adhoc - adhoc_66df7184.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 210.4 s
total steps: 393

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteI see a green fruit in front of the right gripper, a yellow fruit beside the blue bowl, and a dark fruit near the white bowl. I’ll align the right gripper over the green fruit first.

move_to

right_x0.3350right_y0.0000right_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]: [-0.0212, 0.7994, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6193, -0.387, -0.0235, -0.0124, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1824 left_yaw=-0.0002 left_pitch=0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2961 right_y=0.001 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4855, -1.5248, 9.5932, 1.7802, -0.1099, 0.1538, -0.0855, -0.1983, -1.6889, 9.0872, 1.873, -0.0317, -0.0659, -0.0806] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.0,"right_z":0.13},"note":"I see a green fruit in front of the right gripper, a yellow fruit beside the blue bowl, and a dark fruit near the white bowl. I’ll align the right gripper over the green fruit first."})

tool

executing move_to over 4 steps (0.4s)

step 4

assistant

agent noteThe green fruit is centered between the right jaw columns, close to the fingertips. I’ll lower the open gripper to its middle before closing.

move_to

right_z0.0180

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.3977, -0.0139, -0.0307, 0.9993, -0.0227, 1.0492, 0.4911, -0.049, -0.0242, -0.0128, 0.9993] state[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3309 right_y=0.0004 right_z=0.1215 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9993 state[joint_eff]: [-0.253, -1.4838, 6.9538, 1.8926, -0.0806, -0.0366, -0.022, -0.4034, -3.535, 6.612, 2.0147, -0.0562, -0.0562, -0.022] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.018},"note":"The green fruit is centered between the right jaw columns, close to the fingertips. I’ll lower the open gripper to its middle before closing."})

tool

executing move_to over 7 steps (0.7s)

step 11

assistant

agent noteAt table height the green fruit fills the space between the right jaws. I’ll close on it and check whether the jaws stop on the fruit.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4084, -0.0139, -0.0307, 0.9993, -0.0219, 1.4952, 0.2153, 0.6308, -0.0242, -0.0124, 0.9993] state[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1758 left_yaw=-0.0007 left_pitch=-0.0313 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3245 right_y=0.0007 right_z=0.0088 right_yaw=0.0015 right_pitch=-0.082 right_roll=0.0023 right_gripper=0.9993 state[joint_eff]: [-0.335, -1.5932, 6.9949, 1.8584, -0.0464, -0.0317, -0.0122, -0.3624, -4.6427, 4.5197, 1.9805, -0.0562, -0.0708, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At table height the green fruit fills the space between the right jaws. I’ll close on it and check whether the jaws stop on the fruit."})

tool

executing move_to over 10 steps (1.0s)

step 21

assistant

agent noteThe right gripper stopped well short of fully closed, consistent with holding the pear. I’ll lift it to confirm it comes off the table.

move_to

right_z0.1400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4091, -0.0139, -0.0307, 0.9993, -0.0227, 1.4952, 0.2153, 0.6273, -0.0277, -0.012, 0.6947] state[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1756 left_yaw=-0.0007 left_pitch=-0.032 left_roll=-0.0002 left_gripper=0.9993 right_x=0.324 right_y=0.0011 right_z=0.0081 right_yaw=0.0034 right_pitch=-0.0854 right_roll=0.0048 right_gripper=0.6947 state[joint_eff]: [-0.2803, -1.1419, 7.1179, 1.7314, -0.0317, -0.0415, -0.0122, -0.2803, -4.3145, 4.6838, 1.6777, 0.0073, -0.0611, 1.0281] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.14},"note":"The right gripper stopped well short of fully closed, consistent with holding the pear. I’ll lift it to confirm it comes off the table."})

tool

executing move_to over 9 steps (0.9s)

step 30

assistant

agent noteThe pear rose with the gripper, and the blue bowl is ahead and to its left. I’ll carry the pear above the bowl, keeping it high enough to clear the rim.

move_to

right_x0.4250right_y0.1100right_z0.2100

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, 0.6147, -0.4198, -0.0139, -0.0307, 0.9993, -0.0227, 1.0275, 0.5575, -0.2314, -0.0315, -0.0128, 0.6967] state[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1729 left_yaw=-0.0007 left_pitch=-0.0446 left_roll=0.0001 left_gripper=0.9993 right_x=0.3178 right_y=0.0019 right_z=0.1215 right_yaw=0.0072 right_pitch=-0.1341 right_roll=0.008 right_gripper=0.6967 state[joint_eff]: [-0.1299, -1.265, 6.9812, 1.79, -0.0562, -0.022, -0.0122, -0.2393, -3.8222, 9.2513, 1.7509, -0.0269, -0.0366, 0.7692] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.425,"right_y":0.11,"right_z":0.21},"note":"The pear rose with the gripper, and the blue bowl is ahead and to its left. I’ll carry the pear above the bowl, keeping it high enough to clear the rim."})

tool

executing move_to over 10 steps (1.0s)

step 40

assistant

agent noteThe held pear is hovering just to the right of the blue bowl. I’ll center it over the opening and lower it inside the rim.

move_to

right_x0.4300right_y0.1500right_z0.0950

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.4248, -0.0139, -0.0311, 0.9993, 0.3347, 1.4982, 1.1877, -0.5053, 0.2176, 0.1925, 0.6976] state[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0004 left_pitch=-0.0542 left_roll=-0.0 left_gripper=0.9993 right_x=0.4069 right_y=0.1049 right_z=0.1811 right_yaw=0.037 right_pitch=-0.2243 right_roll=-0.0269 right_gripper=0.6976 state[joint_eff]: [-0.2256, -1.6889, 7.0906, 1.7216, -0.022, -0.0317, -0.0122, 0.4444, -7.0222, 9.8256, 1.8437, 0.3346, 0.1538, 0.4713] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.15,"right_z":0.095},"note":"The held pear is hovering just to the right of the blue bowl. I’ll center it over the opening and lower it inside the rim."})

tool

executing move_to over 6 steps (0.6s)

step 46

assistant

agent noteThe pear is lowered over the blue bowl’s opening. I’ll release it, then withdraw the gripper to check where it landed.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.4271, -0.0139, -0.0311, 0.9993, 0.4328, 1.7195, 1.079, -0.292, 0.2584, 0.2386, 0.6995] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0004 left_pitch=-0.0565 left_roll=0.0 left_gripper=0.9993 right_x=0.4123 right_y=0.1447 right_z=0.0815 right_yaw=0.064 right_pitch=-0.3234 right_roll=-0.0653 right_gripper=0.6995 state[joint_eff]: [-0.212, -1.347, 7.0085, 1.6825, -0.0366, -0.0317, -0.0122, 0.335, -8.6906, 6.1744, 1.8486, 0.3736, 0.2515, 0.7692] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0},"note":"The pear is lowered over the blue bowl’s opening. I’ll release it, then withdraw the gripper to check where it landed."})

tool

executing move_to over 4 steps (0.4s)

step 50

assistant

agent noteThe pear landed on the table just left of the blue bowl, so that placement missed. I’ll move the open right gripper back over the pear for another grasp.

move_to

right_x0.4250right_y0.1850right_z0.1200

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.4274, -0.0139, -0.0311, 0.9993, 0.4358, 1.737, 1.0698, -0.2882, 0.2539, 0.2356, 0.9961] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0004 left_pitch=-0.0568 left_roll=0.0001 left_gripper=0.9993 right_x=0.4092 right_y=0.1456 right_z=0.0712 right_yaw=0.0698 right_pitch=-0.3462 right_roll=-0.0723 right_gripper=0.9961 state[joint_eff]: [-0.2393, -1.3197, 7.159, 1.6679, -0.0562, -0.0513, -0.0122, -0.4855, -9.8667, 6.9949, 1.3553, 0.1001, 0.0269, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.425,"right_y":0.185,"right_z":0.12},"note":"The pear landed on the table just left of the blue bowl, so that placement missed. I’ll move the open right gripper back over the pear for another grasp."})

tool

executing move_to over 4 steps (0.4s)

step 54

assistant

agent noteThe pear is now in front of the right gripper but slightly to the camera’s right. I’ll shift the jaws toward its center and descend to grasping height.

move_to

right_x0.4400right_y0.1630right_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8127, 0.6147, -0.4316, -0.0139, -0.0311, 0.9993, 0.5137, 1.7882, 1.3109, -0.4732, 0.2699, 0.2665, 0.997] state[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1692 left_yaw=-0.0004 left_pitch=-0.0614 left_roll=0.0002 left_gripper=0.9993 right_x=0.4236 right_y=0.189 right_z=0.1151 right_yaw=0.1171 right_pitch=-0.3358 right_roll=-0.063 right_gripper=0.997 state[joint_eff]: [-0.212, -1.347, 7.1726, 1.7118, -0.0659, -0.0317, -0.0122, -0.7043, -8.294, 7.3641, 1.1453, 0.4029, 0.2369, 0.0806] 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":0.44,"right_y":0.163,"right_z":0.035},"note":"The pear is now in front of the right gripper but slightly to the camera’s right. I’ll shift the jaws toward its center and descend to grasping height."})

tool

executing move_to over 6 steps (0.6s)

step 60

assistant

agent noteThe fruit sits low in the right wrist view, within reach of the jaws but still off-center. I’ll make a small sideways correction and close to test the grasp.

move_to

right_y0.1380right_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, 0.8135, 0.6147, -0.4343, -0.0139, -0.0311, 0.9993, 0.4404, 1.8832, 1.1492, -0.2012, 0.2375, 0.1974, 0.9971] state[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1685 left_yaw=-0.0004 left_pitch=-0.0648 left_roll=0.0002 left_gripper=0.9993 right_x=0.4384 right_y=0.1647 right_z=0.0493 right_yaw=0.1125 right_pitch=-0.3331 right_roll=-0.0767 right_gripper=0.9971 state[joint_eff]: [-0.3214, -1.4017, 7.1043, 1.6825, -0.0171, -0.0562, -0.0122, -0.9504, -7.9248, 4.7521, 1.16, 0.0366, 0.0806, -0.0024] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.138,"right_gripper":0.0},"note":"The fruit sits low in the right wrist view, within reach of the jaws but still off-center. I’ll make a small sideways correction and close to test the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 70

assistant

agent noteThe gripper closed empty and nudged the yellow fruit sideways. I’ll reopen and reposition above the yellow fruit rather than repeating the same grasp.

move_to

right_x0.3600right_y0.1900right_z0.1300right_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, 0.6147, -0.4423, -0.0139, -0.0315, 0.9993, 0.3782, 1.8809, 1.1049, -0.1875, 0.2001, 0.1387, 0.0117] state[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1667 left_yaw=-0.0002 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9993 right_x=0.4357 right_y=0.1392 right_z=0.0351 right_yaw=0.1132 right_pitch=-0.3714 right_roll=-0.0925 right_gripper=0.0117 state[joint_eff]: [-0.1299, -1.4017, 6.9538, 1.7753, -0.0611, -0.0659, -0.0171, -0.4718, -12.3692, 5.4496, 1.536, 0.0806, 0.0708, 1.0281] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.19,"right_z":0.13,"right_gripper":1.0},"note":"The gripper closed empty and nudged the yellow fruit sideways. I’ll reopen and reposition above the yellow fruit rather than repeating the same grasp."})

tool

executing move_to over 10 steps (1.0s)

step 80

assistant

agent noteThe yellow fruit is centered at the right fingertips, while the green pear remains off to its right near the bowl. I’ll lower onto the yellow fruit first.

move_to

right_z0.0120

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, 0.8154, 0.6147, -0.4492, -0.0139, -0.0311, 0.9993, 0.609, 1.6398, 1.1652, -0.5541, 0.3042, 0.308, 0.9954] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=-0.0004 left_pitch=-0.0816 left_roll=0.0006 left_gripper=0.9993 right_x=0.3618 right_y=0.1922 right_z=0.1125 right_yaw=0.1473 right_pitch=-0.3933 right_roll=-0.0992 right_gripper=0.9954 state[joint_eff]: [-0.1846, -1.2513, 7.0359, 1.7705, -0.0757, -0.0269, -0.0171, 0.294, -8.9778, 8.6632, 1.1111, 0.3639, 0.1636, -0.1001] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.012},"note":"The yellow fruit is centered at the right fingertips, while the green pear remains off to its right near the bowl. I’ll lower onto the yellow fruit first."})

tool

executing move_to over 7 steps (0.7s)

step 87

assistant

agent noteThe yellow fruit is between the lowered right jaws. I’ll close and use the final jaw opening to check for a secure hold.

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, 0.8154, 0.6147, -0.4503, -0.0139, -0.0311, 0.9993, 0.6113, 1.787, 0.9382, -0.2253, 0.2981, 0.3141, 0.9963] state[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0004 left_pitch=-0.0828 left_roll=0.0006 left_gripper=0.9993 right_x=0.3532 right_y=0.1885 right_z=0.0157 right_yaw=0.1422 right_pitch=-0.436 right_roll=-0.1126 right_gripper=0.9963 state[joint_eff]: [-0.2256, -1.265, 7.0359, 1.7021, -0.0464, -0.0562, -0.0122, -0.3761, -7.5419, 5.3265, 1.2723, 0.1685, -0.0806, 0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The yellow fruit is between the lowered right jaws. I’ll close and use the final jaw opening to check for a secure hold."})

tool

executing move_to over 10 steps (1.0s)

step 97

assistant

agent noteThe jaws stopped around the yellow fruit rather than closing empty. I’ll lift it and verify that it moves with the gripper.

move_to

right_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4507, -0.0139, -0.0311, 0.9992, 0.6113, 1.8084, 0.9234, -0.2195, 0.2916, 0.3069, 0.4904] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1647 left_yaw=-0.0004 left_pitch=-0.0832 left_roll=0.0006 left_gripper=0.9992 right_x=0.3475 right_y=0.1859 right_z=0.0034 right_yaw=0.1453 right_pitch=-0.4662 right_roll=-0.1264 right_gripper=0.4904 state[joint_eff]: [-0.2256, -1.3197, 7.1316, 1.6484, -0.0806, -0.0415, -0.0171, -0.0889, -10.0581, 6.7214, 1.0623, 0.1685, 0.0513, 0.9646] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.17},"note":"The jaws stopped around the yellow fruit rather than closing empty. I’ll lift it and verify that it moves with the gripper."})

tool

executing move_to over 11 steps (1.1s)

step 108

assistant

agent noteThe yellow fruit lifted successfully; the green pear is still on the table beside the blue bowl. From the right wrist view, the bowl is well to the right of the held fruit, so I’ll carry this fruit toward the bowl’s center.

move_to

right_x0.4300right_y0.0700right_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, 0.8154, 0.6147, -0.4538, -0.0139, -0.0311, 0.9993, 0.6113, 1.6424, 1.3651, -0.8368, 0.284, 0.3031, 0.4899] state[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0004 left_pitch=-0.0862 left_roll=0.0007 left_gripper=0.9993 right_x=0.3511 right_y=0.19 right_z=0.151 right_yaw=0.152 right_pitch=-0.478 right_roll=-0.1265 right_gripper=0.4899 state[joint_eff]: [-0.0342, -1.3333, 6.9675, 1.707, -0.0562, -0.0073, -0.0073, -0.335, -9.6752, 7.9521, 1.1502, 0.1685, -0.0317, 0.6569] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.07,"right_z":0.16},"note":"The yellow fruit lifted successfully; the green pear is still on the table beside the blue bowl. From the right wrist view, the bowl is well to the right of the held fruit, so I’ll carry this fruit toward the bowl’s center."})

tool

executing move_to over 11 steps (1.1s)

step 119

assistant

agent noteThe blue bowl is still to the right of the held yellow fruit in the wrist view. I’ll shift over its opening and lower the fruit before releasing it.

move_to

right_x0.4300right_y0.0200right_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, 0.8154, 0.6147, -0.4686, -0.0139, -0.0315, 0.9993, 0.202, 1.7088, 1.4467, -0.8318, 0.099, -0.0471, 0.4919] state[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1612 left_yaw=-0.0002 left_pitch=-0.1011 left_roll=0.0007 left_gripper=0.9993 right_x=0.4155 right_y=0.0709 right_z=0.1497 right_yaw=0.1304 right_pitch=-0.5251 right_roll=-0.131 right_gripper=0.4919 state[joint_eff]: [-0.3077, -1.3197, 6.9675, 1.7607, -0.0708, -0.0562, -0.0122, -0.335, -7.6103, 8.4855, 1.2967, -0.0317, -0.1197, 0.6716] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.02,"right_z":0.105},"note":"The blue bowl is still to the right of the held yellow fruit in the wrist view. I’ll shift over its opening and lower the fruit before releasing it."})

tool

executing move_to over 5 steps (0.5s)

step 124

assistant

agent noteThe yellow fruit is now aligned over the center of the blue bowl. I’ll lower it a little farther and let it drop inside.

move_to

right_z0.0720right_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, 0.8154, 0.6147, -0.4725, -0.0139, -0.0311, 0.9993, 0.0589, 1.7458, 1.3277, -0.7189, 0.0467, -0.1558, 0.4943] state[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0004 left_pitch=-0.1049 left_roll=0.0011 left_gripper=0.9993 right_x=0.4174 right_y=0.02 right_z=0.1038 right_yaw=0.1068 right_pitch=-0.5761 right_roll=-0.1327 right_gripper=0.4943 state[joint_eff]: [-0.0889, -1.2923, 7.241, 1.6825, -0.0269, -0.0611, -0.0122, -0.335, -8.0479, 6.1744, 1.5165, -0.0611, -0.022, 0.2369] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.072,"right_gripper":1.0},"note":"The yellow fruit is now aligned over the center of the blue bowl. I’ll lower it a little farther and let it drop inside."})

tool

executing move_to over 6 steps (0.6s)

step 130

assistant

agent noteThe yellow fruit is visibly inside the blue bowl. The green pear is still on the table to the bowl’s left, so I’ll line up the right gripper over it next.

move_to

right_x0.3650right_y0.1350right_z0.1350

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, 0.6147, -0.4751, -0.0139, -0.0311, 0.9993, 0.057, 1.7618, 1.243, -0.635, 0.0326, -0.1654, 0.9958] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.159 left_yaw=-0.0003 left_pitch=-0.1114 left_roll=0.0012 left_gripper=0.9993 right_x=0.4119 right_y=0.0213 right_z=0.0765 right_yaw=0.126 right_pitch=-0.5927 right_roll=-0.1208 right_gripper=0.9958 state[joint_eff]: [-0.2803, -1.1966, 6.9402, 1.7411, -0.0806, -0.0708, -0.0122, 0.1573, -7.6513, 5.7778, 1.2967, 0.1587, 0.0757, -0.0952] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.365,"right_y":0.135,"right_z":0.135},"note":"The yellow fruit is visibly inside the blue bowl. The green pear is still on the table to the bowl’s left, so I’ll line up the right gripper over it next."})

tool

executing move_to over 10 steps (1.0s)

step 140

assistant

agent noteThe pear is centered in the right wrist view but sits a little beyond the fingertips. I’ll advance slightly and lower around its middle for a firmer pickup.

move_to

right_x0.3850right_y0.1200right_z0.0220

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.4114, 1.7016, 1.3418, -0.8612, 0.1543, 0.1215, 0.9964] state[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0005 left_pitch=-0.1125 left_roll=0.0016 left_gripper=0.9993 right_x=0.3656 right_y=0.1338 right_z=0.114 right_yaw=0.164 right_pitch=-0.6317 right_roll=-0.1314 right_gripper=0.9964 state[joint_eff]: [-0.2803, -1.265, 6.9402, 1.6288, -0.0415, -0.0171, -0.0122, 0.1436, -10.865, 8.6359, 0.8571, 0.1978, 0.2027, 0.0562] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.385,"right_y":0.12,"right_z":0.022},"note":"The pear is centered in the right wrist view but sits a little beyond the fingertips. I’ll advance slightly and lower around its middle for a firmer pickup."})

tool

executing move_to over 6 steps (0.6s)

step 146

assistant

agent noteThe right jaws now straddle the pear close to table height. I’ll close on its wide section.

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, 0.8192, 0.6147, -0.4767, -0.0135, -0.0311, 0.9993, 0.3622, 1.8088, 1.1114, -0.5423, 0.152, 0.0746, 0.9965] state[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0007 left_pitch=-0.1129 left_roll=0.001 left_gripper=0.9993 right_x=0.3711 right_y=0.1158 right_z=0.026 right_yaw=0.1451 right_pitch=-0.6538 right_roll=-0.155 right_gripper=0.9965 state[joint_eff]: [-0.3487, -1.3333, 6.9402, 1.6093, -0.0366, -0.0317, -0.0171, -0.7316, -7.9658, 5.5316, 1.0427, -0.0513, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_gripper":0.0},"note":"The right jaws now straddle the pear close to table height. I’ll close on its wide section."})

tool

executing move_to over 10 steps (1.0s)

step 156

assistant

agent noteThe right jaws stopped on the pear. I’ll lift it and confirm it is securely held before moving over the bowl.

move_to

right_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4767, -0.0139, -0.0311, 0.9993, 0.3645, 1.7912, 1.055, -0.4667, 0.1566, 0.0677, 0.7227] state[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0003 left_pitch=-0.1129 left_roll=0.0013 left_gripper=0.9993 right_x=0.3705 right_y=0.1157 right_z=0.0215 right_yaw=0.153 right_pitch=-0.6176 right_roll=-0.1536 right_gripper=0.7227 state[joint_eff]: [-0.253, -1.2239, 6.9402, 1.6093, -0.0708, -0.0513, -0.0171, 0.2667, -9.7436, 5.1897, 0.9744, 0.1245, 0.0366, 1.033] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.18},"note":"The right jaws stopped on the pear. I’ll lift it and confirm it is securely held before moving over the bowl."})

tool

executing move_to over 11 steps (1.1s)

step 167

assistant

agent noteThe pear lifted with the gripper, and the yellow fruit is visible inside the blue bowl. I’ll position the pear over the same opening, above the yellow fruit.

move_to

right_x0.4250right_y0.0200right_z0.1150

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, 0.6147, -0.4763, -0.0135, -0.0311, 0.9993, 0.3645, 1.692, 1.507, -1.0206, 0.1562, 0.0666, 0.728] state[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0007 left_pitch=-0.1125 left_roll=0.001 left_gripper=0.9993 right_x=0.3739 right_y=0.1171 right_z=0.1597 right_yaw=0.1537 right_pitch=-0.6204 right_roll=-0.1544 right_gripper=0.728 state[joint_eff]: [-0.335, -1.2923, 6.9402, 1.6581, -0.0562, -0.0611, -0.0122, -0.0889, -9.9487, 7.9932, 1.0232, 0.0904, 0.0122, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.425,"right_y":0.02,"right_z":0.115},"note":"The pear lifted with the gripper, and the yellow fruit is visible inside the blue bowl. I’ll position the pear over the same opening, above the yellow fruit."})

tool

executing move_to over 9 steps (0.9s)

step 176

assistant

agent noteThe pear is centered above the blue bowl alongside the yellow fruit. I’ll lower it into the opening and release it.

move_to

right_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, 0.8192, 0.6147, -0.4767, -0.0139, -0.0311, 0.9993, 0.0689, 1.7737, 1.4265, -0.8608, 0.0536, -0.1959, 0.728] state[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0003 left_pitch=-0.1129 left_roll=0.0013 left_gripper=0.9993 right_x=0.4108 right_y=0.0224 right_z=0.1134 right_yaw=0.1386 right_pitch=-0.6502 right_roll=-0.1541 right_gripper=0.728 state[joint_eff]: [-0.212, -1.2923, 7.1863, 1.6386, -0.0415, -0.022, -0.0122, -0.253, -8.3077, 6.3248, 1.3895, -0.0806, 0.0513, 1.0281] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.085,"right_gripper":1.0},"note":"The pear is centered above the blue bowl alongside the yellow fruit. I’ll lower it into the opening and release it."})

tool

executing move_to over 3 steps (0.3s)

step 179

assistant

agent noteBoth the yellow fruit and pear appear inside the blue bowl; one dark fruit remains beside the white bowl. I’ll park the right arm and bring the left gripper toward that last fruit.

move_to

right_x0.2950right_y0.0000right_z0.1800left_x0.3300left_y-0.2700left_z0.1400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0139, -0.0311, 0.9993, 0.0635, 1.7638, 1.2751, -0.7395, 0.0475, -0.2134, 0.9957] state[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0003 left_pitch=-0.1125 left_roll=0.0013 left_gripper=0.9993 right_x=0.3974 right_y=0.0205 right_z=0.077 right_yaw=0.1529 right_pitch=-0.6712 right_roll=-0.1524 right_gripper=0.9957 state[joint_eff]: [-0.0752, -1.1966, 6.9402, 1.6288, -0.0415, -0.0317, -0.0122, 0.0615, -9.0735, 7.8427, 1.2332, -0.0171, 0.1783, -0.022] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0.0,"right_z":0.18,"left_x":0.33,"left_y":-0.27,"left_z":0.14},"note":"Both the yellow fruit and pear appear inside the blue bowl; one dark fruit remains beside the white bowl. I’ll park the right arm and bring the left gripper toward that last fruit."})

tool

executing move_to over 24 steps (2.4s)

step 203

assistant

agent noteThe dark fruit is in the left wrist view, slightly to the left of the jaw center. I’ll move the left gripper over it and start lowering.

move_to

left_x0.3500left_y-0.2050left_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]: [-0.9489, 1.66, 1.1225, -0.4416, -0.6598, -0.7349, 0.9993, -0.0002, 1.3144, 1.1755, -1.0451, 0.0242, -0.2626, 0.9964] state[eef_state]: left_x=0.3249 left_y=-0.2613 left_z=0.1272 left_yaw=-0.0111 left_pitch=-0.1471 left_roll=0.0199 left_gripper=0.9993 right_x=0.297 right_y=-0.0007 right_z=0.1646 right_yaw=0.1429 right_pitch=-0.6286 right_roll=-0.1533 right_gripper=0.9964 state[joint_eff]: [-0.6222, -7.8701, 9.0051, 1.2283, -0.6422, -0.1343, -0.0122, -0.2256, -6.0786, 9.4564, 0.8083, -0.1099, -0.0806, 0.0611] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.205,"left_z":0.105},"note":"The dark fruit is in the left wrist view, slightly to the left of the jaw center. I’ll move the left gripper over it and start lowering."})

tool

executing move_to over 6 steps (0.6s)

step 209

assistant

agent noteThe dark fruit is now centered between the left jaws. I’ll descend to its lower half so the gripper can hold it securely.

move_to

left_z0.0180

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7845, 1.6077, 0.9394, -0.2817, -0.572, -0.6041, 0.9993, -0.0021, 1.301, 1.1503, -1.0367, 0.0208, -0.2733, 0.9965] state[eef_state]: left_x=0.3435 left_y=-0.2028 left_z=0.0934 left_yaw=0.0204 left_pitch=-0.1857 left_roll=0.0489 left_gripper=0.9993 right_x=0.2931 right_y=-0.0007 right_z=0.1604 right_yaw=0.152 right_pitch=-0.6323 right_roll=-0.1537 right_gripper=0.9965 state[joint_eff]: [0.2256, -8.9641, 6.1197, 1.5702, -0.1734, 0.1929, -0.0122, -0.2256, -5.5316, 5.9692, 1.1648, -0.0757, 0.0464, -0.0073] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.018},"note":"The dark fruit is now centered between the left jaws. I’ll descend to its lower half so the gripper can hold it securely."})

tool

executing move_to over 5 steps (0.5s)

step 214

assistant

agent noteThe dark fruit fills the space between the lowered left jaws. I’ll close and check the settled opening for a grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7837, 1.7763, 0.7948, -0.0425, -0.5636, -0.5999, 0.9992, -0.004, 1.2881, 1.1194, -1.021, 0.0208, -0.2737, 0.9965] state[eef_state]: left_x=0.334 left_y=-0.1946 left_z=0.0128 left_yaw=0.0248 left_pitch=-0.2421 left_roll=0.1016 left_gripper=0.9992 right_x=0.2896 right_y=-0.0012 right_z=0.1547 right_yaw=0.1506 right_pitch=-0.6346 right_roll=-0.1534 right_gripper=0.9965 state[joint_eff]: [-0.3214, -8.1162, 5.2855, 1.4725, -0.3394, -0.0464, -0.0171, -0.335, -5.5179, 6.2974, 1.1844, -0.1099, -0.0611, -0.0122] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The dark fruit fills the space between the lowered left jaws. I’ll close and check the settled opening for a grasp."})

tool

executing move_to over 10 steps (1.0s)

step 224

assistant

agent noteThe left jaws closed empty; the dark fruit is still just beyond the fingertips. I’ll reopen, advance about three centimeters, and try again.

move_to

left_x0.3600left_z0.0220left_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]: [-0.7837, 1.7924, 0.7849, -0.0425, -0.5606, -0.6064, 0.0086, -0.004, 1.2732, 1.087, -0.9993, 0.0208, -0.2741, 0.9965] state[eef_state]: left_x=0.3301 left_y=-0.1913 left_z=0.004 left_yaw=0.0312 left_pitch=-0.2615 left_roll=0.1146 left_gripper=0.0086 right_x=0.2871 right_y=-0.0012 right_z=0.1496 right_yaw=0.1503 right_pitch=-0.6305 right_roll=-0.1544 right_gripper=0.9965 state[joint_eff]: [0.0479, -8.8, 5.8051, 1.1306, -0.2808, 0.0708, 0.6716, -0.4034, -5.6137, 6.1744, 1.1355, -0.0562, -0.0806, -0.0171] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_z":0.022,"left_gripper":1.0},"note":"The left jaws closed empty; the dark fruit is still just beyond the fingertips. I’ll reopen, advance about three centimeters, and try again."})

tool

executing move_to over 10 steps (1.0s)

step 234

assistant

agent noteAfter advancing, the dark fruit sits directly between the left fingertips. I’ll close again at this corrected position.

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]: [-0.7258, 1.7954, 0.8696, -0.0986, -0.5282, -0.5652, 0.9948, -0.0044, 1.2625, 1.0599, -0.9874, 0.0208, -0.2741, 0.9965] state[eef_state]: left_x=0.353 left_y=-0.1894 left_z=0.0195 left_yaw=0.0397 left_pitch=-0.2656 left_roll=0.1042 left_gripper=0.9948 right_x=0.2836 right_y=-0.0013 right_z=0.1442 right_yaw=0.1505 right_pitch=-0.635 right_roll=-0.1535 right_gripper=0.9965 state[joint_eff]: [0.5265, -6.653, 7.6376, 1.2137, -0.3394, 0.1832, -0.0415, -0.6359, -5.559, 6.2154, 1.1502, -0.0806, -0.0904, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"After advancing, the dark fruit sits directly between the left fingertips. I’ll close again at this corrected position."})

tool

executing move_to over 10 steps (1.0s)

step 244

assistant

agent noteThe dark fruit is held by the left gripper. The blue bowl lies beyond the left arm’s sideways reach, so I’ll carry the fruit to an accessible handoff point near the table center and bring the right arm nearby.

move_to

left_x0.3600left_y-0.3650left_z0.1700right_x0.3000right_y0.2700right_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7246, 1.7954, 0.8703, -0.1081, -0.5236, -0.5724, 0.5001, -0.0044, 1.2472, 1.0279, -0.9653, 0.0208, -0.2741, 0.9965] state[eef_state]: left_x=0.3517 left_y=-0.1886 left_z=0.0183 left_yaw=0.0434 left_pitch=-0.2743 left_roll=0.1026 left_gripper=0.5001 right_x=0.2811 right_y=-0.0013 right_z=0.1392 right_yaw=0.1499 right_pitch=-0.6298 right_roll=-0.1545 right_gripper=0.9965 state[joint_eff]: [-0.0205, -8.1436, 5.4085, 1.3065, -0.2955, 0.0415, 0.9451, -0.4034, -5.3949, 6.2017, 1.1502, -0.0952, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.365,"left_z":0.17,"right_x":0.3,"right_y":0.27,"right_z":0.18},"note":"The dark fruit is held by the left gripper. The blue bowl lies beyond the left arm’s sideways reach, so I’ll carry the fruit to an accessible handoff point near the table center and bring the right arm nearby."})

tool

executing move_to over 23 steps (2.3s)

step 267

assistant

agent noteBoth grippers are too close near the center, and the left arm stopped short of the intended handoff point. I’ll move the empty right arm back out of the way while the left arm finishes bringing the fruit across.

move_to

right_x0.2950right_y0.0000right_z0.1800left_x0.3700left_y-0.3600left_z0.1200

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.881, 2.1551, 2.0079, -1.2858, -0.6136, -0.8757, 0.4997, 0.6571, 1.7493, 1.729, -1.507, 0.4778, 0.5365, 0.9965] state[eef_state]: left_x=0.3651 left_y=-0.2771 left_z=0.1433 left_yaw=0.2269 left_pitch=-0.4131 left_roll=0.302 left_gripper=0.4997 right_x=0.3029 right_y=0.1357 right_z=0.2003 right_yaw=-0.2598 right_pitch=-0.6445 right_roll=-0.4902 right_gripper=0.9965 state[joint_eff]: [-10.2496, -7.9248, 13.641, 2.8254, -0.7204, 0.0464, 0.5543, 16.1573, -1.1282, 6.7487, 3.5726, -1.6484, -0.0171, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0.0,"right_z":0.18,"left_x":0.37,"left_y":-0.36,"left_z":0.12},"note":"Both grippers are too close near the center, and the left arm stopped short of the intended handoff point. I’ll move the empty right arm back out of the way while the left arm finishes bringing the fruit across."})

tool

executing move_to over 12 steps (1.2s)

step 279

assistant

agent noteThe left arm reached the handoff spot with the dark fruit still held, and the right arm is clear. I’ll set the fruit on the table so the right arm can pick it up from its own workspace.

move_to

left_z0.0250left_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]: [-0.9676, 2.5767, 2.6213, -1.5452, -0.6037, -0.9894, 0.4998, 0.2569, 1.4017, 1.2709, -1.2232, 0.4549, 0.1539, 0.9965] state[eef_state]: left_x=0.3692 left_y=-0.3529 left_z=0.1094 left_yaw=0.2295 left_pitch=-0.4319 left_roll=0.2958 left_gripper=0.4998 right_x=0.2852 right_y=-0.0016 right_z=0.1765 right_yaw=-0.3307 right_pitch=-0.63 right_roll=-0.5104 right_gripper=0.9965 state[joint_eff]: [-1.0872, -13.9009, 8.1573, 0.2271, -0.5788, -0.0513, 0.8083, 0.4034, -5.6957, 6.188, 1.0232, 0.1294, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.025,"left_gripper":1.0},"note":"The left arm reached the handoff spot with the dark fruit still held, and the right arm is clear. I’ll set the fruit on the table so the right arm can pick it up from its own workspace."})

tool

executing move_to over 6 steps (0.6s)

step 285

assistant

agent noteThe dark fruit rolled a short distance away from the handoff point but remains on the table. I’ll retract the left arm and bring the right gripper over it near the reachable edge of its workspace.

move_to

left_x0.2950left_y0.0000left_z0.1800right_x0.4300right_y0.3800right_z0.1400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9646, 2.5336, 2.1918, -1.2236, -0.5941, -0.9924, 0.9957, 0.2657, 1.396, 1.2419, -1.2057, 0.4587, 0.1417, 0.9965] state[eef_state]: left_x=0.3626 left_y=-0.3431 left_z=0.021 left_yaw=0.2614 left_pitch=-0.4631 left_roll=0.3576 left_gripper=0.9957 right_x=0.2831 right_y=-0.0003 right_z=0.1704 right_yaw=-0.3202 right_pitch=-0.6359 right_roll=-0.5243 right_gripper=0.9965 state[joint_eff]: [-0.1026, -15.3368, 5.7504, 0.3053, -0.4127, 0.0073, -0.0269, -0.0615, -6.2974, 6.147, 0.7448, 0.3687, 0.1685, -0.0122] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.18,"right_x":0.43,"right_y":0.38,"right_z":0.14},"note":"The dark fruit rolled a short distance away from the handoff point but remains on the table. I’ll retract the left arm and bring the right gripper over it near the reachable edge of its workspace."})

tool

executing move_to over 32 steps (3.2s)

step 317

assistant

agent noteThe right arm stopped short with its wrist heavily tilted, leaving the dark fruit outside the wrist view. I’ll straighten the wrist and approach the fruit from a higher, more reachable pose.

move_to

right_x0.3900right_y0.3600right_z0.1600right_yaw0.0000right_pitch0.0000right_roll0.0000

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]: [-0.2909, 1.2949, 1.14, -1.0172, -0.4545, -0.2718, 0.9964, 0.8349, 2.5568, 2.5046, -1.5887, 0.5194, 0.7387, 0.9965] state[eef_state]: left_x=0.2993 left_y=-0.0049 left_z=0.1768 left_yaw=0.2914 left_pitch=-0.4559 left_roll=0.3376 left_gripper=0.9964 right_x=0.3792 right_y=0.2934 right_z=0.0822 right_yaw=-0.2861 right_pitch=-0.616 right_roll=-0.5361 right_gripper=0.9965 state[joint_eff]: [0.1573, -5.641, 5.8188, 0.9451, -0.2808, 0.1636, 0.0513, 0.2667, -12.9709, 7.6513, 0.3101, 0.3736, 0.3004, -0.0122] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.36,"right_z":0.16,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0},"note":"The right arm stopped short with its wrist heavily tilted, leaving the dark fruit outside the wrist view. I’ll straighten the wrist and approach the fruit from a higher, more reachable pose."})

tool

executing move_to over 21 steps (2.1s)

step 338

assistant

agent noteThe dark fruit is visible well ahead and slightly left of the right fingertips. I’ll advance toward it, staying within the arm’s table-level reach.

move_to

right_x0.4650right_y0.3800right_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]: [-0.2905, 1.2961, 1.1381, -1.0241, -0.4477, -0.2623, 0.9965, 0.9672, 2.0792, 1.6375, -0.564, 0.7403, 0.6796, 0.9965] state[eef_state]: left_x=0.2975 left_y=-0.0054 left_z=0.1748 left_yaw=0.2838 left_pitch=-0.4693 left_roll=0.3433 left_gripper=0.9965 right_x=0.3806 right_y=0.3485 right_z=0.1229 right_yaw=-0.0035 right_pitch=-0.1099 right_roll=-0.11 right_gripper=0.9965 state[joint_eff]: [-0.212, -4.5744, 6.4342, 1.072, -0.2906, -0.1294, -0.0122, 0.4855, -15.4188, 6.7487, 1.536, 0.6129, 0.0904, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.465,"right_y":0.38,"right_z":0.105},"note":"The dark fruit is visible well ahead and slightly left of the right fingertips. I’ll advance toward it, staying within the arm’s table-level reach."})

tool

executing move_to over 7 steps (0.7s)

step 345

assistant

agent noteThe dark fruit remains ahead of the right jaws near the workspace boundary. I’ll make one careful final approach to table height to see whether it can be grasped.

move_to

right_x0.4900right_y0.4000right_z0.0220

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.2905, 1.2972, 1.1381, -1.0256, -0.4477, -0.2619, 0.9964, 0.8783, 2.3867, 2.0449, -0.6323, 0.6758, 0.5743, 0.9965] state[eef_state]: left_x=0.2973 left_y=-0.0053 left_z=0.1743 left_yaw=0.2843 left_pitch=-0.4716 left_roll=0.3451 left_gripper=0.9964 right_x=0.4526 right_y=0.3782 right_z=0.0955 right_yaw=0.0069 right_pitch=-0.1401 right_roll=-0.1335 right_gripper=0.9965 state[joint_eff]: [-0.1709, -4.5333, 6.3111, 0.9158, -0.2808, -0.0757, -0.0171, -1.1009, -13.6957, 7.7744, 1.2821, 0.4127, 0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.49,"right_y":0.4,"right_z":0.022},"note":"The dark fruit remains ahead of the right jaws near the workspace boundary. I’ll make one careful final approach to table height to see whether it can be grasped."})

tool

executing move_to over 5 steps (0.5s)

step 350

assistant

agent noteThe dark fruit remains beyond the right jaw center at the side limit, so I can’t make a safe pickup from this pose. I’ll turn to the blue bowl and try to transfer the two fruits already in it toward the white bowl.

move_to

right_x0.4200right_y0.0200right_z0.1200right_pitch0.0000right_roll0.0000

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]: [-0.2905, 1.3014, 1.1381, -1.0271, -0.4477, -0.2619, 0.9964, 0.8398, 2.5927, 2.2436, -0.5598, 0.68, 0.5484, 0.9964] state[eef_state]: left_x=0.2972 left_y=-0.0053 left_z=0.1731 left_yaw=0.2859 left_pitch=-0.4764 left_roll=0.3487 left_gripper=0.9964 right_x=0.4963 right_y=0.3924 right_z=0.0588 right_yaw=-0.0145 right_pitch=-0.0967 right_roll=-0.106 right_gripper=0.9964 state[joint_eff]: [-0.1299, -4.6017, 6.2701, 0.9939, -0.2906, -0.0366, -0.0122, 0.5128, -12.6291, 6.9538, 1.1795, 0.315, -0.0171, -0.0171] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.02,"right_z":0.12,"right_pitch":0.0,"right_roll":0.0},"note":"The dark fruit remains beyond the right jaw center at the side limit, so I can’t make a safe pickup from this pose. I’ll turn to the blue bowl and try to transfer the two fruits already in it toward the white bowl."})

tool

executing move_to over 32 steps (3.2s)

step 382

assistant

agent noteThe blue bowl is directly between the right jaws, with the pear and yellow fruit visible inside. I’ll lower the jaws around its rim and test whether the bowl can be held for pouring.

move_to

right_x0.4300right_z0.0400right_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]: [-0.2905, 1.309, 1.1378, -1.0279, -0.4473, -0.2619, 0.9964, 0.0814, 1.4887, 0.7258, 0.1589, 0.1028, 0.065, 0.9964] state[eef_state]: left_x=0.2974 left_y=-0.0054 left_z=0.1708 left_yaw=0.2881 left_pitch=-0.484 left_roll=0.3537 left_gripper=0.9964 right_x=0.4191 right_y=0.0196 right_z=0.1097 right_yaw=-0.044 right_pitch=-0.0335 right_roll=-0.0069 right_gripper=0.9964 state[joint_eff]: [-0.0205, -5.0393, 6.2974, 0.9499, -0.3004, -0.0562, -0.0122, -0.1846, -7.5419, 6.2701, 1.9267, -0.105, -0.1197, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_z":0.04,"right_gripper":0.0},"note":"The blue bowl is directly between the right jaws, with the pear and yellow fruit visible inside. I’ll lower the jaws around its rim and test whether the bowl can be held for pouring."})

tool

executing move_to over 10 steps (1.0s)

step 392

assistant

agent noteI could not complete the task safely. The yellow fruit and green pear are in the blue bowl, but the dark fruit rolled away during a handoff and remains on the table. A test grasp of the blue bowl also closed empty, so I cannot reliably pour it into the white bowl.

give_up

hindsightFor this layout, the right arm placed fruit inside the blue bowl at approximately right_x=0.41–0.42, right_y=0.02, z=0.08. The dark fruit can be grasped by the left arm near left_x=0.35, left_y=-0.19, z=0.02, but the blue bowl is beyond that arm’s lateral bound; releasing the fruit at left_x=0.36, left_y=-0.35, z=0.02 let it roll forward toward the far edge. Handoffs need a controlled stationary landing or direct gripper-to-gripper transfer. Closing the right gripper at x=0.448, y=0.02, z=0.079 put the jaws inside the blue bowl and closed empty rather than grasping its outside rim.

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]: [-0.2905, 1.3094, 1.1378, -1.0286, -0.4473, -0.2615, 0.9964, 0.0795, 1.6997, 0.6651, 0.5484, 0.0956, 0.0517, 0.0113] state[eef_state]: left_x=0.2973 left_y=-0.0054 left_z=0.1707 left_yaw=0.2882 left_pitch=-0.485 left_roll=0.3546 left_gripper=0.9964 right_x=0.4479 right_y=0.0224 right_z=0.0791 right_yaw=-0.0329 right_pitch=0.0831 right_roll=-0.0007 right_gripper=0.0113 state[joint_eff]: [-0.1709, -4.6154, 6.5026, 0.9402, -0.3004, -0.022, -0.0073, -0.4444, -4.6017, 3.2752, 0.7448, 0.1197, 0.1001, 0.9744] camera 'top_cam' (step 392): [image omitted: streamed camera frame] camera 'left_cam' (step 392): [image omitted: streamed camera frame] camera 'right_cam' (step 392): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not complete the task safely. The yellow fruit and green pear are in the blue bowl, but the dark fruit rolled away during a handoff and remains on the table. A test grasp of the blue bowl also closed empty, so I cannot reliably pour it into the white bowl.","hindsight":"For this layout, the right arm placed fruit inside the blue bowl at approximately right_x=0.41–0.42, right_y=0.02, z=0.08. The dark fruit can be grasped by the left arm near left_x=0.35, left_y=-0.19, z=0.02, but the blue bowl is beyond that arm’s lateral bound; releasing the fruit at left_x=0.36, left_y=-0.35, z=0.02 let it roll forward toward the far edge. Handoffs need a controlled stationary landing or direct gripper-to-gripper transfer. Closing the right gripper at x=0.448, y=0.02, z=0.079 put the jaws inside the blue bowl and closed empty rather than grasping its outside rim."})

tool

give_up: I could not complete the task safely. The yellow fruit and green pear are in the blue bowl, but the dark fruit rolled away during a handoff and remains on the table. A test grasp of the blue bowl also closed empty, so I cannot reliably pour it into the white bowl.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 7.718 s

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

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
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"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]: [-0.0212, 0.7994, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6193, -0.387, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1824 left_yaw=-0.0002 left_pitch=0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2961 right_y=0.001 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.5248, 9.5932, 1.7802, -0.1099, 0.1538, -0.0855, -0.1983, -1.6889, 9.0872, 1.873, -0.0317, -0.0659, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:befb09bbf38e49f0809327169def35e24497202aa5d98685be89f57c89800be6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eef03a264ce38bdd46e83f08d902617fa683f7420c12cb1b3376e13c8160ab0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e7f8275c89d13d4dfda9c07bab8cf80ac9fe23bf6e1b1776d8fe10f7898ac44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 4.458 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtDDFL8mgSTA7IpDQB8TeNmlRI82vRWyZxG664ComJ0-12NP3uK5Yhg4cVczJS9YXfP_K6ob_DWtqLYe02EUxJU0JhSxuEB3Kr8MyC1Czpxlg2fdNWPwMJp_nO6KqkUoDoiXH6Qh-phPbv7EwZx5EO3SMkAXpsN5Z1wnQ82cf0KFiK7YfB2MhDYtl09j-8NVHQede_yRa5QnxNCH_owdO8ZQwx2Dn0mq8DVz_4aaGCigsm5LeVdUqQ1zQ8PLVpDW4gow0lCoGd3Yhy-Xsjupjr87TN_7bDdE4f_B5HzqJ3tK3a_y7GlHJLXSLxeE1dQk6yoYZGpH4BsrR2fgaIy_rsXC5L4SHGvpBRvOJqJDHDn3xKxQgwULo23MJNcnWWe3ayGHJwpkbpx1DZ4LFo_2ByqN6Gn7Xbp4EBoqz7oAEZ2K-cNxTsk0AaMCKvS-AWz6sKDpv0x66IEhtnwd70NFqeZHJ9rwSOemA97LxWD4xLqzPMu8EiKswnxYfeQJxlkqg4JVe56C_6lhzBBxtVII8ffpg7DIMOlz48xPwNM_V75UYCbXbZanSRDckAqnTEr39gt5QJQWJFgZRGSMiUxLmNSF01ZkPPjL57zpRVjm8FbB8tyfO3KQfO1KDUmOR_QtWBKX3L2BT3dEvA_R1p77mRVil083u5xkJYOM1s3bIVZJTLdaCizY5h6Iif-ADLeFhEXSkkdhZVMHCSXWJpBM5C7SLniVJDE6V-Du02R4zP6Wl2jJsEXyWn9ytZjUnWFhfM93vrMLWSeg99PwYT5Q0iWLxgGpSULp_0IbS2pNW2TN0gikLcTzQ1BjMs1AEesiP-1UQG3syOscv6RgyezY5p8V43itCh2jwEgOyMNfyAAPz5FPt7YS67E0r_00ccwuVVprePJkeVidErQQPifzTFyIXA5R_MAk8hLCvnXU1f9kpaAkCX9HKSPA0VlWS507JSU8VWDcAhKFYHqurCehnJP8x-X7rnq7L4WO2XoFWHpfjDqPTZ1-4pqfAicGtaLKPYhsXm749cvOcHMw-WFRwBY1cv4nmWP2AypO5GqUSAP1xp5QoES0GedWvLeZ0EWRyxjqEdNJYm9v6jOYxTUKVYTIpABcCMTtL1P0TpYGo5Jx-tuOmMg_UoqfGmtkGrfe63hPh0ZG_9kiALEnKcaGH0gGSWmomO4HmhzhADmPIBaQwpzKg5zMpAogsmXVaBOWA3mkOUlXKM5gw_wm_aHc88S5A_HL7LJ4jQbkw_v9MgXSfhrMMVUeOgTldiiZvnpaFQxZyENx_AlRD4TU3sj7mUcwB4BaL1HzO_8SYKMtNpwQoKcwlHF2BuTlF1h_C29Dm1qjaexgMbzW-53Avk7N4IJ8cJB2bYkpnV3gE2BOQ7tXP56vkVpUi5akUR6nabFs41ee6aAJdbwCi4fke8SCXdECXFZSMG23tJ1q3caXQX9J7SDwSpi_Jdfg1AQOzIRfx8r-HbfNHfUbHLNI1zVIpq64EKf76pc3Nv_XoGH_Wio-qiz4_Ablp3fCUxF1AkxfC31A37NpDjfc2HBIGx_kOJM2qF77MpKE3LoL_AT2S-zSjOLc3nt4Vgd0tnBbpN9677JoA6IZ7yg3gSchHQj2Hu3Bwq1Yu8bKoZBUfP6tQYVjo3X30fXgr_ekgOUIvW3iN--XgQYF7DA_NcPk1-r-EB5k1K-4PsJKki55-uMW8SfCyk7Vhia9Bl76VOJ6Ycy6X-KuIuGcyNO92tlHqbcdPJGh6sGwnrBUocdneKkSnjjvAQN0lO1N-GCnp_Zcx2guELq8r8WhNcxmaQH-Pf4nwP8rTr9mA4kzNx7muxk1LRTCCqct5k5TughIYzKWWW6FfxLsBuasE_obzfm6hjJan8YZw_hZ73CaVVCEciBG9po_7tBhrDmmUyxKNXen8RPwC0kOlNj_P8Lo4-W2r2pBuUQGao__hoXJ3M1IlOgNvFAut4LlTQZ4-WeubnX1IEMmMARFHt6ihTmJCnUnOPZii08gfiECVHbMtYJdrd8EaLfNB4tJI49YrU-RUFihbbThkWRIMBhGEopb-xdRif4bR5r7x91uGaxffgx0OKSvCgTGdCjQOQF5eKBweCmv-6Yqki1HE3joz3Un7BwspjpuG6M2ClriBj-Nb7m8cVk45CbH6OChUSno4WtHTNR9hphL85tOqOOAmKDx8qXYDo2zrj340qsqfymb9ZY5P__iK9XOg6qFoECN_LzmWfgIXi5IybseaZOGTasmXk0kS95G8z6DLEvARW0S1g5fOmxtGJUoHZL8GtN6z-rwR8zeOjpxODBoqydxM8vUOL6o1Ojg-4mRLvm7TESfcy8FDD8ske3EV-2JmO2Q0OskWXASBQTnthrq3_EfcazKX-ILG7U-_BEq6J0_E8TnN8OZ6ljPbphRGyIZQS9mLAUUxsnb97Mh21iMyzQDOi8GsHguhdpjDkqYnyF1toSeR7rn3aQ3CRhwTxXJpcUbDki023-60NajO-PG7Ng9FiOQf3vRBwlRCoc8sF7VdhJH6R3S4iHlaPl6QxWCKmRLnT6S3urBAxOH7FOZlLuhbxuHaISGxx1wAZmPFRwhniFfsPw1C48tbCsTg1bk8oGae1asEL1u5C_5go1UBkbK5fjiK-fqF35MQEFJiMcfZ6MiroYUrc6Vy-NDet3x35E_FjMFvLpMv2kHjoaATnnFkeRE5Uv4JQIufD3VYtm7Y0KsGSgKlcxaFOBqG1kBibn3oFwx_M6qIMvrnS0MC9DOh9c49m7bdAuHZJH7otMTacru2R19tOSTMoJYTqiWpnYi4dEOBZNq3wWdwXVoK3xAsLBt4I9IWfxGSZIK6CdkaL3j1-AVtxfTW-3jstdDFyCHkhehZ_hfymkd0ZKHu5KlYaahdCavBY2rDmE94bCeYM6AjSl8ka80Hsba5UpM3wRw16oT-ObhgRQz4UVM5m-iiznpIGqi3izpyC_iMQfCbu1LksW3aKPr3w_akpHvU69xvDFw-8QEcLmf8TiqoxTb48nvGRLDItMWYtO_Lr4xGmBZnwMctuaJRgw7hKkvs3jSXycJT3dC-3QJ5HtBURqRrWp-t8yErLHVRXM94rsYhb9X6Av78RYnMzhCQMlXEFBBCMvyvZ7fKeEGkzEroxQIkSQh82XSwLIA7W03bFS-igcUpfmz9Cv4OlFCSpmJKBUavy6wHbAqZrIM6g-n-hh7XIVuoXePSkKSmW_dlTxFUge3UJlOUqlKAgqwKGgNEsDgj3qxnAWZJZd5n_MT9eMr9arnAOX_2X8BdD9KsCrbO4Gjm6ugXDqi3rQPyK8ef9mj7ytn27xgEqip9j8B6RLFpQkR_E3HP9pb5SgBsM7a5sHKxHatt3OFbuXcOf0V98ScNITMPZud46VuQfyg87kNUKXYmw8GXfq9osqhQn0zxNg9EnYCUFLxRwtI72dzJWU9FSx9Fe9vFzHH70OUzoIgl7_uasHNAFivfBDRErhlYbE7Jxm1oOsty6TGioijTl0Ke73dteyw57NFpndDX1bdOzh5evifnFbMSRUNTQDSIWAXAn5YSRVhBJn1wccTe4AAvczViV57Npk0F7DfmgQodz4OKEhwYDPN4fKa8XrjUA_SOamtddOI_bBIuaUI=",
  "id": "rs_0e1829a353ca7d20016ab430c0078887d0bffd7437e71184ea",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDDFzqZN6YtUndxQwcj4JnWFrmWAKXXdaW6r_1YWcgEe4jNs6Tfr-q6OcvYyMuqmgjs589zMG4mTh3u4N100Vmhj7N9292YHKb_U2u9lC7_SLzH-Q2ZSf9os8mUHXDgw2k1rMOJw4oTmVT7qUzFTaMmZgD6HSN_W2vHoM7KZ6RoR073bv5rHP3XNFPVHojfqmeJiz8TqrFl1XzkyJpcTrWBgDpZ6q3mkfRPQYf6TGG9kXKxEC5aLVElU0xReBt0zi3Z2NEOKZvQkTXWvp4wHBS1gEFBetki_aw3eAmG5KZkH_sAlpI9IssDKhH6eRzZ2rrCB4cOBkF-YYDyi6pG5_RXl1a61wo7EV8u8OpXhpYZDMEcVQpOnKLvcN-4OeMF-QkwTjBwYV9Bhq3kB041ITfjDc86jA04EOnBZcifu_PsV9goabM8GlEHimLgSTns4D49n-CH1DKN4-MrWaCWNwqPL35PZX22L1iMShPGUywEQZc2DSdF-KKwWa5JoPyC6sHsUgQch33Pj3wxaOA8u7EBZyxkbG23lkFxuo2PEJlOVph_qUidRIdawOkUb0AYU_Df-Apx8QbrmS6uidcZF7cYP1zS5hbsDQikyLsH3MG0JtI6iurDPeDoyU9BuFMMVYz-GysAenSp9eP_DhjjzwCSL9rmh9D8C1bNOlR3-9LXDli1iyNfj6ujfKNAuxk4Qcvx-SpO-IrbTNe4oADkB4Ce73-y5nyfw7P-kZTyhN5vS5iUGiT3RjMseOBlCJwbkf1hOirwoDKGxpGHbO2MSupM7ZeCwqTiu_XM9XLXDeNsbbeLKjm1eYOKKVgyxRxDDRT6Dt5luRslpbLTDoQ9ozj91e3tOwLsdUrUSrJ6JE3m_Jk9UMoe9vVp8mAuUrPGHwem7WV3CCvvqC2KlF_GUgi4lPk1C_d_0cQwNKGBu7IXW8w-IybOSDqoNIDlCWxb5wZCvPkrlXXA2vkUgvBlQvpP5Mfj3JyvjyKh5FTrWQYkm6vFQTFK_VOtAEeA5wvmQLMwV2M2wfCvZg-RntmuJTVAFZsrp0y5jqPe5NPSo2_cZTNmopEbIL9E5iGROK1491_xwe4lzowXU8gSfZxpRowoEFAr3sX0X5SEBH6CUpi69C9k4nkP_KnpTxUF7DCL56ebAv3DdM3qnOyOIzNsernUYq4ro4udj4M88BMZQvhGq8KUuAjsIwd9cdUvXeon5fi-iHClB27hbtpBa6hRnW7h_tlVccHKU1txWU5kf5CSLJfoG2FgXnWP0hrA_vtbSV2uZxksggHAx_zqNWysY5yQd5w3Zwsmu1AfuFVdL7u3hhTSFqLwAxhEVDWC5GV3OytbXKZQDYonBjiVa_tZ9aGujQEzPqqkIJkulfdMm6mPWJXrT3xwwfp47bhQIaKn9HTBEOG5nqOfEe_l-761lsQgztA==",
  "id": "rs_0e1829a353ca7d20016ab430c4b4c887d0a41e0a6ba6e9df3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.0,\"right_z\":0.13},\"note\":\"I see a green fruit in front of the right gripper, a yellow fruit beside the blue bowl, and a dark fruit near the white bowl. I’ll align the right gripper over the green fruit first.\"}",
  "call_id": "call_DqhpYAW7PYAb1VT5cvI7Zwac",
  "id": "fc_0e1829a353ca7d20016ab430c5532887d08650d082ea8d82e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DqhpYAW7PYAb1VT5cvI7Zwac",
  "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, 0.8021, 0.6147, -0.3977, -0.0139, -0.0307, 0.9993, -0.0227, 1.0492, 0.4911, -0.049, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3309 right_y=0.0004 right_z=0.1215 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.4838, 6.9538, 1.8926, -0.0806, -0.0366, -0.022, -0.4034, -3.535, 6.612, 2.0147, -0.0562, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c315e0d6b38e9345887c9ab9f7b9bab5deffda9d6cf7693baf2f9f40bf0c2339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8870e17c1d5e039560b9a2a97cb28fcb53215cb5f8cee5424b8a6e05ded6646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0409f3afdf7351e4ff08f139beab37d203e24e964651dff479424f9b7f5f817b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 3.513 s

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

message 2 changed as sent

message 7 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]: [-0.0212, 0.7994, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6193, -0.387, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1824 left_yaw=-0.0002 left_pitch=0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2961 right_y=0.001 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.5248, 9.5932, 1.7802, -0.1099, 0.1538, -0.0855, -0.1983, -1.6889, 9.0872, 1.873, -0.0317, -0.0659, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.3977, -0.0139, -0.0307, 0.9993, -0.0227, 1.0492, 0.4911, -0.049, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3309 right_y=0.0004 right_z=0.1215 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.4838, 6.9538, 1.8926, -0.0806, -0.0366, -0.022, -0.4034, -3.535, 6.612, 2.0147, -0.0562, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c315e0d6b38e9345887c9ab9f7b9bab5deffda9d6cf7693baf2f9f40bf0c2339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8870e17c1d5e039560b9a2a97cb28fcb53215cb5f8cee5424b8a6e05ded6646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0409f3afdf7351e4ff08f139beab37d203e24e964651dff479424f9b7f5f817b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDDOgOxAdhtZ-UfpLu3uvIZan3RoncYCgwSn8FwZscqUsdFSnmJ6SFAoh69qUScwMEpWl5VbwFABXteDyrUEORjncbdVwAdCdFoaIcHEAWTHVJX2qXFYzGowmCi2kbA8qyDYXoa5qgw32bMVm-rJNMZiLYLLzDwANyxXgfFrsjLQz8ZquhQ09SvUkBKw5wx8vyutuawPzR-RZtwGEDRhTRFiZVWZDHT9KqXYYK7VtrWJhF5bBgJ_aP5WkObSmybCct_OfVvl-ech9W0LQFiysD3YuXRh_3EGyU_Wiziex30madpZbWmie7SMDVPh-7XHQjhMlnrV4GnbmOvq8Pyq_xeGZ7IRxg2XjyGlp0Ex8wDWYSTpnTfOjK0naC0_suoNAfcsOSThdi7WyuskzNMGpP_sCSZ9f_yRLtwe2lReBwJvbTm1_TlkAzXD1hxYTxgBolEyPi0TMcqfSxhurvBs-6KG9193pq6KCAgzDDVPuttoC3XmYU9A3gIHpuPAafKa64AqDB1rjkczteS100q658L5j6BOprS9MrWnzzr-Uf5k1XD7wgQLM0At9emex3AXWhZITIXLTt4bn6smbj8seInIMx8LRe9no3UbujsseKMviHemzRoGNtk0Qa5D-FI6jCxf4cUJPyV74iuBvNFyqV67X91oxItWkeFM-5zNsobZww8tW0Nlm21ECBzCrYzBVmfZPhePL52IVzgSUcqWmx_Xw6qLuSJCF3lvdtUIYXVPcM09ltPJqru4Bzqs-D6fD7W1x6Y-LZ7xC3YscVarE4O1IhTjRJY20cfzxGYKhqfBGVh-nUiX_rI10XBztU240cTjb7sAf68o_nFf_jlUGqnuRKUIVuJhnI_hU1ynetcyDB3CWZ0CiyHvCDc96iY3HxvGNTzh5uBozFZw9AIO9e7R5eiJyTjQYCYDxCxiBtfW5PcJb0xOVvm1JKjq5f-Zabp_rGNKRQNSCt-ePB824Xfyn4f1FGi-vvmGF8RKU4JUdbm7y479YhC3vpkp0Uzgdw0YMStKKxHspHdCSCutM3ADcbORBZlXiZFAQfhCu9Oa1n2h-DjcOum8EjPZRCfN3MZMx3NgE0r7jWKgPJoM4ppg3g99rNqI835eDaUnUQnYgzgvo5UiA-nDRrJ3q800C4BSXJs4W8aUi29cXf6dEwEJMW_r6V6lmP9yFAS-hmwdiojHmTxp4Xp0QQd0QA-VBUbSObm3dJGUMDijyn6wLqOojNW4Y5jxtJXQ-ignkm5Pkv1R5COpbSTIwsFgka9Rfsx_thKE0Z21VdMvYUGshkD15xXSVB-tRoiu-PUVrJkvDdMdBHk6sklnYjw2Faji8Zh_54Ki6pjOOq2V0CXnaMK2SkHYSGIdwRQrgWJRGT9lIfUu-lSwTTvudiVlKu3j21CkxkUD5A4c-6g6KqIquUO1ubjzskKINWwaeeqkcNydBMVWZ-_g8N6c_g9Pu6zgk7uyLfQDswmLHwGAAmUFO6WyKfD2bqOO3D5OBVX-g0UWRj4s6W7k2yiG3yclmiNPVYuiqxtFrh0r0ZgxTyF-MPl1aQ==",
  "id": "rs_0e1829a353ca7d20016ab430cc290087d091ab375d9be9c6bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.018},\"note\":\"The green fruit is centered between the right jaw columns, close to the fingertips. I’ll lower the open gripper to its middle before closing.\"}",
  "call_id": "call_eas1u05BYZqll8HEN0XUNfZE",
  "id": "fc_0e1829a353ca7d20016ab430cdb6f887d0a4672a6826c567a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eas1u05BYZqll8HEN0XUNfZE",
  "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, 0.8059, 0.6147, -0.4084, -0.0139, -0.0307, 0.9993, -0.0219, 1.4952, 0.2153, 0.6308, -0.0242, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1758 left_yaw=-0.0007 left_pitch=-0.0313 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3245 right_y=0.0007 right_z=0.0088 right_yaw=0.0015 right_pitch=-0.082 right_roll=0.0023 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5932, 6.9949, 1.8584, -0.0464, -0.0317, -0.0122, -0.3624, -4.6427, 4.5197, 1.9805, -0.0562, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0311dc78ee117e2bcd605eda2f1e2829bbc4248eda448a1df99b6d82a7eeff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e0ae855a23cad6ba0ffd233c72343ae02cdebba8609003af3a572b26122244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c393e1380f6d3f32a03013508e0b5a92db76de834dc7fb0911e13f1ab5686685",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 1.861 s

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

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.3977, -0.0139, -0.0307, 0.9993, -0.0227, 1.0492, 0.4911, -0.049, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3309 right_y=0.0004 right_z=0.1215 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.4838, 6.9538, 1.8926, -0.0806, -0.0366, -0.022, -0.4034, -3.535, 6.612, 2.0147, -0.0562, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4084, -0.0139, -0.0307, 0.9993, -0.0219, 1.4952, 0.2153, 0.6308, -0.0242, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1758 left_yaw=-0.0007 left_pitch=-0.0313 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3245 right_y=0.0007 right_z=0.0088 right_yaw=0.0015 right_pitch=-0.082 right_roll=0.0023 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5932, 6.9949, 1.8584, -0.0464, -0.0317, -0.0122, -0.3624, -4.6427, 4.5197, 1.9805, -0.0562, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0311dc78ee117e2bcd605eda2f1e2829bbc4248eda448a1df99b6d82a7eeff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e0ae855a23cad6ba0ffd233c72343ae02cdebba8609003af3a572b26122244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c393e1380f6d3f32a03013508e0b5a92db76de834dc7fb0911e13f1ab5686685",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDDYGGnWA0LxsNiACwpAU_uOxs4S-CRPFxYy1QPGfInqnRo7PSW5KP9PSfEj6XMwiyGgINOo29fWI7XbIenUDg9TlTbfjo29u6Fjr79JlobIki8U0x6zjjbkJOH-fnUJ5pATDnAFUSD0v-wms0TC8fh4Da-OTAjzKNC-sIqSBTup_V6-DrS8B2mba8LcHrtRN-cYSHc4ph6TR8YNZCR2KGF-mnuL9DdSe46A8wwmoIeU2YIWH0X2N-5xjWK6pvZPeI4fod8jD2jXooIIou8mjULNB6xz7-SWwSE-PygmPhXmnTG_8s9e1egI4pTIhHniEhii5IGrAtbXuBSeYwyz2RJsD_8qHbRwt1ViV2j0VpGaZfvyncCQ5B4uvwWpQTmHxcsHu2xOtRRAoIk-bW2gU_3PWH7EAToDZgkkwYJEv4rNwp0rluqwG4k_ELTnlhNQZ8yT--APrgFzvv1Nb5-FS2L_im4TUAYQbdMjTH3jsiWpNIqcEhCH_iaogSaDEBopbC9wQbYEfXkiPXgQjUbhPxj9sWldtRYBF69fGIIUXpfXyWciYCwjvS0Jm1MJLWt4RINkz_lTfEC9tPwXiAvfoiSEMV3CvqqSmahQ5fnGMHr5kAbBAJ5ouZsY4NAA2ihr-7knLroi1UJPK03N5S30fcVwl2QqI5T21f7xKsf270Xgc4MyHkrL9z6pqPTOoH2UUFZfeEPMGhSxjW6G6bx9FDxFHU2-NmVGqDeEnAtVHUISTMCHlGZXgoiZT3BkxmZ0Lgk4lzEXWClPQqynViyV7GYRbHRtd0tgv7UGt85feIvP4zBbM1tPHO-piIjprs7CdwSLg5DXctu66WeW87Om0dGrE1mLe3WlUjMPEON85qAdii_w0k4Y_OXn5vLVL9uLHX9QFmebeJq_aMxBW2is2Rq9XEMLt4YMcD7evoHtb9ty_vfeBtpPBl1TUslOs9ctgzqiGYZFtIkEhbkPNhb138xyOb_ON7IQXnDN_2XxZvUVN1f1zruxEgoMZ5EDKus0RnoVw9AbDOrOi6KQk6g2b2XXVh7_Z9BWkWpmzPSKcYUk0qa559fd-GJQ-VArHzdKEiiZc8oFp6UK51ZNvgBk6CkbPvk3dRgWnzztFn_yCIPfnZwfzG-16nWlVVXwtQKAeXSQRyfqCCUxYltvH34K_8APxqFW6sd23aie5TTvH8_2Dyp5thYB_KSaL557JVP9I1wxxOBLB3NyKOktFfmuUBe4RiRjLEhkWajWV7vb7CWM3GjAkkOcP3NWSNlzvgsOgDuJj0hhndKa0g8b2coo8NlkNT-Slq28_DniMt2FREaJWRufjmIToebRHd6E7mxmWG-HoTilYfcOJVzUU6BWnvGmu2T86o43wqoMrb63DcjyY09rKiSfe3rTG63t_7C21XdJJ7eLjOxklIaacC1z88zyQytYocjLJOw5as1oaQnPrcuSuXf1sknmjaUcZKMK5UlilPFxMFDALy6cSlXxa9M1_t4EdrCmZee9akofZgeT22PTDwdxOK88425O1wUhAIoZ4wbuD06RqfU79Je9T7kAnKyPPt8nc9g9Uq4oOHMq5rDjU4Tp-PDCGGe-uipMFoZjV1W5zLABEmumqlY2B_uOzdNX479nW2UBs2lnc0ePuyYlA_x8dDTU3Bl6oMN2n4k-",
  "id": "rs_0e1829a353ca7d20016ab430d6511c87d0bdf4b8d69d6f800c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the green fruit fills the space between the right jaws. I’ll close on it and check whether the jaws stop on the fruit.\"}",
  "call_id": "call_16yOBsBuEDodYkTt74EE49By",
  "id": "fc_0e1829a353ca7d20016ab430d81c7487d0b562a10645a68628",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_16yOBsBuEDodYkTt74EE49By",
  "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, 0.6147, -0.4091, -0.0139, -0.0307, 0.9993, -0.0227, 1.4952, 0.2153, 0.6273, -0.0277, -0.012, 0.6947]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1756 left_yaw=-0.0007 left_pitch=-0.032 left_roll=-0.0002 left_gripper=0.9993 right_x=0.324 right_y=0.0011 right_z=0.0081 right_yaw=0.0034 right_pitch=-0.0854 right_roll=0.0048 right_gripper=0.6947\nstate[joint_eff]: [-0.2803, -1.1419, 7.1179, 1.7314, -0.0317, -0.0415, -0.0122, -0.2803, -4.3145, 4.6838, 1.6777, 0.0073, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa837973a3cb6c258823d39fa9bbb9b5b51e30e2352af8e9dc4c3a49e884bfb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d91d49609c028aae1ab9801c65e12de55d314c6a0c50fdeaf782a0dfa12fb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55b0d8553c61250945587afeef219e559ada4922841b3e47bda73aee1b46cce",
      "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 · 3.67 s

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

message 2 changed as sent

message 11 changed as sent

message 15 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]: [-0.0212, 0.7994, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.7994, 0.6193, -0.387, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1824 left_yaw=-0.0002 left_pitch=0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2961 right_y=0.001 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.5248, 9.5932, 1.7802, -0.1099, 0.1538, -0.0855, -0.1983, -1.6889, 9.0872, 1.873, -0.0317, -0.0659, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4084, -0.0139, -0.0307, 0.9993, -0.0219, 1.4952, 0.2153, 0.6308, -0.0242, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1758 left_yaw=-0.0007 left_pitch=-0.0313 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3245 right_y=0.0007 right_z=0.0088 right_yaw=0.0015 right_pitch=-0.082 right_roll=0.0023 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5932, 6.9949, 1.8584, -0.0464, -0.0317, -0.0122, -0.3624, -4.6427, 4.5197, 1.9805, -0.0562, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4091, -0.0139, -0.0307, 0.9993, -0.0227, 1.4952, 0.2153, 0.6273, -0.0277, -0.012, 0.6947]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1756 left_yaw=-0.0007 left_pitch=-0.032 left_roll=-0.0002 left_gripper=0.9993 right_x=0.324 right_y=0.0011 right_z=0.0081 right_yaw=0.0034 right_pitch=-0.0854 right_roll=0.0048 right_gripper=0.6947\nstate[joint_eff]: [-0.2803, -1.1419, 7.1179, 1.7314, -0.0317, -0.0415, -0.0122, -0.2803, -4.3145, 4.6838, 1.6777, 0.0073, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa837973a3cb6c258823d39fa9bbb9b5b51e30e2352af8e9dc4c3a49e884bfb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d91d49609c028aae1ab9801c65e12de55d314c6a0c50fdeaf782a0dfa12fb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55b0d8553c61250945587afeef219e559ada4922841b3e47bda73aee1b46cce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDDbps8zVp1M5UCcotfCFmMLHTdsurSyEMzs6aX7-K20e2uBnfB44egY-YMbHiP5dIAqs8j_fJtdk9B2NnRxpWFgQMqmIWK1tEh8rTjvi5ekGnhlr8YWuJLxPRpdQ9b9QFpgnTm3k1ApW1aI5kV18Uz8ZjH5qLJ3ruWG0oiQ7fImEcy4FFoEAF-OthjeQIolAPRHXMrMFwh__wRVFV99sVBkiLXIb7iFCeFb4OIgC4QtUhPAxqXEhbuEUnIss7EEZ9nce3LlEKN53Wb28ciRmoFy5ui6XFdkyD0xVMuQDh6igsm1X5G85miQX6h6gqRw5x1AJf1RhjK83aTfiWvebvKCoLuAOhArRnYZk3AVP46WR0VE4m6aLGYCWzn8PDpULPsO52LyufV2T9J26hz-h1pPEeaLCf4PKO7dqc15krPaB5kpsBrMpl96pO7D-5PpvtOUuWnEDzdnCUIzJjBVNnxI_L9f7BJRoMUvWqp8J3uzYafBS2R7P7MGaS8KTEvZ3syhlJy6MkNsnGl1e3vXiSGQWJgwZ0ItQx6wlydCiTGN6YbdKOitF-e94Nvb9xDz7bCpX8PlD2jru5BN8myfQauy88hwHs260KL3YQNz2Jl9AHZGnjQc_wpxLx8vQ8saw30wvUt039RMZtTdQLlF5yVW21tjspji2GqHRRsQHtZ-8nJxFy1VbGMpoqcZ0RrdG1JEA8a_X57SE1284LYNvtRCu6DQdWvGBTjRaDHjD_QY17LjesLEpFiSNdPWlzX-madZanIZ2lNwXsu6n12KJJaXc9KaGHVz1OhqkFFIKRMuQpq7YvAV81yrGWX46ArU_DLPt776j3GqGl6RM0q6ZOTbHt8Xp8AtatFy7AhwClnNLNmaBcFOfyr-G4J8pxzhayu5ip2uvHlTzfT9yj4jJrWS1kRASkY7k_EzrMBgbInsFj5askPyadWXROJdcIhh7XqujoJ-3_FJWnjKsMqPwhgzJnpDNhiAgxWbW0smODioX3V1oRWnJMZxb_Dp8KGRC5mS2eGA3PQID3hVC0YQ_mFQx81xA6fhg_AK9i4E7aMfB9LQjHLwci6wUzsmb5xM5LEdP4rUAGLBJ8TQKuka1eyczziFIWrEepD00peBWne0WVA7_cH5AzcHtQifQcXDiY7vjcWWVwOl-0K9GG3JlOd0ode9-wjACH1Mxygw2bGKblKA5aMVdQk82yKm3ySAUVPUS97flouavvmlh1ev-K_6GWQrnUYDUJjALT9_xql7jDVa3zfaaNeld8MMSAS0bAElsEtgCcs9bz6L9vXxvBIA6gw6wJ3CvHxFFIHfGWATy07ZD-X-SLdsj3q0ixwV-NAMJX91a4HNylP8Z982kkR7EgwziOQAEX2co2sFOOwLi2I=",
  "id": "rs_0e1829a353ca7d20016ab430da783887d08b543ac02c6ffba2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The right gripper stopped well short of fully closed, consistent with holding the pear. I’ll lift it to confirm it comes off the table.\"}",
  "call_id": "call_gh0VHEzoPWyisdCD75SYWbib",
  "id": "fc_0e1829a353ca7d20016ab430dae2bc87d0908a6ee7f51287af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gh0VHEzoPWyisdCD75SYWbib",
  "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, 0.6147, -0.4198, -0.0139, -0.0307, 0.9993, -0.0227, 1.0275, 0.5575, -0.2314, -0.0315, -0.0128, 0.6967]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1729 left_yaw=-0.0007 left_pitch=-0.0446 left_roll=0.0001 left_gripper=0.9993 right_x=0.3178 right_y=0.0019 right_z=0.1215 right_yaw=0.0072 right_pitch=-0.1341 right_roll=0.008 right_gripper=0.6967\nstate[joint_eff]: [-0.1299, -1.265, 6.9812, 1.79, -0.0562, -0.022, -0.0122, -0.2393, -3.8222, 9.2513, 1.7509, -0.0269, -0.0366, 0.7692]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb02800ec03a405a14ad267a672ef4e462ba23ab7d786150ccb125b899d5b3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc337a76b6365ea3275a9aa45d769322a9a059871036142a1f0525429686a6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850e889acf3bb951661a65f9d034f0cd806aeba8d9137b144e94bd4fc61a8ca3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 3.491 s

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

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.3977, -0.0139, -0.0307, 0.9993, -0.0227, 1.0492, 0.4911, -0.049, -0.0242, -0.0128, 0.9993]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3309 right_y=0.0004 right_z=0.1215 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.4838, 6.9538, 1.8926, -0.0806, -0.0366, -0.022, -0.4034, -3.535, 6.612, 2.0147, -0.0562, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4091, -0.0139, -0.0307, 0.9993, -0.0227, 1.4952, 0.2153, 0.6273, -0.0277, -0.012, 0.6947]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1756 left_yaw=-0.0007 left_pitch=-0.032 left_roll=-0.0002 left_gripper=0.9993 right_x=0.324 right_y=0.0011 right_z=0.0081 right_yaw=0.0034 right_pitch=-0.0854 right_roll=0.0048 right_gripper=0.6947\nstate[joint_eff]: [-0.2803, -1.1419, 7.1179, 1.7314, -0.0317, -0.0415, -0.0122, -0.2803, -4.3145, 4.6838, 1.6777, 0.0073, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4198, -0.0139, -0.0307, 0.9993, -0.0227, 1.0275, 0.5575, -0.2314, -0.0315, -0.0128, 0.6967]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1729 left_yaw=-0.0007 left_pitch=-0.0446 left_roll=0.0001 left_gripper=0.9993 right_x=0.3178 right_y=0.0019 right_z=0.1215 right_yaw=0.0072 right_pitch=-0.1341 right_roll=0.008 right_gripper=0.6967\nstate[joint_eff]: [-0.1299, -1.265, 6.9812, 1.79, -0.0562, -0.022, -0.0122, -0.2393, -3.8222, 9.2513, 1.7509, -0.0269, -0.0366, 0.7692]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb02800ec03a405a14ad267a672ef4e462ba23ab7d786150ccb125b899d5b3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc337a76b6365ea3275a9aa45d769322a9a059871036142a1f0525429686a6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850e889acf3bb951661a65f9d034f0cd806aeba8d9137b144e94bd4fc61a8ca3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e1829a353ca7d20016ab430de01a087d09ba56f8d3c18baa6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.11,\"right_z\":0.21},\"note\":\"The pear rose with the gripper, and the blue bowl is ahead and to its left. I’ll carry the pear above the bowl, keeping it high enough to clear the rim.\"}",
  "call_id": "call_w6xU0GJjGvOwUYBtg4t1fd1i",
  "id": "fc_0e1829a353ca7d20016ab430e0452087d0ab9eab1717345816",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w6xU0GJjGvOwUYBtg4t1fd1i",
  "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, 0.6147, -0.4248, -0.0139, -0.0311, 0.9993, 0.3347, 1.4982, 1.1877, -0.5053, 0.2176, 0.1925, 0.6976]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0004 left_pitch=-0.0542 left_roll=-0.0 left_gripper=0.9993 right_x=0.4069 right_y=0.1049 right_z=0.1811 right_yaw=0.037 right_pitch=-0.2243 right_roll=-0.0269 right_gripper=0.6976\nstate[joint_eff]: [-0.2256, -1.6889, 7.0906, 1.7216, -0.022, -0.0317, -0.0122, 0.4444, -7.0222, 9.8256, 1.8437, 0.3346, 0.1538, 0.4713]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f78daa4185afdf4cc556edce9d8d5969a2fe3906150fda963c649c6fc278d471",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6579d3483fa9e176368c3ebc4a832512e96281924da6abfc34f24408fc5012ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6722920c790abe08d68fc92a6bebabfdbdec0052881dcdddbd017225659d8649",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.581 s

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

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4084, -0.0139, -0.0307, 0.9993, -0.0219, 1.4952, 0.2153, 0.6308, -0.0242, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1758 left_yaw=-0.0007 left_pitch=-0.0313 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3245 right_y=0.0007 right_z=0.0088 right_yaw=0.0015 right_pitch=-0.082 right_roll=0.0023 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5932, 6.9949, 1.8584, -0.0464, -0.0317, -0.0122, -0.3624, -4.6427, 4.5197, 1.9805, -0.0562, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4198, -0.0139, -0.0307, 0.9993, -0.0227, 1.0275, 0.5575, -0.2314, -0.0315, -0.0128, 0.6967]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1729 left_yaw=-0.0007 left_pitch=-0.0446 left_roll=0.0001 left_gripper=0.9993 right_x=0.3178 right_y=0.0019 right_z=0.1215 right_yaw=0.0072 right_pitch=-0.1341 right_roll=0.008 right_gripper=0.6967\nstate[joint_eff]: [-0.1299, -1.265, 6.9812, 1.79, -0.0562, -0.022, -0.0122, -0.2393, -3.8222, 9.2513, 1.7509, -0.0269, -0.0366, 0.7692]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4248, -0.0139, -0.0311, 0.9993, 0.3347, 1.4982, 1.1877, -0.5053, 0.2176, 0.1925, 0.6976]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0004 left_pitch=-0.0542 left_roll=-0.0 left_gripper=0.9993 right_x=0.4069 right_y=0.1049 right_z=0.1811 right_yaw=0.037 right_pitch=-0.2243 right_roll=-0.0269 right_gripper=0.6976\nstate[joint_eff]: [-0.2256, -1.6889, 7.0906, 1.7216, -0.022, -0.0317, -0.0122, 0.4444, -7.0222, 9.8256, 1.8437, 0.3346, 0.1538, 0.4713]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f78daa4185afdf4cc556edce9d8d5969a2fe3906150fda963c649c6fc278d471",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6579d3483fa9e176368c3ebc4a832512e96281924da6abfc34f24408fc5012ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6722920c790abe08d68fc92a6bebabfdbdec0052881dcdddbd017225659d8649",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDDtjiovvuldZlkuj4eRanF72CZXkE0XI8vnCFT2ASzKilNNzSaCT-COmCfMOAyFf6v5GvRkLtHc2qmcmDxPwFpXlM8lA4iikDOCogqG78FJDk_2JTbeHPcxRDZq1Y9_G1n96lBrE1kxVXDngFdj1UR06j6iYNhwh_vOx6-1gJLDvoZFm5xXN8iegXyZXOK2kGIBbKA4nPphJDnaKzrMCvf8STDOlibqrVYrssk8kleSWAlwkHA-b0pbpj3MUeMezyeazAxj3MtV6yjspFxeF-CeIBgR1DOd6mOKjhKAX54uJOOvDGtMXGmLqt6Pch4zuurtiYhDS4XOw-1-KsrfdkMUjldNHwpt03Pz4imC9BOkGNGEy6i7ezEzlF7d0ZZE93C7HUNH8HRy2EV0fPu7Uh38s384T0sDpH04FMtz_vld7hN_l-RSo7E1FtFnfUTA5Ci3Pw5dCTDJN0f9fp-EDqukHWMw_9wFb8o-N3KHNSSvmnKCYw0LNriFt-P_WfLURlv2hPPvP26WrA-HFb_ucWerlbJHWXGweLJJ21nhVCx2Dp2sHLTcFJjxM12XO5x_2BkgO8txBON8JicU5LsRJ_MCDADsV9-thmU2ku7FsDtGe8sDd-sX2jgcoqQyIJCOd8Iz35R5_g1REVrCh1uW_Q0WZIKCBZhrkrj3f_fQiH0zMmnxh8I70zQjul9ND2RBaUmqZfSA69mJ-M1dg1A3zcNT1Dyb3n8srwyxnkg6yYlzTLFRa3KzerN-hxh9TwKjNI7zHRNasgyWDxKKP7hTUUO1Or3pwnQdwa0inJdVfijXn2V8Bn-QmKggSo2aEm4bQ28aAN4K6BbuIgmvMJbsXz8_1jylN91q4ZJc35aVTIXf7ePhd67UDIFbzP9e2XBWMYkYuvN-uUpjUTmDNEtoymK0t2VL2ox_NX_3w3SneYcFSicFkF6ZQVhJ_1vadSL2cN8iVIJeJ2Qp-7IGNO0ggOZNrKiXratbSp4AAWDVU7FTayPYL3bIQmyH6WRdpKPeYlzPHibPhTO-xsHwWLX3Ep5drywOHr_TvAuXSuFJOjImg4sFlRTgJl1NYIVKq8fsm2EWQZMe6dPmkEH8FcV78l38hXttNwYm3k6KaY-NIYEvSFSuDkqr1slYKiR_eAL5K0ojMc4kV5Wp446DTGC80--dgPG4nFXf-qonDs-QyEWxXrC100uSyknjekjpI6azhiIuP_cliouk2AFml91eUHJtCjr3SBOXeroKegTkxmWvs5yuLxCkGUMAmj4xoLMgyB8YuUhAwIezE4en4Wa7oOSGtxD64QzCK4FtkcvbXEIsQJPXhyZecyhCEWoV1vxge5pkScvvXUwU-gKcYwU_XlxFGNrdJmwD7BuMVK_oloNwZMkAqNwRJtgj5KWCBOClDam941I4xAGN5i9JtxsQWP4YyLSILK6YinqNozwlnIS08vLmZE4sOdxh8ZZ3elER0VTRVArU9GESEgMS0fK3chC5-3vYir4lxVSxRc0ZIFl-sa9eWkZiNRhouJpvqlSqPdFRHZlx-DWO4gKOah7c4m8Hsp7lbjiBC3RSexgpT8nInBlpl2bRCKau4lzJYnChyjqXSzLxctiRXm22y6I6hrDH41Fz_h_zKrcILYtLq0lzy2D0YpbNw6_dGl956HSXjxFAD38gdCudmq87YxqD0M69szyBmn-NVEi0QIyj1MVdrxmTbaZ2-1yftLQr-GkkHcwytsHKPHhH09PwoqG44Wfmr4KH_elUwTe43ivZ4igvOJQ4hiZnlrDr06w0I5S3aTMUzaF8x1d5dRUpFsF0lC265yZrrV2dj36V0RtOL-2xfo_hRXhU8ya3KgIFebgYxCc4DMmP_n4TMRLPMCmmiyhe-Krd1fb3ewz6qEdJvPGPCq8wTTgx2TZ_BzITfzoduVm5oBkXNlZiyDPb3WYA-DF2seUshzMWwAcnou1gdjKj-z-KnE99qZLRlcpkr_MsZ8o6frU9-xPZjjUtu4NFJge1Lbe5VmdFdPZ33k4hGRrINLVEZPTqKOXOOLib7wShjiLSHT2X1BXxCP7rYwFKlAwWZDD4jnkXOINGJlAqVZfhhXS_CYzuyDdPUO8JOUDWa2FZ93tyCHS55hLXkn90gG-Dg2jYI6bCUkABmsRFwzMll6KtLJ-P5LqH-o-_Fm_Chq0XdRGnkOG5vlxsfxBakedcRQ==",
  "id": "rs_0e1829a353ca7d20016ab430eb1c4887d0acd1f3b9d3196929",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.15,\"right_z\":0.095},\"note\":\"The held pear is hovering just to the right of the blue bowl. I’ll center it over the opening and lower it inside the rim.\"}",
  "call_id": "call_NZhV0H4SbfoslQP4vY3NriCM",
  "id": "fc_0e1829a353ca7d20016ab430ecf7c087d0853e65925e9fcc10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NZhV0H4SbfoslQP4vY3NriCM",
  "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, 0.8124, 0.6147, -0.4271, -0.0139, -0.0311, 0.9993, 0.4328, 1.7195, 1.079, -0.292, 0.2584, 0.2386, 0.6995]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0004 left_pitch=-0.0565 left_roll=0.0 left_gripper=0.9993 right_x=0.4123 right_y=0.1447 right_z=0.0815 right_yaw=0.064 right_pitch=-0.3234 right_roll=-0.0653 right_gripper=0.6995\nstate[joint_eff]: [-0.212, -1.347, 7.0085, 1.6825, -0.0366, -0.0317, -0.0122, 0.335, -8.6906, 6.1744, 1.8486, 0.3736, 0.2515, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd6bc7afc4d8e8f89b84956f0bfb2fc97f60a94c420790a95ebf0dab24cb2e48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33c110e57923da9fea4ab11be07b150a965f77a30f9cf90c7c4b0ac210d77ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c7e08d71cc8461400371db7ab21f52d95a1ad149a77bfcb3299561a1c397a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 5.318 s

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

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4091, -0.0139, -0.0307, 0.9993, -0.0227, 1.4952, 0.2153, 0.6273, -0.0277, -0.012, 0.6947]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1756 left_yaw=-0.0007 left_pitch=-0.032 left_roll=-0.0002 left_gripper=0.9993 right_x=0.324 right_y=0.0011 right_z=0.0081 right_yaw=0.0034 right_pitch=-0.0854 right_roll=0.0048 right_gripper=0.6947\nstate[joint_eff]: [-0.2803, -1.1419, 7.1179, 1.7314, -0.0317, -0.0415, -0.0122, -0.2803, -4.3145, 4.6838, 1.6777, 0.0073, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4248, -0.0139, -0.0311, 0.9993, 0.3347, 1.4982, 1.1877, -0.5053, 0.2176, 0.1925, 0.6976]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0004 left_pitch=-0.0542 left_roll=-0.0 left_gripper=0.9993 right_x=0.4069 right_y=0.1049 right_z=0.1811 right_yaw=0.037 right_pitch=-0.2243 right_roll=-0.0269 right_gripper=0.6976\nstate[joint_eff]: [-0.2256, -1.6889, 7.0906, 1.7216, -0.022, -0.0317, -0.0122, 0.4444, -7.0222, 9.8256, 1.8437, 0.3346, 0.1538, 0.4713]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4271, -0.0139, -0.0311, 0.9993, 0.4328, 1.7195, 1.079, -0.292, 0.2584, 0.2386, 0.6995]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0004 left_pitch=-0.0565 left_roll=0.0 left_gripper=0.9993 right_x=0.4123 right_y=0.1447 right_z=0.0815 right_yaw=0.064 right_pitch=-0.3234 right_roll=-0.0653 right_gripper=0.6995\nstate[joint_eff]: [-0.212, -1.347, 7.0085, 1.6825, -0.0366, -0.0317, -0.0122, 0.335, -8.6906, 6.1744, 1.8486, 0.3736, 0.2515, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd6bc7afc4d8e8f89b84956f0bfb2fc97f60a94c420790a95ebf0dab24cb2e48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33c110e57923da9fea4ab11be07b150a965f77a30f9cf90c7c4b0ac210d77ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c7e08d71cc8461400371db7ab21f52d95a1ad149a77bfcb3299561a1c397a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e1829a353ca7d20016ab430ef8b3087d0910c55bf9c18cbe9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The pear is lowered over the blue bowl’s opening. I’ll release it, then withdraw the gripper to check where it landed.\"}",
  "call_id": "call_kteK2p2r1y2Q9XCvD0BKyuLi",
  "id": "fc_0e1829a353ca7d20016ab430f20ca087d0a3a3f669237b4981",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kteK2p2r1y2Q9XCvD0BKyuLi",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6147, -0.4274, -0.0139, -0.0311, 0.9993, 0.4358, 1.737, 1.0698, -0.2882, 0.2539, 0.2356, 0.9961]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0004 left_pitch=-0.0568 left_roll=0.0001 left_gripper=0.9993 right_x=0.4092 right_y=0.1456 right_z=0.0712 right_yaw=0.0698 right_pitch=-0.3462 right_roll=-0.0723 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.3197, 7.159, 1.6679, -0.0562, -0.0513, -0.0122, -0.4855, -9.8667, 6.9949, 1.3553, 0.1001, 0.0269, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a37c511d448b2a4ff3defcf9e829e8053c8aae62180d9f715c741c5889f5212",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e294ac236dc46a31913cb042cda86ae445b08e2db1e7625bd9d95e826cfbae43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8349c23931618919470abd4904b5683ae14b8496706545825a46b0eb631d094a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 4.333 s

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

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4198, -0.0139, -0.0307, 0.9993, -0.0227, 1.0275, 0.5575, -0.2314, -0.0315, -0.0128, 0.6967]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1729 left_yaw=-0.0007 left_pitch=-0.0446 left_roll=0.0001 left_gripper=0.9993 right_x=0.3178 right_y=0.0019 right_z=0.1215 right_yaw=0.0072 right_pitch=-0.1341 right_roll=0.008 right_gripper=0.6967\nstate[joint_eff]: [-0.1299, -1.265, 6.9812, 1.79, -0.0562, -0.022, -0.0122, -0.2393, -3.8222, 9.2513, 1.7509, -0.0269, -0.0366, 0.7692]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4271, -0.0139, -0.0311, 0.9993, 0.4328, 1.7195, 1.079, -0.292, 0.2584, 0.2386, 0.6995]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0004 left_pitch=-0.0565 left_roll=0.0 left_gripper=0.9993 right_x=0.4123 right_y=0.1447 right_z=0.0815 right_yaw=0.064 right_pitch=-0.3234 right_roll=-0.0653 right_gripper=0.6995\nstate[joint_eff]: [-0.212, -1.347, 7.0085, 1.6825, -0.0366, -0.0317, -0.0122, 0.335, -8.6906, 6.1744, 1.8486, 0.3736, 0.2515, 0.7692]\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 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4274, -0.0139, -0.0311, 0.9993, 0.4358, 1.737, 1.0698, -0.2882, 0.2539, 0.2356, 0.9961]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0004 left_pitch=-0.0568 left_roll=0.0001 left_gripper=0.9993 right_x=0.4092 right_y=0.1456 right_z=0.0712 right_yaw=0.0698 right_pitch=-0.3462 right_roll=-0.0723 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.3197, 7.159, 1.6679, -0.0562, -0.0513, -0.0122, -0.4855, -9.8667, 6.9949, 1.3553, 0.1001, 0.0269, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a37c511d448b2a4ff3defcf9e829e8053c8aae62180d9f715c741c5889f5212",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e294ac236dc46a31913cb042cda86ae445b08e2db1e7625bd9d95e826cfbae43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8349c23931618919470abd4904b5683ae14b8496706545825a46b0eb631d094a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDD4iY5U9weCx1PUwjdOo-2g3xwuUStTb0GTDLRtCoXP807Ee1WsI1sekzlC8FLSk0S5ANjasnqjhu8ebrPtb53ReaUV-tw87KIo0yocfoLXnFb_yVlCmRIq9Ay5F8Qtz7MLo_6jg53zTyRy5s2-l0N2qW-Q75D8H1R-g2w0pzUIwDvbf2IuNFXkv_hAZhO-eRLGl4MlU38qQTQRVUXJ6Vmvuw1fVTSyJ-1hDHQKA4wJnMgXXUqHz-Y60RKYNAGb1tCZLIuH4JQgumiT9BXuC2UdzYMthh2-axWbMdF3g4RbyjPZqHXi4cqDZsI1HdxNVOVe2gLoQWy5UdOeboLdI0QspkQeRNf7Y-LVTrZmgolpZzR5CTKeJakx2b8mjCmdlZm46_e41NUVOsJm8EwIGDyeaFQNUYaPeLFras7clNX8mL3KhDH9HbCgMKOEGeW8VMLjBVRw54HvWsSnTVHljqKtt2pSJKJkmSiNXM-tWNQPs3rWJuMLeRq2T7A36vmXYz_lCKpIDK_Z9sXFDzT53vFpw1FIN9lRpdtj2gKkyXdjWDmi7uaqlIehlecZsZn2lF3UwlxCuuS1YQI4cFxDFZ7wMukInHA5A8qVr6BmhIYhaJ2iIYboJlbXiriBy3Baorlh6HMIIeS-a9bQsOM89WtaeIxzkpDsXTp-inoLawxw3XvCz722zicLd_PLRSZ-jZSxFVUB5g6OZjVdSPGlluae-VxEyK1xeYKHBrAgYXy3GWH4-4xxYpZyT41PDRLZguDM7-ndK7z_gCHISzqQ8CoGdPMIVQPRCFGaX9T9aCBwyYh_-A0bV1Cnyud-YW5JE6o8ur1AAqJiabhOaTHNS4Qc2b9t3kraQ3YUMyoZCXzElJ7heiA0saZJt9ia2FcPvX_LX3_hhL74leW_cxryW8AQnD7KyejEUQCUSEN5wygv6yp--xqTsAFbHTAXuJcROG3-crwXo-qkxCKLNLXo_gYlMNcvLfXX-R6xBWvnJzsi56BDLtkT60r2rWf97yPUXWinnXEs4jF9Iz-BxXSumadxkRTJo-R5grReasWKDzMm8-WHYXPwSnc-RVvjS3eMSbLTs0W5q6qg-Plm5ENrCv_A25GSRNEAgHFyEoilVBVvzGH837VqqUN8A-ZyJnuuxS0s2_155podGAVbbuOWtZgrqHiPK8tPI3vh4S99puj5KDZvzM6FK_KuMuA07dNMwZjhcnuQR8K0y7lI6E7QyKIqgNQs16XgljFzW8mJZCLALjP2eag4uVTiDWmUGtqhB2VCSJgCit-dSp3KcxrDhKdU25VEurEP3WZNFV7Ev-elA0J29aJ7s58At2NWB592QknygPzKCAUpD8KY_hdN2HFQbJWVvOVGHa4ocTyUo1JpvPeFxLRoOYaY8Gu7EZawUtnISFX5Bk6OFOJXR0dj_YB_YLZf2xTaMbAint3FCCWj6mVwZoywYBpdyOn4yCSqn9LMyeq2YXLcbBReDYKS6lr6Wefz7rfTFbsPMadkuYZvmoAR1ZZd8vuUTa1ziefCrX6P4_nlLusNedyWgDzAYGcA5cSDpU8jIgucZt5YmIzdXuXe5NMgw0SAzd4rGpTk0eu7KvRnA8NxvjQd4qA8NA8KtWPH7H53SXmdy8PztLlcM6YF8ySTqgOVwu3bCOcBXL5CYL_TErhQa_h_-VJC2javX7O4fRJCb0M4mYOP4aSdcJ2LcoaqMBIJ6n4nreVwC0XAY4asV_nfNWafznk4Gw9cOB1-OG4EHxwWjSNGSG6TCBWofSJH-eNCUmu14q5cSVH5JLICpQofVkpoh8ccQkjJdp-mY-kn20sUojh0Z9IwjznXKY7F_U3zfW2a2MfmcRsuNdf_T3ksokePkwt0j8y6Bg3QwO01A7V27LV4k3BRobRnCfhsCqnTioX6Mo-KauhNnSWyHDdPVwquYDsAinZ01enh1fpX1lyY-Jai94iYDbugAqhs0ffyIbFdCviXgj7Bcx_a0w1PCKayL7iIE1bcpGiNtaX2EDz9_jGsC2N9vEs4XFV6AuBoI0D9dEPjYEj-5lY7aJ9OQ_sxscdNJpXE4uQxVQfgttL6GBzAwDAdbp5b-AQ5g-5DJAXayy5ccteXPiZgdOa7SfllEvyL-E55AE332Sj6YMNMqfrEe0fb49QK6xY9OEW4UGwOOrwn9WLjELQx3alKfv3HBR_aXMzvNlQ0ceLuYu1eFK9qpyfySdyPV8iY585b4FWbMST6kUGtU-uFd-lZo4XvOiMlOQH-B0KHNo0St7YFcdTnJxstM-H7TPJK7zxPfufuzQYsTexha0PnPMU0s68xtNFOUvIMIdlb7XkaFOq0xstt4at5HfnYfSgFobW160ZT2XPx_V9Upsu3lQNOHb8XC9TGY0LIzjXNRb4XMYinJ6h5s9eKBS-EZ2TMosB6nAbNNyN8EZf4MLlOSR6xGVpYGBHffDsVGYEwcsg6NBBft7EzmioB_MobtteuEmH8AbF_69wfEOtBENPndRxliCRHRlmAd52xBFoWeCWAOqKFdPls-G3IO-6x8JFRFWlGOWyZnDjeMJj9-P89QVI4XKGALbD1BXpVkJMKd-YuA88dL4BcCzehf0X7IzsdyWszulOThvPWfHoPsRltBi5OPef7SZQlqk414AXU60h2h3ZFebVwMCHqvDr2Pqzih95y0SiSE1E1tN6MHuv9y5GNKebxUuflvYSU0pyJmrnnYgPd9u-l-nwfGzZrVKIRSaFa6X8G7dV6-YqmqgMB5IIHhAmjx8_wa8OkD_uVearP4W7e-YXTjEqKCcgq5UOIQsLn9Ovvo_tyDxyCgq32LtWwQRyRiZ52bdVkJaHJT0HRMR5nlsM8aWUuSDyoVSB1Gma_8taWOWn40v92QIB5ECrkgxV4q5JGyJb_9OhIpHM4b9ZJd_Wk3a51Mqprk_R1IRKkDQKwsfzQw9pzk2asrKo1ldyzzaT3x3A0Po3sHL53hy_5Yo_1KQbWnCHjviT8yD7GtPjDTdY2GpYvAlZnM9SLyWWWAK4cTuwRSUWKkMbWUMiZgO-bY-Nq01n9dXyr8WC3pXrjo3TG9F7iD3HxVRpPyev8_I5KyvLpZ2GCAPU4CP1HYgHV8koht__RwwgITf62cRRxNH7Nux3Yc4PcMrui4MDA2P631oh11W_zyhnuk8uXaPnchx7pb7QwEzHP4uncstpEwdIO5bzYdZW8xrAF8roHmMYl5MTp2gjJkkOeTJitwu8gZxYIjgo=",
  "id": "rs_0e1829a353ca7d20016ab430f41b0487d088872fba06350d16",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.185,\"right_z\":0.12},\"note\":\"The pear landed on the table just left of the blue bowl, so that placement missed. I’ll move the open right gripper back over the pear for another grasp.\"}",
  "call_id": "call_PHMz7k1nuv1jwd5GSoCaY2gY",
  "id": "fc_0e1829a353ca7d20016ab430f786b887d0a076ebab6ab1aef0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PHMz7k1nuv1jwd5GSoCaY2gY",
  "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, 0.8127, 0.6147, -0.4316, -0.0139, -0.0311, 0.9993, 0.5137, 1.7882, 1.3109, -0.4732, 0.2699, 0.2665, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1692 left_yaw=-0.0004 left_pitch=-0.0614 left_roll=0.0002 left_gripper=0.9993 right_x=0.4236 right_y=0.189 right_z=0.1151 right_yaw=0.1171 right_pitch=-0.3358 right_roll=-0.063 right_gripper=0.997\nstate[joint_eff]: [-0.212, -1.347, 7.1726, 1.7118, -0.0659, -0.0317, -0.0122, -0.7043, -8.294, 7.3641, 1.1453, 0.4029, 0.2369, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22033b1bffd42fd4d6e95d90016bcaf101091d69c6004966e3a804356a83fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bec60e7093b49f48ea75c91b11241af78a8c4f977e615eb5f016201191b7258",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:578c743cb4c43f967b185b92b6e883fe8f0f37eeaee7a88eda11029bd35c5794",
      "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 · 3.508 s

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

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4248, -0.0139, -0.0311, 0.9993, 0.3347, 1.4982, 1.1877, -0.5053, 0.2176, 0.1925, 0.6976]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1707 left_yaw=-0.0004 left_pitch=-0.0542 left_roll=-0.0 left_gripper=0.9993 right_x=0.4069 right_y=0.1049 right_z=0.1811 right_yaw=0.037 right_pitch=-0.2243 right_roll=-0.0269 right_gripper=0.6976\nstate[joint_eff]: [-0.2256, -1.6889, 7.0906, 1.7216, -0.022, -0.0317, -0.0122, 0.4444, -7.0222, 9.8256, 1.8437, 0.3346, 0.1538, 0.4713]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4274, -0.0139, -0.0311, 0.9993, 0.4358, 1.737, 1.0698, -0.2882, 0.2539, 0.2356, 0.9961]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0004 left_pitch=-0.0568 left_roll=0.0001 left_gripper=0.9993 right_x=0.4092 right_y=0.1456 right_z=0.0712 right_yaw=0.0698 right_pitch=-0.3462 right_roll=-0.0723 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.3197, 7.159, 1.6679, -0.0562, -0.0513, -0.0122, -0.4855, -9.8667, 6.9949, 1.3553, 0.1001, 0.0269, -0.0415]\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 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8127, 0.6147, -0.4316, -0.0139, -0.0311, 0.9993, 0.5137, 1.7882, 1.3109, -0.4732, 0.2699, 0.2665, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1692 left_yaw=-0.0004 left_pitch=-0.0614 left_roll=0.0002 left_gripper=0.9993 right_x=0.4236 right_y=0.189 right_z=0.1151 right_yaw=0.1171 right_pitch=-0.3358 right_roll=-0.063 right_gripper=0.997\nstate[joint_eff]: [-0.212, -1.347, 7.1726, 1.7118, -0.0659, -0.0317, -0.0122, -0.7043, -8.294, 7.3641, 1.1453, 0.4029, 0.2369, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22033b1bffd42fd4d6e95d90016bcaf101091d69c6004966e3a804356a83fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bec60e7093b49f48ea75c91b11241af78a8c4f977e615eb5f016201191b7258",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:578c743cb4c43f967b185b92b6e883fe8f0f37eeaee7a88eda11029bd35c5794",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDD9CYhQxieYiV6eYjEQgqjyV8weDOXrY2cCHN4HiRnhop4X82p6h7VurhUxm0ATI8oo2r1o0Bpvn1Fabo2wapcKK4xVhhmnjCQP4x4aQWhS-gxnAKm1f5asK6362LlhtyYbl5Xxkh8Z1O3ZOtMDhFEHolxGfMAO4qREiktnbpcr7TAVYOubTEP6qb8eBTtfD0T5mK6QT2PZ9sw-R5bGQAwdDMNsavjHw5Uv8-PgJiUauV8jZogc7uXGcJwGVqSW8s5zWaNSEjhsuqXF9-TaZ69ShDKiUZtGBB-jHWKsmPnr5bc1MkuTI_xz4aqB5QVgjpP6txmKAEOH6aRepI1gbSoM_NVtMblZ7LoOuGmP6vh8SNM35reJb7zw0u0y9zLHi15MFfZGejHnjEsVqqv0I0NCpajHldxSFUn-JAhc80rgaXaBkNVgRH09f6CzBharV8iOQCvcWAhqnogwtrFx1tr5pVK6qlg6ILYcphbl8Q3Tv77n4eFBdpfsr0oe8gZKqQ0ieNI9rFSQ-m85Quu8NoNfJbBBEfsYC9aeOKWgdRrF7pspcMLMlD5ltwe5A-HaFbuq-TmxDMwwTQEnBinyH2raHVqLKZYy2-VCBgaDHHkqLD2emQHWYL47czgaj8PucCIeAr_PZDpxcfC-w4CJr2z8cbkfLjAHR-CfnVESWmqMR2r5_3iumJA18yfOqgFyUNOUV0Y2ur6_9etibz5qytNFLtZHTcLoJk_meP4pINuGwi5fTURJkTt1MgSs0FtmhPHIDXtJZ26zd45aA_yjcoHE7f2FjreUhznyarEXwSwPsNFFqcbr9ihgcAkZNaVeqAh3hZhWYHO0EXdVVa-bt3krpkOQcQsrXoCCUeZ--N9KMXrY0C8xywt0gFOTKs5UdoKkGqdxEJfMffHnP92MjbhfOK_EkchWAH-HIOQT--LVzU4mcijdhjABO3v9V-tK9B5Rs3QolhTb2f15B38lfK0oU7WCb8J7WNbOOkpH6TPAe-6IJ04eX31bUEURoObVDO9qBobNnyOxQtV8cEbMW4esZtEo-AuXzarsn9dUn7C1ccncRh1sUM-lkHTrfC5VdGMjbqmx41XGmiSsm1-hFDfxwdobhbFmwabQfKagSpsLc20wUtpvQATnDJ6hkwssysFbOHAvgcZlu118KJqrd46W75AZEpl4DENkCZmlsf-BjcqeNZBcb0tof9LEbi9FMjxac2C_jjxHUvIr4YxgeMRlPY55Uujkae-XPPn4fjJkjvNhfsywvUZgxasc5Mj_TMNvAhpuQvYuMcFF_5RG-pBU1GwYCavksT2bou7nZHQRSCbIXUOlxmNj7BheCIUYaIptG3c-6OtsnMhqFlLcUoX1jlDnZS8nX_1c1tZeg6ksmTKMjgqOAoZWAqzsPBzTGUcL3rjBv7g9Go0BnigTVGJ51YTeCK-oXeFWBFhEufS26KcPm6lJBAosVe2nN_mDH34vNNAr_7PaXXH_5CuSyYcY1kCTZqE3KqaGKxoqnQMbjUn5AZCUjYia7ueRTkkqdcGeh6CMF7L8pWnaN66609EO9zT3L_81FXKJwBuMVwT8co2bv_d7UCJwZDq6_RMzhmnIFL9zd2Z6UX0WO8X6r6ke0MoD0B5p4OylTqUvCe7Hh14=",
  "id": "rs_0e1829a353ca7d20016ab430f9da7487d08f6926de1cdb7f06",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.163,\"right_z\":0.035},\"note\":\"The pear is now in front of the right gripper but slightly to the camera’s right. I’ll shift the jaws toward its center and descend to grasping height.\"}",
  "call_id": "call_SDQIiSogv9q5nOu79URAhHlf",
  "id": "fc_0e1829a353ca7d20016ab430fc29bc87d0b69942eaf695694e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SDQIiSogv9q5nOu79URAhHlf",
  "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, 0.8135, 0.6147, -0.4343, -0.0139, -0.0311, 0.9993, 0.4404, 1.8832, 1.1492, -0.2012, 0.2375, 0.1974, 0.9971]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1685 left_yaw=-0.0004 left_pitch=-0.0648 left_roll=0.0002 left_gripper=0.9993 right_x=0.4384 right_y=0.1647 right_z=0.0493 right_yaw=0.1125 right_pitch=-0.3331 right_roll=-0.0767 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -1.4017, 7.1043, 1.6825, -0.0171, -0.0562, -0.0122, -0.9504, -7.9248, 4.7521, 1.16, 0.0366, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37835175f4a09b9e3f2db3ab326dac3e64590e55e8d8debfee8544b636c576c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8245695cd44a0529a034676edd878f7dde0c4bb27be8ab59a066012cef2802",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e098ce960f56fe21f77cb0a129de6bf432597f1706897f26446e4a41623edb",
      "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 · 2.823 s

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

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4271, -0.0139, -0.0311, 0.9993, 0.4328, 1.7195, 1.079, -0.292, 0.2584, 0.2386, 0.6995]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0004 left_pitch=-0.0565 left_roll=0.0 left_gripper=0.9993 right_x=0.4123 right_y=0.1447 right_z=0.0815 right_yaw=0.064 right_pitch=-0.3234 right_roll=-0.0653 right_gripper=0.6995\nstate[joint_eff]: [-0.212, -1.347, 7.0085, 1.6825, -0.0366, -0.0317, -0.0122, 0.335, -8.6906, 6.1744, 1.8486, 0.3736, 0.2515, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8127, 0.6147, -0.4316, -0.0139, -0.0311, 0.9993, 0.5137, 1.7882, 1.3109, -0.4732, 0.2699, 0.2665, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1692 left_yaw=-0.0004 left_pitch=-0.0614 left_roll=0.0002 left_gripper=0.9993 right_x=0.4236 right_y=0.189 right_z=0.1151 right_yaw=0.1171 right_pitch=-0.3358 right_roll=-0.063 right_gripper=0.997\nstate[joint_eff]: [-0.212, -1.347, 7.1726, 1.7118, -0.0659, -0.0317, -0.0122, -0.7043, -8.294, 7.3641, 1.1453, 0.4029, 0.2369, 0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4343, -0.0139, -0.0311, 0.9993, 0.4404, 1.8832, 1.1492, -0.2012, 0.2375, 0.1974, 0.9971]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1685 left_yaw=-0.0004 left_pitch=-0.0648 left_roll=0.0002 left_gripper=0.9993 right_x=0.4384 right_y=0.1647 right_z=0.0493 right_yaw=0.1125 right_pitch=-0.3331 right_roll=-0.0767 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -1.4017, 7.1043, 1.6825, -0.0171, -0.0562, -0.0122, -0.9504, -7.9248, 4.7521, 1.16, 0.0366, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37835175f4a09b9e3f2db3ab326dac3e64590e55e8d8debfee8544b636c576c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8245695cd44a0529a034676edd878f7dde0c4bb27be8ab59a066012cef2802",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e098ce960f56fe21f77cb0a129de6bf432597f1706897f26446e4a41623edb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e1829a353ca7d20016ab430fe82ac87d0b5f934352fee78bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.138,\"right_gripper\":0.0},\"note\":\"The fruit sits low in the right wrist view, within reach of the jaws but still off-center. I’ll make a small sideways correction and close to test the grasp.\"}",
  "call_id": "call_foMfjh6hP1dynb3Z9JJaJ9Pn",
  "id": "fc_0e1829a353ca7d20016ab4310054cc87d09a95d280c1aeaf93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_foMfjh6hP1dynb3Z9JJaJ9Pn",
  "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, 0.8143, 0.6147, -0.4423, -0.0139, -0.0315, 0.9993, 0.3782, 1.8809, 1.1049, -0.1875, 0.2001, 0.1387, 0.0117]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1667 left_yaw=-0.0002 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9993 right_x=0.4357 right_y=0.1392 right_z=0.0351 right_yaw=0.1132 right_pitch=-0.3714 right_roll=-0.0925 right_gripper=0.0117\nstate[joint_eff]: [-0.1299, -1.4017, 6.9538, 1.7753, -0.0611, -0.0659, -0.0171, -0.4718, -12.3692, 5.4496, 1.536, 0.0806, 0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a929c80f7fe5ede425b3f204e1af83fe5ca76ddd7f6b716f183b65a513eb5b08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea9c27ad048f03f364890e5de804b45759fd6a4d697de53f86060b98a0326c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db66ccc866b24a10079716ac3ab770951af2a65ef82dbb09b22a79e718036e7",
      "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 · 2.399 s

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

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4274, -0.0139, -0.0311, 0.9993, 0.4358, 1.737, 1.0698, -0.2882, 0.2539, 0.2356, 0.9961]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0004 left_pitch=-0.0568 left_roll=0.0001 left_gripper=0.9993 right_x=0.4092 right_y=0.1456 right_z=0.0712 right_yaw=0.0698 right_pitch=-0.3462 right_roll=-0.0723 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.3197, 7.159, 1.6679, -0.0562, -0.0513, -0.0122, -0.4855, -9.8667, 6.9949, 1.3553, 0.1001, 0.0269, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4343, -0.0139, -0.0311, 0.9993, 0.4404, 1.8832, 1.1492, -0.2012, 0.2375, 0.1974, 0.9971]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1685 left_yaw=-0.0004 left_pitch=-0.0648 left_roll=0.0002 left_gripper=0.9993 right_x=0.4384 right_y=0.1647 right_z=0.0493 right_yaw=0.1125 right_pitch=-0.3331 right_roll=-0.0767 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -1.4017, 7.1043, 1.6825, -0.0171, -0.0562, -0.0122, -0.9504, -7.9248, 4.7521, 1.16, 0.0366, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4423, -0.0139, -0.0315, 0.9993, 0.3782, 1.8809, 1.1049, -0.1875, 0.2001, 0.1387, 0.0117]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1667 left_yaw=-0.0002 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9993 right_x=0.4357 right_y=0.1392 right_z=0.0351 right_yaw=0.1132 right_pitch=-0.3714 right_roll=-0.0925 right_gripper=0.0117\nstate[joint_eff]: [-0.1299, -1.4017, 6.9538, 1.7753, -0.0611, -0.0659, -0.0171, -0.4718, -12.3692, 5.4496, 1.536, 0.0806, 0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a929c80f7fe5ede425b3f204e1af83fe5ca76ddd7f6b716f183b65a513eb5b08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea9c27ad048f03f364890e5de804b45759fd6a4d697de53f86060b98a0326c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db66ccc866b24a10079716ac3ab770951af2a65ef82dbb09b22a79e718036e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEEl_EW82OXJlcyQyLrXg6-jn9XE_3AZ24IwhUzsO2-CINj070tjjO2k_02trRb16mtBpTDLUkPuilwjvXFytsCNcQrQX7zXNSfBuj7qmRetRnAIs4XxDafDRzH4p66jfBX9X014Z42BJ7JemIybDjsNjKErzmdK_RR9wnotgfQCPn7gI1n0E0LPB8-aMN0NUmfSj8Y_aWzRlT5DdR0pZ3Z5ktaZWAYLC8oEVjQ1eKTbz2edsr1_pMXZbzaG5wCxeiLv05d0yIFoZ1bltF6ASPZl8WWRRyiMNby4zfmRvMTya08bEt-ekFcqVLMBK7rJLtAaXpPsGafL9cIaW9aEe_wnYaG_sSCERtn8jglw8Qc6blSQJg73-zNOXpDXBoht6unnRGRu2Mm09zi528gDfUaEvNTqqEqcmn3mS5LXzanKhCpxQIYth8e-Z6G3vhAzE4_6BCgZPBb0CrlGXmmn3ciamHHgdOe8ojC6CLot6sv9r44qWi17-cvynKBSrXRP7KRXMeeNRGGTsOFNSGeH3CrGtXP8lq-POG9YpDdkwJvgAPSUw59FYXD-hW8s6__GPOBfn7pLyBxVWjrPfOgDT013EH5lYxAsX_ICg7Ym7MrvkesSjzDqAgdGb7pXz2mMW9cAqMNHiuDOwTC-H_N1v4M-GJm6x8tZa-siVfGpyMrJxnBhjSwb2HwoeU9BnFzAeqinj_4be-TEG51SfIPSZosBSfRLHncoN9OOVi3O53Qdhghu-YQpA_aV9sridediX2ZehLGRUOZCIEkQrkKp1mAuVASGLZtwfz-Zd0-9lZrletyE_qouoohcdMsTSnaoJrP_Yjfg-mQUp5Bx_2lRana9nRXbKMOcwFOYuIfcyb0xGvx19xJbsXKVh8Q_en_cnYGPKbYfRh3nrDvW7rhSBSYKMQXhM0v2PPBSyTi-V53eZVpNNO2ThMTHEvJzOsHsWO4Qbe0yh8--rTJD7KxxPxZTX8apqME6Sh7Ot1TkhwjJY6SMotPnsHKToqe8wAHCNH6S97aRxUFXvfVLY1kK2NPLgyPuQANPC4CqGpJa-s6yJmfN8Hy_Wf6ANdUfQs2foB9_gStqKLblR7OFRBktsb0k4B3B1hISwiZ6uymYxRqlvUFFATlqQAB_sy8OONzqcCCy2NLVhlcbfFJ_e0KTyxDeM7Rq53oI5oTx3NRMqVDN_Ez54TH_dDzgpQvyRrldOeyg5EThYD_1COenq5QktcLuN_lAdRX8-SLb3V51tmV29dPPWo9prcSwiwDIqcrhWC5UEzyCP2-bytM7o0vlMot8hYlAK6ZrbGpvezyaElV0dG0DbM-MteDaNHEm_I0HYMk57y6AJJsmR5o4vXuRtuPyizVT-vtcCr6ds7X1AaSZJLsrjspAdPorL15LI0BWra4dlBej6ZMDoTZ3mPY-z67D41XnEAK8t486yKCUo2OKM2ntiQ0eFkB7sGYAibroHnvvSGnn6FgofHpyw3fhLAT0oLFT6aIreDCNXIuKBEQnYuQxammDpAi0fjpIS8H0mpxC6OvUaRYMS5bTh-5LZbj_QKb_1_jCMWpnO2X-vCmFie_wxgK3FniBD3Ql57lueF-lhGUOhAvu7qYsn9ThLNbu_rxaA01A-xgOv_jAplfezaQ9thTb3Zok73T4uPmjiYZrUAwZmx79f4Bkt8QW4DtMX8QFXdDX9LKEB38Kkq4Bk2RHMMpxoJyDXMSv3vgltqNwJzIopL1bgqm57tmDPV-_bC_6SO1M1Npl_5lr_gKX05QBIfbQ9ARaP4VyNRR-soa_juKBZtMPMKrl6fAbCT-qhhe-8dPEmx7QbvitVpLBvH5gssKrWvt5oQt7evn3S73ZG0Qjf8wYlhT6nlkqclO9bG5v3ichzVmnl6Jkh4pN9g=",
  "id": "rs_0e1829a353ca7d20016ab43102f39087d0871a7e5d8cede50f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.19,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The gripper closed empty and nudged the yellow fruit sideways. I’ll reopen and reposition above the yellow fruit rather than repeating the same grasp.\"}",
  "call_id": "call_gQdvdJbznhgx0stfF8Qd3ZdA",
  "id": "fc_0e1829a353ca7d20016ab43104346887d0aba968cb1ec7e155",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gQdvdJbznhgx0stfF8Qd3ZdA",
  "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, 0.8154, 0.6147, -0.4492, -0.0139, -0.0311, 0.9993, 0.609, 1.6398, 1.1652, -0.5541, 0.3042, 0.308, 0.9954]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=-0.0004 left_pitch=-0.0816 left_roll=0.0006 left_gripper=0.9993 right_x=0.3618 right_y=0.1922 right_z=0.1125 right_yaw=0.1473 right_pitch=-0.3933 right_roll=-0.0992 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.2513, 7.0359, 1.7705, -0.0757, -0.0269, -0.0171, 0.294, -8.9778, 8.6632, 1.1111, 0.3639, 0.1636, -0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6483a807590354d29ba476129a394dc6b95aa7604ca7562c76b88d324f99edff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38e0cccc575db71e8951d9f0005ba38c45fd944991390a096a4ed4a6ef2c3d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45bdbb80c9f90bc8359c2fd0d8bb445d1bbfa2af6e7dc9eb5b37087c61f482cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 2.169 s

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

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8127, 0.6147, -0.4316, -0.0139, -0.0311, 0.9993, 0.5137, 1.7882, 1.3109, -0.4732, 0.2699, 0.2665, 0.997]\nstate[eef_state]: left_x=0.2901 left_y=-0.0003 left_z=0.1692 left_yaw=-0.0004 left_pitch=-0.0614 left_roll=0.0002 left_gripper=0.9993 right_x=0.4236 right_y=0.189 right_z=0.1151 right_yaw=0.1171 right_pitch=-0.3358 right_roll=-0.063 right_gripper=0.997\nstate[joint_eff]: [-0.212, -1.347, 7.1726, 1.7118, -0.0659, -0.0317, -0.0122, -0.7043, -8.294, 7.3641, 1.1453, 0.4029, 0.2369, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4423, -0.0139, -0.0315, 0.9993, 0.3782, 1.8809, 1.1049, -0.1875, 0.2001, 0.1387, 0.0117]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1667 left_yaw=-0.0002 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9993 right_x=0.4357 right_y=0.1392 right_z=0.0351 right_yaw=0.1132 right_pitch=-0.3714 right_roll=-0.0925 right_gripper=0.0117\nstate[joint_eff]: [-0.1299, -1.4017, 6.9538, 1.7753, -0.0611, -0.0659, -0.0171, -0.4718, -12.3692, 5.4496, 1.536, 0.0806, 0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4492, -0.0139, -0.0311, 0.9993, 0.609, 1.6398, 1.1652, -0.5541, 0.3042, 0.308, 0.9954]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=-0.0004 left_pitch=-0.0816 left_roll=0.0006 left_gripper=0.9993 right_x=0.3618 right_y=0.1922 right_z=0.1125 right_yaw=0.1473 right_pitch=-0.3933 right_roll=-0.0992 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.2513, 7.0359, 1.7705, -0.0757, -0.0269, -0.0171, 0.294, -8.9778, 8.6632, 1.1111, 0.3639, 0.1636, -0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6483a807590354d29ba476129a394dc6b95aa7604ca7562c76b88d324f99edff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38e0cccc575db71e8951d9f0005ba38c45fd944991390a096a4ed4a6ef2c3d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45bdbb80c9f90bc8359c2fd0d8bb445d1bbfa2af6e7dc9eb5b37087c61f482cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEIiyGg3BcySbLhFMtFDIDp0PsEsIVwUsk-NFuFTh29_wZL-U3b0tgi-ykBsVP1W3i9EVIBySuXrMEtzsGRyPU_rdhRFG1c7PVRROJMhvFYAOMw7k58XCHP6xB4QjdHzQxKwGERHK8GskqmC5pIaCESArx_HpGthm_aI1fw6Onk3dLqB9QDxNC4L8TxfAJC3ExiaX_mEQuo0UprHjKswIYHe1zP3g2zl8FgBmV6_GYG-ChkWzB72g-iREBgn0KpcrzRWRYkOucuTc_HkVX78fCHsxr46_cWUVDCfOHglscsuPyeYNS7Ope3r3CRHm8aYOB9l7Wjd2Xq0eNuUgi5vkvuiM188oGsIkzsKrzxSlRZ98_TC5y7G_r5NUq9eWZCcDa7fsah92VA2UP1Ocow198AQZo03hbi1Rsxy5BihP-tljV_BkjVTLU0QLY0VW6iZjU3jpitZtHNV2xb-zrmOCBlkPvPoXIudQBqmAVxuRviS4r_fvzhYJbJpbqPr_83dj-LJB9PPx4HOpM2JkGJp7S1hlW6Mjc75s9jq6LisX3ezLEMZhecxM33NJ8PHPtkde-UigxzGaszpin8u_Rfn3totsNLzothL75pIMHEfR2gCP-BY3KPexQJiD0dKIJYEqAfoLNbYCN26px_d1AEEwwb82uD4GqnpSklB5HmnF-_dN5T11UXUV07ZOkYgOj80iiXJ1vsZfy0rJl7Xk_KyzN5zWb_xLzOXpKc2VzAPPQOuqG3kOfv3IvUfvf97O9i_7mH8Qk3FrOZsLily_bTyHGk9qT9bH82P-YbW8CvMPYZLxL2F0vpJfu9-6MJjDSCoYimUVFoOdm4pspP9PHLiMCE7Ws9WPc59evFeTsG-iOgoMkfLAmESR8nK4t_AlTUnVxUnWIBLe4KRtIxhP3OkBXmgs_Lk91XaCt6YpZdrzay-YkAFmhm0ZGE0lbbX_C2qeC3WkkzVXeUOwnw8VwvPlMAOR_LpQ0wYVdMhaXzn_P6YHkg38vbK-l9yxqmSF3MHZPxojpCAlBmzgczt_I0Riw25dJ0QBw7GC1zjN-hMU0_7DYX5PGqfhzWIWoFYLUl-wr-oD8KiMbZe_Q0YwpzCyk1j3-UwoWxOzV7OqnwySM2YyxlSVX-bMsmTi6aDmkhB_vrSiqxs7UJDWTH9vdgfESC5-2M2_jnQU5_ThYwmmexBQ6vjPqyvNRe8MjQkcLWcV-mO11yWr0RYdr1yvUrBTHizigwCr5dmS1m_XZlDn3RdjyQAXCgrejtbJE1zAaX_czPta6VvAZtVrgdRIGnVo-oor49vovuRYdu5pX2denDOoOCM-jgB36ttmv_IYSUS8JbTARvlm3_KZSaoDQo5QKJGp_JLGhBITyPurVyKxc6X9IPlf7c2wqf0WWlXPmZY3QjzpskXsV5QK5xVQ4bYOHCaf4DgD9G3CfuXUcjNkUWb-nMcxcTFuWKXaIhdz0pehRusHla6ejIDhIpTlgZpep17rZWcs1u7C-xfwh4-BdhbMd0C4qHhWbwHprOXa1TWE5BEvJIP_pbNjn8-GdLjmTvvCgPxNtbbwRpGjo_Ql_zHwESXWZLGm2tiRCUIX06fVb474_tUMbpb7ThPxwLJdkh1Q==",
  "id": "rs_0e1829a353ca7d20016ab43106c6d087d080ce730358af0387",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.012},\"note\":\"The yellow fruit is centered at the right fingertips, while the green pear remains off to its right near the bowl. I’ll lower onto the yellow fruit first.\"}",
  "call_id": "call_JyuBEwTdp1aNrIYbJSJLVv7Z",
  "id": "fc_0e1829a353ca7d20016ab43107885c87d0b50a359e6c957ed0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JyuBEwTdp1aNrIYbJSJLVv7Z",
  "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, 0.8154, 0.6147, -0.4503, -0.0139, -0.0311, 0.9993, 0.6113, 1.787, 0.9382, -0.2253, 0.2981, 0.3141, 0.9963]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0004 left_pitch=-0.0828 left_roll=0.0006 left_gripper=0.9993 right_x=0.3532 right_y=0.1885 right_z=0.0157 right_yaw=0.1422 right_pitch=-0.436 right_roll=-0.1126 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -1.265, 7.0359, 1.7021, -0.0464, -0.0562, -0.0122, -0.3761, -7.5419, 5.3265, 1.2723, 0.1685, -0.0806, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff56849af5752fa16ae24a773bfe175c050319260fbb19283ac58fe4d4a32081",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4bc998ec40027604bbf905ebba4a55b6940ff87d0676c96c2ee45d629d7aaa0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ce091b2d07a96cc8c175673703d7731db8602d3429fe48d1cdeb976766f720",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 1.743 s

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

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4343, -0.0139, -0.0311, 0.9993, 0.4404, 1.8832, 1.1492, -0.2012, 0.2375, 0.1974, 0.9971]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1685 left_yaw=-0.0004 left_pitch=-0.0648 left_roll=0.0002 left_gripper=0.9993 right_x=0.4384 right_y=0.1647 right_z=0.0493 right_yaw=0.1125 right_pitch=-0.3331 right_roll=-0.0767 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -1.4017, 7.1043, 1.6825, -0.0171, -0.0562, -0.0122, -0.9504, -7.9248, 4.7521, 1.16, 0.0366, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4492, -0.0139, -0.0311, 0.9993, 0.609, 1.6398, 1.1652, -0.5541, 0.3042, 0.308, 0.9954]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=-0.0004 left_pitch=-0.0816 left_roll=0.0006 left_gripper=0.9993 right_x=0.3618 right_y=0.1922 right_z=0.1125 right_yaw=0.1473 right_pitch=-0.3933 right_roll=-0.0992 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.2513, 7.0359, 1.7705, -0.0757, -0.0269, -0.0171, 0.294, -8.9778, 8.6632, 1.1111, 0.3639, 0.1636, -0.1001]\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 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4503, -0.0139, -0.0311, 0.9993, 0.6113, 1.787, 0.9382, -0.2253, 0.2981, 0.3141, 0.9963]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0004 left_pitch=-0.0828 left_roll=0.0006 left_gripper=0.9993 right_x=0.3532 right_y=0.1885 right_z=0.0157 right_yaw=0.1422 right_pitch=-0.436 right_roll=-0.1126 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -1.265, 7.0359, 1.7021, -0.0464, -0.0562, -0.0122, -0.3761, -7.5419, 5.3265, 1.2723, 0.1685, -0.0806, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff56849af5752fa16ae24a773bfe175c050319260fbb19283ac58fe4d4a32081",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4bc998ec40027604bbf905ebba4a55b6940ff87d0676c96c2ee45d629d7aaa0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ce091b2d07a96cc8c175673703d7731db8602d3429fe48d1cdeb976766f720",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEKe5vb2MxcGMRfkpCKrSopjjjtD04h2gkNIgNvsqX417DZru9oy7mpVsVNWufw02R7mgYVTVvq5cS0BkW6Ax7cPqLwO9gy_pQumjzPeRfyyYcrQMgtaHwAYysdD_5PfFs8NUeDJWt0KPaEQRNdKKE7lxp2oszeH7JaSuM3PJQ2CnXmqWwakdZt4_FvemZ9hGAyrZKu60qgcTAhBCWqn2_a-GVnz_WGjrqQ80WFNWiOTJAjU_69WLiK-W8A3Da058bs2X16rZCglSvAWgAJt4CQaLmpUbUW5HHxsuLnbgm06lA962m3S5dNPiBH_UkmgLYDHnCtVVMtsNozAbi2PousqSLjQqLwtiXTnkOboqNBow2UcuXZFYW_7QXtVcR_hyBk6klmMNPndt1CAwrcjiRz1IWEhCRTN-cvO4nyOM7DAk9rxG2OcTKQxA8JkLdmIgDN43nF51qiQzQPaojqkf9YH7lKdSxzmhvN_hrQymyIXp8_GeaLLA9u9lPjBITys024HTvpaEGToUMCo2XvMI1nIYlZTjm-VuKtoGbg6uQ62_AWnfg8AymBx4oNbiEgzK0Vpj817tkyGXR4SaRg9818UzUz1GM8gAKVjo0RsSn3h_B9DDqmirjfS0iUobt1t-7fCbhOij4L-LOJM-VC3WQr2jy0OGk-8TiWhy9ZdUSCPdTSznrGbHaKYdqo5mzXBoP32dxPdtTfRNZFVqIE2Ky-bgskNrIIMJsfJMIHJkjRtD_MlCtqAahLmCUPHCxWAUn-SScRdh9bkiKt3HFXVwFQSpZj8rZwC-yWAivmhuPCQIR-BCpNo9CxnNt6lLKhH9OON0e7i8NvHit7GU64OMcdTIjerNHYJ-eQcJpcvqpUgqfHW7SIZkCHeQqctiYG94qkSCCiKzawjtBcH3n2KR4gQrrsSD5NFeb69wc49NmgBSOfTtbUlvJf58g6AMvZRaLSrHJ1CGN0gfgiUmc_G-M7LOaLnH48Fx4FrSqRRbWNsVyux0mHeqwl9drRJVF8-LF6FBUg0my3mPaFmh6Pzu-_m4OIcShpN25GyfRRvhKA5ejoaX0fMCkb3YMpPS511g5uNI6OZixsIJbBK42RJ9M93SBuZ-K3jQXYaA71_SAq9UhtxocRlH8j2K4-hGxf3DaLi0_fHS5B7bJim1TC9yDtojPmCn2VVERvwNXnwvfS_MmeKBmDZq_E9QV7_7lN8BSP",
  "id": "rs_0e1829a353ca7d20016ab4310a1a5c87d0a2d70589177ab019",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow fruit is between the lowered right jaws. I’ll close and use the final jaw opening to check for a secure hold.\"}",
  "call_id": "call_JEGBeNbXF3q4ctOiSlmagiq3",
  "id": "fc_0e1829a353ca7d20016ab4310a3ba487d080e85905904c1144",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JEGBeNbXF3q4ctOiSlmagiq3",
  "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, 0.8154, 0.6147, -0.4507, -0.0139, -0.0311, 0.9992, 0.6113, 1.8084, 0.9234, -0.2195, 0.2916, 0.3069, 0.4904]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1647 left_yaw=-0.0004 left_pitch=-0.0832 left_roll=0.0006 left_gripper=0.9992 right_x=0.3475 right_y=0.1859 right_z=0.0034 right_yaw=0.1453 right_pitch=-0.4662 right_roll=-0.1264 right_gripper=0.4904\nstate[joint_eff]: [-0.2256, -1.3197, 7.1316, 1.6484, -0.0806, -0.0415, -0.0171, -0.0889, -10.0581, 6.7214, 1.0623, 0.1685, 0.0513, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe4d6c232e5ec5f06e7892037fc2c0d991a84f72da94021f6e2a37ac59faa4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70bac8d1cc36d69a04605a0c4596053de4585c4aff43b7e5e87c4198ee6e634a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5445d9ad664dafc7254cd27e1e495827c3643b9838819f0050898a7a47dfe7a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 3.26 s

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

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4423, -0.0139, -0.0315, 0.9993, 0.3782, 1.8809, 1.1049, -0.1875, 0.2001, 0.1387, 0.0117]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1667 left_yaw=-0.0002 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9993 right_x=0.4357 right_y=0.1392 right_z=0.0351 right_yaw=0.1132 right_pitch=-0.3714 right_roll=-0.0925 right_gripper=0.0117\nstate[joint_eff]: [-0.1299, -1.4017, 6.9538, 1.7753, -0.0611, -0.0659, -0.0171, -0.4718, -12.3692, 5.4496, 1.536, 0.0806, 0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4503, -0.0139, -0.0311, 0.9993, 0.6113, 1.787, 0.9382, -0.2253, 0.2981, 0.3141, 0.9963]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0004 left_pitch=-0.0828 left_roll=0.0006 left_gripper=0.9993 right_x=0.3532 right_y=0.1885 right_z=0.0157 right_yaw=0.1422 right_pitch=-0.436 right_roll=-0.1126 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -1.265, 7.0359, 1.7021, -0.0464, -0.0562, -0.0122, -0.3761, -7.5419, 5.3265, 1.2723, 0.1685, -0.0806, 0.0904]\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 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4507, -0.0139, -0.0311, 0.9992, 0.6113, 1.8084, 0.9234, -0.2195, 0.2916, 0.3069, 0.4904]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1647 left_yaw=-0.0004 left_pitch=-0.0832 left_roll=0.0006 left_gripper=0.9992 right_x=0.3475 right_y=0.1859 right_z=0.0034 right_yaw=0.1453 right_pitch=-0.4662 right_roll=-0.1264 right_gripper=0.4904\nstate[joint_eff]: [-0.2256, -1.3197, 7.1316, 1.6484, -0.0806, -0.0415, -0.0171, -0.0889, -10.0581, 6.7214, 1.0623, 0.1685, 0.0513, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe4d6c232e5ec5f06e7892037fc2c0d991a84f72da94021f6e2a37ac59faa4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70bac8d1cc36d69a04605a0c4596053de4585c4aff43b7e5e87c4198ee6e634a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5445d9ad664dafc7254cd27e1e495827c3643b9838819f0050898a7a47dfe7a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEN6C5qcf-FqZejxSXOvZGTSa8b9I9Jnku6HfqrRHlGYitnTByWOoA2REN4np8NAH3c5J2u5BcAvOmebLQNNZ2aXZFHZBde-pxkvjrpA7osd10Mw4BDG2t4kHybQSNRTnkyJFye9eJJTpQNCeLPl-AxxL6qNw4LD57oArfPsjjDwlJowJCeMZ_dgz1QjS8ZXBoVRwzMldC7NnXLsfyBOmOsxkLivDwa-FTyE9U4Fws6v1NA1WClSYQQXfaN0-bOIIeUcgsTUPqLxDGp-EOezShGIkBTz5H75fw8tKuM_-IB9-UpzDVIyhzO0lqH4W5JYSE5bJaGA42jQxU1wXpzWYpE9Ots7wF3iY8RPql2v7eXRZhUBhDJ5vS01Hcz761Ab82Q374trt85wrU3imA-7olt2si5RuRJ-On5mVZ-lP9ZMZr1Ila8oYKk9x7IAse9mvFqHucP1VOMCF7LjwFyTU5baPPv4WlMSkQFdv0SgggkRHRXoNhM64qJferOC0fsdcuSNys_iOKx1VBl3Pj-gQuZr9BSoxqv4f5yDXvAjKkDsn7s6xUC5Y_o3ruow_u42hFvNtEBsWH1trUm-d5C2c3FdSo9GBgTC6Q2M2CghYFfRIJkwnd1EOF0vY9HnkBX4vQSlSyKHRGCWjHWZbWCi6V7CzYN4Q6JTrdLP4N1C9ThQ3Mg4Bpc0xY6O5ieQoW1D7I5yx38Q2SnJ0Hj7Cvd_n8D-kOiqDD2wUwbgCk5WvHvA7SnmXgd_lgWEILLCvND3DHKC2pwJ5Aav6Z1TsXI9dxW77Zx_RGBEA3qwwgNs5zNLjeHAOwcT0MbTZBaSLLBsOQMLxhR2e2AWeYDKe-adXYXRNPi771r9oB_ccuboq9_N1FiMFEiDbn3bSbnbM1xSkhRzNvV43QuP7EmQR4e13AOqz2dTD0-kQDuljksvP_qfgP53WnqRAN7CXX7CAGLLwVs528F6mEmcThvKAgJ91H9F_52vyKvoibIbdtO4RaU78BvMasaJ_wpOrLBRpHyzxTKP5Y5fBZy7G2THYMfe71mbYFAqawvCFKY7eDXRxqj4J-YnavWWz20nWlgVPTP5sa7twIIjGnY5CBLPrWl4uNQE_-ymmQ_ABfCVKuQc2HkZjjbzmWYChpB0hJaMClpONmX6JmRgzF6-aTVzxwSoqILOr9yzYFJ6TMmXYvBYz-G6BBR3IANcUc51_70WybaLzoCjgbJSarpUa2pS9wqflYItA==",
  "id": "rs_0e1829a353ca7d20016ab4310cd89487d0bcdb7f6cd9929712",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The jaws stopped around the yellow fruit rather than closing empty. I’ll lift it and verify that it moves with the gripper.\"}",
  "call_id": "call_bupeMx5h9s9zNaV7yTJzwYX3",
  "id": "fc_0e1829a353ca7d20016ab4310d065887d0be62f8a3a48ecb2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bupeMx5h9s9zNaV7yTJzwYX3",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4538, -0.0139, -0.0311, 0.9993, 0.6113, 1.6424, 1.3651, -0.8368, 0.284, 0.3031, 0.4899]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0004 left_pitch=-0.0862 left_roll=0.0007 left_gripper=0.9993 right_x=0.3511 right_y=0.19 right_z=0.151 right_yaw=0.152 right_pitch=-0.478 right_roll=-0.1265 right_gripper=0.4899\nstate[joint_eff]: [-0.0342, -1.3333, 6.9675, 1.707, -0.0562, -0.0073, -0.0073, -0.335, -9.6752, 7.9521, 1.1502, 0.1685, -0.0317, 0.6569]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7a772ed2fcdb8b56b3fc9381b63d49aeb20a4e440eae015afe39902a98b8b32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dff02152df780e621e22e9789c87daa179021c23ee89ac8bd8576182a1bda67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f4bb7089e2a39d5b6d96ba6973ce228d440a3950aff71eef31fcf2c3466f71",
      "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 · 3.068 s

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

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4492, -0.0139, -0.0311, 0.9993, 0.609, 1.6398, 1.1652, -0.5541, 0.3042, 0.308, 0.9954]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=-0.0004 left_pitch=-0.0816 left_roll=0.0006 left_gripper=0.9993 right_x=0.3618 right_y=0.1922 right_z=0.1125 right_yaw=0.1473 right_pitch=-0.3933 right_roll=-0.0992 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.2513, 7.0359, 1.7705, -0.0757, -0.0269, -0.0171, 0.294, -8.9778, 8.6632, 1.1111, 0.3639, 0.1636, -0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4507, -0.0139, -0.0311, 0.9992, 0.6113, 1.8084, 0.9234, -0.2195, 0.2916, 0.3069, 0.4904]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1647 left_yaw=-0.0004 left_pitch=-0.0832 left_roll=0.0006 left_gripper=0.9992 right_x=0.3475 right_y=0.1859 right_z=0.0034 right_yaw=0.1453 right_pitch=-0.4662 right_roll=-0.1264 right_gripper=0.4904\nstate[joint_eff]: [-0.2256, -1.3197, 7.1316, 1.6484, -0.0806, -0.0415, -0.0171, -0.0889, -10.0581, 6.7214, 1.0623, 0.1685, 0.0513, 0.9646]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4538, -0.0139, -0.0311, 0.9993, 0.6113, 1.6424, 1.3651, -0.8368, 0.284, 0.3031, 0.4899]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0004 left_pitch=-0.0862 left_roll=0.0007 left_gripper=0.9993 right_x=0.3511 right_y=0.19 right_z=0.151 right_yaw=0.152 right_pitch=-0.478 right_roll=-0.1265 right_gripper=0.4899\nstate[joint_eff]: [-0.0342, -1.3333, 6.9675, 1.707, -0.0562, -0.0073, -0.0073, -0.335, -9.6752, 7.9521, 1.1502, 0.1685, -0.0317, 0.6569]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7a772ed2fcdb8b56b3fc9381b63d49aeb20a4e440eae015afe39902a98b8b32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dff02152df780e621e22e9789c87daa179021c23ee89ac8bd8576182a1bda67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f4bb7089e2a39d5b6d96ba6973ce228d440a3950aff71eef31fcf2c3466f71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDERj9tU1tj6WQJ71BUirXLHK5KL1sZIxN4Tr_q1b8CyqzlcWGlGoi71myWLh7OKdK0i54cEEOmnwvrW4uRXOHdkz6XTamHF0wunTYtoxCUqM9Wfvhtuf9zQtUOwLnS8tAZvAqP0HIbONmXLp5SfpYuuSiuFrcosJqIMd6JItQW2nJF8ShAkaL_GQP54wqWXQlwPKfRo2EmnmhLYUYqueqeVV5AYJDl_krayuV0glOG5xe8BGao5EeSlRdTbKHHKEON-8-o_i4fxPy5J9hr13O3kuNjonGX-Oz1O6cu9SwEyDxK8qeNoUm_f_ZE_Pd2_NZxqsjWwdu9vfc_d6SM_eOT59yk4cCUnlxAGTIICdCvD-1LJ4AbpD_UhKxR2bFpTLZifyhKXudJw-822XDjpX-FYs2C3pCwFdfxyG-GoDVUxG6-vRD8dQotVGk-K1Hz318PKIpuhj6pDK69eK3lOpoUxlbphN8IZoBf2MlkzoKFGAw0eHl1cYGVLKkDSmXF_eDo86uuLkGpAuytyAUnETuMuQn1L5uA9IqJNrBsXr3pxOW7m-VZWh-ePB-iDcfeNvssZa82RWxLPqnAZD93FZ9Nv6RJGPlo7NG3ysKpfTGUoaGAdZyIX-oPurkXmURwg45kmh0oTsOE5HSYpHMkdk-r-596Cgv7WA1MIrAf6T88BADMFYoQ82e5pEd8u3amoOzX9-DxYj1vYAITibxH7KRyT5xHfxE3BaE9bXLKf2u-VuNsdGZDh6g2wQ43M6QsaYmytqb_1Or836i9LrDUhXWuldAQi0o9oYNOHicjVtPlZKJLWwvbqqzrfZ-Zt1OHjDQKbhWcaHgTjNTWK_X9bvMtVO0eCNa2sRZ7qYaQBitcEAoe7QKk4tJ2F4SXURLjGmeqxfcUamaBvSOEI16KiUUfo4uBc-nyMrYHe3xfnvF30yGkj1m-wOSdWCR85U6d286gXAb7BL05GRPE86kTTaN_oJxQGpqNznNQsxOSudNqv1QNAUzUETJI-t0t2-fKyTAr5joWT8OYWxhdDoHrhvj0DWaBwJ2fsgHP_P_fssvcOv_0GLQQWCTYic9H8S93OeaDU1_wjOwlyU6vabD4D6jhO3DNkUxBxgwg3TXZ7MpDQUutiWcL5QI2wLCVfoKWbTXwto0tvmn26uQxa3xW6skRiYDt8Kl7QH8YFHyMASKLEDHV9mwo35QTYegCUAtyCxI7_ZJHkwelvcGXqcZsAiynNPaMRQnVdlCE_gf-fbCS9623_QkLPLkfpYOuKg0lN6rlu2ws3DWAOp9Yk8if8-ufV3L2RsJjJx0ugnABEL1-ewmxFO5Jqtgx4SMpx2e106ywJDeKMD2h2Gps5hn6Mbm_P7J5atQhcZzKpnmffS8njKxWqf0m7NxT5vfgvPiWNb3Ir29hDbAm0fMatzFWxH1lGLAZt0liXi6AnC7zmLGFPEuvBBvJ6fzIoP04oa1ZSlcjMK7iWL_TL_REecRKrme00ygaLymtV_3VyU5F5ez55dtPB7ofA1ggxxkDgefmuNnKe3g_fiSsLglaccCQFv_2Gb2tmABxLa382sxCNMcQxW2KpZkrOjHH7LwS8zXBxGTU5BXTO7lgYg3OkZRxWuoxnWd2ZyDPA6NQLxzZcXZ5332tjzP0SviswPwi6d3kznbnVc77ymW3s3JzSRWpWWyDOjM3jVLgLkOGYVf-ehxDq8DyrqWmYvJFgxP006xKEgRuMIRY6dzjofBk5M9TQp0bfY24XaAM9ODU9_ElPXe-Nkspb93yy8UlrCk-t5eYFSoWPp6fLdFTKuPPyYuSO1YJrykUMFafqHy2z60jCOVUUDQY-akUH25eOWL1zBnmdkov8",
  "id": "rs_0e1829a353ca7d20016ab431102d4887d08259f79cefde1c6f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.07,\"right_z\":0.16},\"note\":\"The yellow fruit lifted successfully; the green pear is still on the table beside the blue bowl. From the right wrist view, the bowl is well to the right of the held fruit, so I’ll carry this fruit toward the bowl’s center.\"}",
  "call_id": "call_yd8lso8OeB9SWYfCNpK3tJZj",
  "id": "fc_0e1829a353ca7d20016ab431114a8887d09b03709fa6077543",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yd8lso8OeB9SWYfCNpK3tJZj",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4686, -0.0139, -0.0315, 0.9993, 0.202, 1.7088, 1.4467, -0.8318, 0.099, -0.0471, 0.4919]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1612 left_yaw=-0.0002 left_pitch=-0.1011 left_roll=0.0007 left_gripper=0.9993 right_x=0.4155 right_y=0.0709 right_z=0.1497 right_yaw=0.1304 right_pitch=-0.5251 right_roll=-0.131 right_gripper=0.4919\nstate[joint_eff]: [-0.3077, -1.3197, 6.9675, 1.7607, -0.0708, -0.0562, -0.0122, -0.335, -7.6103, 8.4855, 1.2967, -0.0317, -0.1197, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7aa4e47cf70eb4ba5e6bc60e700b11f36cb49436dab1fe118db59e384cea01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bdab11cf1299135b62fdf0772d46eccb682cb918f03c291c3b9f372e42f22f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5ef6725b7f58e1faa99fe08caf06b4b6ee1dd97cca46a11ebf94b7aa14d983",
      "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 · 2.115 s

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

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4503, -0.0139, -0.0311, 0.9993, 0.6113, 1.787, 0.9382, -0.2253, 0.2981, 0.3141, 0.9963]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0004 left_pitch=-0.0828 left_roll=0.0006 left_gripper=0.9993 right_x=0.3532 right_y=0.1885 right_z=0.0157 right_yaw=0.1422 right_pitch=-0.436 right_roll=-0.1126 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -1.265, 7.0359, 1.7021, -0.0464, -0.0562, -0.0122, -0.3761, -7.5419, 5.3265, 1.2723, 0.1685, -0.0806, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4538, -0.0139, -0.0311, 0.9993, 0.6113, 1.6424, 1.3651, -0.8368, 0.284, 0.3031, 0.4899]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0004 left_pitch=-0.0862 left_roll=0.0007 left_gripper=0.9993 right_x=0.3511 right_y=0.19 right_z=0.151 right_yaw=0.152 right_pitch=-0.478 right_roll=-0.1265 right_gripper=0.4899\nstate[joint_eff]: [-0.0342, -1.3333, 6.9675, 1.707, -0.0562, -0.0073, -0.0073, -0.335, -9.6752, 7.9521, 1.1502, 0.1685, -0.0317, 0.6569]\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 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4686, -0.0139, -0.0315, 0.9993, 0.202, 1.7088, 1.4467, -0.8318, 0.099, -0.0471, 0.4919]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1612 left_yaw=-0.0002 left_pitch=-0.1011 left_roll=0.0007 left_gripper=0.9993 right_x=0.4155 right_y=0.0709 right_z=0.1497 right_yaw=0.1304 right_pitch=-0.5251 right_roll=-0.131 right_gripper=0.4919\nstate[joint_eff]: [-0.3077, -1.3197, 6.9675, 1.7607, -0.0708, -0.0562, -0.0122, -0.335, -7.6103, 8.4855, 1.2967, -0.0317, -0.1197, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7aa4e47cf70eb4ba5e6bc60e700b11f36cb49436dab1fe118db59e384cea01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bdab11cf1299135b62fdf0772d46eccb682cb918f03c291c3b9f372e42f22f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5ef6725b7f58e1faa99fe08caf06b4b6ee1dd97cca46a11ebf94b7aa14d983",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e1829a353ca7d20016ab43113e58887d0af031e9248b36799",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.02,\"right_z\":0.105},\"note\":\"The blue bowl is still to the right of the held yellow fruit in the wrist view. I’ll shift over its opening and lower the fruit before releasing it.\"}",
  "call_id": "call_oedeXOH6XNodi7sIcCFuPClW",
  "id": "fc_0e1829a353ca7d20016ab43115467487d0bfaacecd29368170",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oedeXOH6XNodi7sIcCFuPClW",
  "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, 0.8154, 0.6147, -0.4725, -0.0139, -0.0311, 0.9993, 0.0589, 1.7458, 1.3277, -0.7189, 0.0467, -0.1558, 0.4943]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0004 left_pitch=-0.1049 left_roll=0.0011 left_gripper=0.9993 right_x=0.4174 right_y=0.02 right_z=0.1038 right_yaw=0.1068 right_pitch=-0.5761 right_roll=-0.1327 right_gripper=0.4943\nstate[joint_eff]: [-0.0889, -1.2923, 7.241, 1.6825, -0.0269, -0.0611, -0.0122, -0.335, -8.0479, 6.1744, 1.5165, -0.0611, -0.022, 0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931d9eef3945112a127f2ca23b9f3868a20f8274292257b0d901ba98a4f4af3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1423bf97f7c068f4086c681dd14efca4440b3c61d9668f8d8622ab804f1db038",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dc2b41a8ffed36a681ddfe29117243f65b0ba0d0f1f001d704962adbb0b3ade",
      "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 · 3.957 s

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

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4507, -0.0139, -0.0311, 0.9992, 0.6113, 1.8084, 0.9234, -0.2195, 0.2916, 0.3069, 0.4904]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1647 left_yaw=-0.0004 left_pitch=-0.0832 left_roll=0.0006 left_gripper=0.9992 right_x=0.3475 right_y=0.1859 right_z=0.0034 right_yaw=0.1453 right_pitch=-0.4662 right_roll=-0.1264 right_gripper=0.4904\nstate[joint_eff]: [-0.2256, -1.3197, 7.1316, 1.6484, -0.0806, -0.0415, -0.0171, -0.0889, -10.0581, 6.7214, 1.0623, 0.1685, 0.0513, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4686, -0.0139, -0.0315, 0.9993, 0.202, 1.7088, 1.4467, -0.8318, 0.099, -0.0471, 0.4919]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1612 left_yaw=-0.0002 left_pitch=-0.1011 left_roll=0.0007 left_gripper=0.9993 right_x=0.4155 right_y=0.0709 right_z=0.1497 right_yaw=0.1304 right_pitch=-0.5251 right_roll=-0.131 right_gripper=0.4919\nstate[joint_eff]: [-0.3077, -1.3197, 6.9675, 1.7607, -0.0708, -0.0562, -0.0122, -0.335, -7.6103, 8.4855, 1.2967, -0.0317, -0.1197, 0.6716]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4725, -0.0139, -0.0311, 0.9993, 0.0589, 1.7458, 1.3277, -0.7189, 0.0467, -0.1558, 0.4943]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0004 left_pitch=-0.1049 left_roll=0.0011 left_gripper=0.9993 right_x=0.4174 right_y=0.02 right_z=0.1038 right_yaw=0.1068 right_pitch=-0.5761 right_roll=-0.1327 right_gripper=0.4943\nstate[joint_eff]: [-0.0889, -1.2923, 7.241, 1.6825, -0.0269, -0.0611, -0.0122, -0.335, -8.0479, 6.1744, 1.5165, -0.0611, -0.022, 0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931d9eef3945112a127f2ca23b9f3868a20f8274292257b0d901ba98a4f4af3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1423bf97f7c068f4086c681dd14efca4440b3c61d9668f8d8622ab804f1db038",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dc2b41a8ffed36a681ddfe29117243f65b0ba0d0f1f001d704962adbb0b3ade",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEYGSGlaKd7iCljN9lY8BoPV9tT-LHvjkOtfuRD5_n0XBzBqlwYxusLg8T1G1oycMomq4tQUvlgJT97HF4KubiRj2ymmA_8k6mRmX53AQJvtMeUsrMLc2YjgMGrNCHYP4qDAHS8zcx_NfPQElHgUNM3zf55vxC0SyEvRznCuFKgKfLP3v93bZVuey7LczaDra64VN627vOXQt_JR3KLoT_qH6AL8KdRDpjKUNnicTFCSJrbuQr9Ipw3Bqq3LIRNT4Iu_fbPqJ_Zxbhlq_IkELZYqcnUssDHyxm0cx6ZlvjmPwpI4EAuy-WGcDaH50QZC4B7rvyDvqMIR0Y54r8hpV5r4lsu-YRJ9tdwU6SSBMrROLLmGwcPKi9auQ49e9xj_6iCBjgsnG5HdHEBi7M9izDPJgiISJVq50T-OGdrOzGAnSebmRm9_iN8rJRP2dX5_r_MgT0bGjIcRHCAtLIBlr4rXuoyLWE09nxjz7k57tcu5H24BbdFX5q-JHKJAlLnptJx_NhiBatNCEj-JcxR5udoI29rNgA2mdeVgU4NTMfQxgLVLoaKYDMWAoBJcOqBoPb2ypr21uixCXOXA38jeVp35eP085nNnCGZEtwrC9Rba9tXIn_E1fD4WciEXqxUUnHk15QN0wTdoJ93P_zLBs3019ksBX3Uv_GoscME9KL346ZZcoBCENBc9dHVNu7knSe_kzzf6y95ZT0zSyMk7GN-gPQ1KFuvEeXb2mVBJXuNMxsKeF9tYeVFQI48TCtHJ64zU6vFyMqP7a4jbO4X46hi2PAfTdAahenv6Rm0hcld46Lz05xqQ34E0VP-VZBlpH2WPlaAv9e80tEqyEZ5oCyX8JwhOkoj9EDepZYKl9hv7-FuiduvApMOnsv8KeohVGJFlRrM5NivIkIIaZacjTu44fua_fozAl0b69iM5vmxtcLQTQeFOW4ofK63AcFCJiqghXEuG07XdgNwnmPpLj2snZ86Q-uA9_hiPHSHHdNkhOvhsS8qd5kHsab4GU-gvNOitp6RMC-h4XiBGdPQbltGo685OjADKrqThQaBV4bP1BqRX3eiEWYzkRyfp7dDCDu0cECN35HfQgaKjUOzdIg5G3b7zd3ArbdG7tRTMIpPRHiArAFelnDlZYds-zR60-Ug2UWDPDi-bPykIapw0bgnHZogPmXJ76kppr8XbmcmeI85yWAqsgC7Ju-1Ifp08dc7QezHw0AlLGnl4wllLYfcwhXJnqb2DhaXUI9ec5QXhSSh9hx4-LU4HWq9ScBGEjauTTyf4Q7SV8DrDIYK0KCG1EHhFEehuofD1O_D5yBS_5EH5vMu7oLQEQFNx2QucoWVhVSzSSYdeCiuEr9lEHzR-oI84p3t5ZTDdn6Ahn9UuNUYog0AwH-8_MeHW1uiSppN",
  "id": "rs_0e1829a353ca7d20016ab431176fa487d0bde3180f2f4f0154",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.072,\"right_gripper\":1.0},\"note\":\"The yellow fruit is now aligned over the center of the blue bowl. I’ll lower it a little farther and let it drop inside.\"}",
  "call_id": "call_r5c6O0LkZhGNms6b4UV9nV5b",
  "id": "fc_0e1829a353ca7d20016ab43117f7f487d0b52e1861789e5a4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r5c6O0LkZhGNms6b4UV9nV5b",
  "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, 0.8192, 0.6147, -0.4751, -0.0139, -0.0311, 0.9993, 0.057, 1.7618, 1.243, -0.635, 0.0326, -0.1654, 0.9958]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.159 left_yaw=-0.0003 left_pitch=-0.1114 left_roll=0.0012 left_gripper=0.9993 right_x=0.4119 right_y=0.0213 right_z=0.0765 right_yaw=0.126 right_pitch=-0.5927 right_roll=-0.1208 right_gripper=0.9958\nstate[joint_eff]: [-0.2803, -1.1966, 6.9402, 1.7411, -0.0806, -0.0708, -0.0122, 0.1573, -7.6513, 5.7778, 1.2967, 0.1587, 0.0757, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0583a6ee2eec5fced7611edace56e13164bbca3f0ea32fb79a5c7c3fa65c240",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783955b762197ac199d2d1c16cd40b4a97468e89014feb8ba0f2b515834df71f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff85b15966ceec9bcbda9a01aabe7aa3f0bdbeb4b89863e4bc20f814ac951444",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 4.351 s

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

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4538, -0.0139, -0.0311, 0.9993, 0.6113, 1.6424, 1.3651, -0.8368, 0.284, 0.3031, 0.4899]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0004 left_pitch=-0.0862 left_roll=0.0007 left_gripper=0.9993 right_x=0.3511 right_y=0.19 right_z=0.151 right_yaw=0.152 right_pitch=-0.478 right_roll=-0.1265 right_gripper=0.4899\nstate[joint_eff]: [-0.0342, -1.3333, 6.9675, 1.707, -0.0562, -0.0073, -0.0073, -0.335, -9.6752, 7.9521, 1.1502, 0.1685, -0.0317, 0.6569]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4725, -0.0139, -0.0311, 0.9993, 0.0589, 1.7458, 1.3277, -0.7189, 0.0467, -0.1558, 0.4943]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0004 left_pitch=-0.1049 left_roll=0.0011 left_gripper=0.9993 right_x=0.4174 right_y=0.02 right_z=0.1038 right_yaw=0.1068 right_pitch=-0.5761 right_roll=-0.1327 right_gripper=0.4943\nstate[joint_eff]: [-0.0889, -1.2923, 7.241, 1.6825, -0.0269, -0.0611, -0.0122, -0.335, -8.0479, 6.1744, 1.5165, -0.0611, -0.022, 0.2369]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4751, -0.0139, -0.0311, 0.9993, 0.057, 1.7618, 1.243, -0.635, 0.0326, -0.1654, 0.9958]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.159 left_yaw=-0.0003 left_pitch=-0.1114 left_roll=0.0012 left_gripper=0.9993 right_x=0.4119 right_y=0.0213 right_z=0.0765 right_yaw=0.126 right_pitch=-0.5927 right_roll=-0.1208 right_gripper=0.9958\nstate[joint_eff]: [-0.2803, -1.1966, 6.9402, 1.7411, -0.0806, -0.0708, -0.0122, 0.1573, -7.6513, 5.7778, 1.2967, 0.1587, 0.0757, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0583a6ee2eec5fced7611edace56e13164bbca3f0ea32fb79a5c7c3fa65c240",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783955b762197ac199d2d1c16cd40b4a97468e89014feb8ba0f2b515834df71f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff85b15966ceec9bcbda9a01aabe7aa3f0bdbeb4b89863e4bc20f814ac951444",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEdxT_uhV39wG66AopEnTJqvvc8eLplmj_qy-OQ9d1zUWY1-8_OI-oZB3x9zpT23bYcTpxDl-lxLJ3-9sWC1ZYqALJduzJvSGcGZGczpZax_Gt170Om8hUG0E5SaJ6TndJGTsMfGF308CB6Zb8rwTaB5dFKq3yL9GNN2JZ7DACtqG1BUZauq_1LnP0-YGTzo68PfRs_SL8Nj20_m34c9ZxI-K4TwpKx1JCC5oV9N0wEe1CzLklIDRZI3-_rPrlU7rlemHIVth-2bvJNR4_guTK_ab1TVVQFlMKH1KexWSKW8xlkPPUgMn_mNjsjvn6i5or-manetL56CrWU6lEyp2_2g5JusOb9Mm0ZSoe8pd-sHr9UT2QhSnP-4IJwTYHBWFZ72ETlwGBcpOsTYEzvMI5YM_h4FPLAxOtYGimapcWLbMJMAGhhQgNr3hXy80Y1epFN5Wd2DjPK2UKAlh0feXzI3o3WadSHXwfWayA0VE854taxOUXCTRCOCK8vLT72mwEQ3FT_tiPfzmJJXTAvyvowZ8uD0sCxHhq0q3rcXzVpBbOtPsor_DZCqhu6bRdyfxChaph7AJXMwAHTmfuxQrFFmNWcQ_fJKF0VCTlpIyLNaDH_j9kLCD-DqKLwe18LbiPkZiYxc3f6nJ4j7jpaTn9mE8hlK-mIAX5y9QuBJwYbXzzGM5taIYwqwT7UPpcFd8G5hOrtqhXKW2iTvEV1RhFFsWPf_Lc5GPElcNX4yCgA4ECYnpiwqBev3IZFlEnng1N6GKHRvfiCvJC6oqlotYo4-LEisG2wqKFS5D12e8zQXV40NM69lsvq5_IWTQrY7vfRkp1C3M1UCmZThxFjwVxM7dxpg374sYz1H-E8X9-UQgI5z0LcifJZoPpS55_aNiv3tC1Oe7AsNNJ4Yq5FlYyFiPBWW3raCYOUbVEdSzyq3cykjKi9oSG7Yl9v2E7qDBTno0yXW2_n40RQhrsX-FF4251O9Bcf1FDlrKkE-E4YGPK33-WdSo3a5sAjyKvtswuoNFmV9Tr6VNR9cO352Yz__8eqAwalHsm7tlv11l-67WwBnrCvecSvZoAwhaOOpL5T7osAeCe7GKkT8dv1QLNMoxpU4TupWkcss600Dd_u-YqRXSpCjUwLYL9tWym5xLPqbmyAvAJkekqROgZ1E4-EHgOEpBi3QCtunZKu6eapgJUaUvXkLm4iJZXZZCwgNxY14WVu_jiHwc10nF8ktPCvtBiUrDpVY9cgBv403Kbykj3-C9lXjrwZdjZUz1dxgbkziofIlR1w_Iv0_OIa4ujvbYUjM36rCjue1gJz6iOYwy8KBbl4oi_n__ai6SsKvL76xMb8Bu9dh4jGJxpbnRWhlxowUekv0rz9fE5gONTajFugEBP9k-QZ2rdvd-hQWGG-Mo7QWQra1Z6Af76rrbDUXjnLTkEczGuQi9x_36MTYTxZ-A3oPimP1PaakjgxVHmFWo2FdcmMEaW0wB_EcXoYchrHD3o68VSY85ZeXKPkgfDKzs4d3aJjlKzSvNK2VY309l1KoCrYiXWDysSOKLFNCuMRTmMSoUQnCECXJy5rAYF8f11WdwTNZYp42_kn3CuOPDTG1SiaGYlnvwD6-zwnB2nsq0o9pbi225Ri6WeZ758sQjGUDTtkoAwI8ZcopK5czTWhNpeqL5XjSSiTLBRiZJxGMc8fsTogSKYqaipV6m3Sdo5rT0BNwvs7NAXM3g9cXTnyLQOWN0gtf0Wk8wh4PVnDmzn4d8wLwXCcsyU_aK7HkKIXohcYlLccro5_htlAajHeqOEH6k2tQr7uiCP7MSA9PTI-22jsmR2lJBAyy1zrRB5yay9JTIad4iD69jeIc4Ka8CMqAaWGhdOpTQNE8g==",
  "id": "rs_0e1829a353ca7d20016ab4311a00dc87d097a238bcf6f82fd0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.135,\"right_z\":0.135},\"note\":\"The yellow fruit is visibly inside the blue bowl. The green pear is still on the table to the bowl’s left, so I’ll line up the right gripper over it next.\"}",
  "call_id": "call_ZIqB3Af1tXctdpJrOgISZlDP",
  "id": "fc_0e1829a353ca7d20016ab4311b922887d0a8e5c0edf76c70a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZIqB3Af1tXctdpJrOgISZlDP",
  "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, 0.8192, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.4114, 1.7016, 1.3418, -0.8612, 0.1543, 0.1215, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0005 left_pitch=-0.1125 left_roll=0.0016 left_gripper=0.9993 right_x=0.3656 right_y=0.1338 right_z=0.114 right_yaw=0.164 right_pitch=-0.6317 right_roll=-0.1314 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -1.265, 6.9402, 1.6288, -0.0415, -0.0171, -0.0122, 0.1436, -10.865, 8.6359, 0.8571, 0.1978, 0.2027, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387da786dfb18bda69b98fd8f8a92a697f28e11b5ec99773e30bc60dd9cf7c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be94d22b3b859a92e8603ee60f9f1049867a19316508ab77906babf07f64cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3179b70bd33d1be6ee085d897d6105501e66c1af2af9771fa9f7a09f1013d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 2.316 s

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

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4686, -0.0139, -0.0315, 0.9993, 0.202, 1.7088, 1.4467, -0.8318, 0.099, -0.0471, 0.4919]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.1612 left_yaw=-0.0002 left_pitch=-0.1011 left_roll=0.0007 left_gripper=0.9993 right_x=0.4155 right_y=0.0709 right_z=0.1497 right_yaw=0.1304 right_pitch=-0.5251 right_roll=-0.131 right_gripper=0.4919\nstate[joint_eff]: [-0.3077, -1.3197, 6.9675, 1.7607, -0.0708, -0.0562, -0.0122, -0.335, -7.6103, 8.4855, 1.2967, -0.0317, -0.1197, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4751, -0.0139, -0.0311, 0.9993, 0.057, 1.7618, 1.243, -0.635, 0.0326, -0.1654, 0.9958]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.159 left_yaw=-0.0003 left_pitch=-0.1114 left_roll=0.0012 left_gripper=0.9993 right_x=0.4119 right_y=0.0213 right_z=0.0765 right_yaw=0.126 right_pitch=-0.5927 right_roll=-0.1208 right_gripper=0.9958\nstate[joint_eff]: [-0.2803, -1.1966, 6.9402, 1.7411, -0.0806, -0.0708, -0.0122, 0.1573, -7.6513, 5.7778, 1.2967, 0.1587, 0.0757, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.4114, 1.7016, 1.3418, -0.8612, 0.1543, 0.1215, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0005 left_pitch=-0.1125 left_roll=0.0016 left_gripper=0.9993 right_x=0.3656 right_y=0.1338 right_z=0.114 right_yaw=0.164 right_pitch=-0.6317 right_roll=-0.1314 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -1.265, 6.9402, 1.6288, -0.0415, -0.0171, -0.0122, 0.1436, -10.865, 8.6359, 0.8571, 0.1978, 0.2027, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387da786dfb18bda69b98fd8f8a92a697f28e11b5ec99773e30bc60dd9cf7c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be94d22b3b859a92e8603ee60f9f1049867a19316508ab77906babf07f64cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3179b70bd33d1be6ee085d897d6105501e66c1af2af9771fa9f7a09f1013d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEiyNb0Pb1vxD_YkIp10UIrc33UWkzI9ExPg0JK6vBy-l_-wbWo-wFHWHQ4O-pYA2PiFtX5dW4trCnZbpbPTjCriastaA-V-AL03mFolyrwnSRB3O6hMM345gejBYry0D0V1q3Qv7MolSFe_tUXe7h6E6Abx46CLO2tkLG1yOjonIGNHP82uO6w7pliBt62cTIgBCjp4eIU5Hf3UxDPmS-nFKJb4zIbQghR-L3vZji_ruMuulNI0idQsAxj-fFIAqa4qFQWuJNKUJpdfePywbcfnz_SuAxGrvtNDybSZX-Q3bE84M0_Tpzmprgzl3iPW1vcvhcFult6H1ShKD5QJz_7rhuXkKbPCmgBYsJQGQQE22grpdkM39FFzjTZewp-PSrq6y-fp-hi08QbWciNF6Nyecp2nQkcv7w67m8N-0xxqGFmwxzKBvM8TXllM4RwhR8m9Fg3C1HXx4ib_FdNY22qxg8TqxuGT_xJ2nN-lqo50k5eDWCHoVlNYAcJFw-cDgrhSYufPPof-PamQ679nT1m6LHd7KX9gWxuIeeg-XY1_7M7WQv_MfnAlQ4F9tSUuabb3FMNhcFVPVyC6I1bCKePi6WQfJJIhTR-JLb8GeFK6pqHqPLOiG3EQT-2vZ162rWtpJKNLzfJxvIRS27LYS-XDs9D5LW4F83lXMNWP1bhf0fXSlMu1xFOH-f8DSF-snq4ObiIBg32DXQOFuMPy1Oler80zybr9V9k19dQeAA2XwcfHvEOa0LG-c97P2y9AYfuNSI0aveLXF5bUNz7XfZZca_6g96b0BGubYD9lubxQyZeW-wIHjS2e91OuFarSiXGeiMY1T37J1OidPpBYgKHV_XiSYObUHeDH5hPEgkTB787IIXt2RIzYNegRPLtSVugJrurIJOKC7fj-xAT_M4HOwG_w6N2b2clRKXNMsj2Kd0Xl_CKxaGa74F1PKb48Jox6Lqma9yY39AwDW5jcb6_bnd94obSC-PN0LTllgm-SPnzOvUxrWf-94OhYK93-Y9cFf9tXXzLpkSr784bO9-wy8ELCUZjda88XHQFh_eXgMpx6in0-JsMd1GHYuO4Qo2i8Vecp8DAFi1XITQGhH_BkJ57eQTWh9poNS78k-oUF7LSgsCvRscnaHcI1ZiekpMXUDcmBxkoGX9nasig4ipfQ1q8Oyo8hGH939pcaKaQNQAHYVPFkUzPe8Sd6mgEV_W78Jz7Kr5ORuke7SVaXKA3hE9xInfvGww2AGol7sks4mO-WN_ot_4vjYbfZe_3DaovigbNMF8G6LudW-zUAFZYU7NGpOj_P0_deFTY2-qLoAmPIGnRWyb0vcQESqhhlUQkNqQfduWKPJvz3O2X4PzRPuCoJjGrvuZAdvzOyb7LjSpZyjMtTfVdBK6c7BSsSHa0DPV1OcJVOFJo1M0oU8Agu15wa-CVG-sMjFH83fTJwt5Bn87yATwa11L1Ar3Urf5KNz5-1bcvbZbQbZK-Pt9uXvCOiQkz0Uh5s1uXlzheY-lMPBo9N3jGv0vrJ3x-eYu3Ux-pjqUlFhWvvWbX0OvR-vKptnmn26PqI0bi_xODTjjYOe8WCQrrs96ygzTH1WgWTiBwU_iIxoGSCbhx_zY9McyLWS1dS2U-08xZDTYILPssxgf4UgfK-QJn3uMmyXzllLcR5d6sngeKP3Bsvrz2S98-rxbYodhSrqbv95hNpMMjP5DzVltgXUnEYHaNxAUVckaoG0nNUqYBKjpuyMvCEVPSHWuUFtzOBJ0Pu1-qzyBcK4f75tPfuiVUvhbM0OIZfhgxTWtVQC84xB66lnOOOymyNtA9VrdKVLrYkpZdopmHOnDEdpUMCoGJaci6OzUQ6ZdbrdXpe0dmjhdCIhY02iu8J9iIM8X3Dor2JBq2xD8=",
  "id": "rs_0e1829a353ca7d20016ab4311f975087d0a42f2a5bb80e042f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.12,\"right_z\":0.022},\"note\":\"The pear is centered in the right wrist view but sits a little beyond the fingertips. I’ll advance slightly and lower around its middle for a firmer pickup.\"}",
  "call_id": "call_Qyo4TetTVzi8YLjIOlc3cXox",
  "id": "fc_0e1829a353ca7d20016ab43120d53487d0ade6050a71d99a3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qyo4TetTVzi8YLjIOlc3cXox",
  "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, 0.8192, 0.6147, -0.4767, -0.0135, -0.0311, 0.9993, 0.3622, 1.8088, 1.1114, -0.5423, 0.152, 0.0746, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0007 left_pitch=-0.1129 left_roll=0.001 left_gripper=0.9993 right_x=0.3711 right_y=0.1158 right_z=0.026 right_yaw=0.1451 right_pitch=-0.6538 right_roll=-0.155 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.3333, 6.9402, 1.6093, -0.0366, -0.0317, -0.0171, -0.7316, -7.9658, 5.5316, 1.0427, -0.0513, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e261a10b6dadcf5c0b6f36e7b40644c9f11a65c7c70a377b2d7e95d08ae76fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9443f578054476d4810e04427441c048d0e55be4c4907a168ffdb923974af60d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:950b69669b131871023b45c167dcdbde2ee7653a665292ea13b68c66d097adf8",
      "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 · 1.621 s

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

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8154, 0.6147, -0.4725, -0.0139, -0.0311, 0.9993, 0.0589, 1.7458, 1.3277, -0.7189, 0.0467, -0.1558, 0.4943]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0004 left_pitch=-0.1049 left_roll=0.0011 left_gripper=0.9993 right_x=0.4174 right_y=0.02 right_z=0.1038 right_yaw=0.1068 right_pitch=-0.5761 right_roll=-0.1327 right_gripper=0.4943\nstate[joint_eff]: [-0.0889, -1.2923, 7.241, 1.6825, -0.0269, -0.0611, -0.0122, -0.335, -8.0479, 6.1744, 1.5165, -0.0611, -0.022, 0.2369]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.4114, 1.7016, 1.3418, -0.8612, 0.1543, 0.1215, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0005 left_pitch=-0.1125 left_roll=0.0016 left_gripper=0.9993 right_x=0.3656 right_y=0.1338 right_z=0.114 right_yaw=0.164 right_pitch=-0.6317 right_roll=-0.1314 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -1.265, 6.9402, 1.6288, -0.0415, -0.0171, -0.0122, 0.1436, -10.865, 8.6359, 0.8571, 0.1978, 0.2027, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4767, -0.0135, -0.0311, 0.9993, 0.3622, 1.8088, 1.1114, -0.5423, 0.152, 0.0746, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0007 left_pitch=-0.1129 left_roll=0.001 left_gripper=0.9993 right_x=0.3711 right_y=0.1158 right_z=0.026 right_yaw=0.1451 right_pitch=-0.6538 right_roll=-0.155 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.3333, 6.9402, 1.6093, -0.0366, -0.0317, -0.0171, -0.7316, -7.9658, 5.5316, 1.0427, -0.0513, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e261a10b6dadcf5c0b6f36e7b40644c9f11a65c7c70a377b2d7e95d08ae76fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9443f578054476d4810e04427441c048d0e55be4c4907a168ffdb923974af60d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:950b69669b131871023b45c167dcdbde2ee7653a665292ea13b68c66d097adf8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDElr_FfkKwlsguQ3AeTCU2ihB_L65-P4D56f9Zk3mMtlw8MeV7ewI0DGl4mR7WkmixhCLW5SPKQhstyOSVsKR_Db5MHDXaGCV4S544XXgaaDwRqyiAYiaDd69lf4Ym-lFjfwR_h9v5n-lK579ik7b9oiAMhOGjd-fGIi9zyqz5BytEO38RRUqSAMoeJIFw36INVZnKN2oK-NKK4Bc1o_0ctlQCcoi5gb2sDc9frZOa1fsHCZEeScp4EaZjuutDKcLir-YlL4yUFq-ZKSJuhCWQ6ufuNnhZ9Pr1XGEluJHXWyEUz9pFErjq4wHyqoL_NYzjJ1nJytESqmDxzigAXvA-6CA4GXnKGDHklb4shjdhz4IbPr06CRI6oDUG6fN_2MYkrL0-rfvp1huxE0KIj4QCQggyR01hxuzFaluKLOYs1MWao3vvOIrTMBEeu6AbIjxlvgXMTfQg__UsOQfBn2j0i9w2cv4OtYW5WEeAnBf321uThyhiUhr9j9ukfovVWWyA9zDPlnzx6C5I7QEsQpDIG6IIjr6TLgpzQBXyBE1yxzYLN4p7DQWJ5XGGwH5pDHYy_U374Lv1vLphJ2D5DmXcGrAjYRLjGUAGoPSNItWqVrE73D3_W8PixjH02714nh1jbR0JLo5OjlWnqECYsxNdwz-3qrTGF13Ki06rcPqJoPUHo7tl0KFjDoXUN5Rzl48RNPUUszmuONdaexDNmj_exd2kpDfV6RXqbbZyqFGKi1cxhIiWfSlwdouN2OdnCxV5uELsCIKTri83nOACo3cAZIFjhvdRJRMvzVaRbm9LSQXsQJdbhmQ0_RjCbd1KNAPustAlP3AVFGIsi-hJFvxX1llIJp8-D73GvrI_e539-KglAz9-rbdEI2r-z3CLbnfxHW6SLwgYLIEbb18hDnHHL45ARt-Y9nul-wyRinc4FFrf9hQW3cBaVC_XcY87CTKwxNwPBdgLUo-U2MQjLC8kGBD8-6LrPpbo3nlNME1bAUfDVsYySIHSZumFqYQFIxIxSbqQWeQlfzKJY2Uo1gwVnsXw-9MEnTmHbIC-D8Zk0AH-iN8GIJVE9zlYCiXk1h-geaLzsnmxHUKtQaGW3--sDai21uSgxMqQEQlFurjY2IRuTJnbvivchgwm_koMIihHTZVm80e7K6QJH42Xq8patCcED5MgAiS0rHMupHZvce0sdiqIF42wU3rZbjzoCL9YNAAXq16Br0T02tVOIC2WAPs0DTuGK3E0IlScZ1oogzq_I3ZYouGc1As14kjHJMk0OHAPBiS8kyChoOcRSNBpu2A==",
  "id": "rs_0e1829a353ca7d20016ab43124479887d08f0884a6a87d99a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right jaws now straddle the pear close to table height. I’ll close on its wide section.\"}",
  "call_id": "call_7AXDMMREuMnWimAd5d9msyad",
  "id": "fc_0e1829a353ca7d20016ab4312491bc87d0bf2f6094527d253c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7AXDMMREuMnWimAd5d9msyad",
  "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, 0.8192, 0.6147, -0.4767, -0.0139, -0.0311, 0.9993, 0.3645, 1.7912, 1.055, -0.4667, 0.1566, 0.0677, 0.7227]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0003 left_pitch=-0.1129 left_roll=0.0013 left_gripper=0.9993 right_x=0.3705 right_y=0.1157 right_z=0.0215 right_yaw=0.153 right_pitch=-0.6176 right_roll=-0.1536 right_gripper=0.7227\nstate[joint_eff]: [-0.253, -1.2239, 6.9402, 1.6093, -0.0708, -0.0513, -0.0171, 0.2667, -9.7436, 5.1897, 0.9744, 0.1245, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f6e8098c4f8ded0a55bdf5aea84ecb1f54bc473dd1ca17abfd78660bbbb2901",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a767cb46cd383f381751aa11db21a62d6cee3547232ed1c5de550fa5cd9d1483",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6131ab58acf6e7801717f3ec19ea838710fbcaaadee20852119de423742afce4",
      "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 · 3.147 s

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

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6147, -0.4751, -0.0139, -0.0311, 0.9993, 0.057, 1.7618, 1.243, -0.635, 0.0326, -0.1654, 0.9958]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.159 left_yaw=-0.0003 left_pitch=-0.1114 left_roll=0.0012 left_gripper=0.9993 right_x=0.4119 right_y=0.0213 right_z=0.0765 right_yaw=0.126 right_pitch=-0.5927 right_roll=-0.1208 right_gripper=0.9958\nstate[joint_eff]: [-0.2803, -1.1966, 6.9402, 1.7411, -0.0806, -0.0708, -0.0122, 0.1573, -7.6513, 5.7778, 1.2967, 0.1587, 0.0757, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4767, -0.0135, -0.0311, 0.9993, 0.3622, 1.8088, 1.1114, -0.5423, 0.152, 0.0746, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0007 left_pitch=-0.1129 left_roll=0.001 left_gripper=0.9993 right_x=0.3711 right_y=0.1158 right_z=0.026 right_yaw=0.1451 right_pitch=-0.6538 right_roll=-0.155 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.3333, 6.9402, 1.6093, -0.0366, -0.0317, -0.0171, -0.7316, -7.9658, 5.5316, 1.0427, -0.0513, -0.0366, -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 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4767, -0.0139, -0.0311, 0.9993, 0.3645, 1.7912, 1.055, -0.4667, 0.1566, 0.0677, 0.7227]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0003 left_pitch=-0.1129 left_roll=0.0013 left_gripper=0.9993 right_x=0.3705 right_y=0.1157 right_z=0.0215 right_yaw=0.153 right_pitch=-0.6176 right_roll=-0.1536 right_gripper=0.7227\nstate[joint_eff]: [-0.253, -1.2239, 6.9402, 1.6093, -0.0708, -0.0513, -0.0171, 0.2667, -9.7436, 5.1897, 0.9744, 0.1245, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f6e8098c4f8ded0a55bdf5aea84ecb1f54bc473dd1ca17abfd78660bbbb2901",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a767cb46cd383f381751aa11db21a62d6cee3547232ed1c5de550fa5cd9d1483",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6131ab58acf6e7801717f3ec19ea838710fbcaaadee20852119de423742afce4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEnFclQeY_LO7S0gPxVgL5HcqoxGn1KL_3ZzzYF4i25tCX0Ez7jZFzniuRdkfXDwLpTRGfljXJTtlvE4q46_NkGogB43aTPeA_qFEOOqAAvNP1SpeF5CR9aZ7iQs_NI53_cVa5RpQTWB8iKPihaioEHvqtYUDE_1Zz53IObUzLKAgjQPplSdWpCdjTOlbcDqZjSaGhA5E8xHZGmeqoHCXqq0ob-w2k6VQ_mWzKLr8tktpKvM8MNJuIyRDj3VdeqovKrcsVFspJLaQOuYHT7QmmwTTUduT5dMmNvUFP5vdG5n_wUohBrmJ39StsoK1jNv5A8kQrxlfe9aiWX6ZGsiSG7p5ngB91tYtFsXjGQcL0a6EupIh0UV1tyKw-YM5XSc-KXUYOyumgLjvH6gbCFtxNk5jPSciToF2wFRs1rMqa0dwc0-xoEXYw38zw4BK3dorfgZumPawuGo7VANoZ7D4KImCRqMpdVY2NydXhwSG1M1D8_4qBLZHusoWrNysBzJTfX5Xmk0oMOJMTNVtG9q0T2uFGTbVdc5h0UlccUffWYSdfUFfjFpGJ0ZBtNB8ehJ9WSb98HxqzgBBJ9al8DwBgVf9DCzHEFgtF_DLxI1azvTKKmIoo9mp3JrPknHPNGY-sa5hIlPGQ7lK_KJNSyx_JizhA-XJ2uCQaDahnp5gTKoVFQi4rJ_kEd6cg2NEBFz9MZ2Wi6Av7xuZBmH2wC2z1UlFi7Z-_GMppzM1ZH4AieuOVU_-AmkOEdCLDt-LvhiI-EAZugsdsXXHna2OJrvCJUc-R_uWOJenfucghKdr2jnkQfyoUI_Owq9UO4ek_MHFvV8MU4wclyloB7Ji7Vpzcgz3x7EiLHxEDuQDdKwAV5-fbuUJFBCsN-0gC6VAFVm8zQsh_BOUTyB_BdzlyqwgTULguHevq-4dpNQxJ5PmxhLxnp-MZoI3a8DgMYz6aqOLjmeP2m-k8HKqnWm3HZMUIOsbO1Gc41t3DC8vUTYfKY-zlmpdmXp07Elkb6UL4MtlXVRpmDPYnnabNSX1XJhyZ0Cl1LYZXXLkSvEzG57K6zrLtCrwwbkrYmG30M6p9JeU-NQUoIWRn2AwHyGwWKefftPImdjpqftrVDUFaYOY7skX-H2Q93Vq-snbS7iBz5wVQklMrN2e9HbneZmH9yIgTKQ19ppLwQzaeIjvIA-1JdwyejOwkSaPvLv7EhIQxaXbs4uXMeOxuTylFGCZ0dvO-aBwQsvY5dy3RA4rCb6A9remxJHDZCqJzdlL1A03fwwB_m",
  "id": "rs_0e1829a353ca7d20016ab43126f1c487d0bc70f2ca03f88060",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The right jaws stopped on the pear. I’ll lift it and confirm it is securely held before moving over the bowl.\"}",
  "call_id": "call_I4kBKGARVtcBHcI6wFV3kOag",
  "id": "fc_0e1829a353ca7d20016ab4312720d887d09db3362c4e79c561",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I4kBKGARVtcBHcI6wFV3kOag",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0135, -0.0311, 0.9993, 0.3645, 1.692, 1.507, -1.0206, 0.1562, 0.0666, 0.728]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0007 left_pitch=-0.1125 left_roll=0.001 left_gripper=0.9993 right_x=0.3739 right_y=0.1171 right_z=0.1597 right_yaw=0.1537 right_pitch=-0.6204 right_roll=-0.1544 right_gripper=0.728\nstate[joint_eff]: [-0.335, -1.2923, 6.9402, 1.6581, -0.0562, -0.0611, -0.0122, -0.0889, -9.9487, 7.9932, 1.0232, 0.0904, 0.0122, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79a1813225e081b2b2ba6cd8968c993ba0db3bde0fb2d360887077cac706ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c117bbcac2275de6835b7598b29ba2caa971ee69a4404f141ad2fa0b31c2859a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1347198663506691db6712760a34aac0f7cc7dc1fcbb44c6a257ac2a51df904b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.015 s

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

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.4114, 1.7016, 1.3418, -0.8612, 0.1543, 0.1215, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0005 left_pitch=-0.1125 left_roll=0.0016 left_gripper=0.9993 right_x=0.3656 right_y=0.1338 right_z=0.114 right_yaw=0.164 right_pitch=-0.6317 right_roll=-0.1314 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -1.265, 6.9402, 1.6288, -0.0415, -0.0171, -0.0122, 0.1436, -10.865, 8.6359, 0.8571, 0.1978, 0.2027, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4767, -0.0139, -0.0311, 0.9993, 0.3645, 1.7912, 1.055, -0.4667, 0.1566, 0.0677, 0.7227]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0003 left_pitch=-0.1129 left_roll=0.0013 left_gripper=0.9993 right_x=0.3705 right_y=0.1157 right_z=0.0215 right_yaw=0.153 right_pitch=-0.6176 right_roll=-0.1536 right_gripper=0.7227\nstate[joint_eff]: [-0.253, -1.2239, 6.9402, 1.6093, -0.0708, -0.0513, -0.0171, 0.2667, -9.7436, 5.1897, 0.9744, 0.1245, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0135, -0.0311, 0.9993, 0.3645, 1.692, 1.507, -1.0206, 0.1562, 0.0666, 0.728]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0007 left_pitch=-0.1125 left_roll=0.001 left_gripper=0.9993 right_x=0.3739 right_y=0.1171 right_z=0.1597 right_yaw=0.1537 right_pitch=-0.6204 right_roll=-0.1544 right_gripper=0.728\nstate[joint_eff]: [-0.335, -1.2923, 6.9402, 1.6581, -0.0562, -0.0611, -0.0122, -0.0889, -9.9487, 7.9932, 1.0232, 0.0904, 0.0122, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79a1813225e081b2b2ba6cd8968c993ba0db3bde0fb2d360887077cac706ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c117bbcac2275de6835b7598b29ba2caa971ee69a4404f141ad2fa0b31c2859a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1347198663506691db6712760a34aac0f7cc7dc1fcbb44c6a257ac2a51df904b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e1829a353ca7d20016ab43129d6f487d0872537d45a5125bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.02,\"right_z\":0.115},\"note\":\"The pear lifted with the gripper, and the yellow fruit is visible inside the blue bowl. I’ll position the pear over the same opening, above the yellow fruit.\"}",
  "call_id": "call_sPYZIrhVmRg3VZIdfrXj5Vti",
  "id": "fc_0e1829a353ca7d20016ab4312b390487d09be853159e936861",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sPYZIrhVmRg3VZIdfrXj5Vti",
  "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, 0.6147, -0.4767, -0.0139, -0.0311, 0.9993, 0.0689, 1.7737, 1.4265, -0.8608, 0.0536, -0.1959, 0.728]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0003 left_pitch=-0.1129 left_roll=0.0013 left_gripper=0.9993 right_x=0.4108 right_y=0.0224 right_z=0.1134 right_yaw=0.1386 right_pitch=-0.6502 right_roll=-0.1541 right_gripper=0.728\nstate[joint_eff]: [-0.212, -1.2923, 7.1863, 1.6386, -0.0415, -0.022, -0.0122, -0.253, -8.3077, 6.3248, 1.3895, -0.0806, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb7c25c20a7ac29c4535af53ce019dd6e4eefa351fe0a8662e8b7a01562ec65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a962a70e3b342c9f933501a289af20d17e3f1660bc480f519557cacc199de98a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6439922156eabc739b083db8bf82a634e388025b49531c90433759ebe92a9f04",
      "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 · 4.746 s

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

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4767, -0.0135, -0.0311, 0.9993, 0.3622, 1.8088, 1.1114, -0.5423, 0.152, 0.0746, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0007 left_pitch=-0.1129 left_roll=0.001 left_gripper=0.9993 right_x=0.3711 right_y=0.1158 right_z=0.026 right_yaw=0.1451 right_pitch=-0.6538 right_roll=-0.155 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.3333, 6.9402, 1.6093, -0.0366, -0.0317, -0.0171, -0.7316, -7.9658, 5.5316, 1.0427, -0.0513, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0135, -0.0311, 0.9993, 0.3645, 1.692, 1.507, -1.0206, 0.1562, 0.0666, 0.728]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0007 left_pitch=-0.1125 left_roll=0.001 left_gripper=0.9993 right_x=0.3739 right_y=0.1171 right_z=0.1597 right_yaw=0.1537 right_pitch=-0.6204 right_roll=-0.1544 right_gripper=0.728\nstate[joint_eff]: [-0.335, -1.2923, 6.9402, 1.6581, -0.0562, -0.0611, -0.0122, -0.0889, -9.9487, 7.9932, 1.0232, 0.0904, 0.0122, 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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4767, -0.0139, -0.0311, 0.9993, 0.0689, 1.7737, 1.4265, -0.8608, 0.0536, -0.1959, 0.728]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0003 left_pitch=-0.1129 left_roll=0.0013 left_gripper=0.9993 right_x=0.4108 right_y=0.0224 right_z=0.1134 right_yaw=0.1386 right_pitch=-0.6502 right_roll=-0.1541 right_gripper=0.728\nstate[joint_eff]: [-0.212, -1.2923, 7.1863, 1.6386, -0.0415, -0.022, -0.0122, -0.253, -8.3077, 6.3248, 1.3895, -0.0806, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb7c25c20a7ac29c4535af53ce019dd6e4eefa351fe0a8662e8b7a01562ec65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a962a70e3b342c9f933501a289af20d17e3f1660bc480f519557cacc199de98a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6439922156eabc739b083db8bf82a634e388025b49531c90433759ebe92a9f04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEv83bQO8SFHHMwL2GcXOGJQBNNoaa6qbboqPbfZy3qZjIbDiny-NKJiuhmKgFslMoTeCX3aT_P0BNXkGx9Wy2lALqV2Vrwfm8OMPOF8-ncftf27X-0I-6wl4w4H2D8hl5rxWH3CTMPdy7lJa2WD-ZuF8ltQYvSVvFqfFJ2gxZAa2p3g2BNvMKEt_iZ_NJ055JHPyMYyHwN-NcUNmTR_HMMwcueb6M3v-Bo-35yQeVTCHYbHJpIHrFtHscfzymjpqg58ItMHdlursEtOnXo3Oo-cASXZ-KisvkH5lWlCWHgeXBxVOb5pS-yzut7r2NSOUJFGE0TyaPLApSDlO6XmF2ZtzkD5Z6Ikw4I_9CR2thu35McJdp4HzlHKYc8RPb7s7O6iJ_QWgaDKPl_fj5xChRUulwDO_K138_2ahdxlcn6rTCQr9LeEl8Nc8weymZaUB3-eK3NnJHzU7B3XRJG65KaWqK8HRAAOy-3VxG-JzYGOitNBbEajw6trcBH91ytNnhc2RvE0mKXsFIaXRJB1fsnPnTwODTAatIpL9sWw9l_5WHA5PPjiJHORS51MLNOWpvi27PEeGRBdh6lxZIt_gIWtOdgGgCBgpM0vMc0fnOaI-cR3FDU1g4cRHMWxRgJE00JCdIvNhqM0cOdk7FOBDDHqGs1h_8kk5iTxHwjmMtejHGcvp6vV8RNcbrk29AYBFCzFk1VvdHUhXCXyr3W9RsOjrQdkLsuWaltqbVtFJmaMdnRzCbCngiBY8-ZG3uzdkpO_pyuC48now5lTaDoXJEQ6L5xnUVvEzAlG7cgPVqdmHyNimBHBK5gr4_3-_iCdm9W4c1NW3A7V_xoCKYkmltB7bn9FXYj84SvXbPH7AgrdcDlzvQaUPT4UFysJ-0nVkI0sEX-DyUt6pKAwxWsSF5KkEpzZ69BAoYzbcnp-dtKteIDHn11DISAex3DFh8MbQf9lOlldD4e5I5kS18shxZEnRAV30ssxy4Md-udv_7c1w7QNrBFYty5LXrrkESXKY6Fppms57y1CVifCbAOlBfhetlUHVRNPYSZmbdVcqedRBoFjSy9pMvHPczzY_h1_0EO7_c-mT2kwKXoMmp2igPG0TfJ3i7m_r3bI--JSXNc2jJ_s-CJeTjPcYIAmvysJ2B3O0lL8LsBekwnoCYqL7iOBEnf5oSljH5mUTE8LxozhutioS7yxLjUYl_n9hUcolkiwe-KsbJsWbNXTsOAnPKsYW3aILRodxKqgHq4JJwoUAUGgUcjg-YZDeDIIj4Hijm5QTp_ziJQIBUhKhReln6-xE6oTq0Pt93Jz8epofNRF624BhflNJsiN4MVyEJkRewzPx3VeVxztCkcuJkPCX6mNymPRhUCUExyBiNu-ciYsgnTr0bx4MKVfN8MO5sx7fGLFLdyUpGaOZTNpCs2wU_ON8dzHOquxnP0t_6ezjmzctj1i8Xwh9gVPV82gJbBwvC8W97sATpJmPsGbNqyfBTYEgTMFQEl_uZt_X5KEy_35go4_Bg5PXj246cVvme0TO3onxkVUD5ydGuwisP0-JpFQdeGHaSo73zSWV-LFuo_DnWehEpp2-YmdxMRHq2wOMJhtvaRfy7JDzGyJqlO4iYCjZYe0mqWnDd3OirfAj7EGE9-uKDy3IsVrUY8V0pSBQiR_axGgCouFBIMS6H1_FXHCw==",
  "id": "rs_0e1829a353ca7d20016ab4312e4ab487d09bca96815e876b8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.085,\"right_gripper\":1.0},\"note\":\"The pear is centered above the blue bowl alongside the yellow fruit. I’ll lower it into the opening and release it.\"}",
  "call_id": "call_9CewNy9kt6sP3NLaVEhN9Kf5",
  "id": "fc_0e1829a353ca7d20016ab4312f0eac87d09680aaa469c9be3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9CewNy9kt6sP3NLaVEhN9Kf5",
  "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, 0.8192, 0.6147, -0.4763, -0.0139, -0.0311, 0.9993, 0.0635, 1.7638, 1.2751, -0.7395, 0.0475, -0.2134, 0.9957]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0003 left_pitch=-0.1125 left_roll=0.0013 left_gripper=0.9993 right_x=0.3974 right_y=0.0205 right_z=0.077 right_yaw=0.1529 right_pitch=-0.6712 right_roll=-0.1524 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.1966, 6.9402, 1.6288, -0.0415, -0.0317, -0.0122, 0.0615, -9.0735, 7.8427, 1.2332, -0.0171, 0.1783, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78eb4f4471e3d66aecb429530f49f21143ca251f3363b636730c76e14167679f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c28275cae9832c3f5961b8270c5a2347339c1498e3cdb81be29abc73f1311d2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:248ba2ea21ac7928bb570c07b655a4e55957c2ff4d0e55062be23b3d1064a47c",
      "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 · 5.346 s

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

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4767, -0.0139, -0.0311, 0.9993, 0.3645, 1.7912, 1.055, -0.4667, 0.1566, 0.0677, 0.7227]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0003 left_pitch=-0.1129 left_roll=0.0013 left_gripper=0.9993 right_x=0.3705 right_y=0.1157 right_z=0.0215 right_yaw=0.153 right_pitch=-0.6176 right_roll=-0.1536 right_gripper=0.7227\nstate[joint_eff]: [-0.253, -1.2239, 6.9402, 1.6093, -0.0708, -0.0513, -0.0171, 0.2667, -9.7436, 5.1897, 0.9744, 0.1245, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4767, -0.0139, -0.0311, 0.9993, 0.0689, 1.7737, 1.4265, -0.8608, 0.0536, -0.1959, 0.728]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0003 left_pitch=-0.1129 left_roll=0.0013 left_gripper=0.9993 right_x=0.4108 right_y=0.0224 right_z=0.1134 right_yaw=0.1386 right_pitch=-0.6502 right_roll=-0.1541 right_gripper=0.728\nstate[joint_eff]: [-0.212, -1.2923, 7.1863, 1.6386, -0.0415, -0.022, -0.0122, -0.253, -8.3077, 6.3248, 1.3895, -0.0806, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0139, -0.0311, 0.9993, 0.0635, 1.7638, 1.2751, -0.7395, 0.0475, -0.2134, 0.9957]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0003 left_pitch=-0.1125 left_roll=0.0013 left_gripper=0.9993 right_x=0.3974 right_y=0.0205 right_z=0.077 right_yaw=0.1529 right_pitch=-0.6712 right_roll=-0.1524 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.1966, 6.9402, 1.6288, -0.0415, -0.0317, -0.0122, 0.0615, -9.0735, 7.8427, 1.2332, -0.0171, 0.1783, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78eb4f4471e3d66aecb429530f49f21143ca251f3363b636730c76e14167679f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c28275cae9832c3f5961b8270c5a2347339c1498e3cdb81be29abc73f1311d2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:248ba2ea21ac7928bb570c07b655a4e55957c2ff4d0e55062be23b3d1064a47c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0e1829a353ca7d20016ab431310c2887d0894d4cc2b2554f9e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"left_x\":0.33,\"left_y\":-0.27,\"left_z\":0.14},\"note\":\"Both the yellow fruit and pear appear inside the blue bowl; one dark fruit remains beside the white bowl. I’ll park the right arm and bring the left gripper toward that last fruit.\"}",
  "call_id": "call_iEsq2xjkoqqbwoo6Ozhj0yhr",
  "id": "fc_0e1829a353ca7d20016ab43133ec9c87d094779cc6e024366f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iEsq2xjkoqqbwoo6Ozhj0yhr",
  "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]: [-0.9489, 1.66, 1.1225, -0.4416, -0.6598, -0.7349, 0.9993, -0.0002, 1.3144, 1.1755, -1.0451, 0.0242, -0.2626, 0.9964]\nstate[eef_state]: left_x=0.3249 left_y=-0.2613 left_z=0.1272 left_yaw=-0.0111 left_pitch=-0.1471 left_roll=0.0199 left_gripper=0.9993 right_x=0.297 right_y=-0.0007 right_z=0.1646 right_yaw=0.1429 right_pitch=-0.6286 right_roll=-0.1533 right_gripper=0.9964\nstate[joint_eff]: [-0.6222, -7.8701, 9.0051, 1.2283, -0.6422, -0.1343, -0.0122, -0.2256, -6.0786, 9.4564, 0.8083, -0.1099, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557511ae23290590cc41a2f434069d8452d347c943b82a4dbfdc565a921d85bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f808d30177a10ed6a364d4674005ccc0518d8b6de582faa5ab4e62a63623c204",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c1532272754252e3c865c5d81966512a1201caeaafa324cfcea626af25d35b",
      "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 · 2.07 s

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

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0135, -0.0311, 0.9993, 0.3645, 1.692, 1.507, -1.0206, 0.1562, 0.0666, 0.728]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0007 left_pitch=-0.1125 left_roll=0.001 left_gripper=0.9993 right_x=0.3739 right_y=0.1171 right_z=0.1597 right_yaw=0.1537 right_pitch=-0.6204 right_roll=-0.1544 right_gripper=0.728\nstate[joint_eff]: [-0.335, -1.2923, 6.9402, 1.6581, -0.0562, -0.0611, -0.0122, -0.0889, -9.9487, 7.9932, 1.0232, 0.0904, 0.0122, 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 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0139, -0.0311, 0.9993, 0.0635, 1.7638, 1.2751, -0.7395, 0.0475, -0.2134, 0.9957]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0003 left_pitch=-0.1125 left_roll=0.0013 left_gripper=0.9993 right_x=0.3974 right_y=0.0205 right_z=0.077 right_yaw=0.1529 right_pitch=-0.6712 right_roll=-0.1524 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.1966, 6.9402, 1.6288, -0.0415, -0.0317, -0.0122, 0.0615, -9.0735, 7.8427, 1.2332, -0.0171, 0.1783, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9489, 1.66, 1.1225, -0.4416, -0.6598, -0.7349, 0.9993, -0.0002, 1.3144, 1.1755, -1.0451, 0.0242, -0.2626, 0.9964]\nstate[eef_state]: left_x=0.3249 left_y=-0.2613 left_z=0.1272 left_yaw=-0.0111 left_pitch=-0.1471 left_roll=0.0199 left_gripper=0.9993 right_x=0.297 right_y=-0.0007 right_z=0.1646 right_yaw=0.1429 right_pitch=-0.6286 right_roll=-0.1533 right_gripper=0.9964\nstate[joint_eff]: [-0.6222, -7.8701, 9.0051, 1.2283, -0.6422, -0.1343, -0.0122, -0.2256, -6.0786, 9.4564, 0.8083, -0.1099, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557511ae23290590cc41a2f434069d8452d347c943b82a4dbfdc565a921d85bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f808d30177a10ed6a364d4674005ccc0518d8b6de582faa5ab4e62a63623c204",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c1532272754252e3c865c5d81966512a1201caeaafa324cfcea626af25d35b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDE8v_3d4AVm4t5Yy6aG-JEaDcN6YlPZfoIrKAca2ulPAbKMrJb-wxWiubhC93H-PInlOaXsbteyW2_SfeW-WRhR7ZuOe6Tjj8wDETkD7bkElcUZZWFYhnHkiadHCnSH5Y2m61WWhyIGvNdGLAv87wj1SZ0LkSVxBPwLDONhdZeNWIG8pLMeieT1cdHWn9yYkYMSAHnKXBmXQYmokqEbGxU0ykEoLEUf4bzWsqTVwMu-MoVXY5rIkaIPV7lxJRzeSVK_l3fL1JR1bf0CPOj1Gq948OFhVDh8JxHsse1XX9qT7sH2sFYKl9DGcBqQjTwVVe1P3uVvwiUApdf_dfcWpy097-BPRu1DcULS2BUH-RC9dS6Qu3KgWDCBQfpI8PX0C0kta4zigepVxr5mPyuiZD0oAOZJb1mSxEW_d4nI9CLhzW-CN52Um5vhOI_4nS4KBk132Dj0F8pG5efrF96zTk55N3H-zfABXxTA42lrwVOJA6PqYxqS5PKNKO2YYMdMFGBNnDsyQCKvROipDUW7RJdgSOexO5hKhg4kSAjcjwy8Y-wBE7DpvinxEQGlSRfwAYlXTQvpkK9vCp3ktz3-QVW3KMyRle4HHVsePdZxDmTO6XBWXgHnWxvRFpXoDI-gp488GgA4S3m6egtXC8FBMxePhUtMOG6OsZEt9Qky7wx1ZA1cM2Za7aEVfSClbDosdFtyhvMDrD357OkByPBSDm1Kv3R6NnciZpAIogJ_VjwF3FeMHpOa48aS7i7cZuT3xRgIV439mVIJchPYUoNN48LFu0lpRHLb1MOrwjBdwiH6tT3xfuMYW1wgCE4Li51aWfPx4j12Tpjro4QMXLDSAWfcBCo7ZaEUAFnDFUxUy-d5NKk2prJjPwg1MLiwxg7RUb9Mbl7QTbU78nfOEGH6rLrmRB0_PZ4XaK0BoypSicAG01KaNh_TIXVCTtdUa6G2xp4SzfBGSt_OJWKRaMWbEQbHjtv7kEmT0Nixr43GF9Xsd4XlaRJydN5D4cHIHl4kO_5_d5ipZpVenITooXDxY8QYNGT-zJpLc2fvTpHkqXFZKgTnDGVYpz0OqzQ4Fbvx6P1IQ-dmvmYtKFFjonwvVLIdSWkFQ-oSK-dQtNorh-ee1GxPABgQCBAuvtrYNKMQ8z3TXQCrmsmsF-VdTAjLkVG1dXwH1LNrBOtr1xlA008wQGW8kpFQn-gEl_vxht4lYQCDqMHb_wAiY53wUM0Hm8_MqINQlvxaYuJBAnE2CJKkkD3NrD9obW5LxcpRbYNGulGjxEYUOONpeH7_GCEmZPdZe6rONUKyG1n4tkEfbO7ArvhfyBq9U4XSOamPs8SRhSvmQEpK4x7IiV119m_xxifWcVVMWbggvi2UogZRf9uM_7_QRjJoVT1BADtGss0Wu_a4iZJJML9tvzZR_4fRX5n8PQw1QufBDtBRHAZNSh-U-6X2muewULeltxT61UqK9wFPj-DE_5MbyzdwaPPAxnYiXt0ZDFRj4dAnefrbvcysMjg5bb87pxuPckTgqEppGk0ZHDOIXaOUOpCVzIgwSqo9eSRLFtayE7usdNxDjbtgr1cBXFn5obqu4-W6aAQdvHlmWV2zWywytfREJGH34yOp06LwQh3YCzUT5rTUs7E9iFRrK1VZsIoXSuINHZ2Rt8OxMXGE5gQgn-_ptHA7ng-OZvH_T3buZIO6yP3XOWDMdgsZUH2mxeoXOIYvciVPrMcpj7OdvZYFLIRjoSRwrdGeGFjdIFF29DcqkqeZbf60L7goH9T-7m0_oH-0aGCGOmFNq_JIRDzztGRmmecdVcLZDVNLsmiEDfM-wKPNCgysv2nYvdNPTEvmI2U4YVPj38mLVLDZXhw0Kfg_JI74xQ4pV2p56_6VysaygQMTzkEC3aWF2Xlamldvs4NlnUBd1eGfW7Z83hgllaMMNy5eVPH4U498mGkB_nvBXvWqPVF0yr7Dzo754Ek52tyoiwdtt0j_g9uNpUNlCD1d003-KCAK0XghIg2hWQIu5vXyqS4pwl3GBGWvDnvgr6yCTBjTS1gAaZJ3IG4sT8rHGu-t6rd2FYFuHMeO0x4uEIz9Yr2ySyyF-_MTdLIk6j_C-mx6ZOgK2gYretwN6ASEGwryncFfK6G8BKhdi_Or_eoVIpXUNKkS8Cw4L0FL_Bu30MdhjOc7srzkOCNPilppNcKEsl9BGxrdOAJsINVbmRqsQinK5cs=",
  "id": "rs_0e1829a353ca7d20016ab4313905c087d08aa42000dbeed3fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.205,\"left_z\":0.105},\"note\":\"The dark fruit is in the left wrist view, slightly to the left of the jaw center. I’ll move the left gripper over it and start lowering.\"}",
  "call_id": "call_G1UqKfC9ZH2J3N5SwSMeJypu",
  "id": "fc_0e1829a353ca7d20016ab4313b3a8c87d09a12c39df515d74f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G1UqKfC9ZH2J3N5SwSMeJypu",
  "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]: [-0.7845, 1.6077, 0.9394, -0.2817, -0.572, -0.6041, 0.9993, -0.0021, 1.301, 1.1503, -1.0367, 0.0208, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3435 left_y=-0.2028 left_z=0.0934 left_yaw=0.0204 left_pitch=-0.1857 left_roll=0.0489 left_gripper=0.9993 right_x=0.2931 right_y=-0.0007 right_z=0.1604 right_yaw=0.152 right_pitch=-0.6323 right_roll=-0.1537 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -8.9641, 6.1197, 1.5702, -0.1734, 0.1929, -0.0122, -0.2256, -5.5316, 5.9692, 1.1648, -0.0757, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea29793234c24a26cf4eabf76bcf6bb37d2928a3a81bddc38b11a8436767f2cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fe168200a6eda16741725c92449ff189d5d14a03659a1a3edec45902a8dd7ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430290e81d0a0db95e6ed3df28a5fa6304cc280dce93d9dd99cbe3e7302f9f69",
      "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 · 1.723 s

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

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4767, -0.0139, -0.0311, 0.9993, 0.0689, 1.7737, 1.4265, -0.8608, 0.0536, -0.1959, 0.728]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1587 left_yaw=-0.0003 left_pitch=-0.1129 left_roll=0.0013 left_gripper=0.9993 right_x=0.4108 right_y=0.0224 right_z=0.1134 right_yaw=0.1386 right_pitch=-0.6502 right_roll=-0.1541 right_gripper=0.728\nstate[joint_eff]: [-0.212, -1.2923, 7.1863, 1.6386, -0.0415, -0.022, -0.0122, -0.253, -8.3077, 6.3248, 1.3895, -0.0806, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9489, 1.66, 1.1225, -0.4416, -0.6598, -0.7349, 0.9993, -0.0002, 1.3144, 1.1755, -1.0451, 0.0242, -0.2626, 0.9964]\nstate[eef_state]: left_x=0.3249 left_y=-0.2613 left_z=0.1272 left_yaw=-0.0111 left_pitch=-0.1471 left_roll=0.0199 left_gripper=0.9993 right_x=0.297 right_y=-0.0007 right_z=0.1646 right_yaw=0.1429 right_pitch=-0.6286 right_roll=-0.1533 right_gripper=0.9964\nstate[joint_eff]: [-0.6222, -7.8701, 9.0051, 1.2283, -0.6422, -0.1343, -0.0122, -0.2256, -6.0786, 9.4564, 0.8083, -0.1099, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7845, 1.6077, 0.9394, -0.2817, -0.572, -0.6041, 0.9993, -0.0021, 1.301, 1.1503, -1.0367, 0.0208, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3435 left_y=-0.2028 left_z=0.0934 left_yaw=0.0204 left_pitch=-0.1857 left_roll=0.0489 left_gripper=0.9993 right_x=0.2931 right_y=-0.0007 right_z=0.1604 right_yaw=0.152 right_pitch=-0.6323 right_roll=-0.1537 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -8.9641, 6.1197, 1.5702, -0.1734, 0.1929, -0.0122, -0.2256, -5.5316, 5.9692, 1.1648, -0.0757, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea29793234c24a26cf4eabf76bcf6bb37d2928a3a81bddc38b11a8436767f2cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fe168200a6eda16741725c92449ff189d5d14a03659a1a3edec45902a8dd7ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430290e81d0a0db95e6ed3df28a5fa6304cc280dce93d9dd99cbe3e7302f9f69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDE-lzB04Erqlo56OG_gCldT0JYs80Yv8TUDcmEYkbjAhjbHtM3hjWCeo1uaYu4_rcpxOlJknWGnAZ0zqV9ccMnc1wVcoIdHcIL_ObRfhED1rUD0r0ZzhT_E7MH2uuUVz3zRrPNxfOsOUuc5deWDC29-2aB0X3ihFZ9RG3GoW9wTB1uFqOv-D1Mkz7c82MCYykQ0lCkDXAkqwUV3H63t38wNOdL7sD0ksEQ1AjAD1sNEsBj7-B-XqvnfRZeWeBV2TMZsaowMFf0Z1EWw_OWC8W7nihw9PIhCjTJMUPjj5RngtH8S2n1_47DNkWlFf5mx1I4d-q_FIQj-MRHyLdcESsxiZ9OJgncJDCbrdPdUt7Av7kfcY951VGFVYd0dSGPTm472o_9xr3nCUAHsleocchBn8dhY9JyUFu7fupjmcV9X7-KboAjzOvVGI9WNJeI8pKPjdcXCPSUn1GCu4k8JEYW30cRhSyTZCFaLDYXfyxFm2Y20If4BEan1jGWqdCjfekRv3YRNrdiibe_ryRfcAUISpNtmTFb8-5yvDjZeAJ0GVkEyG24GL8Jqw8ADlKyIdHwAYscYc9LK-SgzS2dW6hw1HkIO5Jd8O0XXjyapCLmxgYi3vktOEbygCnujvamAZ84QX2udeXmVP18Tww82AvPsMCP72IYt6cEbcfUEHa_-0jrZceKQTVzU934wJ8FbAq_jWt3EAdOq4Par2JpNPTCTTup13OLkqY9x7vJTn0R2X2Mrh4tUA1Sun0GP2QE9spzSR39Eimq-IqjEbPwK43wD_73Q4fK58iUrzzKLeBFDUpYw6NFtHAiTcGBHgjMeoRYdgvN1z9LBP7Eyi83avq-t8l5is5hAkx1XfofvKOhBBBGZ02Jkw5_wnGgjZCeYcyXZtAH-9w4TeIBqGobfK84vCduC2xSmL984wu-m1LRxiQO7tPqoB6qPsN2ZEPqYN-5lGuN1moHBmpJrOiBPQuQC1GoTNIIe1AMya5pEFLehqIuWqcGS2JXQb8Smaqjzerz1_fhUeSGg9d0TK8naIanQnbQe7C_Ybj3d0iLr0hFRNh5PtH9csfiWBG0P4yZ8AuIvD130bzINZz51m_O8wa0V5RQ0MRCeHfWzzOGceI2RpE8S65aTVRzhQRCuF23MEQniTQ1DLCNf89WH230Ko1dVy4awnXCdmDfxsyxtPww9ThuWzsCm_WfcuqhSzqHoVUGFOlul_bFohTG1GqtAAq1NVJMt3E9KyRaOGP4JhH6Pqa6_lhkoa1KoNZV0KByNrPCKi1bEbEp0HAmS4XkFpU0QKw==",
  "id": "rs_0e1829a353ca7d20016ab4313df81c87d082ab7819fce03199",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.018},\"note\":\"The dark fruit is now centered between the left jaws. I’ll descend to its lower half so the gripper can hold it securely.\"}",
  "call_id": "call_nhqFtnqOIOyy6FM3u0ut6oOq",
  "id": "fc_0e1829a353ca7d20016ab4313e451c87d0912aba9858937f31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nhqFtnqOIOyy6FM3u0ut6oOq",
  "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]: [-0.7837, 1.7763, 0.7948, -0.0425, -0.5636, -0.5999, 0.9992, -0.004, 1.2881, 1.1194, -1.021, 0.0208, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.334 left_y=-0.1946 left_z=0.0128 left_yaw=0.0248 left_pitch=-0.2421 left_roll=0.1016 left_gripper=0.9992 right_x=0.2896 right_y=-0.0012 right_z=0.1547 right_yaw=0.1506 right_pitch=-0.6346 right_roll=-0.1534 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -8.1162, 5.2855, 1.4725, -0.3394, -0.0464, -0.0171, -0.335, -5.5179, 6.2974, 1.1844, -0.1099, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647dd3b87a97a34e08c1dd3d4dc555d3f3594089304754445520ca3e20ce6e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a59b9e2041b2145270dec3f8d2fc661a3715c01df8eab7e8193034717e8b7519",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af046e81bed343fe601f6ae78abd513833a7d87a4ba50a60aa048ac309d9910a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 3.456 s

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

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4763, -0.0139, -0.0311, 0.9993, 0.0635, 1.7638, 1.2751, -0.7395, 0.0475, -0.2134, 0.9957]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1588 left_yaw=-0.0003 left_pitch=-0.1125 left_roll=0.0013 left_gripper=0.9993 right_x=0.3974 right_y=0.0205 right_z=0.077 right_yaw=0.1529 right_pitch=-0.6712 right_roll=-0.1524 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.1966, 6.9402, 1.6288, -0.0415, -0.0317, -0.0122, 0.0615, -9.0735, 7.8427, 1.2332, -0.0171, 0.1783, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7845, 1.6077, 0.9394, -0.2817, -0.572, -0.6041, 0.9993, -0.0021, 1.301, 1.1503, -1.0367, 0.0208, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3435 left_y=-0.2028 left_z=0.0934 left_yaw=0.0204 left_pitch=-0.1857 left_roll=0.0489 left_gripper=0.9993 right_x=0.2931 right_y=-0.0007 right_z=0.1604 right_yaw=0.152 right_pitch=-0.6323 right_roll=-0.1537 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -8.9641, 6.1197, 1.5702, -0.1734, 0.1929, -0.0122, -0.2256, -5.5316, 5.9692, 1.1648, -0.0757, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7837, 1.7763, 0.7948, -0.0425, -0.5636, -0.5999, 0.9992, -0.004, 1.2881, 1.1194, -1.021, 0.0208, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.334 left_y=-0.1946 left_z=0.0128 left_yaw=0.0248 left_pitch=-0.2421 left_roll=0.1016 left_gripper=0.9992 right_x=0.2896 right_y=-0.0012 right_z=0.1547 right_yaw=0.1506 right_pitch=-0.6346 right_roll=-0.1534 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -8.1162, 5.2855, 1.4725, -0.3394, -0.0464, -0.0171, -0.335, -5.5179, 6.2974, 1.1844, -0.1099, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647dd3b87a97a34e08c1dd3d4dc555d3f3594089304754445520ca3e20ce6e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a59b9e2041b2145270dec3f8d2fc661a3715c01df8eab7e8193034717e8b7519",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af046e81bed343fe601f6ae78abd513833a7d87a4ba50a60aa048ac309d9910a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFBHUrmKQINuHk3nY8NSh-U4umOKiXTIllbUxivbO_bxWccUysmVFBlCnOkOFUS-cEJ-WxHv85dLa_9tqZ84Bi4bq8sZt-0jcTvjFoKuiQHogT8KL0SpwIdzyaDNz2cCw7TKBBQMyt_0Vej8jzh5hhvGrWkWesVst8LjT2OfW_FdYXa-oIp_M9E2ya8HGp9jgIsShYYczC7wHXdAzvnqfcQEdbrQCM069ZadzBUoU6cccSyKQUu07cKQjfyHj7AMckgqD5zuQsVASVgBvg1TA2pBS0ucmXriW9E2UWOitQ-EBDgFoIlzvNXTpEigM9PsWfAgD4tsrL49xys6z9hkzkdKCkt_6jPh6L55K31sKgnbnULG9YQDjsu9xOUKxcEN-ODleRbA2kbqkpKl-SfUl11pHMksvI_DPx6ojUkY2OLrwqyu1RcMG2RAtOhBjVBH0adFdBUX1QGxbzsA7wYeZUEE2q5sHSNlgE5slnMbEQSSU22NQj0mxJtavhVQ1KGfFAkleq6PTu6o2cC8ybBJ0gniSEVBfvmKNirjOeOQbSZ6RJma_eAbnBp1w363VDJeZcxsFlue1GSSSST1PhaVFH5zsW41lZPCoA2AqvENzaHSJxy2Ay5s_v9cRR4zNIpSXwTLaf3h8ZPYB5bV0s_VNc2VNZbOwtRpjnwAYPGhD2LOZct-bCAGGgm9H8KPObcBVejN93pAKjVbhiGlCcYZ6Nl0Kikj4bMVye05f7LhJfdowtppnpkWCgRpa-hQ34oqBcAhI5BUA-2O0U7KloHuf2bzAvmoRFeLeKykeHEEnzutbyMjVcGT5vy3MYFAmDDtUSV9gZGCb-gQW07-GRHHnCvFOGJAabZb_o4lNhH9tJy_UjOcsuay2zclqii_vFHw6DKzsgON8hNn8rk_jAhuMGzCj0kCmzwIbUnFnVWQfgRYJPaREQLyiWMhvx_lZLC-0_yJTFpiIpWNr6kLWMDM3z1Yio25S5UJ13AO65PeQ-Yg0NnQXEUIp9xX0y5qgKCMDE9-EyTTgGVRxPA0cnjDsT9TfIml1jJPV-5wr4-uxoaJnDrJE5jJaGMWVGuK1TbyOCbpVGc_liLZb-wtHrS3XbdiX58Hc4PMtXqg3IMPYc1JxH-5wyoRU5AWs_FOQ2yYeVLwZhus5bCYsS4BMVA5IN4fz2rDQCDg7yB2BOvkmBTQUBTO4kBrxj477EIvn1BpNnYcv4lUj9Id1mryXmeuzA6TzXZ1rgEkhXsdNGLiiJ6OXSwbWy4Ret_HyIG0lX31s3v3XKTHZ6zgL_2MLGrEngB5g==",
  "id": "rs_0e1829a353ca7d20016ab4314052e887d098d7c29266128d86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The dark fruit fills the space between the lowered left jaws. I’ll close and check the settled opening for a grasp.\"}",
  "call_id": "call_hLTOR0vlLcmV926Lx2lq7fky",
  "id": "fc_0e1829a353ca7d20016ab43140973c87d0936ac89b0154cf35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hLTOR0vlLcmV926Lx2lq7fky",
  "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]: [-0.7837, 1.7924, 0.7849, -0.0425, -0.5606, -0.6064, 0.0086, -0.004, 1.2732, 1.087, -0.9993, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.3301 left_y=-0.1913 left_z=0.004 left_yaw=0.0312 left_pitch=-0.2615 left_roll=0.1146 left_gripper=0.0086 right_x=0.2871 right_y=-0.0012 right_z=0.1496 right_yaw=0.1503 right_pitch=-0.6305 right_roll=-0.1544 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -8.8, 5.8051, 1.1306, -0.2808, 0.0708, 0.6716, -0.4034, -5.6137, 6.1744, 1.1355, -0.0562, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc2f7dc0c7824148378b39156acbcd7660c3f7c1b557aa69ffe204f569b3b61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2c721101343bc8bc2f3ccc6e8c8ddd2291d8a63d6d1e048c45d3eb3723a720",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ff6ac75a6a907c868406fa39190c08d16868d76499fd1c9b4d840293d5630d",
      "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 · 2.007 s

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

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9489, 1.66, 1.1225, -0.4416, -0.6598, -0.7349, 0.9993, -0.0002, 1.3144, 1.1755, -1.0451, 0.0242, -0.2626, 0.9964]\nstate[eef_state]: left_x=0.3249 left_y=-0.2613 left_z=0.1272 left_yaw=-0.0111 left_pitch=-0.1471 left_roll=0.0199 left_gripper=0.9993 right_x=0.297 right_y=-0.0007 right_z=0.1646 right_yaw=0.1429 right_pitch=-0.6286 right_roll=-0.1533 right_gripper=0.9964\nstate[joint_eff]: [-0.6222, -7.8701, 9.0051, 1.2283, -0.6422, -0.1343, -0.0122, -0.2256, -6.0786, 9.4564, 0.8083, -0.1099, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7837, 1.7763, 0.7948, -0.0425, -0.5636, -0.5999, 0.9992, -0.004, 1.2881, 1.1194, -1.021, 0.0208, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.334 left_y=-0.1946 left_z=0.0128 left_yaw=0.0248 left_pitch=-0.2421 left_roll=0.1016 left_gripper=0.9992 right_x=0.2896 right_y=-0.0012 right_z=0.1547 right_yaw=0.1506 right_pitch=-0.6346 right_roll=-0.1534 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -8.1162, 5.2855, 1.4725, -0.3394, -0.0464, -0.0171, -0.335, -5.5179, 6.2974, 1.1844, -0.1099, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7837, 1.7924, 0.7849, -0.0425, -0.5606, -0.6064, 0.0086, -0.004, 1.2732, 1.087, -0.9993, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.3301 left_y=-0.1913 left_z=0.004 left_yaw=0.0312 left_pitch=-0.2615 left_roll=0.1146 left_gripper=0.0086 right_x=0.2871 right_y=-0.0012 right_z=0.1496 right_yaw=0.1503 right_pitch=-0.6305 right_roll=-0.1544 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -8.8, 5.8051, 1.1306, -0.2808, 0.0708, 0.6716, -0.4034, -5.6137, 6.1744, 1.1355, -0.0562, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc2f7dc0c7824148378b39156acbcd7660c3f7c1b557aa69ffe204f569b3b61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2c721101343bc8bc2f3ccc6e8c8ddd2291d8a63d6d1e048c45d3eb3723a720",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ff6ac75a6a907c868406fa39190c08d16868d76499fd1c9b4d840293d5630d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFFJhgOqAYYoS20jGkmCVYj45VcTQVWPA3akCbEq-4HgPKTFn7d1r-nqmcEw7bPtPtG76KwEchsWIXdij-btVlL_YYefv1beVyMV01NBVhoZ-jfzRwCy4PIbkYprpth8DSDinwHOswXynzRGsEwgynAfC-qRLRtzw0a4q6sMaUNrjaPr5RpDnIMocT2Dj47qc99SjCjJ8rdcpg4S5otxKjtpKYtIrC8DI75O67CLiSzFFuTqwJ3rU3Qoeoc1BX_CN8g_ACzKl4ugHiKhSM5RRWROwDbrvH5zBzvGbbU8Napm0qYQDy8NcqvvdeQOjjwBqqnXZzfyt4fKTyI6S9wK26gYIueWxPr_keylsvL9l5EVa8g13s2wQdEoigso9fD9OUFGlD0GBVGCAQXCHcnNcdb7bsghbYIB9ko4Gf-vXFDY3L8B9dqX0oBdyWYsTQL30vkRgEWYB8RbmAg__s9PEQmQpJzqnD-UZIThW81tZL5K2NTE1IvYOg2oADNoZrYMZFe1LgNHJnDXqIER6Jw8KzMC6lZZXm-29KZT6IACgxLNYnsmIazeFCpQ3-FEtF80Ce1j2aECSrFyVinzXUNOBvDNDleV_fkGKw1Tl3kwZVXlnolRk34hWITwSC3nJ7rvWPUrT6_ZtdMjc_cXoshtvMOHKrep9Wf_LvQEX6M00ehbLO9rAcOOSD6EjkblCiTRxPifqzTqk6E8ClHuRYGW-4z7LvP03MmB2EVdyzFYDQzDulcSK1OgzmkniLSZZOGXQZ70HIe6oXlZNAweaw5ebQKTuWpUgOC5TpZfq29CgXvEDLJ-OBhJki6aCUzt5NTkLlDrS0nGbab46etPf3RzmbR57N6k6yZgv2wZ8aSEU_PNHQw3vzxjKU-KHrTah5gBEvZ6aaa5lMoQ9L7DjgrDaytoZqG9UBVcIBZzkCC86eLiHHxhXjssl6ii64rKPTDzGL7h8juca0O5pCgbRB4aA4_cTAaXLHhuGBHkwtnogHePqqKFWKN-leEPoKs0Qy3nK46y3CVacuq0POAVkwFhkaf4u_o0IAlzxKh7TN1yLZzVSbr8jH5efRs-pjwXcnJwNu80MkWIxr9YGBbfm-k77lzRjzgQHFF19FS9_fFiKdvvu_3Kq7KwH6GIltmspjefEp6wvD1UlpS_w2RmUaCqhx73wCWneYujCAmQDlPZyvzDSK47tgovDpTjkpzvgeI9J01YDjqTd_OdyXccbT9OIS55Yv29rFYoQGpIJv9J1c8tBYeBgiOIsq3MLepBM2-U7M2wXs0fJx0j4xFGnFcF1obC7U0XrArHBT0ipjHEIt4KX5XISGBxh_YrMfrQj8HxPTD6mGoVXNl6t1-d2kJmP8x2blr__Lbi_dpQPQcIkbXqBOlnGKI17H-zDxJyCal0NlzP1v5cDm-yV7S0WklxzRBsrvtaBC0OWSzrVg05t5FQPdBKmurmpQWGjGgNdY50p36_s2Q1lBPir4wI38G5Cwn6jPOVy5Nsv-56S9zubh9fy9aBD7Y01qYmSlDwGbT0hpfIxfoBx9vodWqvI8YDEQPxgYC5HuEnVUnGDlPt1FNbE1u5F75M1vLIe-Us3Po2ND7oUDMBdjGKouhvo8seNjLEOI6w4V3sOhOiNTIW2GEbo6DldLXFh6nkyIB1VoNcn-wLP2Cxn1IDgvERX_RB3LkBaHdN8wHNJBvAnrt8DGPgEqa9Z-YRsU7GKR749yaVbl_APYgAPGdpkEFMv3bXylIa77lpgEzJ4HsWHJcv-LcqBpsvbQlApVqwc7rSzizvWjWe2Gf7p-N1x6pWzpx4hjMeNVKmc3ofLvaOS5-PgrjaYgZR3RBzJtkNToGdH--SkmEKrnlEqquGfwGAjRqLy--3eMua8a_ZCqPH95CMlQmj-v00GYUBiMNjRwcWiAkKryOdbU0aESGjcSifzUn-SEbaOvXFPkoqJyY3m6_XE-D-MM-gbox48OLF8oNwXXzdA2P-1YGTBudCYWaLJaD4s_Rpand8F8RrC_HZzcSXGAxODwtc1LTWrvOzBsn7HmCEi871CwePv4DY4hooYoyUiHwaBBgxzLcgpRCZUDQUs-nFDy2x6OyIfi3Mio8h2ZOb-FWQpCBaLAkVL6vISAJel-gxweo6J6oh3McB9S7y7kMg8JnRwLxaBzLQSV5yIbQHHF0",
  "id": "rs_0e1829a353ca7d20016ab431430acc87d0812c5cd1b5fbed2f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_z\":0.022,\"left_gripper\":1.0},\"note\":\"The left jaws closed empty; the dark fruit is still just beyond the fingertips. I’ll reopen, advance about three centimeters, and try again.\"}",
  "call_id": "call_D7vQm3BB28MyP8FpxHjAROPt",
  "id": "fc_0e1829a353ca7d20016ab43144bb1c87d09f164937f8c22dbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D7vQm3BB28MyP8FpxHjAROPt",
  "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]: [-0.7258, 1.7954, 0.8696, -0.0986, -0.5282, -0.5652, 0.9948, -0.0044, 1.2625, 1.0599, -0.9874, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.353 left_y=-0.1894 left_z=0.0195 left_yaw=0.0397 left_pitch=-0.2656 left_roll=0.1042 left_gripper=0.9948 right_x=0.2836 right_y=-0.0013 right_z=0.1442 right_yaw=0.1505 right_pitch=-0.635 right_roll=-0.1535 right_gripper=0.9965\nstate[joint_eff]: [0.5265, -6.653, 7.6376, 1.2137, -0.3394, 0.1832, -0.0415, -0.6359, -5.559, 6.2154, 1.1502, -0.0806, -0.0904, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec8b833d7c7680a4d2ff58c3e32a82dc117c4c0ecbfa3b1ff3358eca82f634d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b90dee0bc72b5e56731c3aa7a07ccb2785484bda872d90d6045cdc396c11a18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c4a3a601dcc373514ac47890fbdb00c59c3b6dbaba3b840292a75d0291452f0",
      "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 · 6.35 s

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

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7845, 1.6077, 0.9394, -0.2817, -0.572, -0.6041, 0.9993, -0.0021, 1.301, 1.1503, -1.0367, 0.0208, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.3435 left_y=-0.2028 left_z=0.0934 left_yaw=0.0204 left_pitch=-0.1857 left_roll=0.0489 left_gripper=0.9993 right_x=0.2931 right_y=-0.0007 right_z=0.1604 right_yaw=0.152 right_pitch=-0.6323 right_roll=-0.1537 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -8.9641, 6.1197, 1.5702, -0.1734, 0.1929, -0.0122, -0.2256, -5.5316, 5.9692, 1.1648, -0.0757, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7837, 1.7924, 0.7849, -0.0425, -0.5606, -0.6064, 0.0086, -0.004, 1.2732, 1.087, -0.9993, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.3301 left_y=-0.1913 left_z=0.004 left_yaw=0.0312 left_pitch=-0.2615 left_roll=0.1146 left_gripper=0.0086 right_x=0.2871 right_y=-0.0012 right_z=0.1496 right_yaw=0.1503 right_pitch=-0.6305 right_roll=-0.1544 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -8.8, 5.8051, 1.1306, -0.2808, 0.0708, 0.6716, -0.4034, -5.6137, 6.1744, 1.1355, -0.0562, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7258, 1.7954, 0.8696, -0.0986, -0.5282, -0.5652, 0.9948, -0.0044, 1.2625, 1.0599, -0.9874, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.353 left_y=-0.1894 left_z=0.0195 left_yaw=0.0397 left_pitch=-0.2656 left_roll=0.1042 left_gripper=0.9948 right_x=0.2836 right_y=-0.0013 right_z=0.1442 right_yaw=0.1505 right_pitch=-0.635 right_roll=-0.1535 right_gripper=0.9965\nstate[joint_eff]: [0.5265, -6.653, 7.6376, 1.2137, -0.3394, 0.1832, -0.0415, -0.6359, -5.559, 6.2154, 1.1502, -0.0806, -0.0904, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec8b833d7c7680a4d2ff58c3e32a82dc117c4c0ecbfa3b1ff3358eca82f634d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b90dee0bc72b5e56731c3aa7a07ccb2785484bda872d90d6045cdc396c11a18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c4a3a601dcc373514ac47890fbdb00c59c3b6dbaba3b840292a75d0291452f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFIXQCzFlF76mb4X1OYn8HctXmAYHETxKhbAznGAYA2iMwQcGhhNRhRahDxjHWGcoXLgYqx_zvbuxXdd85imxH_GBg4xl8KTSz-oIo00J3EJF_s39Lr2lvOCjJhJKPeP2Rw8Ogt-QR1w-K_Kr7wiGr0UKHSWGOdzf4HQEqoI8MkDXDUrQTqVZ9ta40V-2C2PSSVU51KnJByPS0G1P5JbM_p86FlHkD8zXexP_P8-f06CtWgZfk-ONu3bxduX1d6BvmENk2QZYlfbZyiOtvbl5D9kHyLi2fPAboyxrF8ddomXg__01fAipdPMthY6__Q-7-tMnX0PVyEvMdzc8XEzDerEuBvOQ6r0t0oCXYq1oaas8YMQUqz8k1abfNiM2KLseOVvECXvuSyFPSFZjeALOQh8idBhodI0veDT6mXhGVOYDBsij5ZdwbR8wMXoJy1-oDxXcqJPFK-ptjaX_VBGeWwQ8c2rMMRd5qcP9PVyT55REXutR3y8o7-YBkakXnLG-743H5GGS4B1a_SwrW6MQW1Z2Mehk-NQghnTCCWZo6bAvaYyC4_59rWocT9CpkrP_rcgkVQ2hQEVDm_TcMeS4BGaAqmMoP_ss6JKGrE_beTtcw-oKvfFpQ5HH5K4G560YECte5KmZnXUl2HO4pdwHtxMmnEt4LpU85_DjzILTD2LYj9JstQJlmfeW2FYlM-GGnFfitU03kefp4Nbn1QgpHKXBInRcTvznm7SCJgHFDSafCpJ3lhdTmBzzxVQFtQl3tBuq7zKikvm4ZBuwrwGPooopmV_8sTeEBngihfF7eqL1oq9bRIfduHrr2gWPb6tGok2-jm5cgwIU4OFiHSoKYWOn0zK9L8_70HdH_11hg5wP2lG_8i2HRz9UXHH1d0Am75BAEfBQfrCSXHqIgYQ-euMihUW_qfQhywpw0or4e3LSWSADL8vJhlQyAgobseTf_42xjTQuxA7nsWKnD78YouqTUeiU9WXWgthTmVY2dyvhHnrYJPjIbWZH_6BVm_Bax3fj5gSFQrA_wGWese3VfwtzDwjoySX8pZOtqnVC3h8BD5NgMtB2GskmmkKLbTRv_ajODfop73mM5_MLHeYfLlQcn94Rxz4uAK5pxnOPPmFDWl1DY4pdOuYdHF2FY_7iJNZcBkX6lcwqGXBBgr3HFytJA3ig7wJaFVuohGWThg-FcJ0xGbO-XazWYmdWw7j3JivpEDpoePaJ9g6nhcBu_V6d4-hU98A17ivgW4bVpg7GOb5Ag8B0JM5T9VJhrXsp-A",
  "id": "rs_0e1829a353ca7d20016ab43147b0ac87d0bb3ccb9796fdd95a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After advancing, the dark fruit sits directly between the left fingertips. I’ll close again at this corrected position.\"}",
  "call_id": "call_mJZB0hdhvNlsODVnh5RMwYUc",
  "id": "fc_0e1829a353ca7d20016ab43147f05c87d080df85d5308798ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mJZB0hdhvNlsODVnh5RMwYUc",
  "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]: [-0.7246, 1.7954, 0.8703, -0.1081, -0.5236, -0.5724, 0.5001, -0.0044, 1.2472, 1.0279, -0.9653, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.3517 left_y=-0.1886 left_z=0.0183 left_yaw=0.0434 left_pitch=-0.2743 left_roll=0.1026 left_gripper=0.5001 right_x=0.2811 right_y=-0.0013 right_z=0.1392 right_yaw=0.1499 right_pitch=-0.6298 right_roll=-0.1545 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -8.1436, 5.4085, 1.3065, -0.2955, 0.0415, 0.9451, -0.4034, -5.3949, 6.2017, 1.1502, -0.0952, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93631527aba7e44b89fc2b859c2b2445506d53c138657d6127128a0f6af344bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4da34b2e5207408db74ecf481a9e437658c3a07667fe3033a658f120777e4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af03abcdc1a940a4a9daf44d07bc99425f03bf916d0a506e5bd18ed8f43d02c",
      "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 · 4.414 s

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

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7837, 1.7763, 0.7948, -0.0425, -0.5636, -0.5999, 0.9992, -0.004, 1.2881, 1.1194, -1.021, 0.0208, -0.2737, 0.9965]\nstate[eef_state]: left_x=0.334 left_y=-0.1946 left_z=0.0128 left_yaw=0.0248 left_pitch=-0.2421 left_roll=0.1016 left_gripper=0.9992 right_x=0.2896 right_y=-0.0012 right_z=0.1547 right_yaw=0.1506 right_pitch=-0.6346 right_roll=-0.1534 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -8.1162, 5.2855, 1.4725, -0.3394, -0.0464, -0.0171, -0.335, -5.5179, 6.2974, 1.1844, -0.1099, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7258, 1.7954, 0.8696, -0.0986, -0.5282, -0.5652, 0.9948, -0.0044, 1.2625, 1.0599, -0.9874, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.353 left_y=-0.1894 left_z=0.0195 left_yaw=0.0397 left_pitch=-0.2656 left_roll=0.1042 left_gripper=0.9948 right_x=0.2836 right_y=-0.0013 right_z=0.1442 right_yaw=0.1505 right_pitch=-0.635 right_roll=-0.1535 right_gripper=0.9965\nstate[joint_eff]: [0.5265, -6.653, 7.6376, 1.2137, -0.3394, 0.1832, -0.0415, -0.6359, -5.559, 6.2154, 1.1502, -0.0806, -0.0904, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7246, 1.7954, 0.8703, -0.1081, -0.5236, -0.5724, 0.5001, -0.0044, 1.2472, 1.0279, -0.9653, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.3517 left_y=-0.1886 left_z=0.0183 left_yaw=0.0434 left_pitch=-0.2743 left_roll=0.1026 left_gripper=0.5001 right_x=0.2811 right_y=-0.0013 right_z=0.1392 right_yaw=0.1499 right_pitch=-0.6298 right_roll=-0.1545 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -8.1436, 5.4085, 1.3065, -0.2955, 0.0415, 0.9451, -0.4034, -5.3949, 6.2017, 1.1502, -0.0952, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93631527aba7e44b89fc2b859c2b2445506d53c138657d6127128a0f6af344bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4da34b2e5207408db74ecf481a9e437658c3a07667fe3033a658f120777e4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af03abcdc1a940a4a9daf44d07bc99425f03bf916d0a506e5bd18ed8f43d02c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e1829a353ca7d20016ab4314a61f887d09d664509020914b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.365,\"left_z\":0.17,\"right_x\":0.3,\"right_y\":0.27,\"right_z\":0.18},\"note\":\"The dark fruit is held by the left gripper. The blue bowl lies beyond the left arm’s sideways reach, so I’ll carry the fruit to an accessible handoff point near the table center and bring the right arm nearby.\"}",
  "call_id": "call_1NWtVbSWNpDIQ0dE6h3ZoYAi",
  "id": "fc_0e1829a353ca7d20016ab4314dfee887d093c48b7c11678562",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1NWtVbSWNpDIQ0dE6h3ZoYAi",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.881, 2.1551, 2.0079, -1.2858, -0.6136, -0.8757, 0.4997, 0.6571, 1.7493, 1.729, -1.507, 0.4778, 0.5365, 0.9965]\nstate[eef_state]: left_x=0.3651 left_y=-0.2771 left_z=0.1433 left_yaw=0.2269 left_pitch=-0.4131 left_roll=0.302 left_gripper=0.4997 right_x=0.3029 right_y=0.1357 right_z=0.2003 right_yaw=-0.2598 right_pitch=-0.6445 right_roll=-0.4902 right_gripper=0.9965\nstate[joint_eff]: [-10.2496, -7.9248, 13.641, 2.8254, -0.7204, 0.0464, 0.5543, 16.1573, -1.1282, 6.7487, 3.5726, -1.6484, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b17db91e6efc95c4616692cd3355fe1ce107ef9a5a4415726dac59f24cc208",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:169751ddeae644c2b91d6a798afafe90c01ae7cbe219fb493d3fd4b7a9e8fe76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:131b240c16cdacfeba4d6ec53d4249e76023e3b89e7354ff52d36f0be74e8622",
      "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 · 2.877 s

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

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7837, 1.7924, 0.7849, -0.0425, -0.5606, -0.6064, 0.0086, -0.004, 1.2732, 1.087, -0.9993, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.3301 left_y=-0.1913 left_z=0.004 left_yaw=0.0312 left_pitch=-0.2615 left_roll=0.1146 left_gripper=0.0086 right_x=0.2871 right_y=-0.0012 right_z=0.1496 right_yaw=0.1503 right_pitch=-0.6305 right_roll=-0.1544 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -8.8, 5.8051, 1.1306, -0.2808, 0.0708, 0.6716, -0.4034, -5.6137, 6.1744, 1.1355, -0.0562, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7246, 1.7954, 0.8703, -0.1081, -0.5236, -0.5724, 0.5001, -0.0044, 1.2472, 1.0279, -0.9653, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.3517 left_y=-0.1886 left_z=0.0183 left_yaw=0.0434 left_pitch=-0.2743 left_roll=0.1026 left_gripper=0.5001 right_x=0.2811 right_y=-0.0013 right_z=0.1392 right_yaw=0.1499 right_pitch=-0.6298 right_roll=-0.1545 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -8.1436, 5.4085, 1.3065, -0.2955, 0.0415, 0.9451, -0.4034, -5.3949, 6.2017, 1.1502, -0.0952, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.881, 2.1551, 2.0079, -1.2858, -0.6136, -0.8757, 0.4997, 0.6571, 1.7493, 1.729, -1.507, 0.4778, 0.5365, 0.9965]\nstate[eef_state]: left_x=0.3651 left_y=-0.2771 left_z=0.1433 left_yaw=0.2269 left_pitch=-0.4131 left_roll=0.302 left_gripper=0.4997 right_x=0.3029 right_y=0.1357 right_z=0.2003 right_yaw=-0.2598 right_pitch=-0.6445 right_roll=-0.4902 right_gripper=0.9965\nstate[joint_eff]: [-10.2496, -7.9248, 13.641, 2.8254, -0.7204, 0.0464, 0.5543, 16.1573, -1.1282, 6.7487, 3.5726, -1.6484, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b17db91e6efc95c4616692cd3355fe1ce107ef9a5a4415726dac59f24cc208",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:169751ddeae644c2b91d6a798afafe90c01ae7cbe219fb493d3fd4b7a9e8fe76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:131b240c16cdacfeba4d6ec53d4249e76023e3b89e7354ff52d36f0be74e8622",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0e1829a353ca7d20016ab43153cf1887d0aa2f0407e15f86bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"left_x\":0.37,\"left_y\":-0.36,\"left_z\":0.12},\"note\":\"Both grippers are too close near the center, and the left arm stopped short of the intended handoff point. I’ll move the empty right arm back out of the way while the left arm finishes bringing the fruit across.\"}",
  "call_id": "call_KeOtxuMmjCIHbp8i8BqfYluK",
  "id": "fc_0e1829a353ca7d20016ab4315550d887d0bd50f87318b07386",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KeOtxuMmjCIHbp8i8BqfYluK",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9676, 2.5767, 2.6213, -1.5452, -0.6037, -0.9894, 0.4998, 0.2569, 1.4017, 1.2709, -1.2232, 0.4549, 0.1539, 0.9965]\nstate[eef_state]: left_x=0.3692 left_y=-0.3529 left_z=0.1094 left_yaw=0.2295 left_pitch=-0.4319 left_roll=0.2958 left_gripper=0.4998 right_x=0.2852 right_y=-0.0016 right_z=0.1765 right_yaw=-0.3307 right_pitch=-0.63 right_roll=-0.5104 right_gripper=0.9965\nstate[joint_eff]: [-1.0872, -13.9009, 8.1573, 0.2271, -0.5788, -0.0513, 0.8083, 0.4034, -5.6957, 6.188, 1.0232, 0.1294, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6fde5baf7343bcb3b9c5024b6ea1deb506b30c63f79afa3cae91954b5cb3d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22aedf3aaacaceffc626ddb859f6948c0d7504a25b58f42c30c749449192608d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0488bea0bae0a78f548249eb7b322db213c8234af42ef74ccada47dab9bbecc",
      "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 · 5.613 s

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

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7258, 1.7954, 0.8696, -0.0986, -0.5282, -0.5652, 0.9948, -0.0044, 1.2625, 1.0599, -0.9874, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.353 left_y=-0.1894 left_z=0.0195 left_yaw=0.0397 left_pitch=-0.2656 left_roll=0.1042 left_gripper=0.9948 right_x=0.2836 right_y=-0.0013 right_z=0.1442 right_yaw=0.1505 right_pitch=-0.635 right_roll=-0.1535 right_gripper=0.9965\nstate[joint_eff]: [0.5265, -6.653, 7.6376, 1.2137, -0.3394, 0.1832, -0.0415, -0.6359, -5.559, 6.2154, 1.1502, -0.0806, -0.0904, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.881, 2.1551, 2.0079, -1.2858, -0.6136, -0.8757, 0.4997, 0.6571, 1.7493, 1.729, -1.507, 0.4778, 0.5365, 0.9965]\nstate[eef_state]: left_x=0.3651 left_y=-0.2771 left_z=0.1433 left_yaw=0.2269 left_pitch=-0.4131 left_roll=0.302 left_gripper=0.4997 right_x=0.3029 right_y=0.1357 right_z=0.2003 right_yaw=-0.2598 right_pitch=-0.6445 right_roll=-0.4902 right_gripper=0.9965\nstate[joint_eff]: [-10.2496, -7.9248, 13.641, 2.8254, -0.7204, 0.0464, 0.5543, 16.1573, -1.1282, 6.7487, 3.5726, -1.6484, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9676, 2.5767, 2.6213, -1.5452, -0.6037, -0.9894, 0.4998, 0.2569, 1.4017, 1.2709, -1.2232, 0.4549, 0.1539, 0.9965]\nstate[eef_state]: left_x=0.3692 left_y=-0.3529 left_z=0.1094 left_yaw=0.2295 left_pitch=-0.4319 left_roll=0.2958 left_gripper=0.4998 right_x=0.2852 right_y=-0.0016 right_z=0.1765 right_yaw=-0.3307 right_pitch=-0.63 right_roll=-0.5104 right_gripper=0.9965\nstate[joint_eff]: [-1.0872, -13.9009, 8.1573, 0.2271, -0.5788, -0.0513, 0.8083, 0.4034, -5.6957, 6.188, 1.0232, 0.1294, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6fde5baf7343bcb3b9c5024b6ea1deb506b30c63f79afa3cae91954b5cb3d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22aedf3aaacaceffc626ddb859f6948c0d7504a25b58f42c30c749449192608d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0488bea0bae0a78f548249eb7b322db213c8234af42ef74ccada47dab9bbecc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFaBvlzIw4WGF5JGibzpQHh0kKpAnSRtYHMNCts5Pdg6iPpkQO6BBLB0i5DhdfiRvJav3rKxuppv4SXB1wi_ZX1NUUxVzyzewNc6wfvLw5RCPyZievDAmNJhhq6CXd6tqWSC0uuWsAXWZdNRsBhmsIWw0dA7-i9GkAQM4cEbLLEtVVOiw9HZNWKCclfBTZ2iQMjRwXk1muu7WGfZmq_4UyxbmAPp2VgCcyfJabmMob1H-6jDnx2d5CsZB5inmRcOLsSLODTZFd6nKtd4_AGG3gW0ke9_HuvgCqYkkS4OsFi7pEkEdkzXaJGMoTeG_HolL3Mf0bFtrCX8H0uX2mDjr6-eghplTTB6fPnN45Rs_MsZLUwipQPr2Wa6wM4EcS3zxVuPCA9vhigZGqrFD6a1aVqJfo6fjJ_2OvZj7k94dM5ZO9AZcI4buaPSVvCBUEeMo4S427bPKm3_58JWio8Y0EZmWXS6crOSpwaH5JBy7wsmGxTN5qGkUJCOd3doR-Ga0ST6tGscyJ7lfn4pDDv3ZSE4GLuToW6D8XyNx4uqA-J2cjudV51644d9kZavbE2YEexu5o7zJQQuxeJx_FSKPe9jvSTJ5kRD96ihtuf5JJZn5VFshtpBXdbZhEG1lpgFq2sqOQU8gKyEzXzD2nqtPE7qW4e4GlyDbPhI03LZZBcZURy8yA0bfy9Re5r479Zk87EpThb0gp4RSNh9Y-1CXQD4czStXANDQ6WO8RSSC4wmn6kwb2ShAleMIZPQ59EssuQJacf0mVFV61L06rknX2-5foXdsfuWFRhq9Rfl1eYkaLgZEd5z_PTGJpD3fpMtLtUGmvGCiBw6ucBbRRIZq8Mn4y_uYUYehBigZ9ELNmgBKKw__icSOg1At1qPugP73ywnR3xIyjyTKwuQhU9hLBiedU3m6LSqWeJFDO2XHllWQIwCFMqVNSwgtFKyIRk_QDbbrQ21oOb4wMkkah6wl7QoMueOJcyehqpfu9nHDHavBbsNBi_cfhtGTFXXJrfyqKpILPNuPXwxKaVKTT8fxb3JzUppXRDFGyQxSgO2CSLjue5miC9zouE7BzTuSgIr_4Ds8e7RvsG5xVYlxFkWzFsX3mUtg06E2UFZER3kZzT2IHxPrtEj1vAySLeguNW82o6i4OSZdBdgDv3GMyWXVGI9L5y7jfUIWpomllEOGH9LovOLnC2SQS7OR_itmKR9u0iJh8L7kOxJs3qPQ1Bv7ztlkAHef_Oi2e6MDjXK6iDEOVlpFsxLypM5WcXXMFByLYC",
  "id": "rs_0e1829a353ca7d20016ab43158e61c87d0a9e7d08814f01c3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The left arm reached the handoff spot with the dark fruit still held, and the right arm is clear. I’ll set the fruit on the table so the right arm can pick it up from its own workspace.\"}",
  "call_id": "call_FuDKMXe93rCkFF0ETo9qGg9C",
  "id": "fc_0e1829a353ca7d20016ab431591e1087d0859d8bf2e0d20f9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FuDKMXe93rCkFF0ETo9qGg9C",
  "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]: [-0.9646, 2.5336, 2.1918, -1.2236, -0.5941, -0.9924, 0.9957, 0.2657, 1.396, 1.2419, -1.2057, 0.4587, 0.1417, 0.9965]\nstate[eef_state]: left_x=0.3626 left_y=-0.3431 left_z=0.021 left_yaw=0.2614 left_pitch=-0.4631 left_roll=0.3576 left_gripper=0.9957 right_x=0.2831 right_y=-0.0003 right_z=0.1704 right_yaw=-0.3202 right_pitch=-0.6359 right_roll=-0.5243 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -15.3368, 5.7504, 0.3053, -0.4127, 0.0073, -0.0269, -0.0615, -6.2974, 6.147, 0.7448, 0.3687, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a586216364fa113528500a4747f2d0fa15402345fdb77447de145441d9541a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3beb8b93374a2668bdf365db22929430bdc71529eb550f49c5323d51eb0a51a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d696e63fa7432be4d39f1cd3e50e0a2bfbd3e7e242922b114c242639109cdc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 3.605 s

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

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7246, 1.7954, 0.8703, -0.1081, -0.5236, -0.5724, 0.5001, -0.0044, 1.2472, 1.0279, -0.9653, 0.0208, -0.2741, 0.9965]\nstate[eef_state]: left_x=0.3517 left_y=-0.1886 left_z=0.0183 left_yaw=0.0434 left_pitch=-0.2743 left_roll=0.1026 left_gripper=0.5001 right_x=0.2811 right_y=-0.0013 right_z=0.1392 right_yaw=0.1499 right_pitch=-0.6298 right_roll=-0.1545 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -8.1436, 5.4085, 1.3065, -0.2955, 0.0415, 0.9451, -0.4034, -5.3949, 6.2017, 1.1502, -0.0952, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9676, 2.5767, 2.6213, -1.5452, -0.6037, -0.9894, 0.4998, 0.2569, 1.4017, 1.2709, -1.2232, 0.4549, 0.1539, 0.9965]\nstate[eef_state]: left_x=0.3692 left_y=-0.3529 left_z=0.1094 left_yaw=0.2295 left_pitch=-0.4319 left_roll=0.2958 left_gripper=0.4998 right_x=0.2852 right_y=-0.0016 right_z=0.1765 right_yaw=-0.3307 right_pitch=-0.63 right_roll=-0.5104 right_gripper=0.9965\nstate[joint_eff]: [-1.0872, -13.9009, 8.1573, 0.2271, -0.5788, -0.0513, 0.8083, 0.4034, -5.6957, 6.188, 1.0232, 0.1294, -0.0171, -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 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9646, 2.5336, 2.1918, -1.2236, -0.5941, -0.9924, 0.9957, 0.2657, 1.396, 1.2419, -1.2057, 0.4587, 0.1417, 0.9965]\nstate[eef_state]: left_x=0.3626 left_y=-0.3431 left_z=0.021 left_yaw=0.2614 left_pitch=-0.4631 left_roll=0.3576 left_gripper=0.9957 right_x=0.2831 right_y=-0.0003 right_z=0.1704 right_yaw=-0.3202 right_pitch=-0.6359 right_roll=-0.5243 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -15.3368, 5.7504, 0.3053, -0.4127, 0.0073, -0.0269, -0.0615, -6.2974, 6.147, 0.7448, 0.3687, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a586216364fa113528500a4747f2d0fa15402345fdb77447de145441d9541a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3beb8b93374a2668bdf365db22929430bdc71529eb550f49c5323d51eb0a51a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d696e63fa7432be4d39f1cd3e50e0a2bfbd3e7e242922b114c242639109cdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0e1829a353ca7d20016ab4315cbb6487d0813d50721e54abe1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.18,\"right_x\":0.43,\"right_y\":0.38,\"right_z\":0.14},\"note\":\"The dark fruit rolled a short distance away from the handoff point but remains on the table. I’ll retract the left arm and bring the right gripper over it near the reachable edge of its workspace.\"}",
  "call_id": "call_z8sBgv3uZKeyyBPMgZb2TEtg",
  "id": "fc_0e1829a353ca7d20016ab4315fb85487d099fe41e5fba7bd7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z8sBgv3uZKeyyBPMgZb2TEtg",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2909, 1.2949, 1.14, -1.0172, -0.4545, -0.2718, 0.9964, 0.8349, 2.5568, 2.5046, -1.5887, 0.5194, 0.7387, 0.9965]\nstate[eef_state]: left_x=0.2993 left_y=-0.0049 left_z=0.1768 left_yaw=0.2914 left_pitch=-0.4559 left_roll=0.3376 left_gripper=0.9964 right_x=0.3792 right_y=0.2934 right_z=0.0822 right_yaw=-0.2861 right_pitch=-0.616 right_roll=-0.5361 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -5.641, 5.8188, 0.9451, -0.2808, 0.1636, 0.0513, 0.2667, -12.9709, 7.6513, 0.3101, 0.3736, 0.3004, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb648e89653189c80c9a50812871a4c4c5bd90979d61309a74e4285cf1b91e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747222eab600e666aab5efb8071bdf8fb6070368d236f78c5f0d3bfa14ed76e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b425386667caa1e933cb2c93b436dc6744a80b9531e7096a6b13430b3f3286",
      "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 · 3.168 s

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

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.881, 2.1551, 2.0079, -1.2858, -0.6136, -0.8757, 0.4997, 0.6571, 1.7493, 1.729, -1.507, 0.4778, 0.5365, 0.9965]\nstate[eef_state]: left_x=0.3651 left_y=-0.2771 left_z=0.1433 left_yaw=0.2269 left_pitch=-0.4131 left_roll=0.302 left_gripper=0.4997 right_x=0.3029 right_y=0.1357 right_z=0.2003 right_yaw=-0.2598 right_pitch=-0.6445 right_roll=-0.4902 right_gripper=0.9965\nstate[joint_eff]: [-10.2496, -7.9248, 13.641, 2.8254, -0.7204, 0.0464, 0.5543, 16.1573, -1.1282, 6.7487, 3.5726, -1.6484, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9646, 2.5336, 2.1918, -1.2236, -0.5941, -0.9924, 0.9957, 0.2657, 1.396, 1.2419, -1.2057, 0.4587, 0.1417, 0.9965]\nstate[eef_state]: left_x=0.3626 left_y=-0.3431 left_z=0.021 left_yaw=0.2614 left_pitch=-0.4631 left_roll=0.3576 left_gripper=0.9957 right_x=0.2831 right_y=-0.0003 right_z=0.1704 right_yaw=-0.3202 right_pitch=-0.6359 right_roll=-0.5243 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -15.3368, 5.7504, 0.3053, -0.4127, 0.0073, -0.0269, -0.0615, -6.2974, 6.147, 0.7448, 0.3687, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2909, 1.2949, 1.14, -1.0172, -0.4545, -0.2718, 0.9964, 0.8349, 2.5568, 2.5046, -1.5887, 0.5194, 0.7387, 0.9965]\nstate[eef_state]: left_x=0.2993 left_y=-0.0049 left_z=0.1768 left_yaw=0.2914 left_pitch=-0.4559 left_roll=0.3376 left_gripper=0.9964 right_x=0.3792 right_y=0.2934 right_z=0.0822 right_yaw=-0.2861 right_pitch=-0.616 right_roll=-0.5361 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -5.641, 5.8188, 0.9451, -0.2808, 0.1636, 0.0513, 0.2667, -12.9709, 7.6513, 0.3101, 0.3736, 0.3004, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb648e89653189c80c9a50812871a4c4c5bd90979d61309a74e4285cf1b91e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747222eab600e666aab5efb8071bdf8fb6070368d236f78c5f0d3bfa14ed76e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b425386667caa1e933cb2c93b436dc6744a80b9531e7096a6b13430b3f3286",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFnxv5wbMxg1G-EwloWt4IPZNPfrXvsh2dZzl9o8vUmu7p_wuL8a_3KDkVBW7jwDk5z53EHBZMPw74IkyGYty-7sdHfSfRf9GQbxEvynXzjCQ2uuTBushrTLY9qB1Gu28877SgzZbFAMJ3CKtqGfaLrmRWFYTLFvQDrvuVWTlJv8MFyf8OUzutwuJhj7XkknmR0Ye8m5ddX26xYvjgUOnQCFmP4lbyxTDvgOJGvyfQrMs3joDZwGDIIXUV0Jt4tHTcbkaZMupAMTjVVEVdSd2NX43DC5zCOoS7knkbmw2vrSGHeji0C0l587sRRDQcWWSZxqKVK4ju-GrqgbTqRtosX6Tl9I9yFamlvJgdco-7Mz2ieIvzKd7RyuqO-Wz1GMAG7KFJbcpBsD3G2TTaxN5kchi0GnTHTRDnzGX1X1VNuBPQI37646FtPs177JOoRMyz1fIW_QZKDmX5GxbPHz4nOi-oZJLcTyBlnBGKwT4f0k3vjOnHLlD2rF9sOQLuIlsBaNz7P7bvSVAJV1u-OBCFWH1l9hYpvluPGNWRrTPqJ4WOA2DeqpcKpOCY6XpCMTLeBCfc66n5E7Q1K9AVQz_P7DFgYSdS0odewMQFbTj7bHSTDLbUYKswTmymuNd-aHgF6Q_q-p3j5u-GmwrrOWAjrKBmuhF61piWRs86oOrad--UoYXU7m__AW22FBZiZYyNagL9kd0eeE5Taip76IXamA9Sftaj-luuC8J7-kyJXk4ZIyIRKtrT3gJkyD2A4yX0K3ddVX6T5ylAfxaYsopdJIeyl7QErqd-3Ay1GfeA-YorhVoOIc5KdDGqpS9whVfnvQWyr6_X3ybAbhaP30Mmu1RU7oC_ru2buoHdX-kvuw1ga38DpVqM02IZxdmpA4YX2uTUs6CTMfepqpuhTWLyqGOsvGZlt_yPBeNf-fUAx6IYzzTUjEnNUyzsgvVgCBRtoQ8Dj7HcPDj3laeTXKWuzXl5HPBOGSPfeSRJ97G-ikBWN9UU2LK2vPymrpzfXIN-B2kdOm32nHkAhBFodyeZDKyds4Uhi8rSTgc7ox5sIPSctRlz0vn3A91Ct72Px3sfBvQkLTcwAm8IzoM7wq1CvAIdFCUNj5ne2d1doeScuVD4wKQddiJ1PEQ6OeJsF9nEThRrzd_4zCjG5mAdNKUmqCElddrd1eoPWqwTfhR88n6acop1JArDy6cL2hEzgHPLCwTnUQ7X7xz9NUZsy5X_FiLV57pzvyhLfvFHtxiGHz-ci3pLuGKDOWSwtjj2wPcLjiYQPVYHq1oH--mUkaZmFkxSD8nJybNhbNANsZ2X9skHUvXeyKZ6akHTBnDmAAzL2cyf1OGEKnAw-3ER3-Pj-AqqJfr_I6P9pQ6HciL01xw-Kgtkrvh4g2ZvFK1hGkh6ZgyrmU7EfkuV1LwCsoOJfHVZNenQuCKYNa_AkoHiKcGZyXCFkpG-O8uUeMtcaOScIkLAG8dWTTYhZZM14gQNVaKoN8r1Y1GF4YEfsOoIoLXCJuidacJUSxtagCk6e-HW1jD1YllZPIEg09nT75I7cZRSq9MYRvL1ZHa6U9LJ0nnfYvLinFFv1FmGZ1cvt9K76jXWs3DAbZk0TB_y1wFAMgJUK6zXDxfdh6RZLGRAGeAWS1vPdwbAQfkhGGyvAPNkce-8FUyXApKc-sppfyKy7KrCl6UEskpPqe8QVhg02g7jrPJwiU6yphW2X1fSNbISJSOl1TQWf7Mc4MNWU6wpCOiXAMMElMsWzJ8yfUkTIPC-57UwKfo7F-2SdEv3kOw8oI2q4rSHmDzScjrfg8TqOwDxHZ1ntyziM5po2nsjl_RigKgAuFc2GWSlO6fbq0aibe_cRt7TNia9hXuN9vgi7r6b-poFLCCFClcxdR5noyi0EH9IkrZp-6G2eCVyD2RvbF9Qc-m1FMe2ZUWsqbNsRQjbJS4wpVKs0uk5R9JuJmHA=",
  "id": "rs_0e1829a353ca7d20016ab43164b78887d0b522285c8d2e3a45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.36,\"right_z\":0.16,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The right arm stopped short with its wrist heavily tilted, leaving the dark fruit outside the wrist view. I’ll straighten the wrist and approach the fruit from a higher, more reachable pose.\"}",
  "call_id": "call_AzZsIihFva4mraQvSHgDMdy7",
  "id": "fc_0e1829a353ca7d20016ab43166479487d0a1b53d830b6212c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AzZsIihFva4mraQvSHgDMdy7",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2905, 1.2961, 1.1381, -1.0241, -0.4477, -0.2623, 0.9965, 0.9672, 2.0792, 1.6375, -0.564, 0.7403, 0.6796, 0.9965]\nstate[eef_state]: left_x=0.2975 left_y=-0.0054 left_z=0.1748 left_yaw=0.2838 left_pitch=-0.4693 left_roll=0.3433 left_gripper=0.9965 right_x=0.3806 right_y=0.3485 right_z=0.1229 right_yaw=-0.0035 right_pitch=-0.1099 right_roll=-0.11 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.5744, 6.4342, 1.072, -0.2906, -0.1294, -0.0122, 0.4855, -15.4188, 6.7487, 1.536, 0.6129, 0.0904, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335fb7b6a42ccc61c6b6f01fac3d9e495e55bfdf29871e04858beff863f127aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733ca7d3853e8796a45e9fc634864e8e3cd09b99eb4edd46713171e39a5aa461",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c6aff50de945bf0a6840493c0e659c4695a8a9bf920d59694f1695bef1924d2",
      "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 · 3.701 s

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

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9676, 2.5767, 2.6213, -1.5452, -0.6037, -0.9894, 0.4998, 0.2569, 1.4017, 1.2709, -1.2232, 0.4549, 0.1539, 0.9965]\nstate[eef_state]: left_x=0.3692 left_y=-0.3529 left_z=0.1094 left_yaw=0.2295 left_pitch=-0.4319 left_roll=0.2958 left_gripper=0.4998 right_x=0.2852 right_y=-0.0016 right_z=0.1765 right_yaw=-0.3307 right_pitch=-0.63 right_roll=-0.5104 right_gripper=0.9965\nstate[joint_eff]: [-1.0872, -13.9009, 8.1573, 0.2271, -0.5788, -0.0513, 0.8083, 0.4034, -5.6957, 6.188, 1.0232, 0.1294, -0.0171, -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 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2909, 1.2949, 1.14, -1.0172, -0.4545, -0.2718, 0.9964, 0.8349, 2.5568, 2.5046, -1.5887, 0.5194, 0.7387, 0.9965]\nstate[eef_state]: left_x=0.2993 left_y=-0.0049 left_z=0.1768 left_yaw=0.2914 left_pitch=-0.4559 left_roll=0.3376 left_gripper=0.9964 right_x=0.3792 right_y=0.2934 right_z=0.0822 right_yaw=-0.2861 right_pitch=-0.616 right_roll=-0.5361 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -5.641, 5.8188, 0.9451, -0.2808, 0.1636, 0.0513, 0.2667, -12.9709, 7.6513, 0.3101, 0.3736, 0.3004, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2905, 1.2961, 1.1381, -1.0241, -0.4477, -0.2623, 0.9965, 0.9672, 2.0792, 1.6375, -0.564, 0.7403, 0.6796, 0.9965]\nstate[eef_state]: left_x=0.2975 left_y=-0.0054 left_z=0.1748 left_yaw=0.2838 left_pitch=-0.4693 left_roll=0.3433 left_gripper=0.9965 right_x=0.3806 right_y=0.3485 right_z=0.1229 right_yaw=-0.0035 right_pitch=-0.1099 right_roll=-0.11 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.5744, 6.4342, 1.072, -0.2906, -0.1294, -0.0122, 0.4855, -15.4188, 6.7487, 1.536, 0.6129, 0.0904, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335fb7b6a42ccc61c6b6f01fac3d9e495e55bfdf29871e04858beff863f127aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733ca7d3853e8796a45e9fc634864e8e3cd09b99eb4edd46713171e39a5aa461",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c6aff50de945bf0a6840493c0e659c4695a8a9bf920d59694f1695bef1924d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFsDbIKOkkZ0FJkBS0bhxnLFMwlE6Mx2E4-VDffu-SrwoW5bcwq4cEB5om2ZHDJvjnuUSldPhXE8W8k7vAp1XdYXX__artxJK9hMKDbxjj4CZ9F82y1FP-EhqXhAe23zRH0f3uxyJdiK3CLRCfDrdhfyKI4GNBKo4tN9grLQkEbWyxJT___ikRmi-CLWRCXVYu9TDRzVZKwxculjUEIn9fc-vya19TKFm6x8QGYZex9xiNF7YbbfA05X_zRm_EKHelMhN7MoY4yw1QWZteDa3P13h2ktgnyW8-L6WDAUTWIFSFs-hj0TtkMotZCRpBL1O4Brvq2jT-RhdthW7ac4dgRUvfirU3QcbTszqL8oMZWYNlQiezUP50-70x644_87SFdOcVdc1v3ncnnsPylpukEXSfrRiOAXAsNrsNOuAEYYKYDJQnvASGTHOfv4tR5IMQM_XEfrg3yiT2hTT2t5Csemo1DVhXJBUqVE4H-dAsFgwsJ-mSHvVjyXybBzGbxiJPboM_cMreSPW-KsDevJOTAmVCMqxCDgfNi_p30nwhAI18xLLbWtwVg9kCjAUKfasuPd4ujOGFsic6PWX6QZhfOSHC17AVNVd7h91fNCSzWoNwgHpCpz5PFawOaOhwoWCUq1bAgRlH5zukA7pEzLd9Mu84bqckk4WnIFglU3bW-A9U41WMUOaQ42EgynZhn0G0Y3csHVYT5FuCoW1emC-9yMLkaS3l8EagaMrUv1gs8n1DjjWgrI2bvkebsqs7vhAsg7055ITANr2sFbndWsDcKxt7TkC-vEpAAEHsyLmf13ufxbqpKH4HbCNTw39b-x1w5s_e5rk_dTM2EDblOSuU03ZvjxB7lrJaJMxJN2X_mvLUnEy9MGRHr4f8ZGtLwjK0eCpmjd_GopuFXQWaAqDgxyLRXRBrGsYa2N2itr5jG4LMPIKkCRq0vrYgh9OhhaDsdF1rG1G_513Of7OKEaMi-5KAC3epqItKszS2RrcELR2-BOxG4rsveIMWZbmat4ww_7dx9eFmL1qoY1IenbIfgPnyhFnqxzk73caOgM-WCOvt7-5xZ0tZJJJMxtUjXp8JESUr-lbvBojBifqmQcfoy9LElgqSUEKQhDut-Mar2R47Pn_zMYc61tOPi9UY7sfYAyI936qA0zmHYjprxyvivSDRZTkf_huVODAUB5UVFjlCOpBwd7j4z7BapLlZMpiMb511DP7aPvLEq80ZYMYmIveTVNHdpqzZ8IT-WUVXx-srlq2Kn2x9F0043tQbaa2IjkapxjkGe1vr3rhUt7I_mdvgukohn_AXa-jHh8-h0XzHXUTatR7lEYN-iD1gv4cbi_tmmNbS9mtBE4Wf7yGu4G1kynzkHy9hRS6SAb0gsnw1qdXwzdj-sDduPRHTv2oCa7dR469sYqKUYF5l6Sd9qMuGRGPW2GULbJ7hnoVOdMTz6Sn_wWonJMWMJcJ6oRWV7xMfVon7qc4-ppGX_3kylIgry264Tw-EmT29X2WIBYuXwJqbOkdLI4Xwefyk_wu-_ZrYr3Qxk7gWL5B3brilM9FMe5yPXy-Nf8KP9BX1Dih6miqA7uWtmgRf429birvVauX-D4IvLzMabztmnhVfhouAcHK6HlKEik_zJMV1sH5ukHagize9UlPzaPGwmcjpaawK2UnryOHzuPCHk_7Od3xIj7RBhSiE6L6r9TeWidi5cDu48CtY0emoJj8brju4Bu_HhR0u3xfv5EkzHz-83ogAjKWv2jNr5WNFi6emxBc14KQp4yWzq283N9pe5MhydEz4_K7egiAXyfxpgxV6z-A==",
  "id": "rs_0e1829a353ca7d20016ab4316a489c87d09f64a56d93bbf881",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.38,\"right_z\":0.105},\"note\":\"The dark fruit is visible well ahead and slightly left of the right fingertips. I’ll advance toward it, staying within the arm’s table-level reach.\"}",
  "call_id": "call_L5rpxMfhgTLM0VoP6R3QzGLt",
  "id": "fc_0e1829a353ca7d20016ab4316b953c87d08aaddbe4009ec205",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L5rpxMfhgTLM0VoP6R3QzGLt",
  "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]: [-0.2905, 1.2972, 1.1381, -1.0256, -0.4477, -0.2619, 0.9964, 0.8783, 2.3867, 2.0449, -0.6323, 0.6758, 0.5743, 0.9965]\nstate[eef_state]: left_x=0.2973 left_y=-0.0053 left_z=0.1743 left_yaw=0.2843 left_pitch=-0.4716 left_roll=0.3451 left_gripper=0.9964 right_x=0.4526 right_y=0.3782 right_z=0.0955 right_yaw=0.0069 right_pitch=-0.1401 right_roll=-0.1335 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -4.5333, 6.3111, 0.9158, -0.2808, -0.0757, -0.0171, -1.1009, -13.6957, 7.7744, 1.2821, 0.4127, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224af37fbbdfde6a8f8b73c8c8b2e5a08552115a4bf3f5cbf0f63af49414f721",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed173691aa7b6fcd6f5fd6ee5738e405e6c5c79089a2917a8fdb7c26971a1e33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb52a0b152d7fb6dea3fd0f5492ecc3a6017cbce443e8ac763e9672afb47481",
      "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 · 7.971 s

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

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9646, 2.5336, 2.1918, -1.2236, -0.5941, -0.9924, 0.9957, 0.2657, 1.396, 1.2419, -1.2057, 0.4587, 0.1417, 0.9965]\nstate[eef_state]: left_x=0.3626 left_y=-0.3431 left_z=0.021 left_yaw=0.2614 left_pitch=-0.4631 left_roll=0.3576 left_gripper=0.9957 right_x=0.2831 right_y=-0.0003 right_z=0.1704 right_yaw=-0.3202 right_pitch=-0.6359 right_roll=-0.5243 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -15.3368, 5.7504, 0.3053, -0.4127, 0.0073, -0.0269, -0.0615, -6.2974, 6.147, 0.7448, 0.3687, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2905, 1.2961, 1.1381, -1.0241, -0.4477, -0.2623, 0.9965, 0.9672, 2.0792, 1.6375, -0.564, 0.7403, 0.6796, 0.9965]\nstate[eef_state]: left_x=0.2975 left_y=-0.0054 left_z=0.1748 left_yaw=0.2838 left_pitch=-0.4693 left_roll=0.3433 left_gripper=0.9965 right_x=0.3806 right_y=0.3485 right_z=0.1229 right_yaw=-0.0035 right_pitch=-0.1099 right_roll=-0.11 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.5744, 6.4342, 1.072, -0.2906, -0.1294, -0.0122, 0.4855, -15.4188, 6.7487, 1.536, 0.6129, 0.0904, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2905, 1.2972, 1.1381, -1.0256, -0.4477, -0.2619, 0.9964, 0.8783, 2.3867, 2.0449, -0.6323, 0.6758, 0.5743, 0.9965]\nstate[eef_state]: left_x=0.2973 left_y=-0.0053 left_z=0.1743 left_yaw=0.2843 left_pitch=-0.4716 left_roll=0.3451 left_gripper=0.9964 right_x=0.4526 right_y=0.3782 right_z=0.0955 right_yaw=0.0069 right_pitch=-0.1401 right_roll=-0.1335 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -4.5333, 6.3111, 0.9158, -0.2808, -0.0757, -0.0171, -1.1009, -13.6957, 7.7744, 1.2821, 0.4127, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224af37fbbdfde6a8f8b73c8c8b2e5a08552115a4bf3f5cbf0f63af49414f721",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed173691aa7b6fcd6f5fd6ee5738e405e6c5c79089a2917a8fdb7c26971a1e33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb52a0b152d7fb6dea3fd0f5492ecc3a6017cbce443e8ac763e9672afb47481",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e1829a353ca7d20016ab4316e101487d0b6c6563a8b8b6cef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.4,\"right_z\":0.022},\"note\":\"The dark fruit remains ahead of the right jaws near the workspace boundary. I’ll make one careful final approach to table height to see whether it can be grasped.\"}",
  "call_id": "call_4LkAC0NbBTBvmRA2Iiupjh9P",
  "id": "fc_0e1829a353ca7d20016ab4316fed0887d09466b8fd123820bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4LkAC0NbBTBvmRA2Iiupjh9P",
  "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]: [-0.2905, 1.3014, 1.1381, -1.0271, -0.4477, -0.2619, 0.9964, 0.8398, 2.5927, 2.2436, -0.5598, 0.68, 0.5484, 0.9964]\nstate[eef_state]: left_x=0.2972 left_y=-0.0053 left_z=0.1731 left_yaw=0.2859 left_pitch=-0.4764 left_roll=0.3487 left_gripper=0.9964 right_x=0.4963 right_y=0.3924 right_z=0.0588 right_yaw=-0.0145 right_pitch=-0.0967 right_roll=-0.106 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -4.6017, 6.2701, 0.9939, -0.2906, -0.0366, -0.0122, 0.5128, -12.6291, 6.9538, 1.1795, 0.315, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a5fdc0342b901f500c7c685a93119a7c3960d153cf69f56984e0b5f626efba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a3dbcbb0a1e135221b8f6c049ce5850be6d504293701e67274b68e0c79c0e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2138555d87820ce26e23899ae2e822fdf691982799223518ddc918fa50263d2c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 4.809 s

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

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2909, 1.2949, 1.14, -1.0172, -0.4545, -0.2718, 0.9964, 0.8349, 2.5568, 2.5046, -1.5887, 0.5194, 0.7387, 0.9965]\nstate[eef_state]: left_x=0.2993 left_y=-0.0049 left_z=0.1768 left_yaw=0.2914 left_pitch=-0.4559 left_roll=0.3376 left_gripper=0.9964 right_x=0.3792 right_y=0.2934 right_z=0.0822 right_yaw=-0.2861 right_pitch=-0.616 right_roll=-0.5361 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -5.641, 5.8188, 0.9451, -0.2808, 0.1636, 0.0513, 0.2667, -12.9709, 7.6513, 0.3101, 0.3736, 0.3004, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2905, 1.2972, 1.1381, -1.0256, -0.4477, -0.2619, 0.9964, 0.8783, 2.3867, 2.0449, -0.6323, 0.6758, 0.5743, 0.9965]\nstate[eef_state]: left_x=0.2973 left_y=-0.0053 left_z=0.1743 left_yaw=0.2843 left_pitch=-0.4716 left_roll=0.3451 left_gripper=0.9964 right_x=0.4526 right_y=0.3782 right_z=0.0955 right_yaw=0.0069 right_pitch=-0.1401 right_roll=-0.1335 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -4.5333, 6.3111, 0.9158, -0.2808, -0.0757, -0.0171, -1.1009, -13.6957, 7.7744, 1.2821, 0.4127, 0.0952, -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 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2905, 1.3014, 1.1381, -1.0271, -0.4477, -0.2619, 0.9964, 0.8398, 2.5927, 2.2436, -0.5598, 0.68, 0.5484, 0.9964]\nstate[eef_state]: left_x=0.2972 left_y=-0.0053 left_z=0.1731 left_yaw=0.2859 left_pitch=-0.4764 left_roll=0.3487 left_gripper=0.9964 right_x=0.4963 right_y=0.3924 right_z=0.0588 right_yaw=-0.0145 right_pitch=-0.0967 right_roll=-0.106 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -4.6017, 6.2701, 0.9939, -0.2906, -0.0366, -0.0122, 0.5128, -12.6291, 6.9538, 1.1795, 0.315, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a5fdc0342b901f500c7c685a93119a7c3960d153cf69f56984e0b5f626efba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a3dbcbb0a1e135221b8f6c049ce5850be6d504293701e67274b68e0c79c0e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2138555d87820ce26e23899ae2e822fdf691982799223518ddc918fa50263d2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e1829a353ca7d20016ab431723e0487d089e847bc2ae645f0",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDF5b3GVNjY2p1M2DnrlhR_ipJwoARSCNRRY2ZacScDtRz1K7yWr7lSFBx9XZgr3KWbL2aO-g4HwT8tO-ADjZGrN0RfES4_B2gjhfjphIUZCNW6cRJymyj3PekIMEIsfI4KXZEhJCNVsuxPTX9CcVtq5mKZfHlxbR84oi8cWrzfoM7S9oBojdBUIeY4oclvsQu6IVpW_5mj6oPnGoLDXaMIAIjrBC1Hwa_MmRDwC9Mkoohs_XRLCXOI0e3QnnTzMPpG4LkZMGX3oZ6Stl36QWy6zVXHjW3lQSx7XKhF2HIlVuzOB0Kk2DJsHInmTsNjzUOToQ22v-7kl77K1XS6pgcCz0CCEcCZXmZOETQ9agxbSce5_nNYB91NSifPh3WCdYwalrnHx_5zETAWG2ywCMv9ogae-epBBfn8z3gHwy5UHkqc9RsASGWtja08wCZjh06KlfxkX1V2Smk1f0NVOLZX-9YdBJB9W7gv-BWws9aGVZToqmbozemYIEbW_LcyVTSKaaW4HfoRDg0rKpM0PjOtiZIRVZxUXq5Or72opqXtI6_hTGJkBGLIzSSsel407OPwHSDtW8Y2WnJFcpz-d0ylWybyMQNWm2v1liybA9apdck4dX0Ex2CYjGxhzNlhz8XEixyoMEeF3I4RmIdGHmxlH2bY7NVWwZ0NGzBSVeOfrMi1tQw502WAOctNPURxCYRBO_1jQcKxYcejCkxxI2i7-7iuf0JGzo_VbwuAZO0TVpVK7tWZg5ihm_YlUTHKwtFGI1e50qePSffF40PzVOGjjkHJeZ-tFLNt6nm0Ldz_T1uws3C2Ycg6cCE-UsnUuCyrJwCczPcUPkKKsyf5yhaZCW_3_eHgbTDQBLYFy9aEjHJB1tDwBz_2PRrCOQhdAzW9SuE2gU7fhqYuOQeml-DiNuMphJirpFmOa0mxh5Y0JbyYKJuF92dEhWLvLM5aJFwVmLqCKkA9rwbXn70B4rYzjz5Sj4s461sgzTViMOLwnEDeEhpW1QWopBiEheo2QyQcqyahuZDvHd6lhOU3Vf2CTV7u2rwjaQNOtMoZqgawBLixGbp71VnP-p_sLtMp0YnvML2lsGqP2uBkqdesnEUs7jnfqyIKrhGLpJbJze8SLHwMKXjGdiqyad4LhDkXAJ1PfyACf4a55GUNqVWAoZvtsp-xjy8VMpPN9i5MPa0epn2dd3GNRxRYmFPWqbgYlneQ5Fqwlx9pmtpkJYGF4oF6XdCkeLZlHRpSo7EWGhUdhLU6tRAtF1sPESaniXHKd2Mln4rTrzV3CqesFTC7KHhKIJz6wNALR0xiKNQZjlyifIaPSTr9hTtUJXZNbLMhWSmysgcn0ifR86CtH0Yrvig0VO4BkEOBdomb2FgW3iTubVwfYqv7k9aBzL4MQtEZ1wcYCGeD5aAasK-sdea_RNbqxJ9slE7shFK1oyIb-tegg0vj7xN8HToW9iIiIhdn23drszsOOZFV_gzslSvD_dzbJ0biIvIEybTjiBNUjfwowCjqoBKbGervUY85vw9-N4pJQNHZlZrU9bYZsUAn9rbW2Y7mfm5mDx_B83Zbnw9FW-zBDNRDkVYqQo9WQmHNFx12eB6M-erYvGUt1D-hT0-QOJ1tQWFd-2bocv2OIaAlZrNdwaX0Ff3eidu54Jth33g3iKlxRhc5Pq9RRvPIOXhLAz1UbYjUjrxobptAl0wBRX6urSgTbTCe8UUeeGkRgV3RAFosLK7-1FJrxb92Azq0xk6VzgKrDka06EegaTYU98IsEP7T7kiQ_QII053txZw5FSugXFigM7O-lmDYzcxNbwZOa1i_9DdkmmslJXNZE2Zr6an597VtHMlWZFSHfGIrchv6ZG3l0gOSuNAwd-v8madtHkMVkcUumeP3hf3hsSaPmFON2SwRyvy8XAAxoQvIBo47wdM8Qb0l-kHZ1Q2KnW8z5amrHHY-WLSWtALtEt4k=",
  "id": "rs_0e1829a353ca7d20016ab43176f7f087d08d7f020e9efbf765",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.02,\"right_z\":0.12,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The dark fruit remains beyond the right jaw center at the side limit, so I can’t make a safe pickup from this pose. I’ll turn to the blue bowl and try to transfer the two fruits already in it toward the white bowl.\"}",
  "call_id": "call_ka3JCgzo7DjewMIJMiivmXKU",
  "id": "fc_0e1829a353ca7d20016ab431782f8487d0ac28994433d2a1bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ka3JCgzo7DjewMIJMiivmXKU",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2905, 1.309, 1.1378, -1.0279, -0.4473, -0.2619, 0.9964, 0.0814, 1.4887, 0.7258, 0.1589, 0.1028, 0.065, 0.9964]\nstate[eef_state]: left_x=0.2974 left_y=-0.0054 left_z=0.1708 left_yaw=0.2881 left_pitch=-0.484 left_roll=0.3537 left_gripper=0.9964 right_x=0.4191 right_y=0.0196 right_z=0.1097 right_yaw=-0.044 right_pitch=-0.0335 right_roll=-0.0069 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -5.0393, 6.2974, 0.9499, -0.3004, -0.0562, -0.0122, -0.1846, -7.5419, 6.2701, 1.9267, -0.105, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef01b6854ce0b1b2f937c675bcb7a2b9694db66dd53156e587e9981977693e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5caa87fbd9bea89b03c929adcae3211740a2c28d3925ea5eb8fc778e5d9ba10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881d20a6960e1d153651e64665aae7c6f44f813715b2bda644b0b4ef1154d7d5",
      "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 · 5.546 s

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

message 139 changed as sent

message 147 changed as sent

message 152 changed as sent

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2905, 1.2961, 1.1381, -1.0241, -0.4477, -0.2623, 0.9965, 0.9672, 2.0792, 1.6375, -0.564, 0.7403, 0.6796, 0.9965]\nstate[eef_state]: left_x=0.2975 left_y=-0.0054 left_z=0.1748 left_yaw=0.2838 left_pitch=-0.4693 left_roll=0.3433 left_gripper=0.9965 right_x=0.3806 right_y=0.3485 right_z=0.1229 right_yaw=-0.0035 right_pitch=-0.1099 right_roll=-0.11 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.5744, 6.4342, 1.072, -0.2906, -0.1294, -0.0122, 0.4855, -15.4188, 6.7487, 1.536, 0.6129, 0.0904, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2905, 1.3014, 1.1381, -1.0271, -0.4477, -0.2619, 0.9964, 0.8398, 2.5927, 2.2436, -0.5598, 0.68, 0.5484, 0.9964]\nstate[eef_state]: left_x=0.2972 left_y=-0.0053 left_z=0.1731 left_yaw=0.2859 left_pitch=-0.4764 left_roll=0.3487 left_gripper=0.9964 right_x=0.4963 right_y=0.3924 right_z=0.0588 right_yaw=-0.0145 right_pitch=-0.0967 right_roll=-0.106 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -4.6017, 6.2701, 0.9939, -0.2906, -0.0366, -0.0122, 0.5128, -12.6291, 6.9538, 1.1795, 0.315, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2905, 1.309, 1.1378, -1.0279, -0.4473, -0.2619, 0.9964, 0.0814, 1.4887, 0.7258, 0.1589, 0.1028, 0.065, 0.9964]\nstate[eef_state]: left_x=0.2974 left_y=-0.0054 left_z=0.1708 left_yaw=0.2881 left_pitch=-0.484 left_roll=0.3537 left_gripper=0.9964 right_x=0.4191 right_y=0.0196 right_z=0.1097 right_yaw=-0.044 right_pitch=-0.0335 right_roll=-0.0069 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -5.0393, 6.2974, 0.9499, -0.3004, -0.0562, -0.0122, -0.1846, -7.5419, 6.2701, 1.9267, -0.105, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef01b6854ce0b1b2f937c675bcb7a2b9694db66dd53156e587e9981977693e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5caa87fbd9bea89b03c929adcae3211740a2c28d3925ea5eb8fc778e5d9ba10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881d20a6960e1d153651e64665aae7c6f44f813715b2bda644b0b4ef1154d7d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0e1829a353ca7d20016ab4317d679887d0b07ba20a6f882f7c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_z\":0.04,\"right_gripper\":0.0},\"note\":\"The blue bowl is directly between the right jaws, with the pear and yellow fruit visible inside. I’ll lower the jaws around its rim and test whether the bowl can be held for pouring.\"}",
  "call_id": "call_lm220kTyKtALHW84T5Qj8O9i",
  "id": "fc_0e1829a353ca7d20016ab431804ec087d0a6b00e68f6225d7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lm220kTyKtALHW84T5Qj8O9i",
  "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]: [-0.2905, 1.3094, 1.1378, -1.0286, -0.4473, -0.2615, 0.9964, 0.0795, 1.6997, 0.6651, 0.5484, 0.0956, 0.0517, 0.0113]\nstate[eef_state]: left_x=0.2973 left_y=-0.0054 left_z=0.1707 left_yaw=0.2882 left_pitch=-0.485 left_roll=0.3546 left_gripper=0.9964 right_x=0.4479 right_y=0.0224 right_z=0.0791 right_yaw=-0.0329 right_pitch=0.0831 right_roll=-0.0007 right_gripper=0.0113\nstate[joint_eff]: [-0.1709, -4.6154, 6.5026, 0.9402, -0.3004, -0.022, -0.0073, -0.4444, -4.6017, 3.2752, 0.7448, 0.1197, 0.1001, 0.9744]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80276a8c868e71da25fd389ef0e6bdbc65559a1afb7eeafc14b9fb551dda6e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff06bc3df6b735a81141b6c7feecfddb08178af64a0a3e83d4706ee08d5fcf82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b48570d9608eedbfbf96ef530ff8bce74ce93be99a088c54d6c81aa8cd6482",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]