adhoc - adhoc_5dec9e68.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-5.6-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: 194.4 s
total steps: 401

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 scene shows three likely fruits: a green pear near the right gripper, a yellow lemon near the center, and a dark plum left of center; the blue bowl is ahead of them and the large white bowl is on the left. I am moving the right gripper slightly forward and down above the centered green pear to line up the first grasp.

move_to

right_x0.3250right_y0.0000right_z0.1000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8005, 0.6136, -0.3874, -0.0143, -0.0292, 0.9993, -0.0227, 0.8005, 0.6186, -0.3878, -0.0204, -0.0181, 0.9994] state[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0005 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.4154, 9.5658, 1.9121, -0.0806, 0.1294, -0.0806, -0.0342, -1.5795, 9.2376, 1.8681, -0.0317, 0.0708, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.325,"right_y":0.0,"right_z":0.1,"right_gripper":1.0},"note":"The scene shows three likely fruits: a green pear near the right gripper, a yellow lemon near the center, and a dark plum left of center; the blue bowl is ahead of them and the large white bowl is on the left. I am moving the right gripper slightly forward and down above the centered green pear to line up the first grasp."})

tool

executing move_to over 6 steps (0.6s)

step 6

assistant

agent noteThe right wrist view now has the pear centered between the jaw columns, but it still sits just short of the fingertips as expected from this camera angle. I am advancing about 2.5 cm and descending to the pear's mid-height before closing.

move_to

right_x0.3450right_y0.0000right_z0.0350right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4007, -0.0139, -0.0269, 0.9993, -0.0219, 1.0615, 0.3668, 0.0853, -0.0238, -0.0189, 0.9994] state[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0016 left_pitch=-0.0153 left_roll=0.002 left_gripper=0.9993 right_x=0.3204 right_y=0.0008 right_z=0.0907 right_yaw=0.0041 right_pitch=-0.0396 right_roll=0.0022 right_gripper=0.9994 state[joint_eff]: [-0.0889, -1.388, 7.0906, 1.8828, -0.0757, -0.0366, -0.0171, -0.253, -3.1795, 6.653, 2.0, 0.0073, -0.0513, -0.0757] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.345,"right_y":0.0,"right_z":0.035,"right_gripper":1.0},"note":"The right wrist view now has the pear centered between the jaw columns, but it still sits just short of the fingertips as expected from this camera angle. I am advancing about 2.5 cm and descending to the pear's mid-height before closing."})

tool

executing move_to over 4 steps (0.4s)

step 10

assistant

agent noteThe pear now fills the lower wrist view and its body lies directly between the open fingertips at the commanded mid-height. I am closing the right gripper to secure it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0139, -0.0265, 0.9993, -0.0227, 1.449, 0.3012, 0.5003, -0.0322, -0.0189, 0.9994] state[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0018 left_pitch=-0.0271 left_roll=0.0026 left_gripper=0.9993 right_x=0.3402 right_y=0.0016 right_z=0.0266 right_yaw=0.0105 right_pitch=-0.0776 right_roll=0.0083 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.6068, 7.0222, 1.8046, -0.0806, -0.0122, -0.0073, -0.3897, -4.9983, 4.8752, 2.0098, -0.0024, -0.0855, -0.0757] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The pear now fills the lower wrist view and its body lies directly between the open fingertips at the commanded mid-height. I am closing the right gripper to secure it."})

tool

executing move_to over 10 steps (1.0s)

step 20

assistant

agent noteThe right gripper settled at 0.737, confirming a firm grasp around the broad pear rather than an empty close. I am lifting it well clear of the table before carrying it to the blue bowl.

move_to

right_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4164, -0.0139, -0.0269, 0.9993, -0.0227, 1.449, 0.3016, 0.4984, -0.0357, -0.0223, 0.737] state[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1735 left_yaw=-0.0016 left_pitch=-0.0347 left_roll=0.0024 left_gripper=0.9993 right_x=0.34 right_y=0.0022 right_z=0.0264 right_yaw=0.0152 right_pitch=-0.079 right_roll=0.0077 right_gripper=0.737 state[joint_eff]: [-0.1846, -1.2923, 7.0085, 1.8144, -0.0708, -0.0611, -0.0122, -0.1162, -4.5197, 4.9299, 1.663, -0.0073, -0.0073, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.16},"note":"The right gripper settled at 0.737, confirming a firm grasp around the broad pear rather than an empty close. I am lifting it well clear of the table before carrying it to the blue bowl."})

tool

executing move_to over 9 steps (0.9s)

step 29

assistant

agent noteThe overhead view confirms the pear lifted with the gripper, and the blue bowl is forward and to the arm's left. I am carrying the pear above the bowl center with extra height to clear the rim.

move_to

right_x0.4500right_y0.1100right_z0.2000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.424, -0.0139, -0.0269, 0.9993, -0.0227, 1.0878, 0.6586, -0.2901, -0.0391, -0.0296, 0.7406] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1714 left_yaw=-0.0015 left_pitch=-0.0442 left_roll=0.0026 left_gripper=0.9993 right_x=0.3309 right_y=0.003 right_z=0.1361 right_yaw=0.0224 right_pitch=-0.149 right_roll=0.0072 right_gripper=0.7406 state[joint_eff]: [-0.0205, -1.347, 6.9949, 1.7509, -0.0806, -0.0806, -0.0122, -0.1983, -4.5607, 10.1402, 1.8339, -0.0269, 0.0366, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_y":0.11,"right_z":0.2},"note":"The overhead view confirms the pear lifted with the gripper, and the blue bowl is forward and to the arm's left. I am carrying the pear above the bowl center with extra height to clear the rim."})

tool

executing move_to over 10 steps (1.0s)

step 39

assistant

agent noteThe top view shows the right gripper directly over the blue bowl, with the bowl rim visible beneath it. I am lowering the pear into the bowl so it cannot bounce out when released.

move_to

right_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]: [-0.0219, 0.8124, 0.6132, -0.4309, -0.0139, -0.0265, 0.9993, 0.3161, 1.6188, 1.2911, -0.4923, 0.1905, 0.1692, 0.7413] state[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1688 left_yaw=-0.0017 left_pitch=-0.0557 left_roll=0.0032 left_gripper=0.9993 right_x=0.4371 right_y=0.1115 right_z=0.1757 right_yaw=0.0533 right_pitch=-0.2313 right_roll=-0.019 right_gripper=0.7413 state[joint_eff]: [-0.1709, -1.6752, 7.0085, 1.7265, -0.0415, -0.0366, -0.0073, -0.4855, -8.6359, 9.2103, 1.9805, 0.2418, 0.1978, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.105},"note":"The top view shows the right gripper directly over the blue bowl, with the bowl rim visible beneath it. I am lowering the pear into the bowl so it cannot bounce out when released."})

tool

executing move_to over 5 steps (0.5s)

step 44

assistant

agent noteThe blue bowl now surrounds the pear in the wrist view and the gripper is low inside the rim. I am opening the jaws to deposit the first fruit.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4324, -0.0139, -0.0269, 0.9993, 0.3141, 1.6825, 1.0744, -0.3153, 0.1864, 0.1658, 0.7413] state[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1682 left_yaw=-0.0015 left_pitch=-0.0583 left_roll=0.0029 left_gripper=0.9993 right_x=0.4197 right_y=0.1057 right_z=0.0894 right_yaw=0.0492 right_pitch=-0.332 right_roll=-0.0461 right_gripper=0.7413 state[joint_eff]: [-0.1299, -1.2376, 6.9949, 1.6825, -0.0611, -0.0317, -0.0073, -0.0205, -8.1299, 7.5692, 1.9512, 0.0904, -0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0},"note":"The blue bowl now surrounds the pear in the wrist view and the gripper is low inside the rim. I am opening the jaws to deposit the first fruit."})

tool

executing move_to over 3 steps (0.3s)

step 47

assistant

agent noteThe pear is visibly resting in the blue bowl after release. I am retracting the right gripper and moving above the yellow lemon, which lies behind and slightly left of the bowl in the right arm's frame.

move_to

right_x0.3400right_y0.1400right_z0.1400right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4351, -0.0139, -0.0269, 0.9993, 0.3168, 1.6852, 1.0611, -0.3, 0.1829, 0.1589, 0.9958] state[eef_state]: left_x=0.2894 left_y=-0.0003 left_z=0.1677 left_yaw=-0.0015 left_pitch=-0.061 left_roll=0.003 left_gripper=0.9993 right_x=0.4184 right_y=0.1071 right_z=0.0854 right_yaw=0.0587 right_pitch=-0.3336 right_roll=-0.0481 right_gripper=0.9958 state[joint_eff]: [0.0615, -0.9231, 7.0496, 1.7021, -0.0513, -0.0806, -0.0073, -0.4444, -8.4034, 7.4325, 1.453, 0.0708, 0.1343, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.14,"right_z":0.14,"right_gripper":1.0},"note":"The pear is visibly resting in the blue bowl after release. I am retracting the right gripper and moving above the yellow lemon, which lies behind and slightly left of the bowl in the right arm's frame."})

tool

executing move_to over 7 steps (0.7s)

step 54

assistant

agent noteThe wrist view clearly shows the lemon low and left of the jaw column, while the pear remains safely in the blue bowl. I am shifting a few centimetres toward the lemon and forward to bring its center between the fingertips, then lowering toward grasp height.

move_to

right_x0.3700right_y0.1700right_z0.0850right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4419, -0.0139, -0.0265, 0.9993, 0.5114, 1.4452, 1.0325, -0.5293, 0.2749, 0.2882, 0.9986] state[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1661 left_yaw=-0.0017 left_pitch=-0.0686 left_roll=0.0034 left_gripper=0.9993 right_x=0.3502 right_y=0.1456 right_z=0.1366 right_yaw=0.099 right_pitch=-0.3232 right_roll=-0.0428 right_gripper=0.9986 state[joint_eff]: [-0.0205, -1.4154, 6.9812, 1.8339, -0.0366, -0.022, -0.0171, 0.1709, -7.2274, 6.5846, 1.3944, 0.2466, 0.1148, -0.1538] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.37,"right_y":0.17,"right_z":0.085,"right_gripper":1.0},"note":"The wrist view clearly shows the lemon low and left of the jaw column, while the pear remains safely in the blue bowl. I am shifting a few centimetres toward the lemon and forward to bring its center between the fingertips, then lowering toward grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 58

assistant

agent noteThe lemon is now at the correct radial depth but remains about four centimetres left of the jaw centerline in the close wrist view. I am making that lateral correction and descending to its midline for the grasp.

move_to

right_x0.3800right_y0.2050right_z0.0300right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8169, 0.6132, -0.4461, -0.0135, -0.0269, 0.9993, 0.5426, 1.6108, 0.9878, -0.4015, 0.2874, 0.3073, 0.9986] state[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1645 left_yaw=-0.0018 left_pitch=-0.0755 left_roll=0.003 left_gripper=0.9993 right_x=0.3571 right_y=0.161 right_z=0.0771 right_yaw=0.0959 right_pitch=-0.3932 right_roll=-0.0774 right_gripper=0.9986 state[joint_eff]: [-0.1983, -1.5658, 7.1316, 1.707, -0.0317, -0.0562, -0.0122, 0.4034, -8.335, 6.5573, 1.5214, 0.1636, 0.1099, -0.1538] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.205,"right_z":0.03,"right_gripper":1.0},"note":"The lemon is now at the correct radial depth but remains about four centimetres left of the jaw centerline in the close wrist view. I am making that lateral correction and descending to its midline for the grasp."})

tool

executing move_to over 4 steps (0.4s)

step 62

assistant

agent noteThe low lateral move stalled short, likely because the gripper brushed the lemon or bowl while only six centimetres above the table. I am lifting first and completing the offset in free space before descending again.

move_to

right_x0.3800right_y0.2100right_z0.1300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0139, -0.0269, 0.9993, 0.5613, 1.6684, 0.9829, -0.3466, 0.2916, 0.3077, 0.9986] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0015 left_pitch=-0.0797 left_roll=0.0033 left_gripper=0.9993 right_x=0.3604 right_y=0.1709 right_z=0.0608 right_yaw=0.1095 right_pitch=-0.3985 right_roll=-0.0843 right_gripper=0.9986 state[joint_eff]: [-0.2803, -1.3607, 6.9812, 1.707, -0.0708, -0.0806, -0.0122, 0.1573, -7.7197, 6.8581, 1.1746, 0.1978, 0.1392, -0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.21,"right_z":0.13},"note":"The low lateral move stalled short, likely because the gripper brushed the lemon or bowl while only six centimetres above the table. I am lifting first and completing the offset in free space before descending again."})

tool

executing move_to over 5 steps (0.5s)

step 67

assistant

agent noteThe arm did not track the attempted lift at this crossed-over low pose, so I will not repeat it. I am retreating toward the right base and upward to unfold the arm, then I can approach the lemon from a cleaner pose.

move_to

right_x0.3000right_y0.0800right_z0.2000

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, 0.8173, 0.6132, -0.45, -0.0139, -0.0269, 0.9993, 0.5613, 1.6684, 0.9829, -0.3481, 0.292, 0.3073, 0.9986] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0015 left_pitch=-0.0797 left_roll=0.0033 left_gripper=0.9993 right_x=0.3602 right_y=0.1707 right_z=0.0607 right_yaw=0.1091 right_pitch=-0.3997 right_roll=-0.0856 right_gripper=0.9986 state[joint_eff]: [-0.1846, -1.3607, 6.9812, 1.6825, -0.0464, -0.0513, -0.0122, 0.0342, -7.8974, 6.735, 1.2527, 0.2613, 0.1587, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.08,"right_z":0.2},"note":"The arm did not track the attempted lift at this crossed-over low pose, so I will not repeat it. I am retreating toward the right base and upward to unfold the arm, then I can approach the lemon from a cleaner pose."})

tool

executing move_to over 9 steps (0.9s)

step 76

assistant

agent noteThe retreat succeeded and the overhead view now shows the lemon unobstructed at nearly the same forward depth as the pear's original position, but about 18 cm left in the right-arm frame. I am taking a fresh high approach directly above that estimated center.

move_to

right_x0.3400right_y0.1800right_z0.1400right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4541, -0.0135, -0.0269, 0.9993, 0.3622, 1.2469, 1.1049, -0.8497, 0.2005, 0.1524, 0.9986] state[eef_state]: left_x=0.2869 left_y=-0.0003 left_z=0.1624 left_yaw=-0.0018 left_pitch=-0.0858 left_roll=0.0032 left_gripper=0.9993 right_x=0.3105 right_y=0.0839 right_z=0.1836 right_yaw=0.0856 right_pitch=-0.3952 right_roll=-0.0861 right_gripper=0.9986 state[joint_eff]: [-0.3214, -1.4291, 6.9812, 1.7607, -0.0464, -0.0317, -0.0122, -0.1573, -5.9009, 9.4427, 1.3309, -0.0073, -0.0855, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":0.34,"right_y":0.18,"right_z":0.14,"right_gripper":1.0},"note":"The retreat succeeded and the overhead view now shows the lemon unobstructed at nearly the same forward depth as the pear's original position, but about 18 cm left in the right-arm frame. I am taking a fresh high approach directly above that estimated center."})

tool

executing move_to over 9 steps (0.9s)

step 85

assistant

agent noteFrom the fresh approach, the lemon is still left of the jaw column in the wrist view, so the earlier lateral estimate was short rather than a depth error. I am correcting another five centimetres left while staying high enough to avoid the previous low-pose stall.

move_to

right_x0.3500right_y0.2250right_z0.1000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4686, -0.0139, -0.0265, 0.9993, 0.622, 1.536, 1.1553, -0.7303, 0.3157, 0.3496, 0.9986] state[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.159 left_yaw=-0.0017 left_pitch=-0.1022 left_roll=0.0041 left_gripper=0.9993 right_x=0.3274 right_y=0.1717 right_z=0.1274 right_yaw=0.1086 right_pitch=-0.4564 right_roll=-0.12 right_gripper=0.9986 state[joint_eff]: [-0.0479, -1.4701, 7.159, 1.7949, -0.0464, -0.0073, -0.0122, 0.294, -6.5709, 8.9778, 1.199, 0.3443, 0.1392, -0.1538] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.225,"right_z":0.1,"right_gripper":1.0},"note":"From the fresh approach, the lemon is still left of the jaw column in the wrist view, so the earlier lateral estimate was short rather than a depth error. I am correcting another five centimetres left while staying high enough to avoid the previous low-pose stall."})

tool

executing move_to over 5 steps (0.5s)

step 90

assistant

agent noteThe lemon is now exactly centered on the jaw column in the wrist camera. As it is still just short of the fingertip point at the bottom of the image, I am advancing about 2.5 cm and descending to table-level grasp height.

move_to

right_x0.3650right_y0.2250right_z0.0300right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8246, 0.6132, -0.4732, -0.0139, -0.0265, 0.9993, 0.7055, 1.7462, 1.2491, -0.6937, 0.3336, 0.4023, 0.9986] state[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0016 left_pitch=-0.1102 left_roll=0.0043 left_gripper=0.9993 right_x=0.3381 right_y=0.2167 right_z=0.0879 right_yaw=0.1238 right_pitch=-0.5122 right_roll=-0.1532 right_gripper=0.9986 state[joint_eff]: [-0.212, -1.6615, 7.0222, 1.663, -0.0366, -0.0366, -0.0122, 0.212, -8.8137, 8.3077, 1.0134, 0.3492, 0.2369, -0.1538] 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_x":0.365,"right_y":0.225,"right_z":0.03,"right_gripper":1.0},"note":"The lemon is now exactly centered on the jaw column in the wrist camera. As it is still just short of the fingertip point at the bottom of the image, I am advancing about 2.5 cm and descending to table-level grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 94

assistant

agent noteThe arm held position instead of descending because its wrist pitch had sagged near the negative limit at this crossed-over pose. I am explicitly straightening the wrist and lifting slightly to recover a controllable approach before retrying the same centered grasp.

move_to

right_x0.3400right_y0.2200right_z0.1400right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0139, -0.0265, 0.9993, 0.7109, 1.7565, 1.2537, -0.6846, 0.337, 0.4122, 0.9986] state[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1565 left_yaw=-0.0016 left_pitch=-0.114 left_roll=0.0043 left_gripper=0.9993 right_x=0.3395 right_y=0.22 right_z=0.0865 right_yaw=0.1214 right_pitch=-0.5068 right_roll=-0.1487 right_gripper=0.9986 state[joint_eff]: [-0.2393, -1.1419, 6.9538, 1.6239, -0.0513, -0.0171, -0.0122, -0.1299, -8.6496, 8.6496, 1.116, 0.3053, 0.1343, -0.1538] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.22,"right_z":0.14,"right_pitch":0.0},"note":"The arm held position instead of descending because its wrist pitch had sagged near the negative limit at this crossed-over pose. I am explicitly straightening the wrist and lifting slightly to recover a controllable approach before retrying the same centered grasp."})

tool

executing move_to over 17 steps (1.7s)

step 111

assistant

agent noteThe wrist has recovered to near level, and the lemon remains centered beneath the jaws. I am now advancing and descending with pitch held at zero so the gripper reaches the fruit rather than folding away.

move_to

right_x0.3650right_y0.2200right_z0.0300right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8284, 0.6132, -0.4839, -0.0139, -0.0269, 0.9993, 0.8299, 1.533, 0.8898, -0.1837, 0.6178, 0.3393, 0.9986] state[eef_state]: left_x=0.2827 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0014 left_pitch=-0.1247 left_roll=0.0043 left_gripper=0.9993 right_x=0.3341 right_y=0.219 right_z=0.1195 right_yaw=0.1359 right_pitch=-0.0836 right_roll=-0.1742 right_gripper=0.9986 state[joint_eff]: [-0.1299, -1.5248, 6.9812, 1.7021, -0.0659, -0.0415, -0.0122, 0.4171, -8.7453, 6.3248, 1.5849, 0.5299, -0.1148, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). 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":0.365,"right_y":0.22,"right_z":0.03,"right_pitch":0.0,"right_gripper":1.0},"note":"The wrist has recovered to near level, and the lemon remains centered beneath the jaws. I am now advancing and descending with pitch held at zero so the gripper reaches the fruit rather than folding away."})

tool

executing move_to over 6 steps (0.6s)

step 117

assistant

agent noteThe gripper has reached two centimetres above the table with the lemon centered between the fingertips in the wrist view. I am closing now to secure it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4919, -0.0139, -0.0265, 0.9993, 0.7784, 1.8297, 0.7334, 0.2821, 0.6064, 0.2634, 0.9987] state[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1517 left_yaw=-0.0016 left_pitch=-0.1365 left_roll=0.0048 left_gripper=0.9993 right_x=0.3535 right_y=0.2122 right_z=0.0203 right_yaw=0.1337 right_pitch=-0.0868 right_roll=-0.2202 right_gripper=0.9987 state[joint_eff]: [-0.2667, -1.6889, 6.9402, 1.6532, -0.0757, -0.0073, -0.0073, -0.5265, -8.212, 4.0274, 1.5849, 0.3346, 0.0073, -0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The gripper has reached two centimetres above the table with the lemon centered between the fingertips in the wrist view. I am closing now to secure it."})

tool

executing move_to over 10 steps (1.0s)

step 127

assistant

agent noteThe gripper settled at 0.438, a clear lemon-width grasp. I am lifting it with the wrist held level before transporting it back over the blue bowl.

move_to

right_z0.1600right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4919, -0.0139, -0.0265, 0.9993, 0.7757, 1.853, 0.7223, 0.2886, 0.6052, 0.2535, 0.4383] state[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1517 left_yaw=-0.0016 left_pitch=-0.1365 left_roll=0.0048 left_gripper=0.9993 right_x=0.3503 right_y=0.2079 right_z=0.0089 right_yaw=0.1355 right_pitch=-0.1108 right_roll=-0.2442 right_gripper=0.4383 state[joint_eff]: [-0.1436, -1.4154, 7.0359, 1.58, -0.0464, -0.0415, -0.0122, -0.0479, -9.9624, 5.7915, 1.2821, 0.1734, 0.022, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.16,"right_pitch":0.0},"note":"The gripper settled at 0.438, a clear lemon-width grasp. I am lifting it with the wrist held level before transporting it back over the blue bowl."})

tool

executing move_to over 10 steps (1.0s)

step 137

assistant

agent noteThe lemon lifted cleanly, and the pear is still visible inside the blue bowl. I am carrying the lemon above the bowl center with enough clearance for both the rim and the pear.

move_to

right_x0.4300right_y0.1100right_z0.2000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4942, -0.0139, -0.0269, 0.9993, 0.7959, 1.5139, 0.9016, -0.1455, 0.6434, 0.2169, 0.4383] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1508 left_yaw=-0.0014 left_pitch=-0.1407 left_roll=0.0046 left_gripper=0.9993 right_x=0.3485 right_y=0.2096 right_z=0.1387 right_yaw=0.1504 right_pitch=-0.0317 right_roll=-0.2449 right_gripper=0.4383 state[joint_eff]: [-0.3624, -1.3744, 6.9402, 1.6484, -0.0464, -0.0317, -0.0122, 0.3214, -7.8838, 8.8137, 1.6337, 0.3248, 0.0073, 1.0134] approver: 4 step(s) modified (delta_clamped ×4). 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_x":0.43,"right_y":0.11,"right_z":0.2,"right_pitch":0.0},"note":"The lemon lifted cleanly, and the pear is still visible inside the blue bowl. I am carrying the lemon above the bowl center with enough clearance for both the rim and the pear."})

tool

executing move_to over 9 steps (0.9s)

step 146

assistant

agent noteThe overhead and wrist views show the lemon centered over the blue bowl. I am lowering it inside the rim, stopping high enough not to crush the pear already in the bowl.

move_to

right_z0.1100right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8349, 0.6132, -0.4946, -0.0139, -0.0265, 0.9993, 0.3832, 1.486, 1.0172, -0.1883, 0.3462, -0.0681, 0.4383] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1505 left_yaw=-0.0016 left_pitch=-0.1419 left_roll=0.0049 left_gripper=0.9993 right_x=0.4203 right_y=0.1087 right_z=0.1737 right_yaw=0.1246 right_pitch=-0.0644 right_roll=-0.2603 right_gripper=0.4383 state[joint_eff]: [-0.0342, -1.4701, 6.9265, 1.5849, -0.0757, -0.0122, -0.0122, -0.1709, -7.9111, 9.3607, 1.873, 0.0806, -0.0464, 1.0037] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.11,"right_pitch":0.0},"note":"The overhead and wrist views show the lemon centered over the blue bowl. I am lowering it inside the rim, stopping high enough not to crush the pear already in the bowl."})

tool

executing move_to over 5 steps (0.5s)

step 151

assistant

agent noteBoth the pear and the held lemon are visible inside the blue bowl, with the gripper low between the rim. I am releasing the lemon into the bowl.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.836, 0.6132, -0.4946, -0.0139, -0.0269, 0.9993, 0.3889, 1.5692, 0.783, 0.0856, 0.3435, -0.0898, 0.4418] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0046 left_gripper=0.9993 right_x=0.4061 right_y=0.106 right_z=0.0928 right_yaw=0.1429 right_pitch=-0.1101 right_roll=-0.2869 right_gripper=0.4418 state[joint_eff]: [-0.0342, -1.2786, 7.0085, 1.5751, -0.0464, -0.0611, -0.0122, -0.1026, -6.6667, 6.6256, 2.0586, 0.2759, 0.0562, 0.6862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0},"note":"Both the pear and the held lemon are visible inside the blue bowl, with the gripper low between the rim. I am releasing the lemon into the bowl."})

tool

executing move_to over 6 steps (0.6s)

step 157

assistant

agent noteThe lemon now rests beside the pear in the blue bowl; the only remaining fruit is the small dark plum left of center. I am parking the right arm to clear the bowl and overhead view before using the left arm for the plum.

move_to

right_x0.2950right_y0.0000right_z0.1800right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.836, 0.6132, -0.4946, -0.0135, -0.0269, 0.9993, 0.3893, 1.5837, 0.7689, 0.0795, 0.3416, -0.0959, 0.9957] state[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1502 left_yaw=-0.0017 left_pitch=-0.143 left_roll=0.0044 left_gripper=0.9993 right_x=0.401 right_y=0.1044 right_z=0.0804 right_yaw=0.147 right_pitch=-0.145 right_roll=-0.2989 right_gripper=0.9957 state[joint_eff]: [-0.1573, -1.4291, 6.9265, 1.5751, -0.0073, -0.0513, -0.0122, -0.0615, -7.8974, 7.3231, 1.6044, 0.0855, 0.0757, -0.0952] approver: 1 step(s) modified (delta_clamped). 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_x":0.295,"right_y":0.0,"right_z":0.18,"right_pitch":0.0,"right_gripper":1.0},"note":"The lemon now rests beside the pear in the blue bowl; the only remaining fruit is the small dark plum left of center. I am parking the right arm to clear the bowl and overhead view before using the left arm for the plum."})

tool

executing move_to over 9 steps (0.9s)

step 166

assistant

agent noteWith the right arm parked, the dark plum is unobstructed near the center line. Using the known base spacing and its overhead position, I am moving the left gripper high above the plum at about x=0.34, y=-0.27.

move_to

left_x0.3400left_y-0.2700left_z0.1400left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8402, 0.6132, -0.5011, -0.0135, -0.0269, 0.9993, 0.0422, 0.8093, 0.5751, -0.2749, 0.1081, -0.2909, 0.9986] state[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1479 left_yaw=-0.0016 left_pitch=-0.1537 left_roll=0.0046 left_gripper=0.9993 right_x=0.3052 right_y=-0.0026 right_z=0.185 right_yaw=0.101 right_pitch=0.0362 right_roll=-0.3013 right_gripper=0.9986 state[joint_eff]: [-0.1573, -1.4564, 7.159, 1.6972, -0.0171, -0.0317, -0.0122, -0.212, -0.9915, 7.1863, 1.8242, -0.0659, 0.0366, -0.1587] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.27,"left_z":0.14,"left_pitch":0.0,"left_gripper":1.0},"note":"With the right arm parked, the dark plum is unobstructed near the center line. Using the known base spacing and its overhead position, I am moving the left gripper high above the plum at about x=0.34, y=-0.27."})

tool

executing move_to over 24 steps (2.4s)

step 190

assistant

agent noteThe left wrist view now shows the plum very close to the fingertips, slightly left of the jaw centerline. I am making a small leftward camera correction, advancing 2.5 cm, and descending to the plum's mid-height.

move_to

left_x0.3600left_y-0.2450left_z0.0250left_pitch0.0000left_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]: [-0.9512, 1.6611, 1.0439, -0.2668, -0.7258, -0.6674, 0.9993, 0.0429, 0.8154, 0.5751, -0.3111, 0.0998, -0.3138, 0.9986] state[eef_state]: left_x=0.3345 left_y=-0.2608 left_z=0.1258 left_yaw=-0.0139 left_pitch=-0.0427 left_roll=0.0272 left_gripper=0.9993 right_x=0.3011 right_y=-0.0011 right_z=0.1755 right_yaw=0.1207 right_pitch=-0.0094 right_roll=-0.3137 right_gripper=0.9986 state[joint_eff]: [-0.6359, -7.9932, 8.6632, 1.326, -0.6276, 0.022, -0.0855, -0.3897, -1.8803, 7.0496, 2.127, 0.0708, 0.2076, -0.022] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.245,"left_z":0.025,"left_pitch":0.0,"left_gripper":1.0},"note":"The left wrist view now shows the plum very close to the fingertips, slightly left of the jaw centerline. I am making a small leftward camera correction, advancing 2.5 cm, and descending to the plum's mid-height."})

tool

executing move_to over 7 steps (0.7s)

step 197

assistant

agent noteAfter the correction and descent, the plum has passed below the wrist camera exactly where the fingertip grasp point lies, and the gripper is at three centimetres height. I am closing the left jaws to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8745, 1.8797, 0.8345, 0.2024, -0.7116, -0.5758, 0.9993, 0.0429, 0.8154, 0.5751, -0.3195, 0.0994, -0.3153, 0.9986] state[eef_state]: left_x=0.3547 left_y=-0.2389 left_z=0.0296 left_yaw=0.0025 left_pitch=-0.0276 left_roll=0.0632 left_gripper=0.9993 right_x=0.3 right_y=-0.0011 right_z=0.1738 right_yaw=0.1218 right_pitch=-0.018 right_roll=-0.3141 right_gripper=0.9986 state[joint_eff]: [0.1709, -7.0359, 4.2872, 1.3651, -0.2027, 0.0513, -0.0855, -0.3487, -1.3607, 7.241, 1.8339, 0.0024, -0.0171, -0.0122] 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":{"left_gripper":0.0},"note":"After the correction and descent, the plum has passed below the wrist camera exactly where the fingertip grasp point lies, and the gripper is at three centimetres height. I am closing the left jaws to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 207

assistant

agent noteThe left gripper settled at 0.497, confirming a solid grasp around the dark fruit. I am lifting it clear of the table before carrying it to the blue bowl.

move_to

left_z0.1600left_pitch0.0000

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]: [-0.8726, 1.911, 0.82, 0.2092, -0.7025, -0.5762, 0.4971, 0.0429, 0.8154, 0.5751, -0.3195, 0.099, -0.3153, 0.9986] state[eef_state]: left_x=0.3503 left_y=-0.2343 left_z=0.0132 left_yaw=-0.0003 left_pitch=-0.0579 left_roll=0.0884 left_gripper=0.4971 right_x=0.3001 right_y=-0.001 right_z=0.1738 right_yaw=0.1222 right_pitch=-0.018 right_roll=-0.3139 right_gripper=0.9986 state[joint_eff]: [-0.1026, -10.8513, 6.0103, 1.2479, -0.4518, -0.0464, 0.9499, -0.0752, -1.306, 7.0769, 1.7656, -0.0073, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.16,"left_pitch":0.0},"note":"The left gripper settled at 0.497, confirming a solid grasp around the dark fruit. I am lifting it clear of the table before carrying it to the blue bowl."})

tool

executing move_to over 10 steps (1.0s)

step 217

assistant

agent noteThe lifted dark fruit is no longer on the table, confirming the grasp. The blue bowl lies beyond the left arm's y limit, so I am setting the fruit gently at the center-line handoff point where the right arm can pick it up.

move_to

left_x0.3000left_y-0.3300left_z0.0350left_pitch0.0000

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]: [-0.8803, 1.6257, 1.0317, -0.2546, -0.7242, -0.5728, 0.5, 0.0429, 0.8154, 0.5751, -0.3199, 0.0994, -0.3153, 0.9986] state[eef_state]: left_x=0.3509 left_y=-0.2353 left_z=0.1365 left_yaw=0.0037 left_pitch=-0.0241 left_roll=0.0762 left_gripper=0.5 right_x=0.3 right_y=-0.0011 right_z=0.1737 right_yaw=0.1218 right_pitch=-0.0184 right_roll=-0.314 right_gripper=0.9986 state[joint_eff]: [-0.8, -9.4154, 9.0325, 1.16, -0.5104, 0.1636, 0.2955, -0.1026, -1.388, 7.0769, 1.7411, 0.0122, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.33,"left_z":0.035,"left_pitch":0.0},"note":"The lifted dark fruit is no longer on the table, confirming the grasp. The blue bowl lies beyond the left arm's y limit, so I am setting the fruit gently at the center-line handoff point where the right arm can pick it up."})

tool

executing move_to over 9 steps (0.9s)

step 226

assistant

agent noteThe left gripper is down at the center-line handoff point with the fruit just above the tabletop. I am opening the jaws to leave it there for the right arm.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1439, 2.0178, 1.0954, -0.1707, -0.8608, -0.8455, 0.5022, 0.0429, 0.8154, 0.5751, -0.3199, 0.099, -0.3153, 0.9986] state[eef_state]: left_x=0.2971 left_y=-0.3208 left_z=0.0267 left_yaw=-0.0238 left_pitch=-0.0472 left_roll=0.1195 left_gripper=0.5022 right_x=0.3 right_y=-0.001 right_z=0.1737 right_yaw=0.1222 right_pitch=-0.0184 right_roll=-0.3138 right_gripper=0.9986 state[joint_eff]: [-0.3761, -10.2222, 7.4735, 1.0525, -0.8278, -0.0415, 0.2076, -0.1026, -1.4291, 7.0496, 1.7363, -0.0024, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":1.0},"note":"The left gripper is down at the center-line handoff point with the fruit just above the tabletop. I am opening the jaws to leave it there for the right arm."})

tool

executing move_to over 5 steps (0.5s)

step 231

assistant

agent noteThe handoff release is complete, but the low left arm blocks the overhead confirmation. I am parking it at home to expose the center-line fruit and give the right arm a collision-free approach.

move_to

left_x0.2950left_y0.0000left_z0.1800left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1458, 2.0365, 1.1011, -0.1753, -0.8612, -0.8574, 0.9947, 0.0429, 0.8154, 0.5751, -0.3199, 0.0994, -0.3153, 0.9986] state[eef_state]: left_x=0.2962 left_y=-0.3208 left_z=0.0205 left_yaw=-0.0184 left_pitch=-0.0538 left_roll=0.1258 left_gripper=0.9947 right_x=0.3 right_y=-0.0011 right_z=0.1737 right_yaw=0.1218 right_pitch=-0.0184 right_roll=-0.314 right_gripper=0.9986 state[joint_eff]: [-0.1162, -11.5077, 4.7248, 1.0574, -0.4176, 0.0757, -0.0513, -0.1299, -1.4017, 7.0632, 1.7851, 0.0171, -0.0513, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.18,"left_pitch":0.0,"left_gripper":1.0},"note":"The handoff release is complete, but the low left arm blocks the overhead confirmation. I am parking it at home to expose the center-line fruit and give the right arm a collision-free approach."})

tool

executing move_to over 29 steps (2.9s)

step 260

assistant

agent noteThe dark fruit is now clearly visible upright at the center-line handoff point. Converting between arm frames gives right_y≈0.33, so I am moving the right gripper above it for the final pickup.

move_to

right_x0.3000right_y0.3300right_z0.1400right_pitch0.0000right_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]: [-0.1131, 0.8112, 0.5667, -0.3744, -0.1967, -0.0097, 0.9979, 0.0429, 0.8154, 0.5751, -0.3275, 0.0994, -0.3153, 0.9986] state[eef_state]: left_x=0.2912 left_y=0.0053 left_z=0.1613 left_yaw=0.0511 left_pitch=-0.0354 left_roll=0.1222 left_gripper=0.9979 right_x=0.299 right_y=-0.0011 right_z=0.1721 right_yaw=0.1218 right_pitch=-0.026 right_roll=-0.3134 right_gripper=0.9986 state[joint_eff]: [0.1299, -1.9897, 10.0171, 1.7509, 0.1636, 0.2027, -0.2222, -0.3761, -1.4154, 7.0769, 1.7998, 0.0024, -0.0464, -0.0122] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.33,"right_z":0.14,"right_pitch":0.0,"right_gripper":1.0},"note":"The dark fruit is now clearly visible upright at the center-line handoff point. Converting between arm frames gives right_y≈0.33, so I am moving the right gripper above it for the final pickup."})

tool

executing move_to over 28 steps (2.8s)

step 288

assistant

agent noteThe overhead view shows the right gripper directly covering the handoff fruit, and the known placement coordinate is exact even though the wrist camera looks past it. I am descending straight down at that coordinate to grasp height.

move_to

right_x0.3000right_y0.3300right_z0.0250right_pitch0.0000right_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]: [-0.112, 0.8146, 0.5686, -0.3859, -0.1936, -0.001, 0.9978, 1.1427, 1.8465, 1.2865, -0.4988, 0.9024, 0.5373, 0.9986] state[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1589 left_yaw=0.0451 left_pitch=-0.049 left_roll=0.1297 left_gripper=0.9978 right_x=0.2969 right_y=0.3254 right_z=0.1303 right_yaw=0.1549 right_pitch=-0.0377 right_roll=-0.3399 right_gripper=0.9986 state[joint_eff]: [-0.2667, -1.6342, 6.8444, 1.7753, -0.1636, -0.1099, -0.0269, 0.253, -9.2239, 7.8017, 1.0134, 0.7009, 0.315, -0.1538] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.33,"right_z":0.025,"right_pitch":0.0,"right_gripper":1.0},"note":"The overhead view shows the right gripper directly covering the handoff fruit, and the known placement coordinate is exact even though the wrist camera looks past it. I am descending straight down at that coordinate to grasp height."})

tool

executing move_to over 7 steps (0.7s)

step 295

assistant

agent noteThe right gripper is now at 2.8 cm height over the fruit, which is fully occluded by the jaws in the overhead view. I am closing to pick it up.

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]: [-0.1116, 0.815, 0.5682, -0.387, -0.1936, -0.0006, 0.9978, 1.1484, 2.0457, 1.1053, -0.1322, 0.9119, 0.524, 0.9986] state[eef_state]: left_x=0.2898 left_y=0.0053 left_z=0.1584 left_yaw=0.0453 left_pitch=-0.0509 left_roll=0.1303 left_gripper=0.9978 right_x=0.2958 right_y=0.3262 right_z=0.0278 right_yaw=0.1621 right_pitch=-0.0408 right_roll=-0.3669 right_gripper=0.9986 state[joint_eff]: [-0.1299, -1.1556, 7.3504, 1.6777, -0.1392, -0.0317, -0.0073, -0.0342, -9.4974, 4.6427, 1.0379, 0.5934, 0.0024, -0.1587] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The right gripper is now at 2.8 cm height over the fruit, which is fully occluded by the jaws in the overhead view. I am closing to pick it up."})

tool

executing move_to over 10 steps (1.0s)

step 305

assistant

agent noteThe gripper closed empty at 0.009, and the overhead view places the dark fruit just left of the jaws. I am opening, lifting, and shifting about 3 cm left plus 2 cm forward for the single measured retry.

move_to

right_x0.3200right_y0.3550right_z0.1200right_pitch0.0000right_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]: [-0.1116, 0.8188, 0.5682, -0.4007, -0.1932, -0.0002, 0.9978, 1.1492, 2.0438, 1.1019, -0.1135, 0.9272, 0.5125, 0.0091] state[eef_state]: left_x=0.288 left_y=0.0055 left_z=0.1547 left_yaw=0.0449 left_pitch=-0.0683 left_roll=0.1331 left_gripper=0.9978 right_x=0.2974 right_y=0.3266 right_z=0.0311 right_yaw=0.1615 right_pitch=-0.0224 right_roll=-0.3694 right_gripper=0.0091 state[joint_eff]: [-0.0889, -1.6342, 7.1453, 1.79, -0.1197, -0.022, -0.0073, -0.1573, -10.0171, 5.4496, 0.8962, 0.1734, 0.1197, 0.7009] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.355,"right_z":0.12,"right_pitch":0.0,"right_gripper":1.0},"note":"The gripper closed empty at 0.009, and the overhead view places the dark fruit just left of the jaws. I am opening, lifting, and shifting about 3 cm left plus 2 cm forward for the single measured retry."})

tool

executing move_to over 10 steps (1.0s)

step 315

assistant

agent noteThe corrected pose now covers the dark fruit in the overhead view; no fruit is visible to either side of the jaw body. I am descending vertically at this corrected coordinate for the retry.

move_to

right_x0.3200right_y0.3550right_z0.0200right_pitch0.0000right_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]: [-0.112, 0.8188, 0.5682, -0.408, -0.1932, -0.0006, 0.9978, 1.1362, 2.0251, 1.3643, -0.4007, 0.9195, 0.4625, 0.9953] state[eef_state]: left_x=0.2869 left_y=0.0055 left_z=0.1533 left_yaw=0.0448 left_pitch=-0.0754 left_roll=0.134 left_gripper=0.9978 right_x=0.3147 right_y=0.3528 right_z=0.0917 right_yaw=0.1772 right_pitch=-0.0416 right_roll=-0.412 right_gripper=0.9953 state[joint_eff]: [-0.2393, -1.3744, 6.9538, 1.7998, -0.0562, -0.0708, -0.0122, -0.6222, -13.7368, 8.1846, 1.0623, 0.5348, 0.0757, 0.1294] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.355,"right_z":0.02,"right_pitch":0.0,"right_gripper":1.0},"note":"The corrected pose now covers the dark fruit in the overhead view; no fruit is visible to either side of the jaw body. I am descending vertically at this corrected coordinate for the retry."})

tool

executing move_to over 5 steps (0.5s)

step 320

assistant

agent noteThe corrected gripper is at table-level grasp height and the fruit remains hidden directly between its fingertips. I am closing for the second pickup attempt.

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]: [-0.1116, 0.8188, 0.5682, -0.4171, -0.1932, -0.0006, 0.9978, 1.1351, 2.1662, 1.256, -0.1616, 0.947, 0.4404, 0.9986] state[eef_state]: left_x=0.2856 left_y=0.0057 left_z=0.1516 left_yaw=0.0453 left_pitch=-0.0845 left_roll=0.1354 left_gripper=0.9978 right_x=0.3161 right_y=0.3477 right_z=0.0219 right_yaw=0.1728 right_pitch=-0.0327 right_roll=-0.4525 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.3607, 6.9538, 1.7411, -0.0952, -0.0757, -0.0122, -0.1026, -9.8393, 4.5607, 1.1306, 0.1538, -0.0708, -0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The corrected gripper is at table-level grasp height and the fruit remains hidden directly between its fingertips. I am closing for the second pickup attempt."})

tool

executing move_to over 10 steps (1.0s)

step 330

assistant

agent noteThe second close was also empty, so I will not repeat at the same estimate. I am parking and leveling the right arm to expose the handoff area in the overhead view and determine whether any fruit actually remains outside the blue bowl.

move_to

right_x0.2950right_y0.0000right_z0.1800right_pitch0.0000right_roll0.0000right_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]: [-0.1116, 0.8188, 0.5686, -0.4232, -0.1932, -0.0002, 0.9978, 1.1351, 2.1723, 1.2507, -0.1616, 0.9382, 0.4297, 0.009] state[eef_state]: left_x=0.2847 left_y=0.0058 left_z=0.1506 left_yaw=0.0452 left_pitch=-0.0902 left_roll=0.1366 left_gripper=0.9978 right_x=0.3146 right_y=0.3466 right_z=0.0167 right_yaw=0.1819 right_pitch=-0.0482 right_roll=-0.4662 right_gripper=0.009 state[joint_eff]: [-0.0615, -1.3607, 7.1453, 1.6972, -0.0952, -0.022, -0.0122, -0.1162, -11.3436, 5.6547, 1.0037, 0.486, 0.0952, 0.6911] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0.0,"right_z":0.18,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The second close was also empty, so I will not repeat at the same estimate. I am parking and leveling the right arm to expose the handoff area in the overhead view and determine whether any fruit actually remains outside the blue bowl."})

tool

executing move_to over 29 steps (2.9s)

step 359

assistant

agent noteWith both arms clear, a dark upright fruit is plainly visible; it rolled substantially toward the bases during the handoff, explaining both misses. I am re-measuring from the overhead view and approaching its new position at roughly right_x=0.23, right_y=0.28.

move_to

right_x0.2300right_y0.2800right_z0.1400right_pitch0.0000right_roll0.0000right_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]: [-0.112, 0.8215, 0.5686, -0.4248, -0.1932, -0.0006, 0.9978, -0.1711, 0.8284, 0.5835, -0.3737, -0.2237, -0.1852, 0.998] state[eef_state]: left_x=0.2846 left_y=0.0057 left_z=0.1496 left_yaw=0.0451 left_pitch=-0.0943 left_roll=0.1369 left_gripper=0.9978 right_x=0.2943 right_y=-0.0074 right_z=0.165 right_yaw=0.1124 right_pitch=-0.0314 right_roll=-0.0195 right_gripper=0.998 state[joint_eff]: [-0.3214, -1.5932, 7.0359, 1.6142, -0.1099, -0.0415, -0.0122, -0.1299, -0.9778, 9.5248, 1.6337, -0.2271, 0.0611, -0.0757] camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.23,"right_y":0.28,"right_z":0.14,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"With both arms clear, a dark upright fruit is plainly visible; it rolled substantially toward the bases during the handoff, explaining both misses. I am re-measuring from the overhead view and approaching its new position at roughly right_x=0.23, right_y=0.28."})

tool

executing move_to over 24 steps (2.4s)

step 383

assistant

agent noteThe new approach is correct: the dark fruit is centered on the jaw column at the bottom of the right wrist view. I am advancing two centimetres and descending to its mid-height for a clean grasp.

move_to

right_x0.2500right_y0.2800right_z0.0300right_pitch0.0000right_roll0.0000right_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]: [-0.1116, 0.8253, 0.5686, -0.4297, -0.1932, -0.0002, 0.9978, 1.2434, 1.4757, 0.8879, -0.4171, 0.8349, 0.8082, 0.9986] state[eef_state]: left_x=0.284 left_y=0.0059 left_z=0.1477 left_yaw=0.0454 left_pitch=-0.103 left_roll=0.1386 left_gripper=0.9978 right_x=0.2277 right_y=0.2746 right_z=0.1297 right_yaw=0.1496 right_pitch=-0.0333 right_roll=-0.0406 right_gripper=0.9986 state[joint_eff]: [-0.2667, -1.6752, 6.9949, 1.6484, -0.1099, -0.0415, -0.0122, 0.3077, -6.2154, 8.1846, 1.033, 0.6667, 0.2466, -0.1538] camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.25,"right_y":0.28,"right_z":0.03,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The new approach is correct: the dark fruit is centered on the jaw column at the bottom of the right wrist view. I am advancing two centimetres and descending to its mid-height for a clean grasp."})

tool

executing move_to over 7 steps (0.7s)

step 390

assistant

agent noteThe dark fruit now fills the space squarely between the fingertips at 2.7 cm height. I am closing the gripper to secure it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1116, 0.8257, 0.5682, -0.432, -0.1932, -0.0006, 0.9978, 1.182, 1.7397, 0.6693, 0.094, 0.8036, 0.7391, 0.9986] state[eef_state]: left_x=0.2836 left_y=0.006 left_z=0.147 left_yaw=0.0456 left_pitch=-0.106 left_roll=0.1388 left_gripper=0.9978 right_x=0.2442 right_y=0.2701 right_z=0.0266 right_yaw=0.144 right_pitch=-0.0442 right_roll=-0.0596 right_gripper=0.9986 state[joint_eff]: [-0.2393, -1.388, 6.9949, 1.6093, -0.1099, -0.0757, -0.0122, -0.294, -7.6103, 4.6291, 1.3651, 0.4615, -0.188, -0.1538] camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The dark fruit now fills the space squarely between the fingertips at 2.7 cm height. I am closing the gripper to secure it."})

tool

executing move_to over 10 steps (1.0s)

step 400

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]: [-0.1116, 0.8257, 0.5686, -0.432, -0.1932, -0.0002, 0.9978, 1.1782, 1.7596, 0.6567, 0.1001, 0.7914, 0.7326, 0.5127] state[eef_state]: left_x=0.2836 left_y=0.006 left_z=0.1471 left_yaw=0.0454 left_pitch=-0.1056 left_roll=0.139 left_gripper=0.9978 right_x=0.2421 right_y=0.2657 right_z=0.0161 right_yaw=0.1494 right_pitch=-0.0667 right_roll=-0.0822 right_gripper=0.5127 state[joint_eff]: [-0.0205, -1.347, 6.9538, 1.619, -0.0904, -0.0464, -0.0122, 0.1846, -8.7316, 5.641, 1.0818, 0.4469, 0.0464, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 400): [image omitted: streamed camera frame] camera 'left_cam' (step 400): [image omitted: streamed camera frame] camera 'right_cam' (step 400): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 7.067 s

model: gpt-5.6-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, 0.8005, 0.6136, -0.3874, -0.0143, -0.0292, 0.9993, -0.0227, 0.8005, 0.6186, -0.3878, -0.0204, -0.0181, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0005 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.4154, 9.5658, 1.9121, -0.0806, 0.1294, -0.0806, -0.0342, -1.5795, 9.2376, 1.8681, -0.0317, 0.0708, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c99427f50dad37868ffd88b06af397275fb54ce0b9ab3db8c715083b7371afa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af8aa395437c00499ce26280dc750bee16e35531004ac71e1e7a171a3ffa81e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ce7a8ed5da01510da87089fc1adf4dc77c81c85cc4bbb0081a659240969627",
      "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 · 3.353 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeCEjCn7gDmpx0qd9PEE_d9zqknuqdjIobPJ60VvityvEU8y8kH54rqeOHp2DMvYVhY5d5FJofOxZFlPtkOP6QnPmOuMi9L2s9RUFAa_5_xcpm20VSVDjHwnJrZpbnzYwzNMkHK-zxwUhE60SJm1KYsD16QchbHPohlntms-sA9EBlnh6tv9Cxjp8U6rLorZa8gSjcnfeBt2C-E_XrN74vMxWQm6q_jnjjtc5ARBofLoKvfWvxICoOZzhVnhFTd3QN-ph4h90BWxgn59CKJNUXHEjut8GgqzZP1PtgisTwc8zY0c9NrO1Dj8IKBoM92Y3S-GzYDjJJSRmuAAqiY3OmcLwRRS_NcZ8ur6fNUT1c7Jm5Zc-PfB_YC7YqIWJ82ZnRCv5msifGcBbt-W72Rx-RHqYSXclI6Z2OftpVGCbQgMKadQF4FeQzXbBuul5S0CWmUjR9wH-vic23_inSmuAcYePlnozgkZKEaRRl2_aXGnPWCsIbw6MyUfTem7CVKKe6Ca6wNYGCBYc8zlgTxjEBz_FelmBJXGY93DfZvmKsqtuSl5MqTsGvTvz7dWXPYfskwEE3ucyWK8R6029Fnyy0XlCZljQ_FUZIBfj5aCzdXdWPZATra6lELVHVdw2hjtJ1NF1ZKrkZxbyopms2HY1QffiXZngKYjURBycWjLdhz9Utjr-XWgR8_5dfoLN3Wm6-DJYp1RdgI6aa36ZoWUKCxWmPesWK-V1ZiMKZQr5n4NPH0tInjNJh7Zk4rXMYzru2DeSsqh7O4ep3mStHUoJbWeC_Qod630WWrg_rI1PQmAoNDRjcEqTgIY-HAW8SSrQBSVLQfpK6kp5H7SKsO0MEr7HUY8GQKodH5YPb_YZhA71FFDty3ifLQzzX2pgbRn22Bay5PT-GAQrObcSfjVtQofBfeDGD55vytAJc7YZd-e0kaIbVwArXwek89XXIDh-4Ill5FHhnfcdNqZGcwRTaPf1TRJpMd607GZeABM3eiaYPNDfjmAHJpeb8GdAD12Ox3ghJuf8LMG8Bcimx12-7AJlwftZ-X1hileppKIziaGZL5lXEvfIjwPK2gH_EV6xDvkjpuVbFEzO4oP4c9ebuzfaceIMtPqmyDcS7ERd-dlr5lVk8uX0FEEGxqH7dXEM-iXsONlqnLxUWe7cZHzbJzy6x7xpCgJzcbjM6zfYPd7AEduPWhc-xt9RsK12Cn2XUfMpdUqUB2F6gBHsxXZdJrYGzDkb6v3i7io5T2bM_ThN-W_ZAZtzfIcn2pz03uJb1UxA3Gr5TlZkdsx4bT9YrOEWN5dZIW6KJEurBDunf-YiILst5X46qHhaFRgNB6NcpQ4SveJ2fybu2zl5Rzg8dD-Yjz1gYWAdu6MouFquIVlTJwPfaeMM0_oGLQcMu-fty3cGjU7bZZ2_YivoAVcpPxwQ7maqEgagPEl3c27ffQ02eq08CJa67N0hfu8ihzSllVeQ9-V9_I-rOyYPCekVcrPWZmOBHOgyCJwg0mCA6ASF2LfSy5lig6R9mqARu2OweXoLO60UHXaJUp2G2fd_aJBjm4YiW2zoyt0XnsR0yfor40g1xpnU1lZVJN6VSTs8N6CbBT4UEZp51O7jS3ooefW6Npg0eZkEGsqnqpU1IpDzO5MDRP-1bDXugoXaFwnK0SR6Q8WHBZWPYaeVLZDSQEXN0c-C0l4_zyJpoYfeeRCO-WcTJQzf4nxSVclR11kO5Tmbbk-okgqRQ-ePgYjHJWGK4_FlW5ZMiTy60Rc6imRMQSt4kZ4-c-XofYu-fiHp8NzuxROhLgd0ODsYDTyT4LbPNEV0nxf5DFOF-4BRMQ4Sgdu_1FQ-BgAxOseC6fLvb9mkxspFsVR61k7Z9DsOA1uJVVrdxsdd4NC-sOn7CdEEqL3Yor1mpQ0gb_T07ceD_KFANYjgbukxkcOkVaHOs-Jb-wKa2KqkR5yBLIIBokXtKZG64LOEMabY4KX8xBZsxcT6r0gWb6fAXJveLtoSjCt2F6IggtV2X9jmuUQg4bYAg6U_MSKGX7dlR3G3hdrU65DYNy5uSujWZ2kwc9AeMzhFZrzYtAsUB6XxxCPVehDsGd-4SyJolbdPeidZSuWh8tTJLTFN8nlvSe778Nav5jePKR6iNk74In-OqaiuzqdbUVKLurDQ15uXL6r_SkdyqoGCWM3g6y9JIoairjUfXtnEmtvS7cNxl9rrhsLyAx3DBoyJZqEhhWxzU54LKIpECx7Nqg7HZjSLEQ94URagamh49l8ZBkLLqbb9Vyvz938m8kDlvWF7XcxbsY5EX-GmqVCL7LW_O1ldVyE1kqu9lhMlzvh7kZe5O1JM2JdW6Tx6P0UnVM5JSxhtVrogmuVUcd4EzOJuzxK-wyX-zq2MaRqh_NURF_xvVD_I0t0mC3SwJanqxRBXjZPVfipYnZXa73Nqg6Hw1Uebh5A5zYoTWI1QNrgbg_6DLdSMWUOc4JBeBqcyPSbnDshJdsdiFuZibKhxbVYO-kZ2Nigr6Fgx3nh-LfiywH9we6cHQx61XWthZJNoJG7V-9Cyv0EV6Wn65S6kVH50uSExqQdT09qlglK4ZZB2DdiuP9LgqMTVp0rK0ugShkkC-K68_5Huv0D6ko4pB3jZUdQu8x2lQfgGIzjDI6b_CxnnoNTOKC8njIiRZealDgtD87Au7W9fa7pb-8T4skmRrfl1cl86MVvmpfRAkKuxqVSx4JmFuaysL6Ur5cpST20FkQQbYtbjV-P__9yafJ1j4KctINtTrTcZR_7ZEjtxc8m6jSdk9b7nLPfa2mfEBTNX3zoH9rN0hrox1lSH2mBP3eJQot0H72rTpgwE53uPxMD6tmfQu6ES7aVZ6-Z-jGjKGBTjT23pUU_nXrTNy6nkHHptfycOupI_5i4NKH4nGFej9wzgOVBY1hJRgTPsy9406LF-_fObVqr_oOEvbvmF9a5dudtfnkqey1WRZxlMdZOfw3HNl-j2y9HDRMv3denV2LXj3a7Qwv_0Z_XYpeuv8xpzxJN-ao2ZH7vxyz6icBXFAV9XYTbGxEx-uKEST7LTnA1F3v43s35QWoJvkYZH8DHpJK8sl9uYD055kWH05HUPmcPZ8sTIUPAdbmkFR8zJTZBw8qPSRilVxjV5AOU6RI-iGbtCeYZH65iL9cyEj2DKJlV71ry7mOhg01ZwW8nHNO-x9U_dWilxUAvUkxLTBkaSgvBLeMGetrFMiJB7eavyhB8oKo8Y9kMOJjm91bI6FKESG2Wn3NA-IKY3yzXsLrn5kySfRBBX5DLEXgwKeMP0WwKwmI2nlPG7hDICK85YxavbAtvGlpFvJPhdL9RhKCQxhFku7R09l08uJYZXICWC5sxKJOLMBnvIbmxrrXwBiutyrHXRS8FpwAK_xvexEchb4dq1Q4Esv9LTbltrCf_uLtoYoSotKfID4ALuRaXMOM7Gc_f4yKR8QPZ7nmOqllOSktKZCL1IloCuXVkEF2ZLaoUDbVOHMjyO38W4HnPef4HDpZkvkwpFrOhPiFEUuWn5sNA3nSKoe39VuGKxTwSMcb2dHkF_GJd1sMYfMP-VRKCgY3IHeolNyGjHDDG68Kdohwc4x6McNC1r55acei_QKBHABbDXXoYxq-owfXtpc-fKyg7cKn8SI3IUpJ1txJLPoiw8bJ5_DCeugwWH-OsC6pEYdeGz2qi_M0tYKhNPbq4IURHc9pf7E-rTCmKa6YmPnOv6W-jvoLgJfq0_ZFa-TNKCPON3bv-7L-5lQm5y06rsFrX_mua3XrxwNqPvhzkTNpjeq5qbFzqBaE9zfPdxQ_3_kNQNFClnFmrkxr7AFYA3W-zeBct3g-CE_vJvaRRegkjnWCg3ZTyEjuPukXaF9191NriqhFbiGN29fmRM7hcT-uKLGD0P9F",
  "id": "rs_0c1b3e2e15b4fcc9016ab4477c4c4087d0aaff4ca1022608ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.0,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"The scene shows three likely fruits: a green pear near the right gripper, a yellow lemon near the center, and a dark plum left of center; the blue bowl is ahead of them and the large white bowl is on the left. I am moving the right gripper slightly forward and down above the centered green pear to line up the first grasp.\"}",
  "call_id": "call_a17KnNegFEebHQV8pn4zKIP6",
  "id": "fc_0c1b3e2e15b4fcc9016ab4478144b887d0abf4c178150ca334",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a17KnNegFEebHQV8pn4zKIP6",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4007, -0.0139, -0.0269, 0.9993, -0.0219, 1.0615, 0.3668, 0.0853, -0.0238, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0016 left_pitch=-0.0153 left_roll=0.002 left_gripper=0.9993 right_x=0.3204 right_y=0.0008 right_z=0.0907 right_yaw=0.0041 right_pitch=-0.0396 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.388, 7.0906, 1.8828, -0.0757, -0.0366, -0.0171, -0.253, -3.1795, 6.653, 2.0, 0.0073, -0.0513, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9002afb7401634542acea50e24f581ec250c65c8e040219ad6a5c63d44cdd7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d944fc41c955051e81e10dc1761a56574783fb159d30ee64c256d0c5962983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f2fa36c0d071ff2a67a7b48ac9721b75d23f7d6de28c9d04f7c14126a80992",
      "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 · 2.676 s

model: gpt-5.6-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, 0.8005, 0.6136, -0.3874, -0.0143, -0.0292, 0.9993, -0.0227, 0.8005, 0.6186, -0.3878, -0.0204, -0.0181, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0005 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.4154, 9.5658, 1.9121, -0.0806, 0.1294, -0.0806, -0.0342, -1.5795, 9.2376, 1.8681, -0.0317, 0.0708, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4007, -0.0139, -0.0269, 0.9993, -0.0219, 1.0615, 0.3668, 0.0853, -0.0238, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0016 left_pitch=-0.0153 left_roll=0.002 left_gripper=0.9993 right_x=0.3204 right_y=0.0008 right_z=0.0907 right_yaw=0.0041 right_pitch=-0.0396 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.388, 7.0906, 1.8828, -0.0757, -0.0366, -0.0171, -0.253, -3.1795, 6.653, 2.0, 0.0073, -0.0513, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9002afb7401634542acea50e24f581ec250c65c8e040219ad6a5c63d44cdd7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d944fc41c955051e81e10dc1761a56574783fb159d30ee64c256d0c5962983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f2fa36c0d071ff2a67a7b48ac9721b75d23f7d6de28c9d04f7c14126a80992",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeLVkl-I_rylQgeagr-a4TOgOhBnPpzhwQS2TXLrseh3b1sQXPc_3fbhoP4j6foXIzZ6_v9vjlUhOJkXPZhnWWfHYvY1_zRJzzWoAeAMhp2-AMCiDud2FvVsmNOlEAUJYRi4yZ4KMf_Fl0dEgh4LuocK0jZ49R0QbeWdpDE2w4GNZZ9BR8wk5jYN1ypzdU08jO3NsZaiDNjAFLqmARfZ1JlLNFAgbqaTQzetCCknKCYJAJZd1M5GcopcpiaRvKepwHbYvQcUgiY6JS-0PTVOM2K-kKsRJjNDMqmr5lxHwGMwqJrRQxNnFd6JyDdeM0xp-dX5NPP32v9ja8yLAAZjX7jIyfDoLLRY3uynVfCWh-rrRjvgenBoj1ngr9kNhXoJ-AhHljZBigxCVJ8CqISVx-Dr2_g3sFmPO8FwE7c5134Mc6CoXHk5LCX6YQjazmSy5m-n_0w62uGDp6Vj784B2bmu8jQn93paRKvJqfWVMH6tUfWLRf2-AqzFlu1vR_qHcl8HbUsTWyRJgd1nNzqzslovgb0PmwnG2kIeYroDkt-Pw0lq-6AqFsrGzOpmpi4JyCJKYi47YaMUueG5dTVCJQooRdE728D7BWLYNoPtP_-VaAmcWYyikSyHWs7xmuvjcF38WkonYVVUMnmfoWSXwpF_Tm91gzKsOnu1yn69nfSitHU3bRsa48Ivp5JtMqLhGKJ73oLaJLdqDUewQ_QjLWalvID0n1jqoBs6XF5LWqCFCbrqhh9cvoU9qkAHvQLeOwWiBj8O6EV_6T7N_p0p9iK9EBYJxUsrq1_zM9_axyrowCe9yWWzVHQ02hRBN0eRLmt0qc7yrtmaBbkPRa92C0I0voYVmM8e1zYFs_NsqHRXz_VASKs11lj17utLIFyQAdajZpe8rqSCGgZdBzHFnMbEMsUYa7KCYFCN4Bd2vOWYpv61nQES8pt3oOd883ePqYpUgRtGOYSt59-7phMP8sFHUaKZhSR4T07TKaK97YG-DPt6Tjx9MUYjv4IkNQbRiD0YCFQVQlpsQANpD14-oS9rwCC-fBzpGCPMJLf-Ene4Vh0d9kYw52EmDO-661T1BXXX3sRXMOFFTq5RhnLilBOQtwRDuQIB-cfIEaDa7JTIxrNelDC0RLOVn18sTL-t6ZzOY2sVbNKg7pyFDLJhKlTTCnTowXtpcEwbw0LCMbOpdW1ZWUF32qJD-BRZAr0X0l-EpZSI6qr-vc3Nb_bj9arzpXF2d_s92C_9a4Kchbqz99Yd444wI4SINbuzrg-cf5rQmXrFmWiJCCP3kK4WtB5fayBdgQOBPNbpgft7PBKbJsmVQ1vtgYtKkUqWOgMJl86OGIL0pKyaPHn13pTbRadi9FFw81SkpzalLFVX-su-83-3k_EnOiP3GXr8-0X3BKDu3Jop4V-CgjpLVma-WWmbwFMyqvVBolpy6PsNjVnugHe6KTalfiVId-n84bta_Yj2r_oW3cpM95jFd3KE25VpQ==",
  "id": "rs_0c1b3e2e15b4fcc9016ab44789929887d0aeefeb7b557b9453",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.0,\"right_z\":0.035,\"right_gripper\":1.0},\"note\":\"The right wrist view now has the pear centered between the jaw columns, but it still sits just short of the fingertips as expected from this camera angle. I am advancing about 2.5 cm and descending to the pear's mid-height before closing.\"}",
  "call_id": "call_0k96zl2P27YxkD5lY40DsnoA",
  "id": "fc_0c1b3e2e15b4fcc9016ab4478a58a087d0b803d6ca2faa53b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0k96zl2P27YxkD5lY40DsnoA",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0139, -0.0265, 0.9993, -0.0227, 1.449, 0.3012, 0.5003, -0.0322, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0018 left_pitch=-0.0271 left_roll=0.0026 left_gripper=0.9993 right_x=0.3402 right_y=0.0016 right_z=0.0266 right_yaw=0.0105 right_pitch=-0.0776 right_roll=0.0083 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6068, 7.0222, 1.8046, -0.0806, -0.0122, -0.0073, -0.3897, -4.9983, 4.8752, 2.0098, -0.0024, -0.0855, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb1e7120c0b6cf0cf783d95ef527933d47a63ff4d3f29d0f3614e735fe222b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6e0d2908bc25ab21a51e639eabab833e766917e067b4ab0d6aad579366a2e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93d32d93cbc917cf7a1cc30aadec72985a62a69f1e60ce9f86a14e1d4e84dba",
      "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 · 3.008 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4007, -0.0139, -0.0269, 0.9993, -0.0219, 1.0615, 0.3668, 0.0853, -0.0238, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0016 left_pitch=-0.0153 left_roll=0.002 left_gripper=0.9993 right_x=0.3204 right_y=0.0008 right_z=0.0907 right_yaw=0.0041 right_pitch=-0.0396 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.388, 7.0906, 1.8828, -0.0757, -0.0366, -0.0171, -0.253, -3.1795, 6.653, 2.0, 0.0073, -0.0513, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0139, -0.0265, 0.9993, -0.0227, 1.449, 0.3012, 0.5003, -0.0322, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0018 left_pitch=-0.0271 left_roll=0.0026 left_gripper=0.9993 right_x=0.3402 right_y=0.0016 right_z=0.0266 right_yaw=0.0105 right_pitch=-0.0776 right_roll=0.0083 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6068, 7.0222, 1.8046, -0.0806, -0.0122, -0.0073, -0.3897, -4.9983, 4.8752, 2.0098, -0.0024, -0.0855, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb1e7120c0b6cf0cf783d95ef527933d47a63ff4d3f29d0f3614e735fe222b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6e0d2908bc25ab21a51e639eabab833e766917e067b4ab0d6aad579366a2e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93d32d93cbc917cf7a1cc30aadec72985a62a69f1e60ce9f86a14e1d4e84dba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeSYzZY37rO5m6iTYfeN4plJNuF1aDUPinMkJZrMSimUZDRjhhd1mMJIJiDRFM7c-txXz6OI-iBphdxocGEDzJK-cIdk2Q7CeXUIxtdq99lEExWhFZFbyvVLiXxg55RN53a2M9JbWj2XlHFvkEB0307wnN1KethbjfsPHutclgCVXeQytyaXSsZaBMxsK58F94mvKPJO9rmwR32MFonlEdJa_6TTb4az71Se3mRY2X-CIa6EJStHFrzax_OSYfu-ezxLvaoFvYn1vTESoinPjqgAVVytKDfvGPsjSVr4wESyVEWKcZ5nIDPAjnpgVDCiM4hPQPB5mFQuQ8gg5mv0uG3-FeKmXW6kQxEuu8JdDE3Xi8BgDw_IZTx-Vjlz53m-RiICn42Y3pWcdQ-ZNyFT6mSpEvvzTplukWlr3mTQh55sEYJpinnQviGCC6xx8Q9X3_EP2mI8_C8ischlRCrZ2Ad2d9_teDuUmXeTNpcV0WTsx5V19GKtBszVbdLlIFwFYUgtmI3GKvOeBghchGNwL6h2iHJCtUpPD-jnP5KETP-lmvjdKTmM63eUEXXsgxa0bmPY5Vz3uMqGoSWG5X2o7Rx2TCcwk1K_rt1D_qYIHqaO3PO3lVFxkeOE5jTPh_l9pXlscuapbRR3zIVKZpX8Cyg84OzKc_VyKAR08PGPZg8ZHEgFSitgNKtmDoPNAExm3HYaLTP0QDub3LzBznqQbcVKYIkX5qaX0l3xIoJ-P-Ulab1OKRcHMkuFPCa1DJRvXFAVtYNGNI_T7zjIbGOq-cl_g9ljaV3FogVojc0ysNGSm0KToBB8HSVOefOhOPN2gagiGNNWNxCeNh2tZmf1ADPKWdAaEphYAJMH2tHhqkb3K1ytktii3FUiPnAtQyVajbnvf0imGYtzk8L8FAUSB7_C7MA-jD_VXpeiZorwy1IAjOCXsHYf3MB0e0S4v0Ta_okYINizFJQlswSqnxxLoZggggWCROu3KmYzLA4jnR_IXC1frPZ8nsiiOzrG3y6zditrS1uWC2eg3DIroymEKflK5cEhoFmHRhY6msP04T9Y1Wf4qX1JmHcXzJSRA2H8bG18s0k3CBgDu1M0e-0_4oUCTw_c6ESPPus4mIdgrGd7SmmAP1o1wJR_cz7lHnyCVtYbkkm_pi57axDI4dBtk2G_PWPbavTtlC1NT34K6yerqIXuP6T1lJrWbRVM52wCs1W0kbKdgulR1vES6_OJ_6_5zU44fJy6-IBxz_WqUFn4CuiMJoKI1HX-zsTldpn6YV78vleCy97gqYXtlahbU9lVyGurJNlCGV4gM7cy1qT5C_ZBO8H4d2UecShx_xjIsPw",
  "id": "rs_0c1b3e2e15b4fcc9016ab44791050c87d097185be6b324892f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pear now fills the lower wrist view and its body lies directly between the open fingertips at the commanded mid-height. I am closing the right gripper to secure it.\"}",
  "call_id": "call_gplUYaBKLRBQeuybH9MsBpMw",
  "id": "fc_0c1b3e2e15b4fcc9016ab44791675487d0a0acb1ecef2e0d16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gplUYaBKLRBQeuybH9MsBpMw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4164, -0.0139, -0.0269, 0.9993, -0.0227, 1.449, 0.3016, 0.4984, -0.0357, -0.0223, 0.737]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1735 left_yaw=-0.0016 left_pitch=-0.0347 left_roll=0.0024 left_gripper=0.9993 right_x=0.34 right_y=0.0022 right_z=0.0264 right_yaw=0.0152 right_pitch=-0.079 right_roll=0.0077 right_gripper=0.737\nstate[joint_eff]: [-0.1846, -1.2923, 7.0085, 1.8144, -0.0708, -0.0611, -0.0122, -0.1162, -4.5197, 4.9299, 1.663, -0.0073, -0.0073, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058af96973e00c95024f2148a63b821a9391280bf4fedc761666167ba6cffbc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13042bb733c1d058ebba870777b2c6747e2e346ff9dc9a319f76dd7a0180ad0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861f7663b0968ecdac9f0af1774fa228964223f08fb4152dd12f636abacc4cd4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 3.996 s

model: gpt-5.6-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, 0.8005, 0.6136, -0.3874, -0.0143, -0.0292, 0.9993, -0.0227, 0.8005, 0.6186, -0.3878, -0.0204, -0.0181, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0005 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.4154, 9.5658, 1.9121, -0.0806, 0.1294, -0.0806, -0.0342, -1.5795, 9.2376, 1.8681, -0.0317, 0.0708, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0139, -0.0265, 0.9993, -0.0227, 1.449, 0.3012, 0.5003, -0.0322, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0018 left_pitch=-0.0271 left_roll=0.0026 left_gripper=0.9993 right_x=0.3402 right_y=0.0016 right_z=0.0266 right_yaw=0.0105 right_pitch=-0.0776 right_roll=0.0083 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6068, 7.0222, 1.8046, -0.0806, -0.0122, -0.0073, -0.3897, -4.9983, 4.8752, 2.0098, -0.0024, -0.0855, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4164, -0.0139, -0.0269, 0.9993, -0.0227, 1.449, 0.3016, 0.4984, -0.0357, -0.0223, 0.737]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1735 left_yaw=-0.0016 left_pitch=-0.0347 left_roll=0.0024 left_gripper=0.9993 right_x=0.34 right_y=0.0022 right_z=0.0264 right_yaw=0.0152 right_pitch=-0.079 right_roll=0.0077 right_gripper=0.737\nstate[joint_eff]: [-0.1846, -1.2923, 7.0085, 1.8144, -0.0708, -0.0611, -0.0122, -0.1162, -4.5197, 4.9299, 1.663, -0.0073, -0.0073, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058af96973e00c95024f2148a63b821a9391280bf4fedc761666167ba6cffbc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13042bb733c1d058ebba870777b2c6747e2e346ff9dc9a319f76dd7a0180ad0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861f7663b0968ecdac9f0af1774fa228964223f08fb4152dd12f636abacc4cd4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeWTD9jpswjyt0p9g9dYG2lKzY_2ZE5nBncCMd0Okj7sEzv_zmJF9KYioBjjEsAUf3YYbAutQzLqIgKGlzDvWFS_L77JsWKUtLqEgbrNZ62B2mANbD-HeHh2dgK8NoQAhynasApV7HQx3-Y4IQexqRogh03dhqgTfUEGtXGlzsObZ5GPWV1YxeCXjJYNvs4zpNoEvybHBHzjdjbJDjNaNW3WvnaqyY4QtCOnRIPOUwqc0Tim6BWRHwC_o2nDnGrmJJM3RHGYurNXHoGWjSv2aAUc4ULajvtMO5SfSh8hnCmxx_62PqIby4naK5skVf68a5lnHlUDtMAeJdaHhfi5Vutm3ZAQnHe67elQrnEwIaK5fJgL24u0735gXl43nrJZWWwIFttfFyYb33qE2tB2AHPTspFGw8Itx7ll0ZiLdULdUD6jJrVVJf9yW5R1SWUrJl2hpfK5u-l8KlV5dpHZGCrdqOpmGiXj0X966d0wX44ldwVkrC6kTUIzuX29w7cSX0rJqvwpWVKBUQDSdKuVsvbUdkfHpyW0G8twicbFUovmUETMlg6d8LfqFFIhDv9waDWnXyyyQlrJBmkmZqFmbuMGlPQCiRdmb5d5OV1Ghoyam5ZwJnjpNJExSIRLfoLiGgRqxJCDSpvs4FJEkg0TMglMQ0gwGdpay0hiuCIWJRToN9gcBLh5nNdjWteCZEnp7ujSCttliuM1VkyFQzS1Ewm16gtPUdOVVx5UJSmQjvG11DmA4JqkGazjlX0eL2EEx_hZanL63mlaH4HaCfg9qmZ4vpO4sXkcK6fxO8aSTwaHW6j_qbj6x7Ha1xd26kTLcw2GfX0jBJiLnzF7-NKFcTuxN7U07ce3D9xI-DuetOvo9phLXZk59SJDlZAW3P1ExE_Fop376D1OF9PnqwODRT48adBA7i8u4aUoDvoIlXvcz_LGj085Tv81Dk8YzX7FO5s58A8qbPLOEmhR6g7Od1EwftIWQ2EXaNlpCnRvVYBvkIWGZ2kw8qhMdwaaTO3m1i58A0k8IvvytOjoTEoRPg2K3fL7JCctXXJlYvG0CLW6HXCD9t2bzHzlbAsI_gk3QbXwaK7uDJAIKtcQ9Dc4lB2XG5hcOjptPVwqq9gzR92_JcpEq5f7GBcBPwTSBpYlCCa6oImlS9MeNhwWLzmjXzEI3TnS3VsYfttQhE06YK3P3awswb2shyw93v1cKKSHDTmWlLfapoOL6rKWU-YBQgQR9CHT-zYo9UvqJfCyy2fz1d1Y9Rexe6LDZamqYzYehWGWVtobxy6wK6ttL8kasyqttyZFIBwsiq7VUtYG_uZnRSNOUuDML924cOTh_TQtdsdtOKj7ZJ9hkPQ-vm2AEZQQHP07LHMlf7DViV1puZ0-S5O4XHoj9ogpt3BYKabbzJVZuNuhNufwwhuAwilKTY_gRg4AtWvDZT_EZadI5cQ0KKo1dVOfRq3kBU3l_OQHxvhXb2Q-DC4kYk-lZdydnEFJtVfirgamdlUQ7eXvDVVnhd9jY41rO6FmobQRr2IhDmsPU15FRBjKCn2HXXmXkOWXFyxzbXnZjf-mfGA0NV4IpPlhpyfGWEDaEbAv6CvjfBsrxokkGdO9yDIIYIg4u4mLXN_kbpAUS2QsiBwk4yyHqUcrdBakeMxG3qkNRtvy-J0UoFihv5YLuENUZelnsOtVcms4kLn-2_dGfMXSALBJ-bPE_FVMuCC0l99B7cLRrz5dO1AYr4m_R6q0cSTBOx3d-76XZMgqCLPWs2NalOcjD6mgpbw2PloCTuu_sN0IUBpntxg6UZVM38sVN_uX6jP3A==",
  "id": "rs_0c1b3e2e15b4fcc9016ab44793f62087d08b38acc35db950ca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The right gripper settled at 0.737, confirming a firm grasp around the broad pear rather than an empty close. I am lifting it well clear of the table before carrying it to the blue bowl.\"}",
  "call_id": "call_qfyshSSFaSiEH4CPknfuJNMw",
  "id": "fc_0c1b3e2e15b4fcc9016ab44795697087d093deea79985d127a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qfyshSSFaSiEH4CPknfuJNMw",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.424, -0.0139, -0.0269, 0.9993, -0.0227, 1.0878, 0.6586, -0.2901, -0.0391, -0.0296, 0.7406]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1714 left_yaw=-0.0015 left_pitch=-0.0442 left_roll=0.0026 left_gripper=0.9993 right_x=0.3309 right_y=0.003 right_z=0.1361 right_yaw=0.0224 right_pitch=-0.149 right_roll=0.0072 right_gripper=0.7406\nstate[joint_eff]: [-0.0205, -1.347, 6.9949, 1.7509, -0.0806, -0.0806, -0.0122, -0.1983, -4.5607, 10.1402, 1.8339, -0.0269, 0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8370deb35ad90685b67d205b3d89d891eb5314cf18b3b8d4e29b579a6574c440",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66ef590e8ca8a6f94c3217c04d8124f5e1a84bf7a51c8da6d2ebebd7382515dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8e8c596c906dbf11934b36f7c1bf0b04263b9c68b354bd1cc45006ffe7b3f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 2.428 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4007, -0.0139, -0.0269, 0.9993, -0.0219, 1.0615, 0.3668, 0.0853, -0.0238, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0016 left_pitch=-0.0153 left_roll=0.002 left_gripper=0.9993 right_x=0.3204 right_y=0.0008 right_z=0.0907 right_yaw=0.0041 right_pitch=-0.0396 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.388, 7.0906, 1.8828, -0.0757, -0.0366, -0.0171, -0.253, -3.1795, 6.653, 2.0, 0.0073, -0.0513, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4164, -0.0139, -0.0269, 0.9993, -0.0227, 1.449, 0.3016, 0.4984, -0.0357, -0.0223, 0.737]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1735 left_yaw=-0.0016 left_pitch=-0.0347 left_roll=0.0024 left_gripper=0.9993 right_x=0.34 right_y=0.0022 right_z=0.0264 right_yaw=0.0152 right_pitch=-0.079 right_roll=0.0077 right_gripper=0.737\nstate[joint_eff]: [-0.1846, -1.2923, 7.0085, 1.8144, -0.0708, -0.0611, -0.0122, -0.1162, -4.5197, 4.9299, 1.663, -0.0073, -0.0073, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.424, -0.0139, -0.0269, 0.9993, -0.0227, 1.0878, 0.6586, -0.2901, -0.0391, -0.0296, 0.7406]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1714 left_yaw=-0.0015 left_pitch=-0.0442 left_roll=0.0026 left_gripper=0.9993 right_x=0.3309 right_y=0.003 right_z=0.1361 right_yaw=0.0224 right_pitch=-0.149 right_roll=0.0072 right_gripper=0.7406\nstate[joint_eff]: [-0.0205, -1.347, 6.9949, 1.7509, -0.0806, -0.0806, -0.0122, -0.1983, -4.5607, 10.1402, 1.8339, -0.0269, 0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8370deb35ad90685b67d205b3d89d891eb5314cf18b3b8d4e29b579a6574c440",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66ef590e8ca8a6f94c3217c04d8124f5e1a84bf7a51c8da6d2ebebd7382515dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8e8c596c906dbf11934b36f7c1bf0b04263b9c68b354bd1cc45006ffe7b3f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEecgMyfTW9BUwwfsl8-6UfVw9aSoeVuQHR1U36gXm9BsYHrkL-5TC9NYCUoE-gql_Qm7XKLQwGut0xZTEde2N0cpRVfN2nTnJcbA2LM0KNKQjVKf7gj908L8PyXoDpYnTSqe6oRFxcdDGu6c25Mg5NRzqueQTB8eHJy0Ovx0MJt0QB3ELjWyrVVnaSS6fylaNk0cMGSzRygI0JYNSQY6YAMHXyZHpxTPVC2AIGEsTRYbZG8ADtf61RoOD1dp0rTlyJIwHnfITKH520_z7fnpy3G1gv4iIE3qlCt3YyOaAdAHDYJPTK8gP57H07Oeut_gCm3tx74I5-VYRro9wzV7NQnTxL0qn3uIkF8U_xz0ZKlpevbafq-nWW00ACJq3MEydDBQ-gTzOiKj7hCx4wpBf22JToZjRQLWRCvKP7Sp7Q_z4nOJgNNFmt-z3xKsafL_VXV4WQB5jIKcpA3QE-O-tKN96szU0hJ_3VTGr7Iky9mu-E7CLPW8W02AJFA0CBKNqzA9DU5G8hN2qvrypjblFQF0ZMCq3MaNay3WRKPuiedLhkmvvY4X0Gt0TDJw9U2Tm9U8Tn-S3nXevcckT3OeQyFoVeaKDaNx6PFd-ddGgtJMf4twN0t5997JRHeB0L0vxE4oReKgUjRvGacH27knYHw5j8jG9Nf04X6b0lFyif53oTTvaj4vSiWKfo23jcvANw2afdlhU1ZcBW_PsLQxh_vhSO9ptpaE0twgCU0rSDF_PjZiEYvO-CGtFUVd5dWH83TkRsxkdnEKeMPH1XxKd2OjwgV37UPDJOZNu9Y5wSGmG-IByOluKO6o7cwPscdi2zYVfURuFz0en4_CucA76J5-xic8w4id4-qDHuAagHO_N90gp5JSIGvX-jKXlS8OMMYBsyoCQA66rKlYQwWiSDpsu0GZLsrriCcKkbovWOon6du-I8mU3zy5CETwCbPqqZtNZRTdvDrYrJyKdmlnQH1ziGPskPnv2qh9YO-M-WlTZ6SRHrwWJ1eHTMo3iyoMWYWaOHgaAAr1AKiIycZvPW2YZF5-QZNrDXO1UuG0mC_iIkTxZrMY0vhN5dx3p_UOyUMXCJy4L6KvXajKF6YxBlda5_DgZNsgD_qCZfuFa82cpKieRO2Dp3U7IP1cZNMGBLCvahwp7VB8E4lWj9C1yNKD4ZwWjzE3zbTFhb1k4gif3GOqX6xtjaJ5CB95G2q3MmU5dNC_4mMRNUQwu3IbMwO12didNCBFob7xry-sN4W2xgFM-eqmwxqEY-VybYdoF_wlU9zskg0aVyMhTH5Lma1Gck1xum435HZdOvUyzuxNBtGgQAqIECQzVwr1u3DvgbO9h0ERZ1eVm5WeIXDTwLRbTUNZgtM-rj7mLYFzc9BEXnNlR4Th0dPVwelo4hd5fg_Vyz9DM3EYmCmZm-HsRtg9a7_bnhLWdu_gWH6atNhOfCqrN2JB-2g0-bh0HhG9MGgjhVdCOqwS91dpa9lkFvAzkU29EWWuTZq9fPAu0RawQhxl9FpEGGBzvb92jjUwBFL4yAHcC4Sj0C0l4UJKarygOr91ju5LuYG8hsp0v3yHbCWEPXJaDJyWXy4hpghz7Ad-CZ-_f9LODFooYryLJSvLWztEFxbp-66UZqqGrM25Nqf_kqJ4glAq7OyyvqQeb4BUWylTjSPbrO-0bLXYt9xJXZRYz_Hs3mF_d9QrNbZuipSOXaxNUl01kY1n1X_ueTOZTYDGsXO9hpU-XRM0t-sAVjVsUH795nwBtdtgEpwAANcyPTFpU6NpYvSvN4Qh-mF79QzGn1lxO4uzAhbOvBbHeHjxWIKeGPesockmNZrJjoKUXR_2t4HXx5oxi9xNeTSNezHxdH2sE0q6LpiYI-W49QfNDQYm3xLhUHiMTrWz7LnvFa0yIOGcw6ukvohwhhmBLHRIiU6O3pMSuG1s1FgeE1E2f9KYA3-w6sg9_SnBZaQCsiEbQEDwyj8KQpicLBATTY1nfAU9Jc2UPQjbUAHqQ==",
  "id": "rs_0c1b3e2e15b4fcc9016ab44799c3a087d0840f438cd3228979",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.11,\"right_z\":0.2},\"note\":\"The overhead view confirms the pear lifted with the gripper, and the blue bowl is forward and to the arm's left. I am carrying the pear above the bowl center with extra height to clear the rim.\"}",
  "call_id": "call_L4uE0DNE7DFt7ri93wRLawrR",
  "id": "fc_0c1b3e2e15b4fcc9016ab4479bd33887d08751a0cbdaa6d520",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L4uE0DNE7DFt7ri93wRLawrR",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4309, -0.0139, -0.0265, 0.9993, 0.3161, 1.6188, 1.2911, -0.4923, 0.1905, 0.1692, 0.7413]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1688 left_yaw=-0.0017 left_pitch=-0.0557 left_roll=0.0032 left_gripper=0.9993 right_x=0.4371 right_y=0.1115 right_z=0.1757 right_yaw=0.0533 right_pitch=-0.2313 right_roll=-0.019 right_gripper=0.7413\nstate[joint_eff]: [-0.1709, -1.6752, 7.0085, 1.7265, -0.0415, -0.0366, -0.0073, -0.4855, -8.6359, 9.2103, 1.9805, 0.2418, 0.1978, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cefe52481e9cde6b57f3303fcac0fa6f3e9e82aa4b3319aef78389ecd0c8bb00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eceffd482d4c588d714f3a6a191b4f80ab9dd11772504b765773d8ba5c8b7f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71b35fe31ea70a3507cea058c4465d4636c0c8d5759e9c1d7a0f551f8d6cc97c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 2.125 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0139, -0.0265, 0.9993, -0.0227, 1.449, 0.3012, 0.5003, -0.0322, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0018 left_pitch=-0.0271 left_roll=0.0026 left_gripper=0.9993 right_x=0.3402 right_y=0.0016 right_z=0.0266 right_yaw=0.0105 right_pitch=-0.0776 right_roll=0.0083 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6068, 7.0222, 1.8046, -0.0806, -0.0122, -0.0073, -0.3897, -4.9983, 4.8752, 2.0098, -0.0024, -0.0855, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.424, -0.0139, -0.0269, 0.9993, -0.0227, 1.0878, 0.6586, -0.2901, -0.0391, -0.0296, 0.7406]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1714 left_yaw=-0.0015 left_pitch=-0.0442 left_roll=0.0026 left_gripper=0.9993 right_x=0.3309 right_y=0.003 right_z=0.1361 right_yaw=0.0224 right_pitch=-0.149 right_roll=0.0072 right_gripper=0.7406\nstate[joint_eff]: [-0.0205, -1.347, 6.9949, 1.7509, -0.0806, -0.0806, -0.0122, -0.1983, -4.5607, 10.1402, 1.8339, -0.0269, 0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4309, -0.0139, -0.0265, 0.9993, 0.3161, 1.6188, 1.2911, -0.4923, 0.1905, 0.1692, 0.7413]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1688 left_yaw=-0.0017 left_pitch=-0.0557 left_roll=0.0032 left_gripper=0.9993 right_x=0.4371 right_y=0.1115 right_z=0.1757 right_yaw=0.0533 right_pitch=-0.2313 right_roll=-0.019 right_gripper=0.7413\nstate[joint_eff]: [-0.1709, -1.6752, 7.0085, 1.7265, -0.0415, -0.0366, -0.0073, -0.4855, -8.6359, 9.2103, 1.9805, 0.2418, 0.1978, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cefe52481e9cde6b57f3303fcac0fa6f3e9e82aa4b3319aef78389ecd0c8bb00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eceffd482d4c588d714f3a6a191b4f80ab9dd11772504b765773d8ba5c8b7f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71b35fe31ea70a3507cea058c4465d4636c0c8d5759e9c1d7a0f551f8d6cc97c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeoLQdsbHzudEgZZ5M7Fi_ipZqC9mEyf9paTnWUj8xR2G0Y1w9qiyGektXHU-aUdbn7szsg-T6e49sLFaoyMtqvVfflqPHJRadfRd9hs133uu2J7dkVEQsv4NRhjPPBdqGSrENGQEgQK44EgLrcB3VkZawRc1odbnwV4Imj4YSZmWwbhRixkzgsDhDjAAxX8QuVkV0s6rrrOu8FCR3DFWHpJZHWVG3ek3yKH1o7IYc47eipNVtsgaiZJ2npOKkS-QexfQkt5BiA-aocLIaIOwSdQ4v3Ci-atPj5O7CsQMQNrnRb1t6OX-d_VH9fbDntCca77YNYl85WW9HeRx7VIWymcECWtHy-nK1BgbhC_zDy-ijtIyqrzQxC4jaSO5icNnIqe4JWMjd0Rui6JmEACfPr7wjYsF8NvVLczx0ouXb8NrovLcBTuK5ikCOWZhiScx6JanZryMc_oaRwtRKDKgdcqwQKvJ_s9_M_tF__xz2Eco8QlTlN-z_a2uwuV67XBgdGz1_pfc2eJf3naQPDx7_PmcpjqweittTGmyTTDL1fbp-exUEUhZNLqof-LXM445k9ZOsxAXSMZ_y3l4JyTbhEBu_OVovzEGeSKnlc1LmW0wjD6avLX-ebun_uiktvJEmmMNIm9KEPFfawINm0HIbY9uj5Adnd32rzGmRLPQ3nM5rlclU8dAk--AaOfGOHiCfSeCGaKs9HGf4pXFfiMjhF3Lho3V_ijH9-Qi_xun5RyVyDBre4-hAgoLN9SkUkTAJmSUFZcglMR0oRZjKfbcC_N2gfHc6SgYxpEP0UWtihCZCqlSvRYGMNFsAflOC1c6Ra5bvCd1ZHnQLwZj9KcpfA4iP3qnhipXgqeozZsDwflTjsNIX82-DWrzbLabmWSiJjpOThnsG5OIGCXbwvc1Zwm-FtlBn33geeX-8ccqCWskW4zt5l1Vvc4mV71ZMqwgMlXKTPoa0LbFAQJSRqlOns6XR89V5WvvLiDSlsOrTZAVxq9b_AcN2xh-N250k1YFwAGxkPKhtIRWX06xbYR-nuF3kFbLu1d8iMtEqz5nwVW8TzNBwDEHCh56zZ0ibSeln3j4zl1rLvuFAX_YxbM6dyTf39MCjSyTXKx3Nd7ws4EjSswyYDwIUcGz7YOQee-whara0_uBMX8c8CBV94QwTUNSFqjkziHuWK3M8r9gfap2ruuwHbYXtVUr6zOJYY0ZYtgB59Q-YKV4tsFU_QypD5J7p3A-ql_ha0UCj7Ba_kUD4F0sxikBZ38ID0ii3fAQ48AtOSAae1rTttwhxb3L93D984Pen5Ghecrkr0KDO6u1aj8h6D4ydT1nPeT21r6fM18r24JAb2oEPMylI39H41B2TLC3-TBk2SqAcH2l-fovzeG5I3Ptp5szukTptgwFHrT8wK3UFtvQypWZiFqeL1PwqfG8_CMRmVO0QNtRikZPf2KcLkWVS36qc4oa56bSteQd8UqahYSkH-hdPTs_aZQ4obyK3DGfwiYzbX8Q1MllDx4XRsgURtLMHdv0wJ3GVyaP2jqzXMsL76rr5qHWF3sRFa_9fh3ZAVJmW9G411EnTZkxUGjViqfXEs2Zz5Nky0KKHQxYXS5pVn1rhDFj-2s-ym5G3ZKaoNJkm2BUQmyujXkCBeCJ6tpU6cPdS7dgrd",
  "id": "rs_0c1b3e2e15b4fcc9016ab447a6fd1887d09aaca95f7d0e6909",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The top view shows the right gripper directly over the blue bowl, with the bowl rim visible beneath it. I am lowering the pear into the bowl so it cannot bounce out when released.\"}",
  "call_id": "call_1vbbZg4Rw0Ysusrtg90oqlmT",
  "id": "fc_0c1b3e2e15b4fcc9016ab447a7c83487d0a695d1a530687236",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1vbbZg4Rw0Ysusrtg90oqlmT",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4324, -0.0139, -0.0269, 0.9993, 0.3141, 1.6825, 1.0744, -0.3153, 0.1864, 0.1658, 0.7413]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1682 left_yaw=-0.0015 left_pitch=-0.0583 left_roll=0.0029 left_gripper=0.9993 right_x=0.4197 right_y=0.1057 right_z=0.0894 right_yaw=0.0492 right_pitch=-0.332 right_roll=-0.0461 right_gripper=0.7413\nstate[joint_eff]: [-0.1299, -1.2376, 6.9949, 1.6825, -0.0611, -0.0317, -0.0073, -0.0205, -8.1299, 7.5692, 1.9512, 0.0904, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1604d1ba0c44a1433d894946fc3b4197bbc185b1b5f0cde52adbff86187014",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a674dd8573176d50b40a1b8923b04f86614a7cbe12bb7edf5515257e077450da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fafe42bb5b276d8caa7a3ae47fc0259f5794cfbd463448d81eba41605d832d1a",
      "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 · 3.42 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4164, -0.0139, -0.0269, 0.9993, -0.0227, 1.449, 0.3016, 0.4984, -0.0357, -0.0223, 0.737]\nstate[eef_state]: left_x=0.2917 left_y=-0.0004 left_z=0.1735 left_yaw=-0.0016 left_pitch=-0.0347 left_roll=0.0024 left_gripper=0.9993 right_x=0.34 right_y=0.0022 right_z=0.0264 right_yaw=0.0152 right_pitch=-0.079 right_roll=0.0077 right_gripper=0.737\nstate[joint_eff]: [-0.1846, -1.2923, 7.0085, 1.8144, -0.0708, -0.0611, -0.0122, -0.1162, -4.5197, 4.9299, 1.663, -0.0073, -0.0073, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4309, -0.0139, -0.0265, 0.9993, 0.3161, 1.6188, 1.2911, -0.4923, 0.1905, 0.1692, 0.7413]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1688 left_yaw=-0.0017 left_pitch=-0.0557 left_roll=0.0032 left_gripper=0.9993 right_x=0.4371 right_y=0.1115 right_z=0.1757 right_yaw=0.0533 right_pitch=-0.2313 right_roll=-0.019 right_gripper=0.7413\nstate[joint_eff]: [-0.1709, -1.6752, 7.0085, 1.7265, -0.0415, -0.0366, -0.0073, -0.4855, -8.6359, 9.2103, 1.9805, 0.2418, 0.1978, 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 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4324, -0.0139, -0.0269, 0.9993, 0.3141, 1.6825, 1.0744, -0.3153, 0.1864, 0.1658, 0.7413]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1682 left_yaw=-0.0015 left_pitch=-0.0583 left_roll=0.0029 left_gripper=0.9993 right_x=0.4197 right_y=0.1057 right_z=0.0894 right_yaw=0.0492 right_pitch=-0.332 right_roll=-0.0461 right_gripper=0.7413\nstate[joint_eff]: [-0.1299, -1.2376, 6.9949, 1.6825, -0.0611, -0.0317, -0.0073, -0.0205, -8.1299, 7.5692, 1.9512, 0.0904, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1604d1ba0c44a1433d894946fc3b4197bbc185b1b5f0cde52adbff86187014",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a674dd8573176d50b40a1b8923b04f86614a7cbe12bb7edf5515257e077450da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fafe42bb5b276d8caa7a3ae47fc0259f5794cfbd463448d81eba41605d832d1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeqF4wWL2Sv8kTHtmKuV2x0UdpsZv4QhCMcqM3jO3UiXTxEGUYlwj6JwGCmQTH91mWBjgjP2epkshPrX64LrMMqya6bZ2AvzJVUrGlNs8JCCRS42W4sRwwOBLMNp3xn8wDxa-gH6a3G0mA0F5suIXunpg4AsCerVWoYM7QuglG8gvbdppteSnuE5HczTWMSzQjXQb4JKnEOMs5hZSdjzEENR4UJogjTfRz0yJuMi4y9Ta70YstYagJJoqZRpvGLDTl2yGxtLrStFhv5rSKESCf7-q3ElM5ns7BPEIPAMTbtVl73vtk5SQl7degWu0LdKyaFqfZVdRU6qfH20a9BBB_XiW87_vb01nhWmzjd8mMOmVfuJdhf3cs3X-QYVitFcs3yfFKOV0yND2ynd28Dw1BzBBBt_LB6eUYE9Cli6RrQMFDnJlDEFghGbbECYEFOUXho9bsvz6QRxmzOSGCamjla08AlvAAiUVRMGIwJXv916hLjgJpotJhCuUotfMcVgsvJmIcs_MsT2NZnxhtgvrOiOYYFhLKbRXo9LODOuvenymWoU3KDS9TgrtNhv0Y0X7KdhzyLCnw3NlIqpfRGRhBSDl5XMMqNjUh3pCGc9U8ixYC63lU1IZemYACzIW_AHm6Xq0cPdQe3IVXH6dvBrxF6LGAwuPU5SesyZdlSFuIIdHC527uFnNfOq-E2Z_JPfoJq_1mtCWLmTgSapymM8lGyyLeZRq_FRBo8g2yorYie-4VFRtOV3QQoOwVeHMCd6BK9R6e9sPSrBJxlI5PyOWGnrnt3ztTWonxCMK2Jx_2QBXocbVgN-8BMM4xFIwXt7rvy5cwqoEjPJ_vtyYo2VHWofELTQHip-ExnPhB7su8XD_HZVDroOa9bH6V14Q1X-Q0eEwTQX12kFeNqi21UCp87Em39sTIvdrCdgr-imOVrhB_bxAfJNCUkxUwcHWwEHAiaALg2Y7YtbtZ_0vfT-NAutQu9B6M65gBV4EwZ0ZphVk8nwueWn2XHFlzj9TF31Yy3Edf6OV6pclZHjy8RhhIVZ3sTSrKmK2-V5R-UYCMDjJI0IBY0Stx4LnXiWTTXQ-Fv5qAgLJcXI7svNVOr0SyVT_D96JeAWRWtFcw1_CtjkwHKqLsZdkIvs7cxJQII53ylwylt9lQa8azHsvsg1m9lFMylwe-9PfyzDeuTYW0Ksgvd39JLw1COtbM2Rbkxr8lZSlkQa2KWGQ2VExtr7RSS_wYDjPWv8d6IUllWdjoq9L8Z4uDpY_ZQXEZ8V6kaXO5mdTX1d6UqYPpZ718Y66NFNV0h0Nzz-eDIHw2kgZNy_B9mIZn0MMOsBD7f09fry8KsrEBROVcyze8M9OTBQY0QxAkOyBX2_RAtWkyUKqu-Othof_3BWaLErNP3HScwYh1IM0A9SBGA0Hx2eWM5uj_0Q8vahwqQhkZneuSCbSbfNNxhl_kJAC8AOzf2wxTrLcz2H-4HyT-7_CI2NPqzS5uiK5l-75zD6YXGAzFwWC9msUnEDhP6UEn4jApfByhkX_rA",
  "id": "rs_0c1b3e2e15b4fcc9016ab447a9be7c87d09e28e94199181967",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The blue bowl now surrounds the pear in the wrist view and the gripper is low inside the rim. I am opening the jaws to deposit the first fruit.\"}",
  "call_id": "call_gLmfBv6LHz6AfezRnucRZGXc",
  "id": "fc_0c1b3e2e15b4fcc9016ab447aa742c87d0a4a20d8e3503136a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gLmfBv6LHz6AfezRnucRZGXc",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4351, -0.0139, -0.0269, 0.9993, 0.3168, 1.6852, 1.0611, -0.3, 0.1829, 0.1589, 0.9958]\nstate[eef_state]: left_x=0.2894 left_y=-0.0003 left_z=0.1677 left_yaw=-0.0015 left_pitch=-0.061 left_roll=0.003 left_gripper=0.9993 right_x=0.4184 right_y=0.1071 right_z=0.0854 right_yaw=0.0587 right_pitch=-0.3336 right_roll=-0.0481 right_gripper=0.9958\nstate[joint_eff]: [0.0615, -0.9231, 7.0496, 1.7021, -0.0513, -0.0806, -0.0073, -0.4444, -8.4034, 7.4325, 1.453, 0.0708, 0.1343, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0440081cde885b8c7db9addb7e321fa2ee0b6ef98a85b1f8c6429aecbc160a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b4f519faedf5c4c017034cd55247fc315413377be1c59da5693f00b7fcf2d44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b230cb65802254110dec0b361b89f89dd430e9cc3d8679eb3d2d6a0e99eec12e",
      "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 · 3.896 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.424, -0.0139, -0.0269, 0.9993, -0.0227, 1.0878, 0.6586, -0.2901, -0.0391, -0.0296, 0.7406]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1714 left_yaw=-0.0015 left_pitch=-0.0442 left_roll=0.0026 left_gripper=0.9993 right_x=0.3309 right_y=0.003 right_z=0.1361 right_yaw=0.0224 right_pitch=-0.149 right_roll=0.0072 right_gripper=0.7406\nstate[joint_eff]: [-0.0205, -1.347, 6.9949, 1.7509, -0.0806, -0.0806, -0.0122, -0.1983, -4.5607, 10.1402, 1.8339, -0.0269, 0.0366, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4324, -0.0139, -0.0269, 0.9993, 0.3141, 1.6825, 1.0744, -0.3153, 0.1864, 0.1658, 0.7413]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1682 left_yaw=-0.0015 left_pitch=-0.0583 left_roll=0.0029 left_gripper=0.9993 right_x=0.4197 right_y=0.1057 right_z=0.0894 right_yaw=0.0492 right_pitch=-0.332 right_roll=-0.0461 right_gripper=0.7413\nstate[joint_eff]: [-0.1299, -1.2376, 6.9949, 1.6825, -0.0611, -0.0317, -0.0073, -0.0205, -8.1299, 7.5692, 1.9512, 0.0904, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4351, -0.0139, -0.0269, 0.9993, 0.3168, 1.6852, 1.0611, -0.3, 0.1829, 0.1589, 0.9958]\nstate[eef_state]: left_x=0.2894 left_y=-0.0003 left_z=0.1677 left_yaw=-0.0015 left_pitch=-0.061 left_roll=0.003 left_gripper=0.9993 right_x=0.4184 right_y=0.1071 right_z=0.0854 right_yaw=0.0587 right_pitch=-0.3336 right_roll=-0.0481 right_gripper=0.9958\nstate[joint_eff]: [0.0615, -0.9231, 7.0496, 1.7021, -0.0513, -0.0806, -0.0073, -0.4444, -8.4034, 7.4325, 1.453, 0.0708, 0.1343, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0440081cde885b8c7db9addb7e321fa2ee0b6ef98a85b1f8c6429aecbc160a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b4f519faedf5c4c017034cd55247fc315413377be1c59da5693f00b7fcf2d44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b230cb65802254110dec0b361b89f89dd430e9cc3d8679eb3d2d6a0e99eec12e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeu4bvJ2RVpwyqvanbgilS8lD-QneTebsbYjK-Izi8Jx3GsljbWiu8NKEUhYO9djpEre1GAdUM5d3f-8h3N8g74pQekkZYdBQ7OlBZNh6J8CD0SnpP0Z1nyThCMKkLoE-zKaNBeAI6jmXC9LQ_Pg5fpQ0XFw7sQGmM8sPr4TwTeBOO1JAIkSolKkhihL6-3vuYH0ERkoh1PDjQITseTEYqm2tla6-b62oyOx0PnZt_05PeTLTXRoJLN17HE2hyBRaUhcc_GjNY026VW3LN5_5zG0Zvh9_MTm8hyeqaepf1Wlisr2QQGOWr86MlgTlbJqYSKC4IWitsvbsgrfviBDfK6D9LMDsCHiTjXDHKwKBI7XG9IzDqygEsk1oXVMt7Zt5CHl-02AcjpPkbBOhDVOkg6HwyG9A02ZQGuVCGEOpjygOFVmo0sP4s7XwEO--CIUV14J1vRUdjDmsGC_vTGQ7FDMYqDltKGuXKuA2Y1I-3BguNGsldr553cEBVRNUKjDDe6XQmvh-5jXuj3oSUOG0K67micl80W17dsv-F3LxqX2Dm5e_3tUjQ1_LfxB0FmqaDm5jgYksOWqK_cXtzUvD6OD7hTP4sdPSdUBGIik9LJbWKSa6KiKlE7KINABe3TbHMMPpOkOv8woI18EHSbqBAnkatj1rrmB17K-gvySAey6BEiEm8hYxkqOOjMM9uRvEE63QMC1xG-jBxIDzXvsqFN9tH6BcDCG4QT-BW_w5WRH-2yHoVJRruvQN_jFBlaa87SDS7_AtChmNZ-k0daNQjThfpjM6t7oipwufsCgsMvF1AjuIKYIItVDCx16TI3DNjHMmCCUxyhovfFjpoCxZAQKa7XPYOOOBOPleA9CUFfBk_G_3lcY4-3oJNlpX5D7Pw2Jqav7aNylZTgu55KePuWZ0_G-806Ypc_UMng8I0DZZm4dqhdy_AjVXh_9HYiVzgwD5PfsfVH4D2t78n3MgiOQ23LjApuut5dS0YaVpMBX4JeZAMRSa3QEJBEByHfOZ9TGVf4OV65PeOYxOsSD8S7vzb-uGbvReYyU-_oES3VKOrkmCxbRWrnkQNkuk49iIdnwuqsmJ3wH1fIpzsN79QaJlRIjn-F6N-tdSmM1X40bjPTOKsCrb3Ai4B74I47aqV0-z4hWYOsoHwxHA3iArDBC3NWmVdf4y_-Uv0y1RCE7jD-8LISuXv6W6mw5SdTipoBCSDzQ8gEla1cVcZnEQ8B3F7jlPXyD6h_N91tyiVZi3UxFOafgKFnE6HZPlEQ5K5NWTZLbSsHqeljCwv7ljV9uhNxPPsGY7fzaS8rq6uFfuF1NHIZN8BWg21xQ5PtvjlQSwIWaI5LgP8-ug5Wij7HxbVmGkTgSuXDcdu19i58vG5HOqDLw1LBcSXk9zvnWLHD-bcKwAewBymNXXZCg6W7EdPgD77SbuChszrDePw50HTqdzlhprxfXVxfuoRX4U3BJOukdmZ-j8OCoMKDKMsEsbJrRMagbo7WR7XQV2VtWzoFIsPgEyz1ROy_nSTKw1SKXNA6qvmE1I2YhNFQcuo6L1SZTrp0Jt4VOfVB1UWyVivUUHWFSibCXazYX3qxnOpaMu1SE53bzErkOPwAnSqAenTosRKiNmGnRY-dRVhx9Lyan3HFtWQc7Jz9fASGFbgdTCm8kLw95FebMo7q28Hsds4A3uQGqzZWrN-SgDuX_VKy1WSeEgMPQ4LxX5ndV615PYYxVP198Kav_pMGTtX-dYxOKRMFjN-VpDt8MH-Z9sSk95uPeGtE0aq4PtM8_JTNVfSX6cnHp7wbbVFDyMR-QO1DXsI0LwR5z4a6QRfI3k9DtoRVeanP3q-c0VknphJ2UOV44efpPRcthQwpYVKN65qTvpxh2ooNUsYihefFjzY7RnNjwGbeWHBNsjxv7nS4grapVF70-Cg1D_A40PL9WS9rcWTJfnN4N8xYWpwMafWkyNOpJYfBhj1sriPHek7osVVA6XSFCYeO2JRWjusD-K7gVPYe9qt5Sj7GyhXIm5uvrnjJ9WQNdeNoXe1s7JSX",
  "id": "rs_0c1b3e2e15b4fcc9016ab447ac207487d0afd9e9ea56f8bbf0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.14,\"right_z\":0.14,\"right_gripper\":1.0},\"note\":\"The pear is visibly resting in the blue bowl after release. I am retracting the right gripper and moving above the yellow lemon, which lies behind and slightly left of the bowl in the right arm's frame.\"}",
  "call_id": "call_wFdTYZVKQdEQWDq4TuufyACQ",
  "id": "fc_0c1b3e2e15b4fcc9016ab447adda3487d090adb7a2a2c954be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wFdTYZVKQdEQWDq4TuufyACQ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4419, -0.0139, -0.0265, 0.9993, 0.5114, 1.4452, 1.0325, -0.5293, 0.2749, 0.2882, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1661 left_yaw=-0.0017 left_pitch=-0.0686 left_roll=0.0034 left_gripper=0.9993 right_x=0.3502 right_y=0.1456 right_z=0.1366 right_yaw=0.099 right_pitch=-0.3232 right_roll=-0.0428 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.4154, 6.9812, 1.8339, -0.0366, -0.022, -0.0171, 0.1709, -7.2274, 6.5846, 1.3944, 0.2466, 0.1148, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd6f46320ece4254d7aac5174043fddcb034de9e2bf04728e6a7e59e6bfb0705",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe3f2737fa8b0376388359fe37f3ceabf273a891d1f581b5af385039853aa26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2fdbb7a35ebcaedfaca302c9e0ef1feb1164198272e2e0918e00c9fa47c6151",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.312 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4309, -0.0139, -0.0265, 0.9993, 0.3161, 1.6188, 1.2911, -0.4923, 0.1905, 0.1692, 0.7413]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1688 left_yaw=-0.0017 left_pitch=-0.0557 left_roll=0.0032 left_gripper=0.9993 right_x=0.4371 right_y=0.1115 right_z=0.1757 right_yaw=0.0533 right_pitch=-0.2313 right_roll=-0.019 right_gripper=0.7413\nstate[joint_eff]: [-0.1709, -1.6752, 7.0085, 1.7265, -0.0415, -0.0366, -0.0073, -0.4855, -8.6359, 9.2103, 1.9805, 0.2418, 0.1978, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4351, -0.0139, -0.0269, 0.9993, 0.3168, 1.6852, 1.0611, -0.3, 0.1829, 0.1589, 0.9958]\nstate[eef_state]: left_x=0.2894 left_y=-0.0003 left_z=0.1677 left_yaw=-0.0015 left_pitch=-0.061 left_roll=0.003 left_gripper=0.9993 right_x=0.4184 right_y=0.1071 right_z=0.0854 right_yaw=0.0587 right_pitch=-0.3336 right_roll=-0.0481 right_gripper=0.9958\nstate[joint_eff]: [0.0615, -0.9231, 7.0496, 1.7021, -0.0513, -0.0806, -0.0073, -0.4444, -8.4034, 7.4325, 1.453, 0.0708, 0.1343, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4419, -0.0139, -0.0265, 0.9993, 0.5114, 1.4452, 1.0325, -0.5293, 0.2749, 0.2882, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1661 left_yaw=-0.0017 left_pitch=-0.0686 left_roll=0.0034 left_gripper=0.9993 right_x=0.3502 right_y=0.1456 right_z=0.1366 right_yaw=0.099 right_pitch=-0.3232 right_roll=-0.0428 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.4154, 6.9812, 1.8339, -0.0366, -0.022, -0.0171, 0.1709, -7.2274, 6.5846, 1.3944, 0.2466, 0.1148, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd6f46320ece4254d7aac5174043fddcb034de9e2bf04728e6a7e59e6bfb0705",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe3f2737fa8b0376388359fe37f3ceabf273a891d1f581b5af385039853aa26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2fdbb7a35ebcaedfaca302c9e0ef1feb1164198272e2e0918e00c9fa47c6151",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0c1b3e2e15b4fcc9016ab447b0382c87d0b82df54335f071c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.17,\"right_z\":0.085,\"right_gripper\":1.0},\"note\":\"The wrist view clearly shows the lemon low and left of the jaw column, while the pear remains safely in the blue bowl. I am shifting a few centimetres toward the lemon and forward to bring its center between the fingertips, then lowering toward grasp height.\"}",
  "call_id": "call_BfMGb1L5rXyTUqGKAlDZBsi5",
  "id": "fc_0c1b3e2e15b4fcc9016ab447b2523487d0a1aea7bf7381a8c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BfMGb1L5rXyTUqGKAlDZBsi5",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8169, 0.6132, -0.4461, -0.0135, -0.0269, 0.9993, 0.5426, 1.6108, 0.9878, -0.4015, 0.2874, 0.3073, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1645 left_yaw=-0.0018 left_pitch=-0.0755 left_roll=0.003 left_gripper=0.9993 right_x=0.3571 right_y=0.161 right_z=0.0771 right_yaw=0.0959 right_pitch=-0.3932 right_roll=-0.0774 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.5658, 7.1316, 1.707, -0.0317, -0.0562, -0.0122, 0.4034, -8.335, 6.5573, 1.5214, 0.1636, 0.1099, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970bb83e238920ac9e0a237b48d5b9ec04be9bd8637a65d2a61bbb5d5f9d7421",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e841f8dd2dd63f2c6b5b6c87cfa53f64ef06697dcc279a91c79b266d2757f173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7a7c7fc2b94c342bb2ce12533b974bab734c90a31727e97caba3e1c0d71aea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 2.939 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4324, -0.0139, -0.0269, 0.9993, 0.3141, 1.6825, 1.0744, -0.3153, 0.1864, 0.1658, 0.7413]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1682 left_yaw=-0.0015 left_pitch=-0.0583 left_roll=0.0029 left_gripper=0.9993 right_x=0.4197 right_y=0.1057 right_z=0.0894 right_yaw=0.0492 right_pitch=-0.332 right_roll=-0.0461 right_gripper=0.7413\nstate[joint_eff]: [-0.1299, -1.2376, 6.9949, 1.6825, -0.0611, -0.0317, -0.0073, -0.0205, -8.1299, 7.5692, 1.9512, 0.0904, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4419, -0.0139, -0.0265, 0.9993, 0.5114, 1.4452, 1.0325, -0.5293, 0.2749, 0.2882, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1661 left_yaw=-0.0017 left_pitch=-0.0686 left_roll=0.0034 left_gripper=0.9993 right_x=0.3502 right_y=0.1456 right_z=0.1366 right_yaw=0.099 right_pitch=-0.3232 right_roll=-0.0428 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.4154, 6.9812, 1.8339, -0.0366, -0.022, -0.0171, 0.1709, -7.2274, 6.5846, 1.3944, 0.2466, 0.1148, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8169, 0.6132, -0.4461, -0.0135, -0.0269, 0.9993, 0.5426, 1.6108, 0.9878, -0.4015, 0.2874, 0.3073, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1645 left_yaw=-0.0018 left_pitch=-0.0755 left_roll=0.003 left_gripper=0.9993 right_x=0.3571 right_y=0.161 right_z=0.0771 right_yaw=0.0959 right_pitch=-0.3932 right_roll=-0.0774 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.5658, 7.1316, 1.707, -0.0317, -0.0562, -0.0122, 0.4034, -8.335, 6.5573, 1.5214, 0.1636, 0.1099, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970bb83e238920ac9e0a237b48d5b9ec04be9bd8637a65d2a61bbb5d5f9d7421",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e841f8dd2dd63f2c6b5b6c87cfa53f64ef06697dcc279a91c79b266d2757f173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7a7c7fc2b94c342bb2ce12533b974bab734c90a31727e97caba3e1c0d71aea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEe2fNk4Y9UckE5BJ0x-GSPdQqRk1NsDaQr0HhM-AC-5FXtkpzZFZ4ZQrv2klHVgyzT4GNz7LBxgf0OKmDBqeXiDO1ewOYl2LJYq3KSmSKPrw7UKnTEx9ukfu5ayQ6Fdt10OhKwdFalzW2sdMaHbDUTCX4InRalqhTj7hpK8JpTcEULkr2nFeLuVFD0LYtQSFzwryzAh0HjOauiJIKYU08TebP1PhWedctuFLFCk-Raznre9fkvKhWPqOq01nffaNN1aTIk5_yOjPhLtoEfVw-Wfes8znvjw73abp0XFqhxTZ-ftJNHAT3yTMi2aITG97RQwadx06ORAHVOeoao99WTto9OCAox_0WQiWjcGteTYW6hJNcyXIJJeiw5TNit6CoWlfADqwGwL3ltrSP6NtpTqeXq5msRaBKUPZYNfLcYGOyIneKLvCpjliQBMk93csFMDDve7OgXScOja4fyKIZICcZ1LoLGMypjJNwLrFvs6kSbD4fxys5STew4FwTfvx41SjaaeImI5XgWv-YaznlUXd8tsbe9VS-em11-y6DAT8InqDi65S7abJwfA0B0qrO28nG3ZvMc4rfM4aOR6Iev-QD2cvRVoDx8LZ5TFm_-2dorypv_aSJbrgvNOW2BnJiE4QvDFGE20wRrV_O24lhKrgVtURgkMk_GYjZ-j5fkrHGs5pmqQhDecbFRKpYYr4iB4Qp_MbY2ycSOBoYSQ7gsJz7Ix4cRocBRHkGyJRTrF00SOr6kmLA4e5ZbtM2IaiApEIt3xyDmuC60OSf_2jbvpqNvqgC5Su_tCe7f0_XMmCJXLh7FBEFEyvWD3LOalkJP7vKPkkf61aeAiqaerJhpVzI80bJXriZXH9AtuglJcwL6P-IiOrwm9W6ZOsJ1-zIgDINzagvqqjevxWcFT5opiPpvMZr5xYjeDWm0lqe7ZVmckMQ5MH0xoFZJOlRcFps5EHiYv6wbNKm3328ZVbvFHp3wUBmEqLRJZXs52o789v41W4Tc5xAgSwX5RkX6wuQe6RdiQC5XbpI5YGmqbEWJ17a3wsSHqrvhWfsWeOSNdhTPSQbPn8nzIOJJLKDZhTWKi1CLfrgZMLJY2uEg5L_6gxzgbbHm9dK6sea146g5NBvpXu7_kYuVifau_88O7LpFxeRzdXnVHQBG4Zu5RX8cnS0BTewQJW0Vetv5MNj2wel04sJAYqZWMsUaEgaCQoxe5f6ygCA_Vz-1KSpvUJyGQiFojmx6igc8dGWWduTOTPyFclLVDGo89WevKC_Oqnnyp0QIzKTfVgq5rHAFTs7YfDB_qDDCPCOmDILcLd5pVSWFEFiZfbLJO2JVRSTtAF855Ed9rucs9IFLN_q_gJMR4mZDOVcMcPJFac-mMrV051ugpQdVV4SmAf3hspU4A9pGr-B2uD71qBejnQFJht-hJ2O9V4Okp0NZ7Ffyz6zOsYD0DROerPr6wPe4S3E3nLVbTvHnd86lzBD-qzyveP2v9ZHXGactx1mXnyIeqw282DU2WcSvuCQ2x8gaoLXbbmk04fgdiRBw6NSiOiSWDmNWd001i3lp41meovj_oyUeGkrR8eiPOVm7DhK1SgqTjvaQm9YHH4Z4TXXfrzkKi99Nrg6JgBfxt_gzI59MlkJwfEC_S-e19qrDDE8-khhX7KczGIxhm1E2B6xdEWrPUPDDxui94FMgxMvvGP_y4Q4uiRmenY-eIaedDtsgMe85NAQ3HnTQkBG0-D7wqJ7zgZYu1aL3mHya-Ro1w4ZvhMS1dBZw=",
  "id": "rs_0c1b3e2e15b4fcc9016ab447b4c59087d0ae774d0ce53bc283",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.205,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The lemon is now at the correct radial depth but remains about four centimetres left of the jaw centerline in the close wrist view. I am making that lateral correction and descending to its midline for the grasp.\"}",
  "call_id": "call_dGJLbxxSMouekWDtD4KgIkyS",
  "id": "fc_0c1b3e2e15b4fcc9016ab447b5dab887d0808cc1cf7a90a847",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dGJLbxxSMouekWDtD4KgIkyS",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0139, -0.0269, 0.9993, 0.5613, 1.6684, 0.9829, -0.3466, 0.2916, 0.3077, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0015 left_pitch=-0.0797 left_roll=0.0033 left_gripper=0.9993 right_x=0.3604 right_y=0.1709 right_z=0.0608 right_yaw=0.1095 right_pitch=-0.3985 right_roll=-0.0843 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -1.3607, 6.9812, 1.707, -0.0708, -0.0806, -0.0122, 0.1573, -7.7197, 6.8581, 1.1746, 0.1978, 0.1392, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f686473f114e4095b32c4b410991ec7da31df8707669007fcfdbdd0c16bfd459",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0d16fd432e245d6843bb416773383cefe50852e0702fde9048c23ac9d1c1f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb28d6edbe1658f904cc12f467f18d7b0023479c267cab066452787b6c94e36",
      "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 · 2.702 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4351, -0.0139, -0.0269, 0.9993, 0.3168, 1.6852, 1.0611, -0.3, 0.1829, 0.1589, 0.9958]\nstate[eef_state]: left_x=0.2894 left_y=-0.0003 left_z=0.1677 left_yaw=-0.0015 left_pitch=-0.061 left_roll=0.003 left_gripper=0.9993 right_x=0.4184 right_y=0.1071 right_z=0.0854 right_yaw=0.0587 right_pitch=-0.3336 right_roll=-0.0481 right_gripper=0.9958\nstate[joint_eff]: [0.0615, -0.9231, 7.0496, 1.7021, -0.0513, -0.0806, -0.0073, -0.4444, -8.4034, 7.4325, 1.453, 0.0708, 0.1343, 0.0073]\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]: [-0.0219, 0.8169, 0.6132, -0.4461, -0.0135, -0.0269, 0.9993, 0.5426, 1.6108, 0.9878, -0.4015, 0.2874, 0.3073, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1645 left_yaw=-0.0018 left_pitch=-0.0755 left_roll=0.003 left_gripper=0.9993 right_x=0.3571 right_y=0.161 right_z=0.0771 right_yaw=0.0959 right_pitch=-0.3932 right_roll=-0.0774 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.5658, 7.1316, 1.707, -0.0317, -0.0562, -0.0122, 0.4034, -8.335, 6.5573, 1.5214, 0.1636, 0.1099, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0139, -0.0269, 0.9993, 0.5613, 1.6684, 0.9829, -0.3466, 0.2916, 0.3077, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0015 left_pitch=-0.0797 left_roll=0.0033 left_gripper=0.9993 right_x=0.3604 right_y=0.1709 right_z=0.0608 right_yaw=0.1095 right_pitch=-0.3985 right_roll=-0.0843 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -1.3607, 6.9812, 1.707, -0.0708, -0.0806, -0.0122, 0.1573, -7.7197, 6.8581, 1.1746, 0.1978, 0.1392, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f686473f114e4095b32c4b410991ec7da31df8707669007fcfdbdd0c16bfd459",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0d16fd432e245d6843bb416773383cefe50852e0702fde9048c23ac9d1c1f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb28d6edbe1658f904cc12f467f18d7b0023479c267cab066452787b6c94e36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]

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  "id": "rs_0c1b3e2e15b4fcc9016ab447b80c3087d09203218379630fb1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.21,\"right_z\":0.13},\"note\":\"The low lateral move stalled short, likely because the gripper brushed the lemon or bowl while only six centimetres above the table. I am lifting first and completing the offset in free space before descending again.\"}",
  "call_id": "call_xvSqD0dA36uKhPJLbpc3ZVXS",
  "id": "fc_0c1b3e2e15b4fcc9016ab447b923ac87d093e37677fc962f20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xvSqD0dA36uKhPJLbpc3ZVXS",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0139, -0.0269, 0.9993, 0.5613, 1.6684, 0.9829, -0.3481, 0.292, 0.3073, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0015 left_pitch=-0.0797 left_roll=0.0033 left_gripper=0.9993 right_x=0.3602 right_y=0.1707 right_z=0.0607 right_yaw=0.1091 right_pitch=-0.3997 right_roll=-0.0856 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3607, 6.9812, 1.6825, -0.0464, -0.0513, -0.0122, 0.0342, -7.8974, 6.735, 1.2527, 0.2613, 0.1587, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b55594d7950b6093a8bf8ba38751555d9ab698dba9ee63022af914232d99c3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4c2cb4be33d564583082dd9fdac896dcded13abd85b84be4dca96563ae9427",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c15ec4175800107baf068c8d8dc6f185e48885eff0126409d9a2cda9b8724c",
      "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 · 4.889 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4419, -0.0139, -0.0265, 0.9993, 0.5114, 1.4452, 1.0325, -0.5293, 0.2749, 0.2882, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1661 left_yaw=-0.0017 left_pitch=-0.0686 left_roll=0.0034 left_gripper=0.9993 right_x=0.3502 right_y=0.1456 right_z=0.1366 right_yaw=0.099 right_pitch=-0.3232 right_roll=-0.0428 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.4154, 6.9812, 1.8339, -0.0366, -0.022, -0.0171, 0.1709, -7.2274, 6.5846, 1.3944, 0.2466, 0.1148, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0139, -0.0269, 0.9993, 0.5613, 1.6684, 0.9829, -0.3466, 0.2916, 0.3077, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0015 left_pitch=-0.0797 left_roll=0.0033 left_gripper=0.9993 right_x=0.3604 right_y=0.1709 right_z=0.0608 right_yaw=0.1095 right_pitch=-0.3985 right_roll=-0.0843 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -1.3607, 6.9812, 1.707, -0.0708, -0.0806, -0.0122, 0.1573, -7.7197, 6.8581, 1.1746, 0.1978, 0.1392, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0139, -0.0269, 0.9993, 0.5613, 1.6684, 0.9829, -0.3481, 0.292, 0.3073, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0015 left_pitch=-0.0797 left_roll=0.0033 left_gripper=0.9993 right_x=0.3602 right_y=0.1707 right_z=0.0607 right_yaw=0.1091 right_pitch=-0.3997 right_roll=-0.0856 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3607, 6.9812, 1.6825, -0.0464, -0.0513, -0.0122, 0.0342, -7.8974, 6.735, 1.2527, 0.2613, 0.1587, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b55594d7950b6093a8bf8ba38751555d9ab698dba9ee63022af914232d99c3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4c2cb4be33d564583082dd9fdac896dcded13abd85b84be4dca96563ae9427",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c15ec4175800107baf068c8d8dc6f185e48885eff0126409d9a2cda9b8724c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEe9aIKdHbF504ecp8AVci6OeyfpT9DLawMSSllaaDgYN4ZhKydq2f1ocPs2v5t9E75inTfy0H9xZxFNbivVq5I2W44jho2_CJZO6Ddm_QUie4v8nBX5eLzYSH3KCg_sego7fSQg5q7Ag9pTVBvkSKb5RexTHe8rBEF21NMDeg4SnSbgMxRFoi3Bipq_3e5dQbln9Zr-1J3Rm-RGy2vY1w3O9i2PbWQ9v4Hy3oQf38Qx6hUfUQ75_pX8IaRjYhRr2y5zy_dRmBFiDbiKTSFR7_EnaveqyCWiBXI1rPWsjSkXT9gteooU9JDCTkrxwC0UAAU3uMZWK9aKg343eC6ZAtx8qhM4O4UG5i7e4DRASpawELnP9pv8KNNxvKp5LxOGK4CM5GutmxmkCqPMrVUncOf1MdSdPSveg-bL5V4ylQCMOp0bMPEWYYfWCnhK1uZMR6cl99EIgDe5QcngKuP7-r9rWPwu7h0SK4D6ejabzcAR5W5Pgx3H7oVmsGOT2XQPKJBEGcSW7MZD0V6bEyhFoUXarQlIOO5i-VF754Uc7qQpVgjrO5AX_CXHz7bccACKIjBmukvmvqt-FFm9-XiFbmOmuBNkUmo8J0Ra5-AI24szpVKeuBDcBIQXAkHNn2x4lI-z5KIGkkIDHPJMvYM8RQt8B8fgoeyhEwW4BZplmO464hkhgv3eeuOFW5j1HqYWxl_H3WlycZuS2ZN570D1eduOlNBnOk3zsfTUfrJ77xaNqBafzDJ74xVIFuiU8ZTCYUz-TtpjaeyZ7t3a75zs_OM-5KecZyr9c9FH9AbORecFkwc6qA6iRDFqAJf8QxE6R5Ly4BoIDhJb9nC2AHucfrjK2iZX-lhHNiUnqk5IR936e0MmZgMJWt_5YSCTiqU7-Z2KVsAr1jbe5Cb6A-5h2ZsGjNmF5HGGN91p9rDgMCeGQyFXrIaJkjdXC627Tg8MJ8WjVPADfXwmQsuq717BbsB-1goFRobqJUQEkcW9ynu-P4TbJwuQmM2VMD17H7SmfHcjeeTsekPIAlmlOe9TOEVdCzkkfSjBibkicQzAwXv2avIM7wgGulUAwoj0LXIMdFNIjerlFCzEKkHU0sFIGJbyrBNaKKTHN0kGdzUHPZxqvQRyxYclS1X5UafxyK8YSnhhCYBCuUGDr9emqT02sVtEG-qga2aHB357SH5qc0tlQvwXlp-82kx4MpQYTkhrBUTO6fFu9yx3M6kW7E594wycBfVTltAWFdjAqFKxJkkfUABJh10tSThPpccBxfsJH0C0jTSGWYuRVFMYbWCsLFS1QBzvODzrz7K2cwd_ljBVi6FXdpIu1uhTkX0cNcKt0NBimTikgy58pdL58cXMN-IdXzFkKJa9ZKSj_TLqxiJlBxkWHO7iA2K4a7px5brs7oXy",
  "id": "rs_0c1b3e2e15b4fcc9016ab447bba32887d0974f313c4d7ef69f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.08,\"right_z\":0.2},\"note\":\"The arm did not track the attempted lift at this crossed-over low pose, so I will not repeat it. I am retreating toward the right base and upward to unfold the arm, then I can approach the lemon from a cleaner pose.\"}",
  "call_id": "call_0VRpCnvUc72cHWvWd1zDwZL5",
  "id": "fc_0c1b3e2e15b4fcc9016ab447bc326487d0a4cecd6cd084e51c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0VRpCnvUc72cHWvWd1zDwZL5",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4541, -0.0135, -0.0269, 0.9993, 0.3622, 1.2469, 1.1049, -0.8497, 0.2005, 0.1524, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=-0.0003 left_z=0.1624 left_yaw=-0.0018 left_pitch=-0.0858 left_roll=0.0032 left_gripper=0.9993 right_x=0.3105 right_y=0.0839 right_z=0.1836 right_yaw=0.0856 right_pitch=-0.3952 right_roll=-0.0861 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.4291, 6.9812, 1.7607, -0.0464, -0.0317, -0.0122, -0.1573, -5.9009, 9.4427, 1.3309, -0.0073, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7a7d3f91a33f51b930a1d1e3b31beb4e371cae881ee98e55519312f77a6515",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bde0799f852cb8c5ef577ae5f42769a2865782327c54797803caff74a2e0de5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1031bbdd93f9e39805b9d2902e3ef5bc3ec7164fec4177802bc1f03a1dc322b5",
      "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 · 3.847 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8169, 0.6132, -0.4461, -0.0135, -0.0269, 0.9993, 0.5426, 1.6108, 0.9878, -0.4015, 0.2874, 0.3073, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1645 left_yaw=-0.0018 left_pitch=-0.0755 left_roll=0.003 left_gripper=0.9993 right_x=0.3571 right_y=0.161 right_z=0.0771 right_yaw=0.0959 right_pitch=-0.3932 right_roll=-0.0774 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.5658, 7.1316, 1.707, -0.0317, -0.0562, -0.0122, 0.4034, -8.335, 6.5573, 1.5214, 0.1636, 0.1099, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0139, -0.0269, 0.9993, 0.5613, 1.6684, 0.9829, -0.3481, 0.292, 0.3073, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0015 left_pitch=-0.0797 left_roll=0.0033 left_gripper=0.9993 right_x=0.3602 right_y=0.1707 right_z=0.0607 right_yaw=0.1091 right_pitch=-0.3997 right_roll=-0.0856 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3607, 6.9812, 1.6825, -0.0464, -0.0513, -0.0122, 0.0342, -7.8974, 6.735, 1.2527, 0.2613, 0.1587, -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 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4541, -0.0135, -0.0269, 0.9993, 0.3622, 1.2469, 1.1049, -0.8497, 0.2005, 0.1524, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=-0.0003 left_z=0.1624 left_yaw=-0.0018 left_pitch=-0.0858 left_roll=0.0032 left_gripper=0.9993 right_x=0.3105 right_y=0.0839 right_z=0.1836 right_yaw=0.0856 right_pitch=-0.3952 right_roll=-0.0861 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.4291, 6.9812, 1.7607, -0.0464, -0.0317, -0.0122, -0.1573, -5.9009, 9.4427, 1.3309, -0.0073, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7a7d3f91a33f51b930a1d1e3b31beb4e371cae881ee98e55519312f77a6515",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bde0799f852cb8c5ef577ae5f42769a2865782327c54797803caff74a2e0de5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1031bbdd93f9e39805b9d2902e3ef5bc3ec7164fec4177802bc1f03a1dc322b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0c1b3e2e15b4fcc9016ab447bf146087d0bfdf58b33abde24b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.18,\"right_z\":0.14,\"right_gripper\":1.0},\"note\":\"The retreat succeeded and the overhead view now shows the lemon unobstructed at nearly the same forward depth as the pear's original position, but about 18 cm left in the right-arm frame. I am taking a fresh high approach directly above that estimated center.\"}",
  "call_id": "call_tXwjWOS9kmMkZmJNqL0GLsFN",
  "id": "fc_0c1b3e2e15b4fcc9016ab447c1224c87d0a80a8769e9d88937",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tXwjWOS9kmMkZmJNqL0GLsFN",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4686, -0.0139, -0.0265, 0.9993, 0.622, 1.536, 1.1553, -0.7303, 0.3157, 0.3496, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.159 left_yaw=-0.0017 left_pitch=-0.1022 left_roll=0.0041 left_gripper=0.9993 right_x=0.3274 right_y=0.1717 right_z=0.1274 right_yaw=0.1086 right_pitch=-0.4564 right_roll=-0.12 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.4701, 7.159, 1.7949, -0.0464, -0.0073, -0.0122, 0.294, -6.5709, 8.9778, 1.199, 0.3443, 0.1392, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b415b78ae34833434f0b5aecae9fc6a0408d82c3fda47ceb32ae336a06eafb20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f2a345d415540ca74a6a1f8d8c39e3a45afbc8cc6959ace00e96695af83638",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:538c1c6c2a2d2dc32f442b1e00342858289b257b956f1b276b2dfd8f346b98f0",
      "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 · 2.796 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0139, -0.0269, 0.9993, 0.5613, 1.6684, 0.9829, -0.3466, 0.2916, 0.3077, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0015 left_pitch=-0.0797 left_roll=0.0033 left_gripper=0.9993 right_x=0.3604 right_y=0.1709 right_z=0.0608 right_yaw=0.1095 right_pitch=-0.3985 right_roll=-0.0843 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -1.3607, 6.9812, 1.707, -0.0708, -0.0806, -0.0122, 0.1573, -7.7197, 6.8581, 1.1746, 0.1978, 0.1392, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4541, -0.0135, -0.0269, 0.9993, 0.3622, 1.2469, 1.1049, -0.8497, 0.2005, 0.1524, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=-0.0003 left_z=0.1624 left_yaw=-0.0018 left_pitch=-0.0858 left_roll=0.0032 left_gripper=0.9993 right_x=0.3105 right_y=0.0839 right_z=0.1836 right_yaw=0.0856 right_pitch=-0.3952 right_roll=-0.0861 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.4291, 6.9812, 1.7607, -0.0464, -0.0317, -0.0122, -0.1573, -5.9009, 9.4427, 1.3309, -0.0073, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4686, -0.0139, -0.0265, 0.9993, 0.622, 1.536, 1.1553, -0.7303, 0.3157, 0.3496, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.159 left_yaw=-0.0017 left_pitch=-0.1022 left_roll=0.0041 left_gripper=0.9993 right_x=0.3274 right_y=0.1717 right_z=0.1274 right_yaw=0.1086 right_pitch=-0.4564 right_roll=-0.12 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.4701, 7.159, 1.7949, -0.0464, -0.0073, -0.0122, 0.294, -6.5709, 8.9778, 1.199, 0.3443, 0.1392, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b415b78ae34833434f0b5aecae9fc6a0408d82c3fda47ceb32ae336a06eafb20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f2a345d415540ca74a6a1f8d8c39e3a45afbc8cc6959ace00e96695af83638",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:538c1c6c2a2d2dc32f442b1e00342858289b257b956f1b276b2dfd8f346b98f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfHYUhSXtm0t8MUOUhBECRSBwQsFrN0PsUgzt8FhmzcoGFrLnrYRu_E5iop_hYF8c-vs3vXeTa_QvJw4AON0wkPe2JVI2JY9wKYBaUaJo5-IZ9J96e1iV4zVkDoHNmnJ4u4bVIDsPbSVJC5cWzK6QK9rf_TtdQGnqkvI5M9Vz-C-fvrWE0Os4mLIUQ5T3N4nZ9xJAkN2ssfMkmel8RAgusNBCyCMZ-ZbjxxU7Ng3-cMmvNCv0atydLdwtuC9NjU33ggTOrUlV-8yVMZcxxusYzAgVXdgTdVRQ_m_nmb8Epf_KGXL7ODHbHo6Q1UI0r228Ydbp4DWyfAgP5PUIbM7l7o_b56tHiEJNUg1F06kmcBA4jb3HsbpTxN8N8bKtiLPX9l8fXCIz0Nofs1XoDLZJ158LjWxfGO7-T8SVCuUqxe9jnCQCrMzWVT6SHFqWEOyLN7_lo1Z8UT6NeI3jVSFYrL-Fb9TRnRF6G99M1b7RJ3e18a3eiYli3jUxYQBSkv13sBTTmHzY78kdT3OEROkZk56syXW3z6kHAcxV2r7hXh_hFwvUNyhMLG8Ms2jyw8UKGkfKV49CTdGS1zJ3s9emRxdd7AkCeV2asvZ8u2zV1PJPWmC8Pp4GURW7bYkLcERxUvab8uTbMPi2fUsJuYTgiErGlxY1kjj0U4_OfIM4oKkO1fsV1o29izjBorVzzUVVr2mLOaOpx47uzA_nuoO8IR8etYEVP-P7Lk9ITG-nslmWT9xsuHhCFGUdJhZYgz_dxw73Dpze-cHIpdtVryqahvfCqQBDJKWgAH1Un6aoNkxjRzBjBKRs_YvxcQr4TkkxGhWzs98nu2k6l4LqU4RhoCoi2RjX3L0z_K7Lz2fnOBtSkQhv-2NzXWSB8WzAI_JvPh3rrLPrxHUnaKgVH7BKQrBo1pc7faO_bJfAv7Hn2JiV_RX_p9nY0xg1tIBmTMRoc0sAHzN5BKHGcaziy2xMoqSHmTnz3OPWyxve1dTvbwNqZIv-9SeiAPEc9cRAfylVq9MwjlLseVekqvEczudU_DiW50erLwIsKE8XAZc0QEhWHFLJjC8ofg_9M11PSmsCQeSj-mxmOEHE2D2OOd81FroymF7nGBEHLgculVoxoku4NMO7zIRJ-P-RoJWvHs83Ymm_yZr04V-Chh194MYu1s0iuD4_p-IrTmD6-Wh3KhD0kgOkBgxPp8-lSBjJQRpkfp_hBGwFV7qhsWp0bs5dmovymZPEcS0oKNfocA78-TJqck2Yf0Pxq0lnenkTLYzYluPnDgrhidtMhRcwutf_bKyEe23tlkZG8P4OwI4w6cRsjr8VfsuYAZwXu0JW7shiTyCwvrq1f75IWcPOH0IlQvIl2uyPWI1OW9xyzEv9UqBSVNQBe7EdwuYJQg018cbi8H7iYKA9YVZgqS9q2H_skhKJIU1CkgAXe_D-DoykIkUc1mQiN27QAd4MljJbxSGKI28QDR1HthlXCOtzBAxGF9knSkF0a4kPCL17n3KnV1BhcwXKkTV2sZ4BWKt53gKuGagFHqcqdlInRhzVZdzr-pk7OQiE7vfhUIiWxvqQitCNKDO5lVx8o5b_8cWZD_i5f02ZzMh_Au5gB3PTJ9lo5e4ngRi2qyQXZNe7ZeHYuRmppqDfbfoAwtJEey6F8s4PMS1Rmn67kTPv9Z6uV3Ss3cVvVIHqEeq6RLUsbSOp12V4_1zuKvHiNrQH8mxGaHKdNEAx-qllFlk-uy8kvWg8k_ZvkqHBh5Pf5pSjGQ5XJRHPObROLL66CsnPPS-9p4TtVYXQ7EtD10qZq793taNRFoP5y7pAERTQRuqMfCTGckIUv6AHqc92xuE0Ta9CsiI84mbTdfQn9O7fX7LE_Yk_d6nkM0KI_vCrjf6upGcPghk--BgDRDd26ej7CGSw8iqGzVtnjChU7NOn16U0FMu2jPYhPeLMgSHijbdQQVkZ_AtQFy97Gd-kLejt8h_Uis9lnfx4iaPZipjOOgMvOhE-_i9Xm1lY_hXJ09KOVlh5TofDGPBsSvIyvKkU3PvW_WRsX8Hd7usPYuu5oo8vxtbemEkw==",
  "id": "rs_0c1b3e2e15b4fcc9016ab447c4ac2487d093bd5ca6d4a058a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.225,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"From the fresh approach, the lemon is still left of the jaw column in the wrist view, so the earlier lateral estimate was short rather than a depth error. I am correcting another five centimetres left while staying high enough to avoid the previous low-pose stall.\"}",
  "call_id": "call_gQtJ8snyQNRUqtXzGoIIatxf",
  "id": "fc_0c1b3e2e15b4fcc9016ab447c68cd487d08506555b5144a9df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gQtJ8snyQNRUqtXzGoIIatxf",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8246, 0.6132, -0.4732, -0.0139, -0.0265, 0.9993, 0.7055, 1.7462, 1.2491, -0.6937, 0.3336, 0.4023, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0016 left_pitch=-0.1102 left_roll=0.0043 left_gripper=0.9993 right_x=0.3381 right_y=0.2167 right_z=0.0879 right_yaw=0.1238 right_pitch=-0.5122 right_roll=-0.1532 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.6615, 7.0222, 1.663, -0.0366, -0.0366, -0.0122, 0.212, -8.8137, 8.3077, 1.0134, 0.3492, 0.2369, -0.1538]\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,$blob:60068e0ef81d8c02ce24e5e52bf576603ee2b36f81744fa24abb639d56cc8445",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff9ec900bf82f5c22fb70e8c6dc850e24951da2170f9ebb814ba7d1c5dd7e80f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb083eacd4bdfbde497d5392a5c55eb93018482f80b83729ad271deab86ea8aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 3.122 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6132, -0.45, -0.0139, -0.0269, 0.9993, 0.5613, 1.6684, 0.9829, -0.3481, 0.292, 0.3073, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1637 left_yaw=-0.0015 left_pitch=-0.0797 left_roll=0.0033 left_gripper=0.9993 right_x=0.3602 right_y=0.1707 right_z=0.0607 right_yaw=0.1091 right_pitch=-0.3997 right_roll=-0.0856 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.3607, 6.9812, 1.6825, -0.0464, -0.0513, -0.0122, 0.0342, -7.8974, 6.735, 1.2527, 0.2613, 0.1587, -0.0171]\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]: [-0.0219, 0.8211, 0.6132, -0.4686, -0.0139, -0.0265, 0.9993, 0.622, 1.536, 1.1553, -0.7303, 0.3157, 0.3496, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.159 left_yaw=-0.0017 left_pitch=-0.1022 left_roll=0.0041 left_gripper=0.9993 right_x=0.3274 right_y=0.1717 right_z=0.1274 right_yaw=0.1086 right_pitch=-0.4564 right_roll=-0.12 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.4701, 7.159, 1.7949, -0.0464, -0.0073, -0.0122, 0.294, -6.5709, 8.9778, 1.199, 0.3443, 0.1392, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8246, 0.6132, -0.4732, -0.0139, -0.0265, 0.9993, 0.7055, 1.7462, 1.2491, -0.6937, 0.3336, 0.4023, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0016 left_pitch=-0.1102 left_roll=0.0043 left_gripper=0.9993 right_x=0.3381 right_y=0.2167 right_z=0.0879 right_yaw=0.1238 right_pitch=-0.5122 right_roll=-0.1532 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.6615, 7.0222, 1.663, -0.0366, -0.0366, -0.0122, 0.212, -8.8137, 8.3077, 1.0134, 0.3492, 0.2369, -0.1538]\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,$blob:60068e0ef81d8c02ce24e5e52bf576603ee2b36f81744fa24abb639d56cc8445",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff9ec900bf82f5c22fb70e8c6dc850e24951da2170f9ebb814ba7d1c5dd7e80f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb083eacd4bdfbde497d5392a5c55eb93018482f80b83729ad271deab86ea8aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfK255FgaG-EWEFULFNWgaPrjCnf1rlwWaHPTTVhZMCpFON0D9a35Nx0fad2xsPEo-5euWxIRpSDsO0FcXm7WOQ57HQPMK31h3XvmV4XKNzMJibLCCzN2jfciezy3Wbia563rNOU6qHLxtQ5caHW-QIX9ntrni3DVn0al4uvwqX3MmT2SDMOngtqeGFXqUeA1iPAwo48CpGs3pNTm3D2Q6HqvQXFDSpa9-cSaVUPX36V40fAwdwe1GfW5J5YGgSWCYa8Ika0y4NwIUCDoiqZOK6U28i0SpmjMLvcHzPs_arxee6yEJiBpTbfQlguwcG4A4vfjudlegzCkS9qS-yuZr7yl0X16kuUPKqbtHpAtw3jS4rAkvb_zlzyekhF_SZBDlcy6wVqtPB35LYB3mBgSV2037NWwIKcFH0qScd8p6H2z0MmXyTWgQKrQrdPirIbISSXrtwWEpG0GhKnoDQIhDQl8YNh4_yj36qc39nOVwEItLE23_heB9pXzttTktz78dNH1rGiKzWjPmvKecCnFvuxmJUvldTIrqhgm6POkvzCkDvg5WHZ7B5KPBGCfPQiNtYPs6aRC1kA1lDpFR2NFYPepX92Xi1R6qeoR6hiLgOBnsciR_0GLcDXODnbNDHXxQ8y9faNFH6O5elvZbkwK9zpZO2RTCyf3J1BK20qpi0uCFjgW--66xFg5YsBlqmYmZGve2eWcT7pYSY2siiBgOG-aH7tI6ppVU46k_yuPM_v6yO-kUUNdcXeNgsUyRpAem0ZG-kTSDbORgg_1Mldd62noJ1QzilIDkqBu9v-I7rBnRt92f8Sy0EuMhccc67MAwui1FnBksOtjSzyCAVOoyn2c4e_Db_8qWpWjAOCwy7rU9zglYna7-8EAbKQBVLb_uUfWYazTbE9151g3x8CLETVIx0ViQHoPL74qJZXwN7H600TZBE0egYEUMvyF4kkwW78MlQG9pZQamUpmfQMXYGS3GMs0EpsHYOtVvhUe16IoChFSOvbSlOz-wPpeUwNyXdn9dv2KAFECoED5_i2BFvU5XClU6g_zVVpvPbzyISyX48GivV3xi9dhviT9-tGfIZNtTWcdZvrVJ4U9fY2jndxZlrneAL-RqMu8AoaETqm_ucEf0CeHS0fbJ4M8EoQxFxrMv7fNGmOBoHkXz9BQ6nkSid9fnUXUL8CdIh3v3nNJ5nd_13QFxW-jSCKabu6unapz4eAAd705itdFyPnOSe3TB-fmGPY87-SOpqbdBGSuiSFRDp9rYZ5vu8aOh_8cOJJ3TOpDeLeGP_Q81Dmar_cNwDCVCRKj4bF9LxyrN2ZTVkwR_EnSJL6v-fTy7bOPMwYOOZYG8ZV-KEaiv7RAqAFkV4MJ2jNfVt3XznniDlS1wYSyDMWQNOCz-dLbwy5sNpUw_Fwb2vtCaMCSBJ9hxaIy26Wb_M5ebEujkkOw5m2FAOj0WzF8ULgeNai0nX9hKljbrR_EEWalBLdJjP14uEajOH-otgS9B5-w8G25VRVetXRXZSpx3lYQOiju5KMuTTEYrTjCxv8ClBH40a3cy_hpHdPWfryLKAY_OlXr30Hr8ai6qJ3xg5_DbMzj-O4yH0N0IOGBnDKEdRChgOCj2JRw==",
  "id": "rs_0c1b3e2e15b4fcc9016ab447c900f487d0ae22c06760033d0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.225,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The lemon is now exactly centered on the jaw column in the wrist camera. As it is still just short of the fingertip point at the bottom of the image, I am advancing about 2.5 cm and descending to table-level grasp height.\"}",
  "call_id": "call_VcAax4YZOEYW0wIQl9hnXkIh",
  "id": "fc_0c1b3e2e15b4fcc9016ab447c9e73487d0bd2d44f23d79a28d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VcAax4YZOEYW0wIQl9hnXkIh",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0139, -0.0265, 0.9993, 0.7109, 1.7565, 1.2537, -0.6846, 0.337, 0.4122, 0.9986]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1565 left_yaw=-0.0016 left_pitch=-0.114 left_roll=0.0043 left_gripper=0.9993 right_x=0.3395 right_y=0.22 right_z=0.0865 right_yaw=0.1214 right_pitch=-0.5068 right_roll=-0.1487 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.1419, 6.9538, 1.6239, -0.0513, -0.0171, -0.0122, -0.1299, -8.6496, 8.6496, 1.116, 0.3053, 0.1343, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4865e6cc2029ba828fadf2ff215abb6f81992c8fe1849312a262e49fcd0719f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40c0675db2992bea073b1a4abcd70010dec8e202dfc748fa2612c6086092b8ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b6af71941470c32d25a746c9d306a9d62f96a5f954f94ffb1830f134f6f4fe",
      "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 · 2.34 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4541, -0.0135, -0.0269, 0.9993, 0.3622, 1.2469, 1.1049, -0.8497, 0.2005, 0.1524, 0.9986]\nstate[eef_state]: left_x=0.2869 left_y=-0.0003 left_z=0.1624 left_yaw=-0.0018 left_pitch=-0.0858 left_roll=0.0032 left_gripper=0.9993 right_x=0.3105 right_y=0.0839 right_z=0.1836 right_yaw=0.0856 right_pitch=-0.3952 right_roll=-0.0861 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -1.4291, 6.9812, 1.7607, -0.0464, -0.0317, -0.0122, -0.1573, -5.9009, 9.4427, 1.3309, -0.0073, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8246, 0.6132, -0.4732, -0.0139, -0.0265, 0.9993, 0.7055, 1.7462, 1.2491, -0.6937, 0.3336, 0.4023, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0016 left_pitch=-0.1102 left_roll=0.0043 left_gripper=0.9993 right_x=0.3381 right_y=0.2167 right_z=0.0879 right_yaw=0.1238 right_pitch=-0.5122 right_roll=-0.1532 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.6615, 7.0222, 1.663, -0.0366, -0.0366, -0.0122, 0.212, -8.8137, 8.3077, 1.0134, 0.3492, 0.2369, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0139, -0.0265, 0.9993, 0.7109, 1.7565, 1.2537, -0.6846, 0.337, 0.4122, 0.9986]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1565 left_yaw=-0.0016 left_pitch=-0.114 left_roll=0.0043 left_gripper=0.9993 right_x=0.3395 right_y=0.22 right_z=0.0865 right_yaw=0.1214 right_pitch=-0.5068 right_roll=-0.1487 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.1419, 6.9538, 1.6239, -0.0513, -0.0171, -0.0122, -0.1299, -8.6496, 8.6496, 1.116, 0.3053, 0.1343, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4865e6cc2029ba828fadf2ff215abb6f81992c8fe1849312a262e49fcd0719f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40c0675db2992bea073b1a4abcd70010dec8e202dfc748fa2612c6086092b8ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b6af71941470c32d25a746c9d306a9d62f96a5f954f94ffb1830f134f6f4fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfOzNPP2UlFRC76ZRjtG5QLiP63KFlrkfWMqZkgQSei7Rc3qHGCK7VBMj__BeT0QcuaOyFEoGd_gOSnhRyCgrq9DAbo0kowUf7E0rw72Mf4WLHMF0oG24di-ESiBw58WQ7zwlfO9pnhYAI7ox49LhtsReNMm-_4YRD-ckdiztuz4trSSg4OycMkmNID7CA8sXFiGX5TqJBBdfZzp_0ASYBeeajCZzchcmAw_NhFB8r7zamP45TZO14OiaOXXUvTODkmAw4ToIYfME6pRPEoZ2ANknNg44E2H1XHCRFIZmF79B59A2FU8wYWnwgarhbD2jrsBaoXrnyvWRJe6B5jsDsMr4lKT7eyF8n_7BIhHLUMmtjUa_vevtowUvVTBtlnPBwfopwwmqRhMb16syhJ_idHbvB4COL_WEhX7RRQay6sspRCKtIB_rQx8sIqDymZddtHI06bTT9TsgLU26SyrJNtXkB0V5ecu7zuA3yjtGT_EsRrxRHol6Bd-1TAI0W8vx0pP1GqSV-IYYf2_8ZHSKBSm0peiddiOHhMZGYc-YfX-wDAVSsrq5yLBm67Bc7J87luqgtUs_CwSFPknzRka9fm8nnbnBEOLBYDa4O9gxvqNvP_K9nNkbusd9CwCmZ7DJ77eKPpuLTmvw_IizJKX7PjkzIeIGvz2jPaPw6du8Dl97xRmt1uMjmFAW2vZac_ZdyA5ag_hc-AfDWHh5-b5p91yegm6DAy3fVlqUK2ZJBKdiPsQUG_IDXynLD9fOzW3BfRVO-LPMECXExX3XaJMvrfget6A4yi1YlDrF5ox0An_VvXnEO-6mrDPuqkgz0_BdrdqG2wyVeGxPnul4inf0TC3Sz9MJgUrmn9FAH9QXh4ZJfjNGL87IAr_Q8eoZgCUhFwVKpWegnRXXx-JlqVDB0HgTOfA8sey6JMsNrZalPEpJ9JMfI1fuBdt1EL1d6TLC6w9HY0KNivukx_YCdexNWBRZZX6bz0cVO-CxSg1OH06aA4jOrvx_PfZ-jdBY024hgxppitdbMLOi01_d__J-DYgQTdQKOPe0ItKd_qQsh8luuorhnyRZeJTPTlwvs-QNQZ5-Of-bSmVlDZ6jyFNZ6AFx64-3OgzQeOwhEUtPWT9m257M5jHZh6hc9_RMqgZVPbtQE2NM7CtXUL5HXNLKyTph9W-7m9x9iJXWEV-sUYJJTRem10OjAIfDKiD_P2m06DVIv14xxOpSyTKl_sWkSe5wmCPcE3k9SPg4N2xhm7AbV3XEJ4rBKfUoQbW-SVg_JeCOSYDOs0O9ew4KuCH6bd9hdT45st2KBee3pWe6_uhnGFFBeUFsQ7vsDcLQoeJpSiOVvyP-jyxtGUQEsTqrtfbAzYR3DK_1n1gvtGTgMnnqIn03L1q2knZDTyKDR65ffdQ4pkHpwZruJbi6FEeEr8_SPTgvr_cd17iO-WnGJwlb9Q4YGsITuRJNG4V01psYtE5bLOgHcSw1fCEbcDeYCROa62xIsFr0q4rQ2nraMTNJAGJZDUvE_aJnzsG0IVOhBJ5pUi4vjmtcmunV5f4yQuSMaNDWkj-1VQh_aBoEjVgTsA680v7qmJYrSXMjbs_lpzQBp-2aH04MkrYxIESnGXvkO9SVD89GSsxmJ-uT_EAUodjOHJCHaSfqip1_lQ-Usv95RryFnPTxZ1z3awJUdQOMIosJwgSus-5ITxYhFfluf6LFwEP8EHuwAjVcKkBekao3lQUH6aF0N7SkstukC4uOvEC9Hk9LvXLMSm1ug1Pq1qb9InUh-TYRfXsT9sX6YL8-h-oiRY4aU6T7WRX8XJaHkB0ssgW1FvvOmSkLsZr0rYIirBZq-e20k-9Z6abwxynSDFFlnuVp2TA9Q2ZRZy7GuaQ0xLn57zNteuMSSJturwclmAnuHjfyPl2yyl0H2R2etFmVX_cSsWqBnDVp47Jg==",
  "id": "rs_0c1b3e2e15b4fcc9016ab447cc4a7887d0973ede2c3b78c5e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.22,\"right_z\":0.14,\"right_pitch\":0.0},\"note\":\"The arm held position instead of descending because its wrist pitch had sagged near the negative limit at this crossed-over pose. I am explicitly straightening the wrist and lifting slightly to recover a controllable approach before retrying the same centered grasp.\"}",
  "call_id": "call_HFDxCJ7o34WDjE8Lqx0E4ZAG",
  "id": "fc_0c1b3e2e15b4fcc9016ab447cd5e9887d086f44c6b6d4ebbba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HFDxCJ7o34WDjE8Lqx0E4ZAG",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8284, 0.6132, -0.4839, -0.0139, -0.0269, 0.9993, 0.8299, 1.533, 0.8898, -0.1837, 0.6178, 0.3393, 0.9986]\nstate[eef_state]: left_x=0.2827 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0014 left_pitch=-0.1247 left_roll=0.0043 left_gripper=0.9993 right_x=0.3341 right_y=0.219 right_z=0.1195 right_yaw=0.1359 right_pitch=-0.0836 right_roll=-0.1742 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.5248, 6.9812, 1.7021, -0.0659, -0.0415, -0.0122, 0.4171, -8.7453, 6.3248, 1.5849, 0.5299, -0.1148, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b60fe67bc5d9712a3244dccf057a024a50834b7e34f6080f7ec0d8781e9111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ff4c770f615a60cd934382f34b04303bb239e068a9c90fce53f21197a50703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14618f46c140e5e6eb982e8046a4f0654104457d277c1347201e16fd698244f",
      "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 · 2.525 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4686, -0.0139, -0.0265, 0.9993, 0.622, 1.536, 1.1553, -0.7303, 0.3157, 0.3496, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.159 left_yaw=-0.0017 left_pitch=-0.1022 left_roll=0.0041 left_gripper=0.9993 right_x=0.3274 right_y=0.1717 right_z=0.1274 right_yaw=0.1086 right_pitch=-0.4564 right_roll=-0.12 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.4701, 7.159, 1.7949, -0.0464, -0.0073, -0.0122, 0.294, -6.5709, 8.9778, 1.199, 0.3443, 0.1392, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0139, -0.0265, 0.9993, 0.7109, 1.7565, 1.2537, -0.6846, 0.337, 0.4122, 0.9986]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1565 left_yaw=-0.0016 left_pitch=-0.114 left_roll=0.0043 left_gripper=0.9993 right_x=0.3395 right_y=0.22 right_z=0.0865 right_yaw=0.1214 right_pitch=-0.5068 right_roll=-0.1487 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.1419, 6.9538, 1.6239, -0.0513, -0.0171, -0.0122, -0.1299, -8.6496, 8.6496, 1.116, 0.3053, 0.1343, -0.1538]",
      "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]: [-0.0219, 0.8284, 0.6132, -0.4839, -0.0139, -0.0269, 0.9993, 0.8299, 1.533, 0.8898, -0.1837, 0.6178, 0.3393, 0.9986]\nstate[eef_state]: left_x=0.2827 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0014 left_pitch=-0.1247 left_roll=0.0043 left_gripper=0.9993 right_x=0.3341 right_y=0.219 right_z=0.1195 right_yaw=0.1359 right_pitch=-0.0836 right_roll=-0.1742 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.5248, 6.9812, 1.7021, -0.0659, -0.0415, -0.0122, 0.4171, -8.7453, 6.3248, 1.5849, 0.5299, -0.1148, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b60fe67bc5d9712a3244dccf057a024a50834b7e34f6080f7ec0d8781e9111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ff4c770f615a60cd934382f34b04303bb239e068a9c90fce53f21197a50703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14618f46c140e5e6eb982e8046a4f0654104457d277c1347201e16fd698244f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfSWXnmH7zjM2nuzV1M94xJ18d8ZBgNecNgwpe8ADGmEorK3Rv-nzSsC3C0KYMpo_c0TncTCSjpnJLbyIOY6jD7FNdO1ZOADQ1cDSKyoRduxnkbhRrMuJx730V-ym4nNyLq9Fj-9e1UeVexQuK4UevP5O27mB_CFkuG3rpsPpeRv-t40Q_MXXDx4_jRxSnS0M-deg4tY38OvFKFgCBmtMLI8BqYTQtdINi4k398STY0tda0fwdgaqsx3lKZAZCHl_G6B1vk93EiRdYExsYcBLlRsseWP6WuqZHRqttM7v75br6KjJIRNhSZgnZ-zr97TK-qeiPXjD_2LNZg5AVJF-S0knf7U3pt5fRizSwCXcdnseP0wKrmGSxJY7jD2vAS3t9wjYEGFqsR5RPtCZ7BkRbxWOVJfesREIwdKInUslT4h_ziWVzuttTjq1NFVYGV4nE5xZqrDxwA1TWcDwqO0J2zEgEoZIAX-nWGDX3Q6vrwQ1TlEGY7zTVFj9b7LbCksJ7EtC6MrcrUF10tlUeZVTVjp5KtupPadiUBC_Kbe3sMZU7zrwM5zHMjPP6g3mAQlJK_soE_pu93gzxPFlxiiGuXx3m53IORByCKoX_st5XJs9w1rDeqiNtkuYJWrXVo8eVYCgNG6p2Zs50n4AVk0eXLQ-6K18_2_Ut1Hax-8B4yKOj8szRu9PKTeDvMiE-P53kitYFZwv1Eg2fVyn98bPbUtHHEE1uVND9SpQk5O5xfmMNd2kCIimKQNHRSKoHa3Bux_h5pcUe2G2Qcxw5VOHq2qv7Wb0n2ZnRCUMM3_KU3J3IiByUmaOFKLjDpbS7oqgxIYHIKNpoG8MgxZ5hS_BWZbmnhEwRFDbSPgJ7ho9XHckuvoyL3sWIxKip3esguKCbqrT0gzRscJIokYg6S-dVQl7M0zkkO68T-R97Gh2OSP36VuiCkY1R8-nQtpyS-7lxRM9RJsIeSz_Gv-4QMeA6pdWpaofCa7jNyJ_y59QShn1z7d0jAZv7CKTB1SEAR1w1wZsxgA0Ed8YYsYawJsk6sDwN5bl8k9x6Sjhax89LsRC9gYuR4Q6Rbvv625PpBO8ev1EXWJSRFDAn2Y1Qn4z9fWnMrQUI9SXFIaG4ABeEhNAFy_iaYS6560Vkg26bL7HwNJHM7O-QBasvqOtyvhVZ3IUfzzoqRz2sfs2Lru52r70fcSXQCXJ3lIeXvPvoVFFiiVyh1UmSY5wxhTG60ZWmWgk4cVrAJENqv5VjgdDxK_XRl1b3uQ8PdUOybzyij_ll_yErn_jRUjuNE4_6kQ34A-g==",
  "id": "rs_0c1b3e2e15b4fcc9016ab447d1226087d0997fb8fef110140a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.22,\"right_z\":0.03,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The wrist has recovered to near level, and the lemon remains centered beneath the jaws. I am now advancing and descending with pitch held at zero so the gripper reaches the fruit rather than folding away.\"}",
  "call_id": "call_JsUlELv4h6KASxLvCqVsZpvg",
  "id": "fc_0c1b3e2e15b4fcc9016ab447d1631887d0b786b581b55d0650",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JsUlELv4h6KASxLvCqVsZpvg",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4919, -0.0139, -0.0265, 0.9993, 0.7784, 1.8297, 0.7334, 0.2821, 0.6064, 0.2634, 0.9987]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1517 left_yaw=-0.0016 left_pitch=-0.1365 left_roll=0.0048 left_gripper=0.9993 right_x=0.3535 right_y=0.2122 right_z=0.0203 right_yaw=0.1337 right_pitch=-0.0868 right_roll=-0.2202 right_gripper=0.9987\nstate[joint_eff]: [-0.2667, -1.6889, 6.9402, 1.6532, -0.0757, -0.0073, -0.0073, -0.5265, -8.212, 4.0274, 1.5849, 0.3346, 0.0073, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b6d1a212977eaa16bd02fbfc9a3847495647875c2de41ce6f52372684e4a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27dd2851e530a7131468a8acdfacee8e99134f94d6e3363ff9f3c412998d027a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08b3176014eeb4086c4ef0c1c435806d11edb937da6f3e83153af6ab29c1f71",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 2.231 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8246, 0.6132, -0.4732, -0.0139, -0.0265, 0.9993, 0.7055, 1.7462, 1.2491, -0.6937, 0.3336, 0.4023, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.1573 left_yaw=-0.0016 left_pitch=-0.1102 left_roll=0.0043 left_gripper=0.9993 right_x=0.3381 right_y=0.2167 right_z=0.0879 right_yaw=0.1238 right_pitch=-0.5122 right_roll=-0.1532 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.6615, 7.0222, 1.663, -0.0366, -0.0366, -0.0122, 0.212, -8.8137, 8.3077, 1.0134, 0.3492, 0.2369, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8284, 0.6132, -0.4839, -0.0139, -0.0269, 0.9993, 0.8299, 1.533, 0.8898, -0.1837, 0.6178, 0.3393, 0.9986]\nstate[eef_state]: left_x=0.2827 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0014 left_pitch=-0.1247 left_roll=0.0043 left_gripper=0.9993 right_x=0.3341 right_y=0.219 right_z=0.1195 right_yaw=0.1359 right_pitch=-0.0836 right_roll=-0.1742 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.5248, 6.9812, 1.7021, -0.0659, -0.0415, -0.0122, 0.4171, -8.7453, 6.3248, 1.5849, 0.5299, -0.1148, -0.0171]\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 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]: [-0.0219, 0.8322, 0.6132, -0.4919, -0.0139, -0.0265, 0.9993, 0.7784, 1.8297, 0.7334, 0.2821, 0.6064, 0.2634, 0.9987]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1517 left_yaw=-0.0016 left_pitch=-0.1365 left_roll=0.0048 left_gripper=0.9993 right_x=0.3535 right_y=0.2122 right_z=0.0203 right_yaw=0.1337 right_pitch=-0.0868 right_roll=-0.2202 right_gripper=0.9987\nstate[joint_eff]: [-0.2667, -1.6889, 6.9402, 1.6532, -0.0757, -0.0073, -0.0073, -0.5265, -8.212, 4.0274, 1.5849, 0.3346, 0.0073, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b6d1a212977eaa16bd02fbfc9a3847495647875c2de41ce6f52372684e4a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27dd2851e530a7131468a8acdfacee8e99134f94d6e3363ff9f3c412998d027a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08b3176014eeb4086c4ef0c1c435806d11edb937da6f3e83153af6ab29c1f71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfViRQx2YP3oeotYDpoldOdJLG2p4yB2cTVPxWJyan1u77XSC51BKUmivCzdz9L2VqCcobFkHfm7cP8diVyUU3yelxanlE8RDwELsI9xpk2980RTE8gyl_G53TGuDB-deEzY9VLFo5EiS3MqHpaBdEQtHuaHx-nBG87hcyJLeViKmGE3FjCKTDFHSJQ54CWXQ-smCnDqAUmE_pTQT_lT_9_Gz1FGIcHwLei1mm2mzzNwaqKf7068ovX7zF3Y0077I4CUEKOU8Eafzyf6f0ToJkvZWg8G_raCblGXBAG5zFWAvfGtkmRFUoxVjNDi9_JODf2J74tSG7RQ5pGUZjE-U6bwn-J9WZkb1TNNTs2x0DdzD0KVOPVkQUNP5-uFTYhITQgXT7d7p-xur6b2ci-FgYtUR24DMkU6w6xyyiEFpg452V4nLOZYuB9S_PD5CvTz6QdaPy-SBSc5MIXKu5DZcE-2KR9RSsZQvV_sh8jbt99qRvDxxW6O5UvCrMXrE4Ohiot4DPQzLjTWWhrg6QnBwEvvwRDgtMsPGXjvWhUm7WW_PCeRbj2UefCo-aNA363C7_jOe9OTspNb_a8wP4yFQL06aDwR2KHgK4aJ87gzgwZP2i-v6vldyIlBHu3ySKlGJliNz25l16Yb9l38g2xlzi-zeKJI03q-i53Xb4uMhxeJUa6kRYIfjQawn-YSKZvqJsfdcbeD4zk90wqslcpBMiWVnxwHFTcn8N44RwayDEhMEuhYNVH-REudxQZrLqXh4KkKCzm6DBoCDu8egQ_gCwicoN6mKj1Y5a1TudfGXK69pzz2_1QkG4DqP5HgX6B5L7gRuTrm3mUTMXw0qg2sESyyR07999btUzMB_19cSwi6QhzjY4hqdBdra6OW0zBz4sI0a6iP4VD9lyBnMwi_5K7Z9yjflecdEreuB_F2tk46i9psh2yHgAFOSIZUFXrpDS3cwZywSN4DAZZmJvi5vFsm4LxWokOV1VilQRHxGeHd5R1Xc6NoWsdU3ESE_nSjVfgdzy0sO0ud6Ye1sfTrpkIVPHgPFKHs4BQ3EZjveYQ1VEdjpxq62HxGF9m4b_DXBD56lzWAJAbHCAPAVFQ1T75alaRSE8EXS_zxvI7mj5jGzE61QOBcD5h7LizmPVAzQaF1EoRYRjr9ksvU3E48tLm_VdNZYDDp_ElUoRSN323HV9JGGbKfaqzHYGNxSxMIxatdD6yueqGdWvnMLBxzax-aLRYT8DbN21MuA4W90VTfHcIkIgiju546VjC_2H4wm7cxawJxmhSYYEnUBWxl5xeEgMLyT_dOenUAdXS0YPd5MCcnC_KZ3FnbtEw_MHQeUcqC2d85zZhEaD2PaqojX334yzPxLPs68093-6m1d36DqkPU5hhNkwF8DouQ5Sh7qrJkmgnRKPwhBR0IHJTUl-TP0LAjlOG-rSbISRUSdFJJ2sHSkEXQwwqrIPBMFMcWaIQiAOjlMjWFjPx7piTuiqKkTGJ_xSni03l0PqfepcTAxM=",
  "id": "rs_0c1b3e2e15b4fcc9016ab447d3ed7487d0bd4bce109704075e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The gripper has reached two centimetres above the table with the lemon centered between the fingertips in the wrist view. I am closing now to secure it.\"}",
  "call_id": "call_p3M7w2RCxM7XGct1An90uHzw",
  "id": "fc_0c1b3e2e15b4fcc9016ab447d4a12887d094798ddf6053bed3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p3M7w2RCxM7XGct1An90uHzw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4919, -0.0139, -0.0265, 0.9993, 0.7757, 1.853, 0.7223, 0.2886, 0.6052, 0.2535, 0.4383]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1517 left_yaw=-0.0016 left_pitch=-0.1365 left_roll=0.0048 left_gripper=0.9993 right_x=0.3503 right_y=0.2079 right_z=0.0089 right_yaw=0.1355 right_pitch=-0.1108 right_roll=-0.2442 right_gripper=0.4383\nstate[joint_eff]: [-0.1436, -1.4154, 7.0359, 1.58, -0.0464, -0.0415, -0.0122, -0.0479, -9.9624, 5.7915, 1.2821, 0.1734, 0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e8e9aefb58f856973273c9dc299e386fbc0b1c05c2dee40999e88631d8542f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d67497098e1d0d7cc5fafa26b32b11ea4962aa261f2c7a2de074f8efead19aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2bc04ea99a0b853ddf723c656d98c6621e8f08bcf2d3c601a8e003bbbfcec5",
      "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 · 1.929 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4759, -0.0139, -0.0265, 0.9993, 0.7109, 1.7565, 1.2537, -0.6846, 0.337, 0.4122, 0.9986]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1565 left_yaw=-0.0016 left_pitch=-0.114 left_roll=0.0043 left_gripper=0.9993 right_x=0.3395 right_y=0.22 right_z=0.0865 right_yaw=0.1214 right_pitch=-0.5068 right_roll=-0.1487 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.1419, 6.9538, 1.6239, -0.0513, -0.0171, -0.0122, -0.1299, -8.6496, 8.6496, 1.116, 0.3053, 0.1343, -0.1538]",
      "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]: [-0.0219, 0.8322, 0.6132, -0.4919, -0.0139, -0.0265, 0.9993, 0.7784, 1.8297, 0.7334, 0.2821, 0.6064, 0.2634, 0.9987]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1517 left_yaw=-0.0016 left_pitch=-0.1365 left_roll=0.0048 left_gripper=0.9993 right_x=0.3535 right_y=0.2122 right_z=0.0203 right_yaw=0.1337 right_pitch=-0.0868 right_roll=-0.2202 right_gripper=0.9987\nstate[joint_eff]: [-0.2667, -1.6889, 6.9402, 1.6532, -0.0757, -0.0073, -0.0073, -0.5265, -8.212, 4.0274, 1.5849, 0.3346, 0.0073, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0219, 0.8322, 0.6132, -0.4919, -0.0139, -0.0265, 0.9993, 0.7757, 1.853, 0.7223, 0.2886, 0.6052, 0.2535, 0.4383]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1517 left_yaw=-0.0016 left_pitch=-0.1365 left_roll=0.0048 left_gripper=0.9993 right_x=0.3503 right_y=0.2079 right_z=0.0089 right_yaw=0.1355 right_pitch=-0.1108 right_roll=-0.2442 right_gripper=0.4383\nstate[joint_eff]: [-0.1436, -1.4154, 7.0359, 1.58, -0.0464, -0.0415, -0.0122, -0.0479, -9.9624, 5.7915, 1.2821, 0.1734, 0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e8e9aefb58f856973273c9dc299e386fbc0b1c05c2dee40999e88631d8542f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d67497098e1d0d7cc5fafa26b32b11ea4962aa261f2c7a2de074f8efead19aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2bc04ea99a0b853ddf723c656d98c6621e8f08bcf2d3c601a8e003bbbfcec5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfY5X8GO9MILzntgYibD_1LTN_D3MMcTh6lQDCuKtfiyPHi9pDTdJnTZ4K7g8cyXQ3EYHMAYK5-_3qFr2TDpEQL-1wBfjSs4l_36TUS7mMTsZy74o8pNSTfxWiy25EsRBOroeh2poJaEc3QR_e9kRAGHew5XfcgW7McA9P0ry__1UDulj34RsqLkZ-ds7yUSgk6eBqT2ghpYhQiEDNB1B7mX_vrtg9yP4QYvAcx5QNTh0y3NxS7u16KSC8x0QMd62_LXQfNbO0TDxHkf_wRUM_adBrbauEhzkKRggY4mplWlcXdS9_fYKEQr77sf7HPdIDGqRapwdflZTRRObmYTgLsX2T8X9OmGcX_3-TVUySxRgWfE7DoMsp_paGHN2UR1LtovdCaXa-tDghO8JZrk47YRH-IZKZZ9kW6eSpMbDheyCX8xy1NyFD9C7QnwWMJNZXAfVWtNTR_8wkcQrAvImqBfFZecR-svyCgkgFeLfq8NLSU7vgNsw5vEgHRv-nsbz9-HyTv1zdtYyWckA81k9WxjF7mupgkw0pT_5qP18O6RzHpeURgWJT-drcLwLCyTE10u2Si2IUiEDyR3QRUhi_Z3ZI8rsUXNdpHkT6Xf0VbV805ySHfLgyOTk2lwYv7pAp4AePeYHiR06gWbAAKJBi_xBGLjN3cagcdN2NAaQYZVHn-xj3m3Hhumqhzz3_uTZyOObK_VlHu7PsWG4U3BT0dDsrYyBq5v97Y3DB5yo4ZjoElS-_86YeK-JLwM1RCeViOAvIJCGJvc65klLD396In-Pwl9wnSrJtydsg4PmArCPDYcl4bAm0wPZKpATykLS0TwAUSOmPiSMf1HPWSv7PFs6lGWRajkFJ3eGZrRVSj81gA7sEp9Fzgu4AetL9ExKLcaPSGlz-WIFT0KBnWJJgA8Rohy79vil1Wvdi3PI2JBH_R60yUw5F6RZL9nsSPjBS4OhbjVZK4JueySjsyOAEfeeJT8M-yvlzZcan0EhV5UEc7HylX8Vvnh92VfahytRedq6Tp06XitflR1oSYUcgktdnODRmaRngP6EfBoyiEDhMF-MKDWUCHUwAgIZbHEYrlzJQ2D6O_cSvvCZ_H4hp7ameSL8AgyNLtvDcF0-_UW8PMSwbkz8xfpzkHrnTWO_ZkXS8GrbRDXCBGS_HTGBWKSGouMLN8UW2-SwSdVeC-gEVpJU2Hr-3-n7NqxegHcdvyG3VVMa4sHnSHT0t5GUbPXDO7QCS89qKuUwArWiq4xIs=",
  "id": "rs_0c1b3e2e15b4fcc9016ab447d7498487d09352c4ee3be8b314",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_pitch\":0.0},\"note\":\"The gripper settled at 0.438, a clear lemon-width grasp. I am lifting it with the wrist held level before transporting it back over the blue bowl.\"}",
  "call_id": "call_3XQ2WKi33aWAAtQtpzA8JURd",
  "id": "fc_0c1b3e2e15b4fcc9016ab447d77e9087d085e2fd1a1427234c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3XQ2WKi33aWAAtQtpzA8JURd",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4942, -0.0139, -0.0269, 0.9993, 0.7959, 1.5139, 0.9016, -0.1455, 0.6434, 0.2169, 0.4383]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1508 left_yaw=-0.0014 left_pitch=-0.1407 left_roll=0.0046 left_gripper=0.9993 right_x=0.3485 right_y=0.2096 right_z=0.1387 right_yaw=0.1504 right_pitch=-0.0317 right_roll=-0.2449 right_gripper=0.4383\nstate[joint_eff]: [-0.3624, -1.3744, 6.9402, 1.6484, -0.0464, -0.0317, -0.0122, 0.3214, -7.8838, 8.8137, 1.6337, 0.3248, 0.0073, 1.0134]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980b1f0b1c0fefa8c4f512011265d3d90ac4d2096b320a43af17ad69c7ae0e76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdc8632e4f26b52f3331c5f14ee2e93ce4810d0ba3ded0c404a7b512437b1b35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4e478b6f5f6249f0ea476b68a7d30ea11ebfccd10981f43324aa62cb20d975",
      "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 · 1.992 s

model: gpt-5.6-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]: [-0.0219, 0.8284, 0.6132, -0.4839, -0.0139, -0.0269, 0.9993, 0.8299, 1.533, 0.8898, -0.1837, 0.6178, 0.3393, 0.9986]\nstate[eef_state]: left_x=0.2827 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0014 left_pitch=-0.1247 left_roll=0.0043 left_gripper=0.9993 right_x=0.3341 right_y=0.219 right_z=0.1195 right_yaw=0.1359 right_pitch=-0.0836 right_roll=-0.1742 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.5248, 6.9812, 1.7021, -0.0659, -0.0415, -0.0122, 0.4171, -8.7453, 6.3248, 1.5849, 0.5299, -0.1148, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0219, 0.8322, 0.6132, -0.4919, -0.0139, -0.0265, 0.9993, 0.7757, 1.853, 0.7223, 0.2886, 0.6052, 0.2535, 0.4383]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1517 left_yaw=-0.0016 left_pitch=-0.1365 left_roll=0.0048 left_gripper=0.9993 right_x=0.3503 right_y=0.2079 right_z=0.0089 right_yaw=0.1355 right_pitch=-0.1108 right_roll=-0.2442 right_gripper=0.4383\nstate[joint_eff]: [-0.1436, -1.4154, 7.0359, 1.58, -0.0464, -0.0415, -0.0122, -0.0479, -9.9624, 5.7915, 1.2821, 0.1734, 0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0219, 0.8341, 0.6132, -0.4942, -0.0139, -0.0269, 0.9993, 0.7959, 1.5139, 0.9016, -0.1455, 0.6434, 0.2169, 0.4383]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1508 left_yaw=-0.0014 left_pitch=-0.1407 left_roll=0.0046 left_gripper=0.9993 right_x=0.3485 right_y=0.2096 right_z=0.1387 right_yaw=0.1504 right_pitch=-0.0317 right_roll=-0.2449 right_gripper=0.4383\nstate[joint_eff]: [-0.3624, -1.3744, 6.9402, 1.6484, -0.0464, -0.0317, -0.0122, 0.3214, -7.8838, 8.8137, 1.6337, 0.3248, 0.0073, 1.0134]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980b1f0b1c0fefa8c4f512011265d3d90ac4d2096b320a43af17ad69c7ae0e76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdc8632e4f26b52f3331c5f14ee2e93ce4810d0ba3ded0c404a7b512437b1b35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4e478b6f5f6249f0ea476b68a7d30ea11ebfccd10981f43324aa62cb20d975",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEfbq3yg8NypzCH0lKp0H15R6I4Pmgdwj-oZhcBIoOgi--wqHxxUraqYBvxFXm8U9mwOyB-IxpzQcRpDwhld4HKTkdMNvU1xewg6aVsy9ga-fJV0IS2SftYtYSGPb-GW9XsCULwQBBVzhFjlog8ApTdV_CSov2Eom5tmWnvwk11mMO3Y6cryaPKpkHGRGyK1NbnumPqMdw7xsiQSCIwzo8NFj0HTXqkv0y4Fd0awmA3DRwhNmt58EQh33UHSCq-Z1Z0EoAOF4-IvtZOjCzIN9xohjNWx08l3ZLB9QNxmf3Pjw-fIlRoO_DQ-QOTmV47emGMJmxMNb_qZ3AmJNm_Faaax4BYV9PKR-cVZNji2OC0cKp7xeu6HnN9tXqIzmQT4YKgxvzAROmc7e7h8CdxnHEN87LzAiZ8EPir7-SJmUvagZ91MEqtVYSd7peyXTU-rp1qZautTKWofXzKTbw_vI79kQTJkKDAWbbyceGTENvnZuiTC8yOQAQ4QTBdKt7IxBlSbHja-ZjhA-WFTeYfkS5E84Kxw2QdJIRxXRiTO094AiB68CsuikLh9x7XLGgrlnqRLuNrQ2t0Jc68NB0UbWBolsOqaBP-SBHKyIbm257HGZPcRXQDzsJr_qBY_wwvj-l0Svc_MmnTyILR84ZvfHBrUZfJh3QGwKX_zftbjwLp2tD_0xDgGUqVJzQDOBVKEZeEisexHx6o1q8pr1a59j7oHfVsZ2I9Q7C_u9A8byHFAggy6tXLWwY_2bOvEr9ERtW-10jPDMiVk4g1IUNKjF9BfdEDlM7V8zjrrmi7mIbA--aOO6WL0Z6HYQMJDQy86hY7jBfNW0O9j62cdI_X-9AW6OCCpERWKaZMY76ep1oMaUL9S8RNFgwtXy3m8BRj82oS23LnnT97h_D1O_82_d83ScwZGJ77jdr9PvTD8PrOQ4zhcEQW4L9VxUEZhmik73jy62pJogCGvuRm8AkHExJW2VUxICHLOvv6gokNiAzaW6NuSSllrlXWNJB01bO2lrlsC1-8VbpPMpSv61QxooLRd9XEx_IbR74L9FrAbTLKGEht0VHTmS-plA45o5Nr7yUzKqAhiCZbsGmWQHd01KzNYRD0h6FfHyIB-L_Frbwd62rE-YtS-fLUyymCzSI8WWfu0EZxS0lOZk4Kc2X20-tCxb6A-4GWymkdFLu_az29Ecf-DXCkfaBPpyFg4dbIIbXoJOmdccj7X_rX-OTP4ZnYdbye8gywqZyxk4dl2tKwbjS7UsX-W6Lxq9HdbuMVZH1UquaqeifFbLNVVyzjxc6Hitv_q6otxvGA7BmCYHVhBjTfYgxVE7xepfIb53knWVox-",
  "id": "rs_0c1b3e2e15b4fcc9016ab447da450087d098154cfa4676863c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.11,\"right_z\":0.2,\"right_pitch\":0.0},\"note\":\"The lemon lifted cleanly, and the pear is still visible inside the blue bowl. I am carrying the lemon above the bowl center with enough clearance for both the rim and the pear.\"}",
  "call_id": "call_zq1yvxRStXck0aNZq0ifdGCn",
  "id": "fc_0c1b3e2e15b4fcc9016ab447da9eb087d0af2f7d844409eca7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zq1yvxRStXck0aNZq0ifdGCn",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8349, 0.6132, -0.4946, -0.0139, -0.0265, 0.9993, 0.3832, 1.486, 1.0172, -0.1883, 0.3462, -0.0681, 0.4383]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1505 left_yaw=-0.0016 left_pitch=-0.1419 left_roll=0.0049 left_gripper=0.9993 right_x=0.4203 right_y=0.1087 right_z=0.1737 right_yaw=0.1246 right_pitch=-0.0644 right_roll=-0.2603 right_gripper=0.4383\nstate[joint_eff]: [-0.0342, -1.4701, 6.9265, 1.5849, -0.0757, -0.0122, -0.0122, -0.1709, -7.9111, 9.3607, 1.873, 0.0806, -0.0464, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d43b1c163ebccc1bf9d47a3bf675b9dbb68e1400bec134a4e08469e9fb822e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19fca79c667afcf804c654dfcad4c3cd22febc09b05cabb5a391e46240a64d95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7378c9a8d4bbb09c85a3c4d33c4adca034ad17f7e0cfbb9cd860854a697c85",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.035 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4919, -0.0139, -0.0265, 0.9993, 0.7784, 1.8297, 0.7334, 0.2821, 0.6064, 0.2634, 0.9987]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1517 left_yaw=-0.0016 left_pitch=-0.1365 left_roll=0.0048 left_gripper=0.9993 right_x=0.3535 right_y=0.2122 right_z=0.0203 right_yaw=0.1337 right_pitch=-0.0868 right_roll=-0.2202 right_gripper=0.9987\nstate[joint_eff]: [-0.2667, -1.6889, 6.9402, 1.6532, -0.0757, -0.0073, -0.0073, -0.5265, -8.212, 4.0274, 1.5849, 0.3346, 0.0073, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.8341, 0.6132, -0.4942, -0.0139, -0.0269, 0.9993, 0.7959, 1.5139, 0.9016, -0.1455, 0.6434, 0.2169, 0.4383]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1508 left_yaw=-0.0014 left_pitch=-0.1407 left_roll=0.0046 left_gripper=0.9993 right_x=0.3485 right_y=0.2096 right_z=0.1387 right_yaw=0.1504 right_pitch=-0.0317 right_roll=-0.2449 right_gripper=0.4383\nstate[joint_eff]: [-0.3624, -1.3744, 6.9402, 1.6484, -0.0464, -0.0317, -0.0122, 0.3214, -7.8838, 8.8137, 1.6337, 0.3248, 0.0073, 1.0134]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8349, 0.6132, -0.4946, -0.0139, -0.0265, 0.9993, 0.3832, 1.486, 1.0172, -0.1883, 0.3462, -0.0681, 0.4383]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1505 left_yaw=-0.0016 left_pitch=-0.1419 left_roll=0.0049 left_gripper=0.9993 right_x=0.4203 right_y=0.1087 right_z=0.1737 right_yaw=0.1246 right_pitch=-0.0644 right_roll=-0.2603 right_gripper=0.4383\nstate[joint_eff]: [-0.0342, -1.4701, 6.9265, 1.5849, -0.0757, -0.0122, -0.0122, -0.1709, -7.9111, 9.3607, 1.873, 0.0806, -0.0464, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d43b1c163ebccc1bf9d47a3bf675b9dbb68e1400bec134a4e08469e9fb822e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19fca79c667afcf804c654dfcad4c3cd22febc09b05cabb5a391e46240a64d95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7378c9a8d4bbb09c85a3c4d33c4adca034ad17f7e0cfbb9cd860854a697c85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfe_vGT3JYkQoaRrEnh-5VMtc_oy-pLviTlpaAelH0pXjftoJvWVYldvCu3wDjuzuYntQ6x_ylXZTE0hgikuiKaOYAdA6xPZVAMZvXHzsB5Ag1YAe74DjUsJaaFZOAsB_HHcI28jfo7xp16KziUETQ8oMS30rjULfuHR1azbPT2PJ9EkuohNdQmeEvSir7y22l0JiqZrPjEaqAxBBYT63g0Q3R6aJBFs5T_1AaAMsRCH_kobXLPkf0Tf50kpcW4Iixm8tkTmSufgU-F93tNSFI2VMqXuj65xtBxqYluAfcDmBiVPk1qdguYrOptwk3gNYbbYMVJBelantRoZ_uly7kqGiwhHVUqlqrQBW9i_iX-RaRjq5_i_fKJNGy7RPprbSC7aNAfZq3V98WqVF1Z_k7Vlj_sd50PuHzBBSmZ7jNRNvmb2bz1PNaBLf_RcbKnHkhMLIPN9gDI1IIqyImcBGjPysl8sj8eM1a2mbH_1NsjB9-yif8ZdXPBLu6B-bj7Daa3DEpvW0RSPFlLC8PqCarbmsQRyOoKMRuOgfsLmFJpU3Ueh1RoQu9XEdaHMcd1wn8up2gYYJrVycLx7KYK1_989y_6cIBIWlOX84Le-CLj6zZzKQ8iOPNOlh0zoFwggNyg-PQkdO0up5xEz19qI3ldSiV61SlWwcdYxV5xsmgsZHI0SeENp4vyB26qQhU2431woRn5WGwe-aVUFpSr8K14E31LzXPS1AW0hSSbEupi9ndVysgKWaf3dAi5e5tu7jLzCogqzyeUt8RgX32SyOAr3gGzQB_5GXr9B19xiEIhiw8xTMRHJcDXHabMfJH8z_ekOL_ovP3LPzb-Z5RCMeLt42iEK8eouii_JY5dB9Z_6Wm6c9xTSDrwdlqgKh1oNMJAGVxEGdnjuSopd3o8KPDRmOy5U-GbO0k-BmOGJN66PKLs-JUlvTwYcSVHeon54_3OIcdOTUy_TJPb7RTBDAxY7FhFdv3k41ROd3QnHUmYNgdC4zBfauYEjN4yDbAGB8-zb9M7fsuHRvfJ1Ev5x26YYoEU8X1idYL7mOwbFz0ap8o5ibABUslTxKU24MAmcpT6gKQowhQW7Oeto5vixtgCU_9eMb--64a6lvZ8i1zJbgX3lWGXAjZudsStZH0Sy17OdmL7W1itDzmaEgrnPd96FLK2t8slSy4AQuG4v3Iu-uNN_Swn3w7xbNWdQ--BxfvX",
  "id": "rs_0c1b3e2e15b4fcc9016ab447dd186c87d08e200098624b9716",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11,\"right_pitch\":0.0},\"note\":\"The overhead and wrist views show the lemon centered over the blue bowl. I am lowering it inside the rim, stopping high enough not to crush the pear already in the bowl.\"}",
  "call_id": "call_zVRz8PxjxSwXlP31wxkHEfhZ",
  "id": "fc_0c1b3e2e15b4fcc9016ab447dd3a2087d0a8566da0b9545521",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zVRz8PxjxSwXlP31wxkHEfhZ",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.836, 0.6132, -0.4946, -0.0139, -0.0269, 0.9993, 0.3889, 1.5692, 0.783, 0.0856, 0.3435, -0.0898, 0.4418]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0046 left_gripper=0.9993 right_x=0.4061 right_y=0.106 right_z=0.0928 right_yaw=0.1429 right_pitch=-0.1101 right_roll=-0.2869 right_gripper=0.4418\nstate[joint_eff]: [-0.0342, -1.2786, 7.0085, 1.5751, -0.0464, -0.0611, -0.0122, -0.1026, -6.6667, 6.6256, 2.0586, 0.2759, 0.0562, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3570638c3de563d14a8ddefd6efc3c2e84c91274f67486ca7c461d8c7c6158a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de7e70b1a62ca03686378343d5439e1be3fe0fb443417291063fae3b02b2024",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9195f52725d69cd33d298e652d1076a8b625b22441306a7cf9615c5f8e1a636",
      "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 · 4.255 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4919, -0.0139, -0.0265, 0.9993, 0.7757, 1.853, 0.7223, 0.2886, 0.6052, 0.2535, 0.4383]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1517 left_yaw=-0.0016 left_pitch=-0.1365 left_roll=0.0048 left_gripper=0.9993 right_x=0.3503 right_y=0.2079 right_z=0.0089 right_yaw=0.1355 right_pitch=-0.1108 right_roll=-0.2442 right_gripper=0.4383\nstate[joint_eff]: [-0.1436, -1.4154, 7.0359, 1.58, -0.0464, -0.0415, -0.0122, -0.0479, -9.9624, 5.7915, 1.2821, 0.1734, 0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8349, 0.6132, -0.4946, -0.0139, -0.0265, 0.9993, 0.3832, 1.486, 1.0172, -0.1883, 0.3462, -0.0681, 0.4383]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1505 left_yaw=-0.0016 left_pitch=-0.1419 left_roll=0.0049 left_gripper=0.9993 right_x=0.4203 right_y=0.1087 right_z=0.1737 right_yaw=0.1246 right_pitch=-0.0644 right_roll=-0.2603 right_gripper=0.4383\nstate[joint_eff]: [-0.0342, -1.4701, 6.9265, 1.5849, -0.0757, -0.0122, -0.0122, -0.1709, -7.9111, 9.3607, 1.873, 0.0806, -0.0464, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.836, 0.6132, -0.4946, -0.0139, -0.0269, 0.9993, 0.3889, 1.5692, 0.783, 0.0856, 0.3435, -0.0898, 0.4418]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0046 left_gripper=0.9993 right_x=0.4061 right_y=0.106 right_z=0.0928 right_yaw=0.1429 right_pitch=-0.1101 right_roll=-0.2869 right_gripper=0.4418\nstate[joint_eff]: [-0.0342, -1.2786, 7.0085, 1.5751, -0.0464, -0.0611, -0.0122, -0.1026, -6.6667, 6.6256, 2.0586, 0.2759, 0.0562, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3570638c3de563d14a8ddefd6efc3c2e84c91274f67486ca7c461d8c7c6158a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de7e70b1a62ca03686378343d5439e1be3fe0fb443417291063fae3b02b2024",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9195f52725d69cd33d298e652d1076a8b625b22441306a7cf9615c5f8e1a636",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfgeIqjUB9L9AVl9_7jG7Uju8dtAZ-JimJrO3Lg4Cp7rsLrGfIdXNcELmKRX290ivXWowLabFeKZF44BnplXTurWhqvDqpd-gw0vqGjRYvRGLKlb4sI952CkRECI8HQN-K70ULrYaZZdN4_D87xTEtjktL7pLF7oQ1VsHqC6Sg3UqJb-vseHaYOY3O8zLzJuyYFeYKmYCDgblndbwPU1xyeqabRx76SwahUCeedQ8Yx8TrnkycCu27hdWf_XY5XzUJKzqkYcq3NsLP9HhnvaR5D6nCDiVFsjOwtMcg_jB_LKFV2w4YxbY25Mwb6MaFX35JfLu4DmpOU5LYidZHQOuiouwUu0LeNzOSniWzM30TUCRMEinuoGMirxuCZ5GijAj-H1mURWJToYd0ea8o59B31U9thCZytVynKgf484tUQypjgaemJdsfK1AvFX_zDDCL4T45pFnG7PQVOERkhK9gJr1t55qHVYtdiVXJJhJoTmVUYp-c8ePjQz-Yq9taec2SqsxCmxrN9znc-oNLM0cBOH8_pqcryIxaltcW-d51dO5nqAxM_e2TK5XvfKo62D7q-2bCWxKFFkPYUO_rYY-pHyk061V6kdbhvhj8BMiHJb9D1X0_VEuunEKNYSIKqQO5hxU3KvmxweOgZ-3kU99I4JocE6lbcL5C3ClqJ0M0eE9GtrfP4MJyg_8I60AHi_blYI1PzfYJUqt3ILMo7to2ysUbL7w1l_HR7fMqTGUkrrR_22Ppavi-6vepdcREuTJpizduyPthEI2Pxj151QzX6uMjQ_YvmLDLA4CBfxWwXrNHBbdFnGUR_zDpOV5_YviZpricUoqMzC4WYduSt_SdHTwjbLhQg21zW143TCbJDvdAS_nzFJE3XdqQLb1e5BeWnymO-tHne9Z2zxWC-wxQYoXAN9SHcZM3Ydfoxtc4vky7SA045q8M1DmlZNtA__ylivIw7WykWWfwVrD0ckBgMvRxhX4zF5_sSTLWmBkAraaDqU4k_k8olcN1ZeoN5_MGfVtgi5hyzM8aA4nk8ElZ3Wi6qXF9CEu5pn-F-FMV-ctoUgF8nW95dKEO6TeIl0jesEKVIRBcZjkLJ31DxwKEjUjcQFlJDZa_NDResXF0EuBSXh1Zqeu8HL3KHzwmxftOPx_COOd6Mna27yZYQ8h_FVMYmDsvyh-7Qyg2MtzoW3i4=",
  "id": "rs_0c1b3e2e15b4fcc9016ab447dfb45c87d0b56d6d48e0fd0c57",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"Both the pear and the held lemon are visible inside the blue bowl, with the gripper low between the rim. I am releasing the lemon into the bowl.\"}",
  "call_id": "call_pn70BonqhTLMiQmECxTW2fGl",
  "id": "fc_0c1b3e2e15b4fcc9016ab447dfc56087d09289f593fc3da7ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pn70BonqhTLMiQmECxTW2fGl",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.836, 0.6132, -0.4946, -0.0135, -0.0269, 0.9993, 0.3893, 1.5837, 0.7689, 0.0795, 0.3416, -0.0959, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1502 left_yaw=-0.0017 left_pitch=-0.143 left_roll=0.0044 left_gripper=0.9993 right_x=0.401 right_y=0.1044 right_z=0.0804 right_yaw=0.147 right_pitch=-0.145 right_roll=-0.2989 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.4291, 6.9265, 1.5751, -0.0073, -0.0513, -0.0122, -0.0615, -7.8974, 7.3231, 1.6044, 0.0855, 0.0757, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc5e269c437cce583244ded668b7babf3fb38709e343465d4ec3b5356469f3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34faf2e82019da5d625982b13fbe292101f1bc8aa46297985ab9b490f6e0e5ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31c938f8031e7da501817f5ee45647e63e03c032208dd9c95c63ef8acc70fc82",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.152 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4942, -0.0139, -0.0269, 0.9993, 0.7959, 1.5139, 0.9016, -0.1455, 0.6434, 0.2169, 0.4383]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1508 left_yaw=-0.0014 left_pitch=-0.1407 left_roll=0.0046 left_gripper=0.9993 right_x=0.3485 right_y=0.2096 right_z=0.1387 right_yaw=0.1504 right_pitch=-0.0317 right_roll=-0.2449 right_gripper=0.4383\nstate[joint_eff]: [-0.3624, -1.3744, 6.9402, 1.6484, -0.0464, -0.0317, -0.0122, 0.3214, -7.8838, 8.8137, 1.6337, 0.3248, 0.0073, 1.0134]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.836, 0.6132, -0.4946, -0.0139, -0.0269, 0.9993, 0.3889, 1.5692, 0.783, 0.0856, 0.3435, -0.0898, 0.4418]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0046 left_gripper=0.9993 right_x=0.4061 right_y=0.106 right_z=0.0928 right_yaw=0.1429 right_pitch=-0.1101 right_roll=-0.2869 right_gripper=0.4418\nstate[joint_eff]: [-0.0342, -1.2786, 7.0085, 1.5751, -0.0464, -0.0611, -0.0122, -0.1026, -6.6667, 6.6256, 2.0586, 0.2759, 0.0562, 0.6862]\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 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.836, 0.6132, -0.4946, -0.0135, -0.0269, 0.9993, 0.3893, 1.5837, 0.7689, 0.0795, 0.3416, -0.0959, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1502 left_yaw=-0.0017 left_pitch=-0.143 left_roll=0.0044 left_gripper=0.9993 right_x=0.401 right_y=0.1044 right_z=0.0804 right_yaw=0.147 right_pitch=-0.145 right_roll=-0.2989 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.4291, 6.9265, 1.5751, -0.0073, -0.0513, -0.0122, -0.0615, -7.8974, 7.3231, 1.6044, 0.0855, 0.0757, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc5e269c437cce583244ded668b7babf3fb38709e343465d4ec3b5356469f3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34faf2e82019da5d625982b13fbe292101f1bc8aa46297985ab9b490f6e0e5ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31c938f8031e7da501817f5ee45647e63e03c032208dd9c95c63ef8acc70fc82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEflZUE8EuYCpqVoPOUumuLv2AO87l_65Df8LTQCkpi17YoFCWl7f7pLX-qW8dgtn10AaaaawiYolNdPbg4Ou1SUV46KIKf_JhxAPdCMw40hy5DE3ISTbQ_bDNpGxW4GUIAHfrQ9nLkwZqmqb0Te5DAdsNSk8TlTuczq_Jq3IA6Y4npb8g0gP6BFeQ1fzgPccwXs4mG_gZzUP2JgaRiZ6qduQoUu6ea2bUh3iyIPMr_z1uRw70LyzwhIsvqqSRj_qYVhEeAdtuEHyb18qGEYlPqWNj72glkDDKhyDyNxiVyPtVLA1g0NReL78dshLNTkHh2bLhwQ7ghLkfLeTP3X0Dnf-2lDUkwJHgFXmJq5VlQ_hrSiEbySGxoZwr8CncGOhs1eaD1aAMxdC92o7n24tHEbM2ArvgZ8lBgrCagEgsjpBTBjr0qj3GuUzDcH_D1jFJlFSovV4j5dNQKNyLXKeFDPOYG_Cu-VR95fFuvVA5lfrR6pXkEHwDO3ZQ1szB8w2vIElo1k47ce0gsRxZYL1ULA0U9LrrXh-9VGPUcsr6sr1l9PdPPQ28tasWguOU1bwzfBi85murcrsWJSVESYpHPd3VDujArtvoJLOHpbUHr1BV7ZqpztBNFuxmFholNunxEuvLPnbapMq4dy6A2P4m8-CsK_E4buT8-3mobfbIugB0hApxFddPwVUfxfdJ_HFdoE9kyKCnnUGICgropelOfGOL-IBNmkjyREyx1H23KADFLMd7hEwj04ZNhhRs4ykFWQlhsvctzJHI2kV5Qtv0cUeaXntduZ5MbcsPUIOB4X1x_eDJkUiyghdXuhU2o4LJbg33DS74ae9QAW84nVesHNgQ1REfHtWEZuu-5vU-nBNwTTFBNWWrVYSXhZgJ_I-x8j6ndH7aShEZ7i-tzCHMyrmmCrK35eKIRQF89cf9jCTgBpxIu6uSPHBikBH7SrgtGAIkxHZGrioNBm_nAAT374BGrFh2Id2ERTxaagYBRTWAT1PiUi_3UR4p-LrVHF69471XkwvilqX4vYFF-7arRy-9twVkBphyN_yyhgtg1PifB-S_H1l8fvzcahvFB3IeOw5oDcdBv8psvJmLTQRVInk9GIKIVKDYDqq_38Kq03ngoqnw9ZXSnYuZjGSDhZD088FUA0byJut_0M4UYZPefomAmE1ES6eb_GYusSojvcQlJUdHmoHEWafZOfMUDGD1zjU3ju6xfcCArIcqOtfIAq6_z-jqp2KUbrq4OekQSR0PkB2R3kT-9Zo4IKNm5-JW9Pbe3qDb1o7eKzZdLFVSYeFgSy-v8PPyOHVjmDVApKMU_IMNsbQ0OlLILYBkv_IITPbP7tgGffy0SiORlR2KV6Mh9dZG6yiG_NtuI5GxvxAUQillOML1PquNn7-2daTvv6KMPP40wY_7stLavy3sW17hgZfBDIVUcGru1ucfaR7TlRQD-kd_FX_fnJX-DoDEqN30WAp5AFtYv5YHHB6XIpB9nHaXfxNe3_E182Igw6cJquHWg0x7_LUnMlaGU2b36eLGzDdXH7tLGx-6MA3ViHwMjAqtflW1SA0kp4ya2ytW21_0Dd9WsehVrjWeZjyHPMnkhem6DCnC9-KniMekUPv9u9cvuNfpgC1uTMS11wvUNJpmu1GwMQyquPSMlQVSRS4rmc7Htkr3R6RCn5tsQjafph-BLn_TWX1OimR4OL5-yu8hT97-km_P19_v3thTLtHaPHSa99BEEZA0hRBAqh9eYuErQrkwavyoVHHsGp7DQ=",
  "id": "rs_0c1b3e2e15b4fcc9016ab447e2200487d0956d6758363077f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The lemon now rests beside the pear in the blue bowl; the only remaining fruit is the small dark plum left of center. I am parking the right arm to clear the bowl and overhead view before using the left arm for the plum.\"}",
  "call_id": "call_f03Zpj2lJ8QSuuQvbHiBArGK",
  "id": "fc_0c1b3e2e15b4fcc9016ab447e381bc87d0822b502c57dd9fd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f03Zpj2lJ8QSuuQvbHiBArGK",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8402, 0.6132, -0.5011, -0.0135, -0.0269, 0.9993, 0.0422, 0.8093, 0.5751, -0.2749, 0.1081, -0.2909, 0.9986]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1479 left_yaw=-0.0016 left_pitch=-0.1537 left_roll=0.0046 left_gripper=0.9993 right_x=0.3052 right_y=-0.0026 right_z=0.185 right_yaw=0.101 right_pitch=0.0362 right_roll=-0.3013 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.4564, 7.159, 1.6972, -0.0171, -0.0317, -0.0122, -0.212, -0.9915, 7.1863, 1.8242, -0.0659, 0.0366, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7fc16acafb3c5fd3b6573afe7fe418c99b9857d566d03af66d1df6fc94ae06f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a1dc0820378d4e92545f0596ffec65d2bd3d1a1ca29af559b82f8bda271b29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5988a07d036f40fdc1316d72d8212886df668cdff1e2197127366651b062a751",
      "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 · 3.612 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8349, 0.6132, -0.4946, -0.0139, -0.0265, 0.9993, 0.3832, 1.486, 1.0172, -0.1883, 0.3462, -0.0681, 0.4383]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1505 left_yaw=-0.0016 left_pitch=-0.1419 left_roll=0.0049 left_gripper=0.9993 right_x=0.4203 right_y=0.1087 right_z=0.1737 right_yaw=0.1246 right_pitch=-0.0644 right_roll=-0.2603 right_gripper=0.4383\nstate[joint_eff]: [-0.0342, -1.4701, 6.9265, 1.5849, -0.0757, -0.0122, -0.0122, -0.1709, -7.9111, 9.3607, 1.873, 0.0806, -0.0464, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.836, 0.6132, -0.4946, -0.0135, -0.0269, 0.9993, 0.3893, 1.5837, 0.7689, 0.0795, 0.3416, -0.0959, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1502 left_yaw=-0.0017 left_pitch=-0.143 left_roll=0.0044 left_gripper=0.9993 right_x=0.401 right_y=0.1044 right_z=0.0804 right_yaw=0.147 right_pitch=-0.145 right_roll=-0.2989 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.4291, 6.9265, 1.5751, -0.0073, -0.0513, -0.0122, -0.0615, -7.8974, 7.3231, 1.6044, 0.0855, 0.0757, -0.0952]\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 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8402, 0.6132, -0.5011, -0.0135, -0.0269, 0.9993, 0.0422, 0.8093, 0.5751, -0.2749, 0.1081, -0.2909, 0.9986]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1479 left_yaw=-0.0016 left_pitch=-0.1537 left_roll=0.0046 left_gripper=0.9993 right_x=0.3052 right_y=-0.0026 right_z=0.185 right_yaw=0.101 right_pitch=0.0362 right_roll=-0.3013 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.4564, 7.159, 1.6972, -0.0171, -0.0317, -0.0122, -0.212, -0.9915, 7.1863, 1.8242, -0.0659, 0.0366, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7fc16acafb3c5fd3b6573afe7fe418c99b9857d566d03af66d1df6fc94ae06f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a1dc0820378d4e92545f0596ffec65d2bd3d1a1ca29af559b82f8bda271b29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5988a07d036f40fdc1316d72d8212886df668cdff1e2197127366651b062a751",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfpfZpH0sX4KjiL9jyRoSa25qw8q3a7gqrhLIlmiTykze6lj35gwJn_PnMRTcl1C8CAMtzjKxJ1dF50Qs1Ax8wmC16XpnmxfOOledsEkEZxyfN8yPzyDzzv9V-Zifpcc5K10ijmnnvcoBflXy9q4KcEejygo9Sh0j9BeFy-KLbyDOxmsO3AhVxFktcqUHQ63mJVuVDGVqnoV8z5GVodVUkdmBaWkhb4gWTx3LcVnkQoZW6FYjSsJ5NAV73JNu6Oxby3-G-7Moh5Q_ni9Srx_xmTTPTKheOuX_aXcf_tYb_9pxHMOr0gTKFVHQ9HyuiK94gPmnuvQFlAbQV8g0PWF3-LqY-4TLD5jMcg-zVejjdwWJScCiAHwX6cvt9ZH_noV_mD2ATxzoPjo7MALjQ-d3NvGi0dgLssHb4mUPz-JXuyO0w-jVGmZr9fq7ZvBYB1A4BgGrcwHXw748Yye3vqzIjuBiYBI8hUsW9wcDZv9OIA4ls8Um_xKqUsfYxuvapIkaxYrEqU3OzTxBF41UVwZ6iLZJMk5ADSeV-BcOfpaU6f-Q77jpdHKOyXuY09M4jd0VaM34NF8B_sBpWz_tm30zPddiDissVpcpcA-QTTlBBwckzSZYCrY5B66aBtOkfSwFY2KN-okAFYReb6GTBc-fmrRXt8x_6g9DWK-5W0Xg8oTUaG2kFFSsa62tq5zBV_bWEm4k9euneoghwV749J8E1x865HZ4jvk-dq7rBFPvhqttVdS7-O9nhAPgkF2gsWQLDwYnuH8WQntQg3tzwJiV31Ot6PbkJlKd9TDOyyq3lDkB1gXXZjQN1dnuB3j92JFi7KsHYsLxM4-t4lhR4c4JM9_35jRMYG4LiFZ4ngTy9jOlMFdEMI3N1-QsOPPkPRzPO4fep8yTUzDYous_xJfVCoMHmac0OM6_z_uZqXSXVIity6THspCPX-39Mz874mywWJuVNYblE3wrMkSONMUEDCl3xU8WrayYyQZb715D7UPIzqXptmc0lp6WiDZW4df3FlJtndkoDumFLfCDzk1bYo26ZG-2H8XsTwu9l_7Z5nZZI7Mlf66o75OsLlY9HLUI0m-jWEYO8B0dmfshcHex70NFgEUJoXoiJj9I5Bfx-IP996lNvM6OD8-WpTUehjUZDh114vtZnWgJlp09EYlwMK0KCCIfEQ8o1KdjLgn09-fx2fZskHLC4si8I3z7Fi-PEUeL2VF7tkRa9XTFw7J7s_WW8pi_jMXcrU5cWSWLqoE738ddp5eTWIm87KNLyAgXg54sw4ExnFKXBXu_bxIVF3lQ6YNjTMg_hkbwZCMRnJcnC4A0jLxULuTCFRyA9SddFX-Ij2u-Mw0UtDbZKJbpjeq5XLrSbvFhAKNu6YgpJGzXZWss4wQJyy4M0rsqrEgD1zoc4lsDEj2mCGBG9nF6rc3y-uvg6hGupKG9SOcXO3HUyaQKriYZyEy4NACSIejCva4ui1Kdsy-L4_f3A-mKR7wgtlTxW8xFhDTXKgH9BOY_7wY9hmgFzms_sv8Jbd8rfygW0yuluShv2luP0nCqmf4Gqvaqylg81bJCyaovcuoAvpfla1OToaF7TWyfBQW9xS3wjLqnV-jTXRSJQcJ2ZZjfWDKOEgDoXvyQ0fqWtJ8TrQFOkkS1QTEO8ez2AV2kOIxLlyWOpo0GgG1diG9NCgsjgqYVektG4JzagbxHfK6NxkrBKXy4i-JW6nReMvS-RMRJqMV6DT_JGOhRlXtUBc8l0oo87MtxXpTkWQTaNqxtI3GgbNYuw38SXEKNBliM2u1iQtV1HCDOoB7z4pBDJaCec3YR6qICa4zMhE08KddgdrWoPoYfqrvQiOnPqH2Mo4p4_E5t3f00jxIE6yklx-Eu-HEOPLyTntCi3L8KZrP0I=",
  "id": "rs_0c1b3e2e15b4fcc9016ab447e745f487d0a99d9fde2a19bb97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.27,\"left_z\":0.14,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"With the right arm parked, the dark plum is unobstructed near the center line. Using the known base spacing and its overhead position, I am moving the left gripper high above the plum at about x=0.34, y=-0.27.\"}",
  "call_id": "call_nmlBo4vO3mRdwiRgxKz4ijA5",
  "id": "fc_0c1b3e2e15b4fcc9016ab447e8697087d09bccb342d2b20ec6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nmlBo4vO3mRdwiRgxKz4ijA5",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9512, 1.6611, 1.0439, -0.2668, -0.7258, -0.6674, 0.9993, 0.0429, 0.8154, 0.5751, -0.3111, 0.0998, -0.3138, 0.9986]\nstate[eef_state]: left_x=0.3345 left_y=-0.2608 left_z=0.1258 left_yaw=-0.0139 left_pitch=-0.0427 left_roll=0.0272 left_gripper=0.9993 right_x=0.3011 right_y=-0.0011 right_z=0.1755 right_yaw=0.1207 right_pitch=-0.0094 right_roll=-0.3137 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -7.9932, 8.6632, 1.326, -0.6276, 0.022, -0.0855, -0.3897, -1.8803, 7.0496, 2.127, 0.0708, 0.2076, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d69501ddb8f5095c5bdf39cecd2f5ba4274aae5d45ec3e2b04e6624da9e5b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:750b29c22c2e249b99a8efa2dbde1b08f3b7f97a10dc1737efbedc7d2e9753f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09eb21f2c7c146d0f38a9a3dd522ce62a1a5a707858f2de0d38b85719f54138b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 2.708 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.836, 0.6132, -0.4946, -0.0139, -0.0269, 0.9993, 0.3889, 1.5692, 0.783, 0.0856, 0.3435, -0.0898, 0.4418]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0046 left_gripper=0.9993 right_x=0.4061 right_y=0.106 right_z=0.0928 right_yaw=0.1429 right_pitch=-0.1101 right_roll=-0.2869 right_gripper=0.4418\nstate[joint_eff]: [-0.0342, -1.2786, 7.0085, 1.5751, -0.0464, -0.0611, -0.0122, -0.1026, -6.6667, 6.6256, 2.0586, 0.2759, 0.0562, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8402, 0.6132, -0.5011, -0.0135, -0.0269, 0.9993, 0.0422, 0.8093, 0.5751, -0.2749, 0.1081, -0.2909, 0.9986]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1479 left_yaw=-0.0016 left_pitch=-0.1537 left_roll=0.0046 left_gripper=0.9993 right_x=0.3052 right_y=-0.0026 right_z=0.185 right_yaw=0.101 right_pitch=0.0362 right_roll=-0.3013 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.4564, 7.159, 1.6972, -0.0171, -0.0317, -0.0122, -0.212, -0.9915, 7.1863, 1.8242, -0.0659, 0.0366, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9512, 1.6611, 1.0439, -0.2668, -0.7258, -0.6674, 0.9993, 0.0429, 0.8154, 0.5751, -0.3111, 0.0998, -0.3138, 0.9986]\nstate[eef_state]: left_x=0.3345 left_y=-0.2608 left_z=0.1258 left_yaw=-0.0139 left_pitch=-0.0427 left_roll=0.0272 left_gripper=0.9993 right_x=0.3011 right_y=-0.0011 right_z=0.1755 right_yaw=0.1207 right_pitch=-0.0094 right_roll=-0.3137 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -7.9932, 8.6632, 1.326, -0.6276, 0.022, -0.0855, -0.3897, -1.8803, 7.0496, 2.127, 0.0708, 0.2076, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d69501ddb8f5095c5bdf39cecd2f5ba4274aae5d45ec3e2b04e6624da9e5b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:750b29c22c2e249b99a8efa2dbde1b08f3b7f97a10dc1737efbedc7d2e9753f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09eb21f2c7c146d0f38a9a3dd522ce62a1a5a707858f2de0d38b85719f54138b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfvgE8pKd41ICUqmbqhhlwaXYpUs6h0fSSEy6nszDaD_zfTSnAphZQJ6daSWpax1P39cZQPQRVQiewCP40P3K7X3URkVsfV3-dH02G0qpqq_7IEnSMnaspMyL7JC-XPqGeVhHTTGb835vDYrMOfO8-uk9TZFnotFV25WAQjXK4Trr_6-GAKr3iKaEUU9MCQSLabN51EAiI7YqwECALKmUe9Aiz7e-O_LFTRqflr1-bjq0cha8Xx8c2KrPFPAO7dML24RcvZOdDFClKPEmO-UzdcWl0FkKud_XAIeKxKDc-cHSwC6eoH1CohIEZcbYZPNoOlv54Ch8rYSvv5KZa3dq1S7gcA_FoQQxDwf38RaNxMnQeIWB3MBLpg2CbvB-cneFWvB63BmduH-CgHJU3YQMyLKM3M9x84r1PaXoDLf73KHRf_o3R6Jpk7BpjtURY0ZtaNG4FlXuM0bwHPqIW32DXivSWaEahL0CRPsQN2CYfgVB2nraW1SG84j5fR5gTnIkKXNHB8LBoABQp645k3EXIMhB1d2tuM_A4-eSNe6zt83vvtvkUbxmWmZf15xG_5KnPn_64NuCfz_eh_k37AF3mYg4rIr2CMbnXZtxvdB09nfSaA2iKBLOOOarX9UfROV8B32Xbtg_XTDeDMHftXdx05peS8YNKZbidzW0Rs9CJmYHF3P7L-1aApkOLzEF1ieqLa3EOZQx1fwvUWe8IREgdCom_lpHSj2tIPM2Of_DIvUFhtfOC-xBGdlJSM1UBf1dZfFHLwOuTw7VPLSrYDf4frpdYHXJuKErpFN8i-JauKD9thWVDmB26WQwvdcvq815pg_mJcQTkeEgVrejJVyj2w0yhJWmNYe2QuJPy9UrBJnfmYWqaGou3OWG40GR36bDNAfrr8mKGCJYHUsAYO_du1m2oxlHDkaJBqrcIANl-rcXS0Ntv0BwKWU4BWZPAQtI-z2odLJD3ZpfIjSHF3Sr0W67e34svKpUg72bWAgtSwgK9cL8CAoKivAKzdqz8KMv-vz9xUW7DruVf1FSIYsFYhVr_9LhszkvIK02Sfzs4DMGz-2MxpuyjM-oButr6QucnhNl9bSEIRjfOUUNCL3wjZDWfdPT_1j51dVP3mggFIjTaeTnOVFraj1w_3FYOm-1w7FlRt2Cw54AU0M_7Ye42zI2X1wU03L57XgpSOph6j_tXFny6hoxy-Il7QhrPiRh-AbDA0DPMBq_CZKA16jhRs8KGEakipxVPOoXhRkib9oFepQDnBbPvSxhgAg0QinuPP5PfxYAWYj4F8sXEcqlRao93f6v3pWOjXxufiEDA2o0bhDIVWN1JkfS252KwL35p4o9YJue2aN33K9IEvmLybcmoB02vJkAaemE-pgL9DvkCeUro31seyrWjASVaNfPArwSrNnYcDQq3WJGmCSTwVGMF-QtPuuBuE0Coy0JNReQ8xnO0q1-gp2v3QG0AMcYeRAiqBMe1BVOyjMFWPWRuA1p7QlZVXYUDTv4WlVp6LTTZxgfNahbitfeRgEBv1RYiNK_CC1MhTufCfS8hLI_MH48QYLA0txQSMwFbmD1jAIM2DFyF5F7ea4vGEMOq1I7CIbjK6UYUQLdo1K1v_UzCpEW-9Pd5cQInITuYInAHpaGpwzmLgL2CVYefwZplyTRvUmR5uj14L_lzD2OP7Wz86-Xm30q1Yiym83cQYaFiljirn1_sLcxebfeUUyKKZp6E0323PdRbMWqhs8QMrCuHkT1n-8xHmKqDuEEFXhHA5Kp0WGLSzvDQnB5Ma--SFlfYyi7rycfBiRSWmetPJV_5YgZBmo7DOKPeTwJ_WbqIvgRHRUAHc7kHUsmqSf_69Jmnda1XPyyxUinVqHlDdapB6BNbySNg90ShYm9n0-6NXXlP827hWFo26bCxvzpbRUkWr0g2afHN5vUB-Ahzs9rvuxIDd0O2Ydlg6IGPdWdDOBoG9gnpQdWck5nHIIM0I7Fe-",
  "id": "rs_0c1b3e2e15b4fcc9016ab447ecb86087d09fcc9dae3ae6487a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.245,\"left_z\":0.025,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"The left wrist view now shows the plum very close to the fingertips, slightly left of the jaw centerline. I am making a small leftward camera correction, advancing 2.5 cm, and descending to the plum's mid-height.\"}",
  "call_id": "call_kAPyH4QWoGKtWQccDq1UCS2z",
  "id": "fc_0c1b3e2e15b4fcc9016ab447ee1da887d0aa3b30c27d7b1c8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kAPyH4QWoGKtWQccDq1UCS2z",
  "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]: [-0.8745, 1.8797, 0.8345, 0.2024, -0.7116, -0.5758, 0.9993, 0.0429, 0.8154, 0.5751, -0.3195, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3547 left_y=-0.2389 left_z=0.0296 left_yaw=0.0025 left_pitch=-0.0276 left_roll=0.0632 left_gripper=0.9993 right_x=0.3 right_y=-0.0011 right_z=0.1738 right_yaw=0.1218 right_pitch=-0.018 right_roll=-0.3141 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -7.0359, 4.2872, 1.3651, -0.2027, 0.0513, -0.0855, -0.3487, -1.3607, 7.241, 1.8339, 0.0024, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03984462953ab74433509e8388fb017a971a0247c5e8bd8863f151abe847f173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51b97ab378c0490bda7311495f4e0499bcc43652df2d1978428a07181f35878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e43fd3d9640d0b80da8be2fd1b5f84caee62e7cbbb2df21af109b428a203e5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 2.358 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.836, 0.6132, -0.4946, -0.0135, -0.0269, 0.9993, 0.3893, 1.5837, 0.7689, 0.0795, 0.3416, -0.0959, 0.9957]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1502 left_yaw=-0.0017 left_pitch=-0.143 left_roll=0.0044 left_gripper=0.9993 right_x=0.401 right_y=0.1044 right_z=0.0804 right_yaw=0.147 right_pitch=-0.145 right_roll=-0.2989 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.4291, 6.9265, 1.5751, -0.0073, -0.0513, -0.0122, -0.0615, -7.8974, 7.3231, 1.6044, 0.0855, 0.0757, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9512, 1.6611, 1.0439, -0.2668, -0.7258, -0.6674, 0.9993, 0.0429, 0.8154, 0.5751, -0.3111, 0.0998, -0.3138, 0.9986]\nstate[eef_state]: left_x=0.3345 left_y=-0.2608 left_z=0.1258 left_yaw=-0.0139 left_pitch=-0.0427 left_roll=0.0272 left_gripper=0.9993 right_x=0.3011 right_y=-0.0011 right_z=0.1755 right_yaw=0.1207 right_pitch=-0.0094 right_roll=-0.3137 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -7.9932, 8.6632, 1.326, -0.6276, 0.022, -0.0855, -0.3897, -1.8803, 7.0496, 2.127, 0.0708, 0.2076, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8745, 1.8797, 0.8345, 0.2024, -0.7116, -0.5758, 0.9993, 0.0429, 0.8154, 0.5751, -0.3195, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3547 left_y=-0.2389 left_z=0.0296 left_yaw=0.0025 left_pitch=-0.0276 left_roll=0.0632 left_gripper=0.9993 right_x=0.3 right_y=-0.0011 right_z=0.1738 right_yaw=0.1218 right_pitch=-0.018 right_roll=-0.3141 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -7.0359, 4.2872, 1.3651, -0.2027, 0.0513, -0.0855, -0.3487, -1.3607, 7.241, 1.8339, 0.0024, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03984462953ab74433509e8388fb017a971a0247c5e8bd8863f151abe847f173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51b97ab378c0490bda7311495f4e0499bcc43652df2d1978428a07181f35878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e43fd3d9640d0b80da8be2fd1b5f84caee62e7cbbb2df21af109b428a203e5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0c1b3e2e15b4fcc9016ab447f131ec87d0adc7c016b6966bfb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the correction and descent, the plum has passed below the wrist camera exactly where the fingertip grasp point lies, and the gripper is at three centimetres height. I am closing the left jaws to grasp it.\"}",
  "call_id": "call_aarrPSecb39PhUkJY2Qm5Lzz",
  "id": "fc_0c1b3e2e15b4fcc9016ab447f15aa487d0a8e64881679d8da3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aarrPSecb39PhUkJY2Qm5Lzz",
  "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]: [-0.8726, 1.911, 0.82, 0.2092, -0.7025, -0.5762, 0.4971, 0.0429, 0.8154, 0.5751, -0.3195, 0.099, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3503 left_y=-0.2343 left_z=0.0132 left_yaw=-0.0003 left_pitch=-0.0579 left_roll=0.0884 left_gripper=0.4971 right_x=0.3001 right_y=-0.001 right_z=0.1738 right_yaw=0.1222 right_pitch=-0.018 right_roll=-0.3139 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -10.8513, 6.0103, 1.2479, -0.4518, -0.0464, 0.9499, -0.0752, -1.306, 7.0769, 1.7656, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ac9064afff48259b71b22499a38ba5be7cd8088cc5152e478dd8c523992cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c94927698d9bae98a902c5eaa09913896de42303be6c05e561d79bf83ae28302",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a32af9882a2f7378b24d9ee0580d18dd162f2a647035b022d08235ed48b8e360",
      "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 · 5.276 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8402, 0.6132, -0.5011, -0.0135, -0.0269, 0.9993, 0.0422, 0.8093, 0.5751, -0.2749, 0.1081, -0.2909, 0.9986]\nstate[eef_state]: left_x=0.2804 left_y=-0.0002 left_z=0.1479 left_yaw=-0.0016 left_pitch=-0.1537 left_roll=0.0046 left_gripper=0.9993 right_x=0.3052 right_y=-0.0026 right_z=0.185 right_yaw=0.101 right_pitch=0.0362 right_roll=-0.3013 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.4564, 7.159, 1.6972, -0.0171, -0.0317, -0.0122, -0.212, -0.9915, 7.1863, 1.8242, -0.0659, 0.0366, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8745, 1.8797, 0.8345, 0.2024, -0.7116, -0.5758, 0.9993, 0.0429, 0.8154, 0.5751, -0.3195, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3547 left_y=-0.2389 left_z=0.0296 left_yaw=0.0025 left_pitch=-0.0276 left_roll=0.0632 left_gripper=0.9993 right_x=0.3 right_y=-0.0011 right_z=0.1738 right_yaw=0.1218 right_pitch=-0.018 right_roll=-0.3141 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -7.0359, 4.2872, 1.3651, -0.2027, 0.0513, -0.0855, -0.3487, -1.3607, 7.241, 1.8339, 0.0024, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8726, 1.911, 0.82, 0.2092, -0.7025, -0.5762, 0.4971, 0.0429, 0.8154, 0.5751, -0.3195, 0.099, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3503 left_y=-0.2343 left_z=0.0132 left_yaw=-0.0003 left_pitch=-0.0579 left_roll=0.0884 left_gripper=0.4971 right_x=0.3001 right_y=-0.001 right_z=0.1738 right_yaw=0.1222 right_pitch=-0.018 right_roll=-0.3139 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -10.8513, 6.0103, 1.2479, -0.4518, -0.0464, 0.9499, -0.0752, -1.306, 7.0769, 1.7656, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ac9064afff48259b71b22499a38ba5be7cd8088cc5152e478dd8c523992cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c94927698d9bae98a902c5eaa09913896de42303be6c05e561d79bf83ae28302",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a32af9882a2f7378b24d9ee0580d18dd162f2a647035b022d08235ed48b8e360",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEf1ikBVdQUx3ZyHS7ij4NGuEU43W9YYLnIV2r-9WJCRgdSTzViygViFFZ-nZzJuZl25fVDgL_2EP4Pg6PIHA668EfWi76yGWy65sF4UP9vp_k02lPUaO4Gf0eZquSIZjh-XgghUamE5UsXRFiaeprq2a1veyddIaa5xIPp1Ea5m_NuMyt-SQLOKDXHbIvACDntNYobfFDSmiDnhYgYNPdk6OGDUij70LhRetD50wKBLEa4syHQlRyV-cWdLzBqNwol2IamqlpmIwE4qY68BjaZ6AVmH8yn8XvCRKgdQlPh3mFgRqPII9Ze-npZMvKH7ImY0-Ml_f8vaS8xE3ms71BNCMco_LZFfyC8OhcyzRGpVEKS9tNLmNGfk6kEqbiOoR_wZTyp3Hl8hTOCISqGIBd2N0E3lsjhyOUU1xC70tisheGfwDj2LZlm-DH5s2qBYI5SOJX5rnNXe6CU7u5OGrBsFR9PrFWHqBJg79uYWhIo0wzwLXcHnuSx46bYL1kETaPLF8ITPo55Ev-eGfWYsZicxq3PJQ1X309N-Ew1lbeALcz5RXqRBiUwS29GBzedZ6TgFw6wO9n6H1KU-diOP_XHMOIf1RqPVUy0LhfHiciOThvf8BXYaaEe7Y6FEYeuWdZ2uRuPUUdP-xsWWzCzMU2AdfY6FdsNZA6QpKRjZbp9iq2NOnqPO3AGem_h8LxMG5NPmHQ8dyYnxV-vBsvj4fCfJA4EGOZQ-9JCCoagRMJ-GT75F4DbZQK8GfcGb4f9SKPg9_mlZDuP5S--aqwYg2qsjJprNzID165N46Co1_KikQC0YDoveZ5jqotp-WUFaF-lBoA01TUCW_F4SjEsPfo5v7Pu0QbTheuY3PLM0VdbwujBc0ciOIX0Q2R8JVV5ye6T41j_4TLeVIDKRN-KYpCICV6PwB4DlXxx-E0d8sjnhxRkTXljVIaUZRgTX8ZOHxbkUJnm951Da3LUJt5C5Uw5gIsJ6CdTyFob2grZNSilcw8DJX2R9MNf3HDoSvTtSycnfNOdLYQdMhshrldAnuIwvuuPON1V-QnqJmncE8ZCGGhmZT2RKPlCzn3L5Rx0fYnG2tP7Sx-saIcFAUIBVDaLjoZ9I6Kvi9g3IS-oEzaZ1Uwizqrg-7ZBTKNWMe0gH2GL109UmII-glYgTayixxjTV3ryqDa76docu9QWE5fds_7UTpm7CP8XxTWahSYT1ve3uJ6Bu48AR3k8ZUTzUCsXJjaeeKm-8EGVa-MmM45KgouLckeqqOac7l0B-2gsZpdF1462pyVKH0gf3-aeyfpX6IBjW6GS_g6ytEDliinLl8yMrOxSrqED0UYZu0YaCTVvbdEy6H_7ZpeJUMYZxGqX8AgP_EF-TAWM4BDLYMLJjhh8cTKgbA-a2IzdAedZBjDu6",
  "id": "rs_0c1b3e2e15b4fcc9016ab447f4c53087d0a67cb83e479e99a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_pitch\":0.0},\"note\":\"The left gripper settled at 0.497, confirming a solid grasp around the dark fruit. I am lifting it clear of the table before carrying it to the blue bowl.\"}",
  "call_id": "call_mNM9jM36aqyNYLYWiyNW1S5Q",
  "id": "fc_0c1b3e2e15b4fcc9016ab447f52a8887d0952b1694b90fba21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mNM9jM36aqyNYLYWiyNW1S5Q",
  "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]: [-0.8803, 1.6257, 1.0317, -0.2546, -0.7242, -0.5728, 0.5, 0.0429, 0.8154, 0.5751, -0.3199, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3509 left_y=-0.2353 left_z=0.1365 left_yaw=0.0037 left_pitch=-0.0241 left_roll=0.0762 left_gripper=0.5 right_x=0.3 right_y=-0.0011 right_z=0.1737 right_yaw=0.1218 right_pitch=-0.0184 right_roll=-0.314 right_gripper=0.9986\nstate[joint_eff]: [-0.8, -9.4154, 9.0325, 1.16, -0.5104, 0.1636, 0.2955, -0.1026, -1.388, 7.0769, 1.7411, 0.0122, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dff4005c92ce3927f23dcb8275963fae56e56008bad05f74ebbb9859913ec71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0a3d95471bf0dbbbe3414f89b8adf029ac2e1c96ea33a735afed0980e9279c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a982de155242c37fbffea83512ac98d7c421cd3f1950511258a843af2db37357",
      "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 · 2.297 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9512, 1.6611, 1.0439, -0.2668, -0.7258, -0.6674, 0.9993, 0.0429, 0.8154, 0.5751, -0.3111, 0.0998, -0.3138, 0.9986]\nstate[eef_state]: left_x=0.3345 left_y=-0.2608 left_z=0.1258 left_yaw=-0.0139 left_pitch=-0.0427 left_roll=0.0272 left_gripper=0.9993 right_x=0.3011 right_y=-0.0011 right_z=0.1755 right_yaw=0.1207 right_pitch=-0.0094 right_roll=-0.3137 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -7.9932, 8.6632, 1.326, -0.6276, 0.022, -0.0855, -0.3897, -1.8803, 7.0496, 2.127, 0.0708, 0.2076, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8726, 1.911, 0.82, 0.2092, -0.7025, -0.5762, 0.4971, 0.0429, 0.8154, 0.5751, -0.3195, 0.099, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3503 left_y=-0.2343 left_z=0.0132 left_yaw=-0.0003 left_pitch=-0.0579 left_roll=0.0884 left_gripper=0.4971 right_x=0.3001 right_y=-0.001 right_z=0.1738 right_yaw=0.1222 right_pitch=-0.018 right_roll=-0.3139 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -10.8513, 6.0103, 1.2479, -0.4518, -0.0464, 0.9499, -0.0752, -1.306, 7.0769, 1.7656, -0.0073, -0.0415, -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 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8803, 1.6257, 1.0317, -0.2546, -0.7242, -0.5728, 0.5, 0.0429, 0.8154, 0.5751, -0.3199, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3509 left_y=-0.2353 left_z=0.1365 left_yaw=0.0037 left_pitch=-0.0241 left_roll=0.0762 left_gripper=0.5 right_x=0.3 right_y=-0.0011 right_z=0.1737 right_yaw=0.1218 right_pitch=-0.0184 right_roll=-0.314 right_gripper=0.9986\nstate[joint_eff]: [-0.8, -9.4154, 9.0325, 1.16, -0.5104, 0.1636, 0.2955, -0.1026, -1.388, 7.0769, 1.7411, 0.0122, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dff4005c92ce3927f23dcb8275963fae56e56008bad05f74ebbb9859913ec71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0a3d95471bf0dbbbe3414f89b8adf029ac2e1c96ea33a735afed0980e9279c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a982de155242c37fbffea83512ac98d7c421cd3f1950511258a843af2db37357",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEf8IAmjNOiYZiB1ZckWATRe_n4o097moLoQ2z30uSslfEZaMHGg7nYGCycpPcJFJ7SG4pu3dwz_MlwPlRcSLMsyr717B4K1WLJ4JjoUjh15G337WRcqgfGY6Gln7W5qudDfxiEeAdonVnI_HJTMoUeQQ68g2HbeptGcj2X3zFArDxkq6rgV-f1nGnCohLDkxWAFjVrjyx1idsZjIBQrtQ4EbT-adxQJowD7ykfT7LXiE5LBD55-n7HXDBAXIPI7YXHtvfqbJWLwlnZ7gC9mpaam4HZre8G03WYfnXnKun3a3Az82Dm97WyjkZHTjl0fEJilngex_L1Txkg64hEDq9LcHlSI83mEZcDJwrav3x1V3bLEQOlDCB7gRC0xXRVGd9HpTpbel-4MF9ia9lZVkt0zLqMlSMEq0CE5JcuLmgg2qn-zVLCCCocfFhZAp1iDbCieEPa498HLzZjxitfLhdsmox2ig7RwhcTijpebWkNCzpktUqmbZ6NNXyEzIpKmu1IjLmt-xRfd9jFZxilBSuB5BV_zvTVUBYlM70Kd3moqChJ44_As8-4tx_JJh6C4i9vm2j0YscyfYbDXjPkOHaT-UDHWdtL7YvQ5bslmL-RLyi1N4i8jzBgBhatRPyGqzRZ-lgNBOcOVRSLUX7-ruuhDKlGHA_LHYLJpyvVIoQv4F_g1HUUmAmjS958SfsLfr03fDFhTTmN6z_AkoOuNDadMBhiq1Jb1obhmnZXSYljmIuSIMTMPIE4mrpN4D6x-_RLnOKsjpu3TOJFjCL_XDRLWLuLvHnWd8GFpCs5aJOSc5wc4BQVlN5huBtvXk34Pe1EsM-nkcJdNbYAHnbISg576MIZ4LqF1DZXykUb6NStU2e66tkrCLDUsu_CR2Rhd_hthp8Qy0fcC5iwD6I2xMAtmoWuZFgPwQHVnz4dqOX-Mgp5CuQ9VR01QMaYWZeikWv9WeXtdx8RiV3KniQOhWOc4C1O3xBpx2jE3Hikih-Z-qNA2tt19MtcyFvuc2jyn5O6xgrqp7V5s81GtDpwwS7g6rYc6EgEOJKwYA1XHz-qcx-bV3iDM607juyaROrUdIto0yWes4JxCTk1HOnEtvMGhq33dlwrKPstOtC4Bg1mwaq3ArfM0cQJWcUmuCUa2NoEsyDVYaEFORCMZIFUqJtSlqlmkShInzmTx56QoDetMRTClYA4WY8zLS-x6CXeywcA8KEecRgFzeL5dGQkZr_emkfna31Cd9Ss8MSu6a2QC_AQH_EBrTy5SqbUKbk2_1c0gDN_lCmbCviHrMq8VoZzmGQM8GZW4xW-f_RSStnbjVmt-6t9Vs2I4O6Bn5Mp8aMMDGlKAAWEeoFPiB5QHSUlGOsxON-MLNSfpAO-HDnHE1RfZc5LcbqZmz46PtDGoiQ9cNEBvae6dAHuHAa7S52aseVEOgKwFamQVb6N0Tnl2_7ta1EgfqxZ6zvLUtVHxaG2qPr-Y8Ref6cMH3OOADCpFK5Hl9w9bIrgxTcYqZNwVa8hFwzuDZyrtHIj9S1GebyRRFjwx0Wd7EPyZsmPo1s7U2lPKEnizTX5fIjHFKvOpXMaSKaOC0XqFpUnlHP9texU_3YAs7LS2LhookE10RGz8HEKzr6tjNc_YxGLWkIzUyY3Qz7Ve0eS1ZbCpNk-DHQ3JvHOw1S1v2QM55npGT3j3uxSTBzlYO5seUteQADGPNw6lU_5PdEAfN66MxLeWmnZkQpGk8LbR50ScKzf45LvDD0xlAwxBBZmIZEWDTjvFC3QJTWsIiq2awCzkk4HbAiWxTstHllee5O1SJNeNBMBwaDW4ma-ENGRBSHpIHLLBhOC8wqutXaGLsGJRF_kEnKoVivUVo0LIcyTsWIbxxyIM6ElaVgZQuZRE3NDiX_pnk7yy6s9pmszySO6JcHfiwqkbtRwUWF9lf4vyg-xKz6ZBaeBj17ZG4-bPGfdeF1Ja52jjIe400PdsOtjIqdJaJkNv-h8zBXnAesYnnagvoDRq_ebfAlgyXldiFoTqpFBGjfgLpKR4UkymI6yiD3vKjOwEitGaAlirZRAxAp1VrGBqzeM9pacexJmH1l7CuXFdySqoFqqQvpJEDXmweGRxnx89Vzf40g4Z2acDL39WxI5cB50VSoOqgNlo0afSuAvX0XmQT36rGxYUK0LDLy6TzOXnIvlwefwKM1Ry3DeEYDw_Po98FuGIKru0EzDLRb1jJvrXybqsqvPxLi4lms1Wj8B_uk57Rv4SQ51VQGmKmYAaAEi4_yD3VN96b0a8YRQr036LZE1ncTSJay2486w1-MLNd5nBxCMsdvpZ2aygAhHJXJV0biDirPj3MGx8c5ShGlFuKxjrlgvbcVl3q5wamj_Q7tZkk50vyMFDVp7yIcbonJ9SUF12BzWhbyclsOz7itVuow_x_Rztivrie08q-bJWbsMIx3AOkc-6PuhJEs_DayV_E6dzOUSz8UUWhCMJacgcdX9545BDpgXdgj7iDUOppr4eJmT5wlYLO_MTMLRbRQYwFKoTYotHHYcD2fUIYy9BQPTpkOcbaQby0HiRfxluveeIdN7aWkD-iDw76Zxav2f-OlggL4Bm1Quftej4NFBgBQEGlUbTj1owkDS2UEzO3N6a5uY8rszTsyY9HKONq5SzKIYYpHIal57ywfMKo_Eg_29r_LFPyhkYSO60QNqcjVPXhxWB9lB2MZpg1uJhRMmPUpYKR_FL4m_-PNL_ffwBnEbmbgfTK_x6wG4VEMC2OFxNxo95HX3HLBT__A4tN6KDefN5PQfdq50oNlGW28r8tFGpN1gcmqIEGNya7ht_HKvswvwZZg1hU4X7YFxU1ZDft7OX9VPiMpKowdPavf8tmd6gYUj0M35GWDSTrKGo",
  "id": "rs_0c1b3e2e15b4fcc9016ab447f7c0f887d0a74e5534d766f286",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.33,\"left_z\":0.035,\"left_pitch\":0.0},\"note\":\"The lifted dark fruit is no longer on the table, confirming the grasp. The blue bowl lies beyond the left arm's y limit, so I am setting the fruit gently at the center-line handoff point where the right arm can pick it up.\"}",
  "call_id": "call_t8tKTr2B1XyjGDE4evLmqDIb",
  "id": "fc_0c1b3e2e15b4fcc9016ab447fb0c3c87d090471ea415340c94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t8tKTr2B1XyjGDE4evLmqDIb",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1439, 2.0178, 1.0954, -0.1707, -0.8608, -0.8455, 0.5022, 0.0429, 0.8154, 0.5751, -0.3199, 0.099, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2971 left_y=-0.3208 left_z=0.0267 left_yaw=-0.0238 left_pitch=-0.0472 left_roll=0.1195 left_gripper=0.5022 right_x=0.3 right_y=-0.001 right_z=0.1737 right_yaw=0.1222 right_pitch=-0.0184 right_roll=-0.3138 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -10.2222, 7.4735, 1.0525, -0.8278, -0.0415, 0.2076, -0.1026, -1.4291, 7.0496, 1.7363, -0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a5889edbc55ed26392a40e0038e328bcce8869011733f939c6aca27d7dc1fc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1db234e311ae28f27e68aa19859ba2c92d1e1866a32354a31d27ba901ef673",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3acfe814b30868e441c5506a358bb2f4a479c89bbc2b92af20e6fc1ad896f952",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 2.317 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8745, 1.8797, 0.8345, 0.2024, -0.7116, -0.5758, 0.9993, 0.0429, 0.8154, 0.5751, -0.3195, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3547 left_y=-0.2389 left_z=0.0296 left_yaw=0.0025 left_pitch=-0.0276 left_roll=0.0632 left_gripper=0.9993 right_x=0.3 right_y=-0.0011 right_z=0.1738 right_yaw=0.1218 right_pitch=-0.018 right_roll=-0.3141 right_gripper=0.9986\nstate[joint_eff]: [0.1709, -7.0359, 4.2872, 1.3651, -0.2027, 0.0513, -0.0855, -0.3487, -1.3607, 7.241, 1.8339, 0.0024, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8803, 1.6257, 1.0317, -0.2546, -0.7242, -0.5728, 0.5, 0.0429, 0.8154, 0.5751, -0.3199, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3509 left_y=-0.2353 left_z=0.1365 left_yaw=0.0037 left_pitch=-0.0241 left_roll=0.0762 left_gripper=0.5 right_x=0.3 right_y=-0.0011 right_z=0.1737 right_yaw=0.1218 right_pitch=-0.0184 right_roll=-0.314 right_gripper=0.9986\nstate[joint_eff]: [-0.8, -9.4154, 9.0325, 1.16, -0.5104, 0.1636, 0.2955, -0.1026, -1.388, 7.0769, 1.7411, 0.0122, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1439, 2.0178, 1.0954, -0.1707, -0.8608, -0.8455, 0.5022, 0.0429, 0.8154, 0.5751, -0.3199, 0.099, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2971 left_y=-0.3208 left_z=0.0267 left_yaw=-0.0238 left_pitch=-0.0472 left_roll=0.1195 left_gripper=0.5022 right_x=0.3 right_y=-0.001 right_z=0.1737 right_yaw=0.1222 right_pitch=-0.0184 right_roll=-0.3138 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -10.2222, 7.4735, 1.0525, -0.8278, -0.0415, 0.2076, -0.1026, -1.4291, 7.0496, 1.7363, -0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a5889edbc55ed26392a40e0038e328bcce8869011733f939c6aca27d7dc1fc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1db234e311ae28f27e68aa19859ba2c92d1e1866a32354a31d27ba901ef673",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3acfe814b30868e441c5506a358bb2f4a479c89bbc2b92af20e6fc1ad896f952",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEf_9LMfWDAP_eDyrxQjT-PJ9PshCZ3TiFNGBpIp3uyGUrXdBXabH3niCc_JSykRK983p2vFgmUyd6O0-3bfIidDH8ShoxtIhb5Wgz5is5rIC2ZzBdMbTYCK0X7jDxgZyRbgYw0lal--QiP08AqBSueQObEFfBn1ExYyowHFL-xhpwysVIOWHhEN0qnMZDtEJz1mmy8CJd259esxYC4NIQjWlOFF69WCjW13w1K01yb-yji12-iJl-wrif0DxVPy2DbVc6io9t5ulTU4Pna_w4wXfPyDJaefVTdNy9xoHyvLDoNeQAMPdSXLdI1Wv5bB6fUFEzShcVlTBB5IrUWY_AbwWMbwSaJRuiUu9lvMwPqNmVxvqnpc7Mg-vQpStnp_V_5YAB-mN2WsAyjGfJjh3Ze9KrYqHgw1MRYFBNTmnvvY_KwjiNUWDLueLbkY0_AonO5RPGYVqUdI3z_G2QNGMvWceIYvczgmEc2c0QYZJRfwTpGAUAi8e_zu43LnwsBUWko4Ee4r-U5WQmiz8DGmU0k5jq9jGmOBaB1rAGOiY8RdkGsgO_9n8isge5rY0b1yMtqFnjg_fnw5uWkwc-LmUpXEf1hEufMJ4-mK0WSLa1vzT6PtFF8BKFmYCfsW_k7Q_ojp1gBSoJQC5rw58_PfKxOGkR2IeF1aP8418FukG9SsciI5-G50VhTey3RPu1wkUKeRk5LrV-lCh1-nEJaCfrTctJSVNBaWpQdhmPAczAk9NIhvRSaRh86uXBq-lsBPr4E_FBRyIY_vp7vEHNrjmoQ7MZl7_zMrSd2ZUoKPM0MEiY5QCTFv646qUxkY4-5ncqf8ObHsitRexzZyzGjCffQ4JWddSV0NlamHZiNFYt7a4WC1xKHHMYm6AyxVqqXMR8PZI6YSfO0vFu5ApU4D4GFb_0IUMojAqoBHfHDdq16FAEKOD9bQT_Vp2Pt3KFgEGHTNyuL1XWHdZh-kwwOced9Kb5-KtOyiYaMUYGiHwRQUqXYPY90dTNtMYz9dpT_koHcYAugVRcVlxhsg7cAZu5FL_XZPdjqwxIUGNrdnsItLALLDx5-apHAM4gz-PGm4uHZW6ruqseQSVPhplaau1mgwZdiF8ThsQm2IpD59V6N0knb4pTcLRB2KfLEXTUs0yz0T8vLuvbJyOTr2kdT1NB06iI77FmUe-76kubi0aME9dU0=",
  "id": "rs_0c1b3e2e15b4fcc9016ab447fe4a9487d0b36ccec26cb2c572",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The left gripper is down at the center-line handoff point with the fruit just above the tabletop. I am opening the jaws to leave it there for the right arm.\"}",
  "call_id": "call_RngJbDioIUoOm3zHMysK8ZuU",
  "id": "fc_0c1b3e2e15b4fcc9016ab447fe5c8087d088aa5fae704288ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RngJbDioIUoOm3zHMysK8ZuU",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1458, 2.0365, 1.1011, -0.1753, -0.8612, -0.8574, 0.9947, 0.0429, 0.8154, 0.5751, -0.3199, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2962 left_y=-0.3208 left_z=0.0205 left_yaw=-0.0184 left_pitch=-0.0538 left_roll=0.1258 left_gripper=0.9947 right_x=0.3 right_y=-0.0011 right_z=0.1737 right_yaw=0.1218 right_pitch=-0.0184 right_roll=-0.314 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -11.5077, 4.7248, 1.0574, -0.4176, 0.0757, -0.0513, -0.1299, -1.4017, 7.0632, 1.7851, 0.0171, -0.0513, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e282ecdc9ee8a3970ba9d8ed7afc0bc1a6f5f5359970d7d9e12a6fc13cfdfb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464d98325c3408b3e230f65738c09761b97cdc1cf3bceb41ab8ba2b297136d29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39a68f129d7c9fa135a36dd8e7a8843802de718fe2999c5b25c7f96732520c9",
      "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 · 3.2 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8726, 1.911, 0.82, 0.2092, -0.7025, -0.5762, 0.4971, 0.0429, 0.8154, 0.5751, -0.3195, 0.099, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3503 left_y=-0.2343 left_z=0.0132 left_yaw=-0.0003 left_pitch=-0.0579 left_roll=0.0884 left_gripper=0.4971 right_x=0.3001 right_y=-0.001 right_z=0.1738 right_yaw=0.1222 right_pitch=-0.018 right_roll=-0.3139 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -10.8513, 6.0103, 1.2479, -0.4518, -0.0464, 0.9499, -0.0752, -1.306, 7.0769, 1.7656, -0.0073, -0.0415, -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 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1439, 2.0178, 1.0954, -0.1707, -0.8608, -0.8455, 0.5022, 0.0429, 0.8154, 0.5751, -0.3199, 0.099, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2971 left_y=-0.3208 left_z=0.0267 left_yaw=-0.0238 left_pitch=-0.0472 left_roll=0.1195 left_gripper=0.5022 right_x=0.3 right_y=-0.001 right_z=0.1737 right_yaw=0.1222 right_pitch=-0.0184 right_roll=-0.3138 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -10.2222, 7.4735, 1.0525, -0.8278, -0.0415, 0.2076, -0.1026, -1.4291, 7.0496, 1.7363, -0.0024, -0.0513, -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 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1458, 2.0365, 1.1011, -0.1753, -0.8612, -0.8574, 0.9947, 0.0429, 0.8154, 0.5751, -0.3199, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2962 left_y=-0.3208 left_z=0.0205 left_yaw=-0.0184 left_pitch=-0.0538 left_roll=0.1258 left_gripper=0.9947 right_x=0.3 right_y=-0.0011 right_z=0.1737 right_yaw=0.1218 right_pitch=-0.0184 right_roll=-0.314 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -11.5077, 4.7248, 1.0574, -0.4176, 0.0757, -0.0513, -0.1299, -1.4017, 7.0632, 1.7851, 0.0171, -0.0513, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e282ecdc9ee8a3970ba9d8ed7afc0bc1a6f5f5359970d7d9e12a6fc13cfdfb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464d98325c3408b3e230f65738c09761b97cdc1cf3bceb41ab8ba2b297136d29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39a68f129d7c9fa135a36dd8e7a8843802de718fe2999c5b25c7f96732520c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgBh6HaeVLAwfLG9UPbm9E5jHpHKTRCjuk2ljEKdqaMhvTggxgDw1xbunHm6nvDIP_BgZOFZCCPIcqRq3dcmOol0Ul3nWfsPasUAP0ip093jkaG3sQIDduB-BTGhkWvnHRMDwd6IBWZZIZ4pYcHYxBFJC_1Vemy8TyhtmtMPFR1PxTO0ijrvneBocllsD5roxSxs1VTkinaYQB4fPEq3cDqwpo1Xg7xFF1irtuPL3gv5mYIEw_-s87NZpD3V1UWIwASGne8G7wm-73bG8zo6ii4iLAS7SfuTRC0-PIqTotM_3EMdDURIQOkMEb5sF-C-yfWmekK3FrW_ZN4OAHgNdH5_bQ8go9l5WAk_ScOht4p-g3CyW5Z3Uwf3CIdTCVVS8uhVHOvk7lFkxAel7KSeq_P3ZCYszv3L7LD3SaDX8p4WjZfR7Fzz100Qfqy7QGgSO5EzcApaLdFI7FugeyKL35qRNyENcGmUVkU0FbUXswZ-8C6_92TSPU45Yb6a530ssE8aaa-bMAlP-A3-7J-wwyzinSwPHXmTdhsmIDdtcEwDLh9oamZQZ8Mgrv-wEnlTHXvvFjd1hUXK1rGtMAMiOSEIslXvooz0av9jiRcekjz6EhpGBNLSQj5rWUNThUNx5oL3Yscr-s6s4nAfJF8VenjhtFdVrNQP1PrGCIaEDkme_QBa0t-bqQbuTSYJGcLEeVLSHGNyj__86hxXk1SNYtSNF7EAHjwS2YeDyecKcV7dJr_e9dzN60motI4EQzRvU_8SRLgMuBY7ysH0X0aX46qXwz7NIMsrVqwS3jByFdxcw8TgvWcSggePMfkos-RQrDXlD7pTbIzjwsSEI0-mfGiOkawiYagaxEZRE65sayFZ7fIl0ZlHL59sFqXxtqMIXyZcaDZ3Kn5LCDAqPX6B19dgQxnbOkqiwxiTIlW3coo49HCcnQP_eqHNgj1WBkjpgvS4eld16rQdc0X9jBs1NsY5gR_27sYs-i1eS9w4NMmuA2vv1I9zdETQHlolCvStc7nsGAIUGbWPi1aCI0m6DbXjOzjowqX9512VTvjcID7uaDnMFZrZNyjdIQxLSH7uqo5srju8q57AHSb5mfxcFzga-ApjzpkEJsfjDG1mYXLzwITIquSVygHsejW4oT0RbnjrS7xAe2eylrJdlY9GzMYGXMbb_RCd_7PJtfOoBrdyVjC3KbTaeRVvMIaIF2xkGJOAQNQjOBFjc16KnJQFz1UwKGSn3UXSzjn2rLSZ6S051ouWAdcABbStVxNLjLx6vwKAmioz-YHf5aILXVNvwi2lrndBXyhzCy2vjzdRjVXnkX_MIICIIrlThvXjUVq6nlC",
  "id": "rs_0c1b3e2e15b4fcc9016ab44800c1ac87d087e90dfe8c4f612a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.18,\"left_pitch\":0.0,\"left_gripper\":1.0},\"note\":\"The handoff release is complete, but the low left arm blocks the overhead confirmation. I am parking it at home to expose the center-line fruit and give the right arm a collision-free approach.\"}",
  "call_id": "call_9NMRnPIMdWVVfNknDRJOnwL7",
  "id": "fc_0c1b3e2e15b4fcc9016ab44801135487d0821e7727c311c315",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9NMRnPIMdWVVfNknDRJOnwL7",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "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]: [-0.1131, 0.8112, 0.5667, -0.3744, -0.1967, -0.0097, 0.9979, 0.0429, 0.8154, 0.5751, -0.3275, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2912 left_y=0.0053 left_z=0.1613 left_yaw=0.0511 left_pitch=-0.0354 left_roll=0.1222 left_gripper=0.9979 right_x=0.299 right_y=-0.0011 right_z=0.1721 right_yaw=0.1218 right_pitch=-0.026 right_roll=-0.3134 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -1.9897, 10.0171, 1.7509, 0.1636, 0.2027, -0.2222, -0.3761, -1.4154, 7.0769, 1.7998, 0.0024, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5578e8ac4820458ce9f36c0fe9f14b37080576a2390c14b037099301851597",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519d20920d285e3dd89ac94e5df39c42d707643d3e4880aba13ede14980c9cf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88f7f7b6139e2efd813f929561e78657208ccdad9b715070184fc6e00996e1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 2.905 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8803, 1.6257, 1.0317, -0.2546, -0.7242, -0.5728, 0.5, 0.0429, 0.8154, 0.5751, -0.3199, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.3509 left_y=-0.2353 left_z=0.1365 left_yaw=0.0037 left_pitch=-0.0241 left_roll=0.0762 left_gripper=0.5 right_x=0.3 right_y=-0.0011 right_z=0.1737 right_yaw=0.1218 right_pitch=-0.0184 right_roll=-0.314 right_gripper=0.9986\nstate[joint_eff]: [-0.8, -9.4154, 9.0325, 1.16, -0.5104, 0.1636, 0.2955, -0.1026, -1.388, 7.0769, 1.7411, 0.0122, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1458, 2.0365, 1.1011, -0.1753, -0.8612, -0.8574, 0.9947, 0.0429, 0.8154, 0.5751, -0.3199, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2962 left_y=-0.3208 left_z=0.0205 left_yaw=-0.0184 left_pitch=-0.0538 left_roll=0.1258 left_gripper=0.9947 right_x=0.3 right_y=-0.0011 right_z=0.1737 right_yaw=0.1218 right_pitch=-0.0184 right_roll=-0.314 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -11.5077, 4.7248, 1.0574, -0.4176, 0.0757, -0.0513, -0.1299, -1.4017, 7.0632, 1.7851, 0.0171, -0.0513, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1131, 0.8112, 0.5667, -0.3744, -0.1967, -0.0097, 0.9979, 0.0429, 0.8154, 0.5751, -0.3275, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2912 left_y=0.0053 left_z=0.1613 left_yaw=0.0511 left_pitch=-0.0354 left_roll=0.1222 left_gripper=0.9979 right_x=0.299 right_y=-0.0011 right_z=0.1721 right_yaw=0.1218 right_pitch=-0.026 right_roll=-0.3134 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -1.9897, 10.0171, 1.7509, 0.1636, 0.2027, -0.2222, -0.3761, -1.4154, 7.0769, 1.7998, 0.0024, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5578e8ac4820458ce9f36c0fe9f14b37080576a2390c14b037099301851597",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519d20920d285e3dd89ac94e5df39c42d707643d3e4880aba13ede14980c9cf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88f7f7b6139e2efd813f929561e78657208ccdad9b715070184fc6e00996e1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgHaWTqbUO2rjR6ha0Yf4KMzbhIjACSWsvJQ0DsWmN-RbQteae3XH-Fp_GZIAehPFGL7ZCwihBZEXhLJGQm0HUUoANWvnokxO5bPa0akX62tNC-s_KBFN1C1VGj3Yfy4nYUXvvA0Euebjz3tUfgs3I8kCXvFkfng_YhLbW7U_fYcKqsFUdsDD8TApJ1IQRYsOMcrlqCHFWZIJ8Kk_f9gph2zU4sm-AxSY_DO_4RJQJtVa7PVkKRykAZpt0htfuwEtahYKRRdv2Isn_R7FUCTCApXrr053wJXROtmPZV1DzyJfw1Bfb3WzPSouCpbPUiB_ioD5QCk7AtOTWeTudFPMlPrfW4RL-E4WRgqiiQLoHrPl1KHDGiKXosMUcbQ2OnA7nrH6ZE9Gxn6m4zUKeyD2fjQ_X16wP6g70XVRNdm3UXJ6fLY12tYHlSPnyTvADGyPOG7dl5dHREKwy8xw7EG9QYgF4PnaoWQ4Aa9wjDoe-3ypku14ylqjI7Wr_MLWhghzxmEtwwa8UcDMlrFJ1rwJIBWr3jPNUC724JG-E-bR5Gt_7SGEPuffSAKA0rLsEyQXZ970xST4s7C1u1xX8httzXLArQatQcbWFoxisFelbTNz8lsxxJPMdxtz4ltkpoUNwMYiPFmO-ZhONjnA7d4IgR9rWfrEej8SpV-5ABw5vzMwvO74rj9sU9_3VvOjQtz2Af90zLiBIbm9m06inkVkkecPd6yKVWehRuMXnwEPpT1B1pp8ZM4QyzlIQVoiS4zWWJnutNkp6idXbBkf13LdjLKuGiJyLE0LbQoS4DolP3vZVyKPkexFit4fsZaYKfzo9EpQC2_jM-AO7XnGzzJ6wxQc4aQQ5JqLedoDlIpG4CEoPb3rur3he-tGEwOExUEzrk_uoeO3QHar7jV21NVtOnwE9GGfPVlS2rcbpqPj2Rfn8kMxitUw6tV0r1FlvunmXHCCbwjq-87lz_fqVsS8rwjk9Qseyl_sAhjO63lk8scDGrAxZ5jyCSlePTFX89yeYO_WcqPtNkVyDr8uye9VGt6fc1pj88zKE_4uGjEvh9c8CxpalZ86icJ2uywywfkYOyVbANtFaf6Gpk1ncOOzRVYy8DP_l_fqBbtXFoXfWx439L1Y7LN5mslIcRDQgur2OGeCAHpIFzeERz7WzfgAG6-PUdy8FyT7Olrt_wXbhCHuST9WZAVUaX-WT_1hhiE6F4_-Vbu2WCuBdThAaD10JVVkRUbzrYtYFaMBdMGgc6geCTPfagajFQAMe-b85JDyJdwmhfBQAluh6TO_jDkwxObK6chqzrPf0bcT-H69ht4sdDPRpJlx6RfN0LerWnXSbtNbBTieatG56bMXuPjBAbhhMN-OnH2n1mkwVzhhaBjEEN1Lek7gnOnzmAPh4UKOACKxHakPgeHfj3adyWFG6kdAJFte0Fqr4tR2kjzvRJb-dYh_7uK-RCzBEl6WWlLoVk",
  "id": "rs_0c1b3e2e15b4fcc9016ab4480687c887d0adc483bb4aa11895",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.33,\"right_z\":0.14,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The dark fruit is now clearly visible upright at the center-line handoff point. Converting between arm frames gives right_y≈0.33, so I am moving the right gripper above it for the final pickup.\"}",
  "call_id": "call_hTUbP1PfxNiRorpf9FOBXFGr",
  "id": "fc_0c1b3e2e15b4fcc9016ab4480716d087d09f914affbc54d14e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hTUbP1PfxNiRorpf9FOBXFGr",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.112, 0.8146, 0.5686, -0.3859, -0.1936, -0.001, 0.9978, 1.1427, 1.8465, 1.2865, -0.4988, 0.9024, 0.5373, 0.9986]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1589 left_yaw=0.0451 left_pitch=-0.049 left_roll=0.1297 left_gripper=0.9978 right_x=0.2969 right_y=0.3254 right_z=0.1303 right_yaw=0.1549 right_pitch=-0.0377 right_roll=-0.3399 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.6342, 6.8444, 1.7753, -0.1636, -0.1099, -0.0269, 0.253, -9.2239, 7.8017, 1.0134, 0.7009, 0.315, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d28c2bea7e08300d75a7c2420d01d6db3284aa7035ef833b9321e192dd1cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fedf62443fbcc5e06f2d3a42d1b9df90c12d54f45aef1d82ecdb092425491c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5c2903af6e7dbfecd5e2c4d7bb3320915d6d80715d62e79e7a45d4c8e655996",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 2.315 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1439, 2.0178, 1.0954, -0.1707, -0.8608, -0.8455, 0.5022, 0.0429, 0.8154, 0.5751, -0.3199, 0.099, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2971 left_y=-0.3208 left_z=0.0267 left_yaw=-0.0238 left_pitch=-0.0472 left_roll=0.1195 left_gripper=0.5022 right_x=0.3 right_y=-0.001 right_z=0.1737 right_yaw=0.1222 right_pitch=-0.0184 right_roll=-0.3138 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -10.2222, 7.4735, 1.0525, -0.8278, -0.0415, 0.2076, -0.1026, -1.4291, 7.0496, 1.7363, -0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1131, 0.8112, 0.5667, -0.3744, -0.1967, -0.0097, 0.9979, 0.0429, 0.8154, 0.5751, -0.3275, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2912 left_y=0.0053 left_z=0.1613 left_yaw=0.0511 left_pitch=-0.0354 left_roll=0.1222 left_gripper=0.9979 right_x=0.299 right_y=-0.0011 right_z=0.1721 right_yaw=0.1218 right_pitch=-0.026 right_roll=-0.3134 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -1.9897, 10.0171, 1.7509, 0.1636, 0.2027, -0.2222, -0.3761, -1.4154, 7.0769, 1.7998, 0.0024, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.112, 0.8146, 0.5686, -0.3859, -0.1936, -0.001, 0.9978, 1.1427, 1.8465, 1.2865, -0.4988, 0.9024, 0.5373, 0.9986]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1589 left_yaw=0.0451 left_pitch=-0.049 left_roll=0.1297 left_gripper=0.9978 right_x=0.2969 right_y=0.3254 right_z=0.1303 right_yaw=0.1549 right_pitch=-0.0377 right_roll=-0.3399 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.6342, 6.8444, 1.7753, -0.1636, -0.1099, -0.0269, 0.253, -9.2239, 7.8017, 1.0134, 0.7009, 0.315, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d28c2bea7e08300d75a7c2420d01d6db3284aa7035ef833b9321e192dd1cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fedf62443fbcc5e06f2d3a42d1b9df90c12d54f45aef1d82ecdb092425491c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5c2903af6e7dbfecd5e2c4d7bb3320915d6d80715d62e79e7a45d4c8e655996",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgN9rVL83fQgWrGPehSoDqt4c_KX2d9y0pb790Ye86B3Fdo7swqc08B7F_A96DHR63-ViTKNFOL5TyGTXopZp83Ii1jHZ9bPgoq8lbMRBjrZHUq2LY3RP3ZWQOFWH0fhoZ_uRYVbUcxCenvJWEOM-Ambueqb6mR0RgUH8AydSRGI1YSpiCwNoJi4tD4gf5cqnjhpqacv9ybg_Lh3OyMPNDI9jHGgo_3R5eRwyAad7vVeWrBo7TMma8mG__aDkoOJMlxno6ELcgxUcyA9-1xgpbDxpPi73KRA_MCJhvK2ruKY3bnITALszz_JosqAMjJriOxGh_ALPlw6eyXoD4akoRiFPkjxpjVDc17CoVNg6gBLtCZoo-m7PVwc3Ye7GJ53jYtXn4lroAc0cgkTCUdZVz_bKx6Qk5eqnArC69z1nNKWMhkXXmho_v6QPpClC4lPSt7sCae5_6_CMznG8f4DsOOU4J131BCmjzig3RPDjn1RxXGI5NQTE7S7BcVdb_xsCPBAOzFHfIUneKfV2HHxW9l84EvE0M1LlHgs4NIVNYSLZJh-RsRFrsyN4B9wFYjOo1WU3ojcuG6H5vpZNIO0QgP8GQ9cclOHJdMowqFRG_lp19MadGq_KY9khxKrerIpbwWhptwK4n8-GbGdlpQZ6HtAtCUH9s_feEPnpG56UNAXYrCQFCYt3v7DdHn0wbRf0wc9GFqfopYD3Fxr3zUMcOf0OxF9dimiiusTQLsM4VVOB8i2Rd3FJUESL0AlJufOJjySpDTMBJRE3w9YqLQet5TaVc9G9iKJWqTkRrSAKgVNDkWEwL-guMlTqfDIzCWNRT8Xxc0HnS074dVhEWM4l7hAI_vKW0pdd49Dz7qDaezygM69GECd1n6BUmvO9U7zRodq7dw_swKvI7GeyKZ5JCX4wJG35SazZksbM8r3jxQ-3CjVtM3SM5GbaDdS_Ia_ZGYVoLyVI-UXmhHanw2Ut3nGRONorFZQh5IQmokK1eLUIKJDilvW2qVoCIUVMVtqhYhe-A205RthX2rPnAG9IfUeBr3NmTtH0gr0vAhb0ICXREAENttamyP3qBBFODKHRJVIuxJU5kOZhvZu9ZSYCX0k_Be7Orp2vtJjdkxW3ah-5kbPs5GT_XRiuOOyVQva2Kzw9Py1NluXSyyzSDM1aoBMeX6-Jgc0tU5ektSiyrCfvUc8m1yixI0BuD7FnlHVuZP26_KqJanKKnn4YcPeVFczWxLWF2KvNsODZ1DrcHKlbXOgCqtq7lZr6MxB4gASbsQvMaoYjy7G5DgrFKgtdYo01yYeXDS5etsa9I4pQv7gLWRbYC6QpxA8rvWKfC7u5WxRtEGD7-n6mUnqQXn0Wgzv6-VSxCUazE695aVXYAq4vqHpvtqK9jyXjhdbAtPTSP9DgCOwDMtr4_I7WLkiEuQhDR85Or7w4yvluZKyKTGPwo=",
  "id": "rs_0c1b3e2e15b4fcc9016ab4480c48a887d098680fe356203dd9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.33,\"right_z\":0.025,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The overhead view shows the right gripper directly covering the handoff fruit, and the known placement coordinate is exact even though the wrist camera looks past it. I am descending straight down at that coordinate to grasp height.\"}",
  "call_id": "call_EV0uiGeEnku8XGc7k9RSL2VJ",
  "id": "fc_0c1b3e2e15b4fcc9016ab4480c99d087d0805611aa942ec2cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EV0uiGeEnku8XGc7k9RSL2VJ",
  "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]: [-0.1116, 0.815, 0.5682, -0.387, -0.1936, -0.0006, 0.9978, 1.1484, 2.0457, 1.1053, -0.1322, 0.9119, 0.524, 0.9986]\nstate[eef_state]: left_x=0.2898 left_y=0.0053 left_z=0.1584 left_yaw=0.0453 left_pitch=-0.0509 left_roll=0.1303 left_gripper=0.9978 right_x=0.2958 right_y=0.3262 right_z=0.0278 right_yaw=0.1621 right_pitch=-0.0408 right_roll=-0.3669 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.1556, 7.3504, 1.6777, -0.1392, -0.0317, -0.0073, -0.0342, -9.4974, 4.6427, 1.0379, 0.5934, 0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3455c9a7ad30b1c37d3bc165b7ed80f5e7aa6ab04aad0b99b6f9f44c86a674",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f48e793e7f5d133f3e16eeaa05a301ad5499234822c6b118d2a07e38b52e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004484bf6b0aca513aef6dc62222e6120c800c5b11168595d9f26ac5b6e68358",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 4.518 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1458, 2.0365, 1.1011, -0.1753, -0.8612, -0.8574, 0.9947, 0.0429, 0.8154, 0.5751, -0.3199, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2962 left_y=-0.3208 left_z=0.0205 left_yaw=-0.0184 left_pitch=-0.0538 left_roll=0.1258 left_gripper=0.9947 right_x=0.3 right_y=-0.0011 right_z=0.1737 right_yaw=0.1218 right_pitch=-0.0184 right_roll=-0.314 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -11.5077, 4.7248, 1.0574, -0.4176, 0.0757, -0.0513, -0.1299, -1.4017, 7.0632, 1.7851, 0.0171, -0.0513, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.112, 0.8146, 0.5686, -0.3859, -0.1936, -0.001, 0.9978, 1.1427, 1.8465, 1.2865, -0.4988, 0.9024, 0.5373, 0.9986]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1589 left_yaw=0.0451 left_pitch=-0.049 left_roll=0.1297 left_gripper=0.9978 right_x=0.2969 right_y=0.3254 right_z=0.1303 right_yaw=0.1549 right_pitch=-0.0377 right_roll=-0.3399 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.6342, 6.8444, 1.7753, -0.1636, -0.1099, -0.0269, 0.253, -9.2239, 7.8017, 1.0134, 0.7009, 0.315, -0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.815, 0.5682, -0.387, -0.1936, -0.0006, 0.9978, 1.1484, 2.0457, 1.1053, -0.1322, 0.9119, 0.524, 0.9986]\nstate[eef_state]: left_x=0.2898 left_y=0.0053 left_z=0.1584 left_yaw=0.0453 left_pitch=-0.0509 left_roll=0.1303 left_gripper=0.9978 right_x=0.2958 right_y=0.3262 right_z=0.0278 right_yaw=0.1621 right_pitch=-0.0408 right_roll=-0.3669 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.1556, 7.3504, 1.6777, -0.1392, -0.0317, -0.0073, -0.0342, -9.4974, 4.6427, 1.0379, 0.5934, 0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3455c9a7ad30b1c37d3bc165b7ed80f5e7aa6ab04aad0b99b6f9f44c86a674",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f48e793e7f5d133f3e16eeaa05a301ad5499234822c6b118d2a07e38b52e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004484bf6b0aca513aef6dc62222e6120c800c5b11168595d9f26ac5b6e68358",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgQjm8nPSbhXViv3bO7WhGYZaGQSuUal24xj7ohO7euFdsZXrpLprwJNv5kHC163ouM-k27gUYt7l5fgyknOVCkPzdeOEHicPtVRBHs_iHV4pFLMGrCwBr0BKQSXzZMW8mKjTiBFVpA-QRouZ9cD3Ux99DlNwnmp6qvoLA0nObrq3IfGxyGviRjqbFKNN0h5toYPf8aGxwZXoPB8TiyZwW2K2e3x9Jc3jT84S0MTf_V43tASY-F85D9a6gf8VVxyh9YjFqKC5x0Ij6_gQJaggZvCOabsiq64jopF_U1H2QH9bMZ-_goXthhR5dQIIgpnk1zuhz0kDfd4x7EjSeOqsW-b5A2LRkQCwPKYc8jnMbwkoUGbmQA-EDCxCrUmPvmJ8yhbZ3ikr5h5fNqP-9b6Z8OkCPUTknp7jLYOn9ZzTekEjxmRj9_8JHJtTAaG4Af-QeI-_fw53O_NBusdW0ZOGnNRy1cutfI27L8qXpBOQwmmVv8QV0mNzGtNrAhcmMD3qC5WuRCxHSmrAYgDFTZWIfTTjv2_3St-toRnF43taUmry1ZBc9hreqh5iPjfax6wu-vYo_k8WXXId35n0C0nobjpG6hv6V9rJnzMSAMf3vHiwlQyi1tUesSeOQskP3eM6NoUo13ilT62Ik81GBakT4hK3YpKyAZJd8pW5wXsWhWbciJFMcNJuknYUtiKt1sGi6aN1miJ16khgUE2Jz6mh00yom9VMBK9sHx77UT9V7zafdvCVw-QRGZcM3pNKhD-Ko6r1l2IzwL07Xi4k2Dhn4mk8rlsQpLEwoX5JygecL1j5zF7SKYXf1kzUgx5r5CZ4HXfAe1xn7HVWRnzKfEkgJEwxStW0DtKRPFA-D3h4e3iAWhcqPv-jCaw_kMyfQQHK63vYVW4IofPTVScmsbu6o9K61sVS_xP1qMxa_eu4KlRRxV5z9rraqZQZkEPrLkicwQ2Sr3lGTtoVBz9Vfm7_edtev1xWHX3he17rmrmUaom3Z5QmOHLmikWpNPsR1GrsogWtSeovaP98ugYvmrAtUBiirnD02QaxA3jJY2MHGp9jlQBGc08kPbHyY7ckOCN77eT4_TpujXEBAqkA4yoetMdW2bp9FMFQG1zAtkIhzSiI6LRgcXmiBJGNRJ4dJ_AJmVg5Mllcq1pIbV-AiEuWnbqJyPX_CgCrKydfFQeEOlwPs=",
  "id": "rs_0c1b3e2e15b4fcc9016ab4480fb74487d0867a0055d478162e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right gripper is now at 2.8 cm height over the fruit, which is fully occluded by the jaws in the overhead view. I am closing to pick it up.\"}",
  "call_id": "call_eZjsq1M36MS5j639It6lraLr",
  "id": "fc_0c1b3e2e15b4fcc9016ab4480fc85887d0a678ed292f4983be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eZjsq1M36MS5j639It6lraLr",
  "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]: [-0.1116, 0.8188, 0.5682, -0.4007, -0.1932, -0.0002, 0.9978, 1.1492, 2.0438, 1.1019, -0.1135, 0.9272, 0.5125, 0.0091]\nstate[eef_state]: left_x=0.288 left_y=0.0055 left_z=0.1547 left_yaw=0.0449 left_pitch=-0.0683 left_roll=0.1331 left_gripper=0.9978 right_x=0.2974 right_y=0.3266 right_z=0.0311 right_yaw=0.1615 right_pitch=-0.0224 right_roll=-0.3694 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -1.6342, 7.1453, 1.79, -0.1197, -0.022, -0.0073, -0.1573, -10.0171, 5.4496, 0.8962, 0.1734, 0.1197, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639f7501cab34e97d6106445889b0dc79dd7f8bb5634aac4984b5cebd8a35913",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733fffeeb970b727fc15edbdbe8fd59594ff0d7a6b0d64c242ab5b6e8899e04a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ee3aac26bdcc9e30c202fdaf5e63f0267eba0c216a694aed79ad98d5e8769e",
      "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 · 2.18 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1131, 0.8112, 0.5667, -0.3744, -0.1967, -0.0097, 0.9979, 0.0429, 0.8154, 0.5751, -0.3275, 0.0994, -0.3153, 0.9986]\nstate[eef_state]: left_x=0.2912 left_y=0.0053 left_z=0.1613 left_yaw=0.0511 left_pitch=-0.0354 left_roll=0.1222 left_gripper=0.9979 right_x=0.299 right_y=-0.0011 right_z=0.1721 right_yaw=0.1218 right_pitch=-0.026 right_roll=-0.3134 right_gripper=0.9986\nstate[joint_eff]: [0.1299, -1.9897, 10.0171, 1.7509, 0.1636, 0.2027, -0.2222, -0.3761, -1.4154, 7.0769, 1.7998, 0.0024, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.815, 0.5682, -0.387, -0.1936, -0.0006, 0.9978, 1.1484, 2.0457, 1.1053, -0.1322, 0.9119, 0.524, 0.9986]\nstate[eef_state]: left_x=0.2898 left_y=0.0053 left_z=0.1584 left_yaw=0.0453 left_pitch=-0.0509 left_roll=0.1303 left_gripper=0.9978 right_x=0.2958 right_y=0.3262 right_z=0.0278 right_yaw=0.1621 right_pitch=-0.0408 right_roll=-0.3669 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.1556, 7.3504, 1.6777, -0.1392, -0.0317, -0.0073, -0.0342, -9.4974, 4.6427, 1.0379, 0.5934, 0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8188, 0.5682, -0.4007, -0.1932, -0.0002, 0.9978, 1.1492, 2.0438, 1.1019, -0.1135, 0.9272, 0.5125, 0.0091]\nstate[eef_state]: left_x=0.288 left_y=0.0055 left_z=0.1547 left_yaw=0.0449 left_pitch=-0.0683 left_roll=0.1331 left_gripper=0.9978 right_x=0.2974 right_y=0.3266 right_z=0.0311 right_yaw=0.1615 right_pitch=-0.0224 right_roll=-0.3694 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -1.6342, 7.1453, 1.79, -0.1197, -0.022, -0.0073, -0.1573, -10.0171, 5.4496, 0.8962, 0.1734, 0.1197, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639f7501cab34e97d6106445889b0dc79dd7f8bb5634aac4984b5cebd8a35913",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733fffeeb970b727fc15edbdbe8fd59594ff0d7a6b0d64c242ab5b6e8899e04a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ee3aac26bdcc9e30c202fdaf5e63f0267eba0c216a694aed79ad98d5e8769e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgVOapI-j51Acw0Of-XAGzx0tlJVWj2ta5fxW3HAwz8DBYZgFJcKvFBM0leZfGCUGCeIKNc4rUw_8VaiBZ24J0bKL3_KnNRW3DtFhtetjGfcAXL4rcCkMC4GK9_znzlEgZ0W25bi7ettJep7Se0j7Aq22vh_WSznEJRXIPdCeb6x3qG7Fe9LRGRFwGkKNYNRRYSX3sVb7Djy5etn9jaQCeE0_Q9zQnZUTJzjAFTCkuJMuTC7gVy4ETGcs22WUbrdZtXFC_eiel9hr6z9cnlJ3FNmEyi1hTjiuxpE7ibNEHUsIL1YdWErmI1v7-5kBXVRtfbrOOndO05Ouxz1FopU9RSBguAq4-WJWTAAoXO53F4s5aNR3wd3DkqilGluh_zPHj10YOlRf0cdOiyFNx9fsUSyDkfs683xn_Pgablfdqf2oZeKEPCA59-VgFefVzYKeSoWfON9454p_il7ziW4Km_CV5PIfCTQGiLsHW9VYka1fY0yo5tpoAxV-rRMDbo_kxEwP41aDAjzj-tXvDCus_29ct4rY4GDQH67GmYsxNGeggF7LsoTZXDx2hYOPrNfxl4nV8sb2t20goG-n1pb72RB2LI9IRFhjP98CUAULBTS4JYbHjGqz4ygWuSZZrIuxPJve2vD_8fCUom4wVISPM2oU5BVgaq4FuRLYV9RIft2Cs7DI98VKTkvfBTDwTaWY9VwwEh1Q7R0H_e0sfDotx_dLH0A4rCuHLqo2iKFXk-JLhtiPB21thcAp7couVA-lNqqMhQ4HCysHCgrqbOA_KBBqh1jB4fcQiPswMmwORueoO2Uf37olDEY7Wh4DDTkU8-DZ8IlauXYwa0Y-UYGqgbHM6TXHPzoVevEx0YjtD8uI-yuTr0qCV7Yf97l7qJSE0OzEQmE0jtAxwyIiLdofoSwZt0Cifb6JkrV91O3WOBwQ6K_XsktGtNOHRHMfdhr8H4zjt4STwMRNVLzHSy4RUBtfOsA2EdDFRMEi173zssDOhn3vt9HDenlsd0YfxAPLDsI11K5DLGa7L2Klpok1OB8jsMqvxNc-nSIVpEXj-Czvsa7GAVCv-hH-dyraKWB9--E555hlw4BorjATZUFJn8oBGBOmajtu3rlr8sw9vB3gPTKDTZftLUhdA5ebyc-mMoUDGkMLUf5f1-pgvAMRR9LuITI7W83hzt8-gtF18QcLxN4v3WgJi4QZEgq3738v-UrC3bovWvdxrbqzwgDyEF649LbBercTw62250-CSfbHHLSyoWIi1J_ccPivHGwVIb4DfwW6zfLFEYukF0sNCQx2qSY2tbwU8FjTS0dDAppDhmWNWQejEEStU8ebuEHaA44W4b23b2tsNMnAew-B1PKFbJg0pEvZ6dlr31HN4P5-sJc4sN2EJ3l1V4Mlo5-xrdRN-6sLPSTOHXeFmd2Gpx12XpFB2O9mzYezPk58W5ejf4OjufGbNYNaFXzHU988Zcp5Jfc_4Mu9lW7xWmEgVTqXflJhlMVwsU2lYIQG09Vdxm5vUL5_3vLx17dZ2H2LvE9mrKDayyWgTmY1QdMo3FyfiCSn78Jm7J8aImmkrtMop0M1n97Dg1roDmmr-exSIeq7Mis5whOnGkWMoh4X3OnM-Lc1mtUh-OJs_mRL7FI94nggEfDcXWd6NepYFVQwmsl3tazboh10tXm8_LPRrJr3eUcN3Nc7Pznmz5PXLRlPlDCXYwNs6hUO-FHJTbST5qcpGQU8nsHXXZp8TlrOynFp646qHUqfDdnuq-TBIM1BFeF7HM_q69CfzOeGKu_dnOc_UFgjopX1kFI8JygdMwrYTmW68PJY9AVVL2KEqk3FOm9I-YF-7XDpV1FxDWueQoXVEHgTxkDEaiZ-DBIcgw5x-AbuNqdkysndI_Rgyht9nStwjNNXa4VIrdOAGQmE0lqYHjCTfpxzDeoCFbwSDCIE9o9FLZEEOWKCp5tcW4eo15_rNAALrqZVhkPEWPKxvSKA3gQiADlBW6vh2sEaxdlUq1MCiEysE3aSemSjjNjTG_7jPXqsl_dqoCea7HIOSZwzmMqNzxmNF5mVRN50Bl9dsADq-lVt7aHkwzr5Rkt736nEkv9LFrebuXbsx4_M4B5J7dG4WRjSvsSDr4YcnpsfjA2jlNN4yPM40Y_44Z1UMiARSowGZ6Pg3W0MgVOa7fjx4X3DZScKsaxgft6KGQcJ2p5WgvHJkKTeT9O9wpmmLCKOFVS7objXcq0xwx-Z8l4YGSxYVpj7XnTObNuUMQsd351__xfrQHsQNASqPhGO30OPWZpbZCeLWfvfexzrb0wzpOX6-SFuvUkX-LFSjdGNurQbhliLR065AsXzhnEpLHQgVG9iB51EmJqNMEBbs7zTdcjnyojpLDdk42aUDI7nHaCj6A-70Bfn6LXws-z49JNKhK-95meW4aLtkwHLpIkCWHXcN-ptRks69ObHHNO2fdKG1rRxT8gnEuFUeTS8JNYHi6o5oubTSEU9OR6Gs985yDSR7-QZr62hCLE7c6mKdAk9GZ5l03yO89HprsjUTZEAh34drdpWFTVGW8dyEv",
  "id": "rs_0c1b3e2e15b4fcc9016ab448128e3487d0bedf57e841bca41a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.355,\"right_z\":0.12,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The gripper closed empty at 0.009, and the overhead view places the dark fruit just left of the jaws. I am opening, lifting, and shifting about 3 cm left plus 2 cm forward for the single measured retry.\"}",
  "call_id": "call_IlC0DbxiFl1oUfn1s9ILgq3V",
  "id": "fc_0c1b3e2e15b4fcc9016ab4481520c487d08636553be03f8793",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IlC0DbxiFl1oUfn1s9ILgq3V",
  "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]: [-0.112, 0.8188, 0.5682, -0.408, -0.1932, -0.0006, 0.9978, 1.1362, 2.0251, 1.3643, -0.4007, 0.9195, 0.4625, 0.9953]\nstate[eef_state]: left_x=0.2869 left_y=0.0055 left_z=0.1533 left_yaw=0.0448 left_pitch=-0.0754 left_roll=0.134 left_gripper=0.9978 right_x=0.3147 right_y=0.3528 right_z=0.0917 right_yaw=0.1772 right_pitch=-0.0416 right_roll=-0.412 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.3744, 6.9538, 1.7998, -0.0562, -0.0708, -0.0122, -0.6222, -13.7368, 8.1846, 1.0623, 0.5348, 0.0757, 0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98e3d794a4a191097861c29e3db269932a4358991a24a0c25bea60917e432a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429acbd8b9159a4ebd97e0b0981c403bf968fa3cdb0dff6c5ece04ba04ba9b80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897c3eae54233ca04c64a5461d78509da9e4a672fbdbab7f2434eb2f29adc300",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 2.108 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.112, 0.8146, 0.5686, -0.3859, -0.1936, -0.001, 0.9978, 1.1427, 1.8465, 1.2865, -0.4988, 0.9024, 0.5373, 0.9986]\nstate[eef_state]: left_x=0.29 left_y=0.0052 left_z=0.1589 left_yaw=0.0451 left_pitch=-0.049 left_roll=0.1297 left_gripper=0.9978 right_x=0.2969 right_y=0.3254 right_z=0.1303 right_yaw=0.1549 right_pitch=-0.0377 right_roll=-0.3399 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.6342, 6.8444, 1.7753, -0.1636, -0.1099, -0.0269, 0.253, -9.2239, 7.8017, 1.0134, 0.7009, 0.315, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8188, 0.5682, -0.4007, -0.1932, -0.0002, 0.9978, 1.1492, 2.0438, 1.1019, -0.1135, 0.9272, 0.5125, 0.0091]\nstate[eef_state]: left_x=0.288 left_y=0.0055 left_z=0.1547 left_yaw=0.0449 left_pitch=-0.0683 left_roll=0.1331 left_gripper=0.9978 right_x=0.2974 right_y=0.3266 right_z=0.0311 right_yaw=0.1615 right_pitch=-0.0224 right_roll=-0.3694 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -1.6342, 7.1453, 1.79, -0.1197, -0.022, -0.0073, -0.1573, -10.0171, 5.4496, 0.8962, 0.1734, 0.1197, 0.7009]\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 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.112, 0.8188, 0.5682, -0.408, -0.1932, -0.0006, 0.9978, 1.1362, 2.0251, 1.3643, -0.4007, 0.9195, 0.4625, 0.9953]\nstate[eef_state]: left_x=0.2869 left_y=0.0055 left_z=0.1533 left_yaw=0.0448 left_pitch=-0.0754 left_roll=0.134 left_gripper=0.9978 right_x=0.3147 right_y=0.3528 right_z=0.0917 right_yaw=0.1772 right_pitch=-0.0416 right_roll=-0.412 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.3744, 6.9538, 1.7998, -0.0562, -0.0708, -0.0122, -0.6222, -13.7368, 8.1846, 1.0623, 0.5348, 0.0757, 0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98e3d794a4a191097861c29e3db269932a4358991a24a0c25bea60917e432a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429acbd8b9159a4ebd97e0b0981c403bf968fa3cdb0dff6c5ece04ba04ba9b80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897c3eae54233ca04c64a5461d78509da9e4a672fbdbab7f2434eb2f29adc300",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgZWGsWrChSmb9oXHyZQljFPxe1CpRSI3cNsYg-BHWp-1RjfmbuRRhzpbYhVQbmPSapmEpvJoLUPLtPlRFTYsnFVW7ecHZD3hEFmi1d8u2By3DyR5ql6AN0a44wNDLGvVjet_tz2AOtcRrfExe75uq-BAFMy_v-RXolW_3BkYhGmiZhcp7jJnx-dLlTh6APY3t0WGIvHxFPvmjX9zzOxACLwwzJwsRuqNCeOMu0FFKXb0cXlmhyy-be78Mhe8q8b82qz9coutjQQT_JL_oYcAlcTNVL50_gVwMYAJawqNWVhsyq77oMDfKO1qUGGWg02uBnZWS0MpuS2mUI85AzX_zOFRtRaoOi7myNMgIhLdgqYl_925wcNHVc15V0rRTr8oS42KYwkinBQMsQa1TP3iPpQCSPWNA8lhJg27k9iImU4c6UyMq-7JdL31CEN8FhhBreq44uqARRss7274tZ4QTp2q9STJgXfcaeNeRx2vH44cXAcFwOqKz_ZALI6GXAe5Ut6bU-u8_qi50G9kY4kzFDGjqpF7nsfGGZUF-mAqtwIAFCucihRO_RTaM574M3luIBAETuykbA9D8XZr0Ptmqq7Dcmm_bq5b_LczOJbOuD756k31Re2MJmJbNHe0jWlqjvDsgR_T4nIv5OHC844_-UJ4G-BuRj3hN59jtIO8yv6Q3UBMY4UzbChKb6rrwmh8HJgJNXCNkJJdPcnMlGnj1lDhSOItHlbQZ13_kxdDyxhkqTIiLRSjGg9W6dZ3hqsAYq7FJI3yN8N6tTMi4skjj7TCATbLclgC1muIhIlIXXlyQl0crAYg3KgcGzyuJB0g-zT8onUVTZOsm5ktSJMSb2A4VKxYpSGGk4GFl5cOpTMSKYr4TQSVHdqF2yQTWzx5Zv5cuddOCxIYznT8-fCj32JXptOSOgPQ1EXika_49g1OeM0EtK8HBn10vGw8xdnUNhc53Ry7-Aka6_LTmvY2rAauhtZhSfn1gCr-T6aUbcRYyMHzwFJhvgGGyap1E2x6FHhFPS33DTCwE9B0Tb9hCeUjU0gTzPzrl9DXK9ACQ8t_1G_FStSBW-stApw8l64kX8sTlAhM6C9KVVEwkYlkdANHpZzqea93C0T9uxhAffK1nNIRfwTj8y-mZxoWHqVLsxUP9G9RaxJz4fTRG1kPn1evN4LaAbphGZ8FvqBYYofl7tiOJllGQCxp51tF-2JYuYSo24hvSK5Qu-6lha1U474Omilj2Rfniy3h0-hR0gctQogO7WtV076syA087N2v_mAilE3A19Px9sWvZylLuNJp_4Dc1IkV_1rfrzNZL5R4nV0w95yaxNyQY-X1Na_TSB50i7L1Se6x1gxnHkXom5Dg==",
  "id": "rs_0c1b3e2e15b4fcc9016ab448181f1087d083b509dbad4bad28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.355,\"right_z\":0.02,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The corrected pose now covers the dark fruit in the overhead view; no fruit is visible to either side of the jaw body. I am descending vertically at this corrected coordinate for the retry.\"}",
  "call_id": "call_XSmB7sblO4w0afzfT690XCCq",
  "id": "fc_0c1b3e2e15b4fcc9016ab448185c0c87d09a6156449945791d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XSmB7sblO4w0afzfT690XCCq",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8188, 0.5682, -0.4171, -0.1932, -0.0006, 0.9978, 1.1351, 2.1662, 1.256, -0.1616, 0.947, 0.4404, 0.9986]\nstate[eef_state]: left_x=0.2856 left_y=0.0057 left_z=0.1516 left_yaw=0.0453 left_pitch=-0.0845 left_roll=0.1354 left_gripper=0.9978 right_x=0.3161 right_y=0.3477 right_z=0.0219 right_yaw=0.1728 right_pitch=-0.0327 right_roll=-0.4525 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3607, 6.9538, 1.7411, -0.0952, -0.0757, -0.0122, -0.1026, -9.8393, 4.5607, 1.1306, 0.1538, -0.0708, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4c772cd3ec7929b80efce448cebf7c96a70b01371e4a74c0510558244b9c2a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4864b9e1e3bf05766f11456e6ed76ed384c24e77316dcb2837c20855e2962e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ae6fed6e458a5227256ea733659424897fbf0379df5de6fb22ba6f6e1bfcba4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 6.571 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.815, 0.5682, -0.387, -0.1936, -0.0006, 0.9978, 1.1484, 2.0457, 1.1053, -0.1322, 0.9119, 0.524, 0.9986]\nstate[eef_state]: left_x=0.2898 left_y=0.0053 left_z=0.1584 left_yaw=0.0453 left_pitch=-0.0509 left_roll=0.1303 left_gripper=0.9978 right_x=0.2958 right_y=0.3262 right_z=0.0278 right_yaw=0.1621 right_pitch=-0.0408 right_roll=-0.3669 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.1556, 7.3504, 1.6777, -0.1392, -0.0317, -0.0073, -0.0342, -9.4974, 4.6427, 1.0379, 0.5934, 0.0024, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.112, 0.8188, 0.5682, -0.408, -0.1932, -0.0006, 0.9978, 1.1362, 2.0251, 1.3643, -0.4007, 0.9195, 0.4625, 0.9953]\nstate[eef_state]: left_x=0.2869 left_y=0.0055 left_z=0.1533 left_yaw=0.0448 left_pitch=-0.0754 left_roll=0.134 left_gripper=0.9978 right_x=0.3147 right_y=0.3528 right_z=0.0917 right_yaw=0.1772 right_pitch=-0.0416 right_roll=-0.412 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.3744, 6.9538, 1.7998, -0.0562, -0.0708, -0.0122, -0.6222, -13.7368, 8.1846, 1.0623, 0.5348, 0.0757, 0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8188, 0.5682, -0.4171, -0.1932, -0.0006, 0.9978, 1.1351, 2.1662, 1.256, -0.1616, 0.947, 0.4404, 0.9986]\nstate[eef_state]: left_x=0.2856 left_y=0.0057 left_z=0.1516 left_yaw=0.0453 left_pitch=-0.0845 left_roll=0.1354 left_gripper=0.9978 right_x=0.3161 right_y=0.3477 right_z=0.0219 right_yaw=0.1728 right_pitch=-0.0327 right_roll=-0.4525 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3607, 6.9538, 1.7411, -0.0952, -0.0757, -0.0122, -0.1026, -9.8393, 4.5607, 1.1306, 0.1538, -0.0708, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4c772cd3ec7929b80efce448cebf7c96a70b01371e4a74c0510558244b9c2a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4864b9e1e3bf05766f11456e6ed76ed384c24e77316dcb2837c20855e2962e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ae6fed6e458a5227256ea733659424897fbf0379df5de6fb22ba6f6e1bfcba4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgbna4N8XSzF9JaHpG-7on9ckLwmtJlg368H5L4IU0IONvFeYeq37K0yJEjbsCapq3p69cyv2glPw2mMFXNqpGE42wy2gToGHm7pw-1lYoF-u_USykhrXoHmo_BXEUvz3F2kq1Xq21_AzbvUEt4Q19V9Y4olEVk02ck1Y3bpeiX4TNGSnxyGcBg-B1uUHCObso-ex7bsT3BbzmhOBQt0NeW2dAN3VTvI9n6xrr5jr1yGldArDTwUrjUB65CJ0fzYi8ShORe6evFYdHFd5klKTWaH0fIpbH4Cd9TX1F9VPKQUfJSXuIKod_uVOzSgjVQjtaIgMkfRNDSqtlgCfZBvSQ7DsZXythnIx62Ys0-9v1I-iCBBhbdJztF35Zvi1DKqSuokvBlWa-Gqiy75m9OYJ6v87-y4wEsE77fcNV2yt_7ZTBCI0NXX3o2K3j0maP4Gv1Y0YrIRa-M729oShC3b6oEZsd1-d2yzzj1U-L36VN7UrrPmaIm_Zeu8EfiYSp276fgr3AlbjpaLMSSMarGmG2LAIInEIKZKESwNIQa-rVKhw1rkxSKKr_b6_Q6FECdvJUtzlracmSPz4WmdZfaIg60G4GTAg2eIolJD-qcdgyJwl4qAU9UNP88OdLHqKVMrcMM_B1kR8BGo1jOaEAOr1eyFKELyIppVY2hAfJJkvf48DXu5CEWOZCS95GPMk9JBg_je1-mMTLlhC5EiflDloikODwRAPMw09_UbQEuVjxhkcYAtXkca1E8cVopWQyIgEIY7JEvAp9gPHGVxH79_m591Wm8g1bGxwWPLguW3wANjjYvLTK-bw0laJd1xKToG7IMcK5cELo4d9djn7_qX4SwI_DK23uO6MHJV2XO8zs7cZ-J5l6OswhhIShkMV7G0j2q1iu3Wprt2t4PFiu8QPb1uf-_JUj_WRlDrxTPakIBRfq2NtvJ70IxzggCGC4hai9bVuMEdxpT8nSnC1S8Zrds8nmz5eiLeLqcUK_ParP94efLzIQG28eH_UgT44alAPYvOPMHfmL6uztJ2dETVSVWCmWhWx7gTetAW6peT5d0WMXmj-BO-CrEdpuMCSGTLsYg6MjUOlK0T3kZQfTHSYzD7OdpG8zEg1cVYlsXl0UHODQ8xrYxr2EAEDbi2i4hbdkH-PeTui7BPG4vqgo6gAmPShbSIWA7SjRwlywGDUKpHvY=",
  "id": "rs_0c1b3e2e15b4fcc9016ab4481aada487d09fde9533a5aa20ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The corrected gripper is at table-level grasp height and the fruit remains hidden directly between its fingertips. I am closing for the second pickup attempt.\"}",
  "call_id": "call_IKqZMglFPGETmgbUUX1ZuW0P",
  "id": "fc_0c1b3e2e15b4fcc9016ab4481abda087d096c29b52fec904b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IKqZMglFPGETmgbUUX1ZuW0P",
  "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]: [-0.1116, 0.8188, 0.5686, -0.4232, -0.1932, -0.0002, 0.9978, 1.1351, 2.1723, 1.2507, -0.1616, 0.9382, 0.4297, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=0.0058 left_z=0.1506 left_yaw=0.0452 left_pitch=-0.0902 left_roll=0.1366 left_gripper=0.9978 right_x=0.3146 right_y=0.3466 right_z=0.0167 right_yaw=0.1819 right_pitch=-0.0482 right_roll=-0.4662 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.3607, 7.1453, 1.6972, -0.0952, -0.022, -0.0122, -0.1162, -11.3436, 5.6547, 1.0037, 0.486, 0.0952, 0.6911]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85b703928cbd71796508bce6a50fe63aeaf9d7877fd48e3636665b7638d43965",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab1b5b94fbd34142475e5fae79d7b22984e8bb660a16ece7858b2cecc453f8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e3200ba195aef097ef0bc94431c2fd1b29a27959bd6972104998df3caba362",
      "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 · 5.219 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8188, 0.5682, -0.4007, -0.1932, -0.0002, 0.9978, 1.1492, 2.0438, 1.1019, -0.1135, 0.9272, 0.5125, 0.0091]\nstate[eef_state]: left_x=0.288 left_y=0.0055 left_z=0.1547 left_yaw=0.0449 left_pitch=-0.0683 left_roll=0.1331 left_gripper=0.9978 right_x=0.2974 right_y=0.3266 right_z=0.0311 right_yaw=0.1615 right_pitch=-0.0224 right_roll=-0.3694 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -1.6342, 7.1453, 1.79, -0.1197, -0.022, -0.0073, -0.1573, -10.0171, 5.4496, 0.8962, 0.1734, 0.1197, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8188, 0.5682, -0.4171, -0.1932, -0.0006, 0.9978, 1.1351, 2.1662, 1.256, -0.1616, 0.947, 0.4404, 0.9986]\nstate[eef_state]: left_x=0.2856 left_y=0.0057 left_z=0.1516 left_yaw=0.0453 left_pitch=-0.0845 left_roll=0.1354 left_gripper=0.9978 right_x=0.3161 right_y=0.3477 right_z=0.0219 right_yaw=0.1728 right_pitch=-0.0327 right_roll=-0.4525 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3607, 6.9538, 1.7411, -0.0952, -0.0757, -0.0122, -0.1026, -9.8393, 4.5607, 1.1306, 0.1538, -0.0708, -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 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8188, 0.5686, -0.4232, -0.1932, -0.0002, 0.9978, 1.1351, 2.1723, 1.2507, -0.1616, 0.9382, 0.4297, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=0.0058 left_z=0.1506 left_yaw=0.0452 left_pitch=-0.0902 left_roll=0.1366 left_gripper=0.9978 right_x=0.3146 right_y=0.3466 right_z=0.0167 right_yaw=0.1819 right_pitch=-0.0482 right_roll=-0.4662 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.3607, 7.1453, 1.6972, -0.0952, -0.022, -0.0122, -0.1162, -11.3436, 5.6547, 1.0037, 0.486, 0.0952, 0.6911]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85b703928cbd71796508bce6a50fe63aeaf9d7877fd48e3636665b7638d43965",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab1b5b94fbd34142475e5fae79d7b22984e8bb660a16ece7858b2cecc453f8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e3200ba195aef097ef0bc94431c2fd1b29a27959bd6972104998df3caba362",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEgjga3AgvsQofv5JyrK6gYne1acbwT4OMbq7lwNLgSiu496thFA7sluyAX5XcPihEeJZl1xAcnQj2L2AYwHNz7ceckNTbcm6AxhCWNST4P0cEz0orKKmJaeHL3oor0Vrlefvgd7wy4QaJ8YQlvAMrIPWF9LkpaG8oo2b7xGmvRZU3ZtJJvaMHhPR1Wnb_3LdO_QTrdhfAzWwpBg8sASSS9qtxu1-vMi_QDKH6aPLS3JG4r0JdEOpM5Whe9t37DAlFKnZRWvDYjI0hDRRHZRCz85cqKLurYRHALzCqem24wUtFBiIqWxbdxO2EJJu7Qe4q860_6F6lfnjxfDp5WoqLZIrxzfWpmD9cgR11W7w37u1WwHIjWHwb4v0P3jyHVECQ8omV08c6--2vTx-4gFGnZmdaBXL1dz3CbF_KFvTx5qqpcL8OJeCCmPgbYy9nGrdIGpDmsyg0sVkCnM5kcpACm71ioFmZafLzYfRGjXu8eIJX5xAE_PXu6ycX_-wZTFjtCsSE5rzrtAsAbNt9ImYQgaZexsfPmZRY7b2GTjfhPO30zBYWBM_mRGIdAFOhtCoHDPtQUaTLIl5NGM7J9HCXLFZwPHuSo3xmRYLbHUbXGnxHhD2SiHrOfEa1sdK8Ug68CCgoYJdgjtIrjQ7KoRVMiesomZ-bSae6igFQX74J5kwf8WTP7eS5GUTl5lrtzpVtG_vSctFUe0JIH2wbtQ6yzSi63sHgTVJsYk2DHHg94yVEgz4zfvkZOUIckHHrcozSbGZqtgOJ_cjE0KBuEK6q6w5IWcp6pWorSr2RI6eMTBFfg9DecNNKbWyDtWDnzz56xNsm7T8CE1uN2KLS-OXTXNP7DwXSDNn_FQw8U4oFqgY9KqfrS4A62ffC0sAa0J20lRcce3G8by-q3TebRQDxnJZQEvYkvRsY47AvLDjGVBCJcQYVDO94NjtpK-95pOhPTTfQl05B0VPGFBaIKi03qh4GpsE-t7XSRv2OyQga8K5mDGHuPiFlv6Hm6edT59QMDkJbHrtDGb4zFOdzCclKbeFzqOmFn_3GU-AJqz2K-NoXodtFjES91ZPX5T4AyOwbCROX2u6LtKdmnOom2EqxfYznYvyYKIMz8QXfAwSci3LdRUe1vXCX5jJ8stOcnn0QzizDK7dEUzyHey41o5cA_iY3sQck8tCEloiEg9cvC93joX8pKI_uqsrt5Da2MKJHAD1EICGUCN1FYy6zNlth5SwyQ9zTPQA-mmGwIANuLFYa0AMHNHoZoBfjbgu68AxqM0xYzt0eKBzgdSQzMj17QD12vaB0-Dec7PHCM5TYBNKDo_JjoZ7suUR0LRGFWqOFrYQh7QTWXBwS4MVp-sali0iTQ_A6h7YFIhOjTeT4Z8YgqSpdTyU5hN9cBQMfdjMLHW5DT473yNTlpqFVPmplE5aOKvKNQ_IsVvWob5uL3YHELdq2jrzNxyUxY4e4aWmXvJ7k8aHIjynTl0bgbnzmZgb7Q5lYeEj1iFON5d3SfPKP8VBxX4rqmV4trCKAjUBKpzDUfe5PsVtXuQU5kB74AMRw6Cki9gP0FlWLlWlnREjYEmYITCIynAHpMWHaEJmslswzHps2tXdqCDy4UetHeUj4TmvhrHqug5muCq577VDwxf4XsXWtaStBdd9tnuTEIkwOBgxcodgw9gg3JAAcEVV3E637t1ng4Ia0gdl2u2vxScJ2P9iWgtX8g127SYto3zVOkQ1zkSbOSj7vYIC_vDP9JhpQF-N2Oy7uePynPER8nSbIF8OMfxEh0qqX4o6hFfVhnoW5wGz3VciEKms-jTeVYswK2zbvVUIdCbcvgeilz-2uVWzsxA3g5eLYwdSbDqZbEncc2iX3f_B8_8mdTUUJWkKUoYtB51nA2-AR06xyEjonnpIZiU4SYowYoQUh21uyWG6MJ7Il1TyimmhwVZWcps6WMtBj7ZqmfMCwaBJjckepdI__1JlaApyZM0I2-wMYc2TwNm3TH5z2t33tgoOwv80byZkfMQQLvR63FKytDXorc7gn391QUXI7aTL8eBteR9PEbpdv4vOdEnpugHLcZJf8c4UqhGGDhAS_orXmE6RXGdd7EZVYxWmXJw3M5XLg3NZqqZGiR54FWUIAqVaej1-yOm-Li2r1Mguf0wE6-xcnhLw8a7D-8Zo9y2PzUFJOSaPOllrtNxiuf4kaQgA292Zuky9ESCWltpG-d5kmeWusBL9VuHZNOVKYZkxQlpC5zq23SXdgm52lJo23C2EyQhitb-dh5xe3JO9f9FkbkO0p4OYCxXHyf_IbyMDQ0-m2FO0WugKBF6FJpxpDcr6zeC1iNHHM3i2h8QIrtB3rwwyfcFpN0XWVsM_g9mDV4KFkbFa3b_nCV6yjiGFYKs6D5pt0eL4TzANt8MfAAOZNA94fZQKXduF6k0aNGSCO2perYjaq3rETMX_OaddJ9jmmjJlBjYFxSltgs9fE0WK-VOylRva3lw2_N4y8lSCJOvhBLLg20zu4s9ie3JSgmln09MYlxho1SOsSRY8GTxt5OW2wVSjxc9o_MmTzht4iJTo2lEevr7Hab12BCjD6yCO5rVuvVnOf8CphXFUTPGgknYPwbZu-VZHqZItlsEgQsuUB7MNQ6ds5hvHA67-E1OuXROSDuAtLfSAbisy3A1SaToT6WuPvq_dsycTdvv-o5S619pLX-_yruc2b6UKLlT07LZETx6qR3E15D53SbvRH0NuIpkC_cVh2mpCr7zNqIa8MfcPcXEJ7BzrSw16kEVgoYOeluvBrOpxuQPWrpwriUuSef_hjoVBJLIjYEY-JvwhVLISb0ptFXcBRypvN1ZGnfLmG38__8rR-FNwDxuFBZ-lrdIzlm-0p9kxjySNeKLZtHC0IejLFV8JH8MFwhbznGJ_W0JuTWNHC7j_F8B2glS7BhhNTnZlLkvAg9Tb-EAtwEqKf431BUygkQ9_DjBhxBPUUeX_rpLiNGCRnUKsK1FQ5C3ho4WRa6fOiFEqJt6XCZ4nMBVRC8KfAQoi-6j2El_l2KGlC1Zp1mmoVvnyvYCKOMGYxWmPAJvklvGdie_8lWopGFXlKNsgnSKbTpKNuivUnxkXtPA_DuV0A06vlujIZH9Jjis_T1DPeYpcyiiiQ2ZapYwHJSOI8zGfeK9MoSYE0Cg5wP8G7qZIkAM8JeOKaHAuD8ap7yrHtWphuNI-HnqpMe99eCzOxv9-igDDmjf3DHPj6IRlP1Y8iq69f19A_dt2hW45c8D7UOAx7EMkU_XiI0rdNccIu6Zg4ivpd4IA9peGJRtu-uGxJE9FQW7BQyFWB6smEASNyCQgwTNrjXodxF5h1tHi3W96wB-0ZaVOlYSJiNpEAt0j0Nf-Tq5XML6ccMN8pVZvegXZQIOXgAmWNlDMnnU3l8vbsPslHiXVoOmGGVvl86Y9Oi9NrKGo282J9YLFwp55_VHIOm3lCEioR1L9i6vTbzXXqeVAAPGHhB_3aaw1g6-Qv6kotV0PpPG48hT758Gd2pJD4zE3xTpkovjAm_XnaW0oaYJ3Sp61B88Z7cIurNdkvgZhbk=",
  "id": "rs_0c1b3e2e15b4fcc9016ab4481de80487d0a82da1a8b68b200e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The second close was also empty, so I will not repeat at the same estimate. I am parking and leveling the right arm to expose the handoff area in the overhead view and determine whether any fruit actually remains outside the blue bowl.\"}",
  "call_id": "call_vrAoOWIWIiEx9HWPUVD0ptf6",
  "id": "fc_0c1b3e2e15b4fcc9016ab448220d9887d0a5a2d1f6ef7b1756",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vrAoOWIWIiEx9HWPUVD0ptf6",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "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]: [-0.112, 0.8215, 0.5686, -0.4248, -0.1932, -0.0006, 0.9978, -0.1711, 0.8284, 0.5835, -0.3737, -0.2237, -0.1852, 0.998]\nstate[eef_state]: left_x=0.2846 left_y=0.0057 left_z=0.1496 left_yaw=0.0451 left_pitch=-0.0943 left_roll=0.1369 left_gripper=0.9978 right_x=0.2943 right_y=-0.0074 right_z=0.165 right_yaw=0.1124 right_pitch=-0.0314 right_roll=-0.0195 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -1.5932, 7.0359, 1.6142, -0.1099, -0.0415, -0.0122, -0.1299, -0.9778, 9.5248, 1.6337, -0.2271, 0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:595da693e366b334eaad93d3953503a7e8009bfed998ff04b2a7b9bf91fab13d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1f32fa8c1316676a141fef8a3d102dfa8b0704dfaf59c977a7f07aafe5fb278",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ec81542ad5b9363361ee7c53f4b0121f2fd4cb9a3683f3aae8bf2795e08bd8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 2.785 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.112, 0.8188, 0.5682, -0.408, -0.1932, -0.0006, 0.9978, 1.1362, 2.0251, 1.3643, -0.4007, 0.9195, 0.4625, 0.9953]\nstate[eef_state]: left_x=0.2869 left_y=0.0055 left_z=0.1533 left_yaw=0.0448 left_pitch=-0.0754 left_roll=0.134 left_gripper=0.9978 right_x=0.3147 right_y=0.3528 right_z=0.0917 right_yaw=0.1772 right_pitch=-0.0416 right_roll=-0.412 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.3744, 6.9538, 1.7998, -0.0562, -0.0708, -0.0122, -0.6222, -13.7368, 8.1846, 1.0623, 0.5348, 0.0757, 0.1294]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8188, 0.5686, -0.4232, -0.1932, -0.0002, 0.9978, 1.1351, 2.1723, 1.2507, -0.1616, 0.9382, 0.4297, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=0.0058 left_z=0.1506 left_yaw=0.0452 left_pitch=-0.0902 left_roll=0.1366 left_gripper=0.9978 right_x=0.3146 right_y=0.3466 right_z=0.0167 right_yaw=0.1819 right_pitch=-0.0482 right_roll=-0.4662 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.3607, 7.1453, 1.6972, -0.0952, -0.022, -0.0122, -0.1162, -11.3436, 5.6547, 1.0037, 0.486, 0.0952, 0.6911]\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 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.112, 0.8215, 0.5686, -0.4248, -0.1932, -0.0006, 0.9978, -0.1711, 0.8284, 0.5835, -0.3737, -0.2237, -0.1852, 0.998]\nstate[eef_state]: left_x=0.2846 left_y=0.0057 left_z=0.1496 left_yaw=0.0451 left_pitch=-0.0943 left_roll=0.1369 left_gripper=0.9978 right_x=0.2943 right_y=-0.0074 right_z=0.165 right_yaw=0.1124 right_pitch=-0.0314 right_roll=-0.0195 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -1.5932, 7.0359, 1.6142, -0.1099, -0.0415, -0.0122, -0.1299, -0.9778, 9.5248, 1.6337, -0.2271, 0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:595da693e366b334eaad93d3953503a7e8009bfed998ff04b2a7b9bf91fab13d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1f32fa8c1316676a141fef8a3d102dfa8b0704dfaf59c977a7f07aafe5fb278",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ec81542ad5b9363361ee7c53f4b0121f2fd4cb9a3683f3aae8bf2795e08bd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0c1b3e2e15b4fcc9016ab44827c7dc87d0a6386182d1171b3d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_y\":0.28,\"right_z\":0.14,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"With both arms clear, a dark upright fruit is plainly visible; it rolled substantially toward the bases during the handoff, explaining both misses. I am re-measuring from the overhead view and approaching its new position at roughly right_x=0.23, right_y=0.28.\"}",
  "call_id": "call_z1JeBi3u7DAzxgmbb0PWA2oh",
  "id": "fc_0c1b3e2e15b4fcc9016ab4482a372087d0bbe5ec16b7596350",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z1JeBi3u7DAzxgmbb0PWA2oh",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8253, 0.5686, -0.4297, -0.1932, -0.0002, 0.9978, 1.2434, 1.4757, 0.8879, -0.4171, 0.8349, 0.8082, 0.9986]\nstate[eef_state]: left_x=0.284 left_y=0.0059 left_z=0.1477 left_yaw=0.0454 left_pitch=-0.103 left_roll=0.1386 left_gripper=0.9978 right_x=0.2277 right_y=0.2746 right_z=0.1297 right_yaw=0.1496 right_pitch=-0.0333 right_roll=-0.0406 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.6752, 6.9949, 1.6484, -0.1099, -0.0415, -0.0122, 0.3077, -6.2154, 8.1846, 1.033, 0.6667, 0.2466, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9222f3c786db8c6b54beae47d6c80fb85cd92eddf6ccabf385685f66e4afe6ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c658953b922903631f7a5ab687ccabf90976fdd475b3c0992a1d7cf46188c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9abccc8d91dd2390786cfc6a9e44e7b8c5a766a9884c6264ad50786efcfb280a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 2.758 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8188, 0.5682, -0.4171, -0.1932, -0.0006, 0.9978, 1.1351, 2.1662, 1.256, -0.1616, 0.947, 0.4404, 0.9986]\nstate[eef_state]: left_x=0.2856 left_y=0.0057 left_z=0.1516 left_yaw=0.0453 left_pitch=-0.0845 left_roll=0.1354 left_gripper=0.9978 right_x=0.3161 right_y=0.3477 right_z=0.0219 right_yaw=0.1728 right_pitch=-0.0327 right_roll=-0.4525 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3607, 6.9538, 1.7411, -0.0952, -0.0757, -0.0122, -0.1026, -9.8393, 4.5607, 1.1306, 0.1538, -0.0708, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.112, 0.8215, 0.5686, -0.4248, -0.1932, -0.0006, 0.9978, -0.1711, 0.8284, 0.5835, -0.3737, -0.2237, -0.1852, 0.998]\nstate[eef_state]: left_x=0.2846 left_y=0.0057 left_z=0.1496 left_yaw=0.0451 left_pitch=-0.0943 left_roll=0.1369 left_gripper=0.9978 right_x=0.2943 right_y=-0.0074 right_z=0.165 right_yaw=0.1124 right_pitch=-0.0314 right_roll=-0.0195 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -1.5932, 7.0359, 1.6142, -0.1099, -0.0415, -0.0122, -0.1299, -0.9778, 9.5248, 1.6337, -0.2271, 0.0611, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8253, 0.5686, -0.4297, -0.1932, -0.0002, 0.9978, 1.2434, 1.4757, 0.8879, -0.4171, 0.8349, 0.8082, 0.9986]\nstate[eef_state]: left_x=0.284 left_y=0.0059 left_z=0.1477 left_yaw=0.0454 left_pitch=-0.103 left_roll=0.1386 left_gripper=0.9978 right_x=0.2277 right_y=0.2746 right_z=0.1297 right_yaw=0.1496 right_pitch=-0.0333 right_roll=-0.0406 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -1.6752, 6.9949, 1.6484, -0.1099, -0.0415, -0.0122, 0.3077, -6.2154, 8.1846, 1.033, 0.6667, 0.2466, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9222f3c786db8c6b54beae47d6c80fb85cd92eddf6ccabf385685f66e4afe6ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c658953b922903631f7a5ab687ccabf90976fdd475b3c0992a1d7cf46188c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9abccc8d91dd2390786cfc6a9e44e7b8c5a766a9884c6264ad50786efcfb280a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgwxnV5WvtbDkL0OeTCJ5tzOomqEk5GLulc8_c7OaC38uBco65sp2OHbz-mLBswlu5oCc5LXgg3FAuytLjapvnIhJ9fcg13DNxci9bcN8rnmR_HOoKXiw238v7CA9M2udcOTZT9j9kwbdtX5I8nBmv52OmKaUExTt843u8KTik2W2IOxuOgH1k4355kQkwC4gyQ6m6PSpyYrUDsk6bzjRt_28kf8h6IECPhjiutAtBLUBDJxujt1E8gnrBu1RmYxbP7abWSxeNCbVNhKw9Lt2KjBJOv-wb_y4hCs3IC4yZ2F4CC-dXQXfh_EZ2pEh3Ywr39hjCeADOgPW_4mp-JTNkbU4HeqVWeZYZLCLR8Evyn5Cq--9hLblp5giitEuln1tYIrCcOorOkKqYivdZYT8epqkKYvCQ3os1WvwYWmRFpEOeuH5zY3jdSMDokOI4z1NQZLqUgkB6y1wItfILaC12EBvfZNHsmC-lLqWsa8cdzlrYEbj3w4AAkd2W7d5N-sQd9JOECFBmCxqvNGFeZrGJi4a36oR7fTiEl5aDY9Y5zCzzU9hzEuq7bpl9P0S0fdlN4zGu1ripb7iEsh7KZGw6WJX0N3dJ0B15f_zNyBWlKlpDdyR4_Efxp3tzd745LI3ycMb_RMa1-QJc4qji2x6z16kvPYn5MOlN62oFmpL_BkUjy7OvKfBSf6MmV0xcC9bwnC1J6tJtU2NRL74PSm8hnePLd_IP2Y-Tl6JST5m0HvOQ-qcG14EirbQFHpx1jRuHYzBKuG1tf7u6hCWcZhA9GxkQpuXQUJQocn0YcKC7ERZa6V7HugYqGrbtFYfSeXK4dbHDLSZFa7s4tZcevhAxUHgjWv9X90c6Wgy6nUtP-JtwJ1yFBbPchiNn-idV_oaqx48pNZhQ8PWatzcPnPoVNg58dngm-HCwYdNu3EETm763rkzyBWln128-5sYnenkL0cLsVgkMl0imT07y-a3vQmosCA5CQwHQNBv6wpqgJXPbCQZNucMhJ8i-l7VqZKp_I1hsV53CUgzJp5K-PG0MIrqCns5KRJtnGgdrE5Lrl4jrx8m0w_hfrFCKA0R-pKUm7GukJKvCjVisoCwn5G0kvEZygGVb7sZNzU8y-RzICvIGkBZn0CGjjy9wz7Io7PDl0Tz_NhThgYdOftgvP1IH7tGd1I7qdz1FuGC-MWJcOGVc8Age5QKxeWJoOvBc5yCK6hYdV_QPcJvDQDCVsHyogKTgMR2BqIJvvPInUUsc4ZTFDALOmIr91ZthmIgd02bfhfNt0Bi6LWEEeRp6J-fnEBtXKB3eqT5SIhe72-XAoXp4QXM4m5cg6faup-uP8i8Kz3_whSa3Stq8OnPtm-Fp9WAKGhwHqbQwcz0ZCveiGNLJNfaQZStg88K5YsIz7FgS8JXLXvugAvxhFpQRYt10rgNIitPPKo8Fo0zJYMom1JiZfynMcOrXZ7WfMIy0fMHHW",
  "id": "rs_0c1b3e2e15b4fcc9016ab4482f012487d0a5561e3b3c34b9a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.28,\"right_z\":0.03,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The new approach is correct: the dark fruit is centered on the jaw column at the bottom of the right wrist view. I am advancing two centimetres and descending to its mid-height for a clean grasp.\"}",
  "call_id": "call_eKS8xBdCIiv3JCsMGaU3LTCC",
  "id": "fc_0c1b3e2e15b4fcc9016ab4482f794887d0a296f9093ad2a27d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eKS8xBdCIiv3JCsMGaU3LTCC",
  "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]: [-0.1116, 0.8257, 0.5682, -0.432, -0.1932, -0.0006, 0.9978, 1.182, 1.7397, 0.6693, 0.094, 0.8036, 0.7391, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=0.006 left_z=0.147 left_yaw=0.0456 left_pitch=-0.106 left_roll=0.1388 left_gripper=0.9978 right_x=0.2442 right_y=0.2701 right_z=0.0266 right_yaw=0.144 right_pitch=-0.0442 right_roll=-0.0596 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.388, 6.9949, 1.6093, -0.1099, -0.0757, -0.0122, -0.294, -7.6103, 4.6291, 1.3651, 0.4615, -0.188, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a843d66bd090c8f8e9256d57daf5d14f55d40693053e96e334a82fe3c7ddd2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38079a275720eb908e527c13822d60d2ec4788b142322c893e413fcbc3ac5559",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93514166c4a8c4e315c6cc48a8e586dd07198081f19ea06a8ecbcda828d34160",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]