZsAhUERJDHivqYLS5rrB0o6eRlpPpvOaeIPxWVUWMxleYFLG97qdQ21PzK0mlt0cNDQx5GomV_KvD2k8hJ2ElytjHNGPgMIoBvHQT_QGTbrrKunwIhj549wnbk2ojMh0Gea_XDaNZ7nTiJKYw3L1TQDRslKk1Tx-QVdM5krZ8uwDfyco91v22_RYV0-pMDLnOlOe0IDUfXshidg9_6Tn4oUniX4X4climOvV8iv9DZmvglBgRR2bP8n41uMW77iE8Y-cjT27FMI0zJJag9EUz9q5Z9eVPflF2m9Bl0tP_VzjZbrN4W6UnDpKFNnxsCixPUb3OwzMahEckmDaBar8tv0RqEQgKfho8r3Oz9RfS-By6f6rFlHylUvMzchqMPYRQqRqF6meazCOnUAHAGKZLaZqZIruD-lmKGQwyWCxowiPiCxfswFFzYQHecNwpwctsb0XaORKu1N7bqnw9Wo8n2Z_W-WUuOg7IuJKtakDGNLJirIyHloDNNuDXEnSxicjA4LLIYuCMO4U44H6ChZzs8KqYdW2SyZ6AC-97ZX50Pjm5o-70NXMv4SJEsPjtKWi5CaazlKe9c1RrRgJXMSngHW3mWCfFg--MT8q0u-xh7M3RvfhdKoRrBAWAxZ8zpq5bc-A4VTrGqY0OAR6hsmyR9cMmHyTioIc6C7OAZnDffdP_HGYKPEbzn3i-pNbMXS9I-lTM8k1sWPFPASWUgsgo8JwK3Q_E25A7LQK4Y_2MqpFov2zv_QTp88b83SJxFl4GfcIazDG6vbs-lBSZHRZElagFdFhwQlQkyKl1N3WQRAKg_sV9ItRRhnkfCBczr-afegkb2IOGI-UzkadFLLFi30JtVk_eJj-e6PNcod22gGHd3_pnFHDmJuwUyWSkmCTJLEE1Vj4YfYJrcBLYmC5cZYuMekESlZzM4I60GXXd5v79DqLqCzErlRRfYfiOgiRUMEdiGfS8XNm6K6KQ9SqraP8V6ykDHgghOHuCf4XcL5H0pwoE4gNCLTLsLHzlswVzc40oZnM1AWrNdO_JPbVwEloCO6lWq1MRo_tv-bqlNprgEDUnds6awwVcMlKwtUJ0jjaWcqHq9IKLOdE0NAdbfcgl4sDIpkmflkZT59QVbJuiBcA6t_uBsxnSsltOGhHv-2ZqRZRraVGA",
  "id": "rs_0a315bbe47e44596016ab4323f377c87d083a7514716f91b54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.09,\"right_z\":0.07},\"note\":\"The green fruit appears low and slightly to the right in the right wrist view, while the gripper is just beyond it in the overhead view. I’ll bring the open right jaws a little back, rightward, and down to center them over the fruit.\"}",
  "call_id": "call_gBUYX5Ek1WYkNTYAY5R3iXII",
  "id": "fc_0a315bbe47e44596016ab43242930887d0b5e9087a8714058c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gBUYX5Ek1WYkNTYAY5R3iXII",
  "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]: [-0.075, 0.8425, 0.6003, -0.4019, -0.1188, -0.0868, 0.9976, 0.437, 1.2865, 0.4534, 0.0414, 0.3504, 0.2352, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0025 left_z=0.1612 left_yaw=0.066 left_pitch=-0.0646 left_roll=0.0183 left_gripper=0.9976 right_x=0.315 right_y=0.0842 right_z=0.0567 right_yaw=0.0133 right_pitch=-0.1656 right_roll=-0.0733 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -1.8803, 6.5983, 1.9072, -0.1099, -0.1441, 0.0415, -0.1846, -4.9709, 7.4325, 2.0684, 0.1343, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db53bb04be4c0761fc9f04b8f68cdcdfcfbb17f9dedeb883f6d26c055337a860",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553db7723117e7078d2057ea037c257d6bd6a734accf9bcc71e247b23f1abbe4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bb0a6883ae91cc065bf0b9d18499d9dbc55bda1b7d8e540c377974cb30321e",
      "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 · 1.894 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]: [-0.7197, 1.8179, 0.7082, 0.3637, -0.6003, -0.4721, 0.9949, -0.0227, 0.8082, 0.6178, -0.3946, -0.0162, -0.0116, 0.9994]\nstate[eef_state]: left_x=0.3734 left_y=-0.1898 left_z=0.0289 left_yaw=0.0195 left_pitch=-0.0203 left_roll=0.0244 left_gripper=0.9949 right_x=0.2954 right_y=-0.0003 right_z=0.1794 right_yaw=-0.0011 right_pitch=-0.0164 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -6.4479, 7.0496, 1.6532, -0.1929, 0.0659, -0.1099, 0.0342, -1.265, 7.0222, 1.7558, -0.0122, -0.0073, -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 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]: [-0.078, 0.8379, 0.5953, -0.3801, -0.1307, -0.0944, 0.9971, 0.4953, 1.3045, 0.6842, -0.0998, 0.3832, 0.2642, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0035 left_z=0.1647 left_yaw=0.0768 left_pitch=-0.0424 left_roll=0.0159 left_gripper=0.9971 right_x=0.347 right_y=0.1165 right_z=0.119 right_yaw=0.0334 right_pitch=-0.0902 right_roll=-0.0404 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -1.9897, 10.3179, 1.7314, 0.2271, 0.1441, -0.0806, 0.1846, -4.9846, 9.0051, 2.044, 0.3492, 0.2564, -0.0171]",
      "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]: [-0.075, 0.8425, 0.6003, -0.4019, -0.1188, -0.0868, 0.9976, 0.437, 1.2865, 0.4534, 0.0414, 0.3504, 0.2352, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0025 left_z=0.1612 left_yaw=0.066 left_pitch=-0.0646 left_roll=0.0183 left_gripper=0.9976 right_x=0.315 right_y=0.0842 right_z=0.0567 right_yaw=0.0133 right_pitch=-0.1656 right_roll=-0.0733 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -1.8803, 6.5983, 1.9072, -0.1099, -0.1441, 0.0415, -0.1846, -4.9709, 7.4325, 2.0684, 0.1343, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db53bb04be4c0761fc9f04b8f68cdcdfcfbb17f9dedeb883f6d26c055337a860",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553db7723117e7078d2057ea037c257d6bd6a734accf9bcc71e247b23f1abbe4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bb0a6883ae91cc065bf0b9d18499d9dbc55bda1b7d8e540c377974cb30321e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJGIsuMPPlorD6QGbdKvh_JWvkizV045NMj16R-1wyS3rj7M4OwTItlilx2wgOUuh-MGR8cUf33UL2R9ohYWSmvtn5JLkOFSsp9iZ1fENfwk2wiOBjupNCABFVsZr3irM3gp3LcGB0JyADZqs5mE382olJnMG3vhq-6SHvfyOF6iZMkQcu8XlD4FqtUcpwfW9E9KP3TnfNVwAjzr1DTkPqHihhg2Fev0ToYsUO0lf9vVyhd238o6h8tnSl7ADMAovAQegzs4zJIReT7UFPy14GY74d6wwb9aM5Wv6QeHlNnH9zBTe6QxoEfj1SACjObBgImrUK1w1UtAtntl_ERwMrb7vJ38l5C0tlmB5hcpp_12SxnCHWarOYPR1qg27AO-xj_mf1PDr5At0oAPOwL5M41qanMDblFlB8stm3B6ycJ-MS9IKpgt9NZrx9WsQhqds-jO0vuXUFI4p4PLVmXWfu4keEUkPqdrFXqzLcODdG14HUJ2rFN9jruK3IFtQa_IzpAReaxZcHQzTSswMUgw4nGhy94VOCOU24VUkxm7RCXILeAt8IVnyz0VT4gamhPDd-ENVPRlx4r5V7UnsHl6F1MAdweEAS5E-lUlYBrIv8r_pUjpz1Jx2qivtaBgqANKcywYcYow9XGYhYwGOUMh5ntIA5iHTtSTr8NcFsgNu5bLzDZhhTcXgxluKiBp5lcKEL22g1MV6lqMNOspczG_2w40MlsW7VX31xrEYgEQq8bu_gw7PjFUJuTi9Ikc5qAlw4nS9zsq5leV_WdeMsXqXiq6j9WmUB1e8X3ynHY_U0x5NXA7zSWFanlWpM-Oic9s2DPU34Xqi-sXuRFxoIwtqM2E5jaH9e18dOHEz6zYlUjfG7qfo-xDYLRuTp5CFIKQ848v5fahjjGjV-zRpm9be89pUA7qknaY-HOg26DPGxZPUASx37VwvqLVPxsQNvDAzAIXuGEM2c3ZPmOA4zbhaLP0kxyXqFieVXpKCCRFSnEis1ruNjhPweHFb3Lm3HWSnTSolcy5Sh_-YRc8UC8vX8oYWYqGWR_CUNdwdpG1-cdFwMnlEB8Hcg4id-1UQrSHD64_nLynDl8HSlk8pOowVUzXm8tY2ZBtmmsFo0iz0YCA_SFDfLmDAX1iRPwbD9fTeALF74n7J8WeV-1hMSL2GUlgNCuCrLpmio7cWEOYtdq7S_-FpmCjlcMzkgmL8MjL810G4x37RB1qB_W4fYp5xwA996CC2h_Px-S7j2BEGTLT1Pe-WxzKXJk_-6Qof8GE099bo26nYDwxibnMW1tNKy1LPCcY1hB0S6rj4Z599Aoa3n-A53o5FQcE-VoOPEiLs11IoehK82seep3g1g4sNRFoq0CTtuteh0iZ2y3qzeekbzbAjWDUCeV1-nZmZUvmMqwT1Bqe1mRvjOyUnaINtA3EJxyGs1MkPEHRd2r84Ti540=",
  "id": "rs_0a315bbe47e44596016ab4324537a887d08da38c1674de1f8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.018,\"right_gripper\":0},\"note\":\"The green fruit now sits between the right wrist camera’s jaw columns and beneath the fingers in the overhead view. I’ll lower to its grasp height and close the right gripper.\"}",
  "call_id": "call_vOvSAD3BOvyytvF1zVt34z1u",
  "id": "fc_0a315bbe47e44596016ab432459a9887d0a96e42da93f230c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vOvSAD3BOvyytvF1zVt34z1u",
  "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]: [-0.075, 0.8452, 0.5999, -0.4084, -0.1219, -0.0971, 0.9976, 0.4381, 1.2919, 0.4343, 0.1204, 0.3477, 0.2283, 0.3413]\nstate[eef_state]: left_x=0.293 left_y=0.0031 left_z=0.1591 left_yaw=0.0743 left_pitch=-0.0737 left_roll=0.0132 left_gripper=0.9976 right_x=0.321 right_y=0.0879 right_z=0.0612 right_yaw=0.0235 right_pitch=-0.1168 right_roll=-0.0544 right_gripper=0.3413\nstate[joint_eff]: [-0.0479, -1.4838, 6.9812, 1.7314, -0.0415, 0.0415, -0.0073, 0.1026, -3.6308, 5.4906, 1.2918, 0.2076, 0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24fcd4ca5da1369177ed46961335b81226f50ddba563d3c95cfb191d2030a904",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32d01b2345fad78eae7278fbecb692d5ab8fae40941593737c5d60b39a1ee54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61037733bd22af39a15a0dab8ab17ccd289995adb85af7ae591fac986de1777",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 2.923 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]: [-0.783, 1.8626, 0.7837, 0.2955, -0.6376, -0.5308, 0.0088, -0.0227, 0.8082, 0.6178, -0.3946, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3708 left_y=-0.2156 left_z=0.0278 left_yaw=0.0162 left_pitch=-0.0287 left_roll=0.0205 left_gripper=0.0088 right_x=0.2954 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -6.8171, 7.1179, 1.5311, -0.3443, -0.0171, 0.6374, -0.1026, -1.3333, 7.0359, 1.6923, -0.0415, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.075, 0.8425, 0.6003, -0.4019, -0.1188, -0.0868, 0.9976, 0.437, 1.2865, 0.4534, 0.0414, 0.3504, 0.2352, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0025 left_z=0.1612 left_yaw=0.066 left_pitch=-0.0646 left_roll=0.0183 left_gripper=0.9976 right_x=0.315 right_y=0.0842 right_z=0.0567 right_yaw=0.0133 right_pitch=-0.1656 right_roll=-0.0733 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -1.8803, 6.5983, 1.9072, -0.1099, -0.1441, 0.0415, -0.1846, -4.9709, 7.4325, 2.0684, 0.1343, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.075, 0.8452, 0.5999, -0.4084, -0.1219, -0.0971, 0.9976, 0.4381, 1.2919, 0.4343, 0.1204, 0.3477, 0.2283, 0.3413]\nstate[eef_state]: left_x=0.293 left_y=0.0031 left_z=0.1591 left_yaw=0.0743 left_pitch=-0.0737 left_roll=0.0132 left_gripper=0.9976 right_x=0.321 right_y=0.0879 right_z=0.0612 right_yaw=0.0235 right_pitch=-0.1168 right_roll=-0.0544 right_gripper=0.3413\nstate[joint_eff]: [-0.0479, -1.4838, 6.9812, 1.7314, -0.0415, 0.0415, -0.0073, 0.1026, -3.6308, 5.4906, 1.2918, 0.2076, 0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24fcd4ca5da1369177ed46961335b81226f50ddba563d3c95cfb191d2030a904",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32d01b2345fad78eae7278fbecb692d5ab8fae40941593737c5d60b39a1ee54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61037733bd22af39a15a0dab8ab17ccd289995adb85af7ae591fac986de1777",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJK30QRBFZf18bng_T50biC1nVpIH_SA-aDsUJ8rtJ3nrgR9aF1uZ0SNAfPJ41-jhTGkw6IQIpxk3y7PL3hc6G04oAF0b-ryLZMLemFEV-qzhvAIDqc0k40j5RLau4mO7KY6ApjjjGuiD3d1z-UlD4nEiv30oOopiMqBHPovFkWZ0_VKsBg0jVlHJvWLuF9sjWq2Ocozo3AJJN36c8B658C6LnlRAyPqm-6YCKGyHyOmlN8RiRcoz1K2POE9Ui4_UEqzHY4mXdhsJpvUJuGNkK6MnuVOsnUVJmk8whErnWasLe8jbmoDff5R7_d0s_A7Ugmb8s1_3-3jRaprkUEurgVIqxeGqca4lQx0-XWA5DJw64xWgJ9tUCEzVzD-5sgbw_-JjN5LCtCnVnAW7Vpo1N4B-makaWPiU1mPc83XtEO4dDZxmduxq4Skd2yPAujZEAYZy8qCJzPMF63x-y5YiYgXm64FM1NE7O5rhCBLlK9w5t9xeBFkGDfeYb0v8_Zd9BBFXsuTWphKD6ReBxu1vP4W32WUjTzW-DSiP-dOpKmoPNwlsph-BSC1OP-94kcfvnhpZz7mCzBQJGgTTwMKoSHzd3vHx67Gcnfl8k5JOkAD9XDmHHX1IrXpfR7a8-vK2uU82F-8ghp7gTZ3CnnrzjMQj53xzjvXaVPrHCiN_1nWKuG1-kPFFiQQAv81A1JXx4Q0PSZEcssYPHKM5LVUewUgqGHCfTUpM-9xQN8j6FusjNTrXlIKfwIFOMTbBFMSPCk5sUb4YO3-EcBZskoWZPAHUPV9vainTGb3HZKeXR_4YcNxvaEmeQLYeXQ_0TuoKVpYwBrzX82UyRU9kHwB3Bw8tcc8OMMRlK4auUqEax2slb_iNw5m1CqlMVYYzV1eRVprv59gmBZpJbMZXHhey623EowwmapabT8UuWua-AltpSBrfYpvBGuz-EqiwrGR66ijyMiRe6v_OxN_UhX8d26JrOzYmNUXVA-i9YnQpLFO4dhB7daicw0l6mp1Q6aTuRaeeHOlMPEfHp1w-xGXpU2jd_xy1TIA5rP6Humxl3YN87dJZslb81AWmxHmtbYLrraehqLbUB72KhFe-CSWjmhCwH8al6P60B1tnPAR0ZWr5Zd6n9LUINlFVM_of7Zub1L--T6f1b1Z09Jl1kb4Sahn2-ZviRUT45W4F4GVuq_9OfX19IGK90LMXUosVu6I5yo6YhNOxuWhBhZP_zFoEVEKAgXVXI3Y_5j27PYCZPPfcUcOo1yr8WiwO-9OIPMyiEQSJz4qIHmIabe4lsKK-7K-w==",
  "id": "rs_0a315bbe47e44596016ab432493ffc87d0ad9463997efc8634",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right jaws have settled around a roughly 3 cm-wide object, and their descent stopped above the table, consistent with a green-fruit grasp. I’ll lift it to confirm the fruit follows before moving it over the blue bowl.\"}",
  "call_id": "call_V2Uwx47wuNCnwWtbIT6msXW7",
  "id": "fc_0a315bbe47e44596016ab4324988d887d0ad88617575d23638",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V2Uwx47wuNCnwWtbIT6msXW7",
  "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]: [-0.0753, 0.8459, 0.5999, -0.4114, -0.1223, -0.0978, 0.9976, 0.4374, 1.1286, 0.7395, -0.3763, 0.3397, 0.2245, 0.3454]\nstate[eef_state]: left_x=0.2926 left_y=0.0031 left_z=0.1583 left_yaw=0.0747 left_pitch=-0.0775 left_roll=0.0134 left_gripper=0.9976 right_x=0.3198 right_y=0.0885 right_z=0.1494 right_yaw=0.0298 right_pitch=-0.145 right_roll=-0.0637 right_gripper=0.3454\nstate[joint_eff]: [-0.0479, -1.6342, 6.9538, 1.7216, -0.0659, -0.0611, -0.0122, -0.1709, -5.0393, 9.5385, 1.707, 0.2173, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688cedd2b55f8efbd289530f36aaa34e5e52396302c974c2a4af2ce24eb627f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51adc8bcee5edd757bcd1b9262a1570c38144f9182c58ce71394fb3ea6ae80c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6950d2eb9a418d1e9ec7c48983e79506894351edc18e7ce1b9f1e5a4c350e6ca",
      "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 · 3.539 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]: [-0.078, 0.8379, 0.5953, -0.3801, -0.1307, -0.0944, 0.9971, 0.4953, 1.3045, 0.6842, -0.0998, 0.3832, 0.2642, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0035 left_z=0.1647 left_yaw=0.0768 left_pitch=-0.0424 left_roll=0.0159 left_gripper=0.9971 right_x=0.347 right_y=0.1165 right_z=0.119 right_yaw=0.0334 right_pitch=-0.0902 right_roll=-0.0404 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -1.9897, 10.3179, 1.7314, 0.2271, 0.1441, -0.0806, 0.1846, -4.9846, 9.0051, 2.044, 0.3492, 0.2564, -0.0171]",
      "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]: [-0.075, 0.8452, 0.5999, -0.4084, -0.1219, -0.0971, 0.9976, 0.4381, 1.2919, 0.4343, 0.1204, 0.3477, 0.2283, 0.3413]\nstate[eef_state]: left_x=0.293 left_y=0.0031 left_z=0.1591 left_yaw=0.0743 left_pitch=-0.0737 left_roll=0.0132 left_gripper=0.9976 right_x=0.321 right_y=0.0879 right_z=0.0612 right_yaw=0.0235 right_pitch=-0.1168 right_roll=-0.0544 right_gripper=0.3413\nstate[joint_eff]: [-0.0479, -1.4838, 6.9812, 1.7314, -0.0415, 0.0415, -0.0073, 0.1026, -3.6308, 5.4906, 1.2918, 0.2076, 0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0753, 0.8459, 0.5999, -0.4114, -0.1223, -0.0978, 0.9976, 0.4374, 1.1286, 0.7395, -0.3763, 0.3397, 0.2245, 0.3454]\nstate[eef_state]: left_x=0.2926 left_y=0.0031 left_z=0.1583 left_yaw=0.0747 left_pitch=-0.0775 left_roll=0.0134 left_gripper=0.9976 right_x=0.3198 right_y=0.0885 right_z=0.1494 right_yaw=0.0298 right_pitch=-0.145 right_roll=-0.0637 right_gripper=0.3454\nstate[joint_eff]: [-0.0479, -1.6342, 6.9538, 1.7216, -0.0659, -0.0611, -0.0122, -0.1709, -5.0393, 9.5385, 1.707, 0.2173, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688cedd2b55f8efbd289530f36aaa34e5e52396302c974c2a4af2ce24eb627f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51adc8bcee5edd757bcd1b9262a1570c38144f9182c58ce71394fb3ea6ae80c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6950d2eb9a418d1e9ec7c48983e79506894351edc18e7ce1b9f1e5a4c350e6ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJNglX6SXgJEtNRxoFmjNZlORVi8vzfYUTE36Wphqtqzecwz8zG7FFpzJNLW4-Bf3k7FKuWOfu9Vtajk6u6X0hueiBucbpT3M-Qr2NUqGWY2znfb_sE8mHRTux_MivZdnH8lEKlQVlm-n8AXx0VMJURktXFi5P_sYZ8_Y2KEKNWFXnb6LLf_yco8IF0bxxhuq74bN3MVTJfhpHbh3-7NlOubNGW56Iq_5DO-D9epCh3EwsMP985z23DxiClvZooUp8PjK-2ZkAIJejRd1unjK2Ohg24oqVTlPaPUuneRWWBeuV-56zARkqsQiEyAB5LESgKzty4JDppW4k8asG0dw1IYwkksbX56cbBX_xyGigAd2CFyqkXBIorHg7ci5RDistcVyp87QpviFybfF18BpgKVd6QJGlNhkhYvqRtrQQ4A1TKUJbZ_cGG8jSKp13c4D000gY9qd-Vjsn0yDJGCzf5Jr78WFPplTarw-y0aarV4pvr9N7Qc_VZlWjFCr6l05octaUwDoNwBCb9D-B2gaDZ56LgKBHUgcC0Nux1ROLJJHtWRIbtnq889EJklUaMsOeMb2v7OSUm6O56mfN7nHTS-mov9IQ7FPEfmFwEMCpCG0dOlyD1jdiBxJcMGT6w-L3l48Pn5drKXVt2e2xegKQy35mCqL3J4XXprQbEhY1fo22I8HEaMoj71E-D0_vjGc9eknvIXWfHEOcKccezYhOb6HheTA0bdznnsdPNWqVf43z6XNty4qt_JZ7SImU6B09w0J6bBBSiWe23lMcXMyQ8B559Zr9TF3Cj8vdJE7C6InAQPv_BB2LhI0qwLmo8mu4zGFmaiWPmDkaaKIMpdNnoQGINNYOVDyhrmm9PivNaGV5IQBARXyHthpe2MzUd9Dig5n5LaxUt6QPaNJF3leCtUp49j9PWxXg3DIjSo1sGYTp1AS3rN30G0iRoWdzvMB0NHnZgAQNFgvYoGIe-5qSxs3FHJcnqaVpZUcR0YSlrdV6gljj3L6jKdx3PPMrP6ytR6uOARShj-xYDRypkLkJ3dZa2-eIgQDIAItiw0Dw1omJadKV-uBv0tzHx2rGcG3hOZyHaGFod96HIapLfIgML_vJWXSkb8WxeVR5dTwoi6PDdsq_NDqhQdu1FiCP14w7mi4I8IZV78TxhPVb9hQNnP7-5ZTbfmp93pVpBo3b1TZZj-QdcpD8TeZAK7Msv3EJmk_9UEaUkePZzG5oC-W-bYUsyzcXYMbfyPHoC3aCOFaLFfFgf3BObcot1EJwKyeaasjsVkM7Zk_FvALi3wNh7JBn9IpwGicmWdIbG1OjHwPW8gzU6Jpt5JAClMghtTRNW6Db-2EaMKcKG9pzOGnuLs_jDKgvLhT0I3Bh4EQyGk9czM8oWkwBBm5woswwe2CHAAPiRGQDslbMbfSM-n2-7Erd_v6rEVuE6X7vhroKQNzd5tDERnXxHkY0peh-aadfGCRLeojuBqxWFi6NyrzuHuxlzoelez0GKEx6Zg2YHMR0HtloJnsPQLZVtwuRePRztsYmQgVgzBUFO8zGVNhQxNNolKQsgvAYOEgL_47tAhPT4dL8EQAkVOzdUigMsoljSrA566dqSKW-leAgt3vtA2Ej0nbsd0d63l_CdEyDaGJ0QeM9PEVIdCM85Y3G07ER84UVxm7gX5THWZnwRpkTQYxnlXlENtAmVN9tDdTTRhrIbr-IGXChFsTD1EquO-OcmLT-GD0nPkilt7NKp30Ao1CqUCU6PX6t4WVr3NCUDQTtOax2G8np8YDOcdEtRfnd_Flq2UzZytidOAIYYSiAB6KIegu2FGPMKG5VK9mF0ULtxxWpM48i0klfbktSJnpxSEstr2HP9FSDJ26DAe9J5hA==",
  "id": "rs_0a315bbe47e44596016ab4324bc1b087d0a69d454e40b3f01f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.24,\"right_z\":0.18},\"note\":\"The green fruit rose with the right gripper, confirming the pickup. I’ll carry it over the center of the blue bowl at a safe height.\"}",
  "call_id": "call_qoJehTadLi6hc5fjUzGq60Ou",
  "id": "fc_0a315bbe47e44596016ab4324d39b887d09191a72d92e885e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qoJehTadLi6hc5fjUzGq60Ou",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-0.0746, 0.8513, 0.5999, -0.424, -0.1223, -0.0978, 0.9976, 0.68, 1.7931, 1.4292, -0.5274, 0.4793, 0.3862, 0.3475]\nstate[eef_state]: left_x=0.2909 left_y=0.0035 left_z=0.1544 left_yaw=0.0757 left_pitch=-0.0952 left_roll=0.0161 left_gripper=0.9976 right_x=0.4153 right_y=0.2357 right_z=0.1621 right_yaw=0.0633 right_pitch=-0.197 right_roll=-0.096 right_gripper=0.3475\nstate[joint_eff]: [-0.1573, -1.9487, 7.1043, 1.7705, -0.0757, -0.0562, -0.0122, 0.3214, -9.8667, 8.5812, 1.3797, 0.5446, 0.3492, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff17c03343d4e5d7728a2f2abf4d24683e137070cced4e743304c7c65a6f944",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a419b73f94c9435360033d2a311810828c0b83acd3f75ebea961b30a81fff49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a2bc9614f132d6a6f235d060b8ab5c1c7641551dfcfd64e9d7250bc0945a341",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.111 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]: [-0.075, 0.8425, 0.6003, -0.4019, -0.1188, -0.0868, 0.9976, 0.437, 1.2865, 0.4534, 0.0414, 0.3504, 0.2352, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0025 left_z=0.1612 left_yaw=0.066 left_pitch=-0.0646 left_roll=0.0183 left_gripper=0.9976 right_x=0.315 right_y=0.0842 right_z=0.0567 right_yaw=0.0133 right_pitch=-0.1656 right_roll=-0.0733 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -1.8803, 6.5983, 1.9072, -0.1099, -0.1441, 0.0415, -0.1846, -4.9709, 7.4325, 2.0684, 0.1343, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0753, 0.8459, 0.5999, -0.4114, -0.1223, -0.0978, 0.9976, 0.4374, 1.1286, 0.7395, -0.3763, 0.3397, 0.2245, 0.3454]\nstate[eef_state]: left_x=0.2926 left_y=0.0031 left_z=0.1583 left_yaw=0.0747 left_pitch=-0.0775 left_roll=0.0134 left_gripper=0.9976 right_x=0.3198 right_y=0.0885 right_z=0.1494 right_yaw=0.0298 right_pitch=-0.145 right_roll=-0.0637 right_gripper=0.3454\nstate[joint_eff]: [-0.0479, -1.6342, 6.9538, 1.7216, -0.0659, -0.0611, -0.0122, -0.1709, -5.0393, 9.5385, 1.707, 0.2173, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0746, 0.8513, 0.5999, -0.424, -0.1223, -0.0978, 0.9976, 0.68, 1.7931, 1.4292, -0.5274, 0.4793, 0.3862, 0.3475]\nstate[eef_state]: left_x=0.2909 left_y=0.0035 left_z=0.1544 left_yaw=0.0757 left_pitch=-0.0952 left_roll=0.0161 left_gripper=0.9976 right_x=0.4153 right_y=0.2357 right_z=0.1621 right_yaw=0.0633 right_pitch=-0.197 right_roll=-0.096 right_gripper=0.3475\nstate[joint_eff]: [-0.1573, -1.9487, 7.1043, 1.7705, -0.0757, -0.0562, -0.0122, 0.3214, -9.8667, 8.5812, 1.3797, 0.5446, 0.3492, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff17c03343d4e5d7728a2f2abf4d24683e137070cced4e743304c7c65a6f944",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a419b73f94c9435360033d2a311810828c0b83acd3f75ebea961b30a81fff49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a2bc9614f132d6a6f235d060b8ab5c1c7641551dfcfd64e9d7250bc0945a341",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJSVZHRGeyCqguV3CkX9gPcJxrPDvCN60Vtj8iXRHoD77K7DL8ECcZJMlAsdLlOtacEmNfWtuKcyWTNmKJ29o6ybxAryA1756QQp-RbVIQcmq1ZHr74PGBzs5vrsBQadeQa0U_u0ssHVLBX9Wh7TSIS-7YMP3SnVSdx3vsEwENiy2AkdxxGOv0VHV-q0YgdV9_0S8zB3abgR1Bf2abLXsQ-dxNb3rtGNjkLgroYE6GQKyPWC3MQ1VyD_82vCgBDWEraqSX21xlkxp4hc0vL310vC6IooMSJD76MeG_CBGfhyXWXTQGs64hZy9f6TuegjtbO9QsH-twZaBUHD0WpqRJdxvvsuR5iAa2Ew5uEQ-SDHk7PDsqsCWF4tHJ7IXhgBhc79OWtk1w8m3kF_fWz1FJada2tvTbhrVeDmUT2bW5iGKo9sj5QU40TQGPTqFyJfFmeIqjuTAzWOULMu6mMXctIhEukImcLpaz-NarTuKloxSAyTsV9M6hbjPQEmNRMVX-DD77K1TnJzUr5unxKJVxogQTqX_KJHweEVD8SIfx46K2CwyghkwGIV48edCyAx7ZDM8mcuL1fd6r3kOU-kz15cBWICZfT9YjCOfGQi8U9O6ArGRB9ZId6j0H2FgvQqDblnHDTulBxTJsLtl8fVsejMksS7OD1Qo44Ie99yRS4Hqa4naVSnxmkVhTJ7qg7jhSiH_s_BfSXI6nUPWqr9TSbNOp1UfjlGBd7BbFi56u0JX2ByuH5dsrMpHFcH8MdBcFlkGPK2x3siPPXOHVgw0k7nTMukxVGOnolQ-fpqM_DC2tcztgdLLByL9pPO82GDl58sU8uxlOEr_fDfqKPNQ7r9Hq9XM9FMB2qR3rkeYbBqeb6mMEUrU6E_32KLYV7AVyVnWfIkWF9ccVIFUAnE5k2R-bv4UBHtFSGKzGIvWy1H0H08yiGOINP4Fa8olO07798WrQ7osc8tHjwzjKHB0Ro5qWYRFlm7Ptrbkv4S71CbK0-7sAE2hQXSfMeVEdP1VNLJUMzkzFns-7PH1ABzpC9BjgYiQNC4sAmQROEGCtdAIj0YYUu-89pOFZDevs2534fUKSbIXPLCkoCmKOchT_OZ8pduWZrEtaa2c0zJDfOLoy0ALwcaK73EWCHsqoYRNYdJOCK-JJ_DkZcqdz3vX4t7Lt4c0rts00NQL_6PzNGhJXb6d6O1BOw6Grrltiibyx3BmxrfM9Ex815JbRW7SjRR1fvOuwDqfgPBMndwGB8IPA7WSuiideNvsL4dhVr48MVWHD3D433RpkNkJnxAgr8PxOEAjMyXaXxfPVwq4mHz5xrng4jvPKQMs5R3zJJ43ncWIjC4kKMrVVfMBoNfw8ZOrYUesEo09A_b-QwY7DZ4i_SSBDksoXcfUbg0hss66qAJF1v7m_8wnyO6_d1VDKRUNLaCW6g1RWxrn5yjt6UcqutFpKwCOXwF2g8UnXnGet8l0Lap1KIuYLKwEiPMqdhfgtrGgWLr8mBXj5zmBR3yJRcB6FGxC4KzToTa-QPcPo6jjrUA5xCwjlg14xgwKkqWl0_tTInUqCcUaxs9Fj56ArFRC_Y89CW8PmrwBZYWZqavw2DLEO7vKwfx2qaykyBHNiyEdqBNyNN2rBHtBINTg3yX8mz97egSbK8UVuTgahMrX6PKCtjHr2pGuBq7xaJ5gNxsL2QkKvij79avmZkiv0mqOgSqriSuG-yxAyJflUcC9zPa09_fL-wtQvhaMHNlS_CuGDV1Cwk81QMSfYOa38rkfF-0eXVoyRL37Uc_L7gD3FFIn94aLCHfX4F-FNEuGvXRNPH67glsk2Dzf505RCAXqzmAfMw1tB4-cIJmhu9oJ5N77YJzhP8ABq1hzpfxBPRgYzmq0eixHUBATpBeVoSOt7FunVmro3EGD8D5F9wjVp_gtiP6FBJR2h8BoJrtog_l__VYWG7wcRKtOpJrLzS_KkY80nRMs72pK6p-_bslNuQEY1Lj0nvo2eWWqiEuO_whZbftVThJ7BdGPT-DFpze6itW0KQVUfLf7HDIhVwxCk1rv_XllDg3nxuMrYv_B775iEmIQWSJjnFU32vnBpJsfkudwl-LhBRAT1PH5WAYV0N-tAaW3mgeOilU3LhF3cF5eaLOLK17-2lSOzveiLtUfm62-cKAE2CWP6XYKlA09sqkgzsqmv8YLu6bG47rubw2jHZbzIZDzKbuxnUYeE=",
  "id": "rs_0a315bbe47e44596016ab4324fed9487d0935ee93a0000deca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.205,\"right_z\":0.105},\"note\":\"The blue bowl is just to the gripper’s right in the wrist view, with the held green fruit above its near side. I’ll center the fruit more closely and lower it into the bowl before release.\"}",
  "call_id": "call_SUADHUT96Y5eyiKTNxpfzCb5",
  "id": "fc_0a315bbe47e44596016ab43251e88c87d0a73621616403facf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SUADHUT96Y5eyiKTNxpfzCb5",
  "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]: [-0.0746, 0.8528, 0.5999, -0.4244, -0.1223, -0.0978, 0.9976, 0.6315, 1.7706, 1.1419, -0.3641, 0.448, 0.3561, 0.3475]\nstate[eef_state]: left_x=0.291 left_y=0.0035 left_z=0.154 left_yaw=0.0757 left_pitch=-0.0971 left_roll=0.0164 left_gripper=0.9976 right_x=0.391 right_y=0.1957 right_z=0.0833 right_yaw=0.0406 right_pitch=-0.297 right_roll=-0.1552 right_gripper=0.3475\nstate[joint_eff]: [-0.1299, -1.5795, 6.9949, 1.6484, -0.1099, -0.0611, -0.0122, 0.1846, -10.7966, 8.1983, 1.8046, 0.3248, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708f0b86102a5be8a4f50afb32954599eb6b64bab554a2dae11adc4b7b586685",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077051dd7c449ef235057ceea78822b01dd7bda93117100967f6632ff41d042c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373d1f7a2f772ba842c39a97dad9aa86e52c35567e17965ae9feec07d3a456b7",
      "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 · 3.037 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]: [-0.075, 0.8452, 0.5999, -0.4084, -0.1219, -0.0971, 0.9976, 0.4381, 1.2919, 0.4343, 0.1204, 0.3477, 0.2283, 0.3413]\nstate[eef_state]: left_x=0.293 left_y=0.0031 left_z=0.1591 left_yaw=0.0743 left_pitch=-0.0737 left_roll=0.0132 left_gripper=0.9976 right_x=0.321 right_y=0.0879 right_z=0.0612 right_yaw=0.0235 right_pitch=-0.1168 right_roll=-0.0544 right_gripper=0.3413\nstate[joint_eff]: [-0.0479, -1.4838, 6.9812, 1.7314, -0.0415, 0.0415, -0.0073, 0.1026, -3.6308, 5.4906, 1.2918, 0.2076, 0.0269, 1.0281]\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]: [-0.0746, 0.8513, 0.5999, -0.424, -0.1223, -0.0978, 0.9976, 0.68, 1.7931, 1.4292, -0.5274, 0.4793, 0.3862, 0.3475]\nstate[eef_state]: left_x=0.2909 left_y=0.0035 left_z=0.1544 left_yaw=0.0757 left_pitch=-0.0952 left_roll=0.0161 left_gripper=0.9976 right_x=0.4153 right_y=0.2357 right_z=0.1621 right_yaw=0.0633 right_pitch=-0.197 right_roll=-0.096 right_gripper=0.3475\nstate[joint_eff]: [-0.1573, -1.9487, 7.1043, 1.7705, -0.0757, -0.0562, -0.0122, 0.3214, -9.8667, 8.5812, 1.3797, 0.5446, 0.3492, 1.033]",
      "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]: [-0.0746, 0.8528, 0.5999, -0.4244, -0.1223, -0.0978, 0.9976, 0.6315, 1.7706, 1.1419, -0.3641, 0.448, 0.3561, 0.3475]\nstate[eef_state]: left_x=0.291 left_y=0.0035 left_z=0.154 left_yaw=0.0757 left_pitch=-0.0971 left_roll=0.0164 left_gripper=0.9976 right_x=0.391 right_y=0.1957 right_z=0.0833 right_yaw=0.0406 right_pitch=-0.297 right_roll=-0.1552 right_gripper=0.3475\nstate[joint_eff]: [-0.1299, -1.5795, 6.9949, 1.6484, -0.1099, -0.0611, -0.0122, 0.1846, -10.7966, 8.1983, 1.8046, 0.3248, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708f0b86102a5be8a4f50afb32954599eb6b64bab554a2dae11adc4b7b586685",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077051dd7c449ef235057ceea78822b01dd7bda93117100967f6632ff41d042c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373d1f7a2f772ba842c39a97dad9aa86e52c35567e17965ae9feec07d3a456b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJV_F4xlSgNFgGDDT8Wf3ctRBLZvyJh6zA5FXIpLkY0GZgmdJ4D-OxpOoLuvNSqAhxSh1M1LQ_JALts6ixYm9g4II2wNFr7DWkmKlRfnVeeXcwETnqXlJ8NAyAM8hB4hPnxXGaclDk3fy-NXhzkEH665BWbP8s0kKLy2THEF1fY1706rHnVn8DK07V1Rnl7iV1-6P3DHxBYoxtrQySm0CdJhMEvKlgekNtjl9l9-XX_Dwm2AI-rc-3YQY9_TWutJFTOKRBK11nlFR_Ab6NSCOoR-AvHJrGx--_xZuOcWRpUE_rdVOoCKPxZX3zxbo0IgaEh7kMSd8UE3cfdffRLx5R0cc5d3-bPp6XfE2zsu_Fg0E23yYk5bgYNEsLAPAXiWdgxhOeSdLaxKHOQQudNFxwZ-7-xubLUZQG1qiBcUCYC926yvlDnyEvJdXVUC0Klv8TWNK80YzGlahWn1zH1kIfREVDJKyVIwRSpB_2JQ52q3RNNn6ncNQNO8AS3e4aUsvv4eD7cucN6ivNYkF2a6-1wDm8YnIrqAWfwBSNehWHB76xuzsWid7K22ZYdSfwxIzJUa0YFX11cWy_UB5L3Rdqf55_ZinVEPAu8Lz1l0XbFiNO_SjW1MPEjC-AEfmiiS5qpRhQq5vA153ne49jjj3KA28MK0lWg06sy7L1KEbFTzyZxdZA8DPsXa_6hbe6-5N0LqIyztwPCB7-3JN3GobMgN_rfrz35PwjP23563X_vxIXyKTJegAQB03yk0vpjSSRHw3fB79BbMfIF4NZzDm-eRRmlP543D3_cGx3mobbNQy7mwCJLSmqtgT2hASpNjqJxKJVkGz8YbQtQayNI_ZUHoW-dSgf7LL87mdcnDGPhpaGDJyHXrxg3qnwhqyZRBCqDE1R-JDk-PToQK7-Mk2d7TJnupykz3Y-MFV_gQJYC1lhjzTEnyeThOhV1BFmAnWvN9HK7u-jZKZMn-KrMd9Btb3EKZdhcESO9UChLnaHg_vlmfUcPC_VDu9JGCy5x65k7NoxXINqfuWe3eNpuWhZ1vsNAXrhuzO_EANCq0QZS5WPzZPFZy9YnMDhCLYuBWzTZQt-nj0QfQQtLTtDEUWv0N9Slz_jR2wbMy0TsGnqNrxCJWew21eGsuCgpscdXyVgZzgf1GiB-sJQiMFfMFS0-T4F_LhnymbSBP0mzyIuRJlZ6Nw9zqmT3QHcDcn6VFYY6wREShP9xQtF9YcTPQhGH50BzwK_8AfC9R4hEnnitPU9TQzVFaqMOAj1J8Pw0FKXZ",
  "id": "rs_0a315bbe47e44596016ab43254209c87d0b65ede33e165cfbb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The held green fruit is directly over the blue bowl’s interior in the wrist view. I’ll open the jaws to deposit it.\"}",
  "call_id": "call_P3NxZw9r8txmCbhyv7sCP9Zq",
  "id": "fc_0a315bbe47e44596016ab432545d6487d0a97f4185d83df878",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P3NxZw9r8txmCbhyv7sCP9Zq",
  "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]: [-0.0742, 0.8536, 0.5999, -0.4244, -0.1223, -0.0978, 0.9976, 0.6384, 1.7706, 1.1038, -0.3111, 0.453, 0.3405, 0.9958]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1538 left_yaw=0.0761 left_pitch=-0.0978 left_roll=0.0165 left_gripper=0.9976 right_x=0.3892 right_y=0.197 right_z=0.0767 right_yaw=0.0548 right_pitch=-0.2836 right_roll=-0.1609 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.6479, 6.9538, 1.6142, -0.0611, -0.0611, -0.0073, -0.0479, -9.7436, 5.8051, 1.3504, 0.3346, 0.0562, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d817a74b03f45972368a4bc0949eafd0e64e500850552150f7f1e3237e3bb13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e42d0255d6f05bff112ac8c5cf7faf807d5ef67ba0b82cf5be60589ce1c2343",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07cc96e36a67e7d0a25bd6f141714d77bb06315127d519ca7d35de804fa30305",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 3.158 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]: [-0.0753, 0.8459, 0.5999, -0.4114, -0.1223, -0.0978, 0.9976, 0.4374, 1.1286, 0.7395, -0.3763, 0.3397, 0.2245, 0.3454]\nstate[eef_state]: left_x=0.2926 left_y=0.0031 left_z=0.1583 left_yaw=0.0747 left_pitch=-0.0775 left_roll=0.0134 left_gripper=0.9976 right_x=0.3198 right_y=0.0885 right_z=0.1494 right_yaw=0.0298 right_pitch=-0.145 right_roll=-0.0637 right_gripper=0.3454\nstate[joint_eff]: [-0.0479, -1.6342, 6.9538, 1.7216, -0.0659, -0.0611, -0.0122, -0.1709, -5.0393, 9.5385, 1.707, 0.2173, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0746, 0.8528, 0.5999, -0.4244, -0.1223, -0.0978, 0.9976, 0.6315, 1.7706, 1.1419, -0.3641, 0.448, 0.3561, 0.3475]\nstate[eef_state]: left_x=0.291 left_y=0.0035 left_z=0.154 left_yaw=0.0757 left_pitch=-0.0971 left_roll=0.0164 left_gripper=0.9976 right_x=0.391 right_y=0.1957 right_z=0.0833 right_yaw=0.0406 right_pitch=-0.297 right_roll=-0.1552 right_gripper=0.3475\nstate[joint_eff]: [-0.1299, -1.5795, 6.9949, 1.6484, -0.1099, -0.0611, -0.0122, 0.1846, -10.7966, 8.1983, 1.8046, 0.3248, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0742, 0.8536, 0.5999, -0.4244, -0.1223, -0.0978, 0.9976, 0.6384, 1.7706, 1.1038, -0.3111, 0.453, 0.3405, 0.9958]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1538 left_yaw=0.0761 left_pitch=-0.0978 left_roll=0.0165 left_gripper=0.9976 right_x=0.3892 right_y=0.197 right_z=0.0767 right_yaw=0.0548 right_pitch=-0.2836 right_roll=-0.1609 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.6479, 6.9538, 1.6142, -0.0611, -0.0611, -0.0073, -0.0479, -9.7436, 5.8051, 1.3504, 0.3346, 0.0562, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d817a74b03f45972368a4bc0949eafd0e64e500850552150f7f1e3237e3bb13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e42d0255d6f05bff112ac8c5cf7faf807d5ef67ba0b82cf5be60589ce1c2343",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07cc96e36a67e7d0a25bd6f141714d77bb06315127d519ca7d35de804fa30305",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJYZyVhA3uddCDVDcdY9kO_-NvaMTjhqFoK-vFssgIUkq_5fHx98icWVTE0D0w1gBNupSxv15kbG0QDAVppiOBK74Gmm1WaymCB3NmlcSRpSBzY5L1IohCiv1X34AD40gBopg0FEwQ8QB1vNuzPS7IWuDW-3WcR1xyFT6zEcVIW2g6DcHmA83NfUgyboWioV13bZlrB0hvqruWwvpWR4qyf7tZLzB5vU2a-istEad5G2-BKrahnAYQdfAwX69UGk-dg5_frR7HQrxJ4rkOKWYovwJ90BuJ5hMERtlNsn-GcKr7sFGClfjaV8QRdEUOAHqIz1Ao8gxQF7sDWVdE0tg1vn5nMRTpSAU0KXHbIneNIlBeqlSNAQljt9YdtjPVWmLzI4Riblq0oxT3bV7FIkNVt-nFuYF3tpw9PG0D10_y8KfKtHMIySumQyxSk3HLHod246yCYSCjWIN6cUETSFQ63w11w6Sp_gT6OZmKg1L7DgWm6ictCZxGmI1TxhY1rSIHfdDqnV1uYHd8ODjoQJ90J8EVAEWZPigxCNsj41RzYVMZCMvfKRKkMF5-dOQWAKE6SiNbGdW1ezJ2Hg4vt1sEKuLMAhk95OXRO4lRiDJXDoA-urLFWsbnRc7sl0cHFjr35r5APPPqpvqafZreHCiVeOuz5EDTU8oPgvczw-Ktts3s6AACbPljQ_A6NaDNrY8OaJSjainXqnZX4q_Tjh1hq7svdEKJUarKSkNo7EvFzQwPeQdIjOdPrqsnrL2bxxwGppf8fn3v8heimKowD77GBLi3rp4uVsAWLGBgxG796b3gvDjqo67JZzrNUkKDpgOiuz6PMNb-x5NRISha19lH-rzzImyiU24aCeZicAQ-gi8WYMSWJeZsATZttboBzIOUPpXbAYfQ9fks6L9lZvF4pYuhzY0UApkXVnQ1HaeXJwbl4Z4KHDk89J82M69WDI04q1rVc3PvXi2rNReJpDIqpLE13tnaV0hdMaB33rTZBsxdow919H6n3SftTtUqOpHm2OvmvXw-uWPwnQN2iodomrChGdgeCXvFKRU_wqDzSOy7R8YN_9ViiDjcMjLbYw5UB5diMo1r1q1NYQ_qFKhc5CEGT-elhqMqjGNdMJw1pVoUUD3vuQACOxFTHDVTGPTD4IPYfyNRYCzYis3NjHeDQl3xtDWaurx6U-lElbv4x3YHXQ7CYMBd5RTv-XuL19uyofhtAnoU1natM5lsOFXkeiQDLx6NAquDn1HrX_NSHAZLY3olyxNzsDLCjhxuW7fTeZy69tDozel649hscCGiY6W7jpaSgXDludvq3FfUS2BxlIxwpqwOd_QnGvS1i9UXhYaik9nAdcxKLoO5KlYInF_t_OMQeWfr_EO0Gut3D2uF_fC3OPfVkTevYUFU2XcA0sSQjh--53r8gyUcaJoJlSzSxm4L48P707DUIR5xCXit7QlXFGGZpapfEIZlivr2ztLNdX3auOieWusV9lKxUcQ==",
  "id": "rs_0a315bbe47e44596016ab432571df487d092724dca7b314ee3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.3,\"right_z\":0.14},\"note\":\"The green fruit is visible inside the blue bowl after release. I’ll move the open right gripper toward the yellow fruit, keeping clear of the bowl rim.\"}",
  "call_id": "call_q0AzbiCG9ubDrmEPy75VV5pt",
  "id": "fc_0a315bbe47e44596016ab43257bd6c87d0adf3a7aafc72d5e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q0AzbiCG9ubDrmEPy75VV5pt",
  "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]: [-0.0742, 0.8539, 0.5999, -0.4244, -0.1226, -0.0978, 0.9976, 0.9905, 1.8225, 1.4601, -0.6861, 0.5739, 0.6155, 0.9965]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1537 left_yaw=0.0764 left_pitch=-0.0982 left_roll=0.0168 left_gripper=0.9976 right_x=0.3212 right_y=0.3216 right_z=0.1478 right_yaw=0.1567 right_pitch=-0.2505 right_roll=-0.0977 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.4017, 7.159, 1.6093, -0.105, -0.0122, -0.0122, -0.7863, -7.747, 7.3778, 0.9353, 0.5641, 0.1734, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84cce3b10caa0a3e18fefa0c9f33fdccd06e31c9536107e68782bf7f8807fcd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a71c6d5ba45e0568e144aa096ce0ee7d4c77c2cf009bb155c89353b7d933ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25edaf0d03f29234ce005cc80819e7534bda82ad7a21e8600ec709a65e402b1a",
      "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 · 2.264 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]: [-0.0746, 0.8513, 0.5999, -0.424, -0.1223, -0.0978, 0.9976, 0.68, 1.7931, 1.4292, -0.5274, 0.4793, 0.3862, 0.3475]\nstate[eef_state]: left_x=0.2909 left_y=0.0035 left_z=0.1544 left_yaw=0.0757 left_pitch=-0.0952 left_roll=0.0161 left_gripper=0.9976 right_x=0.4153 right_y=0.2357 right_z=0.1621 right_yaw=0.0633 right_pitch=-0.197 right_roll=-0.096 right_gripper=0.3475\nstate[joint_eff]: [-0.1573, -1.9487, 7.1043, 1.7705, -0.0757, -0.0562, -0.0122, 0.3214, -9.8667, 8.5812, 1.3797, 0.5446, 0.3492, 1.033]",
      "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]: [-0.0742, 0.8536, 0.5999, -0.4244, -0.1223, -0.0978, 0.9976, 0.6384, 1.7706, 1.1038, -0.3111, 0.453, 0.3405, 0.9958]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1538 left_yaw=0.0761 left_pitch=-0.0978 left_roll=0.0165 left_gripper=0.9976 right_x=0.3892 right_y=0.197 right_z=0.0767 right_yaw=0.0548 right_pitch=-0.2836 right_roll=-0.1609 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.6479, 6.9538, 1.6142, -0.0611, -0.0611, -0.0073, -0.0479, -9.7436, 5.8051, 1.3504, 0.3346, 0.0562, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8539, 0.5999, -0.4244, -0.1226, -0.0978, 0.9976, 0.9905, 1.8225, 1.4601, -0.6861, 0.5739, 0.6155, 0.9965]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1537 left_yaw=0.0764 left_pitch=-0.0982 left_roll=0.0168 left_gripper=0.9976 right_x=0.3212 right_y=0.3216 right_z=0.1478 right_yaw=0.1567 right_pitch=-0.2505 right_roll=-0.0977 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.4017, 7.159, 1.6093, -0.105, -0.0122, -0.0122, -0.7863, -7.747, 7.3778, 0.9353, 0.5641, 0.1734, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84cce3b10caa0a3e18fefa0c9f33fdccd06e31c9536107e68782bf7f8807fcd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a71c6d5ba45e0568e144aa096ce0ee7d4c77c2cf009bb155c89353b7d933ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25edaf0d03f29234ce005cc80819e7534bda82ad7a21e8600ec709a65e402b1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJcK0qay7Qgfjw5G8-gbsPC4FaIYP2oJIl13T7ZML0G3gzLW-zXTyX-gOYlaXCJSCkgrISM9k7QbLrRRXUh1at55usUfTQ3832yTzoBhsr4LMxUy_ipqaxVLH58PXEdeSkpnfif65Fb0Hb2ydRRv-fZNFEPQMwiaOYf3Sckv9VpicORCWM22-4332HLZBnnKmgHedKUcvt-CFFd3awiY0Midgzaj9bJyTZM_MvQlMDnDM9rjHS9tMR2XzeFAEOEzMjR8l3s1KRCZcoNs7aw-OAEkPmWNNz4RZVwGZK7dpKdsxCB4Fh3wPb19V-ykGtCr0IRa2bJXbFakBZ37GcVkBbIIKOo4sZXQLU_4fgFSDvSBRBoKk-1NN0nBWr7A-r6r2HT9yMi8LqvTYPSLaoM46SgxetEDcnhcEXgZ19TNeIhshgRtpcMddhLQXb_uf2QQsRzgfL-BU237k_RTQdeLs1T3xcfIul6EQDIHuWYTAjcF2pVbQ49zEYkfJlrUMG0mtqB26LWOOjOySb6nVnRtJod4OQg-HbaIvjk-35-QsLzVlGh4VJQAJC3Sa9IwMci1abmPF_9axBXNaFY27rl4_B-yW7uVuea3FosS3ErVOtAFqQtfXQHFgRipX0HsvzSmZ0KbFeaPqcvj0gmNFDQYxf8woelHeYdhX_TdajFFtf7drBmHXE_O-tN64t9A3qUJD5wj4K7cqKrE-aWeIkvLf_7rF15q8n-rBQr7xi6D-cMHWsCuxoGQCoQxNOI88QDOG2sh4AfZCE9zbOaL2yYVeVN2b0iP0_Ppn6QLRuMDRpcG9knflnr5cTlwQdmShnsrQwNSSeJ0-cgdXpmjyJFKcY13-IWgF_wNHoCvu8aT2oP1n-dxsW_XP4yJylUgVZ6u0NmYm1cbewQ2j8TucOXY8ir4BGJ8bw_kfCBIAceVE1XBZcIPwF3cSLqcbIUdvpE5SEq9-VGd_RCCJ5wZ6tlKwgdyIzMwLlrd0XV6Y7mYpFl1O3-KXNhGr_lSoIT5djZWcg0UhTWPEyIc1qwreFdfvxhnUQ66iA_-_mxnHZ46gEQYujMxqzbN8zwC0Q-MtwgYm5wTyWk48rHIjar0gKIaPBT9-5huvDMbK42wPvw5cjC6vdYDJ2sOKCV20IqAKpfzLtcgqhWqa6wrhEXN31XXNNY_MODpdPJLu8OIdBw8fq54ODVgrrrEunrguNf_puqPUx_FBv9SOkXzIlu20AB7hrj9HEFhVH56E-n394TuXdyLJLWUhiYBYX68zjkQ49W_LVJK238WVUTlOUEvbenTRJMB-lEPwiVunRv8LJ1_E-HgDC0p7lJsr6FoC3oYU44pk5kx4bsHkta5CNNSzH_xCedRdrA3oHrTfDsbbTwL7budIwtQrMF2ZQpfH1DxPRvOpnH0R7ttABln6qOyAV0I6p_K7f3HJCYoL6JlWF29RWqYLVdimGKwMlbR7Vrmyarmkp8Rwvf8GH9nc-Z_f8uwskBie331ytdoevKwsyRZUwoNgJ6NAjHryohJ-A0LDgtX87KtGQlSSKvIiJL2xaJI5PFz5pfsf1FCoLnfJet7wYwmz_J5he0f-zVM4qtRSuPHTuuUQMX6J3CvWG2ckQjs1mE5ViFtrSsvXWtIuH_8wQ2WvTgw5uh3X5_dRZY82y4ZYj0pBlWWjXE2-7g0rhiWFAZSSjDkGXN5SF5y9L76ra7MCIztT99Amoy1AGTKqn_BJlRwXJDKExQs26XKyWusMnuZdyg_5E1BVv0tlhXEBmYN1w1b7GPUbD883NNuvtS3Utt73yDPLYqWDSHipyz_VeT_ab9lzvcGgVRDpCCuUysfjQ=",
  "id": "rs_0a315bbe47e44596016ab4325aafc887d0908178f6c62c97ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.27,\"right_z\":0.07},\"note\":\"The yellow fruit is low and to the right of the open jaws in the wrist view, and the overhead view shows the gripper slightly beyond it. I’ll shift back and right to align the jaws at the fruit’s height.\"}",
  "call_id": "call_yleOovPc3G2zdZ6PsUyNkf4p",
  "id": "fc_0a315bbe47e44596016ab4325bd06487d0bc64d6e21895fc94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yleOovPc3G2zdZ6PsUyNkf4p",
  "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]: [-0.0746, 0.8581, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 0.9615, 1.739, 1.0161, -0.408, 0.556, 0.5922, 0.9966]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1524 left_yaw=0.0758 left_pitch=-0.1027 left_roll=0.0173 left_gripper=0.9976 right_x=0.2917 right_y=0.2614 right_z=0.0562 right_yaw=0.1342 right_pitch=-0.3196 right_roll=-0.1658 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -1.8393, 6.9538, 1.6093, -0.0757, -0.0562, -0.0122, -0.3897, -9.6889, 6.5573, 1.4237, 0.2662, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13ee51edcf2836135a4b2ba5515c1460cf16d451f07b45efb5efe0d1f0ea1321",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb67d28b9a13bfb275cea7fab7415f00c1e280b6c4103bf31a40d29570c846c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65efafe380d68afceac71e73d331b87e1ab21c30401c9f1e614d1e565e0032c4",
      "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 · 2.56 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]: [-0.0746, 0.8528, 0.5999, -0.4244, -0.1223, -0.0978, 0.9976, 0.6315, 1.7706, 1.1419, -0.3641, 0.448, 0.3561, 0.3475]\nstate[eef_state]: left_x=0.291 left_y=0.0035 left_z=0.154 left_yaw=0.0757 left_pitch=-0.0971 left_roll=0.0164 left_gripper=0.9976 right_x=0.391 right_y=0.1957 right_z=0.0833 right_yaw=0.0406 right_pitch=-0.297 right_roll=-0.1552 right_gripper=0.3475\nstate[joint_eff]: [-0.1299, -1.5795, 6.9949, 1.6484, -0.1099, -0.0611, -0.0122, 0.1846, -10.7966, 8.1983, 1.8046, 0.3248, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0742, 0.8539, 0.5999, -0.4244, -0.1226, -0.0978, 0.9976, 0.9905, 1.8225, 1.4601, -0.6861, 0.5739, 0.6155, 0.9965]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1537 left_yaw=0.0764 left_pitch=-0.0982 left_roll=0.0168 left_gripper=0.9976 right_x=0.3212 right_y=0.3216 right_z=0.1478 right_yaw=0.1567 right_pitch=-0.2505 right_roll=-0.0977 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.4017, 7.159, 1.6093, -0.105, -0.0122, -0.0122, -0.7863, -7.747, 7.3778, 0.9353, 0.5641, 0.1734, 0.0611]",
      "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]: [-0.0746, 0.8581, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 0.9615, 1.739, 1.0161, -0.408, 0.556, 0.5922, 0.9966]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1524 left_yaw=0.0758 left_pitch=-0.1027 left_roll=0.0173 left_gripper=0.9976 right_x=0.2917 right_y=0.2614 right_z=0.0562 right_yaw=0.1342 right_pitch=-0.3196 right_roll=-0.1658 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -1.8393, 6.9538, 1.6093, -0.0757, -0.0562, -0.0122, -0.3897, -9.6889, 6.5573, 1.4237, 0.2662, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13ee51edcf2836135a4b2ba5515c1460cf16d451f07b45efb5efe0d1f0ea1321",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb67d28b9a13bfb275cea7fab7415f00c1e280b6c4103bf31a40d29570c846c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65efafe380d68afceac71e73d331b87e1ab21c30401c9f1e614d1e565e0032c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJfZR2BrVuTUFdneq8_rumY7m7_xVNspDMzx3ltDophsvRMMVuWlAykdiCkGiG6a-VdQ0oQQnG0zJ7PbwqM3TAstHW78hQRXpkRgWqUns7r8FvWp82yXZNmFGU0e5DYKvbG-mZolGtrydBxq1iLfu-pMo6yBwQCwbhNkdnXdxW9rHJCraQfjaYwqKdqe1fNN_WlDc1joKkbclvAZM7LgdwhrSr3zbkANZCMCIDM-AuX5k2DxzMva_Pa_eWB1Yj5BylulYZCEMPrC8LCC3h1C0WqhtJU7rFsyYeoNvrFspCBgE4TqhV6EBQROnzhjtXZb0KxyK2rPAWWqvAQHgz-8fQ39IXV5BTHsCMhIphbKORZh7st6CgxmhWRVos8_qx7ksucjJWWVGgmzn82rt4HGmCdWnxyvIqj4O82KKa6cFds0vL9AiN83Z8bh792TuSnqLug5L0yWBdtYNfe-T_icLvSsL0aBMngKyGyHeGJUxLbOiN-O4q5Td3GooIgmRrH6JpfXe15VC_Fky_r3dP_lYbgBWPKYdVSmd6_DMC2NgCALQZy3ppL_NXlIgeqv94qoorcPqkgdw8KIvWeA5h8PqOZ3gI5DOf_WLNltDLnWEK-lLr7bzzmM4JkuHP3iF2TMFXMAPxN5iZqutvlYvwuXT1FbQ-_dzZW4tfWBfXQ6pC3xzZD-dBatGsnaGuK-HReqfW4iJuovYe7CnV8iCJZz2mZiGKH9KKnM7elE2naTSzx6MkKdWg1H0_dcmlrbztP076zvg3ayyHgeyquHjwg2gLu55dmIF4C-EgyExm36LRhC46xix7HZxQe6Eblvul82vobO7vH1nn4f2EznqB9Zk0sEOsldupLvjAJ8OhyLlURUhaKHdKeSEZNKlzG78zuZb1u5wwu64lxyGjwFpAQEkUCRI5kmM5XwkG9mqI-npu90OIgSGZeOzfvfs-5K5Ha2f_K3Yj6gujzZWdeq6futLOmBdnpVKVUVevKjJ9ZyZTjB4ISuasVXmH9riYjjCzkXNEBlbKVQ8n720JbinsV2YzP4t9oJa_c9f_ZXMEqK1YLGq3Ql3kO-WBDqw2zoFbKWd0Jxk2YQIfnM9MdSdQ_PRuh-Tt_4Ku5ivDBZZbFlFX-bKuti_esrivY_2MlFLYx3L9hJJF15KZlXqNsOq8Vcf2DxpuAOYI5EtnyaaDP_qNwu268AmAq-2ckkEqfulj3eAJv93yLgnmiHfh5bwpoQu1ebMIHFwIeyO8NEZn75pP90L74cAU9wMhU1Yh-iNbdlAhVSAVT8ymDB6NY9GWaBLup9kAIKmJRtd9LAX0RGi0uhpKFLEt_EpVCh99fkUB08QKDTbcYAvPa2zQ0-hIqa8pQnvtf0xsdW_14BBvRowtdBdxHxS0_NdDNlRD6WIXyoAxW3BNY_PcU5Wa3c8HKPE4FnQ==",
  "id": "rs_0a315bbe47e44596016ab4325e3e5487d09c7451702e34e328",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.02,\"right_gripper\":0},\"note\":\"The yellow fruit is centered between the right jaws, with the green fruit still in the blue bowl nearby. I’ll lower onto the yellow fruit and close around it.\"}",
  "call_id": "call_p7JjrnhMGfC8huOPBDriraMf",
  "id": "fc_0a315bbe47e44596016ab4325ed5e087d0bac40092de5832f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p7JjrnhMGfC8huOPBDriraMf",
  "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]: [-0.0746, 0.8585, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 0.9592, 1.7935, 0.9688, -0.2604, 0.5678, 0.5854, 0.0095]\nstate[eef_state]: left_x=0.2911 left_y=0.0034 left_z=0.1523 left_yaw=0.0758 left_pitch=-0.1031 left_roll=0.0173 left_gripper=0.9976 right_x=0.2993 right_y=0.2675 right_z=0.0367 right_yaw=0.1387 right_pitch=-0.2813 right_roll=-0.1429 right_gripper=0.0095\nstate[joint_eff]: [-0.1983, -1.6479, 6.9538, 1.5995, -0.0806, -0.0611, -0.0122, -0.0479, -6.5846, 3.6855, 0.8962, 0.1587, 0.0317, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21fa46f84b2936c892ba7eb7859aa49e9d636215a41f81a0314216a1bddeee7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c8729c1a97bcd41a0b0468d71d23f163aeb976ebb7e3f72ffbf194862121512",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e76dd4f4aa0fd2e64e37c69c8c4c65b4631b9fa30801436fbcfd1c31b283b8c5",
      "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 · 1.969 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]: [-0.0742, 0.8536, 0.5999, -0.4244, -0.1223, -0.0978, 0.9976, 0.6384, 1.7706, 1.1038, -0.3111, 0.453, 0.3405, 0.9958]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1538 left_yaw=0.0761 left_pitch=-0.0978 left_roll=0.0165 left_gripper=0.9976 right_x=0.3892 right_y=0.197 right_z=0.0767 right_yaw=0.0548 right_pitch=-0.2836 right_roll=-0.1609 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.6479, 6.9538, 1.6142, -0.0611, -0.0611, -0.0073, -0.0479, -9.7436, 5.8051, 1.3504, 0.3346, 0.0562, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0746, 0.8581, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 0.9615, 1.739, 1.0161, -0.408, 0.556, 0.5922, 0.9966]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1524 left_yaw=0.0758 left_pitch=-0.1027 left_roll=0.0173 left_gripper=0.9976 right_x=0.2917 right_y=0.2614 right_z=0.0562 right_yaw=0.1342 right_pitch=-0.3196 right_roll=-0.1658 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -1.8393, 6.9538, 1.6093, -0.0757, -0.0562, -0.0122, -0.3897, -9.6889, 6.5573, 1.4237, 0.2662, -0.0904, -0.0073]",
      "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]: [-0.0746, 0.8585, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 0.9592, 1.7935, 0.9688, -0.2604, 0.5678, 0.5854, 0.0095]\nstate[eef_state]: left_x=0.2911 left_y=0.0034 left_z=0.1523 left_yaw=0.0758 left_pitch=-0.1031 left_roll=0.0173 left_gripper=0.9976 right_x=0.2993 right_y=0.2675 right_z=0.0367 right_yaw=0.1387 right_pitch=-0.2813 right_roll=-0.1429 right_gripper=0.0095\nstate[joint_eff]: [-0.1983, -1.6479, 6.9538, 1.5995, -0.0806, -0.0611, -0.0122, -0.0479, -6.5846, 3.6855, 0.8962, 0.1587, 0.0317, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21fa46f84b2936c892ba7eb7859aa49e9d636215a41f81a0314216a1bddeee7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c8729c1a97bcd41a0b0468d71d23f163aeb976ebb7e3f72ffbf194862121512",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e76dd4f4aa0fd2e64e37c69c8c4c65b4631b9fa30801436fbcfd1c31b283b8c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJiwUP_vOWGVwSf6UEhgtQnerDPKFqkZ_tah6OOIlmEPeeK71AShKVz__hU3aYDOhqR81u_0A-W2vS2jro_jeRfKHvkulapSldTMhbsbo-AwE6PCcXtfR67SwNdtKxOBURDUeMDh2gKEuxiK8AD4g4f_ljgn4pX_P-d_Yopj4hZOK203tdjOTIepoyvS7910f1uy8PheJo8vRVr1uLZ3L8AVZZDkI14DBQ4S9S9lqjJYu4dU9sFjdrLgHg30vUIYdkoWz6Gm7fwPLW3q3lLCWivPTcd4Aa5OIFNeZARq4DMoEzr-FL9e-Bq3gHeILAbbdoVm54gdrs1vxas_fNHWlmNWWptt0S-sJUsUGIz3tDwi1gME6HZt6KIffZsRFGIGDDexYzqUvGArv4o5CeCWmV1jZ8rf9jqjhK01iaXeSRhkhJmtvffJmAYt5-VHQ9MozanHFWtVuETC3oSYeHcUDiFbWsC9paVYbHQIxm5mTvzn_6v6r5SithrHXFNweFIrgK-ivNVcqAvh7o1fYXWwfBV3gwrnTuIrj3YP9Kv-ix88mxUjGgaTCGgp2hzJ6_FcWxbsJbQF8nwtIOFQnMLcvYAMbIl5uxh6_5aKWbJHHAJTrK6HtC45GscS-4r0rABkABEWOY_1MIYiGuK1WFoVhC6YEHLYyCFTQCQcwP5UXMoPgJz29ZbcFZH_L6kl-L9HVRwX1UTPE78esZRAkrUxKW7wrn0bgrlkPSeVBvlysQz2tnd1ZxB7-0wpBbKglle8jtAGJYmF8KkKG8HhHv_MB9sgkOU5cMnUfkhhlcOn_QOHXNVcSmR6L-USRuP3Aziz6LuJMc8Ri7uyIYvejn1y6ccuLVXsGfEfObf-E_loPkIZF4_YeQ3WcF08k3pH9TihtYyiTnSrk2NdxlPljfBVzGnvA02omTC1JnK6HtvMXCcUobxQVc2GCN6bT1qOSiJQPT_JGjNrVsXZqywhXEkbiGLlXAQVR8nMHAE96TqIuToLf3tL607sHng9JYGymABBnaZ1wzWZe7AmMQVGSk8v1sebhfyzuiC1gB4vVpN1CsFzcE7BtwBDU_bEg33dNSu1EqblZEa5Scwzu5hJXFoLDw_KQnepY93A0tTdhxWM-CSyXEHpl82CrW3t5b5Y7_q_F9spFmDqaoYHw0-GTQNBBAps70u0ZNsgE_Pmi8C3ScnuuIuI_5oa-u5khx1bOySAnrzpJ6Y9wcKoIkmuKkWNfuzq9sf1Nx9KcEVxHu42Ph64Eq5nVRbKNEaYbHVPwtGIzxyqnfYiG8byvY8Nbq_vA7uy2-RYaqMiMkUkrYgGhDM2KV65AFkKSBg7NLIwBypJyYcakL8HaREF2Qho5_uztHrOUO2a7aM-xDu9prQTaEy6cpqiZK3PFF7_T1vV9nh2Vtu4luTbAe8V0WL3LTVMpp3Y7Ag-nidEshWjgIxqy7fpQavR0uEJZTQfD2uoIcwdlrbGuOE6t2xUtNNEyePmzqAi2rS9LvEX2uVP3SVM3C8zJmSiNJznZidz9dR5RRmnSy7a8QiFvLyqyOh0cJhZbrJRvNjls9awz3cYFqx1F58kz0=",
  "id": "rs_0a315bbe47e44596016ab432613d2087d09fb5843e873261db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.275},\"note\":\"The right jaws closed almost fully, so the yellow fruit was missed; it appears just behind the fingertip point. I’ll reopen and move about 2 cm back toward it for a corrected grasp.\"}",
  "call_id": "call_KAIaPLWnDJ67E43xM5Zcncrk",
  "id": "fc_0a315bbe47e44596016ab43261f0f487d09e1c289539682f14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KAIaPLWnDJ67E43xM5Zcncrk",
  "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]: [-0.0742, 0.8585, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 1.0168, 1.7855, 0.9363, -0.2905, 0.5732, 0.6365, 0.9955]\nstate[eef_state]: left_x=0.2911 left_y=0.0036 left_z=0.1523 left_yaw=0.0762 left_pitch=-0.1031 left_roll=0.0173 left_gripper=0.9976 right_x=0.2754 right_y=0.2699 right_z=0.0273 right_yaw=0.1521 right_pitch=-0.3098 right_roll=-0.154 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.4427, 6.9675, 1.6484, -0.0855, -0.0366, -0.0073, 0.4991, -10.6598, 4.6017, 0.9744, 0.5055, 0.1538, 0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aea996219d0acd0193925f41e36555730ba6367f304dde6cf1cc1b4e42ddc188",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:055b710090ae103f3104d0a9cb6a2a26c838df2c234b7a8b97e931f5037f77ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2ee42e02dd7886a6078a38a33487d4883c82595b5336dc2c0aa67b1fce873b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 2.545 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]: [-0.0742, 0.8539, 0.5999, -0.4244, -0.1226, -0.0978, 0.9976, 0.9905, 1.8225, 1.4601, -0.6861, 0.5739, 0.6155, 0.9965]\nstate[eef_state]: left_x=0.291 left_y=0.0036 left_z=0.1537 left_yaw=0.0764 left_pitch=-0.0982 left_roll=0.0168 left_gripper=0.9976 right_x=0.3212 right_y=0.3216 right_z=0.1478 right_yaw=0.1567 right_pitch=-0.2505 right_roll=-0.0977 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.4017, 7.159, 1.6093, -0.105, -0.0122, -0.0122, -0.7863, -7.747, 7.3778, 0.9353, 0.5641, 0.1734, 0.0611]",
      "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]: [-0.0746, 0.8585, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 0.9592, 1.7935, 0.9688, -0.2604, 0.5678, 0.5854, 0.0095]\nstate[eef_state]: left_x=0.2911 left_y=0.0034 left_z=0.1523 left_yaw=0.0758 left_pitch=-0.1031 left_roll=0.0173 left_gripper=0.9976 right_x=0.2993 right_y=0.2675 right_z=0.0367 right_yaw=0.1387 right_pitch=-0.2813 right_roll=-0.1429 right_gripper=0.0095\nstate[joint_eff]: [-0.1983, -1.6479, 6.9538, 1.5995, -0.0806, -0.0611, -0.0122, -0.0479, -6.5846, 3.6855, 0.8962, 0.1587, 0.0317, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8585, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 1.0168, 1.7855, 0.9363, -0.2905, 0.5732, 0.6365, 0.9955]\nstate[eef_state]: left_x=0.2911 left_y=0.0036 left_z=0.1523 left_yaw=0.0762 left_pitch=-0.1031 left_roll=0.0173 left_gripper=0.9976 right_x=0.2754 right_y=0.2699 right_z=0.0273 right_yaw=0.1521 right_pitch=-0.3098 right_roll=-0.154 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.4427, 6.9675, 1.6484, -0.0855, -0.0366, -0.0073, 0.4991, -10.6598, 4.6017, 0.9744, 0.5055, 0.1538, 0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aea996219d0acd0193925f41e36555730ba6367f304dde6cf1cc1b4e42ddc188",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:055b710090ae103f3104d0a9cb6a2a26c838df2c234b7a8b97e931f5037f77ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2ee42e02dd7886a6078a38a33487d4883c82595b5336dc2c0aa67b1fce873b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJl2ym8Qw6e6hse3qVL0Ub7jtRkyfhSAUmgoFvwZO6iEVBxSmIgLyjcE6C7ChDDapV1wfGtKFjQxFo7K5Ct7qZ0eldvg1docP-3nMr_SI5MLj-DcUTw0Mc1Yq7QJPFg5sVNtKA2z8c8SsFzoWfmaKmRcZln3-JdAzWmU3x02NNx8RP1nLtPz3RGIrBnRN7sDwDiEXz-YkRM4Q-noNvixnNjKERB5qH76cRajTJzxte9CdXuVNxd_m34JKl0DralqYC3t9cRg1egIdMu_lHtNKzqDQJlUxbnuUfR6YtIXmU2PHVoP-IeSHyHQertwi2pDKyL1CfO2s9KlEps6KzfWV39D6JngIKnFakvGlC3YAf7p7YxQ7VgENPMuesZGu9j0M9YY3O56F19QdHy6fREVcyox_MmOWr2ekKWfiEUNydEdtwAGuju6FPsfrRNd0RZZxqsV1AMbgm8fe8LMnplT1FXBS17z-tIoKiUvx6KYP4M_VqIb6bKTicRlDs_htetnCP9lCQpz_pQrneMjk6LSawn2tLPSbOWdxfgv4u3LUpTGwz6t0fgRz-jj6jsVJX6VyAVzwRP5d1zws_26NRZ3GA_GKS-A7JoPszWLe-KL57J93hpbZKrxgBCgSY-tgGdku3zm1dXN2gGwu8KyfGGMKTsEoPskztGR_3lgbjkMfSKPpn06H5mtdEWnJt8LM4P1h43gAgMf9WjOZEuMkPqeefwfPdqd9h5zQroCVE7xieFXbH1bd9SInBIU1oQEgNntaMm351b5cntuqNbO2c_PlBei8HSipdGFC5LFpD_ZRR9GuRCT0ePI3ur3cSl938lqTVg5Dd08g8eqJylbiuhsODQZjdaG7da2VPonIk5wS71DXyIa0ELUfHo3m2UIo29DPOIaMJr9iirJZDYuFZurQubdG8hXm5LazCVsZ8xTstJ0b3pEozNtKPXRscCysuhc7gS7Ifwp1Gdl_MW6w5TfJWYQeIwpcNegKP8lnPXkAhCNOpb4A59hOzVPHxjruBuE7I2VJO7GQoD3T6msr3ylvWXSo6Sh1VjkeZ5Ruzr3gNGUmtxdL9g7mQH6U-ROgIhlLkwU8swlEIo8wazzO93lRk1sHrqy4Di1EZ0J9NhT9rTv51UFLQ65LdXBgWrGLDYxjzFsa_OvPk2YePysuD370DTIoFQCS9iE-Or-5BGLXGseg_ZnZUNtkTPhsy19rfluMgrtawWxlMVZuqQDwB8SG4TGoZunUrRS0t2iYvFentuJoyjaVXusLORdWqZYpSNNm0y-yB17UYek740WziLwlUzUmfgFSge0ArDgZCZlCpAwBhbbQARagkv3xSk1QxAfdQQ",
  "id": "rs_0a315bbe47e44596016ab43264e1f087d0ae5298bf6c85d9ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After moving back, the yellow fruit is now clearly between the open fingertips in the right wrist view. I’ll close once more and check whether the jaws retain its thickness.\"}",
  "call_id": "call_JhuO0CVm0CbVT4fQcaiR7KKj",
  "id": "fc_0a315bbe47e44596016ab432653fec87d091d1f1d7479837d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JhuO0CVm0CbVT4fQcaiR7KKj",
  "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]: [-0.0746, 0.8585, 0.5999, -0.4252, -0.1223, -0.0978, 0.9976, 1.0172, 1.784, 0.9367, -0.2741, 0.5972, 0.6281, 0.2888]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1523 left_yaw=0.0758 left_pitch=-0.1035 left_roll=0.0174 left_gripper=0.9976 right_x=0.2796 right_y=0.2703 right_z=0.0316 right_yaw=0.1469 right_pitch=-0.2821 right_roll=-0.1598 right_gripper=0.2888\nstate[joint_eff]: [-0.212, -1.5932, 6.9675, 1.619, -0.0757, -0.0708, -0.0122, -0.1573, -8.0752, 5.6274, 0.8327, -0.0464, 0.0317, 0.4664]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcfc4c9f331eae892ff68b35486d404bc49f6973d0d661d45fba25892ab63bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78b34db204dd970d0b7abbae624904b26ad0689028d6bef520e5600d3fdbadd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104e298aa97dd831bb917d2e5edb654aefe35501b3037d6113f8fa2878a2b7ba",
      "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 · 3.157 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]: [-0.0746, 0.8581, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 0.9615, 1.739, 1.0161, -0.408, 0.556, 0.5922, 0.9966]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1524 left_yaw=0.0758 left_pitch=-0.1027 left_roll=0.0173 left_gripper=0.9976 right_x=0.2917 right_y=0.2614 right_z=0.0562 right_yaw=0.1342 right_pitch=-0.3196 right_roll=-0.1658 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -1.8393, 6.9538, 1.6093, -0.0757, -0.0562, -0.0122, -0.3897, -9.6889, 6.5573, 1.4237, 0.2662, -0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8585, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 1.0168, 1.7855, 0.9363, -0.2905, 0.5732, 0.6365, 0.9955]\nstate[eef_state]: left_x=0.2911 left_y=0.0036 left_z=0.1523 left_yaw=0.0762 left_pitch=-0.1031 left_roll=0.0173 left_gripper=0.9976 right_x=0.2754 right_y=0.2699 right_z=0.0273 right_yaw=0.1521 right_pitch=-0.3098 right_roll=-0.154 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.4427, 6.9675, 1.6484, -0.0855, -0.0366, -0.0073, 0.4991, -10.6598, 4.6017, 0.9744, 0.5055, 0.1538, 0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0746, 0.8585, 0.5999, -0.4252, -0.1223, -0.0978, 0.9976, 1.0172, 1.784, 0.9367, -0.2741, 0.5972, 0.6281, 0.2888]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1523 left_yaw=0.0758 left_pitch=-0.1035 left_roll=0.0174 left_gripper=0.9976 right_x=0.2796 right_y=0.2703 right_z=0.0316 right_yaw=0.1469 right_pitch=-0.2821 right_roll=-0.1598 right_gripper=0.2888\nstate[joint_eff]: [-0.212, -1.5932, 6.9675, 1.619, -0.0757, -0.0708, -0.0122, -0.1573, -8.0752, 5.6274, 0.8327, -0.0464, 0.0317, 0.4664]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcfc4c9f331eae892ff68b35486d404bc49f6973d0d661d45fba25892ab63bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78b34db204dd970d0b7abbae624904b26ad0689028d6bef520e5600d3fdbadd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104e298aa97dd831bb917d2e5edb654aefe35501b3037d6113f8fa2878a2b7ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJpECQWpHwogdOvTbRa6XFo6hwa0yAdxNprsrsSP4vEhpplc39jsz04ZD2Md830HWxwK_UTuYTilUuHCSTgyRYvg8k5afAcoTsJOZBkHT2q7FKE15EygrMAPtkGi6FL-a-zaO9WXngb-eyIBTBG1puMhkTy89l12ktXbne5AWosX6PjjUj_U2954CIl1Xdgl4Wi5GjfWLZGLqUJB6yoQh9_EvbqP9LRgxmnLYmdmIvedxncqgwr3rmt8G6bPXJy3s0ainQKqq0tHsgfuJMrzXYmW5x96kPy6cSvHX_MoWinumh4Ien7XOYGru7fQQFN88-HwIJkT9Kmr3ZbBbIC0U3QuQrzoqrIeNCzaxj_EyPmRH0AwAdLkRlr3QlRFMtOnxsQ_a9dUl_gTfeOGrpnJSiyOnosdAPFndxDblMeMmWq4JkCqTtLUxPw2HDbz37TpCze8ufSpTcZWmF8RFT-qBh6QyLGv-6eMZDp54V1oaZD-qs8eI3O6LDAtKreYOpDgSmKiTiRbdvCVB2K-rjYkEyZcLPUe9YlyEr9xZgdjs62hOqgjITKHop6NbiBXYTEAZ4U2jpyAuzu4tYp8f4fU4OJO800MXiFkIjZXrqS8UNFzEU5TeB9Yx9lQUtKWGcEfLHjAcu56I-uqeoyd_MaBOCC8qzWAJj0uf-J6TPLmherWiAtf6xjNCMlqUmyTGU1NHsIYBo4Lb5BlEQSnoLmmfGMtrfGbevNjIbsu-nqNkmNJ3hHJr_HZGTyyWllP8K18Ccuo61mvx74_h1szvKLeX1DywoIzhHnWMdBuXbj2jaeParz9EZYGxVtousmirTNEY28z4caqg-wStpBc9bXF2C8hOJdO7EFcLT2pPatMVyBpqhRsmXPbLcpzfiScyUR62FJl6okz25tTxRm_EY-ql3JYv6Wjo8MqikYQ0jlSh_st618TsvXiS7XOaHpavf46TTGacKYbhrPPtDjUSpo41M_CSGSAReiTlCGGscGORA1kwRl3hCa_VJG8mZWcyXB0ujokLRxZfLvpwloI4I9CidMaU1B5UpSKIs3g5cDgNtdKBFOccwKvlZIycxbwYuvJUzAWZyok5qOqWnCSHSWfFGSXrgK3dqpn_XFwSWp-_zH1ZJE28fE-11OvHmE2lDbZxYjH80ZQRiQ2Lpf0rHXPLj0M6025iB9n7-jHuhfGwnGoWXCYjwfenIzLg4_c0KNdgIl",
  "id": "rs_0a315bbe47e44596016ab43268667887d09856b9b830ee6820",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The jaws have stopped at a roughly 2.7 cm opening around the yellow fruit. I’ll lift to confirm it stays in the gripper before carrying it to the blue bowl.\"}",
  "call_id": "call_ytairL4ViSW0oNuJCiuXj0Ro",
  "id": "fc_0a315bbe47e44596016ab43268836887d0b51a27e200009720",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ytairL4ViSW0oNuJCiuXj0Ro",
  "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]: [-0.0742, 0.8585, 0.5999, -0.4252, -0.1223, -0.0978, 0.9976, 1.0176, 1.6428, 1.2881, -0.7734, 0.5873, 0.6205, 0.2877]\nstate[eef_state]: left_x=0.2911 left_y=0.0036 left_z=0.1523 left_yaw=0.0762 left_pitch=-0.1035 left_roll=0.0174 left_gripper=0.9976 right_x=0.2812 right_y=0.2759 right_z=0.1504 right_yaw=0.1559 right_pitch=-0.2941 right_roll=-0.1644 right_gripper=0.2877\nstate[joint_eff]: [-0.0752, -1.5932, 7.1316, 1.6386, -0.0708, -0.0366, -0.0122, -0.212, -9.9761, 7.8701, 1.033, 0.3541, 0.0659, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd38f365b005902af58efb6e6e0fa3122cc20942155e889544a6bf7c5a6abc44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033f28377c4a4be39b3ddf2b170f9b79b8f7e62082a783e286c06ad7d7f1960a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c183725bcd629ed9d3d857715a3406d7de9cdae875c6ca42e8df63c0d2cdd7",
      "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 · 10.04 s

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

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0746, 0.8585, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 0.9592, 1.7935, 0.9688, -0.2604, 0.5678, 0.5854, 0.0095]\nstate[eef_state]: left_x=0.2911 left_y=0.0034 left_z=0.1523 left_yaw=0.0758 left_pitch=-0.1031 left_roll=0.0173 left_gripper=0.9976 right_x=0.2993 right_y=0.2675 right_z=0.0367 right_yaw=0.1387 right_pitch=-0.2813 right_roll=-0.1429 right_gripper=0.0095\nstate[joint_eff]: [-0.1983, -1.6479, 6.9538, 1.5995, -0.0806, -0.0611, -0.0122, -0.0479, -6.5846, 3.6855, 0.8962, 0.1587, 0.0317, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0746, 0.8585, 0.5999, -0.4252, -0.1223, -0.0978, 0.9976, 1.0172, 1.784, 0.9367, -0.2741, 0.5972, 0.6281, 0.2888]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1523 left_yaw=0.0758 left_pitch=-0.1035 left_roll=0.0174 left_gripper=0.9976 right_x=0.2796 right_y=0.2703 right_z=0.0316 right_yaw=0.1469 right_pitch=-0.2821 right_roll=-0.1598 right_gripper=0.2888\nstate[joint_eff]: [-0.212, -1.5932, 6.9675, 1.619, -0.0757, -0.0708, -0.0122, -0.1573, -8.0752, 5.6274, 0.8327, -0.0464, 0.0317, 0.4664]\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 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8585, 0.5999, -0.4252, -0.1223, -0.0978, 0.9976, 1.0176, 1.6428, 1.2881, -0.7734, 0.5873, 0.6205, 0.2877]\nstate[eef_state]: left_x=0.2911 left_y=0.0036 left_z=0.1523 left_yaw=0.0762 left_pitch=-0.1035 left_roll=0.0174 left_gripper=0.9976 right_x=0.2812 right_y=0.2759 right_z=0.1504 right_yaw=0.1559 right_pitch=-0.2941 right_roll=-0.1644 right_gripper=0.2877\nstate[joint_eff]: [-0.0752, -1.5932, 7.1316, 1.6386, -0.0708, -0.0366, -0.0122, -0.212, -9.9761, 7.8701, 1.033, 0.3541, 0.0659, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd38f365b005902af58efb6e6e0fa3122cc20942155e889544a6bf7c5a6abc44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033f28377c4a4be39b3ddf2b170f9b79b8f7e62082a783e286c06ad7d7f1960a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c183725bcd629ed9d3d857715a3406d7de9cdae875c6ca42e8df63c0d2cdd7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJt6ffyGUokVOKL5VJfAATZOMBA0vI51v_YDY4HxGImxQKxcZ4UcQ_evfWWtXGSzbAD4vrfc_mYhL1qR9wrX9dEItfROgTRE8UQR9k2GmdFtS9JsbIjOYx9AUWLBAuSoToWnfJ8KCmkTOi0X43vzRIWyuCGHk5Kj9o_boWAqkSf0ohGqXb8DB93dkSfX2DML-P8_j2cJk83bPK2rJWk2QmjTF9911k1psIgrrTEKpkIcfxriWuzTk71uK7OIJwibys9F5vA98zTj2XRPZqPd-qopif0kBZW5TwXLXQOfkqrFnXkUVTVIc0o-I052VaqBOlpSq4wTwIbca5PLuJhofB54JvYa07j0XW2fXRCPoMXqTN3FNRaAnRK2WX-bPf1ovpxk_9O9bLIu2tx6isg1xa01YtVFv4yo4o_x6IUAdBP9DXbvRzmaAUZwRcWaEcyvMECLA0azt5Z5tfBdbvxT39lhbOXV8EpO7bRXAULQaVTD1XnaJP5thfodHFA24KyCH__-CsrQXiDKvO3HWsT98rtvLfr9jrLo2vH6SFjMz8dKKeDE69jUsqyU2apoPk-tye1iz4szXW0BP_kpVvp7T3XEYamrVLMxxWegmdbxYMT0L9b-CzoGtipBRNHDTjjpwlpm0Dck0H0P6G2Tt8lhulNklryUNwyQh_32zA4nR53ruZ29L-i3M0POzit1aqTezERC2InnvutzrLChwBZt_40EqF3J5Rd02E_glS7ti1jTlJKjjszg4ddcZGGlVMVyW5bbYnYz8ebjQlhqz-frB6sYlzwMSgkrRmD73O0eeRUWitcup46xvoK_b7qkwlCk6wZ2Io_ODFgqemGq1kLC3Nf44En1DXYL44eGPdkRzraUCLthatcFl_Q8O1c54Wr4YnS8ty-F-z08d68QJBBN3niaOQzVEKux1vHyz5KPAlzdg-BPTVOqjsNTJMjQad0iDTY9XwURDJwYr8FyAzEQMhQ0cbfEOWioARK0P9Ve-RB99KJYESBPXUZ5jEa7v94qffu7cidCN5mkQPo3FfUBPwktvK4ApqYmDFj4VAM2wAS4cpQGZ3Xrvf-_QVnzU-C61grEkSmtCxtMCv1w1ivPq9RHOJ8pcWCaajEZEUute6xh1xd3o6Lp2QO_zIp1E6UEncYfaZ631OB06GNEE4pOP8OJ40XP4Wi74NNEOEckI5Hx00J9nDFuqSilzIWto3EZHHKkLlqOZ_25hci0VPSdPdlBeh-n7_oZ0lsfyvltKZFGf-K1fmE-T8h4CvxzxhFxL8zIh_qFnPZNkgXYXRs3WCosgm7cfP6bwD_yH9AjRQ4NYTXQvwi6uFl5b0mLAQg4KAX",
  "id": "rs_0a315bbe47e44596016ab4326bf61087d09f50a172c3f6b10a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.2,\"right_z\":0.11},\"note\":\"The yellow fruit lifted with the right gripper, and the green fruit is visible in the blue bowl. I’ll carry the yellow fruit over the bowl and lower it toward the open space inside.\"}",
  "call_id": "call_HI8V0SSA0UQKqpXoPFCseI75",
  "id": "fc_0a315bbe47e44596016ab4326c563c87d090064d71bc7a0e97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HI8V0SSA0UQKqpXoPFCseI75",
  "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]: [-0.0742, 0.8616, 0.5999, -0.4267, -0.1223, -0.0978, 0.9976, 0.6239, 1.7092, 1.1843, -0.4732, 0.3939, 0.26, 0.2876]\nstate[eef_state]: left_x=0.2909 left_y=0.0036 left_z=0.1512 left_yaw=0.0762 left_pitch=-0.108 left_roll=0.0181 left_gripper=0.9976 right_x=0.3823 right_y=0.1961 right_z=0.1068 right_yaw=0.1278 right_pitch=-0.3339 right_roll=-0.1816 right_gripper=0.2876\nstate[joint_eff]: [-0.0342, -1.5658, 6.9675, 1.6435, -0.0904, -0.022, -0.0073, -0.1983, -7.9111, 6.3385, 1.5946, 0.149, 0.0317, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a310e34850427eb4afbf1a227558316f87e6bf13322325070f36b861be10e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1b6b78dcf6b7c3d9da7afb89de4cbc94007186a50343b2c5ab8da2322a9e95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af86eba3603661a79217afc355494477e3da67c4025d329d76094deb858e760d",
      "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 · 5.118 s

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

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8585, 0.5999, -0.4248, -0.1223, -0.0978, 0.9976, 1.0168, 1.7855, 0.9363, -0.2905, 0.5732, 0.6365, 0.9955]\nstate[eef_state]: left_x=0.2911 left_y=0.0036 left_z=0.1523 left_yaw=0.0762 left_pitch=-0.1031 left_roll=0.0173 left_gripper=0.9976 right_x=0.2754 right_y=0.2699 right_z=0.0273 right_yaw=0.1521 right_pitch=-0.3098 right_roll=-0.154 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.4427, 6.9675, 1.6484, -0.0855, -0.0366, -0.0073, 0.4991, -10.6598, 4.6017, 0.9744, 0.5055, 0.1538, 0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8585, 0.5999, -0.4252, -0.1223, -0.0978, 0.9976, 1.0176, 1.6428, 1.2881, -0.7734, 0.5873, 0.6205, 0.2877]\nstate[eef_state]: left_x=0.2911 left_y=0.0036 left_z=0.1523 left_yaw=0.0762 left_pitch=-0.1035 left_roll=0.0174 left_gripper=0.9976 right_x=0.2812 right_y=0.2759 right_z=0.1504 right_yaw=0.1559 right_pitch=-0.2941 right_roll=-0.1644 right_gripper=0.2877\nstate[joint_eff]: [-0.0752, -1.5932, 7.1316, 1.6386, -0.0708, -0.0366, -0.0122, -0.212, -9.9761, 7.8701, 1.033, 0.3541, 0.0659, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8616, 0.5999, -0.4267, -0.1223, -0.0978, 0.9976, 0.6239, 1.7092, 1.1843, -0.4732, 0.3939, 0.26, 0.2876]\nstate[eef_state]: left_x=0.2909 left_y=0.0036 left_z=0.1512 left_yaw=0.0762 left_pitch=-0.108 left_roll=0.0181 left_gripper=0.9976 right_x=0.3823 right_y=0.1961 right_z=0.1068 right_yaw=0.1278 right_pitch=-0.3339 right_roll=-0.1816 right_gripper=0.2876\nstate[joint_eff]: [-0.0342, -1.5658, 6.9675, 1.6435, -0.0904, -0.022, -0.0073, -0.1983, -7.9111, 6.3385, 1.5946, 0.149, 0.0317, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a310e34850427eb4afbf1a227558316f87e6bf13322325070f36b861be10e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1b6b78dcf6b7c3d9da7afb89de4cbc94007186a50343b2c5ab8da2322a9e95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af86eba3603661a79217afc355494477e3da67c4025d329d76094deb858e760d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ4O0td2vxFakmZJwQyt85kDQEzIgvigBRHKTX527wqAom5zNX2CfbhIyAU-5wOXjCggrDlQJ1Wwetb9hYxt0JbZ0Tx-Z8gIOzaX3_kOuWfEUUWKZoPd-FujDHusW0hNd8g3In863j5hOncTmsSpRZtjB583xpgRW5sVBsyKwK67HSPff3TW9p3LxZP_Y-goq5nPHxCNY5qqqHXyIk_qrCxAZTm78KNnItJQp3Z5MdoXwq9frB673KQFx2gkfglnIR-r-OYvrJC5HQG-MG_a66LKxhukM6Vj2KyrMo7mwIR0CRbBQhS15zVRm_6LJM905YK0_Ixl4lKTJ-26SgltYR53V1e7J5p2xxS-yYWks6KKdVYointFe0N2MGCYLKBAok5pvVri27zHcFkrHmZpBaafE_OphmboN0DgmgL8ciYJBzE-G7GgloaE_rjaTHcCFTBNDxZK0fZ-61IdVKr12CfA_sSvGzaX3NHQ56RFMX3v6OOebhnjtYuWt7kMCengeZMrvqfIt9pzFTZL3_cj_jIF65hVcmJ1AKa2LwgGlhXNdLWk0TH5alGxPdggrsH7yQY8b-iv13UK5fNbdgr5QoQGt0SDNsgwea0AU1M_KEMSF_j-MSPIAGQy-OIQQ1nGdUUqVUS4dhXbQgYwZv8eDBP3l-NVwn45yGNadVxIwCdRRe1KawYRPVEq16Lxhv_OdeXDQo6GaiRYCjMl6gTCcay75cYpYk1SAhvPCi0f1MwcJqC7zDmem-nyywxIxX1YTR9gBiW657Adrj455ENQPzwmmV3mmwqVqXXz6Sdp-5zQFuUThcLy3VuLo5ylQYK99bUDXdvdRjtnwRYbetH4EQEDEEFo41VNyNK5N0Bse_Oe-bU4REfYvctIUBfpjalCTRc2UEOLLbxhGikZ4sFWPHwiOD7XE30HdjEZNvyVxI7eRxhAANNk3dfBiD9SM_mFidu8eNlFEIztftdhnBxLyFY-2K60mYFS7dgibzuJcw_M5RE9VG8ykpgrSn_Nzs8j-Q-DrCSSwAoqZp0JT-FbCID3v05kE8Avik-8dYBMXHtAf5D5HQ-1kkE5ggG77aJbED3cndH5WYsXK9NxQo0QT5BhbicKTf8Z0ajB9u7BihpNexfxW-9KUUTAexgClcwII4B8-ytD8aORKl8ZkxNkP3_t525IGkWni3MSB4Xy7JOx8UBsOuaoO7rRJFMUPjcjiTNKqDJgITUNv-m0t5AzpylkfIRC4vpJtcV7tba3O5TPz4Rs5qSFIIp-PsrVVD089yP782DvHtENCDuMLg-NKFn0V32UwGxrWfzZeVfoYDv8kHgq_ZrufGu-CRnix56NsfmxvIADkVsvtHY8yaJMpx_5_8f_zQIXfmPNKH2OjLFmBPfxO8hpJFqgOM9s7Zd76PDHLn2RFGPAc4YEatIgT8mTXC9u68P69gg9aUovsSCUaztIsU4_QgNavgfYzxZ5uYDx8GOCJWvo_2u7ddqP_k5dGCZKoM6dIbZPG6ijOADcCo9pfVJjvP_PX6J5royc6KspuW-lhMP4OXpMqGZ9aKK8EnvnqTeWQJm2J0QvAGOOZoRrOBqnyLGnncCHJcb20mY5EjJDfHYFjME69UxtrNSKJzjxBD_KC7UIk1OEZtNhy9K1vpwLep033nrT_kpr_7y-ejeMcmy_4YkXU1rXlbBJUwGNsYtlgkdZb-yZdYXhmz-_o0QI2P3no8prSv88MIBHWuOJBXGONNhMqGtJVvrg4X1BXiB3pl_iu1Hb2dTLKgUeKdrB22R_-DOZM-XzqTcDYksIHjYksw4BZcUJWDvASl_nKR5a9kaEQLKOFsbtJPTkW08eChtH3FqS2yp3vpd0KKETopr7ry7D5ptTI2rq_Z71tuoTGSDKGP3xa7SU_rgU2c27aZJ6rGV2AXPjWrvjBvohyWd9XkujV1rGdI1_PXhyB12ClPVTbn2_msJa-uJ54Sa-j_KX935UDw01qPQWzgLTfRVR6IiG8j-7itW4eOPeQa1ZtwyGIVSB1zkZ-hcQqzREa0sOF9sLti4Zh5iptvyDqo7w5Tys3WMRswE1BwXtpU6VCWHK3BgSJRkzg-4FS-oUwz4iiQPwBSvNAMp5c-HVdDnuCdm5Q9umU-U9-r1YBjsoPV8e6MKx8bHaTqTIfDeosSeaGpHGgmoaU7xEhWYy4XNVOBFXY021rlyJbZIwVimefho1dqs1kEPXieKxzeB_GVkJCWQsuPTfY15M0f1bmmKXTWPWlrOLJih5bBdoC_9PubDPPDy2UDnAhMOKmcPgYbLV4FIAMsyM2VCd-uJeGuROvPVy15fyq9ir6Jm1tlm-okxv_qsqW8DvGUBShV8TaAJasYRLb6RZ9qxZwKjOS6GnilLGg_wFzvCjciGOdLkxiFPwYkq--am6BPUk35-MI3Ky9hQx_RoJ7r4aKpwAH6mnzRxtnz0yhBBnZOC0aTUwzIdY_M3T8szS8d-ErMOpg2XmrUjmNgZrnQ5IFg0V2z8W5tuuYEvCafOYVSocToQ9OIjXmg47wXfXATR4osIMXjhV8OCP7JUUI3QE7X1xYRoFERBBDxJmGTnqnpNbuiewbcwV5O_LyQAo73U4Wj1XJDBgsGp5Hf8U17wuOXjy5VfYOxJ9rLGiDeNP4jxMo1EbSTNTfas434NIBaiqZRwEG8-OFjeIJHQ4ulcEwxvMs-3W98Kbm8ZfzACq56BdhrbHYXkpVdlQD8auzVHPoYQ1h609XMwCQY7ZgUDo_jII-p3Qhv4R7lMbX4iedBscp0HEZ5Usv4i7z8bWY4QbEH4zJgrSFXRBBoskb2IBNrhk5iwHhTgIiMNZw2O-WP_c5j0f_jWvS2_9XrMq8nGr0HsiC2-glRfImDgzpykld4uZFVrOmHUlBEKZl1A4TxXT69bTHnQW4LCjCkexFBQi-IKflcPKqoHdhhQ1G3RMH-OV94zOy06vW0lIkrdIqFY0UeEIRhwLQ7sJ2nD6Jl5RoZbiA0GbZEClEaa9lcw9968KoMBGiss3eoA4_9tuohG8kmKlIQcRfkPqUU22GTShZDfBcF2AB9fPW0orv7hvilFmy9prtVoXw4ETnfuKGE6NIKpjnRYtMcHDtkVowB1ESh4KD1Xy6CfJfIkgT3YskxxgipKkvl7c4c9OKSesMDyr07gUWv9rL3xj6OqTIY8jk1-tCjQioixM1YEwREqIPdNZ_h5cEWYvpc8-X3GFmBPew3znU5TXvqN5iJnxCTdYeU-2smJ8zYzSk-L0CFG_osZ-zTnqTd7DsgFUs8HiW-AeApb-yQzvY9HiNoJ-YzGFAuOMbtPUvuOEHx_Ukl4P8fEL0xDg461HSpA23dm1CN-wj8wl_KASGhtJrinM7_gDM2XvkYyczKkMPRVJH55D8g7mO69MBYFAF_pgErvJcGDJ0ho7VgZMl7V9ZTXckpRmIYvi5rh0ABktrHnzib8FZzx6x6F_E3VBskwIp8zC6tDFU2XIVFD1d7-mfODHYIoUzdQndWrevTO2RxsSuk0MybGkB5YnF-N0x5TDxL7Y7Lll-CnWySd16zIzXYh-FDx60qlIj0Sa7Nw_TRkLsRiKvsREs_BkhWrJXoTjRSbpwa0hAXMM4cHRspYtuZqmD4rPsjA4RCHvqlBYA1sAOvPicDFGfOsdwZfYlmox2bddm98P8jdtFrX8AC9e1kKg-lu7bPumRHLNUUzislPvkwih95cOyjAajkBiP-iJJa9Nvk3JN9Lrlewn5rFHdfVxwCCrb3Buw5s0s8SnRC1BXMPEfSIU4Brp8x-VMkdN36Nt1iN9Htg4iJW4Qsobp5eOvNsXibTavfuUYwohEEt1vNjvYprMOG455J5NnKdRoPORQ==",
  "id": "rs_0a315bbe47e44596016ab4326fbcf887d0b591dc2805bcbc7a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ4Dgt9XXqypt_sxgdoPTAccY8zL6On_w8hC59MkHi7slxSUIwY2YfHweIJE2Ko1cCpMAh08k_qSlKXv9toncP9d6mEN9N4GlWNzhbEZYvH4N_5Nq58_fUxzSlNr0e0ulDhGkigqLnxLfdEFVzmMjrtAk8jLirCTe395fROlchznrVyuQJjXINYaXEwkckYd0-3I8IZ94eCHAkX11Fi-wbWP_EI81q1cp-sRnhpaw1SXkUqBR1ckCv_FEtvxTmEuGZNOl5RF9Nfkh0Ftc8F7A8bQpH2ep8RauFTjUKaT7asL0GLmt7hVANnh_QPBcPF42MT256OrF7Ce5tHg38i73s9jthnuZu2K3WEcX_5zcXVu8xCpaLgSqbX9gQk41es6bQIr58WscUMbzhX_2HjVGt3_4SakT1F1raZJNwNSEWvYWVZziTH0DkDl1nJ3Uwk92SLo5yt34njvVEo-77H9_5sqlvC-AUakLcIsw1m1aQwQhA713dcUL9pGKPb4ufLIFtKx09MukVJL04edLOhQde_1ekVG5vSoENpb90sq4z-LFa9f-8U0BWV5QgilFwOUJ4oaOuHjjFSDZnBM001mOZd7yKpQfvQTTrVkmjfawmX9DEKEF6IfP5k-d2kt9080mRdEjYuYMJQB3eGIqYIE3shuZvdS_wB4OxGpkM1Nrsx7BLe7mID-vu3ncuskArMMXsD0zd6PZTHKgFpDfh1Ktxw0R9W-zllDYhITL_FwKh9RQBmINeutMad0BsbGG6ssPcw6Dagpw2L9Cn9QJQ8fk3rlCX6KHlR5VfKK9g0dpMsxpzHesAGzjnHRST2JxG1RICW976M9wx5d3PEnRsTKlyBIXPbaXWb8mO1iVLLXPWfBavfaIbjrMpCGqtrbofR_LTs32OKZXOh1aBL7cJ6xWje9Pi3mFMqessYTAdy6xtkrUMNkEr7g0dB9MBuEpx8J3vLzSXEeP0m7vGNGongrzUXf5jeCd0n3dAe95xKcSAdoRb90RfZ4vp8VZv1jaSNH7LQ1XkHfiYENDGphgnrlX1itPcp0PrH_zzTOoqPyGaduWyFhKQYPZL8IdzxLOrGA4BiPkAx7yzfRvkibLCsoWAlS370cD0cXLgOVLa11jE4CuFn-s1rE3D3uH6gyx4qoP97e7gqw7CuxT18NpdGGoPwT91ye1N6BsGSTQ1KcTJUNjAutVX_XoZ2CaZasaNlva-KKQNeo88KdXVygMd_FkerWTIz_Q17yl2hlcYojf9O2s3R58ZrknuCwzXfNfdNWf0xaJKtuHtnmAbt8xDhYIoNwLnrXCcfzxgcR-bw09B4vcTue_KqSvUl7slx11oaSHpi06IGtI4-H-ZoZMZBTanIgiMKKbr439qZ3W2f6e6R6YdnY_5PC5Dw4RcMDuZy4UGrTsaiMnL1PBaK-vn41pbVV8lpqGBP4UvsPLToO-Z8QIl_4BRSqoh-voklOcu2AuQ_gncGHo8bjWAnyPw__H61tQRYsZet6BOWKKzCB-B90Hl4pasz9FYna2P88Seht4_Ya3xRHNnf0hpl7O-W7ktNixJrI93MqtpqtpUKZZov6iQOUpZ9epZqiCyTwyn7Ju-llbha-0q-Rxa5TGxQG4TmKigzh477eNG4cNSE4012bPmK6Ao_XMEXd1cnlE_ZqiMNe2lYDhO5d1QCQv6lGZgldjc8SOtHsL2zFi2CTjdMZ3I-ikv3dq4gdl8Dg9G8PnJkK_sYWefZR257zgnDC8o0rJ7G7VhBmdULn3BVuoMoqrp_VkaTWscCHT70Zm2ZiAUlF2gLivEzS7gfFWxGqEIkU3lRxQ_ycmw5z9w-nub9ED4jD6RHRgXNpvdrJ4G7RbS8gH-RNZMXOZs48ihaRlojXcWvJgcrt3-IOXq3cULcHTqKYS-XGteD__R_D1hB1ncgCmdurkI9Gis_4cJD-FxnfRP1mmCnCR2MaYwBFalpln_reHDS_bxgTGadn9mF8kz6cka41W0rb1wbq_BUUPuJ3NpC8I5kl0htUV7cySpaTlxrttrk6aEcJCvEFixNqUN5b05dCHMKSTbuZjvYvUMLRFGCtkYz6bPMJdGd54v94vZYfnZVvNJ7Yfs_OJXlj6rG0y15WnJZ74AaU2bImREX2Q==",
  "id": "rs_0a315bbe47e44596016ab43275440c87d09fa047e050cd439a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.17,\"right_z\":0.16},\"note\":\"The yellow fruit is still at the fingertips but hangs near the blue bowl’s near rim rather than above its center. I’ll lift slightly and shift forward and right so it drops into the bowl instead of catching the rim.\"}",
  "call_id": "call_oah0lFWGRIAwEMsyava7dD39",
  "id": "fc_0a315bbe47e44596016ab43277169487d0a99082114b6c5f00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oah0lFWGRIAwEMsyava7dD39",
  "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]: [-0.0746, 0.865, 0.5999, -0.4335, -0.1223, -0.0978, 0.9976, 0.5068, 1.7367, 1.3952, -0.6083, 0.334, 0.1654, 0.2876]\nstate[eef_state]: left_x=0.29 left_y=0.0035 left_z=0.1489 left_yaw=0.076 left_pitch=-0.1182 left_roll=0.0196 left_gripper=0.9976 right_x=0.4219 right_y=0.1721 right_z=0.1543 right_yaw=0.1196 right_pitch=-0.3205 right_roll=-0.1752 right_gripper=0.2876\nstate[joint_eff]: [-0.0068, -1.7709, 7.1453, 1.6777, -0.1148, -0.0269, -0.0122, -0.1983, -7.4735, 7.706, 1.199, 0.0562, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9402cbd8f1f27c52731e72c642e903cfbc74c0fd4f54513321f8e0dbcb4a4220",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e711e522044ae1943df4ca7626f285bc84188755dad3d4b4b13c8389f159c344",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb73efd722a67390b1ea43e15e06f0cd19face76dae7d71a40d0a67efdc1fc13",
      "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 · 5.741 s

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

message 70 changed as sent

message 78 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]: [-0.0746, 0.8585, 0.5999, -0.4252, -0.1223, -0.0978, 0.9976, 1.0172, 1.784, 0.9367, -0.2741, 0.5972, 0.6281, 0.2888]\nstate[eef_state]: left_x=0.2911 left_y=0.0035 left_z=0.1523 left_yaw=0.0758 left_pitch=-0.1035 left_roll=0.0174 left_gripper=0.9976 right_x=0.2796 right_y=0.2703 right_z=0.0316 right_yaw=0.1469 right_pitch=-0.2821 right_roll=-0.1598 right_gripper=0.2888\nstate[joint_eff]: [-0.212, -1.5932, 6.9675, 1.619, -0.0757, -0.0708, -0.0122, -0.1573, -8.0752, 5.6274, 0.8327, -0.0464, 0.0317, 0.4664]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8616, 0.5999, -0.4267, -0.1223, -0.0978, 0.9976, 0.6239, 1.7092, 1.1843, -0.4732, 0.3939, 0.26, 0.2876]\nstate[eef_state]: left_x=0.2909 left_y=0.0036 left_z=0.1512 left_yaw=0.0762 left_pitch=-0.108 left_roll=0.0181 left_gripper=0.9976 right_x=0.3823 right_y=0.1961 right_z=0.1068 right_yaw=0.1278 right_pitch=-0.3339 right_roll=-0.1816 right_gripper=0.2876\nstate[joint_eff]: [-0.0342, -1.5658, 6.9675, 1.6435, -0.0904, -0.022, -0.0073, -0.1983, -7.9111, 6.3385, 1.5946, 0.149, 0.0317, -0.022]",
      "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]: [-0.0746, 0.865, 0.5999, -0.4335, -0.1223, -0.0978, 0.9976, 0.5068, 1.7367, 1.3952, -0.6083, 0.334, 0.1654, 0.2876]\nstate[eef_state]: left_x=0.29 left_y=0.0035 left_z=0.1489 left_yaw=0.076 left_pitch=-0.1182 left_roll=0.0196 left_gripper=0.9976 right_x=0.4219 right_y=0.1721 right_z=0.1543 right_yaw=0.1196 right_pitch=-0.3205 right_roll=-0.1752 right_gripper=0.2876\nstate[joint_eff]: [-0.0068, -1.7709, 7.1453, 1.6777, -0.1148, -0.0269, -0.0122, -0.1983, -7.4735, 7.706, 1.199, 0.0562, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9402cbd8f1f27c52731e72c642e903cfbc74c0fd4f54513321f8e0dbcb4a4220",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e711e522044ae1943df4ca7626f285bc84188755dad3d4b4b13c8389f159c344",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb73efd722a67390b1ea43e15e06f0cd19face76dae7d71a40d0a67efdc1fc13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ9gANXv3-POh5hSFII-6PvdHHvq_fkwGhBBIdG4vCk_Licic4-NEElA-sTAjG5047sc0WtZZ3PTvS9kujo7u73ujpDfvXAkB26yS3AIf0LOgRwdbo-BWj5MuI0znmZdA1qkcQ8yNhCDTewCNrvZx8KiVC7q0PuGly0tQ8FPS5sNnCKomwaU2li69P4lelGKNVDuIa1Z5d17p3OCy4xROCSYMmKUe2fDc8zuPuf2n3m57DW6SuMQwxD2uTLHlaKK-BrZDtPa9ospFVnzhGB74-APfwOGEtfe5skCRc880wFOytpxsOEi7pGWORyq-4tkqYQ9QXxd5YVSHX2_412BWea6jMPv4-mABMzYKiXjs8LUTgLZoC7uuWwylCWHSjIywNfQyMC2f1eZk_4t5ONSoDBoZ_nXouvDMEP8ErNu8UU_55lz3VQTefFHUNHfS8fInxf7uULBPqNIEkgtZH4mouPw8ns0us8r7vX4IQKy3cRBX4AHIhJAp4R2Yz6MVbwswOqf8fZDISnPGeM99_1-cWP83jUR8VKw4UQv8hp8MidQeN-Iyi_DwbB3JADCrkN-_ZFNkpAoOljuvYh4i_LRadIPzfNDMgslSADm56saIcB_qf64jow2-f4RwPe85r3L8HJZzRqLsiCw4juX3TzvsJsCmqxYHcv5GbJpowEeoSnKubfINDohUd3HUz01rv-ILTkj_Rf09WdOgenTcUqo9oLaJM0b_Uq-hZP2FGAR3w2f24Duk4wDzzCkoGWOQFGhhHikoVbfnEDLaNOm1FzyE0w-HtOoCkkPAzo9LHrPfWT9cKFaybcniP352iHb_yAI-lfIPJGEOBQC1pL0F1SwByAXJ0CncS7Ll65-22FYx99l6331xvPMIWgJ2knnW03hYvuLlDJGwewvSjRH7MUcm92zS4F8Ft1MT5fI7DUttPJPPvAWPqKU-Ox5NyLmt_CyzLuVlTc0Za5CJXEFy0gyL-2So1wQtOrvGWlpjqX6Dsl4Grqfm93FY0632fpllG022qrqIIocwfc0IJnco5psZgXeYR9zoQlOoKMfPeoEv64x2Qgy3_bUO_XlD_5DCK1qOIywjpsEs_uV6xNIRhjBJR5s2HKh6EGKSNCx5bg9SS86n5hEddJAtNOrHRSxmwMZvs0W3g3kV-VvsZpX2tVHEOeDz2ilaBkRyrdllqEP8jEExB2z76uGQOhhCKEdFF8xpoUtSayyrUmGvho6jcKWhTc4dWFJ6nFcsAezLTiguNc04hNIxtcKtiG2VxhTAVNJUd1J-0lssLESdefH9D3D3XND-l-pJp_quPhkDVNXxroZnbEbQIuU-2X8UEchSTOrRArmjMv52dWXze7vfzxk6LgM_Nfrg-_XGalfgyiGxnruFA9fCyJmgYXMD3UfPrpO7jIpwm-FOhc1qesEuiBPplzhPsXeCBTuXxkrEemwlOHhW9ZtNsP3hJqDoY8KRIjTAvM10QkjtGGOLbk3aqgfFLfjpUMU-0807_IFfbMUsas_BONEQCMvqN_KoJSfPTMMYTwWAKTo7GTiQhEVoQwzU_aRtkQumBxixMwDiYebXdn4QfhA0brGWX5oxLo6wjecR_tRfHM67I0O59FXx6YEZGEBKOK_yiBElLg55i1TSUELW-jAPOOhuvodAWOGR53WXCcxFM84I_AqytFQBEzzVgJUMu9uDslPptUSjYPfZqMFs42m3AAUkjI99EcL4VXG5Z5mXgjlwDSGlpm25P_zbE0YYMZnjMF3UQLs13LB5XQiu-R-o6lcx4xdUxQNGMbg3vPPuBMKzeYLgC8M8BlgBMQFmGGCGyvHruG3Qiyz36EJzHQrJkntQ-wx8ECvAePPhcctDikaSPQrL6RAR3GnMhctxN2u7qPoG1vSNJ1JgfFWvFvid8tRuR0TPz8zQmGOMBNI2r-Hdk_xCPbyXpqYn-8XTLna5zRzN5xHEz-ojPKsjd_lK2drstv13Q04zs_uN7qKjqfDea67uBm4mfurZZjpvMc_A53vrlibnPquCfJXANkJp5k5aBrJOqc8NPCCWEJFIn5UMtXzS1xJxwFDd6qxKvZSGopfvB1a8BIOpX2wkgaYwYKZtsd5_dIO-QShIyoedX9KYl1w4p8fqzDx3tgMB-gzUTBdhnT10rG1eE2ws6a_SAA58Kp8ZBQQZELDF9csJCrqVfPh8Z7895Ey9rfLbHBxc_9OxuMxS_Q_G9fGL3KUeksj_Wi3xZrdrpi36yJsWClq6BUyqsDXlzaIYamXTEW0HaKccg8gxe74gS0dJ_BH51SC-8PNv-PAtTGISTmBbV0fOy74T_K4U3HEIU_U3oqT0HMzA67hPLlFN4NYn-qb_tmzIRQud6IWUYOWXiyxKXH4B1VxCFEVljA1GlW9qkoTGmvG8jnRmgkK3LGTnwHLZGoPhWPQLXFgygtrXa2G19vahmwGFwQf3LTLJJYZD8MO3ScnVD0E7ntrv5HVnLwrDl3Ilb-K77jmDdxnVhwU0Mbrc0-EOoBC1Rb4pg1CX7rs16nNMyZM25Zb64o-DHF_Skeg6wMHonjxSLekIrI-EUeS4aDQ9OlR3hlyifwWfER8OeLmdxddhrBuPlxva6NClo4mw8C0BVaxjn6WakuglWlrYoysIRXH0RsRsM84sWYweLE4uSZAhtFnnU7qVSW70j6NVoIyEgr_zn7AD4PBK4Vr8qnqQzMI2ar32R8lxj7wBDRmWtgRy0jg_T99k_HrQy9V47PjMf4od9qH5qhOVRq1E8yUaVe7NQNxRqk5DrlxZnAWE7qt4f2PtHxmN-Cy6eW0Rj-d5Prwix_uMwJyLtDb6oJkURMCxr_FMAI2aYGS1muVBglFRhnk9CHbs6Og987hfarQI98vW5r7XxyXysj7KL00tfZpayC4R9m55TUdqguK-xihET-rtZQXDLJlVQqg1Z-GQ3XZjd9ri9MOezYQ_qFXN5KGz8WVmNzU-kB2WEo3qDqVCLy8G2f266-BdB_5RfWnhr1pd2rpgKpoeJMfMsH-4uiZhyGEaTypihTvBFz92mPTCgqHWGEK-mYPt2oVMzHjiwGjiqzcNJab0zz5pt6nMnWbqbrhG1IRChQiuPDWknqG3U1We43H1ut43ncPkbe9oGE8R4OKEUvm1lMhY-jJI-Yb8UMtuaMgpipqWd28e2AQpD2cZ_vxeigeHiPJZ4HpqiopJo30Wkf9NlkXggXi_yz2fnm__nwxAPgT7LwVlJ_E67cw0QQRFdm8FvhsbxLPQNkAuCdWUQy00dC6QgoYN72XSVi-toe5A==",
  "id": "rs_0a315bbe47e44596016ab43279de4487d0a555652e8b3f103d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095,\"right_gripper\":1},\"note\":\"The fingertips and their held fruit are now above the interior of the blue bowl. I’ll lower slightly and open the jaws to release it beside the first fruit.\"}",
  "call_id": "call_MYw2rUxpIQevTJS0oUD0PAsb",
  "id": "fc_0a315bbe47e44596016ab4327cc73487d0ab4bb19a28c5c7e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MYw2rUxpIQevTJS0oUD0PAsb",
  "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]: [-0.0742, 0.865, 0.5999, -0.4343, -0.1223, -0.0978, 0.9976, 0.4946, 1.7432, 1.4265, -0.6567, 0.3161, 0.1375, 0.996]\nstate[eef_state]: left_x=0.2899 left_y=0.0037 left_z=0.1488 left_yaw=0.0764 left_pitch=-0.119 left_roll=0.0197 left_gripper=0.9976 right_x=0.421 right_y=0.1687 right_z=0.1562 right_yaw=0.135 right_pitch=-0.3507 right_roll=-0.1881 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.6342, 6.9538, 1.6044, -0.1197, -0.0464, -0.0122, -0.0068, -8.3761, 7.5556, 1.3455, 0.1392, 0.022, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3acefaa9f4905512fbbcfdfc16207f8a94137cb7bc0ac9269134c9c29bfe07f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3ab223500f251a66a91b826becd5dff2d6431256707908db351505668aa939",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889bf6d64638dce4fe16474cc3334e2801294597787ab33817df64b8405bcc58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 1.915 s

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

message 74 changed as sent

message 83 changed as sent

message 87 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8585, 0.5999, -0.4252, -0.1223, -0.0978, 0.9976, 1.0176, 1.6428, 1.2881, -0.7734, 0.5873, 0.6205, 0.2877]\nstate[eef_state]: left_x=0.2911 left_y=0.0036 left_z=0.1523 left_yaw=0.0762 left_pitch=-0.1035 left_roll=0.0174 left_gripper=0.9976 right_x=0.2812 right_y=0.2759 right_z=0.1504 right_yaw=0.1559 right_pitch=-0.2941 right_roll=-0.1644 right_gripper=0.2877\nstate[joint_eff]: [-0.0752, -1.5932, 7.1316, 1.6386, -0.0708, -0.0366, -0.0122, -0.212, -9.9761, 7.8701, 1.033, 0.3541, 0.0659, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0746, 0.865, 0.5999, -0.4335, -0.1223, -0.0978, 0.9976, 0.5068, 1.7367, 1.3952, -0.6083, 0.334, 0.1654, 0.2876]\nstate[eef_state]: left_x=0.29 left_y=0.0035 left_z=0.1489 left_yaw=0.076 left_pitch=-0.1182 left_roll=0.0196 left_gripper=0.9976 right_x=0.4219 right_y=0.1721 right_z=0.1543 right_yaw=0.1196 right_pitch=-0.3205 right_roll=-0.1752 right_gripper=0.2876\nstate[joint_eff]: [-0.0068, -1.7709, 7.1453, 1.6777, -0.1148, -0.0269, -0.0122, -0.1983, -7.4735, 7.706, 1.199, 0.0562, 0.0708, -0.0122]",
      "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]: [-0.0742, 0.865, 0.5999, -0.4343, -0.1223, -0.0978, 0.9976, 0.4946, 1.7432, 1.4265, -0.6567, 0.3161, 0.1375, 0.996]\nstate[eef_state]: left_x=0.2899 left_y=0.0037 left_z=0.1488 left_yaw=0.0764 left_pitch=-0.119 left_roll=0.0197 left_gripper=0.9976 right_x=0.421 right_y=0.1687 right_z=0.1562 right_yaw=0.135 right_pitch=-0.3507 right_roll=-0.1881 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.6342, 6.9538, 1.6044, -0.1197, -0.0464, -0.0122, -0.0068, -8.3761, 7.5556, 1.3455, 0.1392, 0.022, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3acefaa9f4905512fbbcfdfc16207f8a94137cb7bc0ac9269134c9c29bfe07f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3ab223500f251a66a91b826becd5dff2d6431256707908db351505668aa939",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889bf6d64638dce4fe16474cc3334e2801294597787ab33817df64b8405bcc58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKEFKFPNUf0CUbA7QQyo6w5RUPZ6NCxWz8yr5rSCAs3dYShj7KXr5Uy6DoDsjJmS01J_RSlnnbkF9r0Oo6XmaItef9n3f-0REMvH-S0HtQaZoxIpxcgNOYsjHQVjwfyemDQ_oDo2_ptXg5u_Q4h1D4CSvykoZRKNdNR6vNATUlZD2eFXQEnUdYd2QpEeJxW5SSidqqdVklvFUJ6__z3u4TjPk_oqAX_XnKV8Wq37Npo1fucEP0UcRo155FjhI2AMz44xgZu-hUdMBR-0pITwWQtNMPrZXbf1Y2VEDI4QY1lTgsibeZ1ZXTeQdAPRyLDkeZE2OpSle-QvCAse8e-VDocRDzm--EhtT9JhhGnhjtpAzKUySFt2-bx0XUAd62xB2Ce2FXTzG6m6Xdbd86W9hkCuZ_TpV6nA0DsTwhhjTM2CxAh3pLBlgg57uvHmMFCDS_FgHQ08hozsOpWJMXG5pfVAS7y7-p8cT5CQqj__UYlFW7L0E1mF8PAnENxrs96sePpJY_mItFFG_g28HC61JewcZAOPC7BgI1o44lujXhR1Gq05JtaSjG9EyKjcdjAFqxcOs1hnRyrR6msCkxba602d-myPNrut1BPKllD_r576-1vJrDMV-7fNDChwGl-HM1MbTotD1lCxuxEAYcLpb4S17u31igh94lEn8smULdKxc1jmrmOvy1xnEXm0KKkRyr-pWO7xelQqz0rkAas9cy_gklTZ4egMyNA1bNXwLoqHOzH1viB-OubPWafemHX5Q1ZGD2JB9_rOxRp3oZGYbMygSzyWBoVBzQdI3ipbRLTbENjhGPk66jeY67j0nkK7lHJaEVDoP0HUzsKqepZHiopGdgHZDrT-fe73I7q_w_KkSqGyxvZp7JihxmGL8ja8wqeBXjGlEC1FOgwiW_GIiDWI46bBWoyKmg5Ca2F8dkZMBCUJdVU0IwQuInGlMP-TjXkNCFE2huU9y6aPc0HaLM2Ho7aVygnJm0HpXq2kF3Gh4jKFnUxEGO0f9igXm2zJc9E6pV2KXcHkS4tO5HcR2SztGxMkhpf0Io2uATi7R8xsvn9spER2K6qlzUwGoii13WBsPqRyNKNutqAjKXa3HpeHEeKgRoF8WEkiIlHvId_NIEjGwNA3yjaNS39MjZpW8hD_wXkQuwBwiHnMeFMrR6q4bCns4tsWv3Qo7KXaT76qxU8Pu7QAuAKz0oPs3XeB39D3B6s9qiuxCbSrovppMIOQ9tBDl5dEqoi_xUmYmWUStu0Socf8tV-5lYD0hgMDKIUL8rjpdNyl8xFH6KEnvkepAvxWJjrYawjo0aOmf_XQ6Mi8cqUSDsYVf1qGh2yJGv6AcAg2L9R7lgb1EIoSk29HvoQYOgAs8TLtp8kP59KekPl8EwyoonLw6qx59NvikePcgpwtHjZj0IZuVHFHDSvyBFEkkKPsliI1sURpTie-aNEygOkDKXkUlnUBqgLs7iIdtH0Gihy7pSK_6DcKCB8ThgPCVkI05RvWpHKVwGWRj9kpA9ilFy2Jsxtkr00ua-quwtMp0ZyKTMjBhSwaVSy4w6Mt7zrHkslQqFm23iBw8oXuC_gAh4NhBLsOWO8xZ0EOPDyy2mpuTPbjh45dWL-TjRYiBujNGt3_ysy34vWZvXAR_BLqyPT7TZ-UHC1_ptSDyXNa3Wr5LYgBfUr2cxjhAXQ4dFn3LdARsgPxE2HRxaGBFmFhWF15vs165X1P5NPvXLvaxL3Y1MjrdH4-6PyXcTpsYqOFFQmd4rY5OOWiQgs3AmLqCRT7szK7w3UmGRHWl3FixJohQgrdvWrsxGUFGvzuPIUxYt5cy0-oTbczEBgJyO-sjjPyKwvzsGC051EBWTYcocQFOohp76Vqn1BfGVcDf4HvouWVmrIMFY9RdU9YLwLC597A71VDluxUT6DJ6VxA0DsASBe2jiS5kcWcc95r3PQFvN7Zuq9lV1fxtV2j4fYuBzvy03OiR4VzOyKhhmVW38ELSIW0ZmanfYiC1k8PXigMqajFDhMpWVal_zABI6nLG7GdG6cVxQXfa7pJdPODYiYkipiJTrPg6XMZQvhwzKhZN7wzKdVCe4eqk3xgCkblxiSTQl7iVGoHOUqMb7L-ubbNYRsnGs8NVpSXSjF9wGc4uaJsT3kh9mgnQp8JlIz1PArX6GPLbWA6KO_puOKmVxulMv71iIaptCPPQiMcvLDkXtDwdclhw7zTkSydXZwSMbR5P8-gLFQAJfrCGQlrlnXvnKz2xQF4iiB_c075LncMP4KHdIM16rohict_swRZfPttVnYC8mki0tOtCgSu5ySrzpBiqXn1UmXDa4-ZqjTwCn67a5YyomoKKe8zhDtsXOeo8i56hNdUCHagaq17jOiMBPvKKib1wIf1JoW5M7CgRnqChu5uXoY9A8Pn5oua9dGLkvyZfviFs6GPQIbnLiZgjIF_H1ae_YKbvNxbyUBBrvnbCZcmFXjXS18WidxkcGyrg1utDsUOXCESzHExrMHZMlyC9170wUQchrum_UifAVkGekoXQMj7TIQbh6xml6j6O5xsuCnjtFtrILTOLvJzbxmfB947xSjCxWOTO5akr3_YdajXR5mqZ5ImqprdpAJKcuadc82u7Durz8edqN110pE_g_fxHzxw6AtH9xfxSdL323V02_gU5fOH6IFOEU6Rn2w2OHJk6tSZt82bvM3W_bif0amHV4rHqd4np8AVVaEYvpdLtD_iaiv64tYHsHVHnPPFML2UNYhnxAomQexp8nkWGXAY0pLOMD7udNNnb3lpBaPJ0wzSRO4LNEXLUfC3bYdi62D4TiMHykkCB2cpUm3gRJLnE_Viu7qwG95P7SR9veaHxKgzj5PUR_4dOsxiIS3BmjlRtpHDqVQ2p1qcvzjQQ930tvsS35kDeMcsWahEQwboXq6RLp3wgfpzbdtPNtI53qczuCO4v2LAntOVZz8MJAjSYKPej08z27x5v92V1HyDkGm3El1GhxpJo_hcHYFqGK06HQwhs9w_u-QYM0r1qcbqVCnW3hS-bJ9BVR0I8MK13Cr58AZT1nrM3rbXnlQX6WRHhHScE1FNz-RaV3OLFEamTBAgF9l-utGQgSBgyRMhhPegQn9Q44RWS2Rz35xGYSyx4bNXOLytBKT3u2txOsV3AkEM0iz-mbnGSkZXxcC5KeWnXr-MJEYOzAEHpWYuhegtQRZ_t3ZSB_k213HsubPBbXOCde9xYiAPR5nanzy4LQmK_V0Jc5Bim9GTqIcu45cCGEw2yQRsU91KBI4FwVN33K1NXV0za6Q20oOSn3Wih2zMUQ1FkRwKEZrqcP3gJ5MxPRiiC2HHSaN_sdhsli-LPnZGW2R_e84u1US390g9vuTRUKOqPTj3fGLQNOBmr06i2gXcI3bKkLXGi69YkmiSI9ZjQ==",
  "id": "rs_0a315bbe47e44596016ab4327f5c6887d0be08bc88ae14c503",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"left_x\":0.29,\"left_y\":-0.21,\"left_z\":0.095},\"note\":\"With the right arm clear, I can still see a dark fruit and a separate yellow fruit on the table, so they remain to be collected. I’ll park the right arm and approach the dark fruit from the left at a more rearward grasp point.\"}",
  "call_id": "call_EnfNxnmejVUKlYBkRPyfSA9E",
  "id": "fc_0a315bbe47e44596016ab43282f33087d08b8caff2e6ad697e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EnfNxnmejVUKlYBkRPyfSA9E",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9611, 1.5089, 0.8062, -0.3599, -0.7002, -0.8139, 0.9976, 0.0162, 1.0866, 0.9546, -0.7734, 0.0532, -0.2268, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=-0.2027 left_z=0.0838 left_yaw=0.0555 left_pitch=-0.158 left_roll=0.0493 left_gripper=0.9976 right_x=0.3001 right_y=-0.0009 right_z=0.1791 right_yaw=0.0991 right_pitch=-0.3507 right_roll=-0.1905 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.4068, 8.0752, 1.1258, -0.6667, -0.1099, -0.0073, -0.1983, -3.6444, 6.2974, 1.5751, -0.0659, -0.0757, 0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c0de4e2370286f03577e2191d0517303127456f5bdbf067018893140c42b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ea69acd73bfe4a87c6505edc80e86db20152447d91fc9cf5259a099ad32f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f60a830b6029d461d5500a70566199c659f582db275581847dd3b586f448e79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 5.046 s

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

message 78 changed as sent

message 87 changed as sent

message 91 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8616, 0.5999, -0.4267, -0.1223, -0.0978, 0.9976, 0.6239, 1.7092, 1.1843, -0.4732, 0.3939, 0.26, 0.2876]\nstate[eef_state]: left_x=0.2909 left_y=0.0036 left_z=0.1512 left_yaw=0.0762 left_pitch=-0.108 left_roll=0.0181 left_gripper=0.9976 right_x=0.3823 right_y=0.1961 right_z=0.1068 right_yaw=0.1278 right_pitch=-0.3339 right_roll=-0.1816 right_gripper=0.2876\nstate[joint_eff]: [-0.0342, -1.5658, 6.9675, 1.6435, -0.0904, -0.022, -0.0073, -0.1983, -7.9111, 6.3385, 1.5946, 0.149, 0.0317, -0.022]",
      "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]: [-0.0742, 0.865, 0.5999, -0.4343, -0.1223, -0.0978, 0.9976, 0.4946, 1.7432, 1.4265, -0.6567, 0.3161, 0.1375, 0.996]\nstate[eef_state]: left_x=0.2899 left_y=0.0037 left_z=0.1488 left_yaw=0.0764 left_pitch=-0.119 left_roll=0.0197 left_gripper=0.9976 right_x=0.421 right_y=0.1687 right_z=0.1562 right_yaw=0.135 right_pitch=-0.3507 right_roll=-0.1881 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.6342, 6.9538, 1.6044, -0.1197, -0.0464, -0.0122, -0.0068, -8.3761, 7.5556, 1.3455, 0.1392, 0.022, -0.1197]",
      "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]: [-0.9611, 1.5089, 0.8062, -0.3599, -0.7002, -0.8139, 0.9976, 0.0162, 1.0866, 0.9546, -0.7734, 0.0532, -0.2268, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=-0.2027 left_z=0.0838 left_yaw=0.0555 left_pitch=-0.158 left_roll=0.0493 left_gripper=0.9976 right_x=0.3001 right_y=-0.0009 right_z=0.1791 right_yaw=0.0991 right_pitch=-0.3507 right_roll=-0.1905 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.4068, 8.0752, 1.1258, -0.6667, -0.1099, -0.0073, -0.1983, -3.6444, 6.2974, 1.5751, -0.0659, -0.0757, 0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c0de4e2370286f03577e2191d0517303127456f5bdbf067018893140c42b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ea69acd73bfe4a87c6505edc80e86db20152447d91fc9cf5259a099ad32f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f60a830b6029d461d5500a70566199c659f582db275581847dd3b586f448e79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKH6gqYGTsGx5JMrPlJYRSH6QJxOTXb0dHwJHgaHJ1xm85Jm7BTc0aEs_7AGfYXmRvSj0ATFccGUeUwPdUBGvn4wwT__9cU_Zc-SrI79t8oLGe_HBei42eDWbYjlgI1fKPN3Gdhfvv_lcASAaYff5xLCLHZ1CWb6BglD3NVFxRSI78H97BrwQ_5yoacxy0jcjNGZkea-00y3qyVRDMfM-OnRTZXiylLCX1UpEEcI7Ue_SJ9Jdofgs3lxMnZUKXr-xDkk6oGubUA_NiZtj3SzPtrYcu_IB78bUk5xo4zWLSs_JahQtRbSHn85qKXcsCRjk8B5tGvUmu0XjELHMj-VvaEXqlxF796rVYQ-5y9V82i6UP1Wg0tbUHg0UwdmYqLB6VzXL-sgT2HmCzMnEuXUf3ZsMbnABodVP6E36OkzeydwGTTYVWmaaxeErcb1VpqrOvF-9rMNq9oAHfEjsR2Hh9ppF6HNdqxktSgiB7bZpnXM3S3zCEJaFROm0XD_o81FCeO1AlIf6PGNkutyiQksdQPyadABgMPm3MPD9twq3C7ylR__CJbs-80GaCAuQM-cuwnNcRza29NQWqYxdZIt6bwsHKxq-guC6ODvctKh3-Q6kOEsGVzmOClsPgqvg1nnzhWCkxheiNCFy5RR4pYA3Vh-Wzo7lQu2BQB8plGMO3Qq4uu-TETW6-rDF63A9f5OwSyjHRo2bECenCJcRVCRspXF3zt6RkKZspmm_yC6aTa670k9h6kl8yuiU68n2mMZEPGXHPLLJ9kJUnQ8jGHwEvXFls-PpQELG0JRQuE5Pc1PBJZxiboWZogWxdbrYf9-fIH36BURdrtfli0aa84epEPFJDWoG7aXe99HUWGncEbGSgKbm6SQWG25XSr6mcMBrdM63fhohLJh6ohk786xOiK8R93vEkOu1gi-fA_I90MnMH1IOuFuw-oCclzFsxHrGN28sbe6LwHxNXPBXsN8HGf7LGAQupu1mDzM5KZfKg-UfzP-9kY5lI2XfNRRzXUl2bLOgn1YAqWSIvVj78TWH6JLAHtMsAbij-o2Yn0hHZzD81578CdnxyDqwpbpJjuz3U3SU_sx9yY9joH-dEfcsOp8QaQMjVGA6xZYXxNHq0560cgwptWMeVkpT6EVCQTWKtLq2_Kc62zyTfxcGnL-xlToaiuqzemN9_M8XfYyuf2nx54vPy1F9PB7KhdomfdmX4D4AXy8ZTaP46jTnraWVThEW0v84QZw84T15OIYajN41Mi-imZ3VsFRorTF3uiZTHsckJDZ9jOtSJlZ0GL1Vtw3adCdF2VVUo31T25U0_V-v8mXcjwJYI1NSDFRqEnKJz04k2ETfluJOGgMVWXPJS1jQ==",
  "id": "rs_0a315bbe47e44596016ab43286cad087d0ba11cd1f53ba42da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The dark fruit is centered between the left wrist camera’s jaws at the corrected rearward position. I’ll lower the gripper and close around it.\"}",
  "call_id": "call_tdMFNC2zkQgytqLM4e0dZ2xs",
  "id": "fc_0a315bbe47e44596016ab432873bf887d0bd196ce1e71230f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tdMFNC2zkQgytqLM4e0dZ2xs",
  "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]: [-0.9627, 1.6367, 0.7013, -0.0834, -0.7269, -0.8162, 0.009, 0.0158, 1.0893, 0.9543, -0.7864, 0.0475, -0.244, 0.9965]\nstate[eef_state]: left_x=0.2919 left_y=-0.2075 left_z=0.0419 left_yaw=0.0652 left_pitch=-0.1154 left_roll=0.0219 left_gripper=0.009 right_x=0.2977 right_y=-0.0001 right_z=0.1762 right_yaw=0.1141 right_pitch=-0.368 right_roll=-0.1951 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.5744, 3.7128, 0.779, -0.0708, 0.0073, 0.6422, -0.1983, -3.2615, 6.6803, 1.5409, 0.0415, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20fab808f29c6da046090b77ff23253c053ab3caca04bf2938ec05786a108aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052b02fc88c82aafa5ca6ef35fbfa3feb081b298a6041b07e5415dc588edc0a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7f7e0735053967e009c181a2562cc80ed3b469ddbb8674a2b82c47b0839e72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 3.762 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]: [-0.0746, 0.865, 0.5999, -0.4335, -0.1223, -0.0978, 0.9976, 0.5068, 1.7367, 1.3952, -0.6083, 0.334, 0.1654, 0.2876]\nstate[eef_state]: left_x=0.29 left_y=0.0035 left_z=0.1489 left_yaw=0.076 left_pitch=-0.1182 left_roll=0.0196 left_gripper=0.9976 right_x=0.4219 right_y=0.1721 right_z=0.1543 right_yaw=0.1196 right_pitch=-0.3205 right_roll=-0.1752 right_gripper=0.2876\nstate[joint_eff]: [-0.0068, -1.7709, 7.1453, 1.6777, -0.1148, -0.0269, -0.0122, -0.1983, -7.4735, 7.706, 1.199, 0.0562, 0.0708, -0.0122]",
      "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]: [-0.9611, 1.5089, 0.8062, -0.3599, -0.7002, -0.8139, 0.9976, 0.0162, 1.0866, 0.9546, -0.7734, 0.0532, -0.2268, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=-0.2027 left_z=0.0838 left_yaw=0.0555 left_pitch=-0.158 left_roll=0.0493 left_gripper=0.9976 right_x=0.3001 right_y=-0.0009 right_z=0.1791 right_yaw=0.0991 right_pitch=-0.3507 right_roll=-0.1905 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.4068, 8.0752, 1.1258, -0.6667, -0.1099, -0.0073, -0.1983, -3.6444, 6.2974, 1.5751, -0.0659, -0.0757, 0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.9627, 1.6367, 0.7013, -0.0834, -0.7269, -0.8162, 0.009, 0.0158, 1.0893, 0.9543, -0.7864, 0.0475, -0.244, 0.9965]\nstate[eef_state]: left_x=0.2919 left_y=-0.2075 left_z=0.0419 left_yaw=0.0652 left_pitch=-0.1154 left_roll=0.0219 left_gripper=0.009 right_x=0.2977 right_y=-0.0001 right_z=0.1762 right_yaw=0.1141 right_pitch=-0.368 right_roll=-0.1951 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.5744, 3.7128, 0.779, -0.0708, 0.0073, 0.6422, -0.1983, -3.2615, 6.6803, 1.5409, 0.0415, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20fab808f29c6da046090b77ff23253c053ab3caca04bf2938ec05786a108aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052b02fc88c82aafa5ca6ef35fbfa3feb081b298a6041b07e5415dc588edc0a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7f7e0735053967e009c181a2562cc80ed3b469ddbb8674a2b82c47b0839e72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKNZ0_JuMpKAgO6LvgqqXhdQ2l3Sj5xvNnYtN7s1QTFTTWxDP7J6zUEqamIooXsYUrsdLLgQxIU2Vw55jWDtMsyggoBPOM01A_Zv1NxjJzgQZtQNAO6Ixvgx3NXaA1POgjnpFkZQbCtyrhTlLZ0wbRr0rnLxLWQnYbP3tYQ9YLuKRu4j2QGhwFwrBfRjDeNJh5CsMw31hPWTN0BQ6NEdrTJ0pUTKqNNCz4EvODVCXcI129_JDXhH00jjMfhuSQy_AIeFJiNXVHyPF_ArKUcggXfDN9STlJagT8HLrRaxjgI1KGY13P6gI51yn5QjP4hw-MlprXOGZfnk8-Aks0J6X3gjqm8-YDyplX7ZYTtVF9Dk7MSz7Qnn-W30cql3dF7eaNf9bENs_fKWHFSGoisGy7ipKBLSCtrNB6bS43xZBXwY9y5D3JymVwpzod-esO7UzW1ivFWQeuFX_wn6UTJgG4KpZsKbqtcahKHSaFVbeP-qhO4QlHs8z6LfVtVGpXFiM57ezRdxWguSV6opYEIudA_vId5gY-tG3eUkHLeopdpWka1_bn0lL9kVcUdSNC0MBcvcs4m8xzjuXuctXBpACXsdHsnoQJ08ZZv_MlntH550qZBaCr1ch72MYhpGowo0GADtBHSs5y-UtNAuqgr7XRVcOCN4o6EtW_VVvtxFrFXdG5S1hxDBPkNYYbH6v9po8Ox-AqicN6x4C35e0IUTptRu3rMammChAYrWBf934hytmL5s2taY6R-GcPoQ7a2ATIgFdEV5FswEuMKoTlBgplOYtpW7VpyJe3iVsJE1olysl9pzGUaJajB_T6ehZkx1OSv4oL4QJCsp3kr4ybqi2lJBvSJ3kQpvF-DX7f4dgxHb4iyKKA_zbdj0s1mAaNuBOno6oIsFXOE9K1N7zf9OGQx4LLePCRnoCuuijrZqc5Tp38GnDWGOBpNPeSOUguOCy52p0O4iY2Mjkf80ZVgPT4rGOfEY964cC3ILXQ6dl2J8EmjMm-HNrIzIK4CNg4LWhoQoII-SvyukjNj1SO7ML9pp_Mur1aaOUQj0iwnckJN-8hbKY13DZ-XxJ2eHkADV6V1E8M0QLaIWykMBuGZieP7kRiPZgUHrTvWToOx6KUCZtMgRVRpS2qz0ZmUgSTLvaALUGtJFy6oQT_eXSZHNbOZ5gG4gG-Lujzc0koorIDzPMspdf8E7DndYObwscRLMsDRGFK1BuNx1ti9HP-eREFb57Zx0kJwu96xh4VuUkT8gjRSC1Jn9-xnoA48NmGZRp6StqZK5_eivklJIPog1mTRenao-d-7S2cTOsezVPGFxxlH7PCd5KF2jhV80OItCZSw_3CtHTZNN1HdeusqUBBKFOuLjmJsKPSXIBTpq8Zeln47secJ8dK5Stf-i7NEyM3rojg3bKvisWvCWcurWQcTmO-5IluYKstPVqg7xB-_bqP3dPat1b6QquzcO_H-9Wrl-V6HtRwtpwBe0Mi1Uf8RVXhEnYv0QZqYr4QH1o9MAvrBYGNI3Mdn05pBURXBtVyXKXMEIEfR2jp-0QZ776rcbWjtHPhmyStJvEWWCBrXAtVRmF2QLQ1OkqGLyhSmPPqFApKxj-WiHHuv-2wXky5POj8LfNzsYc046wVB3t5v4ld2KdjXB1cs2UowKTlyQohjwwmWZjZxKXKtdOfpnUmW_6Nuw4n0vlv0VHOyQ3pSM0hxJhyB6JsH7wQJHO693a3_fjikdLWBouCRraDEd4O5vT9aVbLIdpRV3k9ko2iMdiRyf0YqTBkpoqE2_Jn8rClzIJD0Lj9nShmhNN6hKph6-Inj1wJ-tg0HIpTu9BnKfi7HWcPhIdyRcLpXB9wI17qZNL5IIVVBw0P-U0yu0SCjXYW8Nmt8d4lAnsfdv-dqKx98KfLXi-0sKD9BAgx-Rpr8VQCdm5QoeE_8ctFn4aPQmB5fDN7Bn2kcdWyHQm_jC-TPV8RpDk0RadYTT7b_P4KOB079AWZxAX_hxm8MUyrsEP6E_OYRVbXLb0Db_Fz-6Gd1OpR4HjZnGHj8Awb2eBh9sPDRd379NdNYkUrMYcuyMyKEkpCrYy0GnfgphRB6jhOGBhmtko-LZkk8ZI5P94rmLxW0IA1G-nVQ8zsDc5ABiOhCvoYDbYYfVTQFpkql44ISCEVcjYokZoI17jwS_W78Ry2--C8eMkGkEM-5bRaS_70ch11MhqQDZ5MbmAcGUXseiq7hwaNJjHlzcvF6o_I58Hvqx-bqFGCWpgyJz18d9RsQa8B2y-VRlQsDK0y0KlTLkYybexA0rkXEZSZ48PgCNDXHPtvqlcluZgJ_3RVhFmal74VZ-yZaxLnHXlN5uTc_kGDvlYxYPhdxJi_9YHzhCgwAbVDMfVBWRvUQamNWd8zoh3KYTbc1F_95ulZTY3QgGm6n4mQfGuMZtrSFraFEnv8lWYH2gw_wBdK0ifZZJTLBYjsJjxagyQaHRy_npi2cu95I6mZMj2L8t1efgenF",
  "id": "rs_0a315bbe47e44596016ab43289f0d887d0b54f4b08bcde8598",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.26,\"left_y\":-0.175,\"left_z\":0.048},\"note\":\"The jaws closed empty again, and the dark fruit slid below and slightly left of the wrist camera’s fingertip point during descent. I’ll reopen, retreat a few centimeters, and shift left to put the fruit between the jaws at the low height.\"}",
  "call_id": "call_6wzxbBmzIVrAZ0x13hCtuSZR",
  "id": "fc_0a315bbe47e44596016ab4328c56c087d0bad109554f15e1a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6wzxbBmzIVrAZ0x13hCtuSZR",
  "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]: [-0.9905, 1.4712, 0.5659, -0.1356, -0.7258, -0.8501, 0.9946, 0.0158, 1.0897, 0.9543, -0.7872, 0.0479, -0.2447, 0.9965]\nstate[eef_state]: left_x=0.2625 left_y=-0.18 left_z=0.0447 left_yaw=0.0576 left_pitch=-0.1273 left_roll=0.0144 left_gripper=0.9946 right_x=0.2976 right_y=-0.0002 right_z=0.176 right_yaw=0.1142 right_pitch=-0.3693 right_roll=-0.1958 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -6.188, 5.0803, 0.9988, -0.5055, 0.0171, 0.0024, -0.0479, -3.1111, 6.653, 1.37, 0.0024, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7cf90ddd7a84ec8f4aa50c718ea9a9c7e551e1568886c1a380c23c7bb93854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ece369fc125b379fff8b1a1d4c6211feb45d02b4bb513508ba90eca0b93a1485",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c704de6682d0b517bb8037b27925b371ae7eb055b4d3ab026a659e332f2aa09",
      "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 · 7.037 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]: [-0.0742, 0.865, 0.5999, -0.4343, -0.1223, -0.0978, 0.9976, 0.4946, 1.7432, 1.4265, -0.6567, 0.3161, 0.1375, 0.996]\nstate[eef_state]: left_x=0.2899 left_y=0.0037 left_z=0.1488 left_yaw=0.0764 left_pitch=-0.119 left_roll=0.0197 left_gripper=0.9976 right_x=0.421 right_y=0.1687 right_z=0.1562 right_yaw=0.135 right_pitch=-0.3507 right_roll=-0.1881 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.6342, 6.9538, 1.6044, -0.1197, -0.0464, -0.0122, -0.0068, -8.3761, 7.5556, 1.3455, 0.1392, 0.022, -0.1197]",
      "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]: [-0.9627, 1.6367, 0.7013, -0.0834, -0.7269, -0.8162, 0.009, 0.0158, 1.0893, 0.9543, -0.7864, 0.0475, -0.244, 0.9965]\nstate[eef_state]: left_x=0.2919 left_y=-0.2075 left_z=0.0419 left_yaw=0.0652 left_pitch=-0.1154 left_roll=0.0219 left_gripper=0.009 right_x=0.2977 right_y=-0.0001 right_z=0.1762 right_yaw=0.1141 right_pitch=-0.368 right_roll=-0.1951 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.5744, 3.7128, 0.779, -0.0708, 0.0073, 0.6422, -0.1983, -3.2615, 6.6803, 1.5409, 0.0415, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9905, 1.4712, 0.5659, -0.1356, -0.7258, -0.8501, 0.9946, 0.0158, 1.0897, 0.9543, -0.7872, 0.0479, -0.2447, 0.9965]\nstate[eef_state]: left_x=0.2625 left_y=-0.18 left_z=0.0447 left_yaw=0.0576 left_pitch=-0.1273 left_roll=0.0144 left_gripper=0.9946 right_x=0.2976 right_y=-0.0002 right_z=0.176 right_yaw=0.1142 right_pitch=-0.3693 right_roll=-0.1958 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -6.188, 5.0803, 0.9988, -0.5055, 0.0171, 0.0024, -0.0479, -3.1111, 6.653, 1.37, 0.0024, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7cf90ddd7a84ec8f4aa50c718ea9a9c7e551e1568886c1a380c23c7bb93854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ece369fc125b379fff8b1a1d4c6211feb45d02b4bb513508ba90eca0b93a1485",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c704de6682d0b517bb8037b27925b371ae7eb055b4d3ab026a659e332f2aa09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKSjwNg0MDoyh_Fi3YrhOdHalxYQRO0n2Rzhwm4MP5AhjRRtmqtzA8YPC7klUjOs6_JV82ha6Skjph7rCkqgDNQyaIT7KUZL7IRp4kcu-DcTO_pMjwPrfu_kx63Ta70554OA-P6eVkriaJPOQSAYoPCHtAtRNGZ82pfFhs4m9aRMnt8J58fCSpL9KsrMqrmKaBMNYkN57mW1xaQJCGPY-gD4W8pN4itBTw2zbqmv74caAcvoBEUw955iFjPIIznLBR48BlQUhZ9GYb-7oJKfPkBJBfMfiChWYSzer1JWwSFtQxLsluL9CG6Aku54XWixEnSb07uY3v_B0Tf870dO5Q67W9_Grk6GxQgF1mXLdVAzdTziSn2sXFsCQrhGRYmUtKChhIs_eZVz2960XbKDNeKTDxJz8JeRlknXrUbbXxj0uiPH251O8Xnrn8MPeotNuWpM8LJ7MdR95CiQh1pC6rymZKtCaPGdpq1yjY1Sr--pRs1VA3ewzAPy3L7idulamnK1Dpm2LTB4eOXNGyVFerpjW6MF2mktQJcnH56cSb0Z5SvU12dsnQjbM5YwIY8V7XpNFmZ-7EsUybhr9q6d4QSBT-kLLUjq6PuraXtYTnNxdLEYHErncJ-U8AzfbcBXrFzsqYB2QpYR4PIaXnBxOknM0VqxxjKBC9N_ASBvsPZrbWUX0WEnmhU12fOmp0IV1stVSG0PagwqjeB-m7IPFta81p1XZ2LpMfl7bLjalLVDBRaCr5dK7FDILtFrzN_rW9tT9gRVoYy4xkRo1ManKXSPBZgYzQ2Uk93yCnOM5ER2ZPqhmNbPYthXEoR-4UauqRn_C4BiwBFS57zM-jWhTXjgI-37Wr2yYwwjRa195ppwiEzgGbhD75O1HKtpYcUufwZmG9T0Z3y9YKQPd4CXHcpWSpzGV_M6lv9ye9TSH7c3QerQetNswapMNDfdrgRIQmEOVCzWaLfrfHAGvPubIr1-wlBKld0RlH5oBKt9Kelkp3mNIJpgzSAk3u4ZgWA4hljddeVyJAVB2RLYFJ4uuUHdQpBF0TrHmEZr0g2SsmB-iD2m8vxt9PiHDR4aNxyn1Gq1uQ_K7XBeYlI2w1S9NOuvGcOC4TC3OE2wAC7FAT8NXwiISL1rBXXlMVbOqbwUETqTkZ7LQtyOoYTYBf5h1Y2r_UxysLFWkjSKfnliRcJOl49GvRDooID_5NVp9Iu380LvDFvM_wCoRz_Jyngu2e0M-bI5ZCXQ8UKHH3Nv0Aw3DyzQpuZfUSA9JuNMT4NgjhBYc21fUViwovNwHYmjyW-yffPP7esAWQOZG5JEvOi0X2h2ppk1KGYd4tlpZaCPu2JpdUPQuhlWUpoe0DChIoRgl4Pj-vo2QMhX8o0oa5y8cWh2-E2O5m_jfxsOSa-FsVyfnQbIgQRyVDVUjmt2EwDzFTUflJLAqJbPcc7LuqyH9raS6TjpD-79BqlHhssj4zY6usEAcFQC9C9emsv4kZy4I85fk-maYMDatSf_Ri1ZosA8zc_elP33aGqbgUdxGBbmWimMbH6OHEtuPm0nkULjab60B3-akF4y6WUNCeFf8IpyUNwGMhK1ZSlBw_y1f-F-EcCxKLrf7xRorb2QTnFFiTZiPPK5Lc60imTrGlDA_dFLxffoQYDIfhlR61UKyiMbdKIkfXyLZL7mhdtbIBDQdPFRM0CmcKH0Ge0jNr4iCei1er5KUDvWlPXd9x6i6y2Uh3fuwLuEZ-L3Q11TBxfazdatJj6wDOJplP14uG2zbyHhvC3TTNLVFBf-irjqKUM_h8y-BObA9XAuugUU9rgSBhjU1I24vkAgr9lCTMlImTdXJIJh1GwGyBP1qRSKVAiGVhb11MSOM-yi6YujfMp9Hp1XMkUdi9gMoLblTqPlTyQeA88CCrjcy6_nCT1uNEmgwunINF9FGNBCxJcjy-BZ36hNHmEyeafylsbmf3BX01U6YtrmR9dJp2e-tF-135ftT85WDwH8jYgtGUY65itMOKYQJI4woqUlwpej7nJvbpu2VuvRGtK2U8Lildm7fpJxJT7wnznXqxVpttCA0WaQi70kIi5Cst4nXLPY3ki_TddC0-wqcBXGqchT1u6woiYOY9cbx7Zfc2nhoW6a6hXNYH4lSshCeSVJF7_SXWHsucACf7nNngDUJTplWZ5k9GTzxBtV8EPFettR1ProPLtLg==",
  "id": "rs_0a315bbe47e44596016ab4328fc97487d0ad3a110bfc404d31",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.155,\"left_gripper\":0},\"note\":\"At the lower, rearward pose the dark fruit is now between the open left fingers, slightly left of center. I’ll make a small lateral correction and close without descending further.\"}",
  "call_id": "call_SCe0e4v4HJM3TXEeisZdiTZT",
  "id": "fc_0a315bbe47e44596016ab43291810087d0be0bf63a23fccc78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SCe0e4v4HJM3TXEeisZdiTZT",
  "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]: [-0.931, 1.3945, 0.4919, -0.1001, -0.6968, -0.7921, 0.0091, 0.0158, 1.0901, 0.9539, -0.7876, 0.0479, -0.2447, 0.9965]\nstate[eef_state]: left_x=0.2629 left_y=-0.1573 left_z=0.0436 left_yaw=0.0644 left_pitch=-0.1287 left_roll=0.0132 left_gripper=0.0091 right_x=0.2975 right_y=-0.0002 right_z=0.1757 right_yaw=0.1143 right_pitch=-0.3704 right_roll=-0.1957 right_gripper=0.9965\nstate[joint_eff]: [0.5812, -5.559, 5.135, 1.2137, -0.3443, 0.1001, 0.6569, -0.0889, -3.1248, 6.9402, 1.37, 0.0073, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919c5e74b32b3f8dce66333cbecfbe4fa11f09bf57e3639e7afef23be8eefcd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3487dba9e4400333581e33b7790661423966cb785563ceb87296643104d58252",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c662d1b2a1424342a1141d25c8ace502d8c542d9f9ec4c270c72243a35cc12",
      "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 · 3.676 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]: [-0.9611, 1.5089, 0.8062, -0.3599, -0.7002, -0.8139, 0.9976, 0.0162, 1.0866, 0.9546, -0.7734, 0.0532, -0.2268, 0.9965]\nstate[eef_state]: left_x=0.2848 left_y=-0.2027 left_z=0.0838 left_yaw=0.0555 left_pitch=-0.158 left_roll=0.0493 left_gripper=0.9976 right_x=0.3001 right_y=-0.0009 right_z=0.1791 right_yaw=0.0991 right_pitch=-0.3507 right_roll=-0.1905 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.4068, 8.0752, 1.1258, -0.6667, -0.1099, -0.0073, -0.1983, -3.6444, 6.2974, 1.5751, -0.0659, -0.0757, 0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.9905, 1.4712, 0.5659, -0.1356, -0.7258, -0.8501, 0.9946, 0.0158, 1.0897, 0.9543, -0.7872, 0.0479, -0.2447, 0.9965]\nstate[eef_state]: left_x=0.2625 left_y=-0.18 left_z=0.0447 left_yaw=0.0576 left_pitch=-0.1273 left_roll=0.0144 left_gripper=0.9946 right_x=0.2976 right_y=-0.0002 right_z=0.176 right_yaw=0.1142 right_pitch=-0.3693 right_roll=-0.1958 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -6.188, 5.0803, 0.9988, -0.5055, 0.0171, 0.0024, -0.0479, -3.1111, 6.653, 1.37, 0.0024, -0.0611, -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 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]: [-0.931, 1.3945, 0.4919, -0.1001, -0.6968, -0.7921, 0.0091, 0.0158, 1.0901, 0.9539, -0.7876, 0.0479, -0.2447, 0.9965]\nstate[eef_state]: left_x=0.2629 left_y=-0.1573 left_z=0.0436 left_yaw=0.0644 left_pitch=-0.1287 left_roll=0.0132 left_gripper=0.0091 right_x=0.2975 right_y=-0.0002 right_z=0.1757 right_yaw=0.1143 right_pitch=-0.3704 right_roll=-0.1957 right_gripper=0.9965\nstate[joint_eff]: [0.5812, -5.559, 5.135, 1.2137, -0.3443, 0.1001, 0.6569, -0.0889, -3.1248, 6.9402, 1.37, 0.0073, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919c5e74b32b3f8dce66333cbecfbe4fa11f09bf57e3639e7afef23be8eefcd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3487dba9e4400333581e33b7790661423966cb785563ceb87296643104d58252",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c662d1b2a1424342a1141d25c8ace502d8c542d9f9ec4c270c72243a35cc12",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKaZ5R0W0K0gsssZnlxsn2eG_db18-dbV5mDubB5lZ0nHaAqEE7bmPNdubA0Iu2Rc1BmKt67FRwKeRfNiCKdmp0sbqOjdWfdtIQIUd-8XtFd5knvvFfTQd9wSyVUPKfHeLU4slkvQUaDYab9lbm2iLISYSybCTMqA05RGm5X1qTvSa86N7FmrnVBUNfJU0HFXiMoVRE3A-eujVZjrMIoUR0bZM4EQRliHgoWj72gsoGP3W7G4zYqskTy9Hhs2C0kjHvd-gyYFvhqJzY65JZouEcJzPlaPl3XXqX77yyIbsVndzB5bdC98dgF68B-7wt-wCvQvzdFKuN_JzZle_rWf6NMPjVNpbqJ4Gzfp4jNwPH5MwOpMhRAD9h0buP0mHcDcWKCY19Idee3MFIqBEe20tUO1o-PxMsF2Wd89hN6cNyOxC0Y3ekbn9EH9me8ZBqdgvIPOgGXMF4cYMdoFYRSkRIHmcd3TeOPI-jM2PWOBH3eHPY0RyGjB5oI4mfhCEBkPPkB0wK0Plj4Fm7_O3blLiB_a3npkztLHgdwj8cp-BA6pb33UmfvHFi8xd_AgpllpTtRD82cK6MT8Xb14BKMms4yxk27_M3bwWDOUy9aSQMDoQJ02lKK1uHsUHTgNfBczjPxI-WWQh-QE00zi4EdLVyieFbWj0UI5wuXxf9m59DlgwKcd4HfN_rpihthDkLX94HvnTEu26EDVU4711s_m2Z2j2Q6qMzkNJjnLq8HAXDpmnvRSH_RKQffynRvnQkxxqVIBiS7Xlq-aeCMgz3twYOQ6gfSFpqvjc6pxX4rabctKloDzB5v9DZnhcqhOy5TckOoWGDPbXN1gNaFihn565fLwARAP4PzKLJRq6WSV--rx5AE3ccB8wBjkte6H49vQ9PBr0b28v8cZbGjaphzd4CnoQYKfjQE5bv3J8fNzIqNRmCunJi34vYEYnGsPt2TffR56odeNXp_yZyU40lrS33YsRgKrWLNWpKR4usJwBOiz73TieVh394itsuvxFg-x5mAwKBLLX1ENPSXgoXaJFHaaay3kTHpbm1by0U52q1FMOpiA7rOKkv7cyzShICAyVtUwoosrdtNcLe8qRpxpBr8Zjrjam-C0MoTcoo-gY2cUzaLMy4X8cgJ3Yb45mpPtK9cJunC4CrWkIR_IMwPL-N-FcyczMEA318CClD2_r5U8aTj93BvAYAz9G4CZYNnzFBZznfG6cXHK-uRkBf60D54MhDNeMCb4LGA6WY0hiX5GOSHgS3QSMhB6-2F8EFoHJYH-ec_5luLewNu0pmUg1Wgo95O5F1FMdaW19c-kh1ZWTbqEBGYXjgh-NXcRDg9fTmqm7BiMNfcEkYtIYS1jnxjJZKZmLk3WXK4tW7zVRiltVEsGHd_ig5hi4iy7cZ5GSubmq_TzX-ZMiyBiAWrq2FjurEwFETkY1i6RWVncyg7YahBDd0gDxQuV2tpyrtlc05sdKjjLJEJ5VEj_qU0WvEbVcq4zqt5A884glRGJCqKgoQN0xD1rG67TbXQP17Fl3Yp8vRMJMxppVq9VJ6IdmhFfvquJMPkh_i0-xy_JBjs2JXzCm9wMisjJDI3Zgt6kh6eNf2GujMnXoDHMcDweWzg0YK77Hc5eJ86O963vhH8x9vs7LRaXz1syvQAO1zX5gCDf6jxV1ae12R1gtmV2FPo9Txp1owl6tGU9N4fSw7n6HvGB2Ucl2rL32H30y24VOynMC7Z06ObOoAAZepPXvgzCkH9ebuibsR4e9sPQy7bGy4xXPafH6S9nWjjCeNRwSP1beaFdUbFP1KBBxam_o4S_irWuFLRZPUn-Gnao3T9GsttMnS_r9g6P1ynPKcBp3zn3rOrsJkuS5Nw58tEualUfD7AUX8bnXrDF2V8FRDNF5s9Ba_SvR62wWn3yazgWopXpxTjxZpyokn73F6c2cHOJ7X5UHanXG7cS7K1ucAMnVnpfn0FFYiCs4LF84oqKx0Si8M9mVI5La4LSCK5aDZt-SMioAQ890s-zHOOa8pyFeuvGldCV5bIyBoCrkg4foKr4XTZOa1s7d-8pMFbNaYsoMZpR5MbOCMR4RJrxTENDx45rRFxHadSydh4pD-FtUOlSgoVkfvyaM16lXeMXjhzT-1h-EYVltjJ2yvufPnew1f0C6ahHX0MvXp2tTNMcYYH5wnOJVYTpeYo-A9KjOjKOKdPd6sKWfcU1-Mm0sntyjWxPXJqXRV22_Cvsl3B0OkDyM7wQIPm4T0TcQzrMb4y-LOFVkpVjpmEWMWJpLBx2-6HOou9Eu01hCSg1wFji64DWtx2xr5JUFBuRFfru11LxSoJYgrZhkbfKeer4aNo8YaRQujE-ZyvIRCbWGIv8kVgcAxoq0JHBm4nilkp-yLFEY_Ww5TnQ43abC9WCuVLtR1CTY_IBbsY59KYrg1Zo5-5dl59E1q7pkND5m1Et9kzCRl-ix3JHFKge_MnKplhTDJGlPuQ3MTa586k0zwEB3d4lgUn8JJVo8CaU_su1Sk1zNhXo0xC-Rj-6snM_JYrSDaEKh_zCxXy572KDhLNsC9VLUrdmccXScL21xpOEe3lEiaOfSlm1cGHpwzORItkb93ayCAsbqPbeXX_tq5c_kxwd40D1zChyLrr49EIwn5PA5cKDID69BWOOeJIji5EBsa_xWmphtf0FduD6rVqg2qpMGBmtrcZSH8b8_M8lTfsDckeNnp_C0h7anuoy3cYjoqkRMYqh1Md21TECY9idPlud1p5R2WYZESRB9quW5jewpQrHMhCjJRKDMtOS1Cs9y7AblOCoBJLIfw-un_NdSp84dlSaFIyygSI_hUtO7V1bdFw6lOWclZB88phkhzj0fezuNWdpAvF8wY_xrInUHnnPKQ6CHDhqI5pdL5Yy0cv87CvSeKw7bmLWzx5XXKA7eDSXPXcAlQBzijAD6s3fCgH9E0YDtEX5sGUw9P8sz71rOMdNTCADMVkAFAX-gtAyKkU6wToo9PeX3toStK4UdjJc8kTUhTGIc8JdyByZgLr9uXvj5o9hkupuJQEgizcNsQ6YlwOVt7p8wgRL2r-epdshe0bJw6rkHoDl-SnxeTA9hC-wNQBKbSBTUUdPqsasMgdMJCHs-jitDLEyXeSOAam_E80WIJ6OLxpSoFRQgiKSkJkEuCnAvJsuYnFl-1cmnV7Ba5PkqJjrtGSjEZnYLIHWbtIWYtSz4aWhU0e6WujxTDSHSOHfCsK1dfywuuHbrnFxePWjc1wcdBh18IuRXTnUM3DSNHBbokKwXSV44XW1I5a9rYvUMKMp39G9WzABZsD99SyT9MEhqlNlyhJGsov4YRM2eBLwDI2H829tajR2QYa6zfTPjF1vZugFcGj6h2g085AbBgpJjHVT8JPKRb5jBwTWdOzVXeb0EmlFWS-_g_1leAVfLhK0YdEEsXRqy4sJD1d2nO3kj1Y5Ez4OwEEDxCTiqldC6vbpy-dYgYKaVwhsybS4-dulET4KpMMYM5dSVT1umHMLhjdeOENo4Lf1esNc2bPtN3hnQQOO9srstoKmYa1kqcZK9O2VQ0L35ATVgYWcx65I0uM3FxbbDxbnrv0L2KWr-xpNKJT7_qFrcrMfvz-kPl969RNfkfQXwM_hbE3DFBB6rV4fzzRCr6BMoFni0VXRW9YLxDFS5FDg1gVexFrap1p9hHDjikf_0gi5RWhnGtrr70iuOCkne4S7B5VYfIukDDZfR0_byTkUMDoLu9dUboTK98XUGoNagqOWBe8x64ZAgjL_yE40IJfBtQSa77figMZ6e2-nO1Tg==",
  "id": "rs_0a315bbe47e44596016ab43294bfc487d0874530d04d31db60",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKaTMO1-XpQvIJWh_-5rMavyGMq3V2u1dc9RLtywv1nVZyCWWv1eqYG0ZDQz1rkDV5QSf4qwzMjvaWfKneDKa2Onp24NSQ0RkaNax2Kh6dODOopvI7uttmaghB2fPoSuoTDI_GHMxd3-Y3cwS5_EpOR8uok5m9eGO2Gf3cDW5dKRbirwPinDKOywASq9_1LkDrUEikrrsvp1dEkF-s0ySXq9zYjO62pezPBupzUVeHdN_x2bi-vHPNK36jvPZCResH4sgTPxr8KyJA5WawWaLZ9EMB9B2_V-bikxn_eD6Nori4rmcchZllAHyCHAfMM0vQqDZVCflPu18EGoJ1nkU3d2jjnqbSTj0HJ6fTG2fMnD1YXRwIZ22nSCZwGJItXGJBZMfw5DdZHRo3u0Z_ou_QMImTDFxdWTtMvJwJSuIiPpB5hhL7UbRPqh-KB8UJMy2ZnihOJppgi7pp4eceEqWVQqmOz2FQlD7RAPKBnxSrkMdEKTjMpUbrj9-i-jjJ49cdhajYUYDKTUjcQEeijIdy563-aS5kHmxdusCCdqfHvj69RWcsrlkEw64WlJ8zV6zvLLvA2ztMS0m6MvuRD88Yxs3yMG4J0McyytiixYci22sKzqtGNUmUaHZCDcUdVqHT8y4t3FcGEP8cfdOe3sOo5DJYzk-VtNjYPjZerfUqV8velMCrVPqtMgD88U0i5UdknqpZeAc5BwHZK_hGehFUhZch3FQeCfIBoGdGpr0HUZgRnT143d1d6KrLYySdTolzNqFH5kRL9R7BsuHFaUnGiwfNZApWc9U0SUTvM8sJOEUsoGtAbCCzb1DhAlLSCsvSKT2Tn1iqRYJeFHZKRdjO9HfLzIeKqAZx5Ug40isZwPGmcGkNAKOBV1_lw2cgVhMkkbYg6UswAohwUAkyb5jASBbgRW03_lIQcL9OT_7ofZ-WnpNi-Oy_z3Z2fMBzCLIlhXkqMX3vRu3CTLcD8P3AvBqpzlWhHv4WMM-Sa5iyhEk_leDKPw_sOHRwXHBhmVeWfm8DHRCT925OAiMC4CwuMoGXYwhoVv8jYaO399x4bWgnBJpX_r4CxNLOaV-WMM175bfpkazzCJnU4IefGySiEfATrFQzavEEvISFdReN2d2yTfPxrnp-2bsjcKpLX-TJk1yvJdwhdoI3MICnuCQ26RN2sOULn7z5EGNL8dOXVjpw=",
  "id": "rs_0a315bbe47e44596016ab43299332887d0be30463e3b2c3b8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.25,\"right_y\":0.27,\"right_z\":0.055},\"note\":\"The dark-fruit attempt is still empty, so I’ll clear the left arm rather than keep closing on an uncertain target. The yellow fruit remains plainly visible beside the blue bowl; I’ll approach it more rearward with the open right gripper.\"}",
  "call_id": "call_SQJ9eONITEetpcOWUfiziKvn",
  "id": "fc_0a315bbe47e44596016ab432994a0c87d0872ec0cabc6c8fbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SQJ9eONITEetpcOWUfiziKvn",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0978, 0.9039, 0.704, -0.543, -0.1585, -0.1493, 0.9974, 1.0683, 1.7226, 1.0195, -0.5812, 0.5541, 0.6971, 0.9966]\nstate[eef_state]: left_x=0.2906 left_y=0.0031 left_z=0.1643 left_yaw=0.1126 left_pitch=-0.1572 left_roll=0.012 left_gripper=0.9974 right_x=0.2458 right_y=0.2617 right_z=0.0492 right_yaw=0.1377 right_pitch=-0.4078 right_roll=-0.2237 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -2.0308, 9.4701, 1.5604, 0.1099, 0.2027, -0.1148, 0.2803, -7.9248, 7.1726, 0.6813, 0.5348, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634e09b37d568ae8368528f7365e78b9a4308d1da00f7bd8d8321855f4f82d3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7eaa2fe75b554376086f27e00793330708d0d159adf2b8a8e9bdf0d66c5fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3d597bb1837e2798e8d97274bb782944c1968d003bf0f9c4df7f63adacd146",
      "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 · 3.268 s

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

message 95 changed as sent

message 103 changed as sent

message 108 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]: [-0.9627, 1.6367, 0.7013, -0.0834, -0.7269, -0.8162, 0.009, 0.0158, 1.0893, 0.9543, -0.7864, 0.0475, -0.244, 0.9965]\nstate[eef_state]: left_x=0.2919 left_y=-0.2075 left_z=0.0419 left_yaw=0.0652 left_pitch=-0.1154 left_roll=0.0219 left_gripper=0.009 right_x=0.2977 right_y=-0.0001 right_z=0.1762 right_yaw=0.1141 right_pitch=-0.368 right_roll=-0.1951 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.5744, 3.7128, 0.779, -0.0708, 0.0073, 0.6422, -0.1983, -3.2615, 6.6803, 1.5409, 0.0415, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.931, 1.3945, 0.4919, -0.1001, -0.6968, -0.7921, 0.0091, 0.0158, 1.0901, 0.9539, -0.7876, 0.0479, -0.2447, 0.9965]\nstate[eef_state]: left_x=0.2629 left_y=-0.1573 left_z=0.0436 left_yaw=0.0644 left_pitch=-0.1287 left_roll=0.0132 left_gripper=0.0091 right_x=0.2975 right_y=-0.0002 right_z=0.1757 right_yaw=0.1143 right_pitch=-0.3704 right_roll=-0.1957 right_gripper=0.9965\nstate[joint_eff]: [0.5812, -5.559, 5.135, 1.2137, -0.3443, 0.1001, 0.6569, -0.0889, -3.1248, 6.9402, 1.37, 0.0073, -0.0611, -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 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0978, 0.9039, 0.704, -0.543, -0.1585, -0.1493, 0.9974, 1.0683, 1.7226, 1.0195, -0.5812, 0.5541, 0.6971, 0.9966]\nstate[eef_state]: left_x=0.2906 left_y=0.0031 left_z=0.1643 left_yaw=0.1126 left_pitch=-0.1572 left_roll=0.012 left_gripper=0.9974 right_x=0.2458 right_y=0.2617 right_z=0.0492 right_yaw=0.1377 right_pitch=-0.4078 right_roll=-0.2237 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -2.0308, 9.4701, 1.5604, 0.1099, 0.2027, -0.1148, 0.2803, -7.9248, 7.1726, 0.6813, 0.5348, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634e09b37d568ae8368528f7365e78b9a4308d1da00f7bd8d8321855f4f82d3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7eaa2fe75b554376086f27e00793330708d0d159adf2b8a8e9bdf0d66c5fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3d597bb1837e2798e8d97274bb782944c1968d003bf0f9c4df7f63adacd146",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKgSJmM26KmBinhn5hrEF95BKlxYZGjrMEzfmLFGQHATVSUJhVydL2Y2rFNhA1Hazg7dA3uFyaragpIBgX-k2jXJdgtFeGHw4BBQUgo5q9EQqgcLQjpcnXMGncG0wZFP9gLrhUcOMR4go5YM-m_uCj2ktwfZ0ar0EaiJQ35PFPX5hCnVrfjRPPdCHwmFMcAAJawkX85w9rlhl1LL3yjbGXngHod_HmpxLY8oQwuEj8j2wDnulOaY75shjDRLGdTFfqUBLYTz20FCkvx-k1w_zuqOWzK45tJCHLn-dZsZpOD1CNL8i3t4y-JAOhq6F4xnMGodgUsJPT85iunxrVd0E4eYz5qsSt50Exejd4vb1PyiyoNePTaQTLTIpwUG3Ak4y5AOOb33-CDbn3533QZl1avbXmWaEm2Srv0FKuj25tew5CsPERyfpf7fjpqER4ZzhZZt9uKnGjzBjDKE2Ji4N625ay4elFScphKBQoxfkhUhh6hg7PLGAwQf4pmSLiwigQ4xwSRmBxdIfNzQG7fWbGcatFMrlZyYt4qR5tu5q7cKV9P6QhnBlJ5f61f1iEJG4ymb12f1wrBYpNcdiBkDXzgO3bzrXIMsvRcvoGE7qndMW3RtTIhQ9SshakiIOQkd0Ll2sh0EKZ3zsfKaLauvJQ1oywHY6no87TTtVOnZduBfDCLjj5pXqsRBefQaKYslGeGCWtqnUxgKJEimRi935tbRGyFwiCbIHgo6qmn69Dhm9JtXT_bYkBz5qqj3QStWiCObeHctXeiftPFNefeyibR0tMwyx9OU6jfX25ic33_uNrRYEGx3gEMvTQ398tSYiuDgCCZWtuFeJD8hZ4YxMi6c36myZZ79THvSMVPdVrC02Qw9kZOuMN8GzO-CamNCncWl_VFw1sIaH6i2ncLJtPpsXB1E30pBbelqGt-4_o1oUbw8BIzPqK1ydsFYXqBZan21B3n6ld0tdkTqAobmIgRckWFNh6T-cDUvrzCU6wGfowjW1h2_3wpQE9jpc6Hqg79TEfgg-d8_az9ucCspYu3E27zbytypzW27z_byAmveQPQyA8ewHG5ELbofGy88x9UW2_OFgdhDXPuMN1IJZHlzhuqnzaaMhudG143mn5LK-00XlETFJkopC38xR-FXS7w1f2rX6bmh656_91MSbz5UhLttsSqR9LNWOBZzRzb_9fDxKFoPUTy3UUUzeioFuXuzWslgdLpGeqF2_UOXrK31_as4CspUcPPpqE80sQyfKWVgim6x7nC1dGdFykPlwv9eDcst2YSDaYlHNNvGEUPhoIvsUEYAsId-xNMy_Jucu72mnnOCPLz0LAdIjxJbk4P_H15kSPOfmTViUlT2RP2-QewCSZ_SsKN-iDgHWH2647iG-OBqdIrB-P2IXII42fj2NRT9dNHJmDRjG4Cha1Jk-0MoL5ofxP-iIL_p-0rldsHQCsITgA4mRcrf3gxpXNGni_ts1CQDobKWH1KjF3oCqCl4YdnN8_21fmxVG4TQa5ar7hTg8oQDQFQgEkj2QCYA1bVGY9XUbcnaWSUVpsLXoINK-SdWcQUI6oJBbIZ6O4AV0NTvK5EAUseOY21XVs8rvwgv_XQNwR99c-lr-UYXN8L4zOLw5KdoEngkPGAVvUKFuzey0V4jHIAODNywRnFfHsayMJhvaHDdODUYHRqIcVzX6jhgMyk34oUW8Jc4WE=",
  "id": "rs_0a315bbe47e44596016ab4329dd0d087d09db19718079409cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_gripper\":0},\"note\":\"The yellow fruit is now centered on the right jaw column and fully visible just ahead of the fingertips. I’ll advance about 2 cm into it and close at this low grasp height.\"}",
  "call_id": "call_00TLvZjGdE0xRwaK6ZUi4cvS",
  "id": "fc_0a315bbe47e44596016ab4329fb94487d080edaedb3caf75f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_00TLvZjGdE0xRwaK6ZUi4cvS",
  "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]: [-0.0948, 0.9039, 0.7124, -0.5549, -0.1486, -0.1497, 0.9976, 1.0195, 1.7412, 1.0275, -0.5716, 0.5312, 0.6384, 0.0091]\nstate[eef_state]: left_x=0.29 left_y=0.0023 left_z=0.1657 left_yaw=0.1076 left_pitch=-0.162 left_roll=0.0058 left_gripper=0.9976 right_x=0.2574 right_y=0.2547 right_z=0.0439 right_yaw=0.1346 right_pitch=-0.4333 right_roll=-0.2456 right_gripper=0.0091\nstate[joint_eff]: [-0.4034, -1.8667, 6.2564, 1.6874, -0.1734, -0.0269, -0.0024, -0.4991, -7.241, 7.3915, 0.9988, 0.3687, -0.0024, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5822635db1a99c55962491256d1dbc0b0a911731d8fe188ac69ca3cb89a68cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d708f93f5490e7b1c386b67e2c14bea05c16b4ba1749f951eb86399a82b6b5c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f2d7360f4b0b03958996b09f8ac48883122200189f5ac83c9f7133b56606be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.168 s

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

message 99 changed as sent

message 108 changed as sent

message 112 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]: [-0.9905, 1.4712, 0.5659, -0.1356, -0.7258, -0.8501, 0.9946, 0.0158, 1.0897, 0.9543, -0.7872, 0.0479, -0.2447, 0.9965]\nstate[eef_state]: left_x=0.2625 left_y=-0.18 left_z=0.0447 left_yaw=0.0576 left_pitch=-0.1273 left_roll=0.0144 left_gripper=0.9946 right_x=0.2976 right_y=-0.0002 right_z=0.176 right_yaw=0.1142 right_pitch=-0.3693 right_roll=-0.1958 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -6.188, 5.0803, 0.9988, -0.5055, 0.0171, 0.0024, -0.0479, -3.1111, 6.653, 1.37, 0.0024, -0.0611, -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 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0978, 0.9039, 0.704, -0.543, -0.1585, -0.1493, 0.9974, 1.0683, 1.7226, 1.0195, -0.5812, 0.5541, 0.6971, 0.9966]\nstate[eef_state]: left_x=0.2906 left_y=0.0031 left_z=0.1643 left_yaw=0.1126 left_pitch=-0.1572 left_roll=0.012 left_gripper=0.9974 right_x=0.2458 right_y=0.2617 right_z=0.0492 right_yaw=0.1377 right_pitch=-0.4078 right_roll=-0.2237 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -2.0308, 9.4701, 1.5604, 0.1099, 0.2027, -0.1148, 0.2803, -7.9248, 7.1726, 0.6813, 0.5348, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0948, 0.9039, 0.7124, -0.5549, -0.1486, -0.1497, 0.9976, 1.0195, 1.7412, 1.0275, -0.5716, 0.5312, 0.6384, 0.0091]\nstate[eef_state]: left_x=0.29 left_y=0.0023 left_z=0.1657 left_yaw=0.1076 left_pitch=-0.162 left_roll=0.0058 left_gripper=0.9976 right_x=0.2574 right_y=0.2547 right_z=0.0439 right_yaw=0.1346 right_pitch=-0.4333 right_roll=-0.2456 right_gripper=0.0091\nstate[joint_eff]: [-0.4034, -1.8667, 6.2564, 1.6874, -0.1734, -0.0269, -0.0024, -0.4991, -7.241, 7.3915, 0.9988, 0.3687, -0.0024, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5822635db1a99c55962491256d1dbc0b0a911731d8fe188ac69ca3cb89a68cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d708f93f5490e7b1c386b67e2c14bea05c16b4ba1749f951eb86399a82b6b5c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f2d7360f4b0b03958996b09f8ac48883122200189f5ac83c9f7133b56606be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKk8cejWjYTEW1XL0r9_0tFk8KWewToiYFk6p7inGM7aeN4CHP_UHjgYP5TPft_cBaTy59R6gOh2H9HHRNI9mXU3IqIzAFjK8T71YHcbWPZ-_Z0UAxM5GHc-H2Y9zTekRqlChh3juZkUxGfe1awsI488LUGfLHDxRZMXGsL_LqS4oFBmXH7IRrC9kFLuGyn4SLKemohdxc7nEoo-KtZUGI-NVpWQbEc_KbDw9FqyXIaR0P1jKSM0t5beuSYEEGE3tE7-gP0CtQMP25N2e0OTnkLaFgcHjIXBGuzPZBYuhio9c-MxqBxPwR0Waqn1efAnk8NsqXhcYFuepm7O-vvfUe4xcUw1aKdu4w1V6YfqyowFAswuWuQHQVve5mf8_B_ueCDcqENrOUHHdF7OupYD90L_vQzAWtGA92Em_TVoe4UVCK9-ovzui2qOoT0RzDhA_6d3sIHdETDgzNo0oHxj5IOHflA0T_3QF4j4houmaxk8Mt9CUhDnbp6X6BOKhQkZtRaJuuRi1KyiNnXtNAJC-rDzamioHx6IMI7tEqmebCQcGTP_MYr0i25JzkQ3XBayA3oqTtXox8jF2S_gbZu1oQGzQZwlZvaNMnkiwLejsQ1zHnNU_rtItQmKQHaQDoRlDcE88ip7fWfZGoscRWXp9DatkV9idluEz-BCTYwC6u4-9xQxBYgmlzFryEfehDa4LpNezOfJ8Y0CO-6th77UXSnWWxmZAGoQwqiwKo2XeLYnX8aiENGWvmgaNJ4FvQOuMXHI11t48yMeht8UzBC7cpVEqbc5S2YIW84BCQ8yY4mJf00GVADd6CuNfBMoZe47vk0rIFF4dbMJxFVbIQqLRyAiGZw9rBW6DoiuMrD4pAYVY6Y5Du5z5dEhyoJz_LhNec4qVkum2CivOB9k50xpaLBlkk9mzjtOnm1JVrKk7kZngw0Ei0NZBRYxeqpS_uETmJu8E-I7qmhn3XW7jUt-gqyKajOdARrSdPRufL1rmj0uTqnOCo6X-QdlWtytTNIkrJT-8O3J5YkpUIrGeYPbRkeHE-7u8-PrSKnU2noTNncL3Oo_D5OSUlSzrn9EXc1wBv3dUU8INie4xwOM3TIk3zWCi7TQxGI-4QJ0mlEGbWh2Zf-b77KEnmjj2X2IoAhGCW62dEPSpopI67f3W0wmYlINVUmoMS-SBd8EgXF9ANWeWrUA4qfGPUfpRyw92oMAgDCUrqsRa4d6O87BFzfjNPLq6Cii4h7mXZkCMv7tUrtU_FA-pGWFjO-8kfnouUVpZbGKy4uoL4YjYqwBUi6M1hbQHclP_2v1mFo5fqHU7AUA71jXPxvPQ6Vvu2x1V3di47jv-3vhTslWwUR6JDb-6rJl5xRCMj0SXpWAdApkrft0_c0VnnxnUA5u3s-MQC-y6MPzCBxUTa2InAN3vJKeUS1VZxNKFRmQ80EPmFRg2M2L7X7oSmBkFj37yOUR1MRRE94fNPIyKMqrn2TB46pWMJjz3EJlZAqbTqzLm2okeidT8kqxL-aNn2pqp4w3Nr-yZB_o3fe5AkOVFAB2vVTCHybuJ_o0ObV3VpBjvGzpYFF40BSaRndzW9LuVGwA-fw47k_Ee5F0Z-pZUORLZk_agyp5mxaTt_mc9HFh925Q_Ks94aEqva1C0sYBLOhVh2RwYvmKZ9JwTqldQkD59XDb6IpdaXrNtaRV3tTD1smZfp_z1UJ3uW999DQvYHvas-xjnybewzP3zArd5gm115E9htLSbOT9sIo8vEWkazZwx_OU9Ys8WVGe9QqTcp54pcGIT7E_Br1cCpxuReYvET7eryrgiSqn__1maAyZx5_eg7hWE-C9MlQqMpaSsoiKSVkcEW7dQhU_swJDet7l6w7owffU5UF8hTfGdlXljnx5qCpIc2VNcjrn8Q6YIFrYEuKi42fO-hc85iSKa8TF23oyPiCJV_d9B1Q4dKYhg7YdXmtVVSbLPhAvy8iYJMaojxivBfodKPrNEL6c8cNgVCW2aX1BF1nDCHcduexAb5U0PFdGACaCjWCvjSP7XDE7kzHdK5WL84DLXGI7csrZlJfsSuAlx0OoR0LCc_MMIc3kZN5kc4=",
  "id": "rs_0a315bbe47e44596016ab432a25ba087d0b5c0c59ba9b74251",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.245,\"right_y\":0.225},\"note\":\"The yellow fruit is still on the table, just to the camera-right of the closed jaw, so that close was empty. I’ll reopen and shift the right gripper laterally toward the fruit while backing off slightly.\"}",
  "call_id": "call_rE7euen5MIvb26smhKht5af4",
  "id": "fc_0a315bbe47e44596016ab432a3bb6887d08c486a98a7ab552d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rE7euen5MIvb26smhKht5af4",
  "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]: [-0.094, 0.9039, 0.712, -0.5579, -0.1486, -0.1501, 0.9976, 1.0046, 1.6466, 0.9039, -0.5537, 0.5194, 0.6163, 0.9954]\nstate[eef_state]: left_x=0.2894 left_y=0.0026 left_z=0.1649 left_yaw=0.1087 left_pitch=-0.1653 left_roll=0.0062 left_gripper=0.9976 right_x=0.2434 right_y=0.2262 right_z=0.0388 right_yaw=0.1352 right_pitch=-0.4522 right_roll=-0.2602 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.7299, 6.9128, 1.6435, -0.1294, -0.0366, -0.0122, -0.5128, -8.2393, 5.2855, 0.8327, 0.2808, 0.0366, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db247c6c2c1be13a096471296fc834afff0e5af25b6a4413e47f59c1cfe0010",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1841ba46e5dff8ecc764b8a49896bb06d1336aacf1caf3d9583e2cce5fa5cc45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060718b82f84411bf19c91a71790e7a70717c52ce032274e82d8285f0361abcd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 5.197 s

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

message 103 changed as sent

message 112 changed as sent

message 116 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]: [-0.931, 1.3945, 0.4919, -0.1001, -0.6968, -0.7921, 0.0091, 0.0158, 1.0901, 0.9539, -0.7876, 0.0479, -0.2447, 0.9965]\nstate[eef_state]: left_x=0.2629 left_y=-0.1573 left_z=0.0436 left_yaw=0.0644 left_pitch=-0.1287 left_roll=0.0132 left_gripper=0.0091 right_x=0.2975 right_y=-0.0002 right_z=0.1757 right_yaw=0.1143 right_pitch=-0.3704 right_roll=-0.1957 right_gripper=0.9965\nstate[joint_eff]: [0.5812, -5.559, 5.135, 1.2137, -0.3443, 0.1001, 0.6569, -0.0889, -3.1248, 6.9402, 1.37, 0.0073, -0.0611, -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 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0948, 0.9039, 0.7124, -0.5549, -0.1486, -0.1497, 0.9976, 1.0195, 1.7412, 1.0275, -0.5716, 0.5312, 0.6384, 0.0091]\nstate[eef_state]: left_x=0.29 left_y=0.0023 left_z=0.1657 left_yaw=0.1076 left_pitch=-0.162 left_roll=0.0058 left_gripper=0.9976 right_x=0.2574 right_y=0.2547 right_z=0.0439 right_yaw=0.1346 right_pitch=-0.4333 right_roll=-0.2456 right_gripper=0.0091\nstate[joint_eff]: [-0.4034, -1.8667, 6.2564, 1.6874, -0.1734, -0.0269, -0.0024, -0.4991, -7.241, 7.3915, 0.9988, 0.3687, -0.0024, 0.7448]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9039, 0.712, -0.5579, -0.1486, -0.1501, 0.9976, 1.0046, 1.6466, 0.9039, -0.5537, 0.5194, 0.6163, 0.9954]\nstate[eef_state]: left_x=0.2894 left_y=0.0026 left_z=0.1649 left_yaw=0.1087 left_pitch=-0.1653 left_roll=0.0062 left_gripper=0.9976 right_x=0.2434 right_y=0.2262 right_z=0.0388 right_yaw=0.1352 right_pitch=-0.4522 right_roll=-0.2602 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.7299, 6.9128, 1.6435, -0.1294, -0.0366, -0.0122, -0.5128, -8.2393, 5.2855, 0.8327, 0.2808, 0.0366, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db247c6c2c1be13a096471296fc834afff0e5af25b6a4413e47f59c1cfe0010",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1841ba46e5dff8ecc764b8a49896bb06d1336aacf1caf3d9583e2cce5fa5cc45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060718b82f84411bf19c91a71790e7a70717c52ce032274e82d8285f0361abcd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKoXS-XsQibmOc0HOL8V_ZCzxky7AlqLnrErMZM0Wg06upsgAaYgnl9-v4Lp-0490wiaI1C2zSfWugMZv7CwyhnNiAMWPuIKLi0DJDutnp6rJ3MyMOpiIoGiO4ezxllwSgVXFB7todiDjKRzZh-RMiT-gjLeigJAd1qC0vH-zlrOYU0eaDWKk9lL0ALKtVIdhAYWqYCUPOtw3LaKpoFbrb41uP3rX7Qfi5bMD648nq1paTb7ZcnsMnjZ8QFktYTnafavMB96yax_BodAA9_MHJWDUib7e33En5n8I7FBkT_8rfCRQt9WJB7g7j6NCHevsvTV3v1wPCmXR4OmhBI2Vwqty-kRt7ijUaqMDDATJOroPzz6S4klo1PTAYIzAPKqQXaHAKO5hjfAmZw0N4fHdLEBRQuQ0ZiwL6pysVJigDW8VcEbeZDFcTFtTya09uvo7PNnWKLGzupbxCYbJNNcTjbBAioUQt_lqAadnu6SJaXv9S0n1Rq3FILDG_2XBWxNCeAOGWCqqcXYBU81ODaq5b788wChFcPC-2TXWwklYznBN-3IHP2aXjcuNwvqfFI6RvKK8J_hDcksKW4xduJ3JhwWBujjQ1LB_OxEakDhspBKsAw8KctJDVfCe1dYgJydcs4djX_qH-8QX4qExUfoQezsOVvzub6PtHNUgFHlh3Z8xPEeCLUHPH6nSImCuLev7r_JfCuDi8EM9-4U0uL_W-O09B0Vz4A5J5GFWQBfvc66lp_s5szPLf0R6HFOag51pyE8xxcRXl-MOba-hFppl7OFEVnIwHQEVxQX6Wn9W-C9sBrI4VeQBSoAu85KRejoC9oTMStzg-q9yIedD8T9G3vQI1MnyZ0-CH4_FOJPdImZBHmdC8F8r4-9gUSGyxKnxFOf3qabzgVYpNVSPyY-jwc8-ttab6Qsi7Us6EkNSd1YKay8exF7LCjI-VrruNsxr70JqBT-eT6hB4LA7qE0su94uUKqI_yHHEo_IUCTui_9vIJh6Q_WjEjz-MRhdbKTvYj8vaPdOVAnYaUNLyYvt9WejLV_50yg7YlSvqn69adqdTypHru0e1iyFcp6JOdKl5MsmRJ4VDtrWnPFC5eOMhsctoCbs8tB2PHRLyeIAINVCtiiHT7R80gWkAN7r0LZ9A3CyGlYFxIL7G2TWISa677OLIq_4tpgecQtu8kdIBQcX8z6qbr7KxvJLkDnmEoP_SJHe7_ysXDBWKpwh4bUGh0tbOWE0o1op4hMGUaxAAv8TaQRxjSJyioBOGhLJVD_y4pSMRAx5gXX0bV99o2VrB0tB8hiMgRdxwT6L5nt4_6-S31GHPBJGQsR1Wgj9D2sUOhSYYJJGtQTv5Y4QdE8GG9hWA3n18b6n9RXeTDIxOAAY6GCYTvRnkrqF4Q9KrRnXU6Xcy_y3UynJTvgqEJALmJvyZH2yaD87S6qTsQ64VO1Qne-K3UCagwH8bB9kDOhLIxLv3M3XK3-URqs3Nn3jK6jQPeu2ftwKnkNyyAoHvkNNAFn4tz0sZxb93JoG8YHIYPrd3zRLMc5BNOwFq_8Zz--VxYSFAMMMVQL6A05fYRNmsnSwBOxKnVPSvT15backXfkJw5m-ugXLtViPHCNIDz7-G6ifXdfpFcvIKZYlN9CkaeQtcJcq8zvUAenB7-iA3QQgLz4Djb-eIGu642c-yXN288lqxNugwyP4gUVd3ZlcZxNqG5xEbWtoFRhy40d4qEVbK2ucrRQ3hEttp1nFg4nD_nGEsJ0BJQ232MfCC2Uo4=",
  "id": "rs_0a315bbe47e44596016ab432a6aeac87d0b2f62ee86e9e94b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_gripper\":0},\"note\":\"The yellow fruit is now between the open jaws, but it still has clear space beneath it in the wrist view, indicating the fingertips are short of it. I’ll advance about 3 cm radially and close.\"}",
  "call_id": "call_1EhVOVJWaXPRdLWD5S8qfHxa",
  "id": "fc_0a315bbe47e44596016ab432a7ca6087d0a05e8672b512f8a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1EhVOVJWaXPRdLWD5S8qfHxa",
  "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]: [-0.094, 0.9066, 0.712, -0.5625, -0.1482, -0.1505, 0.9976, 0.9234, 1.6814, 0.9459, -0.5163, 0.4984, 0.5251, 0.0094]\nstate[eef_state]: left_x=0.2888 left_y=0.0026 left_z=0.1634 left_yaw=0.1089 left_pitch=-0.1725 left_roll=0.0071 left_gripper=0.9976 right_x=0.2705 right_y=0.2237 right_z=0.0408 right_yaw=0.1352 right_pitch=-0.4497 right_roll=-0.2624 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -1.8667, 7.0769, 1.5751, -0.0855, -0.0757, -0.0122, -0.6496, -5.3265, 7.2, 0.8474, 0.2369, -0.0024, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:761c6fd3476bdf73eb8f346f832ccd85fd229858a98d83b2a3534de6f419069c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edafcb38d5066b327e30f47c91ac52e2aaf09c27264cc8e08097f378b0be5df8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3302fe0ad7ceffc16585813e927081cf9ba916a0acfc5f99f16fa0028ac94e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.294 s

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

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0978, 0.9039, 0.704, -0.543, -0.1585, -0.1493, 0.9974, 1.0683, 1.7226, 1.0195, -0.5812, 0.5541, 0.6971, 0.9966]\nstate[eef_state]: left_x=0.2906 left_y=0.0031 left_z=0.1643 left_yaw=0.1126 left_pitch=-0.1572 left_roll=0.012 left_gripper=0.9974 right_x=0.2458 right_y=0.2617 right_z=0.0492 right_yaw=0.1377 right_pitch=-0.4078 right_roll=-0.2237 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -2.0308, 9.4701, 1.5604, 0.1099, 0.2027, -0.1148, 0.2803, -7.9248, 7.1726, 0.6813, 0.5348, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9039, 0.712, -0.5579, -0.1486, -0.1501, 0.9976, 1.0046, 1.6466, 0.9039, -0.5537, 0.5194, 0.6163, 0.9954]\nstate[eef_state]: left_x=0.2894 left_y=0.0026 left_z=0.1649 left_yaw=0.1087 left_pitch=-0.1653 left_roll=0.0062 left_gripper=0.9976 right_x=0.2434 right_y=0.2262 right_z=0.0388 right_yaw=0.1352 right_pitch=-0.4522 right_roll=-0.2602 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.7299, 6.9128, 1.6435, -0.1294, -0.0366, -0.0122, -0.5128, -8.2393, 5.2855, 0.8327, 0.2808, 0.0366, 0.022]\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 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9066, 0.712, -0.5625, -0.1482, -0.1505, 0.9976, 0.9234, 1.6814, 0.9459, -0.5163, 0.4984, 0.5251, 0.0094]\nstate[eef_state]: left_x=0.2888 left_y=0.0026 left_z=0.1634 left_yaw=0.1089 left_pitch=-0.1725 left_roll=0.0071 left_gripper=0.9976 right_x=0.2705 right_y=0.2237 right_z=0.0408 right_yaw=0.1352 right_pitch=-0.4497 right_roll=-0.2624 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -1.8667, 7.0769, 1.5751, -0.0855, -0.0757, -0.0122, -0.6496, -5.3265, 7.2, 0.8474, 0.2369, -0.0024, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:761c6fd3476bdf73eb8f346f832ccd85fd229858a98d83b2a3534de6f419069c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edafcb38d5066b327e30f47c91ac52e2aaf09c27264cc8e08097f378b0be5df8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3302fe0ad7ceffc16585813e927081cf9ba916a0acfc5f99f16fa0028ac94e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKuNnwkK86xOVUxVMjl8OceWBVjNQltvZgTs4Bz39mXjGHecJQJiV4AAi4_cZCIUU4CYkcXTHr-FNPRojs28IUX48v5alTrgDdjbZyA_3wMxdJxJFr4RVdSQTti3RFMS-QBvwe80ZVO4HBQ1orL4bPFcMaEgl15HrBGtPV1XlKdz0MfSiWciQ7YVK43o3hjZWvwXbyvBYGyo5z7g1GXj-W-Tru3PCzZ1-paXFQXQPcGRiQyYgI4gZzh8tYPJ9ote1mGkeo-ZhYPSk-RT6wj8Hdkn7TLO1g_6HIjiDJ8ugh4Bllh3dxqbYwT0tTCOwEfXSOP96mc3TrnW7veXpZpBNQY42x697sEHX0fEG2iiLNwdxiozoBFf88MZT88gNRD26bBRw1ukUradXVKcUjGf4ikEJSMiFGUg6enRZxQF5sNRrmEQapsJCNF4oN5EekR8_sG1xUYzvGUBDWAHqp_STrjUkt5t0G29Mc7SEdo1wFTl4_HPuXQ7jM1X8Bq99aAvAiWeju5ebA9a3ceY61E8o7ylCbO9u9s1r-COwGEzq2yPPxuq0VZci8QZHXJQNjK0LmmwubXM99lzzcFF4xEopaMaZ3llqRLiX5mzE6Mf_Dite-Wdjk3Fb724NJ99VO25zTxnSne06si8_Jft1J-6MoQIxGNLiBFA3mU02xnH1XB2rgq_pDAhJ76InoUMfi99_87V-p_dc7lnNCoz9yrWgFI5omBrYdaBekk2q3cHk7dBGUh2xD1ehqwSkv0c9Z84rZG43fgY1ukOJn0jDdEGPK3EM1QNmhLcWUKhTeIYAg_c9eUfTpvuDY0s1Q4vnhagbXhTaEfUKqUl2XWGmacKUrScD2gJtQIDfiB4IpklCK-qhrhWgGjoFj0VHqBoSB3d4uejbxvuM2D4mnBYU-NUldqbjWFzeF45xdpAqabMr57XDJo4Xq7szgPalqt9oGWb83R3TxExGUISUIxCK1dX9Zb-uBW95AKO45qcDrv4Sl8XwVFsKIVLO2c2rlcpqRfqSNDE1xYw8kxORYpZ5eBiRumhHDW6yYJsLihPM7KEFcvKF3WVwXzUqtyV0bEGI9K090a9VqJW0HDs5SEd-58IOzx_SWEuDB9rZaewUvKhU1QUqEfRfJY5qTpyO1IVoMwIqGNnqw1m3Yuy9j2WBfK52yMU6_RE-1mBZ9LjcjQXLoC5hY25wtIL3srPBu4Okgkg01DY0CQAbxwEX5yicCUzYQXTMu9S6OoNqiGm3xwscLz5nQheOTE5jrpkVxAWLzDlOgddafz9P4x4yDP5RxTUD_4yJlTdDZ3n2tBVjcHt42a2L7SIFMSPA80QvM2WUX_RrnBN-fKf_RGNH2SeL2KFAeESxLgMZdsCORASHOVpYoMX9i47J3XKUrECmxyU17HS1ua9h-DRUjTn61s2HJ2p6aMwVdtcalb6pa6To-CXn7WWbiE2bJfWHVIPufK1dn6vpXupOI79yQXM5xuzku62W0oI-SjkJgwtpoalA90kme7gsf-j1JuQ3JgkM_sq01bFFuvtUrkVmlKBy7MmwB-UC6eDaeQzX9RTkuEsZxVbn1-R8ml1sxTWcTCt466IJ0TTrVgR6wQc8RUXldno_zKw8vLd5WMmAr3ZaciVVFy1tFsZwYToYA6H83WY5XvnhJZEvCV3hQX8hLuT5ItCjcoQCD-6N0G3M9EPGuWuDFv7pea7mh1mvvJVaww-wtr7n4UJZxRfLBseHjBgaRYtHmDHZCoNZypEu1lO5oWBOreIFhS5PLoHjH40hgIbnfC9P-VAqHDVSEeriZfaRkVrCuOKzR6NP9e2ijoO0ROyRwGcG3D7EpKpxFKo4KPYnMUL_glu6t4Is4OGH8IKO8f5HLaWk7yZjcjrscoRtqZXuHe2P6aHPsRnrttzOHBuJlES87-pqsxWXWbPRWhzYKqCoj19spvRsBISyNsyAk8k5HOGNwn01xMsYa-V3vzT_hNMqMbvgYijQfqDH6MgzKEgX9pTY4-BtcGbZSdiwnA1DH4w9h5pO1LBDPok2oUbb-05scKlac5l5vf-8mN4CrPBRRvh0MKA159BjNPfZoH-23TTLJu2XAkL67shZxmM7ZlgG0DafXv_jHpejTuM1DqMlq245wGuBZmZuo4mVKNtF_VQi8ODF3Ed2uHWC-QQAfLE9Ua6PUBFy1dFaWaLd57JBZRA3VtHcjWJAaXU2uuJLxsXyZhdkYEnIeKu9-BteKX2RVT1Kkl9Gf30B3ysqZpL2sHN6kIHljomaCi3c9ED8eTpTe6Vr9NhyvQzYcC0VZWVLWm25l0rlyxAkZlmUrPO89ylPBSIKCOrIfXJ-Ibdqvd8UJ6Sck1URtm2d-ytYrSxZeqYwSucY-PgOxJCkFomyQuaGuk3jZzev1PfgTtH82zEeKl0HCctVBZjZFfXDe_ncdhcyT9JvVXQHQCLndW0-4ZgjhWsdoFIY56lRNpIrDuY_0zFGxGdKz0OBJ2tllrW2O9md8sAELYDLuYpFSj7_ogG5C7F0X5Qi6u1x1gfh86yNnCcpkmGlH-Y1C4fFPPyN94Nh6b9In78_mfsn_mwelcAmnGB9ZcgnrLmdb4H0YK2oq7vWefnEwBL2CzaqjXP5odu4awz5gkkgYgnsPK_leFd96le-tzbVyfa4pZgT1phNlFPvxWIRJHg2qFvHK-hsdrCmGiGcTxArhH6_bAsIWcafDDs_qT3h5f8oyEjSevUYhx8eL_VOPtEz68zL6Guq_FuI3vLY87o5tBLQep9Lows6-CWRe0Ek7ANiEGN_5YdhMVK5SW27e--qVk2deoWGRhPLGCMwap1nzsnAGiuaFLqLTOJq8W7JAEyN08S3kLM9q9V7shhZzQZ3X8ptPo8zMidrMuBD8cvfemVjibN1RUsVy7oALsk8eACc69zsYpgHf2QONNY1wvcvTBy6nJ8k9YcdgX6zcKneWicpdgMTqw2NDf37gAbMWoxybiGDgJgdoT2jU1N4RpiK7mmc1V3PGHeN3UYqexqjAWW5oN9SL2p9yyITNaWRa1DIUEjVUENnXB6Ur7cm2agcyg3roFhOj8E2Zb6V2a7eualOjx0Z7eM05WzZgZ6NiTHlbT-hGoy6hR75HIN3BTQ9x_IGVgao57GXq2_778y96ld97hbczzYa3lS-JzR7Qla3wDV1pZMJKdh-atbI_OS5XoKX8Xf6eXNdQh6H5uZjfLQLLpFMqWWa_fhp11b9ProMnG2C66Ko2-UGXucAiO0azFO0b08-PChVEBh48D99J2ekqIJVnv9g0yF2-s5vvmGVY5YGnBtLT4p90=",
  "id": "rs_0a315bbe47e44596016ab432aa985c87d088774b914992b041",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.255,\"right_y\":0.225,\"right_z\":-0.005},\"note\":\"The right fingertip appears to be riding over the yellow fruit; the jaws still closed empty at a 4 cm height. I’ll reopen and lower the grasp point nearly to the tabletop while shifting back slightly so the jaws can surround the fruit.\"}",
  "call_id": "call_kDwARBfewyaHf0nu0Nru39qS",
  "id": "fc_0a315bbe47e44596016ab432adcf6487d0bee2c3b2b04f0f7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kDwARBfewyaHf0nu0Nru39qS",
  "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]: [-0.094, 0.9066, 0.712, -0.5648, -0.1482, -0.1501, 0.9976, 0.9668, 1.7458, 0.8497, -0.3458, 0.5331, 0.5571, 0.9957]\nstate[eef_state]: left_x=0.2884 left_y=0.0026 left_z=0.163 left_yaw=0.1087 left_pitch=-0.1747 left_roll=0.0079 left_gripper=0.9976 right_x=0.2626 right_y=0.2289 right_z=0.008 right_yaw=0.1421 right_pitch=-0.4145 right_roll=-0.2603 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.8803, 6.8718, 1.663, -0.0855, -0.0122, -0.0122, 0.0342, -6.6256, 4.7248, 0.8523, 0.1685, -0.0855, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26d77d902c089fbc85514a1418bfb1c3418df824a5dce70250c437e0189a2cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3bce8dddf5ce645b56353cacd103c1142aab77030179266484b72a3718fde9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f552dbeb1a4726cb8a1ca9d3ade105d61bf41dd21cc97d6ee4d33ea9ced6a8e",
      "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 · 1.827 s

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

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0948, 0.9039, 0.7124, -0.5549, -0.1486, -0.1497, 0.9976, 1.0195, 1.7412, 1.0275, -0.5716, 0.5312, 0.6384, 0.0091]\nstate[eef_state]: left_x=0.29 left_y=0.0023 left_z=0.1657 left_yaw=0.1076 left_pitch=-0.162 left_roll=0.0058 left_gripper=0.9976 right_x=0.2574 right_y=0.2547 right_z=0.0439 right_yaw=0.1346 right_pitch=-0.4333 right_roll=-0.2456 right_gripper=0.0091\nstate[joint_eff]: [-0.4034, -1.8667, 6.2564, 1.6874, -0.1734, -0.0269, -0.0024, -0.4991, -7.241, 7.3915, 0.9988, 0.3687, -0.0024, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9066, 0.712, -0.5625, -0.1482, -0.1505, 0.9976, 0.9234, 1.6814, 0.9459, -0.5163, 0.4984, 0.5251, 0.0094]\nstate[eef_state]: left_x=0.2888 left_y=0.0026 left_z=0.1634 left_yaw=0.1089 left_pitch=-0.1725 left_roll=0.0071 left_gripper=0.9976 right_x=0.2705 right_y=0.2237 right_z=0.0408 right_yaw=0.1352 right_pitch=-0.4497 right_roll=-0.2624 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -1.8667, 7.0769, 1.5751, -0.0855, -0.0757, -0.0122, -0.6496, -5.3265, 7.2, 0.8474, 0.2369, -0.0024, 0.7204]\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 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9066, 0.712, -0.5648, -0.1482, -0.1501, 0.9976, 0.9668, 1.7458, 0.8497, -0.3458, 0.5331, 0.5571, 0.9957]\nstate[eef_state]: left_x=0.2884 left_y=0.0026 left_z=0.163 left_yaw=0.1087 left_pitch=-0.1747 left_roll=0.0079 left_gripper=0.9976 right_x=0.2626 right_y=0.2289 right_z=0.008 right_yaw=0.1421 right_pitch=-0.4145 right_roll=-0.2603 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.8803, 6.8718, 1.663, -0.0855, -0.0122, -0.0122, 0.0342, -6.6256, 4.7248, 0.8523, 0.1685, -0.0855, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26d77d902c089fbc85514a1418bfb1c3418df824a5dce70250c437e0189a2cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3bce8dddf5ce645b56353cacd103c1142aab77030179266484b72a3718fde9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f552dbeb1a4726cb8a1ca9d3ade105d61bf41dd21cc97d6ee4d33ea9ced6a8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDKz01EgAawfum5cQ7gpOvyA-YS-Eyr0qsoZV9CkqqeWDzLTyoGfzQD5KITPxc-KxixAvWxwn4mRhYki1HYPYHVRzJCUenWH0IWUFJVINaC_wHVu66IRos3wiDZkc37C8PbFGKAfWJIGZzacaTXpmBNl-sOsen_-s_4eNAglHBMYEqWybVmxUV2ujj2jzi5OZ94c4_4uc2Fz1Q-S9deB9bS7cLfQCSNt-y59ZtWSM-1OAL3_rKJqQCYXHYAhxmBgHX_CHWIFQTVGJbgMPuqgcUdkB_exG2GaFDuy6-8EflpbmrAZe3FeoqMeaDrc9lRL_3NtYdaUPZOFYTND37ccN_p3z7sasS78oYFzSpM2ri9EsdKyaFpF-3Z8Vqhxk6jsXkhYyq_Te1J15_HQ9bbVl1ARYVR_1CZIxB47GY3TgEObtw15R5Fml4Thmp6Lh0WXwJ-f6ekLkki45dlCwEv0U5X5qAphhEsBbuHvNhwdADiKROIg0tVMh7tpDp5Sjoe0F9Os2x9vKFWa-oomxXPH3fbqR9Pprc1oLpyeatWbhcCVw3-bTC6eofgY9oQk65QfmhDxqRZrv7__rxxegKAnMEQMhVb-TZGtBUOWOQh3EepbchK7FwM6mkQCKGYDX8KpHpHdEkVy7uHro0RlbnnoAZduNbscReVMXLHXE_4DzwvUOkDvTj2K2U3mM_oY7BfwrmTxlFOZXZrZbMTfS1MzXUlhz_11g2s3QnQU0ryUFgt-Iq0vwtwGYmLuFD1I8SqTFbqa5_C5aoxhBdkBBUu6Sb1VNiq38N3oWH_-Nc_hOGQVP6ttI2dDNojrgYJP5ykaHngL_qwcNuTUtKRwGU-us2lOa_kIcGS7fWtbmNJZzE5j2WW6HaXYgV3kPqlgzgZpQhOPM7owFUj_2dhHDsgpurV89hMZLij99TEjchukVvyEuuwIbAwBxEfS3OWPUCxUXX0BD8egajd6IE5M7W_IjAyK92xGLHmKzK6fOOx3MY5I5OhG-bhtfKDd8CQaaUZ5uvjUa9Jy8qVBGg-GjfqwodYVzIHiXn6w8VIOzB799mssioP3lke0LgDWTHZMGcrco-cNVDvk9UmnP0wmCudeIIKF9q4x6OTL2GujuAqDZjczHVPtSmefExtwp9uKm_IFK9-Z_v0ECY-GAhtAn0teXgDRO8V9fNegBRsHf8eliPpLLTHTaKChf1_eWT6DaRwIDy3D-PnRY2keU6EL676Jf1HfLdX9xhJfRhDe87ZcXMasByXQFxYf0rHFYwR8gIObkJ1aTxElZg_zcvL6ohH1FO9DtliGg-5FsIqUUp04UpoQ997IV6FwNZ6WOAw5x1AohQ4bg9sxXSr7fLeyoRwCGXxNdqIa8xNFVpwfOGgeUnZduWdREJ7-dZZWPAcDAHMR-4Wi_jnnxxLhxrBplk6YGpms5UqS2rxHJpk6tf-BIIy0QvXN4Qsmq79DWD01k5Yup6krLPqPC2CpxHYOOAzdtd7OHn_ELA7KErnhigjcZPuEp3G3VhblWUk0VXaQIyEokCHVmotHzdFKV32NiVMGkNBpvd2FBbAIi6JcQ64Q_0o0YX-mZXdXDj4iTmvQeOBlsLLwCsqHSPdI7YbN64SxAIwZQNVxaVfeH2SRE36_pL3tqMUO0FryltZGK9NOKIQr6W7gojs0A8t95U8BKGZQjvXklsQaGyLEUAL3WKtddpJF7e7UCpYaQsvsY9BvKx-mpIYRRSiMrfez3hCVZl4-WtobG1DPHvPFJm5DzceIelbYLbSJKwH2F4ey54nc6NbTRfpZL4VBVkj3oixJmXjzBqNm4I63z8fR-1Bb_sNLrQhi158NBPokZNl2pgcD_XhQbhkW",
  "id": "rs_0a315bbe47e44596016ab432b0db1087d097be9cd7fc239060",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.185,\"right_z\":0.007},\"note\":\"Lowering the jaws moved the yellow fruit up against the near side of the blue bowl; it is now ahead and to the right of the fingertip point. I’ll place the open jaws around its new position before closing.\"}",
  "call_id": "call_rgR5tq5tMqbj0oXBMRcfPB9q",
  "id": "fc_0a315bbe47e44596016ab432b2427487d0a04143084f9a8e9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rgR5tq5tMqbj0oXBMRcfPB9q",
  "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]: [-0.094, 0.907, 0.712, -0.5652, -0.1482, -0.1501, 0.9976, 0.7834, 1.71, 0.7925, -0.2363, 0.4744, 0.4126, 0.9965]\nstate[eef_state]: left_x=0.2883 left_y=0.0026 left_z=0.1628 left_yaw=0.1088 left_pitch=-0.1755 left_roll=0.008 left_gripper=0.9976 right_x=0.299 right_y=0.1889 right_z=0.0078 right_yaw=0.106 right_pitch=-0.407 right_roll=-0.2401 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.7026, 6.8855, 1.5409, -0.105, -0.0708, -0.0122, 0.0205, -7.7744, 4.3419, 0.8278, 0.232, -0.1245, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf11e06b45c01c0f05e51603a94b5c6d8a7507295054647522c6166f737eea56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c896d5b15d9c37484ccc3d886ede41008e2c84b1fa54e3dbc310cfda0e4e96d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0a0086ce8d676c692820de49bef776bbab0b6ae7734f9448a7e2dbb12786b4c",
      "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 · 4.642 s

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

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9039, 0.712, -0.5579, -0.1486, -0.1501, 0.9976, 1.0046, 1.6466, 0.9039, -0.5537, 0.5194, 0.6163, 0.9954]\nstate[eef_state]: left_x=0.2894 left_y=0.0026 left_z=0.1649 left_yaw=0.1087 left_pitch=-0.1653 left_roll=0.0062 left_gripper=0.9976 right_x=0.2434 right_y=0.2262 right_z=0.0388 right_yaw=0.1352 right_pitch=-0.4522 right_roll=-0.2602 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.7299, 6.9128, 1.6435, -0.1294, -0.0366, -0.0122, -0.5128, -8.2393, 5.2855, 0.8327, 0.2808, 0.0366, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9066, 0.712, -0.5648, -0.1482, -0.1501, 0.9976, 0.9668, 1.7458, 0.8497, -0.3458, 0.5331, 0.5571, 0.9957]\nstate[eef_state]: left_x=0.2884 left_y=0.0026 left_z=0.163 left_yaw=0.1087 left_pitch=-0.1747 left_roll=0.0079 left_gripper=0.9976 right_x=0.2626 right_y=0.2289 right_z=0.008 right_yaw=0.1421 right_pitch=-0.4145 right_roll=-0.2603 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.8803, 6.8718, 1.663, -0.0855, -0.0122, -0.0122, 0.0342, -6.6256, 4.7248, 0.8523, 0.1685, -0.0855, -0.0806]\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 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.907, 0.712, -0.5652, -0.1482, -0.1501, 0.9976, 0.7834, 1.71, 0.7925, -0.2363, 0.4744, 0.4126, 0.9965]\nstate[eef_state]: left_x=0.2883 left_y=0.0026 left_z=0.1628 left_yaw=0.1088 left_pitch=-0.1755 left_roll=0.008 left_gripper=0.9976 right_x=0.299 right_y=0.1889 right_z=0.0078 right_yaw=0.106 right_pitch=-0.407 right_roll=-0.2401 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.7026, 6.8855, 1.5409, -0.105, -0.0708, -0.0122, 0.0205, -7.7744, 4.3419, 0.8278, 0.232, -0.1245, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf11e06b45c01c0f05e51603a94b5c6d8a7507295054647522c6166f737eea56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c896d5b15d9c37484ccc3d886ede41008e2c84b1fa54e3dbc310cfda0e4e96d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0a0086ce8d676c692820de49bef776bbab0b6ae7734f9448a7e2dbb12786b4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDK1Vy2CGB-Iz59HClmKYIhjZzzhWVx_bdjOKbN10rqt3rpl3-vtHRURMMUCRymA_tipAYR1pM4IJnJsBpctcAul9Sts1uwGaI9lqKmfRhNhYHFyvOgu9l-FEpFCFw3mIaXBZUGRbgXbpSv1gUjHOSoYFmTK_JK_gLpWhiD0jQGhXMBAScDBXAxod4RJV2ZcWQpsGtDrTI5M1jo69NLgEoVR8qTz-Y0QyvPKK6OGF-xakJIfWWNxZkA-t_DGR9DeyWD9o3lx6w-FdjhtXTLbErZRit008y119daYB84eVgDUbhu2-Ao8TazcTwIFuKCr3rmvBq-0dJF_hMHSi3M7xhkPV53tr-RqWdt3ZcEgu726qHNTlfikAPqwNY0YzsN_EYqjnyeuAM7vBKct9dP6HVlaCWkshoERYZ7nfvigTYMyDKMwJCBq3I-BTNHY7Xs2VV-0xfaA04GuEm0_UBJf193Hchj8LQTImtACbKKY4nxpfO-RSYrEzVd9d4WcNOYG_KxrDFmP5rnr4V1-eQgWWePieVL6Rc0br662aUQ2eqAzpelJiVFyxcNO0hn4r5gUZe25okR2mZEje7D6utaldHvcwXfFE2cnk6fFofnji0m9nIiE1fLXUUS-_cH6OqqKrcEUkEAToC5IRoeUD94thCH5A90Vmqx_ny872Xp52SVhfurFhHmOJRFiGyHF604VuGs4DVGmdGG91DMfnI55IBPW3Q5TS_Nc5GlAnLgSX0hWT5SmpMoYg9MGXDXRjymKTt7LikdpggN1N3aCvYNOJOx61jX9vwVYZnwgj-11vd6JqLihaNX08Odbm6X0s7PDQ9Z2n8e0LNu7sOuHAn4xK2vALDvxRIvn0yiZAAOzMd-N-MuuatYfYhFiaLgcpCmpCXN0uQVtLCgmSXbYx2A7V_NUa8BY5ZCXbe3D_jKdzp-blfgjazs-j2E3tfSYeQdoU1hhF9MjDVSruOMWzsD6djKI6Yh25_ZVqb9f7EUJKQ4_dHKY0AS6roDHYeGZajj_DvQBhAeP6QiIiJj2yXS3AEIKvEFOKE-nx8msyoUOfB5ueCPP8jNKWUyMqKutXU-0I_FeDW4DSapfP-MtT8_-xDc6R-8KU6_ldGqhWhrrrmnnAcuh3K_0tECAHNn4R0fKv4YAh2Vwhqt6cth_3VD1oIeV-idKv6-url-fly7-K4lacYzKT1ZFGRHtaEXX3DdYLdAocfhawVyMb7QODtaDLZoE9kcviNq4_iHHIxLtl8MEZ4s=",
  "id": "rs_0a315bbe47e44596016ab432b4380c87d090b7af387aea5416",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now centered between the low right jaws, with the blue bowl directly beyond it. I’ll close the jaws to secure the fruit rather than push it farther along the table.\"}",
  "call_id": "call_UIVzYMAWRjY6j3Jh4fZ23i9O",
  "id": "fc_0a315bbe47e44596016ab432b46f5087d091c072b572cc4e0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UIVzYMAWRjY6j3Jh4fZ23i9O",
  "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]: [-0.094, 0.907, 0.712, -0.5652, -0.1482, -0.1501, 0.9976, 0.7834, 1.7092, 0.7895, -0.2367, 0.4664, 0.4034, 0.0093]\nstate[eef_state]: left_x=0.2883 left_y=0.0026 left_z=0.1628 left_yaw=0.1088 left_pitch=-0.1755 left_roll=0.008 left_gripper=0.9976 right_x=0.2975 right_y=0.1892 right_z=0.0065 right_yaw=0.1162 right_pitch=-0.4149 right_roll=-0.2412 right_gripper=0.0093\nstate[joint_eff]: [-0.1573, -1.6752, 7.1179, 1.5263, -0.1294, -0.0366, -0.0122, -0.1026, -7.1726, 5.4632, 1.0085, 0.3443, 0.0806, 0.779]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df02d049ce122114f419340a038ca979432d3a7faa855d636f8dc7952004ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1189fd66b912ee4841c375f8ee77a7d87d7d5fd9493cd8934646f27876acfb28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c658ea6768876b19f87acc47360e7b14d8b6ac8f1652817c9d54b9410505db9",
      "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 · 2.809 s

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

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9066, 0.712, -0.5625, -0.1482, -0.1505, 0.9976, 0.9234, 1.6814, 0.9459, -0.5163, 0.4984, 0.5251, 0.0094]\nstate[eef_state]: left_x=0.2888 left_y=0.0026 left_z=0.1634 left_yaw=0.1089 left_pitch=-0.1725 left_roll=0.0071 left_gripper=0.9976 right_x=0.2705 right_y=0.2237 right_z=0.0408 right_yaw=0.1352 right_pitch=-0.4497 right_roll=-0.2624 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -1.8667, 7.0769, 1.5751, -0.0855, -0.0757, -0.0122, -0.6496, -5.3265, 7.2, 0.8474, 0.2369, -0.0024, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.907, 0.712, -0.5652, -0.1482, -0.1501, 0.9976, 0.7834, 1.71, 0.7925, -0.2363, 0.4744, 0.4126, 0.9965]\nstate[eef_state]: left_x=0.2883 left_y=0.0026 left_z=0.1628 left_yaw=0.1088 left_pitch=-0.1755 left_roll=0.008 left_gripper=0.9976 right_x=0.299 right_y=0.1889 right_z=0.0078 right_yaw=0.106 right_pitch=-0.407 right_roll=-0.2401 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.7026, 6.8855, 1.5409, -0.105, -0.0708, -0.0122, 0.0205, -7.7744, 4.3419, 0.8278, 0.232, -0.1245, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.907, 0.712, -0.5652, -0.1482, -0.1501, 0.9976, 0.7834, 1.7092, 0.7895, -0.2367, 0.4664, 0.4034, 0.0093]\nstate[eef_state]: left_x=0.2883 left_y=0.0026 left_z=0.1628 left_yaw=0.1088 left_pitch=-0.1755 left_roll=0.008 left_gripper=0.9976 right_x=0.2975 right_y=0.1892 right_z=0.0065 right_yaw=0.1162 right_pitch=-0.4149 right_roll=-0.2412 right_gripper=0.0093\nstate[joint_eff]: [-0.1573, -1.6752, 7.1179, 1.5263, -0.1294, -0.0366, -0.0122, -0.1026, -7.1726, 5.4632, 1.0085, 0.3443, 0.0806, 0.779]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df02d049ce122114f419340a038ca979432d3a7faa855d636f8dc7952004ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1189fd66b912ee4841c375f8ee77a7d87d7d5fd9493cd8934646f27876acfb28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c658ea6768876b19f87acc47360e7b14d8b6ac8f1652817c9d54b9410505db9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDK65rkvEo0UyPtGCauDf78BdbKhEzw12bbERfPiT20q2bAY-POLmKYJi1Gpa5VI6yLNiUZFMgzkxhAv3GtUHzJbWOH3wAn0ID-wYsxxVGijLIQd_Da2SFgJUO2gALT7VDAXjJjO46BYubhK8EX9EzuboqAdFMOY_lBKSBBwlfT_7JX97Jo5H2233hYFN8Qt4VZuPzLIw4otY6-udCzO1D49NQ8iNbf2tKmBgBiS5sXrBAX6Kj2tYN490jhWMaNwQqjOpY_WUkm_pn-IO2svWb6L1pNCzabZoycA035B0DeIjW67c-V_0zMkr-dNLFfTrmYLrWQaK1brV2AyFGGuRQSnTObW-ScYi01Wg5eVnysAa-NW09i3QQxd6-GDG7WQhenO9fFrX4ZO9WS7WOYfMOuoYsAdFcMz_unrca30BiFBKD88Oa3UiXhuMu2RFhh_egSVjzlGzzBd_B1MFDq3kzcqDEIu65kIPXkoNmceDllrkEvEvMLOLvTgTnjk43H2mT7sfuONJysldIUujgW75PIx4V7vFcrgyH3vpTZFUQNM1kXs2mwCFzz6cOlCjA0cYQYNH3NYZ73AXpGpP7l0f7aGPo_rmhVbvUs6G3QuXAYPWd1oyl2pReoYgFG22dJTwYSictR8co1xtE90BTFXa4e2XSqsJCNA-2DNUPlPc-GyNMJRe_xJFl7Gct_Z8lqYV1HzkMFr8dUokhb8T0n6OQmj0FTz9r86qyxeU5Z-6ZY9R0fjBR588IW_2cDPKBur3BTzQHUzFzamcRJEn9YgSdnrpGT1ObHeC2iVsM9I_p_zezp8NKuZCMULCwAKmEKwh6d5ql56MGFanKEUF1wmtv6hFfzqxUU1myJ4UeNUnFhJ4aqJguXVA0Fgj7Zf_Ng-eFMHgG5rwk8qmRv27r_nCN0T-PabB3hf93hez1Z71ZUeHR-mRahp9oa5AYahaNbpgYYU-OeUOn5ey9SoVoBhxmQ2zbbFefKTLE-ReKpe-QPBKYryi-7jt64o2ep6FotWpa0VZ2-CgHWg7q_-AFirBrSt2BJ0J4tmYtj7ym4oCMF363I63ueF5SNk9_-z54fCCPGe-ajFcaVFvHxvkcj1JMRV8OYWRYTD4-XxUXr6DQLZooKxlXgWSn9PnDnRIoVUHP4lQcT1jsveDHjkmM8EW3H8njt6Igkw_AW-RGikV8_bJleQ2BS1dTvsTPZOPRNqpft2IiIHQQw2XuSZae66za8O5hFkczareyYnKla72VxcsoWVNVdw1yYV4s-l218ykNDkd7V6q5cv-4Oj4o6ZUhThinKpTMoYHY0ISFEFCmvyLRo1BGa94nJxpyXyfVKm0CyWDza4VOMtwZhJHmfiflZtMMSUsjr0-khrWmv1DkX5p1-tpgT4D4UwNWQL5dBZp0sMP8DZ10ty2ZA8STkf-ukqemHnwzszFA9IXBGtFbri6Fzo1N3l2WGMEA7N0TxGkgx9kBByPdNvXk1ZY-w8Qjsin443GP-KajMo0gn5YgwYS8WtmofGQRD5hIlmcTLNPc3D98-XkQTGCRktZLrA6vXGwS6XUmZl7MFlbs3U8LF5DlmT2T8lfXQuA2nXIAaeMdAxyWC6tx8Tmmn5Rx2neqYRijIAEVvQnlGCqXXpmHC6IuhGdFzFP4_AdvhTQKaAnFA5RSye4lqDVOOYG9nQ16nGK-JmUQk6bZK_h9QSiP6KEeI-P02gXTQDyX-bL2JUDtkypvpqCzuFlfHh3uEexuZ7_OlQ846aj-duPTmB3hGdygu8iLyXOkd811HwH9E56lUeUfEK2n-MXnIEsp4OQ153dgkPUhfuGIpLm_kKdCwZq2T3ByU6pgtH4DKWZ9Zz-frLw0lIeZXbA30XostrSrAUCA4a-utjYCI94W2XRo-cYrHJdDoBUUDbDVWbdGrEuDj6MXLFouOc0ltvbIpvmtxZ3u8r93tSgW3WFLSzjNjbdHXI_aQLA_bjCA7h2Fc4SUtha6gJEesf3fo2wWNCVN8P6NO_DBh8AoEJruLjlLS_6qAjmSWL2PzFM64D4NvF9HPI_aTNqeDZLh6iaQAQnY7QpSEgPFiPqY4fKwlpjCDNNFLpA0JeCybBtvTbTgPvbX1sIeqzTpIWN1NqjI7A1fUmaat28UT8gB2QXn7Popm6uVEz6yQZlsxlfbBn8Fgihgj4YNN6AxvnuJFBFpsbPnnKMg-HwZnp9dbEoQ-FUx59x7kvU1bTSdg_vrU3Qv_mfe5jh_5VE3tAXEZLvL_guBP8aWg7caQ72yBkjBA-NmfnVkb__scRfSSFLDKblZrBFZQx8DgWDq2yxK421wEPOt_A-xEiGpzkKFmkLVLsc3mBwGFnpsoLfjDi1_NqKHvpEVu02Ir2EWi1p8dZ5y7CVbSP0EZtPJW_ZF_6qcoQb9noZshppveMn0AJIIuVZKG4EsLbkixQo0mfBLmff1qWA7iiXfQx8JzE8LtynYKhMYLOkICMQ6P8gLunQl-g89EjD1U8CW-R5mQxxsDZPIUv_pi7M8xpxeOsU1nWEaMrLpbiUUJx7SvfcwSNPdh6y8lXzgUlmVFlOFzW-c6JcdWCczEgK8sW6qG_wzOAFPDwroppX1NNp21ACEzFrgmUFOucgmafApAQFbTHcF9Yq85vUCvaUF22Fsa7NmF2C-5vjiK2D1l5mRHbJq0tmVzmiuWwX9KEueecjHqrMccrm7XJrfEw9QexyrNO2AzDj7Y63Vtc8bzX749JD-uBArR8hLGYy-r0vJXi58tB7mUNUHH1mPf2G86xe3eXdJFvnsurdiqammT5vbl01GU9Cv1fJxus3be592nL5Q8f-1vhdabQyuUwNYgwLjz_Qy7yJ6VdeDaLrIIozkECrcrPSvIWBrOcGWxS",
  "id": "rs_0a315bbe47e44596016ab432b7287887d09f7d0e42a2368e02",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.35,\"right_z\":0.03},\"note\":\"The yellow fruit is larger than it first appeared, and the closed fingertips only touched its near edge rather than surrounding it. I’ll open, advance into its middle, and raise slightly so the fingers flank its body.\"}",
  "call_id": "call_7DEPP4Mo9U1RgIN3YiRzEuYn",
  "id": "fc_0a315bbe47e44596016ab432b9f97087d082c097b8218972ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7DEPP4Mo9U1RgIN3YiRzEuYn",
  "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]: [-0.094, 0.9096, 0.712, -0.5732, -0.1486, -0.1501, 0.9976, 0.6739, 1.7668, 0.9512, -0.3153, 0.4126, 0.2939, 0.9957]\nstate[eef_state]: left_x=0.2871 left_y=0.0028 left_z=0.1607 left_yaw=0.1095 left_pitch=-0.1859 left_roll=0.0105 left_gripper=0.9976 right_x=0.3403 right_y=0.1857 right_z=0.024 right_yaw=0.1166 right_pitch=-0.4366 right_roll=-0.2475 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.9897, 7.0222, 1.619, -0.1294, -0.0562, -0.0122, -0.4034, -6.8034, 8.1299, 1.0818, 0.1587, -0.105, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f13512d5cb33973392bdb075b10f27c9bfe3908f1192be864c546b3f409884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9c8d38e3d64ee7b18dc8329e7b17f89e6a1bdf33f4bd76487bfda8e7b46418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15654084baf02846c029d99de9d489cb2fa0d30c320edc0f2501fd63e13fdd3b",
      "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 · 2.552 s

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

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9066, 0.712, -0.5648, -0.1482, -0.1501, 0.9976, 0.9668, 1.7458, 0.8497, -0.3458, 0.5331, 0.5571, 0.9957]\nstate[eef_state]: left_x=0.2884 left_y=0.0026 left_z=0.163 left_yaw=0.1087 left_pitch=-0.1747 left_roll=0.0079 left_gripper=0.9976 right_x=0.2626 right_y=0.2289 right_z=0.008 right_yaw=0.1421 right_pitch=-0.4145 right_roll=-0.2603 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.8803, 6.8718, 1.663, -0.0855, -0.0122, -0.0122, 0.0342, -6.6256, 4.7248, 0.8523, 0.1685, -0.0855, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.907, 0.712, -0.5652, -0.1482, -0.1501, 0.9976, 0.7834, 1.7092, 0.7895, -0.2367, 0.4664, 0.4034, 0.0093]\nstate[eef_state]: left_x=0.2883 left_y=0.0026 left_z=0.1628 left_yaw=0.1088 left_pitch=-0.1755 left_roll=0.008 left_gripper=0.9976 right_x=0.2975 right_y=0.1892 right_z=0.0065 right_yaw=0.1162 right_pitch=-0.4149 right_roll=-0.2412 right_gripper=0.0093\nstate[joint_eff]: [-0.1573, -1.6752, 7.1179, 1.5263, -0.1294, -0.0366, -0.0122, -0.1026, -7.1726, 5.4632, 1.0085, 0.3443, 0.0806, 0.779]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9096, 0.712, -0.5732, -0.1486, -0.1501, 0.9976, 0.6739, 1.7668, 0.9512, -0.3153, 0.4126, 0.2939, 0.9957]\nstate[eef_state]: left_x=0.2871 left_y=0.0028 left_z=0.1607 left_yaw=0.1095 left_pitch=-0.1859 left_roll=0.0105 left_gripper=0.9976 right_x=0.3403 right_y=0.1857 right_z=0.024 right_yaw=0.1166 right_pitch=-0.4366 right_roll=-0.2475 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.9897, 7.0222, 1.619, -0.1294, -0.0562, -0.0122, -0.4034, -6.8034, 8.1299, 1.0818, 0.1587, -0.105, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f13512d5cb33973392bdb075b10f27c9bfe3908f1192be864c546b3f409884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9c8d38e3d64ee7b18dc8329e7b17f89e6a1bdf33f4bd76487bfda8e7b46418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15654084baf02846c029d99de9d489cb2fa0d30c320edc0f2501fd63e13fdd3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDK-fhnS2ikvikYsdEFpfbMQaqRT8_lTbfdRD0ASaEd1RxL3TH47LkTkPDJ1Vs-_mzxA_fOWnTHpLEOXiiTW63-nkaslL32nAgvv3Wejc1nAKvSV5DpjuCfL87MnHNnwypaw98cEkGfxsCEAPPOut_m4zdGquCs9j2Re6GSA8X619d0FivhlMZJEaieiIqSaTA9C42UkKouiBw_fUzMlqC2fTMNkjWszZdQYZOghUkQ3Z1ljGY1hLnwf2OU3VlVLs-ySbtsH9rC29_90DfEn4HQA86bEZRwcftkIrc0dnGoUYZEmXovmrp0YZzoKAPuH7uJlVOhE7qmfq-JEQ6-AmqpRbO-l0vxUUdf-BbkJ5qwE7kTXfFNwPOXpnVYubrx5y-TFsCuo9JXP8d3N5otjPf06b4xGsQ4sgJa3l1rj0LfkAVMehtctyohsykMnky52Zm_0qcxkxZsH-Op87et9dnKN0P-1uM2OmKO-pmKO_iZmsbBYxBRzWJicAy3m0ScSt1KzRoA1xQD-1HhCnirEu1LBI64obMeKJpT8E_FNsx5UZx5eh2mYcyeFM_apdsOem2pyJ44SP6nS9Uvk4Bk37hg5dU3u4K4fc6MnisCyWsbRkn2cbB5ywGqXzMtWNwMnTo37mHuiIzDjpaSYt07SuMmxAIth9_DIHw-wBfcYdwBadiqK-o2OQmC186hI_MZJhxaR5AnIAmyp76D6iI5XJgxMPN0ocv5nVi3K1qCAahnxOJLKMsr3jeBFEAfaKUPwlJBa997xcK7Bm25CQnm8I0kSDsqqDEdBz1P9e--LuVlEGZeMZ60QtjqUfS13xekHVLGaUzVT183o3BMmHoxGWnFDPflnmUYH4EEv4DmLVg14FWPuGijB5nfGGyB_yeYBbvMBSaPsTQrUXViRYEq1EnNsYkb7uByc_wck0ExYjSyjrZhgtCX0ctq_hABJl19Yayr6BTfAlP1irgnoaRxyxi0Uht3TaIAb2LLSqZBp2WHj0Z8yK-okB_08w8sSCyIwx9j3FRWs3oylKoStJsJ1kXJf_e0UmWTbMKd0ycZ7sXDVBoYVm5K0vwGV2gFNelEpcSkqy1wX8hdkBeJ0L-jFLavX6FZ59izxibn6corq0VK-wFgjJUzKrpkINxFhHqNz0i55pXRuvp8mbZbVYdkTNFNK9l-95nc4ePfObnGcMcYsAJ8KodeRIS9_2vv524rWmQtUV2jNKmRLkEVYFq9aX47nqyITyXGjXEEkzux1_huEaQk7rfrVPAFcxwgZCwUVBpLfQXK0fEFdtarH7UNxap5n8xlSTk5ZY4uyGUT5Nwsl9Vc7iVVF0gt4yeicz39VsgakB95w9hpfnvDVrw7SInMqKhXvfqsGViZd6jNuIdOBZ7E_SZiWZwQ4j0MVl1xBaziHMC1RXn_9PxHte0TJQ_LodQZlODEclAryL_XnyOJFvyxL-hRB5r1qsvMqfwoh1iFRdVr6t6-ARNX_5Zto-WfgNgUo1CiWU4xqVFz-xAg8CNwvAsHQ-QX3hcJ8x--w_4PdpIXF1AbRGi2hurfQ2QC75lL1F27lirMpvObFLDy34W8-d6-DPB71dHeAoBIC-FLhG0udSD1sX-LF65X-uhhwCdA_fTTotWBvXKHXUsr-emBloftDwVU_cYtr2wDPwmi4ihpIXkdr1baw_7EeCDuB2fACj1mUt2kcAJIiWA_K2SYgdWoDTJe0UNKmjmScjeE7vQ4qOgsp_7CDMm6ExcwSUVJkHXktoFQ91qPS_14BBwbW3bhXCdBtT3SOJEn6HcBI7kjnROGAdvmlNiWrfAfiv-MQggUO4moFwtN_SvAoIGifC70UlLFmDmpgOnIKyeRD_GlayFqxrSWRI_hD3EWXkuTiEZ_5AjoTrcM0Afc4i3E=",
  "id": "rs_0a315bbe47e44596016ab432bca11087d09fca3ffd21b5f4b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.225,\"right_z\":0.04},\"note\":\"The yellow fruit has rolled beside the blue bowl and is now left of the right jaw column. I’ll slide the open gripper left to center it before closing.\"}",
  "call_id": "call_l2ZifGWNr3VG5CXpRrXItGKu",
  "id": "fc_0a315bbe47e44596016ab432bdc61487d0afbe73460293dbca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l2ZifGWNr3VG5CXpRrXItGKu",
  "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]: [-0.094, 0.9104, 0.712, -0.5774, -0.1482, -0.1501, 0.9976, 0.7609, 1.8236, 1.0836, -0.4168, 0.4252, 0.3454, 0.9965]\nstate[eef_state]: left_x=0.2864 left_y=0.0028 left_z=0.1598 left_yaw=0.1093 left_pitch=-0.1908 left_roll=0.0113 left_gripper=0.9976 right_x=0.3377 right_y=0.2258 right_z=0.0354 right_yaw=0.1574 right_pitch=-0.4452 right_roll=-0.2431 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.9761, 7.1863, 1.58, -0.1001, -0.0317, -0.0122, -0.4991, -8.2667, 6.9812, 0.9353, 0.442, 0.2076, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3f11f4a687765d023752cbb4e82d74a81b52c7db6fa27954c9db28c4ef0b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c0bfe422e1dbe8a32380187cf92a5cb89fd0202654dfcfeb2c201b6bce47b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6feb17a739fc9b45dc2a49ee4b2441cf8f12310687ef9b11d770792463044220",
      "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 · 5.386 s

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

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.907, 0.712, -0.5652, -0.1482, -0.1501, 0.9976, 0.7834, 1.71, 0.7925, -0.2363, 0.4744, 0.4126, 0.9965]\nstate[eef_state]: left_x=0.2883 left_y=0.0026 left_z=0.1628 left_yaw=0.1088 left_pitch=-0.1755 left_roll=0.008 left_gripper=0.9976 right_x=0.299 right_y=0.1889 right_z=0.0078 right_yaw=0.106 right_pitch=-0.407 right_roll=-0.2401 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.7026, 6.8855, 1.5409, -0.105, -0.0708, -0.0122, 0.0205, -7.7744, 4.3419, 0.8278, 0.232, -0.1245, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9096, 0.712, -0.5732, -0.1486, -0.1501, 0.9976, 0.6739, 1.7668, 0.9512, -0.3153, 0.4126, 0.2939, 0.9957]\nstate[eef_state]: left_x=0.2871 left_y=0.0028 left_z=0.1607 left_yaw=0.1095 left_pitch=-0.1859 left_roll=0.0105 left_gripper=0.9976 right_x=0.3403 right_y=0.1857 right_z=0.024 right_yaw=0.1166 right_pitch=-0.4366 right_roll=-0.2475 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.9897, 7.0222, 1.619, -0.1294, -0.0562, -0.0122, -0.4034, -6.8034, 8.1299, 1.0818, 0.1587, -0.105, -0.1538]\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 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9104, 0.712, -0.5774, -0.1482, -0.1501, 0.9976, 0.7609, 1.8236, 1.0836, -0.4168, 0.4252, 0.3454, 0.9965]\nstate[eef_state]: left_x=0.2864 left_y=0.0028 left_z=0.1598 left_yaw=0.1093 left_pitch=-0.1908 left_roll=0.0113 left_gripper=0.9976 right_x=0.3377 right_y=0.2258 right_z=0.0354 right_yaw=0.1574 right_pitch=-0.4452 right_roll=-0.2431 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.9761, 7.1863, 1.58, -0.1001, -0.0317, -0.0122, -0.4991, -8.2667, 6.9812, 0.9353, 0.442, 0.2076, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3f11f4a687765d023752cbb4e82d74a81b52c7db6fa27954c9db28c4ef0b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c0bfe422e1dbe8a32380187cf92a5cb89fd0202654dfcfeb2c201b6bce47b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6feb17a739fc9b45dc2a49ee4b2441cf8f12310687ef9b11d770792463044220",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDLBSp0ruhHOppcjqPPsw0E-m9MvFmMIYbPi4pOexPpDBMVxtpy3GO-YsfvSCyzY9L1V04LlZ3zfVh_Fu6-adFzS85qi-ahrrurgbNKWqA_ro9nW9ZOfZ6mHZefUUN80L_GZqUzgpGak03yKijIJWfP8urwuDFtCzO0gDBbQ3jGMWSKEces3PW6Co2jp07nng8z4riRHWeYu5jUu94jlqi-5ryc_Uyo0COrkBk59j8NlMYSLOnj6nn4PoY9QXPM7QpFoFW_kAcRwIYmHezefxYyVVPDd0pjNf6KP-YMyrKuofMfySBhcmeVfhQgM42KA-rugZbP1G2kS2EfPhVlhYAUgOR7KDw0qbCyAp2ungAfQ2tK7sG34PpVAZ6gTqcqfl74T7qGwdxA5LFSKCkiV5LxF-ucgHfz4SJFwWHSo5nIDGE48SWnYzc4vA2oXOre8CMjZn94dMpJqMORpMzO_DkL82Mhu2Gwlu8TCf4yfS4aZXTuz68Mvpe5uF-YviEg7LvP_h6HX7WJEuiE-t1FckZa_8Abb_RfE8-gHQCv6690U5pb5oJVB-2b-Ap4_jolqTCetQAkr4BIUCzI0pR33k6mINF5yIa5-toFxk_fN5Ljn1kyBI1xR91sQfULXX75uegyg9yKxu5XORww7D9lZ-RGO5lAVSdQQ1qEQvdRkzTMa-C_j1fD7JKC_9zSQBDojLO5K6SW38gyvHIPcg6CbJIOPeH2_uXHV6uJPAmSUAGlc_bIc7GxEbWYrQVizitpJQm8ZYNsv-uAt3tjsGDB_KctYaHplansnQrERPsOp2Omn9tccjbasjqLs1sYTsA71BVHNckSoJtnAllkt0X40AM5N86I9-AqdMhzBgA7dckvTKxgfRUodks87vw2OHnHgKyaoVsQ0ysYlcijjNxP2_mUWJPMa3DgD9yCBn8zk3_NjpIXEC31kvpuocoWNPBw-wNSi8uAxmPmcHRQPsR_cTxvA-0Y3kzpJYo74waYYYhMZmtbyyIcbqj5AGVHlEhS3zJDvK44oMr75GCNu5cLYoFtjq3Y1fOhrzakgjXGMQVyHgC6XJV728P7O89ohtFH4ljDoQkZ5VP4MLJdEopZZcVKZuVSP9C9Q6ZxW1Y2t_ArIP5KvjAJue49Oq_bl2y9phyYk4Pj-1jmD9YW2q3iF_lBIGhSeEu7fnhOP36qtNaNK304fYZW5TkT5x4aN1ydQ-j5_ZXBG-NoTdCPpZopStV0ADao1U7Ag2DTmPtCa2ngFonlTh_hI0tGnqjTXjaNY4nl3LKryvRD8gdVBUP2RIbzXp5tS00TFzp3SNCPj7CyZk_3kIwO-622N4bICU_14LaPBs7B1KjlYTT0LkTLUq_Y9VtrVwTmbKP83albeJVPDjjZkXN2Z5yDtiWIPy60EbHhq",
  "id": "rs_0a315bbe47e44596016ab432bfe49487d086bf9d092479aa64",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_gripper\":0},\"note\":\"The orange-yellow fruit is centered between the right jaws but still a short distance in front of their tips. I’ll advance about 3 cm while closing to catch its sides.\"}",
  "call_id": "call_Er0Kf0m9Jy7spOXLFPznnleu",
  "id": "fc_0a315bbe47e44596016ab432c04e7487d0831bd0aa2fb22acc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Er0Kf0m9Jy7spOXLFPznnleu",
  "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]: [-0.094, 0.9104, 0.712, -0.5812, -0.1482, -0.1501, 0.9976, 0.7044, 1.8835, 1.1606, -0.4347, 0.3943, 0.2829, 0.0093]\nstate[eef_state]: left_x=0.2858 left_y=0.0029 left_z=0.1591 left_yaw=0.1095 left_pitch=-0.1945 left_roll=0.012 left_gripper=0.9976 right_x=0.3603 right_y=0.2218 right_z=0.0327 right_yaw=0.1612 right_pitch=-0.4696 right_roll=-0.2537 right_gripper=0.0093\nstate[joint_eff]: [-0.0752, -1.894, 6.8308, 1.5702, -0.1245, -0.0317, -0.0122, -0.5402, -7.788, 7.747, 1.1453, 0.2369, -0.0073, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d880e97287dda4b8c805551fb4cd62dbcea6c6839ca76896ae5da9b2146c2ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722546141dc9c1c0a4748ef4673f002b9d61f494ca5d0d0ccb4955db50f67631",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6837afd2262a2984ec2d7d0c9a4bcf32288a819054fd8378ee66ae884242254",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 3.39 s

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

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.907, 0.712, -0.5652, -0.1482, -0.1501, 0.9976, 0.7834, 1.7092, 0.7895, -0.2367, 0.4664, 0.4034, 0.0093]\nstate[eef_state]: left_x=0.2883 left_y=0.0026 left_z=0.1628 left_yaw=0.1088 left_pitch=-0.1755 left_roll=0.008 left_gripper=0.9976 right_x=0.2975 right_y=0.1892 right_z=0.0065 right_yaw=0.1162 right_pitch=-0.4149 right_roll=-0.2412 right_gripper=0.0093\nstate[joint_eff]: [-0.1573, -1.6752, 7.1179, 1.5263, -0.1294, -0.0366, -0.0122, -0.1026, -7.1726, 5.4632, 1.0085, 0.3443, 0.0806, 0.779]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9104, 0.712, -0.5774, -0.1482, -0.1501, 0.9976, 0.7609, 1.8236, 1.0836, -0.4168, 0.4252, 0.3454, 0.9965]\nstate[eef_state]: left_x=0.2864 left_y=0.0028 left_z=0.1598 left_yaw=0.1093 left_pitch=-0.1908 left_roll=0.0113 left_gripper=0.9976 right_x=0.3377 right_y=0.2258 right_z=0.0354 right_yaw=0.1574 right_pitch=-0.4452 right_roll=-0.2431 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.9761, 7.1863, 1.58, -0.1001, -0.0317, -0.0122, -0.4991, -8.2667, 6.9812, 0.9353, 0.442, 0.2076, 0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9104, 0.712, -0.5812, -0.1482, -0.1501, 0.9976, 0.7044, 1.8835, 1.1606, -0.4347, 0.3943, 0.2829, 0.0093]\nstate[eef_state]: left_x=0.2858 left_y=0.0029 left_z=0.1591 left_yaw=0.1095 left_pitch=-0.1945 left_roll=0.012 left_gripper=0.9976 right_x=0.3603 right_y=0.2218 right_z=0.0327 right_yaw=0.1612 right_pitch=-0.4696 right_roll=-0.2537 right_gripper=0.0093\nstate[joint_eff]: [-0.0752, -1.894, 6.8308, 1.5702, -0.1245, -0.0317, -0.0122, -0.5402, -7.788, 7.747, 1.1453, 0.2369, -0.0073, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d880e97287dda4b8c805551fb4cd62dbcea6c6839ca76896ae5da9b2146c2ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722546141dc9c1c0a4748ef4673f002b9d61f494ca5d0d0ccb4955db50f67631",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6837afd2262a2984ec2d7d0c9a4bcf32288a819054fd8378ee66ae884242254",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDLHXQr0fqvdhkrSncp6sYAMmsBpimnAO3RY4nT_fKFmrnKyd0lymeYgsRaKqjJLnSAko_EjwVMWZ4FudvnYVG7k-FQz8S04PxtX3YYhbPMH8MsKu_h2xJprZJSUkJP3ZYKN8Ar75DDLvxxp65cYzb3m1WPkohwIy-doYcNHvf-qjKZcrH3uFab4E-38pA23iMul7MtZfmETUTTgDaSzXxhEpqDmgI-ARjdMvSp04ZNE6_nlYpFhcyCUMyuIXmPTNcXfeW3C4fA4mVz_g4ZgmB4mCnntX5fLKxm1coR5PkRYcSpwtUMXDx8qYFjxgDpKm5cPYMNkrSzvUi-nZ9wP5gx2tdUYqBrqZ4H59VkIMYMulruZ_3_OTo2nGUgx8Doy-rijz-FR8Eeu24Btux26w5M0Jtine_C5GoQeF1qWfz0lQnSDrPpAwq2oJiR38Qmli0Ex7axqbKJAiXLm57lvosZD-UFAiwxriX8QpUJPKNyyMe1maIXiE9sQH9Py3cOf_uR8PW5blhcAdPiSuDwJiWodcd4aL27_1ZRJv7Yf4hKFOh8Plgwm-_aVxBV3pP23RXXlYHP2i4jpve-VcQaNNMr57SBuHSOpg09vm-0IyNTHvqvaSL1l_1GBqkg7zCPyH8ti4vqwcjocJ4Avtya6WHNFsUrBG4a3__6pmmzM8FojCeQn2vJ3868SWEvUJn1p3lXRUgB-wJcU5uUoCWamda6pkpgAm-gI1ycxfilZmyDDjoBRoIWhN-NNyNtFTCzB25xZ4AFxVZcVEFZ6w0i1TXpMQph9h35cW5NXuwI2ue6G_-zSZ7wJMM-1tgS1eVO0Bhp0hHPCvwGNmfFAoAl2awIb67A0YoGpKl7Zdq5ThSJaLtDX1za-SxBRknUB6yP83FtBN2DJxsw3XybzGtYcUEi2gaGS9XmKg8_Edjgzm8LEomYR0O6iwz-OqJdCnbc9JD_mq0-JfgbH53q-aLZoEDmJr24kPWUKKfl-MgsUuqazUuGH9HPkOTNBVM84wlXs6luX3KK_iJvJbREAcRi-zPCvWYiK7JEkBo9fgXDxTCfQWCrEgGMmDfkCBaPzi7ww4lkNQnZ_TI8mAAgKfLSc9EPZCfFo6p2Q-b0M4nf_DHZp46KL8PeZT_ARWapB77BLlxr9DMP0areNKnqYTBajqn8XpmikhlnY8dadsu8WeXUcgiJmp-V04-lhwVHhXARWiP4bxhw063j1MPN8JD5-l-dvHPzEgWk7-HNWlgzwBvLPHFLOK-oti2T2AihhmHBdpWnjgZqy8R168OYcoVF6R460Payv91Iu8CZfAxK0E-lw5m5d7ynKAfchwsyVPxai4WT2FDmNqkc8zNz087SGrEweGD9D9Cpi88T7PgkkUesY73EiqztJJ2lOM8rCB19LPHSN7wm03RzfeE5OMvavheZOmTldQZavx9S4_BGT7KfYTO4n1fE5SCieUj4yExsiDnKJsqrP0FW5A6oInnRmeLSBUv4--CW9YWiGe7vLhhmwnzeQ5tDYRZp0KYwT6vHnOQMsCoGVl7HdxS5F0gE5vR-fwzGvzZdEKezPVHDr_hwKt2xjzRTiin_Wl2-1L2eFXBNq0JnIPpP_7PdpSAldfwVBKB4VJfvtQPyYXNy7yD8tnSB6z7ixOWAM9YgFe2qNGuEEjhleRTxwbj2e_8SZ7Z6ceMFGBEOtuUUHBs8gfKCHMpmNaeRW6N3sO9e6ArLOz3X5HbWVCqr-xxIaAtGVdvvb_Sc34WFRshXvSvIZjztz55aRE28Ahu2CtMw03-VmHwa3711A8Jr7laK0PcIzUBDmeWgWJoRSIPIWmVJmLmJV3h62K4EuDUSQ8WDJqaQDpx_d8WFLpY6sr1QJMc6_HajW7zu0TyLAVfVQ5XvA-KjU1IoWfALHIATKMdq0fZOOUupZlA-p_FSVUOtnQKfDcKBavwveoBQPB3WnNXe3gDOuNMz6DHdvRn1HcnU1n8RRtz7Gb8drCa5jz7hG32m0Ji6SW3hmKUYUTCdvsP1gbJhVEaMj2jTmMyCtma8U_8WWbdSZcnrLKS2ECRmBsp2UC3cEukcIO_OCT8rc_RGKSUG1XK58ntps_8qlQgxoE5p9UHi9auQDt2tx3GUe8TTi9X5VsJRxii0nGoXRyYVfBJDrca5G7FKc39yjpLXoozDu1qlBAvvN2jcfmNAAqJ8JRHC6Fodj-Wd_y2iEQ6USmnUktDLha1SrUmpHcfeuutY-dbkPlP6CaM62TYx3FzGLpRmy-zdyXw7eewy5lXVTubcNcG1VuU03EMhuXHbL-MplIm3GLzBxfEmwlkQ6vguUPVS7j_qZPYbYuLRjKiTuvoaZJ0tfZtUXPG_bRFd_uYBBWLXYKeoqVp5tVHI13f3nFmn4s_YZpqkrmQfu_Go1NEWyDP3uxoob8uTRsnYB-KgBgDAjb5PEKDVhSmzF_Ji-dxQVgbs95MvOOG9HJTNtXbKyKjaSOpzjslQvVjowW-TPwjCnk7FNvG_wHiSmn6VKtA-8HM-uy8V8sXrLwuw4xk1qrFqX4Xjus6tuE6h7gP-g5IKJBrevCkQlW7v1j3Y7UxM7Edn24A7Ku8NEiN7nK7IGhtshO2BTa-gbWCiVd70uY6Ri7V99kbHPklnWG5WAIpKGhWKuQodm7IU7GKOHY1_-AZHArrEIqYmqhI-AtAPC1chvLskvWVAzjOV6ogWhHqlK22ctypu7bY4b508ZZt2ipwBloNt2cGH-XRuufSpPi_LxIfqlOjs-OxLCxs8POtqr8xTkysiY5yLX57ef8UVVThiCMeGxXV8FZrMaPI8ksfm89PpZLK5VVWhG7DKy0ZMkhpdj27jeJaEaMJRJfDX6VWnEP-55sv6tH3YJcBKPk0S6k_lDbjw3gOqCmllGgqvzK2aXMKrp3cXaMSo03RfTngBSYHEEWtcSBw3b2SEqxyJhiWD_TYNUSxsGOwlNNbjfgxSdkqwfjEvy4A0Gf9tSUEIGRhG0Js65s4d0niVSdcy8o-EZeTxsF4pjjhyIdArq2btLXmAY3ulPfzyWknIqZnBgwdVoPJee09mqY_xhYa_o6SzbYyNkcKFNR9sx6oH7aJZPmzG30c0AMuFcX-5ZHg_AAtde03oTeHQpqIlZqnS_cFMWKgP60WyX2_Mi17m8Tg==",
  "id": "rs_0a315bbe47e44596016ab432c4528c87d0aac3332cbac78d0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.31,\"right_z\":0.05},\"note\":\"The orange-yellow fruit is pressed against the outside of the blue bowl, leaving too little clearance to close around it from this side. I’ll place the open gripper on the fruit’s far-left side at mid-height to nudge it over the rim.\"}",
  "call_id": "call_PXkkghZMwWtTfkxNXe5DDUgy",
  "id": "fc_0a315bbe47e44596016ab432c6996c87d084da4cb2ee6d51e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PXkkghZMwWtTfkxNXe5DDUgy",
  "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]: [-0.094, 0.9104, 0.712, -0.5877, -0.1482, -0.1501, 0.9976, 0.8616, 2.0762, 1.5116, -0.6624, 0.4305, 0.4122, 0.9954]\nstate[eef_state]: left_x=0.2847 left_y=0.003 left_z=0.158 left_yaw=0.1098 left_pitch=-0.2009 left_roll=0.0134 left_gripper=0.9976 right_x=0.3558 right_y=0.3068 right_z=0.0456 right_yaw=0.1941 right_pitch=-0.4897 right_roll=-0.2555 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.7026, 6.8308, 1.5653, -0.0708, -0.0562, -0.0122, 0.1983, -10.1265, 7.8701, 0.8034, 0.4078, 0.2466, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9fbfe609413d1b74b02857b9b1fd548adf473752dc4e8f10e26668a91906c1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c395fe817481b798a6a193dd05870b1d43d75cd0dfc6ea5b80d9bca871b991e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aa07aa82589f36b4837de832ad0c0f611aea1bbd6d5d1aeb86d4eb3fd5a9876",
      "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 · 5.461 s

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

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9096, 0.712, -0.5732, -0.1486, -0.1501, 0.9976, 0.6739, 1.7668, 0.9512, -0.3153, 0.4126, 0.2939, 0.9957]\nstate[eef_state]: left_x=0.2871 left_y=0.0028 left_z=0.1607 left_yaw=0.1095 left_pitch=-0.1859 left_roll=0.0105 left_gripper=0.9976 right_x=0.3403 right_y=0.1857 right_z=0.024 right_yaw=0.1166 right_pitch=-0.4366 right_roll=-0.2475 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.9897, 7.0222, 1.619, -0.1294, -0.0562, -0.0122, -0.4034, -6.8034, 8.1299, 1.0818, 0.1587, -0.105, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9104, 0.712, -0.5812, -0.1482, -0.1501, 0.9976, 0.7044, 1.8835, 1.1606, -0.4347, 0.3943, 0.2829, 0.0093]\nstate[eef_state]: left_x=0.2858 left_y=0.0029 left_z=0.1591 left_yaw=0.1095 left_pitch=-0.1945 left_roll=0.012 left_gripper=0.9976 right_x=0.3603 right_y=0.2218 right_z=0.0327 right_yaw=0.1612 right_pitch=-0.4696 right_roll=-0.2537 right_gripper=0.0093\nstate[joint_eff]: [-0.0752, -1.894, 6.8308, 1.5702, -0.1245, -0.0317, -0.0122, -0.5402, -7.788, 7.747, 1.1453, 0.2369, -0.0073, 0.7692]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.094, 0.9104, 0.712, -0.5877, -0.1482, -0.1501, 0.9976, 0.8616, 2.0762, 1.5116, -0.6624, 0.4305, 0.4122, 0.9954]\nstate[eef_state]: left_x=0.2847 left_y=0.003 left_z=0.158 left_yaw=0.1098 left_pitch=-0.2009 left_roll=0.0134 left_gripper=0.9976 right_x=0.3558 right_y=0.3068 right_z=0.0456 right_yaw=0.1941 right_pitch=-0.4897 right_roll=-0.2555 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.7026, 6.8308, 1.5653, -0.0708, -0.0562, -0.0122, 0.1983, -10.1265, 7.8701, 0.8034, 0.4078, 0.2466, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9fbfe609413d1b74b02857b9b1fd548adf473752dc4e8f10e26668a91906c1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c395fe817481b798a6a193dd05870b1d43d75cd0dfc6ea5b80d9bca871b991e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aa07aa82589f36b4837de832ad0c0f611aea1bbd6d5d1aeb86d4eb3fd5a9876",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDLL50s0DZ9ViGw35qt4Y-yzlcPYL7iOiWzejo47c57oEIY9SN33QMlYWcTmTnfwQ-ffBkN43ftr_VW67nGCFEvQOHXr_6ecY_ixNwwH7fliCJA3a49owVvsURmHd2z8yzVz4w7ekkq6LCy0zCa0ymRAYqsKsELWJz6jkoYEn_ndkHYaLoc9fTigp3D2zIoxSMLac5SlK0Strk5RDhXzDx9Lb2w3_SmMlxBAag0YOUOBAqqKpDn2adbZ_ZfJ4B3u9ju8ks9VMxZwocttcHCFnmdgNZUYezz_qNMZKl3tsJcSIOYfz7FLCBuZK1VeP43MBUZsyQO0iEHvbuvAAyGUH9dvOgDhqsuS2Lha8qHH9PBQRXk3mo3ytiAblDNUS4GisaPrRWgpGlVVu4kp1nyITTrHP4PmB0HQFFe4xxRP1qqo0Cj7tPHY1h4-g03Ji39VPP6Obwu_6LFbKG6kUpcbAkK-SKDGLQFHLyXLmwFmlqkytKpWEnHUZ1075t2CzRppidv5gutJpDV8uEEn0c1LAebtEg6r7zz6Zz1zfuQVAiJ5_RcVv_B-HLn9iMIyPDarWAK6gcMswD4dV6y9EiecErWE_NvGgxpkt-Oyee6i3zyzW477jPa_01hPhSBfDV24v2fgyzuLMpBQ4_B0qaVuKHCqLf9YDOtHT1BWozrw85ABBhIzOn65urkQ9yoGlJTRh7GAoFlZ6KrZ7k_Rdm3z1Pcc7J0SBuLZ2G0mVbyL_mWv4Ynsu61IEH5YqtgQXFZkatrQVwjUZCjAVGv01UNSrjyu4RcoG6egL4Q1NOhjQGBHG-hoE7zXWhDxywyP2Ejy12hbIZeoNhMDzVpKBTp1K7NJzbJ3tn1G3bmM1ZrwKjq-NXF-_fEiPZtCafSPgiOHaJarWuGCixT1sYi9MunR_lB4QYMn3WTZlEE1_fha84rxpUQqAQQmjMxrpyhnjLngX7LwytQLlsXYsHrhhxtaw2g-o3yBEQPPfRy-OSRkg59r9YKot0iEcfXoLTagP2-77PjREcBiy_ro5qjQbe2fbfTuR6hqLAKX5vsC9WiKhKaqZmHtYYOHT1yFn3NYhX22IKyrD6B9WljieUWcG-l55yT7nQktNpFlkYxF-IATKQp2m03450rMu1jWeJG5IJ_fuuwoskleX8Wk3Io1zLzX2bvqXpb-9zZ1UCLZuGwVMIjmUwYRB11HlbIPGlrdBmD2kwwBhinHkag5QxIfOOn6x6QRLrHFb78tJXY26vm62j5CpsFYTpXrXjwEA2LxCkkduct2IT-GfmlHmAPt7PtJZie1udTMZGo8bQMqQhCOKF2mpu-EMYQPJIQz4bVfBp49H2dt5uRZvprCUDjPpKm99BfefQesre3Gvzs_5L_rpoiitHMz8AhCpq7-cEBNJcBiMWLRHhhiNDBUaj4I0u5cdLrYVDqmx8K9clgbExnDsPkNoXW0xL-BkKl6CMnRvSzSHzC_W4iL9zw-jAPNEpM0-3IYbAof347mvLwcEMnHAgn-SS6ZixD88hLrwTUO0fgp2ziTe4a90vFJo6CGn9iTuBaBEJRwE7ilnB66NElDDj-ZWjXMmz-1o3OpEXAsyfCCpG9AkXGoV30QxohzArlvenpFI6x9F1-pvC2bR3Zfya6Ptbz_4BVNODSta29O1bIgoq1J1e2J1w-vkRXwqFIBaDzkz6CvHjkTR4wvuOfY8zAMSNXGUEVjg_Vi_yXpJHjG4wdI7UJA6p3D1Y8DGTjxRgAJdbOwxvF8DxJ0_vrBE90vHLwy0MvUx9vUV7v7KCJzUoi08gW0wyw51_wdx5ImG6MS3xyOjKDqT03fHKHB336dnps=",
  "id": "rs_0a315bbe47e44596016ab432c9e54487d0ada02ac2452b7f71",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The orange-yellow fruit has moved away from the bowl rim and now sits between the open right fingers in the wrist view. I’ll try to grasp it at this clearance rather than push against the bowl.\"}",
  "call_id": "call_0ckFtRPmJlD1lg1xMIwwTsPB",
  "id": "fc_0a315bbe47e44596016ab432cb446c87d0b3d7d79949f1f3f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0ckFtRPmJlD1lg1xMIwwTsPB",
  "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]: [-0.094, 0.9108, 0.712, -0.5884, -0.1482, -0.1501, 0.9976, 0.8639, 2.0853, 1.5188, -0.675, 0.429, 0.408, 0.0091]\nstate[eef_state]: left_x=0.2846 left_y=0.003 left_z=0.1577 left_yaw=0.1098 left_pitch=-0.202 left_roll=0.0136 left_gripper=0.9976 right_x=0.3541 right_y=0.3069 right_z=0.0428 right_yaw=0.1951 right_pitch=-0.5026 right_roll=-0.2668 right_gripper=0.0091\nstate[joint_eff]: [-0.0068, -1.894, 6.8171, 1.5507, -0.1001, -0.0415, -0.0122, -0.5128, -11.959, 5.4632, 0.989, 0.2027, 0.0122, 0.7448]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c11ef968b2339d6d59584de6a8c6fc2069b021d244092318eff0f3bbee14f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91045db2478cdd6bba1498f14179082b174920aebe06405aaf702e871addc496",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08741600906e6e060ada49f2a7af22609c67a516484ddb4364c69452496d82f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]