adhoc - adhoc_6d94619a.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-5.6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 224.2 s
total steps: 285

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteI see three fruits: a dark fruit on the left, a yellow fruit near the center, and a green pear near the right arm; the blue bowl is just beyond the center. I’ll first hover the right gripper above the nearby pear, keeping the gripper open for alignment.

move_to

right_x0.3400right_y0.0500right_z0.1500right_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]: [-0.0212, 0.8001, 0.6132, -0.3832, -0.0143, -0.0299, 0.9915, -0.0227, 0.7994, 0.6182, -0.3878, -0.0235, -0.0124, 0.9994] state[eef_state]: left_x=0.2959 left_y=-0.0001 left_z=0.1818 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9915 right_x=0.2958 right_y=0.001 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5265, -1.5658, 9.5795, 1.8584, -0.105, 0.105, -0.4811, -0.1026, -1.5521, 9.306, 1.8828, 0.0073, -0.0366, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.05,"right_z":0.15,"right_gripper":1.0},"note":"I see three fruits: a dark fruit on the left, a yellow fruit near the center, and a green pear near the right arm; the blue bowl is just beyond the center. I’ll first hover the right gripper above the nearby pear, keeping the gripper open for alignment."})

tool

executing move_to over 5 steps (0.5s)

step 5

assistant

agent noteThe pear is now close to the bottom of the right wrist view but sits about 2 cm to the gripper’s right, while the blue bowl remains safely farther ahead. I’ll advance slightly and shift right to center the jaws over the pear before descending.

move_to

right_x0.3650right_y0.0300right_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3977, -0.0139, -0.0307, 0.9909, 0.234, 1.0817, 0.593, -0.1287, 0.1719, 0.1051, 0.9994] state[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1783 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0005 left_gripper=0.9909 right_x=0.3366 right_y=0.0529 right_z=0.1418 right_yaw=0.029 right_pitch=-0.0382 right_roll=-0.0153 right_gripper=0.9994 state[joint_eff]: [-0.294, -1.4291, 7.0359, 1.8388, -0.0806, -0.0366, -0.0757, -0.3624, -4.0274, 6.653, 2.0635, 0.1978, 0.1587, -0.0757] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.365,"right_y":0.03,"right_z":0.15},"note":"The pear is now close to the bottom of the right wrist view but sits about 2 cm to the gripper’s right, while the blue bowl remains safely farther ahead. I’ll advance slightly and shift right to center the jaws over the pear before descending."})

tool

executing move_to over 3 steps (0.3s)

step 8

assistant

agent noteThe pear is centered on the jaw column and is now partly below the wrist image, which is consistent with the fingertips being directly above it. I’ll descend to about mid-height on the upright pear so the jaws can close around its body without scraping the table.

move_to

right_x0.3650right_y0.0300right_z0.0400

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8043, 0.6132, -0.4084, -0.0139, -0.0307, 0.9908, 0.1062, 1.1893, 0.6498, -0.131, 0.0792, 0.0349, 0.9994] state[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1755 left_yaw=-0.0007 left_pitch=-0.0294 left_roll=-0.0002 left_gripper=0.9908 right_x=0.3548 right_y=0.0274 right_z=0.1299 right_yaw=0.0166 right_pitch=-0.0992 right_roll=-0.0244 right_gripper=0.9994 state[joint_eff]: [-0.3214, -0.8957, 7.1863, 1.8291, -0.0757, -0.0513, -0.0269, -0.3897, -3.9316, 9.6068, 1.9267, -0.0464, -0.0269, -0.0122] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.365,"right_y":0.03,"right_z":0.04},"note":"The pear is centered on the jaw column and is now partly below the wrist image, which is consistent with the fingertips being directly above it. I’ll descend to about mid-height on the upright pear so the jaws can close around its body without scraping the table."})

tool

executing move_to over 6 steps (0.6s)

step 14

assistant

agent noteAt grasp height the pear remains centered between the two open fingertips. I’ll close the right gripper fully and use the settled jaw spacing to confirm that the fruit is held.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6128, -0.4236, -0.0139, -0.0307, 0.9907, 0.112, 1.4944, 0.4435, 0.347, 0.0734, 0.0334, 0.9994] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0006 left_pitch=-0.0484 left_roll=0.0002 left_gripper=0.9907 right_x=0.3602 right_y=0.0311 right_z=0.0332 right_yaw=0.0276 right_pitch=-0.133 right_roll=-0.0249 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.5795, 7.1726, 1.8681, -0.0464, -0.0073, -0.0171, -0.2256, -5.5726, 5.2444, 1.9121, 0.1148, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At grasp height the pear remains centered between the two open fingertips. I’ll close the right gripper fully and use the settled jaw spacing to confirm that the fruit is held."})

tool

executing move_to over 10 steps (1.0s)

step 24

assistant

agent noteThe right gripper settled at 0.53, about a 5 cm opening, so it has closed on the pear rather than empty space. I’ll lift straight up first to verify the pear moves with the gripper before carrying it to the blue bowl.

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, 0.8078, 0.6128, -0.424, -0.0139, -0.0307, 0.9907, 0.112, 1.4944, 0.4438, 0.3511, 0.0731, 0.0254, 0.5335] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0006 left_pitch=-0.0488 left_roll=0.0002 left_gripper=0.9907 right_x=0.361 right_y=0.0312 right_z=0.0341 right_yaw=0.0324 right_pitch=-0.1286 right_roll=-0.0305 right_gripper=0.5335 state[joint_eff]: [-0.0889, -1.3333, 6.9675, 1.6679, -0.0366, -0.0757, -0.0073, -0.2803, -5.135, 5.2991, 1.5458, -0.0317, 0.022, 1.0232] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.14},"note":"The right gripper settled at 0.53, about a 5 cm opening, so it has closed on the pear rather than empty space. I’ll lift straight up first to verify the pear moves with the gripper before carrying it to the blue bowl."})

tool

executing move_to over 7 steps (0.7s)

step 31

assistant

agent noteThe pear has disappeared from its original tabletop spot and the 0.53 jaw opening is unchanged, confirming the lift. I’ll carry it high to an estimated point above the center of the blue bowl, moving both forward and left while maintaining clearance.

move_to

right_x0.4500right_y0.1100right_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, 0.8078, 0.6128, -0.4244, -0.0139, -0.0307, 0.9908, 0.112, 1.2411, 0.7033, -0.2157, 0.0731, 0.017, 0.5335] state[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0006 left_pitch=-0.0492 left_roll=0.0002 left_gripper=0.9908 right_x=0.3542 right_y=0.0305 right_z=0.1194 right_yaw=0.0363 right_pitch=-0.1827 right_roll=-0.0411 right_gripper=0.5335 state[joint_eff]: [-0.1573, -1.2513, 6.9812, 1.7021, -0.0415, -0.0562, -0.0122, -0.3487, -5.9556, 9.2513, 1.6288, 0.0122, 0.0464, 0.7643] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_y":0.11,"right_z":0.18},"note":"The pear has disappeared from its original tabletop spot and the 0.53 jaw opening is unchanged, confirming the lift. I’ll carry it high to an estimated point above the center of the blue bowl, moving both forward and left while maintaining clearance."})

tool

executing move_to over 8 steps (0.8s)

step 39

assistant

agent noteThe blue bowl is centered directly below the right jaws in both overhead and wrist views, with the pear still held between them. I’ll release from this safe height so the pear drops into the middle of the bowl without contacting the rim.

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, 0.6128, -0.4248, -0.0139, -0.0307, 0.9907, 0.318, 1.6463, 1.2633, -0.4656, 0.2054, 0.1318, 0.5332] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1698 left_yaw=-0.0006 left_pitch=-0.0542 left_roll=0.0003 left_gripper=0.9907 right_x=0.4378 right_y=0.1099 right_z=0.1571 right_yaw=0.062 right_pitch=-0.2577 right_roll=-0.0703 right_gripper=0.5332 state[joint_eff]: [-0.1846, -1.7026, 6.9675, 1.7021, -0.0415, -0.0464, -0.0171, -0.3077, -8.6496, 9.2513, 1.7558, 0.1685, 0.2418, 0.7009] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0},"note":"The blue bowl is centered directly below the right jaws in both overhead and wrist views, with the pear still held between them. I’ll release from this safe height so the pear drops into the middle of the bowl without contacting the rim."})

tool

executing move_to over 5 steps (0.5s)

step 44

assistant

agent noteThe pear is visibly resting inside the blue bowl. The remaining yellow fruit is closer to the bases and to the bowl’s left, so I’ll move the open right gripper to a high hover above it for wrist-camera alignment.

move_to

right_x0.3500right_y0.2000right_z0.1500right_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, 0.6128, -0.4248, -0.0143, -0.0307, 0.9907, 0.318, 1.6463, 1.2633, -0.4763, 0.2054, 0.123, 0.996] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1698 left_yaw=-0.0003 left_pitch=-0.0542 left_roll=0.0005 left_gripper=0.9907 right_x=0.436 right_y=0.1093 right_z=0.1554 right_yaw=0.0662 right_pitch=-0.2684 right_roll=-0.0792 right_gripper=0.996 state[joint_eff]: [-0.0068, -1.1692, 7.1316, 1.663, -0.0611, -0.0757, -0.0073, -0.2803, -8.1436, 7.0496, 1.5653, 0.0366, 0.0269, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.2,"right_z":0.15,"right_gripper":1.0},"note":"The pear is visibly resting inside the blue bowl. The remaining yellow fruit is closer to the bases and to the bowl’s left, so I’ll move the open right gripper to a high hover above it for wrist-camera alignment."})

tool

executing move_to over 8 steps (0.8s)

step 52

assistant

agent noteThe lemon fills the lower center of the wrist view and is only slightly left of the jaw column; the blue bowl and its pear are safely to the right. I’ll make a small leftward correction and descend to the lemon’s mid-height for a table-level grasp.

move_to

right_x0.3600right_y0.2150right_z0.0250

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6128, -0.4255, -0.0135, -0.0307, 0.9907, 0.6987, 1.5826, 1.1709, -0.5682, 0.4152, 0.4099, 0.9986] state[eef_state]: left_x=0.2907 left_y=-0.0004 left_z=0.1697 left_yaw=-0.001 left_pitch=-0.0549 left_roll=0.0001 left_gripper=0.9907 right_x=0.3504 right_y=0.2059 right_z=0.1407 right_yaw=0.0993 right_pitch=-0.2971 right_roll=-0.0926 right_gripper=0.9986 state[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6972, -0.0366, -0.0415, -0.0073, -0.4308, -9.6479, 6.1744, 1.2332, 0.3736, 0.2222, -0.1538] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.215,"right_z":0.025},"note":"The lemon fills the lower center of the wrist view and is only slightly left of the jaw column; the blue bowl and its pear are safely to the right. I’ll make a small leftward correction and descend to the lemon’s mid-height for a table-level grasp."})

tool

executing move_to over 8 steps (0.8s)

step 60

assistant

agent noteAt the lower pose, the lemon is centered between the open jaws and the arm is not contacting the bowl. I’ll close on it now and check that the resulting opening is well above the empty-gripper value.

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, 0.8124, 0.6128, -0.4274, -0.0139, -0.0307, 0.9907, 0.7002, 1.7981, 0.9443, -0.1265, 0.4145, 0.4084, 0.9986] state[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0006 left_pitch=-0.0568 left_roll=0.0004 left_gripper=0.9907 right_x=0.3607 right_y=0.2156 right_z=0.0316 right_yaw=0.1022 right_pitch=-0.2978 right_roll=-0.0933 right_gripper=0.9986 state[joint_eff]: [-0.0342, -1.2376, 6.9675, 1.7216, -0.0415, -0.0513, -0.0122, -0.2803, -7.747, 5.0667, 1.2723, 0.2076, 0.0171, -0.0171] 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_gripper":0.0},"note":"At the lower pose, the lemon is centered between the open jaws and the arm is not contacting the bowl. I’ll close on it now and check that the resulting opening is well above the empty-gripper value."})

tool

executing move_to over 10 steps (1.0s)

step 70

assistant

agent noteThe right gripper closed to 0.023, which confirms the lemon was missed; it appears to have remained beside the bowl rather than being carried. I’ll reopen and lift vertically to clear the fruit and regain an unobstructed alignment view before the one allowed retry.

move_to

right_z0.1400right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6128, -0.4313, -0.0135, -0.0307, 0.9907, 0.7002, 1.8046, 0.9356, -0.1314, 0.4305, 0.3927, 0.0231] state[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.1685 left_yaw=-0.001 left_pitch=-0.0607 left_roll=0.0002 left_gripper=0.9907 right_x=0.3585 right_y=0.2103 right_z=0.0265 right_yaw=0.0951 right_pitch=-0.3078 right_roll=-0.1274 right_gripper=0.0231 state[joint_eff]: [-0.335, -1.3333, 6.9675, 1.746, -0.0366, -0.0806, -0.0073, -0.0889, -8.6359, 6.3385, 1.2479, -0.0562, 0.1294, 0.906] 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_z":0.14,"right_gripper":1.0},"note":"The right gripper closed to 0.023, which confirms the lemon was missed; it appears to have remained beside the bowl rather than being carried. I’ll reopen and lift vertically to clear the fruit and regain an unobstructed alignment view before the one allowed retry."})

tool

executing move_to over 10 steps (1.0s)

step 80

assistant

agent noteFrom the raised wrist view, the lemon is clearly about 3 cm left of the jaw column and just beyond the fingertips; the pear remains in the blue bowl. I’ll shift left and advance about 2 cm, matching the prescribed correction after an empty close, before descending for the retry.

move_to

right_x0.3800right_y0.2400right_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, 0.8124, 0.6128, -0.4313, -0.0135, -0.0307, 0.9907, 0.7002, 1.6615, 1.198, -0.5861, 0.4221, 0.382, 0.9985] state[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.1685 left_yaw=-0.001 left_pitch=-0.0607 left_roll=0.0002 left_gripper=0.9907 right_x=0.354 right_y=0.2084 right_z=0.1187 right_yaw=0.098 right_pitch=-0.3531 right_roll=-0.1577 right_gripper=0.9985 state[joint_eff]: [-0.2393, -1.347, 6.9812, 1.7167, -0.0415, -0.0708, -0.0073, -0.1573, -10.1128, 8.4855, 1.16, 0.2759, 0.0562, -0.1538] 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_x":0.38,"right_y":0.24,"right_z":0.14},"note":"From the raised wrist view, the lemon is clearly about 3 cm left of the jaw column and just beyond the fingertips; the pear remains in the blue bowl. I’ll shift left and advance about 2 cm, matching the prescribed correction after an empty close, before descending for the retry."})

tool

executing move_to over 3 steps (0.3s)

step 83

assistant

agent noteThe lemon is closer but still sits roughly 2 cm left of the jaw center, while the gripper remains high enough to avoid pushing it. I’ll make one more small leftward alignment correction before the retry descent.

move_to

right_y0.2600

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, 0.6128, -0.4335, -0.0135, -0.0307, 0.9907, 0.7197, 1.7947, 1.4208, -0.6964, 0.4221, 0.3824, 0.9986] state[eef_state]: left_x=0.2897 left_y=-0.0004 left_z=0.1676 left_yaw=-0.0009 left_pitch=-0.0648 left_roll=0.0003 left_gripper=0.9907 right_x=0.3759 right_y=0.238 right_z=0.1331 right_yaw=0.1128 right_pitch=-0.37 right_roll=-0.17 right_gripper=0.9986 state[joint_eff]: [-0.253, -0.9915, 6.9675, 1.7363, -0.0708, -0.0415, -0.0073, 0.0479, -8.7179, 7.7607, 1.0183, 0.2955, 0.1538, -0.0073] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.26},"note":"The lemon is closer but still sits roughly 2 cm left of the jaw center, while the gripper remains high enough to avoid pushing it. I’ll make one more small leftward alignment correction before the retry descent."})

tool

executing move_to over 2 steps (0.2s)

step 85

assistant

agent noteThe lemon is now centered between the jaws at the bottom of the wrist view, with clear separation from the blue bowl’s rim. I’ll descend vertically to the same mid-fruit height for the corrected grasp.

move_to

right_z0.0250

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4347, -0.0139, -0.0307, 0.9907, 0.7525, 1.8446, 1.4734, -0.7265, 0.4267, 0.3981, 0.9986] state[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0006 left_pitch=-0.066 left_roll=0.0006 left_gripper=0.9907 right_x=0.3736 right_y=0.2545 right_z=0.1278 right_yaw=0.1269 right_pitch=-0.3887 right_roll=-0.1808 right_gripper=0.9986 state[joint_eff]: [-0.1026, -1.1556, 7.1043, 1.6728, -0.0122, -0.0464, -0.0073, 0.253, -9.1966, 8.335, 1.0476, 0.3053, 0.2076, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.025},"note":"The lemon is now centered between the jaws at the bottom of the wrist view, with clear separation from the blue bowl’s rim. I’ll descend vertically to the same mid-fruit height for the corrected grasp."})

tool

executing move_to over 7 steps (0.7s)

step 92

assistant

agent noteAt grasp height the lemon is hidden directly beneath the jaw tips, which is the expected geometry after the corrected alignment. I’ll close now and verify the captured thickness before lifting.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4423, -0.0139, -0.0307, 0.9907, 0.7506, 1.9625, 1.2167, -0.3691, 0.4225, 0.4004, 0.9986] state[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1658 left_yaw=-0.0006 left_pitch=-0.0736 left_roll=0.0007 left_gripper=0.9907 right_x=0.3711 right_y=0.2519 right_z=0.0264 right_yaw=0.1226 right_pitch=-0.4046 right_roll=-0.187 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.3197, 6.9675, 1.7411, -0.0415, -0.0171, -0.0122, 0.1299, -9.4564, 5.4359, 1.3211, 0.2759, -0.0611, -0.0122] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At grasp height the lemon is hidden directly beneath the jaw tips, which is the expected geometry after the corrected alignment. I’ll close now and verify the captured thickness before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 102

assistant

agent noteThe corrected close also settled empty at 0.024, and the overhead view shows the lemon was squeezed toward the bases rather than captured. I’ll stop repeating this approach and park the right arm high and to the side so I can re-measure the lemon clearly and plan a different grasp orientation.

move_to

right_x0.3000right_y0.0500right_z0.1800right_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, 0.6128, -0.4465, -0.0139, -0.0307, 0.9907, 0.7498, 1.9656, 1.216, -0.3813, 0.4294, 0.3897, 0.0242] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=-0.0006 left_pitch=-0.0778 left_roll=0.0008 left_gripper=0.9907 right_x=0.3696 right_y=0.2486 right_z=0.0241 right_yaw=0.1187 right_pitch=-0.415 right_roll=-0.2093 right_gripper=0.0242 state[joint_eff]: [-0.0479, -1.3333, 6.9675, 1.7363, -0.0513, -0.0269, -0.0122, -0.1436, -10.2359, 5.8462, 1.1209, 0.1099, 0.0806, 1.0525] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.05,"right_z":0.18,"right_gripper":1.0},"note":"The corrected close also settled empty at 0.024, and the overhead view shows the lemon was squeezed toward the bases rather than captured. I’ll stop repeating this approach and park the right arm high and to the side so I can re-measure the lemon clearly and plan a different grasp orientation."})

tool

executing move_to over 17 steps (1.7s)

step 119

assistant

agent noteWith the arm clear, the lemon is visibly much closer to the bases than the prior grasp points; the previous targets overshot it radially by several centimeters. I’ll approach the re-measured center at about x=0.32, y=0.22 from above, restoring neutral yaw so I can inspect before descending.

move_to

right_x0.3200right_y0.2200right_z0.1400right_yaw0.0000

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, 0.8173, 0.6128, -0.45, -0.0139, -0.0307, 0.9907, 0.2596, 1.1893, 1.018, -0.8619, 0.1921, -0.0536, 0.9986] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1635 left_yaw=-0.0006 left_pitch=-0.0843 left_roll=0.0009 left_gripper=0.9907 right_x=0.2957 right_y=0.0474 right_z=0.1654 right_yaw=0.1074 right_pitch=-0.4545 right_roll=-0.2185 right_gripper=0.9986 state[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.7216, -0.0464, -0.0659, -0.0122, 0.1299, -4.5197, 8.9915, 1.1502, 0.0073, -0.105, -0.1587] 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":0.32,"right_y":0.22,"right_z":0.14,"right_yaw":0.0},"note":"With the arm clear, the lemon is visibly much closer to the bases than the prior grasp points; the previous targets overshot it radially by several centimeters. I’ll approach the re-measured center at about x=0.32, y=0.22 from above, restoring neutral yaw so I can inspect before descending."})

tool

executing move_to over 15 steps (1.5s)

step 134

assistant

agent noteThis re-measured hover shows the lemon at the fingertip row, confirming x≈0.32 is correct; it is only about 2 cm left of the jaw column. I’ll shift left by that amount and descend vertically to its midline, avoiding the previous radial overshoot.

move_to

right_x0.3200right_y0.2400right_z0.0250

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4637, -0.0139, -0.0307, 0.9907, 0.7967, 1.7088, 1.375, -0.9352, 0.4507, 0.5404, 0.9986] state[eef_state]: left_x=0.2853 left_y=-0.0002 left_z=0.1608 left_yaw=-0.0006 left_pitch=-0.098 left_roll=0.0012 left_gripper=0.9907 right_x=0.3149 right_y=0.2172 right_z=0.1313 right_yaw=0.0185 right_pitch=-0.4902 right_roll=-0.2373 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.3333, 7.0906, 1.7851, -0.0415, -0.0562, -0.0122, 0.2393, -7.9111, 8.1026, 0.8816, 0.4225, 0.1099, -0.0171] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.24,"right_z":0.025},"note":"This re-measured hover shows the lemon at the fingertip row, confirming x≈0.32 is correct; it is only about 2 cm left of the jaw column. I’ll shift left by that amount and descend vertically to its midline, avoiding the previous radial overshoot."})

tool

executing move_to over 7 steps (0.7s)

step 141

assistant

agent noteAt the low pose, the lemon is centered squarely between the open jaws, while the blue bowl is off to the right. I’ll close from this corrected radial position and confirm the jaw spacing.

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, 0.8173, 0.6128, -0.4686, -0.0139, -0.0307, 0.9907, 0.8268, 1.8992, 1.1831, -0.5892, 0.4526, 0.5545, 0.9986] state[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1599 left_yaw=-0.0006 left_pitch=-0.103 left_roll=0.0014 left_gripper=0.9907 right_x=0.3179 right_y=0.2366 right_z=0.0256 right_yaw=0.0249 right_pitch=-0.5126 right_roll=-0.2603 right_gripper=0.9986 state[joint_eff]: [-0.0342, -1.3333, 7.159, 1.7167, -0.0415, -0.0611, -0.0122, 0.4444, -8.9915, 5.012, 1.0232, 0.2711, 0.1929, -0.0122] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At the low pose, the lemon is centered squarely between the open jaws, while the blue bowl is off to the right. I’ll close from this corrected radial position and confirm the jaw spacing."})

tool

executing move_to over 10 steps (1.0s)

step 151

assistant

agent noteThe jaws again closed empty, and the overhead view shows the lemon being pushed toward the bases; the low cross-table pose leaves the tool strongly pitched forward. I’ll lift, reopen, rotate the jaws 90° to close along the radial direction, and command a compensating positive pitch for a more vertical grasp on the next measured approach.

move_to

right_z0.1400right_gripper1.0000right_yaw1.5708right_pitch0.4000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4702, -0.0135, -0.0307, 0.9907, 0.8246, 1.8992, 1.1831, -0.5926, 0.4522, 0.5426, 0.0258] state[eef_state]: left_x=0.2843 left_y=-0.0003 left_z=0.1596 left_yaw=-0.0009 left_pitch=-0.1045 left_roll=0.0011 left_gripper=0.9907 right_x=0.3178 right_y=0.2353 right_z=0.0253 right_yaw=0.0285 right_pitch=-0.5169 right_roll=-0.2693 right_gripper=0.0258 state[joint_eff]: [-0.0479, -1.2103, 6.9265, 1.6532, -0.0366, -0.0659, -0.0073, -0.1709, -9.306, 5.5863, 0.7595, 0.2173, 0.1001, 1.0769] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.14,"right_gripper":1.0,"right_yaw":1.5708,"right_pitch":0.4},"note":"The jaws again closed empty, and the overhead view shows the lemon being pushed toward the bases; the low cross-table pose leaves the tool strongly pitched forward. I’ll lift, reopen, rotate the jaws 90° to close along the radial direction, and command a compensating positive pitch for a more vertical grasp on the next measured approach."})

tool

executing move_to over 31 steps (3.1s)

step 182

assistant

agent noteWith the arm raised, the overhead view now clearly shows the lemon rolled about 10 cm toward the bases and several centimeters left of the bowl; its center is near x≈0.22, y≈0.31 in the right frame. I’ll hover above that re-measured location while retaining the radial jaw orientation and improved pitch.

move_to

right_x0.2200right_y0.3100right_z0.1400right_yaw1.5708right_pitch0.4000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4755, -0.0135, -0.0307, 0.9907, 0.1997, 1.7077, 0.6704, 0.5659, -1.1713, -0.6483, 0.9986] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0009 left_pitch=-0.1099 left_roll=0.0013 left_gripper=0.9907 right_x=0.3161 right_y=0.2337 right_z=0.1303 right_yaw=1.5276 right_pitch=0.3796 right_roll=-0.2227 right_gripper=0.9986 state[joint_eff]: [-0.1026, -1.3333, 6.9675, 1.7314, -0.0317, -0.0366, -0.0122, -0.1983, -6.9128, 6.7077, 1.7167, -0.4811, -0.0806, -0.1636] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.22,"right_y":0.31,"right_z":0.14,"right_yaw":1.5708,"right_pitch":0.4},"note":"With the arm raised, the overhead view now clearly shows the lemon rolled about 10 cm toward the bases and several centimeters left of the bowl; its center is near x≈0.22, y≈0.31 in the right frame. I’ll hover above that re-measured location while retaining the radial jaw orientation and improved pitch."})

tool

executing move_to over 8 steps (0.8s)

step 190

assistant

agent noteThe overhead view places the rotated open jaws directly over the lemon, and the lemon has disappeared below the wrist camera as expected when it is under the fingertips. I’ll descend to mid-height with the compensated orientation, keeping the bowl clear behind the arm.

move_to

right_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8185, 0.6128, -0.4763, -0.0135, -0.0307, 0.9907, 0.5861, 1.5517, 0.4324, 0.8326, -0.8642, -0.4068, 0.9986] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1581 left_yaw=-0.0009 left_pitch=-0.1118 left_roll=0.0013 left_gripper=0.9907 right_x=0.218 right_y=0.3103 right_z=0.1297 right_yaw=1.5743 right_pitch=0.375 right_roll=-0.1976 right_gripper=0.9986 state[joint_eff]: [-0.0205, -1.0188, 6.9402, 1.6142, -0.0269, -0.0562, -0.0073, -0.0752, -7.2, 4.8068, 1.9316, -0.1099, 0.1343, -0.0122] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.03},"note":"The overhead view places the rotated open jaws directly over the lemon, and the lemon has disappeared below the wrist camera as expected when it is under the fingertips. I’ll descend to mid-height with the compensated orientation, keeping the bowl clear behind the arm."})

tool

executing move_to over 7 steps (0.7s)

step 197

assistant

agent noteAt the low pose, the lemon is bracketed by the jaws along their new radial closing direction rather than being approached from beyond it. I’ll close now; this orientation should trap the fruit instead of rolling it toward the bases.

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, 0.8227, 0.6128, -0.4767, -0.0135, -0.0307, 0.9907, 0.5861, 2.1021, 0.3828, 1.3933, -0.8665, -0.4107, 0.9986] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1569 left_yaw=-0.0009 left_pitch=-0.1163 left_roll=0.0014 left_gripper=0.9907 right_x=0.2166 right_y=0.3097 right_z=0.0296 right_yaw=1.566 right_pitch=0.3535 right_roll=-0.1662 right_gripper=0.9986 state[joint_eff]: [-0.0479, -1.6615, 7.1316, 1.619, -0.0415, -0.0464, -0.0073, -0.0342, -7.3641, 2.1949, 2.1905, -0.2076, -0.0073, -0.0171] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At the low pose, the lemon is bracketed by the jaws along their new radial closing direction rather than being approached from beyond it. I’ll close now; this orientation should trap the fruit instead of rolling it toward the bases."})

tool

executing move_to over 10 steps (1.0s)

step 207

assistant

agent noteThe gripper settled at 0.53, confirming a solid lemon-sized grasp; the fruit is no longer free on the table. I’ll lift vertically to verify it travels with the jaws before transporting it back to the blue bowl.

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, 0.8238, 0.6128, -0.4767, -0.0139, -0.0307, 0.9907, 0.5861, 2.117, 0.3813, 1.4014, -0.8677, -0.4103, 0.5311] state[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0005 left_pitch=-0.1175 left_roll=0.0017 left_gripper=0.9907 right_x=0.2154 right_y=0.3091 right_z=0.0258 right_yaw=1.5643 right_pitch=0.3492 right_roll=-0.1581 right_gripper=0.5311 state[joint_eff]: [-0.3624, -1.2513, 7.1316, 1.6435, -0.0366, -0.0708, -0.0073, -0.0205, -8.3761, 1.9761, 1.5751, -0.1832, -0.0122, 1.033] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.14},"note":"The gripper settled at 0.53, confirming a solid lemon-sized grasp; the fruit is no longer free on the table. I’ll lift vertically to verify it travels with the jaws before transporting it back to the blue bowl."})

tool

executing move_to over 8 steps (0.8s)

step 215

assistant

agent noteThe lemon rose with the jaws and the 0.53 spacing remains stable, confirming the grasp. I’ll carry it high to the known blue-bowl center at approximately x=0.44, y=0.11.

move_to

right_x0.4400right_y0.1100right_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, 0.8257, 0.6128, -0.4763, -0.0135, -0.0307, 0.9907, 0.5861, 1.5032, 0.4408, 0.7715, -0.868, -0.411, 0.5338] state[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1562 left_yaw=-0.0008 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9907 right_x=0.2155 right_y=0.3092 right_z=0.138 right_yaw=1.5787 right_pitch=0.3732 right_roll=-0.1976 right_gripper=0.5338 state[joint_eff]: [-0.1299, -1.5248, 6.9265, 1.707, -0.0366, -0.0562, -0.0122, -0.0752, -5.6137, 7.1863, 1.5751, -0.1294, 0.0024, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.11,"right_z":0.18},"note":"The lemon rose with the jaws and the 0.53 spacing remains stable, confirming the grasp. I’ll carry it high to the known blue-bowl center at approximately x=0.44, y=0.11."})

tool

executing move_to over 18 steps (1.8s)

step 233

assistant

agent noteThe gripper is at the same verified bowl coordinates used for the pear; the elevated lemon appears displaced in the oblique overhead view because of height and the rotated wrist, while its drop point is fixed by the end-effector coordinates. I’ll release it into the blue bowl from this centered safe height.

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, 0.8307, 0.6128, -0.4927, -0.0139, -0.0307, 0.9907, -0.1425, 2.2875, 1.9091, -1.3033, -1.3556, -1.9366, 0.5344] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1518 left_yaw=-0.0005 left_pitch=-0.1404 left_roll=0.0022 left_gripper=0.9907 right_x=0.4517 right_y=0.1132 right_z=0.1694 right_yaw=1.5916 right_pitch=0.3382 right_roll=-0.2623 right_gripper=0.5344 state[joint_eff]: [-0.3624, -1.5932, 6.9402, 1.7753, -0.0317, -0.0659, -0.0122, -0.5538, -12.7658, 5.5726, -0.6618, -0.8132, 0.0952, 1.0281] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0},"note":"The gripper is at the same verified bowl coordinates used for the pear; the elevated lemon appears displaced in the oblique overhead view because of height and the rotated wrist, while its drop point is fixed by the end-effector coordinates. I’ll release it into the blue bowl from this centered safe height."})

tool

executing move_to over 5 steps (0.5s)

step 238

assistant

agent noteThe lemon landed on the tabletop beside the bowl, indicating it was held off-center near one rotated jaw and its true drop point was offset. It is now directly below the still-open right gripper, so I’ll descend in place to recapture it without spending a separate transit.

move_to

right_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4927, -0.0139, -0.0307, 0.9907, -0.1394, 2.3116, 1.9121, -1.3151, -1.3548, -1.9587, 0.9955] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1514 left_yaw=-0.0005 left_pitch=-0.1419 left_roll=0.0022 left_gripper=0.9907 right_x=0.4518 right_y=0.1144 right_z=0.1602 right_yaw=1.5955 right_pitch=0.3399 right_roll=-0.2506 right_gripper=0.9955 state[joint_eff]: [-0.0752, -1.306, 6.9265, 1.5946, -0.0415, -0.022, -0.0073, -0.2667, -14.2154, 5.2581, 0.0073, -0.5641, 0.1783, 0.0171] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.03},"note":"The lemon landed on the tabletop beside the bowl, indicating it was held off-center near one rotated jaw and its true drop point was offset. It is now directly below the still-open right gripper, so I’ll descend in place to recapture it without spending a separate transit."})

tool

executing move_to over 9 steps (0.9s)

step 247

assistant

agent noteAt table height the overhead view shows the lemon about 4 cm to the gripper’s physical right, outside the open jaws. I’ll slide the open gripper right to center over it; the fruit is clear of the jaw path until the last part of this small correction.

move_to

right_y0.0700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4938, -0.0135, -0.0307, 0.9907, -0.1402, 2.487, 1.7214, -0.9661, -1.3552, -1.9553, 0.9964] state[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1512 left_yaw=-0.0008 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9907 right_x=0.4505 right_y=0.1143 right_z=0.04 right_yaw=1.5868 right_pitch=0.3434 right_roll=-0.2291 right_gripper=0.9964 state[joint_eff]: [-0.0479, -1.1966, 6.9128, 1.619, -0.0366, -0.0708, -0.0073, -0.1162, -12.1778, 4.4513, 0.0171, -0.6422, -0.0952, 0.0806] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.07},"note":"At table height the overhead view shows the lemon about 4 cm to the gripper’s physical right, outside the open jaws. I’ll slide the open gripper right to center over it; the fruit is clear of the jaw path until the last part of this small correction."})

tool

executing move_to over 4 steps (0.4s)

step 251

assistant

agent noteThe first lateral correction tracked only about 2 cm and the lemon is still just outside the right jaw, so the center has not yet reached it. I’ll continue the same direction by another few centimeters rather than closing off-center.

move_to

right_y0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4938, -0.0139, -0.0307, 0.9907, -0.1802, 2.5252, 1.8099, -1.1061, -1.3399, -2.0708, 0.9965] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1512 left_yaw=-0.0005 left_pitch=-0.143 left_roll=0.0022 left_gripper=0.9907 right_x=0.4565 right_y=0.0952 right_z=0.0424 right_yaw=1.5823 right_pitch=0.3299 right_roll=-0.2514 right_gripper=0.9965 state[joint_eff]: [-0.212, -1.265, 6.9128, 1.6239, -0.0562, -0.0415, -0.0122, -0.3214, -11.1385, 6.6393, -0.2906, -0.6276, -0.2711, -0.0024] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.03},"note":"The first lateral correction tracked only about 2 cm and the lemon is still just outside the right jaw, so the center has not yet reached it. I’ll continue the same direction by another few centimeters rather than closing off-center."})

tool

executing move_to over 6 steps (0.6s)

step 257

assistant

agent noteThe low arm is refusing further sideways tracking in this folded configuration, so repeating the same target would not help. I’ll raise it while keeping the desired rightward target, allowing the inverse kinematics to unfold and complete the lateral shift above the lemon.

move_to

right_y0.0300right_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4942, -0.0135, -0.0307, 0.9907, -0.1837, 2.5324, 1.8149, -1.1305, -1.3361, -2.0716, 0.9965] state[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1511 left_yaw=-0.0008 left_pitch=-0.1434 left_roll=0.002 left_gripper=0.9907 right_x=0.4547 right_y=0.0939 right_z=0.0405 right_yaw=1.571 right_pitch=0.3311 right_roll=-0.2238 right_gripper=0.9965 state[joint_eff]: [-0.1436, -1.2786, 6.9538, 1.5946, -0.0171, -0.0757, -0.0122, -0.3214, -12.7248, 6.2427, -0.1783, -0.5885, -0.2906, -0.0073] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.03,"right_z":0.15},"note":"The low arm is refusing further sideways tracking in this folded configuration, so repeating the same target would not help. I’ll raise it while keeping the desired rightward target, allowing the inverse kinematics to unfold and complete the lateral shift above the lemon."})

tool

executing move_to over 8 steps (0.8s)

step 265

assistant

agent noteThe raised overhead view reveals the lemon is not only rightward but also much closer to the bases than the low arm suggested; it lies near x≈0.36, y≈0.00. I’ll move high to that directly measured point before the final recapture.

move_to

right_x0.3600right_y0.0000right_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, 0.8341, 0.6128, -0.4946, -0.0135, -0.0307, 0.9907, -0.1993, 2.4973, 2.0521, -1.3323, -1.306, -2.072, 0.9965] state[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1506 left_yaw=-0.0008 left_pitch=-0.1457 left_roll=0.002 left_gripper=0.9907 right_x=0.4794 right_y=0.0808 right_z=0.1056 right_yaw=1.5831 right_pitch=0.2885 right_roll=-0.2907 right_gripper=0.9965 state[joint_eff]: [-0.3214, -1.5658, 6.9128, 1.5751, -0.022, -0.0806, -0.0073, -0.9641, -16.2803, 5.1214, -0.5348, -0.7546, -0.3101, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.0,"right_z":0.14},"note":"The raised overhead view reveals the lemon is not only rightward but also much closer to the bases than the low arm suggested; it lies near x≈0.36, y≈0.00. I’ll move high to that directly measured point before the final recapture."})

tool

executing move_to over 10 steps (1.0s)

step 275

assistant

agent noteThe lemon is currently occluded at the right edge, so I need the right arm parked to determine whether it remained on the table. In parallel, I’ll bring the left arm to a high hover over the clearly visible dark fruit, using the otherwise idle motion efficiently.

move_to

left_x0.3200left_y-0.1000left_z0.1400left_gripper1.0000right_x0.3000right_y0.0000right_z0.1800right_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, 0.8368, 0.6128, -0.4942, -0.0135, -0.0307, 0.9907, -0.234, 2.093, 1.4574, -1.1938, -1.2869, -2.072, 0.9965] state[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1499 left_yaw=-0.0008 left_pitch=-0.148 left_roll=0.0021 left_gripper=0.9907 right_x=0.3841 right_y=0.0864 right_z=0.1283 right_yaw=1.5368 right_pitch=0.2809 right_roll=-0.2339 right_gripper=0.9965 state[joint_eff]: [-0.212, -1.306, 6.9265, 1.6239, -0.022, -0.0757, -0.0122, -0.5402, -12.4376, 5.5316, -0.0464, -0.6813, -0.2857, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.1,"left_z":0.14,"left_gripper":1.0,"right_x":0.3,"right_y":0.0,"right_z":0.18,"right_gripper":1.0},"note":"The lemon is currently occluded at the right edge, so I need the right arm parked to determine whether it remained on the table. In parallel, I’ll bring the left arm to a high hover over the clearly visible dark fruit, using the otherwise idle motion efficiently."})

tool

executing move_to over 9 steps (0.9s)

step 284

assistant

agent noteThe yellow lemon was pushed/rolled off the right edge of the table during the recovery attempt. With the right arm parked, the overhead view clearly shows only the dark fruit on the table and the pear in the blue bowl; the lemon is absent from all reachable workspace, so placing all fruits and completing the pour is no longer possible.

give_up

hindsightFor this rig, a fruit held after rotating the right gripper to yaw≈1.57 can be captured far off-center near one jaw even when the settled opening confirms a grasp. Before transporting, lift only 5 cm and inspect the overhead offset; compensate the bowl target for the fruit’s actual position rather than relying only on the grasp-point coordinates. Also, when a smooth fruit is near the right table edge, park or lift before lateral corrections—low sideways moves can roll it out of the reachable workspace.

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]: [-0.487, 1.1446, 0.6884, -0.3889, -0.3256, -0.3313, 0.9914, -0.2661, 1.8393, 1.2858, -1.2877, -1.2713, -2.072, 0.9986] state[eef_state]: left_x=0.3064 left_y=-0.0942 left_z=0.1208 left_yaw=-0.0317 left_pitch=-0.2178 left_roll=0.0266 left_gripper=0.9914 right_x=0.3319 right_y=0.0882 right_z=0.1713 right_yaw=1.5048 right_pitch=0.2685 right_roll=-0.2187 right_gripper=0.9986 state[joint_eff]: [-0.335, -3.5761, 9.3607, 1.7021, -0.3834, -0.0122, -0.5739, -0.6222, -9.6889, 5.1077, -0.1783, -0.6325, -0.2173, -0.1636] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]

assistant

give_up({"reason":"The yellow lemon was pushed/rolled off the right edge of the table during the recovery attempt. With the right arm parked, the overhead view clearly shows only the dark fruit on the table and the pear in the blue bowl; the lemon is absent from all reachable workspace, so placing all fruits and completing the pour is no longer possible.","hindsight":"For this rig, a fruit held after rotating the right gripper to yaw≈1.57 can be captured far off-center near one jaw even when the settled opening confirms a grasp. Before transporting, lift only 5 cm and inspect the overhead offset; compensate the bowl target for the fruit’s actual position rather than relying only on the grasp-point coordinates. Also, when a smooth fruit is near the right table edge, park or lift before lateral corrections—low sideways moves can roll it out of the reachable workspace."})

tool

give_up: The yellow lemon was pushed/rolled off the right edge of the table during the recovery attempt. With the right arm parked, the overhead view clearly shows only the dark fruit on the table and the pear in the blue bowl; the lemon is absent from all reachable workspace, so placing all fruits and completing the pour is no longer possible.

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 · 10.52 s

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

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
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{
  "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"
    }
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  "role": "user"
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  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8001, 0.6132, -0.3832, -0.0143, -0.0299, 0.9915, -0.0227, 0.7994, 0.6182, -0.3878, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0001 left_z=0.1818 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9915 right_x=0.2958 right_y=0.001 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -1.5658, 9.5795, 1.8584, -0.105, 0.105, -0.4811, -0.1026, -1.5521, 9.306, 1.8828, 0.0073, -0.0366, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
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    {
      "image_url": "data:image/png;base64,$blob:ce855472c262d4ee7e6c21bdf46f855264c9de6efa32d8789cccad20da091443",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22320eeee6ec3d1704ddea22d124b67ce2b7d346f763252dbb035e4c2f1b0c5",
      "type": "input_image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4576481de84c91fcd92c468f24ff8cca41c24e5bacd8ffe157abbf2ad48147a9",
      "type": "input_image"
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    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 4.132 s

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

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{
  "content": [],
  "encrypted_content": "gAAAAABqtD_m7ScVE69JpzDAp-Y--TDUtyLLprvSC57elmxj4x2wB1lPwMwpYpDNFs43swdER00Vnei_brkAO9-QXE1Xx-EJd2O0Ie331KPlcwV-mDZtN77_uoas2AQNWca2VctUYAgV-TrBKuo8BoJTgy8jwrTM1HDPHhG9tSMJKIauZg_vaizsKe7LMiPKxTWRodxvbGrEHNez_QAXN6sLYjjFBin52zYOsa1VPLPJFDDBA4IdAVj6PO8Z6_3tyD5p68JlEK9FvXxpYs3pQwgkntyBAIbHfJoKXdMuo-Mjcl3PbRNQG6lxpLRha5a12t6GktYnbm4KY5YTanh3CbaLYQ2p43YovagwEKPdW5bCJueSVdK1zn6kUiuIFXCIvKs1SzL6jVLUOS1JL67KOIzBFQOgvooaeirrGYVp7yzsKjAXjln9ohs8gJ3rCs7rEi7hJvdEsK315t1qqv1WzNJJoS7SEtxT-G0ZqA7PSsL_aHYiuJKEBixaNupu2V-imZ78XJVlXap_eHpMjIzFjOgySxXvwpsOOw2VFbEw8D27ZD1vfB20UWa7iuYDs128awh0YMKiFem9VbRnhrAEIvm_OlS8r9G2zPgnEkE8Niwa4_BawQYz4bq3lVkExdXq-bn5k715HbTyuRQt9uPcmC2mcW8ILFv0Y0R3_vRAwLcN9-pKSHCQaL-19ovAOTw2ADOxJiVSRpc5UhF8RHT5dLbaYn78risKGUsm5AaR1xVJux8yj-cew1sypojeOUBLOvhCHtaEnaYji1yPtNYunFNYqquBdLuCb7W0_QO7lM1OkavwXibtJTVjHFMeSTOolHIAa3H3AS6KLrEltXs5d2aCY1LKXeUN3K64ie12_5RzNYwsMi7eyDJAqBPQegjRNL7xbxz1WS6uF6WhUNmbNfciqZ1iYIkWFqeJeILjF6nEXHdByHBOyLxsqMaZST_pmJIDFkOWQ-q2LTxCYdUP_XicoDvKeOcCTi12YcyBq055d7gR3_cz1PaPQVgd-2JP3KRgXBTXUMRZM1mOO4jQuQRIsSxHiFFvpK3GNN-Wb3ASLj7qckQ-MgnQpjHOJxHsXCxo81PE5SCL5P5wOj5DhpS4PTFHPROK2wfkaq5RGgITkSZBn1a12-x8B2kInccMOul0sj5qfNs4BZ0IUJP4f8jjRkDjOwsG0PaTCoHy61U1kN4E2VQJTVvXhKFBYWiJoM43geez94IKFAF9jSJYGRc9U8JbX5UpfeQ6JVnpIGErOhTs4MuVsjvdqqpvaosAPr0dW1uUaWoN0KBW7B1laM3mkWTB7eRbXWwKuePF5wcxnbwSyi_4kBwA7tGottfgoMKuW1WQ27o9urnfaICqv1zOf4mtXrWXW8QssH7O5MleydTeNVHjzNnf1YH7cKzh_3XVLAbjD8aGNQaJ6JYKsLiL8mRHgcGhuC_uxS3PbrHDBVJdVD4HBfms-YtVuRES2aCIL_QOJvmg7e3LKdVkC9ugKrPn1Wl5bDyoIIwyDqJ4Hje1Ca4WGG3rVgB8T0j-GnINI02nIzggwQVbOT54JEb99_AjMhMWaZ4EPv2NHleabQ_dGpFOssXmwNFA0HOQWjtlGNfgkLmt-Y60IGmsybDFj6_Z57ODrc6bz7kuKTQqSw5rt-VpXQapszOyGh1EnVPVvQDHF7lrrUYNBtZqpg_6Yo-qJXplkdR6shA4JFHiiGGG-LHVS9d4ap2h1lg0j8Vplfbqo1E76CCbi0YtnFOE-QGesfmnrVRdoX13wcdDsWeknNbr_vliIW3QIELUz5cP26UL6FwqFeJT16qbRhtOHVQyJ4eXajLSFx9bizdF8ASTcZYXJgWvPT5xNHDzAgIANwpDXHH5VhllLE92arLp1ZMOGq9Sqv7lCqj7F_LKSh4EmQ6C98cesXLixaOusadhzrbLkanSY_3pa_L31iO7THFK7LaM01x-_p8SjvvFdjWcRsTgpu6c8ozOVrzZLdVptcs11Z6NkJ3ACSTIauL4CN9TOlA39-xqFQOtIxOTdO6FMSq0LriTkm_NZpvPsuXxy0NYhmbrE2leqcxzCoyCHxr9doJpENocV8wnTNs5HBhM0VJK4O6dzF6w1L7KsnP6Zd3t-UdOVhRSP_oIvFghE70dzptXQoBbxAj4LJ4-yiJTEAt1yNs3IIk0WgojG0urf93OAbf7Lu6QsG-rRWCwdWYGB0fELCJzaZn1LokDIaoVt87OsKaaaa287WPACFI--5_h8bvGMu0j9bq0BKkUJmEI-AGmPbsGmAqEHVBRbD5XtWN6Ycn-9JVxhWkchBHHipEKNGkb7XYLOxX7uZGvoiHTk3Ejxb4TxBFGIQSuara363w0WiQ1t4vfaxX4rylhhX3B_uBTPni_OXfX3psD1_Xapj1IYCGDEvVyZh3wJhi5CX9yDKymuf8WVJKvaXfVM9QK9SUGJ4UX1PCuNXam6IiFxl4Ovw5voErI6QqY4pUUf-m4al-LbokLm3cf78Jd3D0BPSMBl-zHAfwv0uluzAwxDokdsRz6Zl2NNGE-Cy5QmcaIUU1-IyW6C3E1WGQrpcbRvX2TDzCV67IytTkhi_4U_TQU9m5Us6IAiT_jQlBvHExpQtB22PguG4tUe15a8kgaAiZfT7TYICNuOaH_rVLvpkhtjJEiHw6EMZymH9DIJyJmcljr3GnfxWDuyxsDycqtvet4YDzAmtiimV4XcdsgCQ2AT5A659BeonqMAqS0e4CEF58=",
  "id": "rs_094f0dcb31f4da75016ab43fe2f13087d0bed8fb9a58094604",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.05,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"I see three fruits: a dark fruit on the left, a yellow fruit near the center, and a green pear near the right arm; the blue bowl is just beyond the center. I’ll first hover the right gripper above the nearby pear, keeping the gripper open for alignment.\"}",
  "call_id": "call_nWAg0QBiyAFOyqou6FauNaex",
  "id": "fc_094f0dcb31f4da75016ab43fe58fcc87d0a9cc661de9d2cb13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nWAg0QBiyAFOyqou6FauNaex",
  "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, 0.8021, 0.6132, -0.3977, -0.0139, -0.0307, 0.9909, 0.234, 1.0817, 0.593, -0.1287, 0.1719, 0.1051, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1783 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0005 left_gripper=0.9909 right_x=0.3366 right_y=0.0529 right_z=0.1418 right_yaw=0.029 right_pitch=-0.0382 right_roll=-0.0153 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.4291, 7.0359, 1.8388, -0.0806, -0.0366, -0.0757, -0.3624, -4.0274, 6.653, 2.0635, 0.1978, 0.1587, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:120a22e7281f66a1df60a3692f4795da341564f25b339374958157e426202cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d3c88a2c39f8d5ef73578feff52f9da60b4e3ca17ce9438f8ab8a1f2500a00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27230661f485cbaeea24b73641446c8e8a78a30d53d860a93bf2770d507b7d17",
      "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 · 3.329 s

model: gpt-5.6-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, 0.8001, 0.6132, -0.3832, -0.0143, -0.0299, 0.9915, -0.0227, 0.7994, 0.6182, -0.3878, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0001 left_z=0.1818 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9915 right_x=0.2958 right_y=0.001 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -1.5658, 9.5795, 1.8584, -0.105, 0.105, -0.4811, -0.1026, -1.5521, 9.306, 1.8828, 0.0073, -0.0366, -0.0757]",
      "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, 0.6132, -0.3977, -0.0139, -0.0307, 0.9909, 0.234, 1.0817, 0.593, -0.1287, 0.1719, 0.1051, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1783 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0005 left_gripper=0.9909 right_x=0.3366 right_y=0.0529 right_z=0.1418 right_yaw=0.029 right_pitch=-0.0382 right_roll=-0.0153 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.4291, 7.0359, 1.8388, -0.0806, -0.0366, -0.0757, -0.3624, -4.0274, 6.653, 2.0635, 0.1978, 0.1587, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:120a22e7281f66a1df60a3692f4795da341564f25b339374958157e426202cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d3c88a2c39f8d5ef73578feff52f9da60b4e3ca17ce9438f8ab8a1f2500a00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27230661f485cbaeea24b73641446c8e8a78a30d53d860a93bf2770d507b7d17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_unrmu2yi027SXsTIUlfZ47330f5zEya1JM5MSwrbjaFZV8_Syu1oG7-9kmXDNz-r_FcjAxb7pxE4ua1mPAgxCSyEb6xroIxIteZC_zBE4eF1PHE3X7Sx7Xb9h92rTUUUdWdDHgzKKYF5JCJLjT8XmRZEcq4_lidF4gntKUcUfkAofzqpY9hCJTxfaQLI91MBl_3cf1Cao0HumOh35SBpIFVCnSLQM_nEeWzMHyM9JOL0s6rqoVM_UtjQ0PcWXaVth68eHnyeEhTHBf3hBt3JGEQq689urQiyNOTOq39IE0HqhpTdQxC5aUFq8pA7MTuQ5eP9InPYR7PczTmFVenCHhfUgGrFgMJD5wGMtP_5dii4JdBLP3GzpqddEDqE-Oyl1Nie2TqUB-RWL_iW8N9mQQRZ-lCdypKMOft9BB1DcrNgNXZ3fcZerThGCrYnx495VzY_n2ZNQMd7TxvfZlsH6fl3cEMAztCaGto_Fipt69UJeJFQEE1RKWEVKuPfJG2fAg5-MtPbeZ00ZyMoXPx02ana3pRHZfA9gxHiT0dVT9ZiJnpLLEW8LTsKWBt5RJlYuZ6NZIc5grRHb-LjNJKR8x5kA-qLPNEy5euR-V_NxTqPOFwSdmSL8I-DBg-bNfRjY_cvgmoqCieupEnY7W6_1sIt0N4GnEn4t9jty_NPkEQBPg-rhgzIicB2UmMjuggcdz_Lqk47GscKO-9oA5zLc80jn4rLzismi_q60gK1rfw7acHZCRf5xM_sKvQUhzoEgJQ3yJ62HzhRY0joD6ll8SpIYGOForiyyK8lZi8kK17HnEHnr_aXWSzBGJ9_dLz-Ipsb46HTkPCBap8Zb-45n7rhRY3U5pDo724EYDH549epXCKbValdRvQXuEhxIWblb4AQWfch6Kmja8pmGH8SuBzs58f4dnu8qEzIqPz3PijHWM8UIOq1pSlYqFauGAI4OnuQcr4LD9krh2jVHyyvb-542uBSmB3INtflutxD7DMmyUH6us-Nqx-9d_Kb64pPkKhrz3aBDj8b35XUfs_SMdNDGNWrhN6TsQJEZeY-zurr_SWECfuBes9-_MMjHSVuXYN77Q_kjRrKcBuzLE9fu9vou2cCxbG3kzPThPRpLNR-lE52VR1bQPo9Lj7JhfpaEOmk8VERO633tBhxRo0V30iRn4hgvzO7bCFxNfzVhcbiJthVwARv1lTFUoJY8fRBTCWwZdLxvzUaVPFI-5gsbsIWk-sl2OcvJsDcBVR2oa_VxqY62igQeI30dnAYTeHXtoMFdWx4tLTsWewkyN-il6MEPG49PqvEoYo9GdJmQjqMMb4XV0iqE6Tx50yrxsgxPE_MctW-iuSfidyPZRsayh7ggmpRFo073ka8qiHaAW9x4cVo_gGafb8uMTqqflYynOEraKVF3ZGdfsw1Bdy0rsqz7aUOe9tN8WEjdVlv6-wcTNeNb1k_al_eeYSwRFcLRu5Nv1YK9PZxzJoKPhd_SRtjZLIFd0QUwWOzHzrjhyPqoZIPwtf_brqo_3101jUoidWcUqeSZqzfudQEM-uzBaBfkzN0f0mvB7aCu0vryWomG6cqIG8wxbXbzaBsxxGO57yVUC7PE3iLXBcaU3UUYR6-0obBR14Y2xe7I06ECISFveQfZq_Zf5YT1gXk6zhAyDuyuxdIQObjVMarb2dd04tOwuVrKqnDqwm7NyMzzz2k3PLdmSdC6EksgsXILm-D-c3eCczumypV8tnMOyZ0y-cwJBCPQA5etSd7q1XhgFKru4AjcdjpdcYy37x24Mer1VEES2_vAaYUOzx_SZpSoUhcRCc1YszWhyyidulQ54v7FE2lYU_J9M0Aa2KjfOx1aUIjPUSgWY8EM9DPr-O7mpC2_9vjML7At7ZTs21gkbG1QPS7_q5hPIKx3zWDWSypGNHK1YrDHvWNi3FibFyRzBzC_Cs0oaxWxO7kxKNq1Jhukc3gfYE3vyFNW9ZxcXumMVufn8SdY6mpoH2vkcECeubM8zjP6lQe0XEU-LFViDbR201J_UXOfPwG2eBlsUTUb",
  "id": "rs_094f0dcb31f4da75016ab43feb7fd487d08a8e29769815b9c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.03,\"right_z\":0.15},\"note\":\"The pear is now close to the bottom of the right wrist view but sits about 2 cm to the gripper’s right, while the blue bowl remains safely farther ahead. I’ll advance slightly and shift right to center the jaws over the pear before descending.\"}",
  "call_id": "call_MDdP1HkD3U3npI8aW3VQ7qd7",
  "id": "fc_094f0dcb31f4da75016ab43fed47c487d08fec9de1541ebd96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MDdP1HkD3U3npI8aW3VQ7qd7",
  "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, 0.8043, 0.6132, -0.4084, -0.0139, -0.0307, 0.9908, 0.1062, 1.1893, 0.6498, -0.131, 0.0792, 0.0349, 0.9994]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1755 left_yaw=-0.0007 left_pitch=-0.0294 left_roll=-0.0002 left_gripper=0.9908 right_x=0.3548 right_y=0.0274 right_z=0.1299 right_yaw=0.0166 right_pitch=-0.0992 right_roll=-0.0244 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -0.8957, 7.1863, 1.8291, -0.0757, -0.0513, -0.0269, -0.3897, -3.9316, 9.6068, 1.9267, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c42d886ed887c9c1f992830808d2c1516b2056c47ff482934bad577a03ebd357",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb02f6cf32b4c8dc4f0d713444fa7d0f10f56df6019728dbc4c72a23ecabf18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79958f1a6acb57b2455996890b7e6788288be5ff3c5812d4810cb133d4a94611",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 2.439 s

model: gpt-5.6-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, 0.6132, -0.3977, -0.0139, -0.0307, 0.9909, 0.234, 1.0817, 0.593, -0.1287, 0.1719, 0.1051, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1783 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0005 left_gripper=0.9909 right_x=0.3366 right_y=0.0529 right_z=0.1418 right_yaw=0.029 right_pitch=-0.0382 right_roll=-0.0153 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.4291, 7.0359, 1.8388, -0.0806, -0.0366, -0.0757, -0.3624, -4.0274, 6.653, 2.0635, 0.1978, 0.1587, -0.0757]",
      "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, 0.8043, 0.6132, -0.4084, -0.0139, -0.0307, 0.9908, 0.1062, 1.1893, 0.6498, -0.131, 0.0792, 0.0349, 0.9994]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1755 left_yaw=-0.0007 left_pitch=-0.0294 left_roll=-0.0002 left_gripper=0.9908 right_x=0.3548 right_y=0.0274 right_z=0.1299 right_yaw=0.0166 right_pitch=-0.0992 right_roll=-0.0244 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -0.8957, 7.1863, 1.8291, -0.0757, -0.0513, -0.0269, -0.3897, -3.9316, 9.6068, 1.9267, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c42d886ed887c9c1f992830808d2c1516b2056c47ff482934bad577a03ebd357",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb02f6cf32b4c8dc4f0d713444fa7d0f10f56df6019728dbc4c72a23ecabf18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79958f1a6acb57b2455996890b7e6788288be5ff3c5812d4810cb133d4a94611",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_yS4S8e1G0pLjRsxNa_CXUZK5klUY9iFCxp2BmibHLonzSsC9xsfa0PSco4anL2331T5d4bGhYrSIKE3jJ5t98nlIifz5ULWtkxQnSX7P2PY3EK27KydyGINCX4Cp6ASqG9Wr7H3RlW4d6G3EJqM-TLZWqNuLjZaHQv0bLIAuHJAr9kVGnFvrUeifu6JBxSl1GtrW4fi5t8BLIz6mhXXnJGguE7INMUrJFc0n78SJEad7APsMxe0HhuhZNYnZOqn8efvodYKjz1biKxNpNHWxEOC-4WzpESJfNry_ebuemRs4Og-2eG5LAGiH5g07k-4mY2fKuyn2EU5g5OkslLq1mo7QzdNeq90zHstiAc20TTpMr9qkLI_03s7F4c_Tmaf6s7umIjCJW9EbKW9Kt9_9Azg_7DU4NH-zvcMgagX2oVTnwjK6x_4eZZssOnJbbf-XRCVT-qwQkC8MR4XW3jovp2HtNTYsRukqliphff3kmbb5-NVe-9zjAQsT6R7zlzksj4TY5Qx83el_-UFc776PaVCXgekPQBURQe5pUL7jma6pBlQ0qpEEdPtF9KAd0RsOdPRjlFgP1iZ9Bx9hHl9T5Qqx042awNSQWZs2-OSytTWPQ8shWhwwyYDILuDB5LmMi3uqs40UbfzSqWOW-dlzQyx4Cr-CI2UnWtlPUw3VN8KZoVQ8juXIBBIMNtP1onjdUu-AplCQDBmaPiBCaXhSUOEHaiSSGQMN18Q7vTZm0GNu3WU4nlsGV7DTD-aeSLkAkIHfMxvsFuwkrO2PutzbFc2q-fEGRhJGTaEJGkabvDzQkb8iV21Ytu92R2Zx7Ot6lFsJ_iyY_z7-JK-Ra-nLOqLLq4IrSlWWVMLIGdQ_M7GjtwrsjgcbBKFUD-H_gELbc1B5HVgqwt9VlIF9KSOS0zX5fipsXYrYj8kuRYoaWOIqUO-HBtczQ1g_xt1xbeLUvPqceVEs9XAEzGzhUEoz4E-MoyVIuv8cVWXFmC6WqvYlyW9jz-XwUibOvvRsT3f-CYIGfRgi-ETy4a_0p-OJIRmGHKhWwM9WnjFn74onG8a8vB7EGjaqeiLetmX9IqPXSITnYsTXDjFgDFfycowmo9iaW7rPR33v9GvXc1JftL6P0MkFM1cXYg4T3NCam7wmlM4-N3iZ0JIqCQLJvOnOFaz8XHA6UhOvvgUmD5zMpOSIyxHvYWjZGaZ_gwBIMy-yd6Ig1RfLGwkTtpLB6EcDnlmuK350TtQzNUlazWqJscnvDhGV8Wi6toGP6RtqhKj5mLlu5eKqz_Czdx3rQy-29RB9OQKOx-E3m6ECXG5vkgYq2Nz9qzz9y83q3mv4KhwntjakLTjvME4mYOmQC-6MzfQz-49J_OrkPcNZBM57idi-0In4Xu4VauysGAzoZcAgwWaVTUI6nAc45tOl_H28GSnPSYRahTZKn99S1VzSjHqYCH5gPVjM1iprQcshyZe6Z_i6pQAb76Lmq85nFvgiDab5O8bv46SnYSRjt15cJbdZHyWcGTgj9MPdp4UjqS23NB1pb0oOQuWzFjI6tBWIxyxir08qRvr_n4HuAYZrfWfTa8-EpZKBR0b3gmOcMgf2YfF0fJHiG6bLkTwZbVJ6lPb97plH97l5_F0vlmwL0viZ1vw168hmX2FvDk5pasMjF3WqAYIdmv3P8ju_9jBdBuTkRMwG9GCBnTJxpciufPNM=",
  "id": "rs_094f0dcb31f4da75016ab43fefe80087d0bc018f57751165e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.03,\"right_z\":0.04},\"note\":\"The pear is centered on the jaw column and is now partly below the wrist image, which is consistent with the fingertips being directly above it. I’ll descend to about mid-height on the upright pear so the jaws can close around its body without scraping the table.\"}",
  "call_id": "call_udcQoCG54dWGaoAeSrK1yYdO",
  "id": "fc_094f0dcb31f4da75016ab43ff0ec4087d09c1ad0c1596e065b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_udcQoCG54dWGaoAeSrK1yYdO",
  "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, 0.8078, 0.6128, -0.4236, -0.0139, -0.0307, 0.9907, 0.112, 1.4944, 0.4435, 0.347, 0.0734, 0.0334, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0006 left_pitch=-0.0484 left_roll=0.0002 left_gripper=0.9907 right_x=0.3602 right_y=0.0311 right_z=0.0332 right_yaw=0.0276 right_pitch=-0.133 right_roll=-0.0249 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5795, 7.1726, 1.8681, -0.0464, -0.0073, -0.0171, -0.2256, -5.5726, 5.2444, 1.9121, 0.1148, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e5ddfa3fe17505486dff7d9cbf168825ea7c6437907a4e97c9f360e85609c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04e300f273c992f0692f9b8a83feb96d260aca53bed023be5d43b5979f81132",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c9e23454c2d2ed6c9d8b0e4088f9b68c4609f2826bd34cfb4de15b62b980c6",
      "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 · 4.708 s

model: gpt-5.6-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, 0.8001, 0.6132, -0.3832, -0.0143, -0.0299, 0.9915, -0.0227, 0.7994, 0.6182, -0.3878, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0001 left_z=0.1818 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9915 right_x=0.2958 right_y=0.001 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -1.5658, 9.5795, 1.8584, -0.105, 0.105, -0.4811, -0.1026, -1.5521, 9.306, 1.8828, 0.0073, -0.0366, -0.0757]",
      "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, 0.8043, 0.6132, -0.4084, -0.0139, -0.0307, 0.9908, 0.1062, 1.1893, 0.6498, -0.131, 0.0792, 0.0349, 0.9994]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1755 left_yaw=-0.0007 left_pitch=-0.0294 left_roll=-0.0002 left_gripper=0.9908 right_x=0.3548 right_y=0.0274 right_z=0.1299 right_yaw=0.0166 right_pitch=-0.0992 right_roll=-0.0244 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -0.8957, 7.1863, 1.8291, -0.0757, -0.0513, -0.0269, -0.3897, -3.9316, 9.6068, 1.9267, -0.0464, -0.0269, -0.0122]",
      "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, 0.8078, 0.6128, -0.4236, -0.0139, -0.0307, 0.9907, 0.112, 1.4944, 0.4435, 0.347, 0.0734, 0.0334, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0006 left_pitch=-0.0484 left_roll=0.0002 left_gripper=0.9907 right_x=0.3602 right_y=0.0311 right_z=0.0332 right_yaw=0.0276 right_pitch=-0.133 right_roll=-0.0249 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5795, 7.1726, 1.8681, -0.0464, -0.0073, -0.0171, -0.2256, -5.5726, 5.2444, 1.9121, 0.1148, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e5ddfa3fe17505486dff7d9cbf168825ea7c6437907a4e97c9f360e85609c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04e300f273c992f0692f9b8a83feb96d260aca53bed023be5d43b5979f81132",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c9e23454c2d2ed6c9d8b0e4088f9b68c4609f2826bd34cfb4de15b62b980c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_3GKScIrNI4rFVcJO5gY2225H3X4ZgT8ta78hu5atnIVYq3YTmk3jMYq-2lRHNUNP7YiXgRag41tcZiVEx6W5aJJKUUZdtnh3grruL7e7U2k1s4bF_PgbC6kFtyeKFutR0clnvmExvv7dOLBhqzgUGAsNJ1668sZlnSpwKNAeM7rFAt585YaLkOFcO7NJsxqms4qBdthf4YXu_qAv-tgVBX96j7dbvBMIKiRIaxoSaJOmVsexoJFgamZ3zJxXekTBp4NA5Vs3_C7OCIdklTAbnnkLcuc528q9iJZpVhdJknFoC6hpqpNljaRpyWi5wOqq1gGfiJT3tnD0yR95JSwAGJ9UswcAMxNREyb9jpnez2Lhukzqqkdh4qSOtQ2ZNmi27gm7_kMScW6EeqCILLvBfUm-F9utjM-fR1Psvnkuw-ciRi1DeBK6NZHHi82-5-XrnTNYjuZ3peAjG-Ot4wiMoRae6M5UNzHtGVUI8CDemMX6_bKIqvWV3BzUAb80nQ78IqGWmzieC6PZBIyr2EcOqLOm3tVPVVsFyutRTSUxnWE8hW23bPARCVgP7lVFqiYNHu5Gpp9NpZbulmnLxN98mzXt5Uw_Nb3K80U6LWd5U2C6yRw87iEjE86JQ1FSGDUAYiveyMMYZhf1gpmClGDsRTsvx7256RhaOdwhOkXvxvWuC6_skuwJbQXnEVmhd0rHJqbuvTXvcgl_SVI8TlkGDL32mpzw5IP0t2oGJZwB00ligN2cWuLCSVebwgWiH9S7t9e6VcDBPbzr0oktznZAsz-HiuZErQZeSy8Ig6UVllvJ-xroS4yCxgT-E0ZNgFL8u1TvzXs3XRRazhS5Eral57xhTmuhqMzAGhQnR5OlnsZAEdt-mvK1VSXHNXvba23o2PHbp-rZszPsJoVj7V7za1Ss37RaBiHF552V3ADIDVZ6p4E9yOdGDZBQhdWEr1HMWhDs1gYktglvfpTU56MPuuLBjTDzTY1bn1KBBpj8PNYEa9t82hoCvNkQIaPotv-b0ablxPpWVO5oh0KQd5lnSg1PkmyTJ1ZIXmdZNcmSO_PWdZ38RVEJcO5qBJgA2o-uHNIKD3jgcc6QseubV0KCAFHMe-AEoiEUaQCzq6t9ARoBIuevs1GRp80ZsqSrDS-Sg9GtFU2X_495qPOWvJXEhiaJjaVfQNiH0Ro23M-6kN2FEiTsHFMLCmsNCUY6V1diNhG1LyS-YbviuPLHCR56dRw_KKHwiq_VQfmAU9ygBqo7SGD5vy20d1VyKEpC2VH-0p45AYQSsp58zADozq0d5i4x5RRnDhXqsQx1OZWZuX96Zm_o73usiamAeY8v4FoF9OU-IDb3GC0GwMTuZ1a5P82R9hdNKapp-mi_A2HphWvnkX1Zwf8-ISRmQlnXW-Smqzz2AkgqNBg8BZuEwySMgbZJUFvYw9Ti2fNrfAkR3RDoFiR4XRHTpYJgqfnVpXKKMoJ72xe0jGKgg58cRwG8yOQ==",
  "id": "rs_094f0dcb31f4da75016ab43ff6293887d0bf417e2a2766f439",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the pear remains centered between the two open fingertips. I’ll close the right gripper fully and use the settled jaw spacing to confirm that the fruit is held.\"}",
  "call_id": "call_Vo3cXYsfWwcIp1JexBsNRGR0",
  "id": "fc_094f0dcb31f4da75016ab43ff6a8f087d09358397aa5b09374",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vo3cXYsfWwcIp1JexBsNRGR0",
  "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, 0.8078, 0.6128, -0.424, -0.0139, -0.0307, 0.9907, 0.112, 1.4944, 0.4438, 0.3511, 0.0731, 0.0254, 0.5335]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0006 left_pitch=-0.0488 left_roll=0.0002 left_gripper=0.9907 right_x=0.361 right_y=0.0312 right_z=0.0341 right_yaw=0.0324 right_pitch=-0.1286 right_roll=-0.0305 right_gripper=0.5335\nstate[joint_eff]: [-0.0889, -1.3333, 6.9675, 1.6679, -0.0366, -0.0757, -0.0073, -0.2803, -5.135, 5.2991, 1.5458, -0.0317, 0.022, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8a8faa90eca30265eb0d43fa2c5f818113d4bd7acad05dbbec5c1e6c0384cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b4271be5c8df7dee02797036e29a8bc301a9c75608e232f94988ec53ec7bd47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf81206ebd16e8a84e4d677f62b4ad7579727527952be737aa2c1b17a818f95b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 5.19 s

model: gpt-5.6-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, 0.6132, -0.3977, -0.0139, -0.0307, 0.9909, 0.234, 1.0817, 0.593, -0.1287, 0.1719, 0.1051, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1783 left_yaw=-0.0007 left_pitch=-0.0164 left_roll=-0.0005 left_gripper=0.9909 right_x=0.3366 right_y=0.0529 right_z=0.1418 right_yaw=0.029 right_pitch=-0.0382 right_roll=-0.0153 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.4291, 7.0359, 1.8388, -0.0806, -0.0366, -0.0757, -0.3624, -4.0274, 6.653, 2.0635, 0.1978, 0.1587, -0.0757]",
      "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, 0.8078, 0.6128, -0.4236, -0.0139, -0.0307, 0.9907, 0.112, 1.4944, 0.4435, 0.347, 0.0734, 0.0334, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0006 left_pitch=-0.0484 left_roll=0.0002 left_gripper=0.9907 right_x=0.3602 right_y=0.0311 right_z=0.0332 right_yaw=0.0276 right_pitch=-0.133 right_roll=-0.0249 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5795, 7.1726, 1.8681, -0.0464, -0.0073, -0.0171, -0.2256, -5.5726, 5.2444, 1.9121, 0.1148, -0.0171, -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 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, 0.6128, -0.424, -0.0139, -0.0307, 0.9907, 0.112, 1.4944, 0.4438, 0.3511, 0.0731, 0.0254, 0.5335]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0006 left_pitch=-0.0488 left_roll=0.0002 left_gripper=0.9907 right_x=0.361 right_y=0.0312 right_z=0.0341 right_yaw=0.0324 right_pitch=-0.1286 right_roll=-0.0305 right_gripper=0.5335\nstate[joint_eff]: [-0.0889, -1.3333, 6.9675, 1.6679, -0.0366, -0.0757, -0.0073, -0.2803, -5.135, 5.2991, 1.5458, -0.0317, 0.022, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8a8faa90eca30265eb0d43fa2c5f818113d4bd7acad05dbbec5c1e6c0384cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b4271be5c8df7dee02797036e29a8bc301a9c75608e232f94988ec53ec7bd47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf81206ebd16e8a84e4d677f62b4ad7579727527952be737aa2c1b17a818f95b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_094f0dcb31f4da75016ab43ff9f40487d0a75d1cbee1259193",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The right gripper settled at 0.53, about a 5 cm opening, so it has closed on the pear rather than empty space. I’ll lift straight up first to verify the pear moves with the gripper before carrying it to the blue bowl.\"}",
  "call_id": "call_sp7hw4hXcHsch570nxEjay5U",
  "id": "fc_094f0dcb31f4da75016ab43ffc099087d08370ff528401a687",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sp7hw4hXcHsch570nxEjay5U",
  "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, 0.8078, 0.6128, -0.4244, -0.0139, -0.0307, 0.9908, 0.112, 1.2411, 0.7033, -0.2157, 0.0731, 0.017, 0.5335]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0006 left_pitch=-0.0492 left_roll=0.0002 left_gripper=0.9908 right_x=0.3542 right_y=0.0305 right_z=0.1194 right_yaw=0.0363 right_pitch=-0.1827 right_roll=-0.0411 right_gripper=0.5335\nstate[joint_eff]: [-0.1573, -1.2513, 6.9812, 1.7021, -0.0415, -0.0562, -0.0122, -0.3487, -5.9556, 9.2513, 1.6288, 0.0122, 0.0464, 0.7643]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747a50a9b7ccc2f5ad799099b392cf1573ff6cba59c8041b76253592f2ab080c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2cb4ca60f1fd9e5419b5b3062ff566df64f5513a2861b0de054c6f9a750dd9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f9d52da42227d59c2f303c4b5d3f698251df7349891d25665c6fbe2ef34f9d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 3.036 s

model: gpt-5.6-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, 0.8043, 0.6132, -0.4084, -0.0139, -0.0307, 0.9908, 0.1062, 1.1893, 0.6498, -0.131, 0.0792, 0.0349, 0.9994]\nstate[eef_state]: left_x=0.2927 left_y=-0.0004 left_z=0.1755 left_yaw=-0.0007 left_pitch=-0.0294 left_roll=-0.0002 left_gripper=0.9908 right_x=0.3548 right_y=0.0274 right_z=0.1299 right_yaw=0.0166 right_pitch=-0.0992 right_roll=-0.0244 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -0.8957, 7.1863, 1.8291, -0.0757, -0.0513, -0.0269, -0.3897, -3.9316, 9.6068, 1.9267, -0.0464, -0.0269, -0.0122]",
      "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, 0.6128, -0.424, -0.0139, -0.0307, 0.9907, 0.112, 1.4944, 0.4438, 0.3511, 0.0731, 0.0254, 0.5335]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0006 left_pitch=-0.0488 left_roll=0.0002 left_gripper=0.9907 right_x=0.361 right_y=0.0312 right_z=0.0341 right_yaw=0.0324 right_pitch=-0.1286 right_roll=-0.0305 right_gripper=0.5335\nstate[joint_eff]: [-0.0889, -1.3333, 6.9675, 1.6679, -0.0366, -0.0757, -0.0073, -0.2803, -5.135, 5.2991, 1.5458, -0.0317, 0.022, 1.0232]",
      "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, 0.8078, 0.6128, -0.4244, -0.0139, -0.0307, 0.9908, 0.112, 1.2411, 0.7033, -0.2157, 0.0731, 0.017, 0.5335]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0006 left_pitch=-0.0492 left_roll=0.0002 left_gripper=0.9908 right_x=0.3542 right_y=0.0305 right_z=0.1194 right_yaw=0.0363 right_pitch=-0.1827 right_roll=-0.0411 right_gripper=0.5335\nstate[joint_eff]: [-0.1573, -1.2513, 6.9812, 1.7021, -0.0415, -0.0562, -0.0122, -0.3487, -5.9556, 9.2513, 1.6288, 0.0122, 0.0464, 0.7643]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747a50a9b7ccc2f5ad799099b392cf1573ff6cba59c8041b76253592f2ab080c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2cb4ca60f1fd9e5419b5b3062ff566df64f5513a2861b0de054c6f9a750dd9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f9d52da42227d59c2f303c4b5d3f698251df7349891d25665c6fbe2ef34f9d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_094f0dcb31f4da75016ab43fffa72887d0abb48bdef9d49856",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.11,\"right_z\":0.18},\"note\":\"The pear has disappeared from its original tabletop spot and the 0.53 jaw opening is unchanged, confirming the lift. I’ll carry it high to an estimated point above the center of the blue bowl, moving both forward and left while maintaining clearance.\"}",
  "call_id": "call_EzqfoD9Dy3sERupzGioiepmc",
  "id": "fc_094f0dcb31f4da75016ab44002d75887d0bec9bfe7cd9e21d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EzqfoD9Dy3sERupzGioiepmc",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6128, -0.4248, -0.0139, -0.0307, 0.9907, 0.318, 1.6463, 1.2633, -0.4656, 0.2054, 0.1318, 0.5332]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1698 left_yaw=-0.0006 left_pitch=-0.0542 left_roll=0.0003 left_gripper=0.9907 right_x=0.4378 right_y=0.1099 right_z=0.1571 right_yaw=0.062 right_pitch=-0.2577 right_roll=-0.0703 right_gripper=0.5332\nstate[joint_eff]: [-0.1846, -1.7026, 6.9675, 1.7021, -0.0415, -0.0464, -0.0171, -0.3077, -8.6496, 9.2513, 1.7558, 0.1685, 0.2418, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca91d25e15e9107f574cb0206fac9d1d6bee6efa0cadfa46c29472f0e0c2fb7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c2e040a4db27349e380d808de1325f5f70e6e84d15d3997bdbc29096ca21525",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5fc9f38154aa60648f1553c33c72cbb47100768c0ff36b8fab79dae7021747",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 3.435 s

model: gpt-5.6-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, 0.8078, 0.6128, -0.4236, -0.0139, -0.0307, 0.9907, 0.112, 1.4944, 0.4435, 0.347, 0.0734, 0.0334, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1713 left_yaw=-0.0006 left_pitch=-0.0484 left_roll=0.0002 left_gripper=0.9907 right_x=0.3602 right_y=0.0311 right_z=0.0332 right_yaw=0.0276 right_pitch=-0.133 right_roll=-0.0249 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.5795, 7.1726, 1.8681, -0.0464, -0.0073, -0.0171, -0.2256, -5.5726, 5.2444, 1.9121, 0.1148, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8078, 0.6128, -0.4244, -0.0139, -0.0307, 0.9908, 0.112, 1.2411, 0.7033, -0.2157, 0.0731, 0.017, 0.5335]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0006 left_pitch=-0.0492 left_roll=0.0002 left_gripper=0.9908 right_x=0.3542 right_y=0.0305 right_z=0.1194 right_yaw=0.0363 right_pitch=-0.1827 right_roll=-0.0411 right_gripper=0.5335\nstate[joint_eff]: [-0.1573, -1.2513, 6.9812, 1.7021, -0.0415, -0.0562, -0.0122, -0.3487, -5.9556, 9.2513, 1.6288, 0.0122, 0.0464, 0.7643]\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 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, 0.6128, -0.4248, -0.0139, -0.0307, 0.9907, 0.318, 1.6463, 1.2633, -0.4656, 0.2054, 0.1318, 0.5332]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1698 left_yaw=-0.0006 left_pitch=-0.0542 left_roll=0.0003 left_gripper=0.9907 right_x=0.4378 right_y=0.1099 right_z=0.1571 right_yaw=0.062 right_pitch=-0.2577 right_roll=-0.0703 right_gripper=0.5332\nstate[joint_eff]: [-0.1846, -1.7026, 6.9675, 1.7021, -0.0415, -0.0464, -0.0171, -0.3077, -8.6496, 9.2513, 1.7558, 0.1685, 0.2418, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca91d25e15e9107f574cb0206fac9d1d6bee6efa0cadfa46c29472f0e0c2fb7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c2e040a4db27349e380d808de1325f5f70e6e84d15d3997bdbc29096ca21525",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5fc9f38154aa60648f1553c33c72cbb47100768c0ff36b8fab79dae7021747",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEALR8KSY9RNAzjAFNqA6fJ-mWKfdaAMEK3oWR5O2ALtcTgCtw6FM5R0GJz31qNjU35jvhNeRyZbMClod5EA50f-k-wx89pKbBNdimgLeA7E5J8aFsTLG8WenysnwfrxeXUZa_3_Zahyu7NTt5rlCQoUtTmk_C4H3-mCJQoHcLUbvLC-Uo3IcC6I1D6ZeJ61PsYu1qAxxbfjQg1sG2KyiKOKEtScs_OxZwbKxC0jbdejaLUGqRlRrb8y4zKht6V_geNKy0rJgiQU047DVU6YGnC1kVaWvL11PxhD4kV4lqH8cB_focZdczeJqJtAuiwnT9pUE9SbOdSPCiMznLab2Wu-NaskFn4qOCCB3akMiG0jolWqCs2WNKdtVVMgUIdkknNQK8MHuuPasLwSgDdZBiM-KDWqGIHNSZdoSUpPuATwMAnjJdQqu0aUq77hw-yBjNKKzfxPSCHA388G8UQpxZFh3bJ2xxuXff-9kFUo-Kbm4yiCrtnVZ5NKuFDamopzxZqIHtJ-hAuyI_DyxzHlEMM2YZRYH821jInvwzllyX2kaiLWHAv_b6cwTCkusWZrR00yUkEla6hae8GLiAoYXHG_nkQ2x2Mkpqb0dlRR-EFCJmopdsEo3bibAMFL2ljWR9T4yp7aEap1Oi6fNV9kneM_bqbsLHauHqUyIFGi_5yfKxXCs38036b00oOa3nJF-8fUFxyb30ztWYpucEGWJ1hWi9BEygDEEa5ErNq4wABo0p9lssF3FYJvsY2E1u_wYXbkwBwrS3uTGP3Qb4HuYOgGAZRY5TinUoGVEJoPWcetm8nRtBV149gSeJ7Jl57h8nleeki2RFoIrVihHVcHwBxgKgmByxxfSG26ZQhA7cBVDJr47tlAfsYdppwQh7By8toVMFYaUL6fkdhYQM3Ot5Abaz4xJxE3H1gAVX_s_tIrhYvlrfUmEL20XKVJw_ffXFipaXuprFxqcPZVzlD5cckpDjsNpzAxtp512oillZ-QqqBz-6A4_AMima7nSF0NLcXZqJEqGT279KmQTAlXxCJWXCbDMQ96KwlwMjuJvKmpYA82ywbK0UL5zRpgwK2NC48nb3EdyO55vzx_k-vm-ffkPHnSF7JtykNWkDXa13qq3CF-NgK2AHP0fq6BDZ2U-QEs6teGVriddwiAIyHjYMh3NErl-ALECVzJdVPcNOFQh3ZE_2OA5kmKA4PiPB2Ka_9YYvWetWe8wU4vldMBNUom_XitZJd1VSkA4bpq895VuFsmjHrS6F4usbfxbe_BHrF-LwjYm8Pn63SKBX_RhKbZNFolSGvP19up9moE52ooxw7zAA8byhN-rr6kR55h6J2ui2uEhqS_XB6K2Egd34NC0xQQdY3dhTudouKhVBQMzweFQxnesc-me2aWK3QrjzXwT2XKGZiNYpiGwKjgxkJXipcN8p-XXYTzMFqMR67Ne-M2mBjLF3duQ2T_5eiVmopxQ2X5UZAbeu1HYbJd9A8wZ5eCmaELQco-nrLWDAKpDoLndZAXiPs1Zye9FF4Oalxk45Ztllaj2_96fnVl9d-kIL5hLOcd1s21jFIoJLR1rNa652A9MCvNfjkYfNKHqIAp0zcK2-zouR2CwQx4VI2vZHeuA79sEghwRT0kc-ViiwxpxZ5oawAOfBEIpzjMPzxlWuuULXsFzUYoQYoxcmyN1fBsQ53U5UqTna8t787EjZ43SCmf0rBnJ6acPkvftDN9InVTq9KZyAXmdjVhzA_sxNAnkTgDDY2I2K6zL5XUF2W-mM4_L3MTO1KUiSGZ_krm6SgAb8YJ6-EdRnyduR-th6XLQbXbN2dEN0w1QdwHTi8=",
  "id": "rs_094f0dcb31f4da75016ab44009a13887d0901bc4d0eea0c2e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The blue bowl is centered directly below the right jaws in both overhead and wrist views, with the pear still held between them. I’ll release from this safe height so the pear drops into the middle of the bowl without contacting the rim.\"}",
  "call_id": "call_wB4ubxiXyi163s9F9elFUgX9",
  "id": "fc_094f0dcb31f4da75016ab4400b161487d097b28a46b5aeedc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wB4ubxiXyi163s9F9elFUgX9",
  "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, 0.8124, 0.6128, -0.4248, -0.0143, -0.0307, 0.9907, 0.318, 1.6463, 1.2633, -0.4763, 0.2054, 0.123, 0.996]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1698 left_yaw=-0.0003 left_pitch=-0.0542 left_roll=0.0005 left_gripper=0.9907 right_x=0.436 right_y=0.1093 right_z=0.1554 right_yaw=0.0662 right_pitch=-0.2684 right_roll=-0.0792 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -1.1692, 7.1316, 1.663, -0.0611, -0.0757, -0.0073, -0.2803, -8.1436, 7.0496, 1.5653, 0.0366, 0.0269, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978c172614d66f2608a01b7c478656eca6edf12a6a3cec6be9e7c31e70dc8554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0689f2280abc84889dd37a34f2d6d2ca498ea3108cbf309bda3c06467bc9c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889b8efee1dbe8e00ffc9e8385ab159c1195a786dcf60a82a4ba2135e575c01f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 3.29 s

model: gpt-5.6-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, 0.6128, -0.424, -0.0139, -0.0307, 0.9907, 0.112, 1.4944, 0.4438, 0.3511, 0.0731, 0.0254, 0.5335]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0006 left_pitch=-0.0488 left_roll=0.0002 left_gripper=0.9907 right_x=0.361 right_y=0.0312 right_z=0.0341 right_yaw=0.0324 right_pitch=-0.1286 right_roll=-0.0305 right_gripper=0.5335\nstate[joint_eff]: [-0.0889, -1.3333, 6.9675, 1.6679, -0.0366, -0.0757, -0.0073, -0.2803, -5.135, 5.2991, 1.5458, -0.0317, 0.022, 1.0232]",
      "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, 0.6128, -0.4248, -0.0139, -0.0307, 0.9907, 0.318, 1.6463, 1.2633, -0.4656, 0.2054, 0.1318, 0.5332]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1698 left_yaw=-0.0006 left_pitch=-0.0542 left_roll=0.0003 left_gripper=0.9907 right_x=0.4378 right_y=0.1099 right_z=0.1571 right_yaw=0.062 right_pitch=-0.2577 right_roll=-0.0703 right_gripper=0.5332\nstate[joint_eff]: [-0.1846, -1.7026, 6.9675, 1.7021, -0.0415, -0.0464, -0.0171, -0.3077, -8.6496, 9.2513, 1.7558, 0.1685, 0.2418, 0.7009]",
      "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, 0.6128, -0.4248, -0.0143, -0.0307, 0.9907, 0.318, 1.6463, 1.2633, -0.4763, 0.2054, 0.123, 0.996]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1698 left_yaw=-0.0003 left_pitch=-0.0542 left_roll=0.0005 left_gripper=0.9907 right_x=0.436 right_y=0.1093 right_z=0.1554 right_yaw=0.0662 right_pitch=-0.2684 right_roll=-0.0792 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -1.1692, 7.1316, 1.663, -0.0611, -0.0757, -0.0073, -0.2803, -8.1436, 7.0496, 1.5653, 0.0366, 0.0269, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978c172614d66f2608a01b7c478656eca6edf12a6a3cec6be9e7c31e70dc8554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0689f2280abc84889dd37a34f2d6d2ca498ea3108cbf309bda3c06467bc9c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889b8efee1dbe8e00ffc9e8385ab159c1195a786dcf60a82a4ba2135e575c01f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAPcgDwO0wirmiK7nNg8138aH0H6Wbrv6xd8TRrsAPl0IJemb8CktbE6kLcAg6TyTa2v1COMrbuNvgJIs8HqFvb8ZxxvOPZzCjQMgkS4itEymZPqbnEnRFX0mhiIA5JmXqIRAA01JYctdxHCsbObcsC3fSfX9QqS8InrU6z7BvnFsq9xHABiebp1bPlx9ntIVaL_QXjAUUg2rkJr9DI2PBbU0XPq-oQ1JBS8aWtLw3utR1x-Tf8dRAz5znD4yXNRfFSrUmHVxblDE5c7mYKkO8GlkCTwLd_zywsZlpIkBbSrBMIbG3oQOaUjhLt-fynH9naWO1nQ7tQRSKqhKXKqiHHxs9bEbB3ccj6PRwVpCLpjvLBEi96fccuw7wrDRQZ2jhoDKgedh4ib_xugCelVom_pLOT-x6dZX77nRYfXPeNyqOQxBict8hTzuIHixZqJqmZzE5_Uo_HKQiiictSxKbw3sfB_MpYxW1OUnaL0GKzXG8l_CzetDJDaVtJoG3PYMPzNQ4kj6Nyv-JV6P1mDXqjhhsGlHiEAmm0mtBDtKx7F9NgPfKyiLZFbg6uplodSjsHYXmMT_t2GNxaCVrbFnIFq63sOAZvpZNbuHFy8rNssQwDgAE24pcnDkVb1K096GJIeF9aagy1IqrlsGt8GbF-GgR_i17SmflRu0e1iUXPKYoAkmQ0HX8reHus7p5e7sCDpZoy6jj5sFVu7MWx9cSy3jRtHgJKFEXjEpQgtsrM1dc4rd2zE6Bk4i7GEKOg7GNn97jzouvLZt7O-G8eJ_tSZ0X_ho1ednYLfhJCB1X-HxWI0cFQs2OfCtFjX0DR7eHy1Pt7AXBIdoMxRWZF9Uzb3gKzTZ2ZRM7xniU1ZpgsXU2G4LV886Jy-1_gOUruxoSLfara0W4KZ0il42iKamUBONKt1Yl6NO-75ZFRBSh11cq9kLt_ahMRkXFgLEEWn_Gc2qILHx10-SKUSO9T-OE14AxanL9U6bXXVpd7LQAYFkb4cQfOYMTHYjH8Sm4en2gJXz8aB61wv3Ym-B1UPwWr-l3-v0v8J3nLYly6kmz20Imlj-6qvoQFqmsta5Bs2TYE2BETb8B-NssObksZHfEEykEPWRtoFOQ9o4zUH3xflwv7_mZgMVNXWfjFTdrTl1PDMAfSxfbey6zD2hoCXSzXWbCLS4FDU49Q346GcNSHQTLfa7zoeUmKHi77PZEU0QX_hNxkudok5qg9z--yVQOBbIws5B6iVziJY37VVpqr4m-lq-3pEV5HMEQDBzi9jKjiM5a9m-8w7J8LmWwYVWQMLtt_T9Q-vUOjHYuWBPpf8SjMTs6vkrtHVZXyRaOfGUhrb7CHnRrFV06ByoeXq0UquMt4dHZihaf24VhFsewVoNplVNzDypztU_oQ0yR80LTuYnowbY2Q-cwxWvn2m_hg9uZaQzbFLT5_MJTaFBn6PUBwoolydM2bjzDG69NPbYpNvngByf8ooBMtxtHOH4rI07wbb3oTxN3cH-IyRTE1V05Cc5HB6vkTbaPN7uUFV87bec0_LRaB_-q1tGn_MdwvGFWFE-GYZr23IRMsJ_TEubh8MSI7SpOTvdnp4x9X0l7UYGJtG8TEJWToxmQaUIB98vAhtCiUy21-bRGKuZoq_TSkgfMoQ-srWcHa8qHgVqct3-PE3MzQVYs4YbWnJlYhHjAzThmGB7ajssJv6Rr6CWH9CfKnnfU225gOAJDwSYKdR_j3nt8-mOwnwbc_uJT7K2kiHTsSAiFzZYe8RQ5SNXM=",
  "id": "rs_094f0dcb31f4da75016ab4400d607487d0a208bd02e9cb89c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The pear is visibly resting inside the blue bowl. The remaining yellow fruit is closer to the bases and to the bowl’s left, so I’ll move the open right gripper to a high hover above it for wrist-camera alignment.\"}",
  "call_id": "call_r0CJiFR0IxK8mJgOYOqStNbs",
  "id": "fc_094f0dcb31f4da75016ab4400eca6c87d0a287d147a05987ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r0CJiFR0IxK8mJgOYOqStNbs",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6128, -0.4255, -0.0135, -0.0307, 0.9907, 0.6987, 1.5826, 1.1709, -0.5682, 0.4152, 0.4099, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0004 left_z=0.1697 left_yaw=-0.001 left_pitch=-0.0549 left_roll=0.0001 left_gripper=0.9907 right_x=0.3504 right_y=0.2059 right_z=0.1407 right_yaw=0.0993 right_pitch=-0.2971 right_roll=-0.0926 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6972, -0.0366, -0.0415, -0.0073, -0.4308, -9.6479, 6.1744, 1.2332, 0.3736, 0.2222, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd34facf7f102d19834e36618b39814acb2a8a57ffb3d0692e478558053a38a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffcf100556095602fe9acadcc998a8d8ab4b879beb6a11c0b40ab7db0d68b75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291d50aa4d29decaaacb4c10ad96ed192511258e1ddedeed10ef340020a443e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 2.044 s

model: gpt-5.6-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, 0.8078, 0.6128, -0.4244, -0.0139, -0.0307, 0.9908, 0.112, 1.2411, 0.7033, -0.2157, 0.0731, 0.017, 0.5335]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0006 left_pitch=-0.0492 left_roll=0.0002 left_gripper=0.9908 right_x=0.3542 right_y=0.0305 right_z=0.1194 right_yaw=0.0363 right_pitch=-0.1827 right_roll=-0.0411 right_gripper=0.5335\nstate[joint_eff]: [-0.1573, -1.2513, 6.9812, 1.7021, -0.0415, -0.0562, -0.0122, -0.3487, -5.9556, 9.2513, 1.6288, 0.0122, 0.0464, 0.7643]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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, 0.6128, -0.4248, -0.0143, -0.0307, 0.9907, 0.318, 1.6463, 1.2633, -0.4763, 0.2054, 0.123, 0.996]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1698 left_yaw=-0.0003 left_pitch=-0.0542 left_roll=0.0005 left_gripper=0.9907 right_x=0.436 right_y=0.1093 right_z=0.1554 right_yaw=0.0662 right_pitch=-0.2684 right_roll=-0.0792 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -1.1692, 7.1316, 1.663, -0.0611, -0.0757, -0.0073, -0.2803, -8.1436, 7.0496, 1.5653, 0.0366, 0.0269, -0.1392]\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, 0.8124, 0.6128, -0.4255, -0.0135, -0.0307, 0.9907, 0.6987, 1.5826, 1.1709, -0.5682, 0.4152, 0.4099, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0004 left_z=0.1697 left_yaw=-0.001 left_pitch=-0.0549 left_roll=0.0001 left_gripper=0.9907 right_x=0.3504 right_y=0.2059 right_z=0.1407 right_yaw=0.0993 right_pitch=-0.2971 right_roll=-0.0926 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6972, -0.0366, -0.0415, -0.0073, -0.4308, -9.6479, 6.1744, 1.2332, 0.3736, 0.2222, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd34facf7f102d19834e36618b39814acb2a8a57ffb3d0692e478558053a38a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffcf100556095602fe9acadcc998a8d8ab4b879beb6a11c0b40ab7db0d68b75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291d50aa4d29decaaacb4c10ad96ed192511258e1ddedeed10ef340020a443e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_094f0dcb31f4da75016ab44014d20c87d0b735634b1b03e040",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.215,\"right_z\":0.025},\"note\":\"The lemon fills the lower center of the wrist view and is only slightly left of the jaw column; the blue bowl and its pear are safely to the right. I’ll make a small leftward correction and descend to the lemon’s mid-height for a table-level grasp.\"}",
  "call_id": "call_csgZR5WsNge1eHOhTaDBUG2D",
  "id": "fc_094f0dcb31f4da75016ab44016312087d0b39b3841a6f837ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_csgZR5WsNge1eHOhTaDBUG2D",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6128, -0.4274, -0.0139, -0.0307, 0.9907, 0.7002, 1.7981, 0.9443, -0.1265, 0.4145, 0.4084, 0.9986]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0006 left_pitch=-0.0568 left_roll=0.0004 left_gripper=0.9907 right_x=0.3607 right_y=0.2156 right_z=0.0316 right_yaw=0.1022 right_pitch=-0.2978 right_roll=-0.0933 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.2376, 6.9675, 1.7216, -0.0415, -0.0513, -0.0122, -0.2803, -7.747, 5.0667, 1.2723, 0.2076, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2668903c80ebdef33990c792acd780a83ddc451f27c1cda52edd7d2a9916074a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f186fc9a2dce4074efc341399ca0ecc5d1f4a32ab8496726ebe2fd9729e1d81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efd1e9e3a6c9479e9f1d47246fdf5a61c213901b919dc5a7852e648c1ad5be96",
      "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 · 4.955 s

model: gpt-5.6-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, 0.6128, -0.4248, -0.0139, -0.0307, 0.9907, 0.318, 1.6463, 1.2633, -0.4656, 0.2054, 0.1318, 0.5332]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1698 left_yaw=-0.0006 left_pitch=-0.0542 left_roll=0.0003 left_gripper=0.9907 right_x=0.4378 right_y=0.1099 right_z=0.1571 right_yaw=0.062 right_pitch=-0.2577 right_roll=-0.0703 right_gripper=0.5332\nstate[joint_eff]: [-0.1846, -1.7026, 6.9675, 1.7021, -0.0415, -0.0464, -0.0171, -0.3077, -8.6496, 9.2513, 1.7558, 0.1685, 0.2418, 0.7009]",
      "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, 0.8124, 0.6128, -0.4255, -0.0135, -0.0307, 0.9907, 0.6987, 1.5826, 1.1709, -0.5682, 0.4152, 0.4099, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0004 left_z=0.1697 left_yaw=-0.001 left_pitch=-0.0549 left_roll=0.0001 left_gripper=0.9907 right_x=0.3504 right_y=0.2059 right_z=0.1407 right_yaw=0.0993 right_pitch=-0.2971 right_roll=-0.0926 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6972, -0.0366, -0.0415, -0.0073, -0.4308, -9.6479, 6.1744, 1.2332, 0.3736, 0.2222, -0.1538]",
      "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, 0.8124, 0.6128, -0.4274, -0.0139, -0.0307, 0.9907, 0.7002, 1.7981, 0.9443, -0.1265, 0.4145, 0.4084, 0.9986]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0006 left_pitch=-0.0568 left_roll=0.0004 left_gripper=0.9907 right_x=0.3607 right_y=0.2156 right_z=0.0316 right_yaw=0.1022 right_pitch=-0.2978 right_roll=-0.0933 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.2376, 6.9675, 1.7216, -0.0415, -0.0513, -0.0122, -0.2803, -7.747, 5.0667, 1.2723, 0.2076, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2668903c80ebdef33990c792acd780a83ddc451f27c1cda52edd7d2a9916074a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f186fc9a2dce4074efc341399ca0ecc5d1f4a32ab8496726ebe2fd9729e1d81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efd1e9e3a6c9479e9f1d47246fdf5a61c213901b919dc5a7852e648c1ad5be96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAb2orDlrgl6uTuHuizqWSBtUBLSaxyZDkwl3qvD3VhVYE1R3lh37XDB95iFwbeVZh9f0ibjT42xAEDu5jsYy8VolP5kqNutxisbzuF5OVHZl6gUkLxddTY1nMeJ6XUuDx8JGSFIngg0qty7pGQY8pJ74KzomboyuQDXV12ClrysAQUVBHbgGuRiOt38PujRAZI7XU75E8NSUFdp_vVg2HWowcxBW2PMee6Ln04-vnNDaHRfvFRZ11YQ4Q0NWi3exrCC_7XA8kacv24CVvhOg4kIZjzW01o4DxBKpjJLPy2Mud5lVUSRA2IUpdttSpSQUAir0hTyL-jYtR9Xyo0xMo29rC32iYk87LwLs6BBJkyCXyXJkHGKAgFsYcqjd9qifFqkqaxjLfPD0ub-utcDb09gbx0TpprjkBJ8gcbug7RCOMBOIh3hrrcO3JXcVy0EEQIuJoV1JJtNZreDjxXvbb4Llqf-ZeM0oSnVcWmTRqNGkdUGpYQy1ukLgiGcBRjW29xWeaE2rZPN96bKxVIW169rPlx8Isg3oSVAlmc-q4AEHVoBaU47DZvmOcGBgVVz9xfSWFprXiSqiVDrM7CpS9acDxU2Iyvcx_XetS546jeMv3_DJEELg3Y2VFPpaW6RDx0U8WtjbgqsiXUR90ysG_lKxH5XeUnWGv76-xmwt-OfIXekplWBdob1c9jg5eVfGOakX0iNxLT1i9JTNaqEsz93p4id05RBcuJe1xyDWJQS-d_AMoQnjDF7uuk1Gu-7gPRhXJM8RsOTJBrNCLF3Rq_VWEnD8DACJSJEXjQ3PBUCbf77X0qFX-OK9dzJOe_b3P6llxMIB3qPxwp3PmxjjT4XOdVq0G-DMiPPmgU-PYSkd2nfObX_j57B92zxB4SXqq8sCyL0nGJGWni85hfNTtnlID7C4e_s8wvIMQ4Ucj2jbexlcLb27EwLa-pwH4VbFOOiHLrtOYrQJb6pnQT-kLCOmaGIrvFKj8W2OWgC38GXk7AM2H6CqvdkVQJXATx80VxOiRVZVSkqEsbMMmnHZlBzfQpTAa6dP0ifNvyTQoOhDHr63IlAGbsmGABq5MSp8KQBZU46rm9XnQuqnMynIcWVmsoQ6z5DYfkybWOYNXF9_07FPz4N9YcQNhvKAfEPJpWrPxGrpqQn6rBhdBv_CfUqMcgmdx-21jBkL8vp0L7EgKa0ZJ0lQBdSQai4ltYkM5cAZXk4-5FrkuXdMBHWOBYEKnMK87CXqbng1XqEm7DItc=",
  "id": "rs_094f0dcb31f4da75016ab4401a56bc87d081a365fdb8045011",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lower pose, the lemon is centered between the open jaws and the arm is not contacting the bowl. I’ll close on it now and check that the resulting opening is well above the empty-gripper value.\"}",
  "call_id": "call_Rj1M6IDluVYu7tMtkuUJTXxL",
  "id": "fc_094f0dcb31f4da75016ab4401a7dd487d08a70284fd1993407",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rj1M6IDluVYu7tMtkuUJTXxL",
  "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, 0.6128, -0.4313, -0.0135, -0.0307, 0.9907, 0.7002, 1.8046, 0.9356, -0.1314, 0.4305, 0.3927, 0.0231]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.1685 left_yaw=-0.001 left_pitch=-0.0607 left_roll=0.0002 left_gripper=0.9907 right_x=0.3585 right_y=0.2103 right_z=0.0265 right_yaw=0.0951 right_pitch=-0.3078 right_roll=-0.1274 right_gripper=0.0231\nstate[joint_eff]: [-0.335, -1.3333, 6.9675, 1.746, -0.0366, -0.0806, -0.0073, -0.0889, -8.6359, 6.3385, 1.2479, -0.0562, 0.1294, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a598e3c11fa4902d3fdf6bd0a17329219ffbe4b2a5049b9796eb12b4ed865c17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee3002c884f72e6b612a21106a9f66c397a3d3b5044866985a01d595a33e9f24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b444c888f82026867e1c129df45f375e082a20c563b640a1cb155b12c793da8",
      "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 · 2.821 s

model: gpt-5.6-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, 0.6128, -0.4248, -0.0143, -0.0307, 0.9907, 0.318, 1.6463, 1.2633, -0.4763, 0.2054, 0.123, 0.996]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1698 left_yaw=-0.0003 left_pitch=-0.0542 left_roll=0.0005 left_gripper=0.9907 right_x=0.436 right_y=0.1093 right_z=0.1554 right_yaw=0.0662 right_pitch=-0.2684 right_roll=-0.0792 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -1.1692, 7.1316, 1.663, -0.0611, -0.0757, -0.0073, -0.2803, -8.1436, 7.0496, 1.5653, 0.0366, 0.0269, -0.1392]\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, 0.8124, 0.6128, -0.4274, -0.0139, -0.0307, 0.9907, 0.7002, 1.7981, 0.9443, -0.1265, 0.4145, 0.4084, 0.9986]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0006 left_pitch=-0.0568 left_roll=0.0004 left_gripper=0.9907 right_x=0.3607 right_y=0.2156 right_z=0.0316 right_yaw=0.1022 right_pitch=-0.2978 right_roll=-0.0933 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.2376, 6.9675, 1.7216, -0.0415, -0.0513, -0.0122, -0.2803, -7.747, 5.0667, 1.2723, 0.2076, 0.0171, -0.0171]",
      "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, 0.8124, 0.6128, -0.4313, -0.0135, -0.0307, 0.9907, 0.7002, 1.8046, 0.9356, -0.1314, 0.4305, 0.3927, 0.0231]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.1685 left_yaw=-0.001 left_pitch=-0.0607 left_roll=0.0002 left_gripper=0.9907 right_x=0.3585 right_y=0.2103 right_z=0.0265 right_yaw=0.0951 right_pitch=-0.3078 right_roll=-0.1274 right_gripper=0.0231\nstate[joint_eff]: [-0.335, -1.3333, 6.9675, 1.746, -0.0366, -0.0806, -0.0073, -0.0889, -8.6359, 6.3385, 1.2479, -0.0562, 0.1294, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a598e3c11fa4902d3fdf6bd0a17329219ffbe4b2a5049b9796eb12b4ed865c17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee3002c884f72e6b612a21106a9f66c397a3d3b5044866985a01d595a33e9f24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b444c888f82026867e1c129df45f375e082a20c563b640a1cb155b12c793da8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAhJTPZB8KyUewaFrvBiWwrgJ2xReBugVxQMt_1UIQLb2JLdkCWwE10slitruxcD8odqDyx8f43nrm-_eicSI3nn-B_uBmrylK9gdyHgqJlJB7p_8o4mUiglfLFvQj0y0rHJEmWSjlrY8_lhco9PWq0G-Rovrm77pccUPkCvM8SGNxWI-g5pAQtwbOGUg95bp7Ltb0g_w9aXBmOeFsQ3uWhNWKDy1bSP111Wmf-EXvX87QWraU0ik3FAQey0Y1ZaR9OEq2aI-EWsb3HWZIqDTjanc90GZno7DBZ098ZtanILubPrQYGRyf4inRlwc7NNJyul3vK6dc4UZQcL7G3tz52uKMBNv3nwzeNBMIs0whz-erDESPsNOed8r9c0p5D5VbDnaGQJJJhiSPZ8wv407e3E3lmRSLQucsKPDgSjLlS9862ygLuf-pzgOjNj4t2YfaQQP0zz9IW0EyuYMg8YvvSdlys_c8u_6NNr3kN0vxBOcAOe1pb492kK4fNPhBLPR1i5Ro0qP7FfsN76942dUqkFkdZ3EsQVM943UeVdcke_eEl0HF3DUkZ6lpvjFaX_fN5E6I8797vsegeVdvA7ySBUos1CzlCsEPrXWlxiMBSN3vluiNwTd-FHlyoT94uNNgXjK8YJrTqw2eEsmqsM8j0OCkdnwHlUQtAq-IUJqmJaIW5dDk_0F19zyFVPmcIQKzfyVs21bXZiMuVcZ9mF2uEiAjdhOOVMJ1rNkoeNzvOekQNrcAQyvCE4ZZO7lNvmK09EJG7w-9W1RKq5RbVvBEs9zA3xqfoCRouMQjNF_x-sn4QNpGBn4oP6DZoHhEP3a1SexUMGaM5_-7x46p07UnBk1k-QObq67rKHTkoKaDyi6wGs6Fhz8PiHCDVYfK5uc45y55g-Lyg0w5AR08GIsWcp14tJuUIB8Nja528p4hmbYndLC7QGmYLoHejpq5Ry-Hh614gq_PFiqRwGY1SfY8G06CQq8Yymm8S2SfKDiyh8sBSCO9ahrat7GYb_KnFKab6XXEBRe5Fe9wp8hZTufOnLIQKNw74aHG5ashMMm5vADDERDA6F4e-W1m7SPFowP113VO3pJkPPPvjHBgCaL9zK7k0XkEAFFd_npYIBsaDgky77WhWDZ_TL3CYHNULsb7oWiG1k-t7djv7Zc2WQE9TH17W0s-ywh6zFqLG3T3chGgwZlOZsjpHyAx0DXlh_ZBJ_vjdlfc3oTr0bTnwP5zHCYjeDNR_R9QuKtsyFvgIbuc1-QbFWIivY_rSWeQCEnzGDa7Ar4YNKvZsEDLMykMzQVEC7REEkinW_r9Bv9OX90ZUxcArj3WmuHCaT3aEttN3_o_ZLisPeBpTI0vTAORlZLfWDdYAcbgd-X1tkUKFfvQfQHeKqV1W7hnqSi77JlTA_ZC7bxQyR24iXRJWwlacjyO9xDjKzK3UbXhKwc3gzwSFRf8Fg0Av03dwQd2YNOge58C2pM1QO6MQ2pDDPFJf4GWcu6Xnyf2J4cDp8Z1IBBZ47auV-tLT5uYQS9XlNMclGhrkIzoEg75FRxXfWPZuW83wSiRyy8bbnDfnl0_AaS10HC62ALignHQB9LDMX-LI2GtNSH2tHx2kRfE9ceUTZaIjcz1XXL19iwQmBniSqnlNMsZRiDJgA2EOEb0CqZOGdKyoeEXjyBOl36uzOW3FXfitgC9bOsRH8Med1q3Nxk-LoTsZglpYQUNnFUPckwyhf7OBTByjmFCCqb5MVxImUkmtVmWYvEwci0a3-bFQzHNg0A03IEzanHGK2ix9-og2X3VG-b9WuQTO8mxKOCf_Zf9xLQW0qG-t2X-XFfSUk_dJ4OWcBBjTQOcydY-UmWi3kUhop8-Tu6P9TUx9cQSI5UzNb0RRhdWCJqyEPVtdrTzriiYQAeHdkZrjn5QuYB3e_YU_HQrswCrdzBENgcqL8PMuJIHm7aANg2-P0sBdBA1ginMRLUa4j9Sv3i8x7-VU_LX1w5fTg_t_kjgptbtayYvdGu5Abjld8uzItUNghhLZXkdLKj7FWmj0w6g1q7EExOTyhW7n3eo78u9_iaYnYBkU3D5bKB4Fqdmuq-e2olomcET9kQxNdRpeMS4ahSIPAwy4HFG2I0AyhaPb6knl-VhzzNb2WHqa5g-LPGA72nsqROHm6Mvpa-NNv5pFkPUfO300uKwXxJt3CtYuvfPbDjYUISuhefu4TPXODpj4uUBc_1qHrYjjMVBJoiB_KwY1vP0BONWSqXe9IMNric7LBXlXLDcqThfKeBKhGb9zRP1ykq5XubHoBPm7qloBEhYVy4pt-jPYo2VpQgsm87832rnuKoUF94iQXQowqw1drk1jW6jr2rPAIqvHgQDrA5MmuM-liq89jIzamCh5YuhsopJ5dDVbyIiPFXxzPMEx1ik1_fHCy0NBF_LAv0ABPwXZ7qtrEcbOrtSLaL0OoZiDyxcmmmKkL6UwUdyXALa_nqus_17qLAH-vkXxOimIctz3U7zvY5VKmBlEl1CIVIELbaMOCVsnRovbw6PA6WTKOiU3mOWhKoUpeXitX19TyTeHkJZ-4NCOkwInZKoCpILytQ0UHgLmRomdjOZzHAewR6dlT-a0vgBimBGAeYMCaV4ybAD9zQG5h2Xw-yUMi5HPa_4V9VKRLSHFKUzpMjjghBvwAeP4ZTZV29Op1Vy356Yg7DDKpmdyLfhz3BAZzl1hM4QmAhLLvdmKxwuTPIZxqI8=",
  "id": "rs_094f0dcb31f4da75016ab4401d1cc487d0b3f4006f3c39765d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14,\"right_gripper\":1.0},\"note\":\"The right gripper closed to 0.023, which confirms the lemon was missed; it appears to have remained beside the bowl rather than being carried. I’ll reopen and lift vertically to clear the fruit and regain an unobstructed alignment view before the one allowed retry.\"}",
  "call_id": "call_prBrZQEh6KJmvc4qY7jNldNw",
  "id": "fc_094f0dcb31f4da75016ab44020171087d083f999d0e2b5050b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_prBrZQEh6KJmvc4qY7jNldNw",
  "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, 0.6128, -0.4313, -0.0135, -0.0307, 0.9907, 0.7002, 1.6615, 1.198, -0.5861, 0.4221, 0.382, 0.9985]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.1685 left_yaw=-0.001 left_pitch=-0.0607 left_roll=0.0002 left_gripper=0.9907 right_x=0.354 right_y=0.2084 right_z=0.1187 right_yaw=0.098 right_pitch=-0.3531 right_roll=-0.1577 right_gripper=0.9985\nstate[joint_eff]: [-0.2393, -1.347, 6.9812, 1.7167, -0.0415, -0.0708, -0.0073, -0.1573, -10.1128, 8.4855, 1.16, 0.2759, 0.0562, -0.1538]\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,$blob:80219a2c3214ffffdc866f500d60c8efa500f005088a7b0c6e0c4ac257be8a67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a7e54a8b628b61788829a22a231eaf7d54f03ba5512fb4c7b69333dca263fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e0c7684412e89debe90961e6cb688c9f0a611677caf80a8d7b1b6f07ef7baf",
      "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 · 2.668 s

model: gpt-5.6-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, 0.8124, 0.6128, -0.4255, -0.0135, -0.0307, 0.9907, 0.6987, 1.5826, 1.1709, -0.5682, 0.4152, 0.4099, 0.9986]\nstate[eef_state]: left_x=0.2907 left_y=-0.0004 left_z=0.1697 left_yaw=-0.001 left_pitch=-0.0549 left_roll=0.0001 left_gripper=0.9907 right_x=0.3504 right_y=0.2059 right_z=0.1407 right_yaw=0.0993 right_pitch=-0.2971 right_roll=-0.0926 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6972, -0.0366, -0.0415, -0.0073, -0.4308, -9.6479, 6.1744, 1.2332, 0.3736, 0.2222, -0.1538]",
      "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, 0.8124, 0.6128, -0.4313, -0.0135, -0.0307, 0.9907, 0.7002, 1.8046, 0.9356, -0.1314, 0.4305, 0.3927, 0.0231]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.1685 left_yaw=-0.001 left_pitch=-0.0607 left_roll=0.0002 left_gripper=0.9907 right_x=0.3585 right_y=0.2103 right_z=0.0265 right_yaw=0.0951 right_pitch=-0.3078 right_roll=-0.1274 right_gripper=0.0231\nstate[joint_eff]: [-0.335, -1.3333, 6.9675, 1.746, -0.0366, -0.0806, -0.0073, -0.0889, -8.6359, 6.3385, 1.2479, -0.0562, 0.1294, 0.906]",
      "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, 0.8124, 0.6128, -0.4313, -0.0135, -0.0307, 0.9907, 0.7002, 1.6615, 1.198, -0.5861, 0.4221, 0.382, 0.9985]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.1685 left_yaw=-0.001 left_pitch=-0.0607 left_roll=0.0002 left_gripper=0.9907 right_x=0.354 right_y=0.2084 right_z=0.1187 right_yaw=0.098 right_pitch=-0.3531 right_roll=-0.1577 right_gripper=0.9985\nstate[joint_eff]: [-0.2393, -1.347, 6.9812, 1.7167, -0.0415, -0.0708, -0.0073, -0.1573, -10.1128, 8.4855, 1.16, 0.2759, 0.0562, -0.1538]\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,$blob:80219a2c3214ffffdc866f500d60c8efa500f005088a7b0c6e0c4ac257be8a67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a7e54a8b628b61788829a22a231eaf7d54f03ba5512fb4c7b69333dca263fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e0c7684412e89debe90961e6cb688c9f0a611677caf80a8d7b1b6f07ef7baf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAmXbOrqYdn4-mHZ08g8VfmVQbwQFRK8FnAvK-gX9FtFUWm0BsmsDh1xZpnQ7Y7wHWN5dWdsvFDOu6SkyrpalndDpILCwDNcDMwFeu2YTdCjTsVKGIJcRS7xcS45iCgBZPcnnvOtLuW3lh6nBCpS9shESbMFZFfzyFuq-kV9c4eOi6jRH8KRNNoJ6FdmQIA8sRyMnLFwVYwohHWb20iY9oVUQSKmeL_0TNwqgsKku-q9f3_U-6b8nDHhC7VGjZjehOmbqAm1kCazp3ciaOaqNZtJKFSGn58dUiZ34gtBfbDAe6HL-ZxVmPKW768qOG0WEpAuZdkFUDv5vItAlZn3iWqNJvAo2M-AH1ghyLYGxDPMfqo6s8bOPzH_ksXIaQnapQBjibT9qy5Yb74TlgIEFuln7K92dDMl374P6RVtq3agx0pxSGanK8uluvi64bowryjKHk9ME1Cb8NUyghgRatOLDwMaiZxMxuF5nDaHXSx4VAcMX32Vpn3eIh4UE-Uu0PUaF93O-g7rF0gRzRsDGnOWkiTw3V7wT9_zBhAeQatmcjuglCSX038iuGUKa9zqhrGKVH61hB21VSMXZkEx-sBG_CGWVJ4byvyu6Df6-JI72OnqDLyjhDfYUGYDFaNPJHt-AejKbY8ZQlsAPOabaerjigDIEks1xDq2L_P9cpemfs0OB-IO1P4Acq87loU9yMWAlr4PLldr8BskVEHyYKJ4lPmLk1QnuujtZeYOop4FiLIFgH3nyWA-9F5JlX8J3JC6hhcxSBb6rtct1kuNYOfkri2LZPMuHL87QX_FTPxfYZFJ5XWd1-51sqlal4iHh7cfQwaLEIly-TT0HZMsuCwtKKYurieuog3A1liCwgJh0x41_KIAQHvfXDNfnwkxxvHRu96NWw4HBBrAHU8O3O8ebmopGe6s0BpnjO0tRQF4L5XnFhvrg6s6L3oPgVcMk2SwQcHCZlpAXQDqmGAza9JK-Wg_6mSNzbffm6yCNVC5uoQG8akRtSRB1pg57PIyndS3dQ_jwpOC1P70epR9z3VkHyuH60wRuIshbhMPe8YjbpMOqLoVS0q0hF1jKdTQ2XNz7snu1X8EfgnMIeb4_F6BHhQLZUj-Zk8zzfwRWn0vka-aVY8d2E_ASik6m6RQKZYpqCdBITCKtG-m6RDJexRJN1dU6vjElngwl4WuSWkQ2A8iT6vNnpfc6iPGic2O_VNlGb0ENXRrXj8vSsVMwHZAW7si5frE_Z_-HDQsPhe7oRY1LNDGH-zDL4MoYa35gYVoXE7RC1ZGefWhRvmkKxb6CkKTm4OLLs8qmidqorEgKwILqlNbwWbNzOwTbLyP7shVFXKcdvP6R2OLvCxrXK4hg9MHlWTS3OiVXZiaxSzH0hZ9SMApaZRUwFqKVdFVtUXw4_MGkfNNOqW7fP-kYepJASugqqe4-fiB9WjWOtLfRYkmQtEJY8aGH7_2ZXuuWaFdAHQI32L91ZOAWhvAmbO0HlpWy55CtLvQ4y57AZ56Bg3hdnHPJ1V1ySQHSOH4aveVag5tLSorah2Oc1uEbCe7w==",
  "id": "rs_094f0dcb31f4da75016ab4402500e887d0adf78940db681bb9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.24,\"right_z\":0.14},\"note\":\"From the raised wrist view, the lemon is clearly about 3 cm left of the jaw column and just beyond the fingertips; the pear remains in the blue bowl. I’ll shift left and advance about 2 cm, matching the prescribed correction after an empty close, before descending for the retry.\"}",
  "call_id": "call_2eoHbdA5NcL50yFHffD2cIzz",
  "id": "fc_094f0dcb31f4da75016ab4402611e487d0a6ff02090186567b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2eoHbdA5NcL50yFHffD2cIzz",
  "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, 0.8143, 0.6128, -0.4335, -0.0135, -0.0307, 0.9907, 0.7197, 1.7947, 1.4208, -0.6964, 0.4221, 0.3824, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0004 left_z=0.1676 left_yaw=-0.0009 left_pitch=-0.0648 left_roll=0.0003 left_gripper=0.9907 right_x=0.3759 right_y=0.238 right_z=0.1331 right_yaw=0.1128 right_pitch=-0.37 right_roll=-0.17 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -0.9915, 6.9675, 1.7363, -0.0708, -0.0415, -0.0073, 0.0479, -8.7179, 7.7607, 1.0183, 0.2955, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156bf12f3149d53f99d5724de6812573a4a2add75e29c8432ef5085e84beef42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebdd9b5a13814341f8e4cc6afba8918823d96aebd41859104a676391f17b4347",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dca0db93b926a0cfdfb93e36880c2a7c984e53feb884efe7ed70b24df4a37309",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.005 s

model: gpt-5.6-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, 0.8124, 0.6128, -0.4274, -0.0139, -0.0307, 0.9907, 0.7002, 1.7981, 0.9443, -0.1265, 0.4145, 0.4084, 0.9986]\nstate[eef_state]: left_x=0.2904 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0006 left_pitch=-0.0568 left_roll=0.0004 left_gripper=0.9907 right_x=0.3607 right_y=0.2156 right_z=0.0316 right_yaw=0.1022 right_pitch=-0.2978 right_roll=-0.0933 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.2376, 6.9675, 1.7216, -0.0415, -0.0513, -0.0122, -0.2803, -7.747, 5.0667, 1.2723, 0.2076, 0.0171, -0.0171]",
      "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, 0.8124, 0.6128, -0.4313, -0.0135, -0.0307, 0.9907, 0.7002, 1.6615, 1.198, -0.5861, 0.4221, 0.382, 0.9985]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.1685 left_yaw=-0.001 left_pitch=-0.0607 left_roll=0.0002 left_gripper=0.9907 right_x=0.354 right_y=0.2084 right_z=0.1187 right_yaw=0.098 right_pitch=-0.3531 right_roll=-0.1577 right_gripper=0.9985\nstate[joint_eff]: [-0.2393, -1.347, 6.9812, 1.7167, -0.0415, -0.0708, -0.0073, -0.1573, -10.1128, 8.4855, 1.16, 0.2759, 0.0562, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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, 0.8143, 0.6128, -0.4335, -0.0135, -0.0307, 0.9907, 0.7197, 1.7947, 1.4208, -0.6964, 0.4221, 0.3824, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0004 left_z=0.1676 left_yaw=-0.0009 left_pitch=-0.0648 left_roll=0.0003 left_gripper=0.9907 right_x=0.3759 right_y=0.238 right_z=0.1331 right_yaw=0.1128 right_pitch=-0.37 right_roll=-0.17 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -0.9915, 6.9675, 1.7363, -0.0708, -0.0415, -0.0073, 0.0479, -8.7179, 7.7607, 1.0183, 0.2955, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156bf12f3149d53f99d5724de6812573a4a2add75e29c8432ef5085e84beef42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebdd9b5a13814341f8e4cc6afba8918823d96aebd41859104a676391f17b4347",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dca0db93b926a0cfdfb93e36880c2a7c984e53feb884efe7ed70b24df4a37309",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAqp3OqdiTvX9ZpoFbTjPJSyvGu5Szg7POZDlxOeumVk3xv1Jz9bns_D-QKjfbtjY4VuIiyGyT6ZmTSkGzEooMHZ1tXMJCk0-DRiQ_B02aqWq5p8hDAMGMf7IJxqfiqc-DledOdtmmYX_-FEiInQi-tc6OHKq5BA0IOMcpQJcY0yjRTEQygV3MED6s-SbFq3bXRA6Rk_Je0RghOInUPCVQB7H9YvTzl6RJr5zq_AcFRGV68NFZnrmRtb5gGMwG3jxEEFrp58_2U9WhIVyjEPfqB5VFQuBBkiY4yGWGKiElI2snd6bLOAx3M5tUaBYKbATb-G4Al0hFyxzFKLtMp0S-t_Fn7q-gPbP7kpdTNqI6m7v5bnFBsRS3SBQXpYUA3DyBTI5eiu4HBUfEBS7OnZKhLQ9vxl89MKZe8a4sVpqqxfQGBS644okM0t-ksMzJxFWb5YwhyRNAjK9KX_E3hea0r00gXkIG6HWjFcVZXfy5YPm63Fq9vmHBI4gi-GoQKoY62MiszznSboaLso7gS0Hv2eo2teTMGxo7tikV5K4pJ7dG1ouZBv7AB0OWkwGSiiW3QKBfl_pHrdP0MQv56C9kJaTyj5KJFMS8mJRQxSr_0YeVt_8sb_1dPnG5ROjLV80zRO87Y4QWvizaXtAp8QRYA_r-5hPuRJxA_96w5IjJdDlvfzkLmuXa7rAdYo_DPLAxeTdlPXYiGKj2dofehU5sowgsf-R813SfIPtS5ouV6BIta7Wq8nCN9nd7PmFvdU7WFG5G4HzIUmc_pAuoa9N-8TWUd7Y99DLIIr2AZgEoJ5hDGiHUhqZ0p0xTz9UPHyD1Ei-ZrwUWGK5oDvMpzqJ9eNQ6mBxxh-0F20arriD7PYP5T1VJQ931iv5IZEu6ZaA7jOAesHGfRPlgPpJkUi8bUAXTb2Lcoi2SOi6S90BudSyWJqryWMCKe252KJZaUIiRQeS_S002kcYjFvnmA3mvc4ulOkyeqI5pVniUB-y6xjcnDRNHP1YK_59qIatJKOnL2JZODs_aGPH-aSvMj7u6C9GYFRq4PSxznZGk0U-ttG81lmxvxH5gWzq5J_PrU-CdI9J_8YZ9DzuI8esMJNgqr1Pzxb-xvYUF3pSLbkPR2IC-seNmP967Wupk6PwVEd1VuwK8CV8CButvWKHvq5Ex_TB-Kn56RofY4hsIJHthvaQqL5Ai9trLWG_oKY9maos228Ky4iuZpNZOdcCpndlKcTw3nTHy3-iuuhpU7HR-vWqLsYlEFAMCl5ez2n-kUD7mAl7VWCkemldZUgGkLH8rK9qZiZmXFhjRl-YsAhE1c5C--xWcP0Vh-f0r6hvoLPC08nG3LWD_RKhpgJemAPYT4EUWqCJbQI2oPFi-XnBiLDgDh4j4L0qtzczegvQoDiR53OFoj1Oe4Cgl-XX_X1sw9OiYpFMyaN5hqY0Ctw8CXD_onDfiYA-n79zeMbT2PA-kd9LeiRn2fZgxY0q7K4-FqJzM8-Uj1f603lYE2-oTX5h0_0c0FXoLLK1teW-7BLVxoiUdU-sXdQCLElvp7WmYlH1HvezPDcgWZ1jWoe2kRxj8t39M8Y2Q0xlk0ircLcj3R",
  "id": "rs_094f0dcb31f4da75016ab440286ac887d083d82519d44eb013",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.26},\"note\":\"The lemon is closer but still sits roughly 2 cm left of the jaw center, while the gripper remains high enough to avoid pushing it. I’ll make one more small leftward alignment correction before the retry descent.\"}",
  "call_id": "call_e0bkDQk3QioSRVwRSMKtyDO1",
  "id": "fc_094f0dcb31f4da75016ab44029523c87d0861b173ed4c794ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e0bkDQk3QioSRVwRSMKtyDO1",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "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]: [-0.0219, 0.8143, 0.6128, -0.4347, -0.0139, -0.0307, 0.9907, 0.7525, 1.8446, 1.4734, -0.7265, 0.4267, 0.3981, 0.9986]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0006 left_pitch=-0.066 left_roll=0.0006 left_gripper=0.9907 right_x=0.3736 right_y=0.2545 right_z=0.1278 right_yaw=0.1269 right_pitch=-0.3887 right_roll=-0.1808 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.1556, 7.1043, 1.6728, -0.0122, -0.0464, -0.0073, 0.253, -9.1966, 8.335, 1.0476, 0.3053, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87af71f97d85bfb125d89aa956959ac163886c944c8ebb223bec987310cb413e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4f27334165c78d8defc78300c300daad86f3634e667722bb613618b50bbe87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6061de323839dffc1578619c3759c47ffcdaa138a5e627cfbfe362ca915450f",
      "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 · 3.197 s

model: gpt-5.6-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, 0.8124, 0.6128, -0.4313, -0.0135, -0.0307, 0.9907, 0.7002, 1.8046, 0.9356, -0.1314, 0.4305, 0.3927, 0.0231]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.1685 left_yaw=-0.001 left_pitch=-0.0607 left_roll=0.0002 left_gripper=0.9907 right_x=0.3585 right_y=0.2103 right_z=0.0265 right_yaw=0.0951 right_pitch=-0.3078 right_roll=-0.1274 right_gripper=0.0231\nstate[joint_eff]: [-0.335, -1.3333, 6.9675, 1.746, -0.0366, -0.0806, -0.0073, -0.0889, -8.6359, 6.3385, 1.2479, -0.0562, 0.1294, 0.906]",
      "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, 0.8143, 0.6128, -0.4335, -0.0135, -0.0307, 0.9907, 0.7197, 1.7947, 1.4208, -0.6964, 0.4221, 0.3824, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0004 left_z=0.1676 left_yaw=-0.0009 left_pitch=-0.0648 left_roll=0.0003 left_gripper=0.9907 right_x=0.3759 right_y=0.238 right_z=0.1331 right_yaw=0.1128 right_pitch=-0.37 right_roll=-0.17 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -0.9915, 6.9675, 1.7363, -0.0708, -0.0415, -0.0073, 0.0479, -8.7179, 7.7607, 1.0183, 0.2955, 0.1538, -0.0073]",
      "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, 0.8143, 0.6128, -0.4347, -0.0139, -0.0307, 0.9907, 0.7525, 1.8446, 1.4734, -0.7265, 0.4267, 0.3981, 0.9986]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0006 left_pitch=-0.066 left_roll=0.0006 left_gripper=0.9907 right_x=0.3736 right_y=0.2545 right_z=0.1278 right_yaw=0.1269 right_pitch=-0.3887 right_roll=-0.1808 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.1556, 7.1043, 1.6728, -0.0122, -0.0464, -0.0073, 0.253, -9.1966, 8.335, 1.0476, 0.3053, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87af71f97d85bfb125d89aa956959ac163886c944c8ebb223bec987310cb413e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4f27334165c78d8defc78300c300daad86f3634e667722bb613618b50bbe87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6061de323839dffc1578619c3759c47ffcdaa138a5e627cfbfe362ca915450f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAsrOhDpIG2nXDQaVUkjxbP89WukaD3tz1TfGGb8lbvAaHbCKWnY37ymoFlhW7ghyjqrYKPyWwEqWZAU_d6dW36SenrOD9pEkNwc58dXe44jI0-SC10DQgeTC_bb1d_9DWqOciGJIn9SQ2UTqJKwSIDiAsPJqULAzK8tXzq-8hlBzXtL4Tg0lYJdWGQIbcUa41efDQ5ZHXabzBI_5AyRrebMrymILC_FPFgN78jUGguhHvzIv_e53wpjp8IMJQf_ds6DxNo2HAM4TkpmwjWEv7zGHNTh8YlqP9J7o966iH0aK9rqVJFJj9e1AQ82wnAKi1VClg5SPGTh1q6Ux-VdBh_jMT_DgRpy-zm0FaoZt3bryMSRzKS2k385YFrOcWPhEm9cd4pleujociEXcozXNwYOogfASizyuDUZFVMib3pUmHl02t9cBtSKl2UepKYtQEVMC-QQyRODsXbjIDy3HJgKw0fLteQMOxbii5zCH5yWjH3DS4ijgB25WubztykqbYDwY0AbbtTyMV6MPLgUOLyyoftCC0pqaxX3pJ5MMAv21fWWUFotzytMw3r_de4e-AZYWqEf_7Yodd95bpcETzpOb5wP6Wcu1m_7BylTp1ToF555aMAIePb9MlZ2ZnBTRfbAzwa4tRzZwwzXHKvoOIGHchpIWPGYFX5VLsBLGIvGRtP1EKh2ryeEMgHS3Hv4U9PN4kbO5y98bfvYzG72YkpKkf0ZosIcums6w7Ed6eOlkZxE9kSkGAXQBse26i6E0Xag_ofPW3q20oecsmIeSdJnjZdlZh-Oje1zwQgjPdyOWckIs9FcV5bElNsNQNuKIDn79_M1zIAD2OaKSY4-_18wklbcaXeQ5my8dbwkuOzIVZMAyjLPX6wz1JXNU9pPGZGoSYxrmjaRterdjbHw94CUEQ2lm1vyRH6eqekp7x_XVNqARqA1djXOmoKEszdkeVOaIoFO4TvCZQlxg6isNcC4_Sq8_DWa4_7A2iDDVEvgSdzQ3F0BLX0kMfDh6qERzqQdmtdBxAkDi8gKU3GyXzKCgXI_D7JB6iB6Mh6nvvCqIYeUvwy45P4DZ_fOHGJY4zJwzaQ78evrm4FTKv9Z09ycibNEVjGP7-uIBDIkzXONH-WPzWgMbJTAY_QiBRKJNcP_T-Wgla_4F8GdGA54L468E6aNSAVPTS29f2vd6Gq9rK6s2B6NB6KRRdVx5fEs65O1eKAeONpDfntvF_BOpGw3FnW3iC6uoLwAIl7lhBIRn9ML-24QXRfcPBjTA5H7NpdYO8yJpXAijOdWtq6OtpNDQ==",
  "id": "rs_094f0dcb31f4da75016ab4402b495c87d0812d2bd9e4e9b544",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The lemon is now centered between the jaws at the bottom of the wrist view, with clear separation from the blue bowl’s rim. I’ll descend vertically to the same mid-fruit height for the corrected grasp.\"}",
  "call_id": "call_JWQGm3nLK2Kc4ZC3Yo6ksURd",
  "id": "fc_094f0dcb31f4da75016ab4402b966487d0ab22ed44363bac1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JWQGm3nLK2Kc4ZC3Yo6ksURd",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4423, -0.0139, -0.0307, 0.9907, 0.7506, 1.9625, 1.2167, -0.3691, 0.4225, 0.4004, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1658 left_yaw=-0.0006 left_pitch=-0.0736 left_roll=0.0007 left_gripper=0.9907 right_x=0.3711 right_y=0.2519 right_z=0.0264 right_yaw=0.1226 right_pitch=-0.4046 right_roll=-0.187 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.3197, 6.9675, 1.7411, -0.0415, -0.0171, -0.0122, 0.1299, -9.4564, 5.4359, 1.3211, 0.2759, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9de4d4c3fed39ca82feba1f5f61cc398c2ce545938ded84567ead66174452a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324bc2edeab9493ff6bc873fbe8419dc386c589f8c075f3b081cb7529b7603bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998d7cb090ccb82bfc191d9cd450e74961fa1dde502afd3623151e43c9ff6d7e",
      "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 · 5.033 s

model: gpt-5.6-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, 0.8124, 0.6128, -0.4313, -0.0135, -0.0307, 0.9907, 0.7002, 1.6615, 1.198, -0.5861, 0.4221, 0.382, 0.9985]\nstate[eef_state]: left_x=0.2899 left_y=-0.0004 left_z=0.1685 left_yaw=-0.001 left_pitch=-0.0607 left_roll=0.0002 left_gripper=0.9907 right_x=0.354 right_y=0.2084 right_z=0.1187 right_yaw=0.098 right_pitch=-0.3531 right_roll=-0.1577 right_gripper=0.9985\nstate[joint_eff]: [-0.2393, -1.347, 6.9812, 1.7167, -0.0415, -0.0708, -0.0073, -0.1573, -10.1128, 8.4855, 1.16, 0.2759, 0.0562, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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, 0.8143, 0.6128, -0.4347, -0.0139, -0.0307, 0.9907, 0.7525, 1.8446, 1.4734, -0.7265, 0.4267, 0.3981, 0.9986]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0006 left_pitch=-0.066 left_roll=0.0006 left_gripper=0.9907 right_x=0.3736 right_y=0.2545 right_z=0.1278 right_yaw=0.1269 right_pitch=-0.3887 right_roll=-0.1808 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.1556, 7.1043, 1.6728, -0.0122, -0.0464, -0.0073, 0.253, -9.1966, 8.335, 1.0476, 0.3053, 0.2076, -0.0122]",
      "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, 0.8143, 0.6128, -0.4423, -0.0139, -0.0307, 0.9907, 0.7506, 1.9625, 1.2167, -0.3691, 0.4225, 0.4004, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1658 left_yaw=-0.0006 left_pitch=-0.0736 left_roll=0.0007 left_gripper=0.9907 right_x=0.3711 right_y=0.2519 right_z=0.0264 right_yaw=0.1226 right_pitch=-0.4046 right_roll=-0.187 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.3197, 6.9675, 1.7411, -0.0415, -0.0171, -0.0122, 0.1299, -9.4564, 5.4359, 1.3211, 0.2759, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9de4d4c3fed39ca82feba1f5f61cc398c2ce545938ded84567ead66174452a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324bc2edeab9493ff6bc873fbe8419dc386c589f8c075f3b081cb7529b7603bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998d7cb090ccb82bfc191d9cd450e74961fa1dde502afd3623151e43c9ff6d7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_094f0dcb31f4da75016ab4402fef7487d0ba7176f9386544e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the lemon is hidden directly beneath the jaw tips, which is the expected geometry after the corrected alignment. I’ll close now and verify the captured thickness before lifting.\"}",
  "call_id": "call_dQtbuMe5C61JQObmDi8Xh8Ib",
  "id": "fc_094f0dcb31f4da75016ab4403030ec87d0a5d6d8462fbb368c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dQtbuMe5C61JQObmDi8Xh8Ib",
  "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, 0.6128, -0.4465, -0.0139, -0.0307, 0.9907, 0.7498, 1.9656, 1.216, -0.3813, 0.4294, 0.3897, 0.0242]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=-0.0006 left_pitch=-0.0778 left_roll=0.0008 left_gripper=0.9907 right_x=0.3696 right_y=0.2486 right_z=0.0241 right_yaw=0.1187 right_pitch=-0.415 right_roll=-0.2093 right_gripper=0.0242\nstate[joint_eff]: [-0.0479, -1.3333, 6.9675, 1.7363, -0.0513, -0.0269, -0.0122, -0.1436, -10.2359, 5.8462, 1.1209, 0.1099, 0.0806, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a6d874c17fdd75db307d4449e663226bb850435eaa49f4d3168dbe8ceb011e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b631202c3a605317b956dc836669e1967afdd3072718483c0dd76be96d15b278",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5f1febc341b96a989813f40c4b2f89845754054e2d9c59bad350c0f1f4253b",
      "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 · 8.986 s

model: gpt-5.6-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, 0.8143, 0.6128, -0.4335, -0.0135, -0.0307, 0.9907, 0.7197, 1.7947, 1.4208, -0.6964, 0.4221, 0.3824, 0.9986]\nstate[eef_state]: left_x=0.2897 left_y=-0.0004 left_z=0.1676 left_yaw=-0.0009 left_pitch=-0.0648 left_roll=0.0003 left_gripper=0.9907 right_x=0.3759 right_y=0.238 right_z=0.1331 right_yaw=0.1128 right_pitch=-0.37 right_roll=-0.17 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -0.9915, 6.9675, 1.7363, -0.0708, -0.0415, -0.0073, 0.0479, -8.7179, 7.7607, 1.0183, 0.2955, 0.1538, -0.0073]",
      "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, 0.8143, 0.6128, -0.4423, -0.0139, -0.0307, 0.9907, 0.7506, 1.9625, 1.2167, -0.3691, 0.4225, 0.4004, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1658 left_yaw=-0.0006 left_pitch=-0.0736 left_roll=0.0007 left_gripper=0.9907 right_x=0.3711 right_y=0.2519 right_z=0.0264 right_yaw=0.1226 right_pitch=-0.4046 right_roll=-0.187 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.3197, 6.9675, 1.7411, -0.0415, -0.0171, -0.0122, 0.1299, -9.4564, 5.4359, 1.3211, 0.2759, -0.0611, -0.0122]",
      "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, 0.8143, 0.6128, -0.4465, -0.0139, -0.0307, 0.9907, 0.7498, 1.9656, 1.216, -0.3813, 0.4294, 0.3897, 0.0242]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=-0.0006 left_pitch=-0.0778 left_roll=0.0008 left_gripper=0.9907 right_x=0.3696 right_y=0.2486 right_z=0.0241 right_yaw=0.1187 right_pitch=-0.415 right_roll=-0.2093 right_gripper=0.0242\nstate[joint_eff]: [-0.0479, -1.3333, 6.9675, 1.7363, -0.0513, -0.0269, -0.0122, -0.1436, -10.2359, 5.8462, 1.1209, 0.1099, 0.0806, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a6d874c17fdd75db307d4449e663226bb850435eaa49f4d3168dbe8ceb011e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b631202c3a605317b956dc836669e1967afdd3072718483c0dd76be96d15b278",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5f1febc341b96a989813f40c4b2f89845754054e2d9c59bad350c0f1f4253b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_094f0dcb31f4da75016ab440335e6887d09c62372ef26b700d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.05,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The corrected close also settled empty at 0.024, and the overhead view shows the lemon was squeezed toward the bases rather than captured. I’ll stop repeating this approach and park the right arm high and to the side so I can re-measure the lemon clearly and plan a different grasp orientation.\"}",
  "call_id": "call_iB8YRxzmV9igBR0NZKNdCU9R",
  "id": "fc_094f0dcb31f4da75016ab44036240c87d08bd66006b00b6feb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iB8YRxzmV9igBR0NZKNdCU9R",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.45, -0.0139, -0.0307, 0.9907, 0.2596, 1.1893, 1.018, -0.8619, 0.1921, -0.0536, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1635 left_yaw=-0.0006 left_pitch=-0.0843 left_roll=0.0009 left_gripper=0.9907 right_x=0.2957 right_y=0.0474 right_z=0.1654 right_yaw=0.1074 right_pitch=-0.4545 right_roll=-0.2185 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.7216, -0.0464, -0.0659, -0.0122, 0.1299, -4.5197, 8.9915, 1.1502, 0.0073, -0.105, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50eb96c4638e7657739b7457087549d8c8a118d1fea631915c18eb786545c509",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b882840f3dcac869300bff91a97edabbc4bf630915d16c227fd260e2ef1e3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc900ffaf2ab0ab5cfe1a6a79600141ce103d016b1b2c61796ddc685199e905",
      "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 · 3.913 s

model: gpt-5.6-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, 0.8143, 0.6128, -0.4347, -0.0139, -0.0307, 0.9907, 0.7525, 1.8446, 1.4734, -0.7265, 0.4267, 0.3981, 0.9986]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1674 left_yaw=-0.0006 left_pitch=-0.066 left_roll=0.0006 left_gripper=0.9907 right_x=0.3736 right_y=0.2545 right_z=0.1278 right_yaw=0.1269 right_pitch=-0.3887 right_roll=-0.1808 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.1556, 7.1043, 1.6728, -0.0122, -0.0464, -0.0073, 0.253, -9.1966, 8.335, 1.0476, 0.3053, 0.2076, -0.0122]",
      "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, 0.8143, 0.6128, -0.4465, -0.0139, -0.0307, 0.9907, 0.7498, 1.9656, 1.216, -0.3813, 0.4294, 0.3897, 0.0242]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=-0.0006 left_pitch=-0.0778 left_roll=0.0008 left_gripper=0.9907 right_x=0.3696 right_y=0.2486 right_z=0.0241 right_yaw=0.1187 right_pitch=-0.415 right_roll=-0.2093 right_gripper=0.0242\nstate[joint_eff]: [-0.0479, -1.3333, 6.9675, 1.7363, -0.0513, -0.0269, -0.0122, -0.1436, -10.2359, 5.8462, 1.1209, 0.1099, 0.0806, 1.0525]",
      "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, 0.8173, 0.6128, -0.45, -0.0139, -0.0307, 0.9907, 0.2596, 1.1893, 1.018, -0.8619, 0.1921, -0.0536, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1635 left_yaw=-0.0006 left_pitch=-0.0843 left_roll=0.0009 left_gripper=0.9907 right_x=0.2957 right_y=0.0474 right_z=0.1654 right_yaw=0.1074 right_pitch=-0.4545 right_roll=-0.2185 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.7216, -0.0464, -0.0659, -0.0122, 0.1299, -4.5197, 8.9915, 1.1502, 0.0073, -0.105, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50eb96c4638e7657739b7457087549d8c8a118d1fea631915c18eb786545c509",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b882840f3dcac869300bff91a97edabbc4bf630915d16c227fd260e2ef1e3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc900ffaf2ab0ab5cfe1a6a79600141ce103d016b1b2c61796ddc685199e905",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_094f0dcb31f4da75016ab4403d4a6487d0992862ed20bd125e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBFWvsK72nVgtat6H_sW5scZZsTJRAums9smmostdlQ-CA2wwjjPTDwa8sjGzvJQnYqIhlMh18-9i4nVsyf3ak1H3HNEsXf6zuomugMmHh60gcG2yfRgT6qrJopbCrApwYbahXzj45QZhxWsmd7CdfW-EVrHZ723HNEew4Gq30KNyJP_i-jH6iVlPJN-mTDyBjQTtH97X-ICZOG-igCchH02bGuExPJKeaNm9e_mGzOpsAtP8L2IjNC_Tld_x7Y-YICVDEMkEcaJgU3-jeVeprgzvITgvVOAb4wWy6RqmpNDeKLqztoeGqDxwE8fgEoAnE6umJYsktgwiu6ECkaePY4ojUrEbLv8-3e1-urqa39UDKlJV45PqxwSu5rzM60sL8ydTmAjtngRfCNUegEM7BTtCYT-8QA9VHsWiE2XTeHyltKVwt78stiF2XqNewLi1rhI7xZFdd43XColI8BagNHxiEyELgFe5hdjAn3JQJVR8rnjEna_w7FfG7aUsGnXn5sazsz0hhnFlaOZnCn2ev3q17X_1dCcXFQqdmHfwfDmVaWGa_R2F_2fO96uZqMyi7m6q4bIpv0CS0mO1WXZp0Gh_jFIRekYynw4YUaRPG385Ss5nSEmtmPLnjArBgoSYicmYAmX7n7dOTUIR5iBg6fpDrYazfwlHsuc2uo_tvu8FgAmGumpC74v29wJREschg8_QouiJnfHyBbU2dK7XjN3fEvW-qyWiETDxHEM6MPk3VF6Xb9f4PaamUKpDIjnHpjDbcspceJc4eywBeie_N3uHx3fK5R5PH8KhlX20KNNF7iXXBs4DCrqXE1TQKFFwBFsArHUZglbN7sSKLgbBUrZQJ6ofcDKlcg09jgqpmkJf6gQMOt28aYXE5OVkJsvEhC9QNXNyvpBjBqrcQRdskfnr9EZsMU6EF9x1wv9g0sSSA-lFpbtPK5hPJnuZQXx1YtaoeYtOr3rUqq1fKBWmJvYDQcrTJUvLl4xpsO_k12_eqfQ4UA8tWYMlqJYqKFzdj3UKsJabTPLw_d6-piHA7U5Lrh5ngoIXD4wz-kUr-WEPo-AsplcY4qrz9LI_SQOgsOgkGGLrCfpiT8zDT4Ge794tsl6o1_-0czrz0cqtR8mBQ5CStI5-WRuMZDZST9OVEF_i7BKYeD2qmHb72_3EfbQk_5-1oOmvAP0MrVySegEDEfD5aPKvEj2EbT8YRfPefu1qChDh980yZNDUQC97CQIISgwhZ725m11-HoK0p7VvBXQn-WonTLOmX_-gCoHlVhIqXeaZD24seweCHcTzyyMCKcZB1FuDQMtLx7l4RNLNXxAzwoKi30OW3zqLp9cAJaHx2MKDQQf-5TkVmfh_KFCZCoEA6DL16D3so8Uvod3cSIzBDagU0wGk6fBkX0lPnTrjhcyv70R0o0a6O1IG2O8FBEDG0obQUmlAV29e7vzZraEV6c7Da19coiG4ibTcrEFHewVmqOOB7QGhxZAsfhM11hmFHeu87ZGbZ_erFPo8WvOSHuAAb-Z6g9wIuOwFupc55w4vdv3teSfcgbluBmeR-NK_oAIw7IVwDCxpltq4yi6RWqfmqSvDJ0ps9CUk9eTzMtXQKGWCHt26rr3vutzh4m58tEf9mr3TQ0Q52wpzP46oNin6whRZYL7_Q3_AhnzjOAtcpPYyaVVH0ko3bY8qP2deTJRatIhqCSVxPTxFjM5aNKXnHU9vKKgKxIECkICJ9Aq7rvvTmI0VtlQ5O2-V6cq5TxZQK25pauz1b7KX1cfc-E4GJISqB4WBBPfjt2K6a0Dfqhf2HyTEEypYA6ErXd4rWjnt0_5kO7wWdKf5iObhL-fvvN9E8_swrc0brC6fJthC4mqptPVeYT28PgYNVdaJEJJ7lvqUe-hhFa5XYS9FhhWR3tZEyrhQl2AHAhnBJ-BI8g4Sj_B2Aarf0fRCTsSLDdfQTnNBwhD0VBybyp5y7M1OM1ar7At9pLpL0xp4VvW1YneUB6M_F3fBj2GUJS8yEhJquyZ14GLvEaXrMLwAOVVtEMxCyLAPBFXzmA",
  "id": "rs_094f0dcb31f4da75016ab44042ad6487d094cc1f86508f20b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.22,\"right_z\":0.14,\"right_yaw\":0.0},\"note\":\"With the arm clear, the lemon is visibly much closer to the bases than the prior grasp points; the previous targets overshot it radially by several centimeters. I’ll approach the re-measured center at about x=0.32, y=0.22 from above, restoring neutral yaw so I can inspect before descending.\"}",
  "call_id": "call_Jtc3YXG8DL0FE4kgY7fcfvk4",
  "id": "fc_094f0dcb31f4da75016ab44044419c87d0acf0fc8c12096b7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jtc3YXG8DL0FE4kgY7fcfvk4",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4637, -0.0139, -0.0307, 0.9907, 0.7967, 1.7088, 1.375, -0.9352, 0.4507, 0.5404, 0.9986]\nstate[eef_state]: left_x=0.2853 left_y=-0.0002 left_z=0.1608 left_yaw=-0.0006 left_pitch=-0.098 left_roll=0.0012 left_gripper=0.9907 right_x=0.3149 right_y=0.2172 right_z=0.1313 right_yaw=0.0185 right_pitch=-0.4902 right_roll=-0.2373 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3333, 7.0906, 1.7851, -0.0415, -0.0562, -0.0122, 0.2393, -7.9111, 8.1026, 0.8816, 0.4225, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0f53b9ef06560bbf584da075762277c6d9edb97070eec61833e19cc27ccce1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:360db20ba5788ed1d0f110230cf0b98273cc73aa14073b7bb5e66758db09bc44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b6d36db9e35467c12d9fdc2ab0b4a21d13215e3f2f013d38b5455f9d212095",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 2.08 s

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

message 59 changed as sent

message 67 changed as sent

message 72 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, 0.8143, 0.6128, -0.4423, -0.0139, -0.0307, 0.9907, 0.7506, 1.9625, 1.2167, -0.3691, 0.4225, 0.4004, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1658 left_yaw=-0.0006 left_pitch=-0.0736 left_roll=0.0007 left_gripper=0.9907 right_x=0.3711 right_y=0.2519 right_z=0.0264 right_yaw=0.1226 right_pitch=-0.4046 right_roll=-0.187 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.3197, 6.9675, 1.7411, -0.0415, -0.0171, -0.0122, 0.1299, -9.4564, 5.4359, 1.3211, 0.2759, -0.0611, -0.0122]",
      "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, 0.8173, 0.6128, -0.45, -0.0139, -0.0307, 0.9907, 0.2596, 1.1893, 1.018, -0.8619, 0.1921, -0.0536, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1635 left_yaw=-0.0006 left_pitch=-0.0843 left_roll=0.0009 left_gripper=0.9907 right_x=0.2957 right_y=0.0474 right_z=0.1654 right_yaw=0.1074 right_pitch=-0.4545 right_roll=-0.2185 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.7216, -0.0464, -0.0659, -0.0122, 0.1299, -4.5197, 8.9915, 1.1502, 0.0073, -0.105, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4637, -0.0139, -0.0307, 0.9907, 0.7967, 1.7088, 1.375, -0.9352, 0.4507, 0.5404, 0.9986]\nstate[eef_state]: left_x=0.2853 left_y=-0.0002 left_z=0.1608 left_yaw=-0.0006 left_pitch=-0.098 left_roll=0.0012 left_gripper=0.9907 right_x=0.3149 right_y=0.2172 right_z=0.1313 right_yaw=0.0185 right_pitch=-0.4902 right_roll=-0.2373 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3333, 7.0906, 1.7851, -0.0415, -0.0562, -0.0122, 0.2393, -7.9111, 8.1026, 0.8816, 0.4225, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0f53b9ef06560bbf584da075762277c6d9edb97070eec61833e19cc27ccce1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:360db20ba5788ed1d0f110230cf0b98273cc73aa14073b7bb5e66758db09bc44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b6d36db9e35467c12d9fdc2ab0b4a21d13215e3f2f013d38b5455f9d212095",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBNbQE40JhJ9PSG9ifPHaY3SdOEY9HdZGX4jco179OO2XeN7B8eABtfb1xUkjAxvzSsNH3Qo0w4EVCfJ7HlTKQ18m709Jy5BLHrwHDRelGMgRkr6Cc1FJRk5l_70JiE07w9QCv89WL-Zn5BPCpWGO9Qd2BKym-Ff94r6U5Bxg_mq1aZCoICS7ju4coOlzOOYBPPLwOina3KceaALL449uwx5xtefcqWDWxvZ_FUZbetU7aSXa8ZQQOkbTdbIExRmERV-egcTGVZ5zfy5V0bTS9Fdf-OzCuTqX-JhfJK1d2AW7a663eIoDMl-H60WlrXgg0OgXQNocI6y-af-vPd9LJ0Q9j0PDEewQXuxqKK58J9zXQ5aqOQhG8BEsid-72u3AehCDRS94VO7Z8iCwvq6aHS--X7edAfpWEQFJyYEcARdLBD_g0Scz7XfbO5ws13UnpDuZGz2zVPX-1Prh9JwHoTeJSgCCC406vSBVzFA3cK-ckInleKIexWWHBAj3DT_ECHPpf7CHhp3bm74DyAN8yd1VUZXDlb5RlM5K-d3hup7kBA6t1ST12xgvJl6ECP2Ms52bS-dM5246jQYUy4K1dh8GYQgSZdnvpbuvRzJmWKeQGvQ-Uv1qGhOOZAv55ODuNBSopTG8LLRLJW9ZN3-fzF02TKv_dc0157QluPH9jZwTjpnJrcY0VygWddID565hjETGQnQnnHVuqAraL8t_ZEV8BN-tyBqppwTHo1LDiYW9pW0AVx-HqwbnxWfu7I95hVGWFSN2RdBVjUBz4jhAXKIqmZuFk4CtgyrlAbeNjSd6wwYgPEsPDNNHndz7fx7Kvdaf4MEhNs8EO2TT33FCtWphF7z9rtGm1RfuRjFXmALdz27XXSnBorn4V56JGBWrdf9PLigaPyFcMhJSVx-R5U1h8r4sg-fdrOGWl9ezJoITjNFXLwD3Jj-MIKrxlOCcLIQWthUF4oqWtQbxjGWRnEmSansUt0tPhzKDn1U91BjcexczCHjHrp69g1A9_XelS15y2tcTp_8JDjgsBQVLo9n1GYDxF3GuHh06vn5gh7RrWDf234F1QzpQbsDRbqzOxw9XmFRXYWlhiMl-i63hgHteT3diEd-093dQ9H-swlFgqsV5u8nS09CekVaGxMza6ZFNsN5HU6PiBlQLz0qSUOKBFNjrHsh4A7JUVg2jan-Bhnx7jZa33eHyHdAYcMBuSOFjPOwwYgzixL43ozfC7d7CleTNb7JFfXxnp7Go_pLWh0p4aJOknI1SGFr_jQ4o8wxoYa3voFjvNB9acxmLn7UCq8Ec9PL7e3CXDZ37a6ucvJ3TvIwjdu0uU-BoXiMSb941eV1zwAO-9iHJBV48DQhIN6AXfNtIA-m3ai3AwYHsAxNjBUQK5bpWjfLTXfxYaAVCXkUANA4tF07q9CLX3w7FlmNf1oTIbxyKM6PLdKKEHHW-ob_8GGZlY3gJsq5vSGIc7om0al2lNjBiiEv_fJmxo6ZIW7igpJOAemU9U9LVVJi9aQ3_tDDQd6JAIbl2ZJeTkuel8Z4c0CpYnv9vO_nzX72jzwob9dZAWcbvxcr1RXvSmboW3q5-5yGbsn9cY-oRYwfqMv8pBnBXHezJPznbtHb2rTMVyW6BJFmPhygJObms8bs7GST3qPB0-csf4UCR5-81E2dLYE4KEKNj9lcQbyf8MjndDFldGovo1srDymHA45lIhZq4wfGQupKYo3zdD9yoCvDbqe8zOUYnZXZelUcXdP6I1tDtdNfM2mgvCrlawCzryTKKpEpUilrtg2Px_57KBwsy0JDW7BXvAN-g==",
  "id": "rs_094f0dcb31f4da75016ab4404aa3cc87d0a0e036c782447df6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.24,\"right_z\":0.025},\"note\":\"This re-measured hover shows the lemon at the fingertip row, confirming x≈0.32 is correct; it is only about 2 cm left of the jaw column. I’ll shift left by that amount and descend vertically to its midline, avoiding the previous radial overshoot.\"}",
  "call_id": "call_zYeS3N6yNNvKdocAHnYLzoT3",
  "id": "fc_094f0dcb31f4da75016ab4404c45e087d0b6a3a5d7458c979f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zYeS3N6yNNvKdocAHnYLzoT3",
  "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, 0.8173, 0.6128, -0.4686, -0.0139, -0.0307, 0.9907, 0.8268, 1.8992, 1.1831, -0.5892, 0.4526, 0.5545, 0.9986]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1599 left_yaw=-0.0006 left_pitch=-0.103 left_roll=0.0014 left_gripper=0.9907 right_x=0.3179 right_y=0.2366 right_z=0.0256 right_yaw=0.0249 right_pitch=-0.5126 right_roll=-0.2603 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.3333, 7.159, 1.7167, -0.0415, -0.0611, -0.0122, 0.4444, -8.9915, 5.012, 1.0232, 0.2711, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309e3c85f2e347f29211d0c79387060e17e67368ab59589d489ccc9908f2be9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffae0807a1d760273e48ec5d171cb395c31699335f7a26370ccc5f6ae2a33181",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f908b009fc36dd4cfaa492cb5f68ae9d036310d698cedf0b9a7d8570ebefd689",
      "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 · 7.911 s

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

message 63 changed as sent

message 72 changed as sent

message 76 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, 0.8143, 0.6128, -0.4465, -0.0139, -0.0307, 0.9907, 0.7498, 1.9656, 1.216, -0.3813, 0.4294, 0.3897, 0.0242]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=-0.0006 left_pitch=-0.0778 left_roll=0.0008 left_gripper=0.9907 right_x=0.3696 right_y=0.2486 right_z=0.0241 right_yaw=0.1187 right_pitch=-0.415 right_roll=-0.2093 right_gripper=0.0242\nstate[joint_eff]: [-0.0479, -1.3333, 6.9675, 1.7363, -0.0513, -0.0269, -0.0122, -0.1436, -10.2359, 5.8462, 1.1209, 0.1099, 0.0806, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4637, -0.0139, -0.0307, 0.9907, 0.7967, 1.7088, 1.375, -0.9352, 0.4507, 0.5404, 0.9986]\nstate[eef_state]: left_x=0.2853 left_y=-0.0002 left_z=0.1608 left_yaw=-0.0006 left_pitch=-0.098 left_roll=0.0012 left_gripper=0.9907 right_x=0.3149 right_y=0.2172 right_z=0.1313 right_yaw=0.0185 right_pitch=-0.4902 right_roll=-0.2373 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3333, 7.0906, 1.7851, -0.0415, -0.0562, -0.0122, 0.2393, -7.9111, 8.1026, 0.8816, 0.4225, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4686, -0.0139, -0.0307, 0.9907, 0.8268, 1.8992, 1.1831, -0.5892, 0.4526, 0.5545, 0.9986]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1599 left_yaw=-0.0006 left_pitch=-0.103 left_roll=0.0014 left_gripper=0.9907 right_x=0.3179 right_y=0.2366 right_z=0.0256 right_yaw=0.0249 right_pitch=-0.5126 right_roll=-0.2603 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.3333, 7.159, 1.7167, -0.0415, -0.0611, -0.0122, 0.4444, -8.9915, 5.012, 1.0232, 0.2711, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309e3c85f2e347f29211d0c79387060e17e67368ab59589d489ccc9908f2be9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffae0807a1d760273e48ec5d171cb395c31699335f7a26370ccc5f6ae2a33181",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f908b009fc36dd4cfaa492cb5f68ae9d036310d698cedf0b9a7d8570ebefd689",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBQX9hAuVSc2aNaTZxtkeNxWnhAOV1-2dKTxdQACiWuiDHz49wtqsZtoK4XdcHkJrMj1Zyre7rbU6RaE0jGo7nHK4n_RT_u3wvNdR_jtu9gij-ayVfWldPb2Rt0RAd_Y_ktQ0cdOmGPZV4Q6rycuQUF02Dm6SBRaCMLCdNgW_OJHTOc7W_cvw4g6W-DZFWhe82v6guEx_rNt3DfTc7i2KcOSO6bfpEtthGsB-RNpY_Y1337IEIHBNxZW0Aoq-lpJ_p4wK_dvZt5pxi3A3JYD9Kg67FscBJHnILVh6UIS7UTyQUTdz0k1xvh47A19ejFjxKYbw29dnF9PWdwqOz4b9lTUnYqNTnRk-b8Gfe8CwDmOWzcGUueQ2CFLyiYHrTIxOKiqGLxT9roZ9WRMaq4qcI1vmLnxoeu4dUYsjB2pwNuggHR5jY3QKrJoYUzWsiStCzU76cFcMaJF8uMqRk4d8xuD0Jzw2dqrPB25XpxhgPcq8S2s1dvCW0CFN8jltO1aks-zWIYcB04GROerI78T-iSn-eIYjifw4t47rILhmhlP_SQN-M6IGjxP0Qi0iMRvRBw_7SWC4-IUBVJKeiXnmZqS1iS4HrYDb9DzTnI86vdKvIK3C-jo3Mu1Th2qm2RES_BxW1jQWJF6inL2p9mwbALBw-akzPPL5tbv8xJT2dHPCFHKgtBUEI-zgOMXN6cAefyvP3Yq1c59bGnDlihCKJvAlL97NlzfO90dxLlWV4HjIe3X15ohJQ0_Fr8GKfTPLxoezmi-Tj8FZ1ZQKeDLarOi4BHQPpYHF-rVPJBLufO7QM9M4JIBEujXCpVQZXhc62aIzAS7VNP_l9pH1CzaJA5wPQMHgRmcE4a5fiK9dx72a4PXiVcSsCGQKzG6-BcSkeYOvrG71GBDffVCXlnUSXHjdXMIVwWaSJDdx9zujZjn38BYvPCvhkxqdlZD62GckZDu4nEKrJjTYQ5wcjt9FC-8gdobp_M-UBfOc20feOs7QG1pcBMwjevFkyfMEz3kDfsN-yv2-eUljNyfC8z0h4eXZ116O57JBQMnl8kbWd9KnHxAXQNo8UZ9ePXTKDECUoAhcuy_oTBF3t-lJMIR7-zuL-Jd-uPXMKq9Lw2QkPDAH0Klug1eT2baQVwYlILQdyYO4MvzXkFxxmY0p7YQiU9SkdjNNErcBkHzB3TqLSGGdKILr_1sGyz9OCnh40EAaUhhTdmi2Kk3xm-hmRlcW3kDwWXvKxf6IFm011t5SG5-hoEd-hTnwP5nRJGriy4BaD2EAHG2T_-26wSbLh3inTAhjtcv78RwddVvzCz6OZVxu1QH9sbX9UTfiHfVBJBzyBLUnM_demdBNew2jQ4400hitSHsayMqF9DDzWfaDWJl2E=",
  "id": "rs_094f0dcb31f4da75016ab4404fd48c87d08190f7c5a4e1c488",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the low pose, the lemon is centered squarely between the open jaws, while the blue bowl is off to the right. I’ll close from this corrected radial position and confirm the jaw spacing.\"}",
  "call_id": "call_Qp3WbBhYTsoXUTUJlqvlgLOw",
  "id": "fc_094f0dcb31f4da75016ab440503e2887d0af68e525bd593600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qp3WbBhYTsoXUTUJlqvlgLOw",
  "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, 0.8173, 0.6128, -0.4702, -0.0135, -0.0307, 0.9907, 0.8246, 1.8992, 1.1831, -0.5926, 0.4522, 0.5426, 0.0258]\nstate[eef_state]: left_x=0.2843 left_y=-0.0003 left_z=0.1596 left_yaw=-0.0009 left_pitch=-0.1045 left_roll=0.0011 left_gripper=0.9907 right_x=0.3178 right_y=0.2353 right_z=0.0253 right_yaw=0.0285 right_pitch=-0.5169 right_roll=-0.2693 right_gripper=0.0258\nstate[joint_eff]: [-0.0479, -1.2103, 6.9265, 1.6532, -0.0366, -0.0659, -0.0073, -0.1709, -9.306, 5.5863, 0.7595, 0.2173, 0.1001, 1.0769]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90231630e6c74185575c7f86ff1d1bcd7c8ca16e9730faffeecd094766f1fae3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae1ca1cdf1a8a7f45f48dfbe81a017054b5cae4ff0f9338241884536e6d8aa38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1e33895deda9f69aeda456c0a6ffd7e8bce74c3ecc3a6794f2d56bcb530b8d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 4.849 s

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

message 67 changed as sent

message 76 changed as sent

message 80 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, 0.8173, 0.6128, -0.45, -0.0139, -0.0307, 0.9907, 0.2596, 1.1893, 1.018, -0.8619, 0.1921, -0.0536, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1635 left_yaw=-0.0006 left_pitch=-0.0843 left_roll=0.0009 left_gripper=0.9907 right_x=0.2957 right_y=0.0474 right_z=0.1654 right_yaw=0.1074 right_pitch=-0.4545 right_roll=-0.2185 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.7216, -0.0464, -0.0659, -0.0122, 0.1299, -4.5197, 8.9915, 1.1502, 0.0073, -0.105, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4686, -0.0139, -0.0307, 0.9907, 0.8268, 1.8992, 1.1831, -0.5892, 0.4526, 0.5545, 0.9986]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1599 left_yaw=-0.0006 left_pitch=-0.103 left_roll=0.0014 left_gripper=0.9907 right_x=0.3179 right_y=0.2366 right_z=0.0256 right_yaw=0.0249 right_pitch=-0.5126 right_roll=-0.2603 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.3333, 7.159, 1.7167, -0.0415, -0.0611, -0.0122, 0.4444, -8.9915, 5.012, 1.0232, 0.2711, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4702, -0.0135, -0.0307, 0.9907, 0.8246, 1.8992, 1.1831, -0.5926, 0.4522, 0.5426, 0.0258]\nstate[eef_state]: left_x=0.2843 left_y=-0.0003 left_z=0.1596 left_yaw=-0.0009 left_pitch=-0.1045 left_roll=0.0011 left_gripper=0.9907 right_x=0.3178 right_y=0.2353 right_z=0.0253 right_yaw=0.0285 right_pitch=-0.5169 right_roll=-0.2693 right_gripper=0.0258\nstate[joint_eff]: [-0.0479, -1.2103, 6.9265, 1.6532, -0.0366, -0.0659, -0.0073, -0.1709, -9.306, 5.5863, 0.7595, 0.2173, 0.1001, 1.0769]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90231630e6c74185575c7f86ff1d1bcd7c8ca16e9730faffeecd094766f1fae3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae1ca1cdf1a8a7f45f48dfbe81a017054b5cae4ff0f9338241884536e6d8aa38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1e33895deda9f69aeda456c0a6ffd7e8bce74c3ecc3a6794f2d56bcb530b8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBZXTuPl91_8Hi6VFaf6k2dUYoCeI6uW8loThlOIZJXweF-yUT66cKoiD6kxv8RyRP078YGSbxgXwFvrjuhMIhPbLPsax-QsuW0EWgK3yjyWPYaO3-mCoUWXO7MCwipVV0HZJuBwjrR3ygacgFkGzCLJ3np6i-HF2KVGtdQlz1u56LZtJJvyyodJcZrq5QoDQNUuYMDMkKYEqtIjeiWN67ECd09byhf41R4xgUid8EWktxH_mxTbi-bwkwuadm5kjknwuVhmwmxBoAqxRkXAKRrOr1Fa33AQu_HlbqPoNMyt32MCQ4oe3poUnEPx_aQxf7lT6zavaHKIT3lh6TE1BqRsgYdQm-RcSeqttmwENd6Pl19i6EcxVuukatyTMbK9hvOdwuS06uExhovQleuvzZ-y8Q0eu0Tbpl4cwcqH4Nn-fap8lnasu5lfE_paD-i0EmlZmKQuD9oCJVk8v-VRHB5CGqjsE4GRDMd9ZQ8lzOFUBP6RIUmKUjot5-JhuT2QzUW6L-RId2qY-4dpdcdbxY3or6i5jRdn4Sl5GO-kFnf3m4qXhDEKyvox7ii1g14EG0NAADrANS_ygx4-LnXWPYox_kFM9F63GuROW0oAvH_F8hUJJ280L2g79gXdU7X3epZ8kPlFRF5xWPSm-9uNhuVZ8vcdCr9t6qNpPW4YanV3-WM2v9uXwLF0Q-_N8ireUgxD4TAkOS_mnp6nWrY_pvt0lxcZhyPopQsoNlNJaf8-hy6TB-q7rkretwpYin5ekWxkXNQhfYi-BlJ84RqFcINRvNln7HT2XaDrjOLfi8YL_qOBzxMJXzapfJVobguMHahwFB3A4LNM20r7rJG08O0Jqm7ePF98zlifa0El1GO37NQ3dHo1EFGbJ2W6ZPJDscfymH7zxNudM-rIeSRcW-IYseK_vuDYwl0fdLuRDVyakRUYd0Re1cU3JHk6pV9DsZEEh3TtQQT5fRyGfsG-8Y2GIM-iuLQthJkD5ZTZA8VZW1Ep1QXpFqM2IfPFWBsQQXfZYGoA-bQ82mtROW4E-3e90FJ_yXw-opXmCJSxm0ZQFrQpMHaIzzH1LUv_AKR17IY9o4mU6xYXIuIcbPaY3VOsangUmrpro7mucOgcDkt1MkqG0L6K8eqSR6sGntgE7cxtu8exPG2WTHW58XYKs13tbY3A0co1-09Ut9iBMqO1q9YXWPCqNSMsVZry5aj8wFSq0GYzJguEJpG5HeRWKtt9uvXRE7HYBc0vkc9OU2GZz8Nyld5s8prmoFtDyOfz08JVSwxqSvf5oq128NEZ8myHF7P8vjuZAgKW1pEDJE0vGb2kr4rxSHy50_rxgIEfdwFsAlskNDzIqFvyDcLfVh7gF-sNautmxlinuwKxPOlXLNt1gzalWdjcV1zQEjqamkWFiHeRRTTB0IyLPjIx_Y9Mv7z6At5DEdUwrbi8az_BkLWOnW2S5GJwN7kfj2DHyeIdytQ0K8VBv4yupIsSc7rEiOl_w_WNFX0UBlkFcOV9p7cDaWbYwaLF_SUgbF1_eZ-WPoTmTiwRayZWQ51ILM6F22iV6oWo3lFxJXywK_8VYNuQw59HUme9Nc0dsAo65UZFT1JZnBt4WSJnJkNa6fnM6Imh4jIfFE84PLDdNx6UZ8v9JIhMG4juJC6yqHSUlVsgEn4XQqTu4X7Vc0t0ihrpsPXZSL7k0S1VXLKIZ24GLhUUwhy2gRiqxUSwhE8wQAdNYMejrh0Yotyx5cf7fF2rhbzIsFA2fNKHD5F8ftWNDP1Tctn-FA5d5VQhsdLiRHezdyRz7X6ATSuw5lgZiGwMYZEMij7J4HT2XTYLD6c1s2pO4ALA7rH9HGhjpiLfa8RVttk9goz57luwpsdKtjfZtP-k1kqCQXGR8Rr5bX0U9rHJxyHLFfHYlTx_HeJPx_XWY2KBMZKkNmcFpQPsFfaX7p9ZrPXDBx2KIvmb-g5XD6otDqoQu0OCqdcc01TBsd-sDdh_NcqH_tP4Q2AMWtgklvaUkGuGjTC0GWA4oVb4JdYgEPZ1ibb5ivv3WauClBERgTV1_wYCJ7RRVd70VhIobsirbcZHD_as-6VJHMQYf4m3z_dnONoCtE9FkoN2iBT7cWXh4Ck51tiIeQ8Sy7AXd53L8ANzj_tAOTUZ5vD1y5VUQQVcsdNFwzzmfHbJbxsFSMVIvtfkNz5UzYBpZpPIT0DbFPZgzy5Su24chYb060GGKImetZ0XY8EBOuw-4cpz2QamDp1csNTZ_xk8XiAEkNskIE5vc23yesrteXtR9I5xn4Lo1oHbaW2WumLVw5u6pRoQ_LAU1eclFcKim9S8ztpkfhQwuLMvGx1rTcMnWhgQiZ3UMBFOuK8KXCKOgtpkcLM7kcV5uPd4DZaeq_PubX0pyOkHy4Xx6IdrNaW_KWwqSHMBisPK-NhyMWVr7zUsvw_6Lo6JdCj-utCM5sC-oppFccD2KmtcoEbR-0ajs1Tt7D2jNHyrhR2ZXaxg2WQrnddg0et1CYSeMFx6sOnJgPdtG63Db5EXraLukcr2hXooyKyOv6zaHwsv9sX-74beIqkdrzNLg25VQRdLyP4o1KZYIgwPE-nTUMEOAUajLCxjjNOC7YNcfh6x7VNfDzHTfsf335n8Mm4HGRX2pdexyOYQOnUHT62ebmfh4UeTy9VuzxPTBQ3YvWuzHIbQU5ANjgXGfEoMORwEYiDh7J_iMXe_XnqF4i3myxyl3TVpfoq6WLY-TB8GLTdiS62Cq946Wwyv5Nnds4e8PwWVDtvnVVm9XnAK7koJusITGuEymV6uRKyZuUDdFivBulg_6eO_17GxvJAokl6U8eQTMm2SYbvrtORtiChV7EE4YbIn6F21cACTy8DD2C-xjXvSbUR7hvFPyUa_niO0I8eDabU236nkYZD2CVf3NX3xI5SF4qKOPZeLco0zAAle0mw7sRDThuivOLN-09fIGT0FnSREw3lxSb8wGwdHI5EThu7e6ZugNm3QnIX-QxFuX11AoYQgBIbbDasE4sNCNYlMa4CM774bII02yIcXhCm3IU1pLrGju8dOzFjUT9_C2DCqBaL44iGoV8JfkiR0fi2f5HfQBjvN9nlltJ7dneEhrTbr4KuICP0QihWjy3-DrQO3atD0h3wswKF_1jNC_-IZCnGb8hHFtTbLLro3IeOqbAw_jYewygyjwJI9YgJYX5L_3ESPJquQepEoNHiEyutqDl7W0KjkZIynlj4TmgWnRzTxNByl8kVuWsmAAERbfsuWeJpQ6TGIZkoaC9PeURwiu2jeOJWdKAiO4KXrmc9ceGBFpY90zWxdLn-pX7xQhIrYDblC_L8joOvrJc9-Yq9WwbSYzD34mJqvX27KTd06AdYn3p3YWUGSNoISuwvQyurGrAdRoShskMZeZrHXPfOlNnkHF2KyR1VdNRBsWuor_zzxqnX_Q6OXd28yIsdhDkRCAexmvneDVG0y3nng-NpEZ2HPkoZLVbzeECNc5nreD_aQCmyvvgj4WgJ4GxdHHHB9lpWr1txAco-CTTYYZoD8uaGqK9b_EhYVqo8BaEnmqwVouofN9kGo4ce4XacSgOugMh0-iA_FOVXoxbJRwQD2xkEHocEU4OlKL5hi-8PdYce8O3SEGcsNhEqlpQEjBMmY4TrZV_DtFylNQ4cvgP5ibyUFQyH4vVY4AXKu26rVPC8J0UKrSs6rfLiVxtmjMt30IPrRLiAKutzrrgtlcfEdILhJ6cGjiKncd-nPHoXFUIvr3esKqVvvlfV4auaJE5VKOZBRVtPvCH7FvKBpM99FIwxK4yXPdGxc_X-01Qr8zmlkqX-kEZ3pm_IE6T7IkRTNqI9CLF9tO5bWjOsOVHMrc5PmQJ_rlY--YKDUnV6p1YrYEktCWi1dw0avMepMRLic_hgJH4gH9boi9jv9UzS3q0QR08lL-VcMIrFABDYGfjxZ4hYYfrXVSQLC3S8oCCOJbPcK2hQO1pX17SIJbHllYBSYMjQ9Jbw3UgSZPuCtPkrZFEvmVUZbhZC-iszJofxZkUlaMpHeJRCGw7aQ6n7EI7e454IaYhQYqLHE3A2HNc4i94M3xZ0W_lN5nsw8KXJEP-PUvmsAlb-AYpsrK0Nh3nwIgmFz9pcCHnxC6fCFSBZSF8=",
  "id": "rs_094f0dcb31f4da75016ab44053203c87d0983ba7767fde3531",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBZESdlSTErXMM8KmbfT4NLEd35TXr-ubMrcRNCPJmQwPROKoQ71qZ073pphD557JjZjW9nOJIeb_92U54x24-p-9mjit_TteuPaZMpFyB_w6QdyKIiwltXlb2MjIyVAa4h2R36IsueJU1gCRnMungYRQ0nv0UoIsQ0WNpF1rWVEOVQ96ZCOxr_zo-xXCTUMDQPuoPJ46N9FpoymSky41kGVhnCWH72EAVmIlsVWCTnu7aBfn-1vsi8r_VHPBpMdQwPouAX-vGn7JI1GDw3byX-w18EPm7mWn95BNv17lPIP3zyJhNszMEj53SPK--tLhmSa8I_hNmEM0sU7kazMwTPnsKqCfGq8rk63c8sx2_01Tnz8Si7G-RW_7w6gw7h3TBK2UZ8jhsMJtIWCcp9MMmKWoBKu2CiGkee1Q6rIFGklZZO9MZzucAowQkUNdH_738DL5OQP-PuAwKZJf-LOE7kBiHlAa1qaUHON-hlw2z8TvE23CEk1G0QZkuJleu3XhTB1Yg8SHFRA6rEYdNfRjED0V2mD-aWvC8KHvGmiddvFzFXOxtkVsc9lbqVDRCkv5T_UVi0QTX6E80iVbjcb6SkYHjdYZ_BHx64GlV9vObngkJcgqC1_3w5o1rgIsabIY6M_v-GHhZrzXKWMoV-BXXSPpL3DH8Wcb3UakeLoalshA8p_unfMKDWt4U7lfFngcvVsrv5sTxTjLUnebDQZ5ufb3QTnZ5-FJOXYVTEB6lEa0_nFzXbRyB3ar1GYsQl8hzNIPvCPZUeKB9OxgwTn_5eMEoxyzLUs86yce-VDmNmRi7VdL4duU30420Wf8OsA56TfaseH5gn8eEzoStMGOQPq06blkTe5hyB3AXALNGpdB4d0GjFs6Z58xt7sJgLLsoOLPiSujk_646nWJRxUJ5vq9q90u1BPekLEiVaDxSnZxeHCbxBvFVP1cIDi4CMmbdZtuS66FPgMMp0mQM0aLlUvqz_3iuPBXewEmXgiNKSQ_PxgF4Ybh-YjkbyxTUUOlZc2qAfVro1JjAHOrElfy5Z_xzQEyvihH-weNHWdZSy8fnOGsC2ZLt_iv82XW4rWvU9uPedoPS4PEyzI51ynbIdft7R683UtwyhJwRZ-TIIhhLsVqVxwFTSw8NdemG8gSiJQfHQZ99ONILKaj7sdDfL8gVuMuNSNQY3gjtD-UzEQ_iJP2wPhzy3BqUCX0LBfAWxBSS7Dhg09_D2FkF7u7Kktg==",
  "id": "rs_094f0dcb31f4da75016ab44058695487d0855967dcf7576985",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14,\"right_gripper\":1.0,\"right_yaw\":1.5708,\"right_pitch\":0.4},\"note\":\"The jaws again closed empty, and the overhead view shows the lemon being pushed toward the bases; the low cross-table pose leaves the tool strongly pitched forward. I’ll lift, reopen, rotate the jaws 90° to close along the radial direction, and command a compensating positive pitch for a more vertical grasp on the next measured approach.\"}",
  "call_id": "call_pw7c8HSuIPP3uBAssiHXvBFN",
  "id": "fc_094f0dcb31f4da75016ab44058ae9487d0b98e36552ebba1ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pw7c8HSuIPP3uBAssiHXvBFN",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "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, 0.8173, 0.6128, -0.4755, -0.0135, -0.0307, 0.9907, 0.1997, 1.7077, 0.6704, 0.5659, -1.1713, -0.6483, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0009 left_pitch=-0.1099 left_roll=0.0013 left_gripper=0.9907 right_x=0.3161 right_y=0.2337 right_z=0.1303 right_yaw=1.5276 right_pitch=0.3796 right_roll=-0.2227 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.3333, 6.9675, 1.7314, -0.0317, -0.0366, -0.0122, -0.1983, -6.9128, 6.7077, 1.7167, -0.4811, -0.0806, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35710982ece3eaa88844af394b844ad9e483503d2d084bc353baf39433f2e111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab4e76f05ecf776df0b804d95906dddaa26c23e76c2999f02304237a8d96810c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7a7b023de4b4cff141993bf97c9afbce54816d94d105611ecedf6ff72a3fcc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 2.861 s

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

message 72 changed as sent

message 80 changed as sent

message 85 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4637, -0.0139, -0.0307, 0.9907, 0.7967, 1.7088, 1.375, -0.9352, 0.4507, 0.5404, 0.9986]\nstate[eef_state]: left_x=0.2853 left_y=-0.0002 left_z=0.1608 left_yaw=-0.0006 left_pitch=-0.098 left_roll=0.0012 left_gripper=0.9907 right_x=0.3149 right_y=0.2172 right_z=0.1313 right_yaw=0.0185 right_pitch=-0.4902 right_roll=-0.2373 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.3333, 7.0906, 1.7851, -0.0415, -0.0562, -0.0122, 0.2393, -7.9111, 8.1026, 0.8816, 0.4225, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4702, -0.0135, -0.0307, 0.9907, 0.8246, 1.8992, 1.1831, -0.5926, 0.4522, 0.5426, 0.0258]\nstate[eef_state]: left_x=0.2843 left_y=-0.0003 left_z=0.1596 left_yaw=-0.0009 left_pitch=-0.1045 left_roll=0.0011 left_gripper=0.9907 right_x=0.3178 right_y=0.2353 right_z=0.0253 right_yaw=0.0285 right_pitch=-0.5169 right_roll=-0.2693 right_gripper=0.0258\nstate[joint_eff]: [-0.0479, -1.2103, 6.9265, 1.6532, -0.0366, -0.0659, -0.0073, -0.1709, -9.306, 5.5863, 0.7595, 0.2173, 0.1001, 1.0769]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4755, -0.0135, -0.0307, 0.9907, 0.1997, 1.7077, 0.6704, 0.5659, -1.1713, -0.6483, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0009 left_pitch=-0.1099 left_roll=0.0013 left_gripper=0.9907 right_x=0.3161 right_y=0.2337 right_z=0.1303 right_yaw=1.5276 right_pitch=0.3796 right_roll=-0.2227 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.3333, 6.9675, 1.7314, -0.0317, -0.0366, -0.0122, -0.1983, -6.9128, 6.7077, 1.7167, -0.4811, -0.0806, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35710982ece3eaa88844af394b844ad9e483503d2d084bc353baf39433f2e111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab4e76f05ecf776df0b804d95906dddaa26c23e76c2999f02304237a8d96810c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7a7b023de4b4cff141993bf97c9afbce54816d94d105611ecedf6ff72a3fcc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBoK5I1Jh6BLveo-z7BfsM9sjvn3s4VQQ1PzghmB776zFu2q3c3Zzs6NdebreEd7DSJ-45VPYR2eXftbfCbsO85yqYtiFT3aMcHUzhskPDEG95QFXnl1fnevThKlCRacajIBpQ-46o7Jpz0-wJZ8Sptr8ZBaoGKkRNoAkQCu1AS_6Yg4QSwHCx1x146vB2LSonj-y7PmPSPRRpTjjpZ1iD9ThDkKKTWIdPyjXPVZaarzRuuXe4ZhZ6NbZEnXjVwuWtkerUGrVDbgqVqifkblnEiwZHZCjYNYJugSgMB3jLzn--owhsss8Ym7BJ2Xhbihb-cZgSOGSZTdfYgRaydfWn2ZmREu0j37jXEJa3_U41DuoJpYTs6xnw02lsRk23bHzAU6H0IXCi8j4CvHrcdslLzfEeJi_0Tj94X91At9vZqPwsnIuSnhu3eFzSHGsSuu0zykyVto4zzq3_gDFIdzLExwZB_LG67cCf985rpcS5IcsxZspc4LfPCASid6RDN_SYN5JX6r_Bvgpr9TEIeP1O1m2WRQHrgDBGq0KOzaHmsJkv_jkCDpyuxTNL7yrEhTk5EICeSqDqvefAEN-k4YYQAIS5fR4ZN4Nz1sLijzduKC9CtKoQjj3ySp8zq1sHQDj3iVTAf-8XTpOewJAX6UU4FCOFmaUeWs1zUnClVkdF8SGLjLApt9CnkiecDsS3fNP4g_BjLVIQakx0nW3guswjZatFXizu91wfvucTYdob2y7ep3G2nMEavSZhPfiIXijxWORKaeXW_1X9cpMTGVUQGkVln7RrEQ2s5WvoJilNIQxcxH6heGMW4h73GK3xQ-tDGvs47TAc4i3YfHr-1VuXihc9bWY5K3fNsKkL5JC-QBlkzjhF3sNlyzDOAhYYgnxN5fKPAOgY9kZNlYnO95j7FmUOfWR-j2DwH0oajxRfGmOWNleCNu8N2xIDuIMHkXCxv3KCCPSuuaKM6vg2E0HTALgHQu4xpEf5HVxxHU39KoWeFCTGb4yUT6QBBS9nWinjqa1bpJvDWDKuDWu4balhdmHw_i5Qj8JLt6MUDb3jEhs6eEPQukR6-rEWiEFK_ThuQYeHF3HeBXH19mkaaK2I8RDiIpFA-3VTnlp7RXPg6fj0Gzy3baTDXfOKoZ-i4upnSX5qyJgyPqNDyvYrIwAIg-mQU3ugsu0cWtLhjWlA_daadKpLU5XNws_TvHl9l8cUL_8iIcrdkFxCJVLTzdeWSfPyfkp4WIRG5FFfIR2QKA1a_0-6nb5h66yYKDafbG0MY7bseFPzbBYUEw3B76RWRBgswotSX0d_WVnSoRKYgS6pbKwv4HdxVufINI9mZvREQTZGZOQN49M8t8LpeclULwcFvnBz_pKngeEsLVmLRYvNBkYLB9pmoL17QAQZ7FrFI4EZGrYvMxWG0AMAluFtR8HuOpQFAHMs6nX9kkbieUVKf3iRgLtYYj53f41wtCR7FqAi3BTGffu4ZT7YxWnt03xJ4xAnJkWA260qgvKi_v6eWX8EZPkwWhn8oQx-ZyaJJX73ptDVG6WUfYpTfTlOzmVwnk2GaCy3E1tNshJNcBm_KgeBZToXh-g-Gj26tW1htWYZWkiVB4Cl-fsrpJYI05G-Q7tk61XExfnmZ_4UTFC88jRg0SgfGQ2u4lhsB2AaMQQHsX4oHb0ani0dHiCovnP8zUTr_p0dKNqHyEFb155X10KIb44x0mzRLBwlzpXiZcfa7IkNKZg_xc23LyV8aDOGCZJUEXQRJwm8gAePxprDMNWGZ8h42Scgy8iMdwSQJKGeBa8aiu4ANyrzy4QgcXwNfQSOia9vGbC5JqC-W4cUTiJ1G-dA7XtxBFILC5e0wI0exjblZO4pNE00YiH6HTNQdm4PRLu1i5JV7KHkLQgJ6M3KsZRYDw5Q9iXczY06zNq8RjzNsFlFUx3kN75_Mi4foP0bC9CvKRvUfJyLf6PhMadsfoe5080zXNPxpzic8J5w9eGrat5Ziq1Op-Gnps_LbgRlT9VlWqJ3ltVoa7wbBiYcioSz60EOJUnJsOoEXKtzCDdCjU5XTwo1lG7_RZTuKkifBK0DzfSzk68npyidBVUJNdHavUZ1SsJ9voXAmFLhvCHYfShFebfPQFnPnzCQtJNkqUEPVe5Cbv2A3HkXHJucb4Yjtu9tul4iUFxcnoAZirok5VKtk19gcBPOtknACRgMYCWlMVOnGgLZ_ry7gH0a7Zn9LUyziW53GqersWKkEHVeD08DXvAbdv5D6bJzR8xshFk7ZiAHagoi-zdUL3g-BsNPTcZZDSDiRnZ_77xYY1r50budQu3RYYM3AhI6aPCxsRwx5voDjwEjRhslLHBCP38sN-Wf-XPkeJX7MFSrG9FvmldxcZgDuMYwu37VZ75Om_1hD5SIObZmOR1aLE963eWSZ2SsZaLjISg0336w7SFRxFY8WIe7ezxJlVs-_BRyUttEVk9ze1zLbGKEQ4JObZ8TqXGToKuZNxxQop5P8dzU3pPjdOc2lINtyvr7aTA_NIapkY56v9uAWGKcuxCEJz7sWUrZCDZOy5Qb45xpJ8z8TxTbvgz9lsI8T33y7pwBXJRLMZnPp7ooNQ9vaX-FL27_3XXFf8otPJWdAdaCfTa4u0UAWRAVsTO5HR_ZhoxLOr3QcmLOL_fgdLdM=",
  "id": "rs_094f0dcb31f4da75016ab4406524d487d0843946540ffde4d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.31,\"right_z\":0.14,\"right_yaw\":1.5708,\"right_pitch\":0.4},\"note\":\"With the arm raised, the overhead view now clearly shows the lemon rolled about 10 cm toward the bases and several centimeters left of the bowl; its center is near x≈0.22, y≈0.31 in the right frame. I’ll hover above that re-measured location while retaining the radial jaw orientation and improved pitch.\"}",
  "call_id": "call_rsSPcBQ90H7LOsjXO2kbb7YP",
  "id": "fc_094f0dcb31f4da75016ab440678b1487d0b582de7e8c730dd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rsSPcBQ90H7LOsjXO2kbb7YP",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8185, 0.6128, -0.4763, -0.0135, -0.0307, 0.9907, 0.5861, 1.5517, 0.4324, 0.8326, -0.8642, -0.4068, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1581 left_yaw=-0.0009 left_pitch=-0.1118 left_roll=0.0013 left_gripper=0.9907 right_x=0.218 right_y=0.3103 right_z=0.1297 right_yaw=1.5743 right_pitch=0.375 right_roll=-0.1976 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.0188, 6.9402, 1.6142, -0.0269, -0.0562, -0.0073, -0.0752, -7.2, 4.8068, 1.9316, -0.1099, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ab8c99614db8d1f0ed73e379f6d06401cb4f8d290be63489dc54b94cb80b02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa70de992d51b8903fc963bac8f77ecb3b2b38ce71c2ddc013934fc5a32576d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf1c399517bbc791a3714e09cd1259160376c543fba572120f0d4acc35611f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 2.269 s

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

message 76 changed as sent

message 85 changed as sent

message 89 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4686, -0.0139, -0.0307, 0.9907, 0.8268, 1.8992, 1.1831, -0.5892, 0.4526, 0.5545, 0.9986]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1599 left_yaw=-0.0006 left_pitch=-0.103 left_roll=0.0014 left_gripper=0.9907 right_x=0.3179 right_y=0.2366 right_z=0.0256 right_yaw=0.0249 right_pitch=-0.5126 right_roll=-0.2603 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -1.3333, 7.159, 1.7167, -0.0415, -0.0611, -0.0122, 0.4444, -8.9915, 5.012, 1.0232, 0.2711, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4755, -0.0135, -0.0307, 0.9907, 0.1997, 1.7077, 0.6704, 0.5659, -1.1713, -0.6483, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0009 left_pitch=-0.1099 left_roll=0.0013 left_gripper=0.9907 right_x=0.3161 right_y=0.2337 right_z=0.1303 right_yaw=1.5276 right_pitch=0.3796 right_roll=-0.2227 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.3333, 6.9675, 1.7314, -0.0317, -0.0366, -0.0122, -0.1983, -6.9128, 6.7077, 1.7167, -0.4811, -0.0806, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8185, 0.6128, -0.4763, -0.0135, -0.0307, 0.9907, 0.5861, 1.5517, 0.4324, 0.8326, -0.8642, -0.4068, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1581 left_yaw=-0.0009 left_pitch=-0.1118 left_roll=0.0013 left_gripper=0.9907 right_x=0.218 right_y=0.3103 right_z=0.1297 right_yaw=1.5743 right_pitch=0.375 right_roll=-0.1976 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.0188, 6.9402, 1.6142, -0.0269, -0.0562, -0.0073, -0.0752, -7.2, 4.8068, 1.9316, -0.1099, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ab8c99614db8d1f0ed73e379f6d06401cb4f8d290be63489dc54b94cb80b02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa70de992d51b8903fc963bac8f77ecb3b2b38ce71c2ddc013934fc5a32576d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf1c399517bbc791a3714e09cd1259160376c543fba572120f0d4acc35611f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBuoENjmKXXneXmmkDMKeQm6h58iWmQIYH1VqYRNQExc1Jj7lJA3Ik0KRn56Y4V-MTY_TLjsCHDErzerYSP6rHlS1jYFb1HQBxFQotYDHy2EMYyIb71FPQaBBbBstdrWyVoSLT4ROHPPkp3Flp2cknNDBhiAxm4t_PutUPD4T7VOOBagb_bISZcesADrvcf5qG-DPHoh4jq8Um31xEbthf4tdFEA8tsNgkdbWpmQndQ3vwMsAPynRLBuMQwgM7DwdLHkExr1tDckhgLsIBBs75gQxxQjSVBsoaS6w4vg_uft-oLoyeybJgNiaIWhppQSg7lIEV4S4cLwPflhQz7xmNcEuxyjpE2yxTPepViWFVxfhdmEsETm7D6rc4dqDLGfWqL7p2YcLj__pa_75FzTfMjVAjRVWsUIyHsVyfRMWvsfXVuEDzqZllugA6_CAhzxlLNnNjWTPyYzIe1vc5LgwEtbQ3BPsUiNHJyxjKKEzoEpEO53gsTQY7DS5J8e-BGycadKt5e0LYKQYenN90D741E2xyODfj6zsSDcRlBm4dMXiD1JvWoXUoVWR0yONqSlgeFvMfKVL6IqwulN6x2TcCB5p4b3auiI5hCTtpSCvszZmFvnYyVOLg6sdtWTq2X4ur1QSm5E2L0MTagXqtYZU-HTISTX5n9v5mhWEw3pDMfEN9Oe5XXBUL6Aj1JxNbBi-I_hb7Yh75s6oaR7fIOsIN2ZREE8VtrDY5q8_equ-pRwXXNesWuhuId07N22C5LeUb52I5FgxnJE6ZFG5gY_qvfVzFsPhVRi_7VF-4RSgRa9_DyD9t3-9u36XT5IpEUjf9BuF-dz59wfdeKeC_Rye1XSmMcV3vx5MLHvU4xY4de3BOA1HUJO50NNQnAC1l88Nancxj3BDIAiN2Oi3HwTEBwgTBkqgo8YSjbvMtg8X4I0DfAfgdE3JcYAmaI2lYFq0NL-7XqJaqhemglcEJzMKJ62Uu7xbD28Gr9rVERqmTILL2IL5E4W3222B9T_N9sn7oPxgrW6cuf5_AucVlWGdzvQdpJlCH2YEn85Lc3AimIFvNsO4fWTRf9JpF4TqMcTLvmyYA6K5-BoCc6bGXQ4zp_Nlvx4NFeUaKExKc1CNTQKEYcoMlr39h947Y8OUBfqlWfS5TIB-_O-_Kd92mhfKwDooVKZBDuuGsW2EPBwZlbt9wtOdBYdLvjvE2aGvVkHccBo7NcNt4YcrTPJUSF8idE8zrPblWQiku93RYaHgEctfuygeqVHN4-dMw1e0uyx1uCtW1qzz8xEW3aZntdRPfiGMb6YY1AKPW8uWNG_x1jcVZ27Hz4HSKfRBtl5FhwM0WkA7QVMKhmxDD_EIcXNaGlL-aHNQQI1Oay0v11vZ2uDnLFgmgAjI78ytHN1ZFM1BtM43OdTHl88GpFbirgKzTOgwNBJ8IHkOhV5OQ1yTSuEz1GLrQRzxFVAVfChfowHXvQ1o8lbpRz4xCFVvtMsGYQrNwBPLST2eZMtDUDbpBcnsyCVGAWlisV667_8NhhGtxh",
  "id": "rs_094f0dcb31f4da75016ab4406d587c87d0bed9fa501de109f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.03},\"note\":\"The overhead view places the rotated open jaws directly over the lemon, and the lemon has disappeared below the wrist camera as expected when it is under the fingertips. I’ll descend to mid-height with the compensated orientation, keeping the bowl clear behind the arm.\"}",
  "call_id": "call_MlJFXe3ZniXHNl6HqmErL87a",
  "id": "fc_094f0dcb31f4da75016ab4406e28bc87d0ba2b9f235974905a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MlJFXe3ZniXHNl6HqmErL87a",
  "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, 0.8227, 0.6128, -0.4767, -0.0135, -0.0307, 0.9907, 0.5861, 2.1021, 0.3828, 1.3933, -0.8665, -0.4107, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1569 left_yaw=-0.0009 left_pitch=-0.1163 left_roll=0.0014 left_gripper=0.9907 right_x=0.2166 right_y=0.3097 right_z=0.0296 right_yaw=1.566 right_pitch=0.3535 right_roll=-0.1662 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.6615, 7.1316, 1.619, -0.0415, -0.0464, -0.0073, -0.0342, -7.3641, 2.1949, 2.1905, -0.2076, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28d3a192306242f46d45ffef92bb3d84246a5a3231d495f62e8f82cea60b4ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44df9956cd6cfda47f094a28faf53373195bbc7058a1a30c7a25f3f71ef752b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73fa42f72859e64e2cdbd6f1512ae3b364087b71a6553e3dabe54acc3b3ec934",
      "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 · 2.233 s

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

message 80 changed as sent

message 89 changed as sent

message 93 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4702, -0.0135, -0.0307, 0.9907, 0.8246, 1.8992, 1.1831, -0.5926, 0.4522, 0.5426, 0.0258]\nstate[eef_state]: left_x=0.2843 left_y=-0.0003 left_z=0.1596 left_yaw=-0.0009 left_pitch=-0.1045 left_roll=0.0011 left_gripper=0.9907 right_x=0.3178 right_y=0.2353 right_z=0.0253 right_yaw=0.0285 right_pitch=-0.5169 right_roll=-0.2693 right_gripper=0.0258\nstate[joint_eff]: [-0.0479, -1.2103, 6.9265, 1.6532, -0.0366, -0.0659, -0.0073, -0.1709, -9.306, 5.5863, 0.7595, 0.2173, 0.1001, 1.0769]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8185, 0.6128, -0.4763, -0.0135, -0.0307, 0.9907, 0.5861, 1.5517, 0.4324, 0.8326, -0.8642, -0.4068, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1581 left_yaw=-0.0009 left_pitch=-0.1118 left_roll=0.0013 left_gripper=0.9907 right_x=0.218 right_y=0.3103 right_z=0.1297 right_yaw=1.5743 right_pitch=0.375 right_roll=-0.1976 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.0188, 6.9402, 1.6142, -0.0269, -0.0562, -0.0073, -0.0752, -7.2, 4.8068, 1.9316, -0.1099, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8227, 0.6128, -0.4767, -0.0135, -0.0307, 0.9907, 0.5861, 2.1021, 0.3828, 1.3933, -0.8665, -0.4107, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1569 left_yaw=-0.0009 left_pitch=-0.1163 left_roll=0.0014 left_gripper=0.9907 right_x=0.2166 right_y=0.3097 right_z=0.0296 right_yaw=1.566 right_pitch=0.3535 right_roll=-0.1662 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.6615, 7.1316, 1.619, -0.0415, -0.0464, -0.0073, -0.0342, -7.3641, 2.1949, 2.1905, -0.2076, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28d3a192306242f46d45ffef92bb3d84246a5a3231d495f62e8f82cea60b4ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44df9956cd6cfda47f094a28faf53373195bbc7058a1a30c7a25f3f71ef752b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73fa42f72859e64e2cdbd6f1512ae3b364087b71a6553e3dabe54acc3b3ec934",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEB1-vF9asxzgun9ZWKR1Bl4QE0UJtaRTxQh7BIdBcguRncrkUhgDgoFA2ebVECJVk93u1tzwaynxhrvGg5tjqtzldZFQ3qe0ZD0iJrrzbHbpkLXchRBnd4Ov_YalkWeChgfApQc6gEnInmpsEWhaWylqR1_gOBjTW8tK1Ugi3JjpkHu61D5MGIC1_2RfXSiH1mOIcy5J-yMgH495D6s9bXZYtv7pnuAk8KC5vNTwpIoNpPNlswE1vsL0uwjCcF-ZwvwsSPRutPViV6BiR4HoxTm5-Sk4Nt-As4G8ZQV8-qKPmpGpxvAimH4NaNJlPwliQpGyJI3YkguiymjhQn0R4JIGrbs9b_Db-hnUhidjP7nVJansZgSK6-1LpLTnrlzby-TTDRsoyDLW9iLJsFE3lcWhlitnj2rRqwZ7aHFtO07Y23XZiOfziU1BqYg_Gby6nV2Ay8VVJLbqB7WRl6Q4kDQWKulFQmd6CUQrA2Bq2k9oiTRdXkYyxym0a4j2zreZ6Ipuoj4_oQ-R72QwtSAWcL7tCDt4qXs57XreYrxgQJ3Tni_f06rqc-NdZ7hAidEmYV3g48dewBbsFtVUzCc20ct_ZvdEVDhkcdXk2f5fTUDHm6zwU6BbaY6rYmPsxm0XkVyV9FKgU4nJQiX5SbCX7TvIe-FvUHxffJCjizebltc9ivLl4vza6FXxDftPMWel-yhRrmY0yPp9dZyqaxSogLlYDAz8GTbj1-fYkcRG5pIQE7b2ZAe6x4AkZTuzARi4Cti16KV41Wmx8fsqtZFsZgoFvBaEBLUsItn7J2kfQrm6wygqXGrVZG2sOsA3hZ-8u3F8bJtvn8NKw8uHDKmd4jiQL1GxzZvcWceiXUoNovpmjiUpqafFobfc8aq9waFRp8ihmKfOTb_Yymv_5vn-57DTo9H9Oa4bKq4PGvhlOPLd3sXwzUa8AAg-s4iHJYRULdZzuaYa36Qewee2O74yUMZY5we_2kzQAxQ4JqAwN12IOUCDVpAO0KQLecgkx1Jk7wW2kpYdez6bIN3T-v4XL2ynMnLZLJWhmN4Zz9ys8rXmfdYFKDyfT5e7Qz1-limWbzyBlQc8k-joCSSPdRoCc8PKbpGk4tqeN4EKbdoeVW2ChuK2zZu_xIZEv_eF8EwQwn0PoHwjIgZPrXSLIuFKhJJfxATMiqRqyUdmRbqOHdhFag21VYYnVBY5TNioXCAQhaMQOxvGKE3YdVy9PZiKR9Ca2eLjJemT2hZZAXQwIUJ_qRBJu5lKXy1Sx6-fgBIaOJxShyuOLzujJc6jAIJuBj-ctmX2uxyCk939xMkR1RUOEqZyuDrbldZYVq0qr5Ij85R",
  "id": "rs_094f0dcb31f4da75016ab4407463e087d0a7564916ea6a147a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the low pose, the lemon is bracketed by the jaws along their new radial closing direction rather than being approached from beyond it. I’ll close now; this orientation should trap the fruit instead of rolling it toward the bases.\"}",
  "call_id": "call_wBjbcwY4f6ChjuPwMgtALRXg",
  "id": "fc_094f0dcb31f4da75016ab44074ae2487d099b9cf0d04d4fc3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wBjbcwY4f6ChjuPwMgtALRXg",
  "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, 0.8238, 0.6128, -0.4767, -0.0139, -0.0307, 0.9907, 0.5861, 2.117, 0.3813, 1.4014, -0.8677, -0.4103, 0.5311]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0005 left_pitch=-0.1175 left_roll=0.0017 left_gripper=0.9907 right_x=0.2154 right_y=0.3091 right_z=0.0258 right_yaw=1.5643 right_pitch=0.3492 right_roll=-0.1581 right_gripper=0.5311\nstate[joint_eff]: [-0.3624, -1.2513, 7.1316, 1.6435, -0.0366, -0.0708, -0.0073, -0.0205, -8.3761, 1.9761, 1.5751, -0.1832, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823fc56d60629c0e6e0f8ceb417c26ebc2dec79742648a269213b30d6c31e94e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25286a5583e2ef77dc3fa95ba46d70524883b188376fbb83c428745616d3483f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84d51e93e2190f12ce53c1bd554b4400df707efa8d60a19725bb23d4b66cc30",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 3.546 s

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

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8173, 0.6128, -0.4755, -0.0135, -0.0307, 0.9907, 0.1997, 1.7077, 0.6704, 0.5659, -1.1713, -0.6483, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1586 left_yaw=-0.0009 left_pitch=-0.1099 left_roll=0.0013 left_gripper=0.9907 right_x=0.3161 right_y=0.2337 right_z=0.1303 right_yaw=1.5276 right_pitch=0.3796 right_roll=-0.2227 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.3333, 6.9675, 1.7314, -0.0317, -0.0366, -0.0122, -0.1983, -6.9128, 6.7077, 1.7167, -0.4811, -0.0806, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8227, 0.6128, -0.4767, -0.0135, -0.0307, 0.9907, 0.5861, 2.1021, 0.3828, 1.3933, -0.8665, -0.4107, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1569 left_yaw=-0.0009 left_pitch=-0.1163 left_roll=0.0014 left_gripper=0.9907 right_x=0.2166 right_y=0.3097 right_z=0.0296 right_yaw=1.566 right_pitch=0.3535 right_roll=-0.1662 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.6615, 7.1316, 1.619, -0.0415, -0.0464, -0.0073, -0.0342, -7.3641, 2.1949, 2.1905, -0.2076, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8238, 0.6128, -0.4767, -0.0139, -0.0307, 0.9907, 0.5861, 2.117, 0.3813, 1.4014, -0.8677, -0.4103, 0.5311]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0005 left_pitch=-0.1175 left_roll=0.0017 left_gripper=0.9907 right_x=0.2154 right_y=0.3091 right_z=0.0258 right_yaw=1.5643 right_pitch=0.3492 right_roll=-0.1581 right_gripper=0.5311\nstate[joint_eff]: [-0.3624, -1.2513, 7.1316, 1.6435, -0.0366, -0.0708, -0.0073, -0.0205, -8.3761, 1.9761, 1.5751, -0.1832, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823fc56d60629c0e6e0f8ceb417c26ebc2dec79742648a269213b30d6c31e94e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25286a5583e2ef77dc3fa95ba46d70524883b188376fbb83c428745616d3483f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84d51e93e2190f12ce53c1bd554b4400df707efa8d60a19725bb23d4b66cc30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_094f0dcb31f4da75016ab440779b6487d0a1399be55ab8ab9a",
  "summary": [],
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}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The gripper settled at 0.53, confirming a solid lemon-sized grasp; the fruit is no longer free on the table. I’ll lift vertically to verify it travels with the jaws before transporting it back to the blue bowl.\"}",
  "call_id": "call_2N8D7u6Wr9uaX3I9ddbQdHPh",
  "id": "fc_094f0dcb31f4da75016ab44077c2c887d0b2693e4f791f6b7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2N8D7u6Wr9uaX3I9ddbQdHPh",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4763, -0.0135, -0.0307, 0.9907, 0.5861, 1.5032, 0.4408, 0.7715, -0.868, -0.411, 0.5338]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1562 left_yaw=-0.0008 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9907 right_x=0.2155 right_y=0.3092 right_z=0.138 right_yaw=1.5787 right_pitch=0.3732 right_roll=-0.1976 right_gripper=0.5338\nstate[joint_eff]: [-0.1299, -1.5248, 6.9265, 1.707, -0.0366, -0.0562, -0.0122, -0.0752, -5.6137, 7.1863, 1.5751, -0.1294, 0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4432093cbb21a392a2c62780c399e619164c87ac4b3c5e72962b2e48bf1ba1ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1227cde1dd497e3f253fc6049a27c8fe4d9ea5a44a01b52ebdbb91fecdaaf3af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576386e83a68631b5df4072cf5fbfd4fd467228233dadca98d9eb3d816f6e208",
      "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 · 9.058 s

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

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8185, 0.6128, -0.4763, -0.0135, -0.0307, 0.9907, 0.5861, 1.5517, 0.4324, 0.8326, -0.8642, -0.4068, 0.9986]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1581 left_yaw=-0.0009 left_pitch=-0.1118 left_roll=0.0013 left_gripper=0.9907 right_x=0.218 right_y=0.3103 right_z=0.1297 right_yaw=1.5743 right_pitch=0.375 right_roll=-0.1976 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.0188, 6.9402, 1.6142, -0.0269, -0.0562, -0.0073, -0.0752, -7.2, 4.8068, 1.9316, -0.1099, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8238, 0.6128, -0.4767, -0.0139, -0.0307, 0.9907, 0.5861, 2.117, 0.3813, 1.4014, -0.8677, -0.4103, 0.5311]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0005 left_pitch=-0.1175 left_roll=0.0017 left_gripper=0.9907 right_x=0.2154 right_y=0.3091 right_z=0.0258 right_yaw=1.5643 right_pitch=0.3492 right_roll=-0.1581 right_gripper=0.5311\nstate[joint_eff]: [-0.3624, -1.2513, 7.1316, 1.6435, -0.0366, -0.0708, -0.0073, -0.0205, -8.3761, 1.9761, 1.5751, -0.1832, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4763, -0.0135, -0.0307, 0.9907, 0.5861, 1.5032, 0.4408, 0.7715, -0.868, -0.411, 0.5338]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1562 left_yaw=-0.0008 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9907 right_x=0.2155 right_y=0.3092 right_z=0.138 right_yaw=1.5787 right_pitch=0.3732 right_roll=-0.1976 right_gripper=0.5338\nstate[joint_eff]: [-0.1299, -1.5248, 6.9265, 1.707, -0.0366, -0.0562, -0.0122, -0.0752, -5.6137, 7.1863, 1.5751, -0.1294, 0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4432093cbb21a392a2c62780c399e619164c87ac4b3c5e72962b2e48bf1ba1ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1227cde1dd497e3f253fc6049a27c8fe4d9ea5a44a01b52ebdbb91fecdaaf3af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576386e83a68631b5df4072cf5fbfd4fd467228233dadca98d9eb3d816f6e208",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEB8hBUY0d3dXkzCRvDhs2_dX6vsIsSHM9Hf4szqwEm1Yk6rCeMB9yZl0anOFiGNWB8SspdStWfm6BG3KxfPLuULO7tJzhj6jKM8OzDqe-n3o7XmztuyWC-5RxcylbzJHV_p0yCo2cLvX9W_HLUAaBOkBGVW4CkK7nGBrzBcfIVJNYaKkpU-GEfAPMAH85xre9SKSeFxGNTZ8DyNGSGTDG_k6yf2I8uijEocqFGEuDtQAP7VaUatEdeLeiV0LNXXPHepyYaLnbBTE2yB-yQzpBfxJqNw_ViEavnmfCYv856CHOmnz-Ns6Vo94DgsQ3SrBU49X3JG86XM09djji8SzbywtML_56wnMjm67pdHF194L9NkpsS_Bb9Nn0dwsSd6cRRx5LpnDwDPZOvY9ZQmbf6EKT1BZ7cu-p1g3s7gNRF65aXxHpKc1Ru56TNVj9vILYh7aE_TS70Fyed6tjLnciUBhzfdXB8_eEzURi27J_PdBjJKsElWgQfVaDQ2SecRhDsZlir_ZSKTnfMtTdUVLLu6KW_vc83oIRKfIgDEWAHJewGBaLfUr90wAdTuggL5MubR-GcrxGU3STsw5yOYTMy-jW1yaKFc43UrAA4iD61vhKYqn5qVhvM3xktc70BAIbitlx__lMt7kyUHQPL4-O0aK2jRuVm1nxXuOVfhfjFNcdI2aAjlThwNVIiEbP3KTeeZt6HsngYg1wT-X3LpbSRu09WLsXdpL8e04DXIYpJCoT_GuqakcZayH6O9xo1SetAr2Rf7G8zmwG_Oe1HTblcPZ_wBa38QEedIjK57jFjQJnGR20rgtKm0s2xQD-UvtVmPOQ2DGiP0F7vCIOE9IUCVyfCFxlxl-fBodDhdpKuU6H9Oddkl57Ag7W0FABrV8vrnZmQi8ONFQSbnxOGBYJI1NFOdOtGvMXUzCmF5dFtydDQsfRvoiZwWUI3uILcFiUkkQmdL8yNWfiGQ3g0C10OLfIDxMQAGLMc5B83xxmhtCXUOe3S7-l9Qr-3rSr4OGHawI_V2ifoangFNJzypekF05-ClmCW3lbGKVNpBywYoOiH8yBcgzkObmWYR2cq-ne57fqNtMzh0vm-G7WJrqtixINA9lW2mI0fI2MRWrhTEuPMFNCfIffMAFVbLPnveyRno-5NEi0jx2UcTz9EMGWUycax5foLQ-nSDFy4EfnYUx-lxgPD040KvgS3t_lbIQUB0qphEMrdZOpbh-Oe7LgqAPpLS8-2r6BhFQHmjxg0LZ7_m7Z5tPczXzwalunPT1_a9Vh6VlftKKf2jMsPF_naihmHUlKbXUI0MfbURn59KYiwRhCjlwFSvB_AS_Ql0U2wzF-9cWfCK9gaIznE5cL-QiBPR80irx0yG_oWx0dva3GvdknGYAuPr3z7Y_fITbsPa",
  "id": "rs_094f0dcb31f4da75016ab4407afa7087d088b3d9daab07c63b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.11,\"right_z\":0.18},\"note\":\"The lemon rose with the jaws and the 0.53 spacing remains stable, confirming the grasp. I’ll carry it high to the known blue-bowl center at approximately x=0.44, y=0.11.\"}",
  "call_id": "call_gZzyijTTF3hwPXE8Xkohx0OS",
  "id": "fc_094f0dcb31f4da75016ab4407c569887d0944c95386f313306",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gZzyijTTF3hwPXE8Xkohx0OS",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8307, 0.6128, -0.4927, -0.0139, -0.0307, 0.9907, -0.1425, 2.2875, 1.9091, -1.3033, -1.3556, -1.9366, 0.5344]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1518 left_yaw=-0.0005 left_pitch=-0.1404 left_roll=0.0022 left_gripper=0.9907 right_x=0.4517 right_y=0.1132 right_z=0.1694 right_yaw=1.5916 right_pitch=0.3382 right_roll=-0.2623 right_gripper=0.5344\nstate[joint_eff]: [-0.3624, -1.5932, 6.9402, 1.7753, -0.0317, -0.0659, -0.0122, -0.5538, -12.7658, 5.5726, -0.6618, -0.8132, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66ac1337e763365ea5c3f79443f3b8154cc0a428315a0e6453cf65957a06b05a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd0037c3482dc7e52dcecdab286279a4b4462eae67c5e39864dbdd62e40173ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5789aa3fd0dd263ccd3de29a479244dea2de56e596d77478758aa6090ca16ea5",
      "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 · 9.602 s

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

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8227, 0.6128, -0.4767, -0.0135, -0.0307, 0.9907, 0.5861, 2.1021, 0.3828, 1.3933, -0.8665, -0.4107, 0.9986]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1569 left_yaw=-0.0009 left_pitch=-0.1163 left_roll=0.0014 left_gripper=0.9907 right_x=0.2166 right_y=0.3097 right_z=0.0296 right_yaw=1.566 right_pitch=0.3535 right_roll=-0.1662 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.6615, 7.1316, 1.619, -0.0415, -0.0464, -0.0073, -0.0342, -7.3641, 2.1949, 2.1905, -0.2076, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4763, -0.0135, -0.0307, 0.9907, 0.5861, 1.5032, 0.4408, 0.7715, -0.868, -0.411, 0.5338]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1562 left_yaw=-0.0008 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9907 right_x=0.2155 right_y=0.3092 right_z=0.138 right_yaw=1.5787 right_pitch=0.3732 right_roll=-0.1976 right_gripper=0.5338\nstate[joint_eff]: [-0.1299, -1.5248, 6.9265, 1.707, -0.0366, -0.0562, -0.0122, -0.0752, -5.6137, 7.1863, 1.5751, -0.1294, 0.0024, 1.033]\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 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8307, 0.6128, -0.4927, -0.0139, -0.0307, 0.9907, -0.1425, 2.2875, 1.9091, -1.3033, -1.3556, -1.9366, 0.5344]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1518 left_yaw=-0.0005 left_pitch=-0.1404 left_roll=0.0022 left_gripper=0.9907 right_x=0.4517 right_y=0.1132 right_z=0.1694 right_yaw=1.5916 right_pitch=0.3382 right_roll=-0.2623 right_gripper=0.5344\nstate[joint_eff]: [-0.3624, -1.5932, 6.9402, 1.7753, -0.0317, -0.0659, -0.0122, -0.5538, -12.7658, 5.5726, -0.6618, -0.8132, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66ac1337e763365ea5c3f79443f3b8154cc0a428315a0e6453cf65957a06b05a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd0037c3482dc7e52dcecdab286279a4b4462eae67c5e39864dbdd62e40173ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5789aa3fd0dd263ccd3de29a479244dea2de56e596d77478758aa6090ca16ea5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_094f0dcb31f4da75016ab440811b4487d0b491fca454439703",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The gripper is at the same verified bowl coordinates used for the pear; the elevated lemon appears displaced in the oblique overhead view because of height and the rotated wrist, while its drop point is fixed by the end-effector coordinates. I’ll release it into the blue bowl from this centered safe height.\"}",
  "call_id": "call_OD3qM6Uri6IilwhABy4g8DfP",
  "id": "fc_094f0dcb31f4da75016ab44086cbdc87d0a75f3cf40d7b33ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OD3qM6Uri6IilwhABy4g8DfP",
  "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, 0.8322, 0.6128, -0.4927, -0.0139, -0.0307, 0.9907, -0.1394, 2.3116, 1.9121, -1.3151, -1.3548, -1.9587, 0.9955]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1514 left_yaw=-0.0005 left_pitch=-0.1419 left_roll=0.0022 left_gripper=0.9907 right_x=0.4518 right_y=0.1144 right_z=0.1602 right_yaw=1.5955 right_pitch=0.3399 right_roll=-0.2506 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.306, 6.9265, 1.5946, -0.0415, -0.022, -0.0073, -0.2667, -14.2154, 5.2581, 0.0073, -0.5641, 0.1783, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c500361a64ed874454339c2b9379f0ff8998a643201e25684c9288bbadf82eba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5261f4390293507e4a8d8b4a678ebae1208118568c1630c9d4f265f40d5b3617",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c3ff2eff4695b1f0fbf6e252cd3bb98f0f92f6838441df6eb1c40ed7730806f",
      "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 · 7.045 s

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

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8238, 0.6128, -0.4767, -0.0139, -0.0307, 0.9907, 0.5861, 2.117, 0.3813, 1.4014, -0.8677, -0.4103, 0.5311]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0005 left_pitch=-0.1175 left_roll=0.0017 left_gripper=0.9907 right_x=0.2154 right_y=0.3091 right_z=0.0258 right_yaw=1.5643 right_pitch=0.3492 right_roll=-0.1581 right_gripper=0.5311\nstate[joint_eff]: [-0.3624, -1.2513, 7.1316, 1.6435, -0.0366, -0.0708, -0.0073, -0.0205, -8.3761, 1.9761, 1.5751, -0.1832, -0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8307, 0.6128, -0.4927, -0.0139, -0.0307, 0.9907, -0.1425, 2.2875, 1.9091, -1.3033, -1.3556, -1.9366, 0.5344]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1518 left_yaw=-0.0005 left_pitch=-0.1404 left_roll=0.0022 left_gripper=0.9907 right_x=0.4517 right_y=0.1132 right_z=0.1694 right_yaw=1.5916 right_pitch=0.3382 right_roll=-0.2623 right_gripper=0.5344\nstate[joint_eff]: [-0.3624, -1.5932, 6.9402, 1.7753, -0.0317, -0.0659, -0.0122, -0.5538, -12.7658, 5.5726, -0.6618, -0.8132, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4927, -0.0139, -0.0307, 0.9907, -0.1394, 2.3116, 1.9121, -1.3151, -1.3548, -1.9587, 0.9955]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1514 left_yaw=-0.0005 left_pitch=-0.1419 left_roll=0.0022 left_gripper=0.9907 right_x=0.4518 right_y=0.1144 right_z=0.1602 right_yaw=1.5955 right_pitch=0.3399 right_roll=-0.2506 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.306, 6.9265, 1.5946, -0.0415, -0.022, -0.0073, -0.2667, -14.2154, 5.2581, 0.0073, -0.5641, 0.1783, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c500361a64ed874454339c2b9379f0ff8998a643201e25684c9288bbadf82eba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5261f4390293507e4a8d8b4a678ebae1208118568c1630c9d4f265f40d5b3617",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c3ff2eff4695b1f0fbf6e252cd3bb98f0f92f6838441df6eb1c40ed7730806f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtECRD-J0tGq5zi1Ap1OvpqlQAW14DQFu6xZeWpajf1kxx-nFylAu_gk7msGir9sCw73T6PCqfqA2NX_tCiSqmvbF2Op8TCq7IA1gM6I618LnF78piO7QDuBjoQdh0PGl_3kJcz_PBvqu7g54ALSKfNAZtQ7BgllbZIliyJgxUvJHqMlRWR8_08K2z8NQ7pJadfDT_JoThJ23eDwePQpMOT04Rl8vGajKrpq2jfyJGbTf3BOqCL-ytb97KQ38cwXeIHC1DRPiIAZENZTUGT7wF4hHaP0o3lclPEdadyfoPDaEJq2kQXMYv7uo16MfxyTXtFK2W6a89nojT1rYN0U3wesIkFTIJOXmII0_5gMYiy5CrzCidEmGt47kdRfnEaLy0tkhH5yr08n2vXPM7kMleGm8KvTrIdDbN2zsMJfLDnyKlAp89zBiqW-u4175SO11k4FLB7A122kqY_VMJ807bYhER0w2xI1ihGk0-ucBO1tiBKn0JUdaPi9fbZH18hMalqArTkq_BVENwPXP6cRCHRCehW_pKrio6baj8k38ZObEblm58QVBKwCibfK1JJaOv1LsfPsY-NrC16vUpQdUZTp_ydOggAm8NtIMPOMAJtweThQPD-eXLUHJFywqMR9RCYuCnNzY-m51ZnG-UbGQod7M_CPHnnq-UjNOCnq6OGY3RzGiEqaFOss313M3MtyokWvOUBk7ZtAudMBq1U_q90OOvPOdNGdxSxFgeKXpHS5sPaLK3pddEUVOL6Uysbobmmwtu-jeLLITvCwdZCQ2aul6_6rtdagMHgr0LaagDjmHN4F8znlBGQJKjF-JsbtLdoUiYicLZ06FofdPwefwbl-Hf2-5DPcwvhbiaOHsShqEHp-P_iQ-7CfpGXclXj5qzMWDgFyqJRqi1inxijyWDioBD0r9XZ7OfQFgdhBHE34JEVnu6zD2G9RufRe6QRJQVDflAEvd3YxIh3-x26AM6ERrW5zu26OqEnSxSdQBCGnpg9PoNu7GsYUYY_EmktNVyyluh2dy8o0tFkDqTolLMTX9GEvyARR05AbLtXi2kryioHzTHO1jQ4gWoMGdiPzgkDCJyQw2poSXm6DpnB_i7eodE1ih-Lk0WfikzavnLbb2VgWDJNNJsdxBtBeELmcoucQiTzkDTWvspEf3pHVTLLZKConH6whNCcGfAfQroznVv6sycNwr5yPt88KX577IytyTPgnn-Jq53bfAdAo4klSaU1uT9moPzUoPi5mRmPsD2mJly6_eePi3dPs4wKDy4uVqGW8ItYKCoJcR5CxbKoASYdgd0FFzTJUG-thxDowUlXIZFJJzl1w9s6VI92fJqtP_tnJ7NFsJRiS6oC9Hoff42vIIRutXIBGx4OakZdXOdRYJWTatKBbM7egKK8_TDHmcM7v5Ir1mhH0s3kk2rgc-cL5BkiDVDzzFwfcT7eDjR151b8EUqeRjYg0LFplqb_Ug4UXQecH3EP54NBG5beJgRScVlN8Koyb4dEOlkcYrW4lDwL8VXeVFABwb8JlLsrqCI0FH9WjmEaJnZ_YKbYVL92NCMwQBGuF2uhNtW4IbcMTl3pzc7_suW2GGKTQfAgqNvUrpJPw8bjcf16X9vpnsvFaOv8YRRPaBtOv2dmSEoeJxnKfnKxB77om8GqT3O6cdZ4AEignj3pND1cR056L-FxUZhz0hSALx-U7V7E5qjW3O0U9BQ3ZQFKOxnQ9J1X6WFaH4vY2Hg36Zkt6KUR2e79S6CaBfukL7PKDewxwFRYQV1Y8-KUVbFyuD0KT9T58McU5DGGrxNUPTJgiJ0rmTjVSfC02tRMJYqzhs8N3byhO9ctpVIo9YhnpeTOg6dE9sRk7fsQTdDzmLzAm0tMt__dJw-HKOmVhVXt8N8oVjnJMKEkgGCT5nyvp57SeIYdgLnlDY2fWIebA8WU_TqZu-m9AtrNGAmZSbbSZlor7jitYqJnxQmX9sAAbAS2p9ikPgNeNczMzDw-UTGYHQib6q0wz4s5MWgeGgYrM0mH4njYkKl455a-FbYpLiYfXc4STmtELtK1GmPJ1w5aIEZO1dddP-CF9Ej_nsaviqqlaXeLBBmlLEFNkDFv7LojW211YHuIcEoNhMPAg2uCJ5awgMquNwxY0M-obNmj_wZo-jWy_KUHpTV0LYavjR8j8oArNUbnlNFx0a0gRkUQ8hHTWsJ4fBU0No7CPJKaOFFFU0-Z_sEEVbqDiE_1uc0c37rXtD6tAXl8miUDLbOQvbnjHNTGFBLTFKxbGsleMNOro9lJSIHDkj1w0LZ3EY_-t_S8T5j_8bNHGN8EptkP3j6eBqjTkKgI-VqRBOflKObitaCeQOVUqnfKq4Xswi_yxQ02CnBY3epJtQLAkGJJJArX-TSQ2Al7zlc3QqVW_WP8-P8RLy5B2Z4czA4LnOZTrPU08ZuHCQVJDGHp96GhId_NpRMf4xUdWm7Fg4blZq8SOxTdV4LvX_6NE5MaGnTa5JjHLselppi6X2NulYHk-DARYCa_d9oxIBGIt7bpuYLwYWIjWrDklEeEFSz5d0zey3X_Qc6QZEZolPMHLOT44SCwB8XP8A45YiMkM-euKBflUirCJrkiOND71Ep1A1bTx-dSSAif5cPZn4lX5BiSTvkkwHDnMwqo_UJAZhxEqcTxD19TZPCeUqeiK3zJaHxgshhALPUkzz_J5PNXwqq2IFCcU8kkJWo25wGNDfdlZc_R4G0U1Wf2433fF81miXe828jiy8Eaz2-49Nrnyl5J3TUwosgH5JJTi-9zJXRUtVMmRYkVhbQX-2Mr0yy08-PPwafcGiZIC0aLNmBynBs0VsGDlwEYHZVQvqreydW-VV6L58wDdarRBlbHC80F1GuCKMiO6QPO2Fr8YrFu6LKqQjSY9C5Ayg_WnnzVZIi3qW-1QeFTv-PdtO4_mEJsBfqRGrXWZovoTT-R3GoLgbEq29X9wTWQYsFbByojpdZzNpEcHEzUIPFe1p_ih-ARpKu0SlV-DFho3CwsoyY2TkzArVkbZdlOpHQiRbfPnHcoHkrEbTfyOjeBS6_1szFZSr_eXsmlaR2CWfRxD4gOUve4aeUt-R1sa7ZdfqhU2t8gq76cUY73pMdVDdlKMeBuoxtDx2B6wEgqPfCxizAMr1-SXTL0cu7qnd5OxZOSdrW46E8grZFODbHqBi6YAAeenbnCN5sTg8bXpBgioSRNZFWM2Xvt0TNJf-GEp5kxS4fHDhSR8M46v8Hn0I0S2S1QY9wUAXH5Foau7hop7IYmeTjVCKfKzjBz82Dbt-I5LU9QuxjtB2l5m_9VGHMuZyR3rBvrVOQxpMM6ilmdASrKYymvXLoeiX27JK3gygrp27mfd8W-Jn0k-_BzAe09Nf8CVFWVH5HrAxQHkWPT0MQixKnGVaXWMcu444vxRcwHF-Qr2rB8L0NdH3s3PBm4Iin2ltgSGjpa3z3BL6qOIy5k5A0b0yR11Uzc8o-H2EbJy7g6pzEh7LFykhNCOxYZ05DAAoUt2cWJxbEdHwd1c-OQUoCxxfoLqz1Ak1V6r5LdgcCostmWTlgqOsgrS7mkJe4krGfUZsatlmYD-KwS4VjCdtaF9H9J6nEb_-ZOFhOcwvmQAtqHBhvX3yhMUPy5Z5CMVLw4SDtKEYs0CkWW928qNTz2qBg8TKE86BTn_og2O_L3m8MxmfVZdQCrVdAA4BkbuxEopx88icNJgR6nLrhB3b7VtWBeG4zO0NRgYohBplly0CZoI7GV3I5uNP3LZo2tMEBgIeQKGgw_8y3V-Rw0d2z2XmwHJc9oyCX-oGjXRGQDpvmuI3sb2cZuxxIPW5ZjCH3fOETOlC7URuXx6w57Bw18WH6PlwgfLRR2nPtgEPGUTfu3phgk3YWTirzOUBmwqqRP2bn7zoRaRztTA82iyT0gzCAonvxL-RVFEYRNZD8CAyKolCuJe-qNPfo44qV2gdIaFkz9v4jPHz18qszg9UzXfiMZkU0tacV4KsPhOAuW8MxjvkSma88TsFCp-v2w-ajxH613_VkVYomJdOgiCF-7PHfT-eblm45V4xHC_T3AySG1qbdwe0MZQ5BV29r0JhrGKj4vkVYmkVOKR7nRjAHlpLULLxoB3mJKKCpeD_CF9uO6OnHdOwNzj9CaEpwasSDiRNXzOacLlmDcKbNy2FSNFMnYgQGuDOGuq5PDOcLIcHRHVlyE8=",
  "id": "rs_094f0dcb31f4da75016ab4408958d487d0adc6acdd650b8341",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtECRMSdhqesuoAH04hcM5-udxAmmtIqi6-4wEAihW-tb5XFJxFdfRimh9joXhBVBz2kCSO2l9Uy7bo2DTYYoTBantIV9jQlqqnVgMQaDeL6kmsyoJy3VyHh3B0WQMi-LjG_XINuFznvwV14LW0rVDZm2qGaEJ1uCZIuO4affJ8S2B8Jka6GSrSfIMyE7FdaUIVrkM2BGCZP8L_hC-KOzZNDoxgbnvzBRNgTLYQmT3l9r1YIENpf7hQWXHEpTvlMuTEQ8n0V_8pnV1Zjm7z3dhP4Ahpg0phBks0bZT6muGAnXxnNI40jiP0du_j2aU-o7RqVCxLptlgejMHitu7rUHepltWhvFShGn46A-K_aC6SH1suBFixirT_iyP_jpXStW6iRwYTa6jRTePEXZxO_06hszuYq6gXy3K_H0zRACyigCCFvNcNHmEG-4uNqfzhLqD7EAp6bGTluGtFHFTWV6KJZQkL9tHfmCpsxE1smaM8czAHaIK4Dmcis2VSPgxR81J_CS_kWgUP5YtdCPwwpIHAUqor2r-jqwEiYyvtSZAV0f3wv74_z_mLoDeOIR2_N9pevYkpbvRi8ZVDO2TU6QIweVoMHi7aLCErgmhdvcZjmdzK0RYMxGW7su3V_K1w_5mehlSLs7KjyFVkXm0Q82pkmQT87CAUk18q5DznKOXP-lH4_ehPACdR5Q3k9nFBQjqS1IfQBoc3-jVHS815tej5NUHX6liUjU2EWmkE8T7bCqoAlIO5YBm03n6dDoFde6X60kUlKycXZ-ygIvXwGyCoVz40JDscetrRUl3QJn74qOb4Zr8IA7NSD_nuLoK5z8x2Gg2VoFx-eA0dj7z5uQBUpSFVOdID3okvXBFHWVfBljVtqy-OrwPrPjyRzYgyVzMIWk4NEvEnmlSI3kgNH0LdQt5e1mxk4j7Z-rNgGLVvBLrcwnKuDDbyGvteCKiStL079s5GeqT_mJo7I-YTNEmzoc6s8qaXVOsHPMa70l2x3P4NTkSKuGK80GaupRijjCElhQSVm92HnyEHtyUPziW9aWBiPNuxtsRn1gPtCYVnRB__1cpo0LpS0dsxYtuarxnvD3WhDPM0e_pVKmSefvSEMxU2G5KHz4XMl0UxtS4xMx37VapJNC3mLReNrOSkNO2gCHFbedxDjdS_bvFtE-5bcW7RyYizHfwbEi2Wd-7FByFyhApDOr8lOf_20s0QfbV9VW7uvh0jZgYsjA4JNBPZTa1XjcWpjo6odvhWXG6B90Dy1EvuGf3mOi4F4Qls8XxJG6nYXhLEIHfUAma0PyFi1M5Q_nXDHEI_iM01f7k3ls9DSnMaEXZ67qOPaMpx91UTIFV5-xVF6w6uCzzfNnIV4srWFoLs7x_ObPUB_1-O9vKkpQbbeI00AgP5813IHYhjnyjMn8i7_c0QUnTsnlSFrnZYrCbeV6yOhCDiQ6BzyTGDx3f4qnzJWzUsqHeYRRNHsLpVXEUTSvCI2q1KO9YabiSF_AcWIx_R8kvWVktJ5A0aOXwFaahXT6jUfOqDG4PKENTCkRqzl3vqOxRg5EcM1feb-Bs55j02u2wgSyNtnFcGEONoYJKuypokHZcOtPMoO_rX1ILFiS7-4ZUZzq0ve31iN4SeOdL-_owO19tIAi93sQnJ5PebwgD0QZM-GhsqCJXXfDOV3D8x_yMWRKNSqr_CEq0SDmTdSIv_cvA251BrcVFtyYjf1QRKETwhijJaR1Fn3X-1u-rMT1QSNATz5N8dasOtdLVGRTnhrde9FtExQWMiwWDyxf_8iwnDXkGN55GvDWy407Zbi8U-fhimbpw==",
  "id": "rs_094f0dcb31f4da75016ab4408f28f087d0b85a625c8a84ea35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.03},\"note\":\"The lemon landed on the tabletop beside the bowl, indicating it was held off-center near one rotated jaw and its true drop point was offset. It is now directly below the still-open right gripper, so I’ll descend in place to recapture it without spending a separate transit.\"}",
  "call_id": "call_R9vaVmRUpJlp3dowwKBJTVDq",
  "id": "fc_094f0dcb31f4da75016ab44091008c87d08db3d3ce2321a93f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R9vaVmRUpJlp3dowwKBJTVDq",
  "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, 0.8322, 0.6128, -0.4938, -0.0135, -0.0307, 0.9907, -0.1402, 2.487, 1.7214, -0.9661, -1.3552, -1.9553, 0.9964]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1512 left_yaw=-0.0008 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9907 right_x=0.4505 right_y=0.1143 right_z=0.04 right_yaw=1.5868 right_pitch=0.3434 right_roll=-0.2291 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.1966, 6.9128, 1.619, -0.0366, -0.0708, -0.0073, -0.1162, -12.1778, 4.4513, 0.0171, -0.6422, -0.0952, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e60206bc3da9de7ccebe66d25d41a73daf5d8af6a75eec3789dfbe224e714bdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07023b8236f4f59a23337733ae7cafad56e3be69fe1ba652b49bf83cf4beb73f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9202a54d47e7ca290e624afcec9238bae0299852ee00568fd7416c11eb9f942",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.499 s

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

message 101 changed as sent

message 109 changed as sent

message 114 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4763, -0.0135, -0.0307, 0.9907, 0.5861, 1.5032, 0.4408, 0.7715, -0.868, -0.411, 0.5338]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1562 left_yaw=-0.0008 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9907 right_x=0.2155 right_y=0.3092 right_z=0.138 right_yaw=1.5787 right_pitch=0.3732 right_roll=-0.1976 right_gripper=0.5338\nstate[joint_eff]: [-0.1299, -1.5248, 6.9265, 1.707, -0.0366, -0.0562, -0.0122, -0.0752, -5.6137, 7.1863, 1.5751, -0.1294, 0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4927, -0.0139, -0.0307, 0.9907, -0.1394, 2.3116, 1.9121, -1.3151, -1.3548, -1.9587, 0.9955]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1514 left_yaw=-0.0005 left_pitch=-0.1419 left_roll=0.0022 left_gripper=0.9907 right_x=0.4518 right_y=0.1144 right_z=0.1602 right_yaw=1.5955 right_pitch=0.3399 right_roll=-0.2506 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.306, 6.9265, 1.5946, -0.0415, -0.022, -0.0073, -0.2667, -14.2154, 5.2581, 0.0073, -0.5641, 0.1783, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4938, -0.0135, -0.0307, 0.9907, -0.1402, 2.487, 1.7214, -0.9661, -1.3552, -1.9553, 0.9964]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1512 left_yaw=-0.0008 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9907 right_x=0.4505 right_y=0.1143 right_z=0.04 right_yaw=1.5868 right_pitch=0.3434 right_roll=-0.2291 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.1966, 6.9128, 1.619, -0.0366, -0.0708, -0.0073, -0.1162, -12.1778, 4.4513, 0.0171, -0.6422, -0.0952, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e60206bc3da9de7ccebe66d25d41a73daf5d8af6a75eec3789dfbe224e714bdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07023b8236f4f59a23337733ae7cafad56e3be69fe1ba652b49bf83cf4beb73f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9202a54d47e7ca290e624afcec9238bae0299852ee00568fd7416c11eb9f942",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtECZ8ZToK5-iw5mYx7zS4pNN0pn3I30Z9pcQVZg2rj1s9LwF5-tuHcZ4MJyTXAhOk4OG9bbBWZYYbaKLfwQ3Tf-cjM9UpPWazty6hjA8mhK2ZBA-5tMX5uoqw_zMWhzGrvmOR6FmvcovZpdXxAP3OS_PYFD9YDL__LLvdBd0i3DXC2UqQ2DL-Srl3TR6pF5OOfblo37b0roj1AQmKWpmIkW5jv_cEdQxk2Sx259vGPqiK-9zny8BlX4snilfcbP8r-pU4obOFNhJnzdC4h-rEsL9nWQlvUvaPgtVkBgeN5OhxEFAyf8olAHG-QrU5dkXnfzOocYAORuQCAXhdW7KIAeQ0TAt9CXaP1EEsJsj8G7Uq1I5AaE0zYtGWa4IVLn7TCBjUrzUuK89XkEkQ_nmRMseJUXxtwNnhJ9xlK1Rlng3Q2kh-Ms1ehLLBOYROs8N58fGHhMcNy7A2XrS0g7NSnC_ItzBlFtz4jhWkqVbBQyu_zDnPX0YBw7ct7E3QanULa_72NDhl4xVqGIaOk3cSZj1onp8pg-wrAR2WZ7RNyPYpobXabh5at2cYe9yvPWwpMNaVl6ncxIVUuxAmVPzBUAieRrbXbilT5ju3EpXlfkgr0JM9VhWYTPg6sLuHUdJ5VfZYGovyrBg2IK_M86Qp2PiyUdwTh6ymXhOdk3m9AKWuDnHhSmkIrhCgK8LNXbCsJmYsytrFZw5dlTscgRKbjcrCLES7PTQyW1frr54DC8k4AQlj3LgXO_l4DMqvtVtYLuxJ2LT3FH8TQo9WGXOy2wPNlq3_rmQwx63qdzFPZh3OFKnj0UzuuPw44i1V6-zNNGiAociqn_kTbBXfI8ADeGdPrgtG6R7OfW9XCDhdeeHlRaT8hIzLHMC0icPdvg3Srcse1AVoaosP1JXQh8T81Q5aWmjhAZ3dhwOUkB-b6_3m0ZELMNx6a59Rd5krDibBbsPPOaA2zdPBSMhRELJsCNTbdA9swAfZcKqRHNBYzKnvvq81jkNzu6fUvHKcojjEY3qqDYV6xMR2Aw2Kc3VJNth8Vq5F8_g-bVV-f6ciwZ_xjKAtWyOmUbG1MRKMhQ4pZO0FIStq6XKoBZfk6m4CShjQ0TmPjmIka8J2ZlAzOw6z6-aH7jsOpqCdecRzzSnhkdvKgTnckFAi6dbjpX9dYTaeSjylkGQNVXVvLKRINm-8WM1HmUo_1j1fyTzbm0V6fX85wqW5vmNP1GwGL6W81IIGFDexcpkARmr8f8ffFCoSEag9xnjJ46NS9YdZkNjjj-DCixwzRFrV-Ie8UPL8uGVlvJrP8ErO4fF9FXFj4IobhRRelJaw6ISDxaTrJ-vp8BOYkRMAouajKNj_VrwhcOlcqW__tGS1fJGuzlakBM0jg9F3CPCNquNsrrp3AtwEDVGamt3O1dSrVsEMWZqOWuExb4BJHHEALkxoTib_ThveOF73r3IuXOu0MfvmlHkOg0DfcfehR_wNgLwa0zA_BK6ZnPRbDu851uLCvTLGQOh_pO4hxylelPA1NtLacE0CKFLCrr037O-wGZ2SvOAtFMjiAToGTtbxxNXqpC1WntQ4JocOpzeCnSfcHQS2GxhT_QnDbWCOOP4Ky18WgVkrQHACajG6lKHmqURvkPnee0LD-x9Qr6qI18BNFOI23Itl08pSWol0WZGbMQxbpj82g2Q2jl-Ai-SRZS1b-rp9UhrfpEckC8XUejjilO4A3oncvfsfdQnf23Vx-NeG0hna8gZ6_R33Q75ldf0DzxcILqW5nzrb_fYTud0GQMC6jyZvziNPGYF3FSGr1AAGvF72LW5BJ4YVlZS0cyAnqNSs64xOvnLQqk6e2kLT8bFLaKmiVYrga441gqHoesi2cA_kmYbnstXoTs0RyAwlv5BqqUryvllNpT2R3GFJklQuhAb97XN",
  "id": "rs_094f0dcb31f4da75016ab44097834887d09f67ab1a23319a24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.07},\"note\":\"At table height the overhead view shows the lemon about 4 cm to the gripper’s physical right, outside the open jaws. I’ll slide the open gripper right to center over it; the fruit is clear of the jaw path until the last part of this small correction.\"}",
  "call_id": "call_ixTZZzUWUNkHLoQFc3i7LEA8",
  "id": "fc_094f0dcb31f4da75016ab44098eef487d0a5630ac6ca6a5139",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ixTZZzUWUNkHLoQFc3i7LEA8",
  "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, 0.8322, 0.6128, -0.4938, -0.0139, -0.0307, 0.9907, -0.1802, 2.5252, 1.8099, -1.1061, -1.3399, -2.0708, 0.9965]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1512 left_yaw=-0.0005 left_pitch=-0.143 left_roll=0.0022 left_gripper=0.9907 right_x=0.4565 right_y=0.0952 right_z=0.0424 right_yaw=1.5823 right_pitch=0.3299 right_roll=-0.2514 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.265, 6.9128, 1.6239, -0.0562, -0.0415, -0.0122, -0.3214, -11.1385, 6.6393, -0.2906, -0.6276, -0.2711, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4366301651f40c81c986872e6802c7ea7637552376e2c91b6ddb1bd9871c35cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45a896d201e51b25fcab12433bc48a0ee083a79236b7cc3880ae790504b25e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:559637ee8255d974f33cbbb8d439f458d42fcc4a01e01d6d97242674c1a665fd",
      "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 · 4.136 s

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

message 105 changed as sent

message 114 changed as sent

message 118 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8307, 0.6128, -0.4927, -0.0139, -0.0307, 0.9907, -0.1425, 2.2875, 1.9091, -1.3033, -1.3556, -1.9366, 0.5344]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1518 left_yaw=-0.0005 left_pitch=-0.1404 left_roll=0.0022 left_gripper=0.9907 right_x=0.4517 right_y=0.1132 right_z=0.1694 right_yaw=1.5916 right_pitch=0.3382 right_roll=-0.2623 right_gripper=0.5344\nstate[joint_eff]: [-0.3624, -1.5932, 6.9402, 1.7753, -0.0317, -0.0659, -0.0122, -0.5538, -12.7658, 5.5726, -0.6618, -0.8132, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4938, -0.0135, -0.0307, 0.9907, -0.1402, 2.487, 1.7214, -0.9661, -1.3552, -1.9553, 0.9964]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1512 left_yaw=-0.0008 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9907 right_x=0.4505 right_y=0.1143 right_z=0.04 right_yaw=1.5868 right_pitch=0.3434 right_roll=-0.2291 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.1966, 6.9128, 1.619, -0.0366, -0.0708, -0.0073, -0.1162, -12.1778, 4.4513, 0.0171, -0.6422, -0.0952, 0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4938, -0.0139, -0.0307, 0.9907, -0.1802, 2.5252, 1.8099, -1.1061, -1.3399, -2.0708, 0.9965]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1512 left_yaw=-0.0005 left_pitch=-0.143 left_roll=0.0022 left_gripper=0.9907 right_x=0.4565 right_y=0.0952 right_z=0.0424 right_yaw=1.5823 right_pitch=0.3299 right_roll=-0.2514 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.265, 6.9128, 1.6239, -0.0562, -0.0415, -0.0122, -0.3214, -11.1385, 6.6393, -0.2906, -0.6276, -0.2711, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4366301651f40c81c986872e6802c7ea7637552376e2c91b6ddb1bd9871c35cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45a896d201e51b25fcab12433bc48a0ee083a79236b7cc3880ae790504b25e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:559637ee8255d974f33cbbb8d439f458d42fcc4a01e01d6d97242674c1a665fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtECd6BTyFtKV6etFBK51nZZlPoAtaV1vyqP3tejPRemOrL58frAjNX_6icfA1xW0tUjl7lO1M-D17lY7UcfVlBZuaHmx8mKZNNrutgqTPebVGuR_CbW8TCzDNtQYRoMckHjAKLMF8nx5xhd-QNNa3FI6zzXjRcyyxPS0x9K5ZQGsosmZsRGluudJQKHWVuHEzT_y8LFdJIrdz9M1tEnRZ0RJ3LLGMmxWvf8eI6p7UfdlVn6RQScFolP_oPLmTDcJRv3A6jjYdBeA0lch9FIqXn__J22otFuL09s6g-dbW5LXBObQTzWzZNyaIplS7uDqlaILF_pr2GBcbIZW5KbaTH0hoWZgVg6p_19XBennCk5QgEf2KuuWt15k_LSEL0NHuUW88invqcNALgMFaxDh4AtapIEgWSdfM8FrelPsEqwp2HB-lnT8oi8hOTdaZySAOIPtU-DdUtE6h2AbiulxmoxYO2wZuZH3xpFZdzsZBNLyn3Slzx-xfKIUqEaGkTw9eH96BHYxF-ebkxd68-zpCLixKrNM1Ex12mQ_03dHAJyxTbX7S4VrCGteFuojzdrHb9msNOqR9fcUj9_3DIuRuv6mVoTS1JG6Pzr-2BQx_z4HHHTOpg83eG0coZ4PakItr5h9PW3eMh7z15SZCH5ggNipWMWtPUPBXG7XHG3nZUk2rE48mkZIKimAx99XerfTXf_4LCEUogHWd3q6p2W-1-mW8x1l-UUuKPKnCJ993QekhvLfF732LweroOPx05-UjSpJpGfqwFxilstMIFDu7WcbfLeamj8ilZg2oIU1uc8ZbZnFgM5EXQljUSbzfj9EOZzeBuw4coX5Q7oF2rLc8WX6ZfVIj0NYSahnKhIx3sQ_MtlzC5hamzZJ2P0_wtK7qzRJ_S-QEvY77pa9BWwV0YQALGgP8MXCjRV9MYIB1BdmNXPAm2xzKA4zRJ9OHxCpk-nOIntKA3ZlLwHusPNlMqEw-JRdr3mdu71FnTr0gUAdBIOvugcMRsH4RXd2bLAQgt9YsIXVQyovF-3R7RyUgwHn01EuU3P22yxE3GiaWIdjDaK1DO7H2mCJdk4Jk1O-x343e14t5q50jOvxiq9TBQ6ONVsfDT7aumbMF1aGhefFUj_9UMCKGOXHj8gMGuOut67IXQ2VcdFIMv8xv8sROvYC5qmuoiXX4OpTVCHD4hmI2sc4WriHMvm8FNaIBX__-BB8RFUDHEniZgJZc6MeeZBD5sspEr6JDeGdAHzbXDfOFWT37Es1FRGLIVTfVVPz32qDQVq_bbtDGvSZWW3OS8TxVtRVLxHcu_mNYEBocoulnYDQElclW_Y9SD62EElqTgBBS1Y3G5Wr5HstOdA1GGzM3DGIs1KuAkKIU3oJ_9Peb8iP884K6E5ndxIR5SJmWeygy9Knbv-csNHbj5Vie3NXv-fqdSRmdXTXgLr_WhZe4Xif0Hfw5o1w2fFvh6or57LFGM83cGhi39wFiUWf-OX7TK0GBss_AA07fRWVIO8nMWa5HirZJARZatGx8yP-8FD86tCkVxHV4C6hlKOH6DJ6rkDoovAiywGfJl3-YaNhTTJ9TA3JdVuIAsSCKyrgOUCm7GaF2yGrFIlIE7Ztl8gw5g==",
  "id": "rs_094f0dcb31f4da75016ab4409b1e0487d0b0f3574d43683c11",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.03},\"note\":\"The first lateral correction tracked only about 2 cm and the lemon is still just outside the right jaw, so the center has not yet reached it. I’ll continue the same direction by another few centimeters rather than closing off-center.\"}",
  "call_id": "call_NCv95mhKc5JE6EnccbEpgrVX",
  "id": "fc_094f0dcb31f4da75016ab4409c5e8487d0ae6b91a027cc7d0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NCv95mhKc5JE6EnccbEpgrVX",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4942, -0.0135, -0.0307, 0.9907, -0.1837, 2.5324, 1.8149, -1.1305, -1.3361, -2.0716, 0.9965]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1511 left_yaw=-0.0008 left_pitch=-0.1434 left_roll=0.002 left_gripper=0.9907 right_x=0.4547 right_y=0.0939 right_z=0.0405 right_yaw=1.571 right_pitch=0.3311 right_roll=-0.2238 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.2786, 6.9538, 1.5946, -0.0171, -0.0757, -0.0122, -0.3214, -12.7248, 6.2427, -0.1783, -0.5885, -0.2906, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e496ec66eb429e025998a65a4fd6ee4d4acbce6c553148e672caa20a76ecd5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c832d7b55b1974b31007b79120d2d57e5f8b71974616f349cb3d443c7ad45a3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3291df3f7a7419317105096e55450994bfaba7b33371c605c7be5ece0bc1a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.314 s

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

message 109 changed as sent

message 118 changed as sent

message 122 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4927, -0.0139, -0.0307, 0.9907, -0.1394, 2.3116, 1.9121, -1.3151, -1.3548, -1.9587, 0.9955]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1514 left_yaw=-0.0005 left_pitch=-0.1419 left_roll=0.0022 left_gripper=0.9907 right_x=0.4518 right_y=0.1144 right_z=0.1602 right_yaw=1.5955 right_pitch=0.3399 right_roll=-0.2506 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.306, 6.9265, 1.5946, -0.0415, -0.022, -0.0073, -0.2667, -14.2154, 5.2581, 0.0073, -0.5641, 0.1783, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4938, -0.0139, -0.0307, 0.9907, -0.1802, 2.5252, 1.8099, -1.1061, -1.3399, -2.0708, 0.9965]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1512 left_yaw=-0.0005 left_pitch=-0.143 left_roll=0.0022 left_gripper=0.9907 right_x=0.4565 right_y=0.0952 right_z=0.0424 right_yaw=1.5823 right_pitch=0.3299 right_roll=-0.2514 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.265, 6.9128, 1.6239, -0.0562, -0.0415, -0.0122, -0.3214, -11.1385, 6.6393, -0.2906, -0.6276, -0.2711, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4942, -0.0135, -0.0307, 0.9907, -0.1837, 2.5324, 1.8149, -1.1305, -1.3361, -2.0716, 0.9965]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1511 left_yaw=-0.0008 left_pitch=-0.1434 left_roll=0.002 left_gripper=0.9907 right_x=0.4547 right_y=0.0939 right_z=0.0405 right_yaw=1.571 right_pitch=0.3311 right_roll=-0.2238 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.2786, 6.9538, 1.5946, -0.0171, -0.0757, -0.0122, -0.3214, -12.7248, 6.2427, -0.1783, -0.5885, -0.2906, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e496ec66eb429e025998a65a4fd6ee4d4acbce6c553148e672caa20a76ecd5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c832d7b55b1974b31007b79120d2d57e5f8b71974616f349cb3d443c7ad45a3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3291df3f7a7419317105096e55450994bfaba7b33371c605c7be5ece0bc1a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtECiutVxK7ZQC7pKJO2XLdyYv3UmVnDTzr2s3_JUKN3AH4TQk3IhP4lYMd2I1R3zITXMHiprOn-y5BuRoYbsjdDxbox0wfeWccoH1PyL0oY9aZi2eaTTr2LOypP-UM1dW-mKyOq9coFW5mVZ9aFjdQVjUa2LA9NCBQKzo8MCWwEaPWmJIG-OdX0Lb0UcWpA1K1uc7majQzuEwB1zzORxAH8-UxnL9rKg0VznbHP1NmvmWn2sPAC6cCq8vCY2Qj_dQcvLYGuKLt_RIAO4lKEJOEl9JqS7i5J6dk1Df12-yAQa9kxWNxTLv-nBBi18DPVM35RWm61HaHMrgBB4z-esoH3mVEc6KS2dFe8vvGgS_F5Qo4myGg2yr4_eau2uGrs8rrzOTg8YbqBAtlhKsGcZKGzvqn1KWXLUYlU12lmt7nrvtLhMp3be8g54erti5Q4worCiVc8ySW_qJP-LR24DrGXAGuQ17dnqHeQx8Z7Sf39o24iDw6clRsJSraTRBNgJ5nf9pAn8wTtx978AtBjVVByhiHEdlYZwnltCwGFyL4dgALs88DA8GuzcXvTA9WuboDqYD02kjGJMjBGGBixgc8l9jWBYMbB70G9lhF1F527hPt2NyuYDZOcg-qdiPAzBN59vyiH0MmCdFNZq7d4bX9ArnM3fPLWSEwEjpjE1yGV_fWQLt0aG-fgHEUC3k3NbY82YS-TrRKQSY8MkuMieEoHsIsEFvzppDhwLaUgSO7Vd8ctnbuT6anmgjs_tc7fdo66CZaKuoLIziDdVZwLbIJ4BFmScxf2svabov9V1V6MOE2q6TyPmUL308WwqxNq2OvVCER87ufnKkGjv3yjPVmACOOnv6WrQTBaUhx0u-wM53V74zfDOyxOb56Nmt1uGpvS5aN1948bwDIcCH3uwCCocNSAR343eKoIAzOOnU_72EPtF2E93QqGuPMn5q8CBPpXhjXHl13zLcRsdqhmvKa9O-j3JKFt77Mz28NcwHM0NHnalI4EI5iBJ5dtwst0ycU88BD0L0_iJJwcIaAWebqwccdVet6rh0dJSl2RoVyWkxSXzmyT83QptCJ500ODXidbfQOzQ6m--0LE3p78rkJ9Tfr74Z_n5eHB_GadAyL7pMykfXwNDc7PYSqu5aEGUT-Nt9flKybmZ4kCVA44VXGjqNdxN6lzUrFJkU7illTpDDI_B9RZ0wN42J-dUW8SZLXhWXIrUZyXckDf3nXzO-4t5UCmg-mN7hTVMiFHtc1A3GGsOxV6SdpJKz1n_T4Wa-8IzTgz3Lzcy8I0MOIAAGVfHPlu3zhMn_UPnR-gDGOWDiJy6lmUNQ4JhUxLGOAJsMrWulweCaTRdsO1oeM091dmsFXMSUd5WLTLRhZ8UsJ7GaZXEB_Cel9Xrmb4yH76R-G1Rxn6MwVMtQbDi96EKvtkNwes4xzgaAnsurtNbHW2xCvbPF_R8AGMxFYJYKA4V-G1T9_63ioFJTVGe6kP8FR9S8mr_slNF9yaBv4LtdAwYKB7cOQd9KglYeer4BKudGMEQG7XfGvqoT4RX7Wo3QRNAJNfUkYzMR1Q19OgmXJwbJgh1fg42Vpf8q8mf_w_ngzyqXQSpm41MLMubqfk588uTW98kC1gg3wB3_D7vgOeczaO4tB3VlBiFaoV2P6VJ0vlBWNVWfVnNn9nV0Kt4tnEWtBQZ0PjTw4EQS62o4e_hhbhZxIsPJnbfNJyab1O_0kJo",
  "id": "rs_094f0dcb31f4da75016ab4409fe33c87d0b42c6552f67dc5c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.03,\"right_z\":0.15},\"note\":\"The low arm is refusing further sideways tracking in this folded configuration, so repeating the same target would not help. I’ll raise it while keeping the desired rightward target, allowing the inverse kinematics to unfold and complete the lateral shift above the lemon.\"}",
  "call_id": "call_Yoo3IlgT5ieSMaXQIWJcbSix",
  "id": "fc_094f0dcb31f4da75016ab440a11af487d0af006ef5f7af1dcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Yoo3IlgT5ieSMaXQIWJcbSix",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.4946, -0.0135, -0.0307, 0.9907, -0.1993, 2.4973, 2.0521, -1.3323, -1.306, -2.072, 0.9965]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1506 left_yaw=-0.0008 left_pitch=-0.1457 left_roll=0.002 left_gripper=0.9907 right_x=0.4794 right_y=0.0808 right_z=0.1056 right_yaw=1.5831 right_pitch=0.2885 right_roll=-0.2907 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -1.5658, 6.9128, 1.5751, -0.022, -0.0806, -0.0073, -0.9641, -16.2803, 5.1214, -0.5348, -0.7546, -0.3101, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9b0138a2e7a156f4de01131a5002e9a06b9a4a2dea1f5d6e77d48a18377917c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc722566e470848c75730b305f2d79828a45ae909661674ffc10abe7b107ddd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68efb7819a539c643b773de0f575b76b16a5e073f612fe5424c8219e6d62834",
      "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 · 6.052 s

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

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4938, -0.0135, -0.0307, 0.9907, -0.1402, 2.487, 1.7214, -0.9661, -1.3552, -1.9553, 0.9964]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1512 left_yaw=-0.0008 left_pitch=-0.143 left_roll=0.002 left_gripper=0.9907 right_x=0.4505 right_y=0.1143 right_z=0.04 right_yaw=1.5868 right_pitch=0.3434 right_roll=-0.2291 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.1966, 6.9128, 1.619, -0.0366, -0.0708, -0.0073, -0.1162, -12.1778, 4.4513, 0.0171, -0.6422, -0.0952, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4942, -0.0135, -0.0307, 0.9907, -0.1837, 2.5324, 1.8149, -1.1305, -1.3361, -2.0716, 0.9965]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1511 left_yaw=-0.0008 left_pitch=-0.1434 left_roll=0.002 left_gripper=0.9907 right_x=0.4547 right_y=0.0939 right_z=0.0405 right_yaw=1.571 right_pitch=0.3311 right_roll=-0.2238 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.2786, 6.9538, 1.5946, -0.0171, -0.0757, -0.0122, -0.3214, -12.7248, 6.2427, -0.1783, -0.5885, -0.2906, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.4946, -0.0135, -0.0307, 0.9907, -0.1993, 2.4973, 2.0521, -1.3323, -1.306, -2.072, 0.9965]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1506 left_yaw=-0.0008 left_pitch=-0.1457 left_roll=0.002 left_gripper=0.9907 right_x=0.4794 right_y=0.0808 right_z=0.1056 right_yaw=1.5831 right_pitch=0.2885 right_roll=-0.2907 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -1.5658, 6.9128, 1.5751, -0.022, -0.0806, -0.0073, -0.9641, -16.2803, 5.1214, -0.5348, -0.7546, -0.3101, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9b0138a2e7a156f4de01131a5002e9a06b9a4a2dea1f5d6e77d48a18377917c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc722566e470848c75730b305f2d79828a45ae909661674ffc10abe7b107ddd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68efb7819a539c643b773de0f575b76b16a5e073f612fe5424c8219e6d62834",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtECmnqZGoeIi6O9bcN4ukod_agnrExUaqfksyq6R5zbqTA8pfgn2-azx_GXKi4s2nIBmp866KDJLAqospBjRGdfoeSZJDE8o2A1uoOp6juVKdRKwao78R5EOYEI9q1f0Mhtr9783ax5jtj4mrFQnULpkc3rayK5HIAjxLmAx1jiGfP5FaDf35DsihEvNsgsVxGFloy-614neE5YPh7P5Re7Ujfq5Rq2DbXfMw4TYNM1C3EDg7OKOMjhtHTJLG2HBTxLvZkodSFeth2mMclwmcg6IW2dTgDCI0MyTnqBazNStt9e_SIKjPTS7x9oz5wUYUoyHx6j1yBov8_jKb8H5blwUZR4--ZRKi3z329bPTFiNc2E9oH8sJzIxC22ml-Sh3dDxIZVGdDKQlh7y-7OCcBoz2MSLqnuzKUyQBjZUy4DBmCzi6LlE91qAZA50g5kwupc5DE-S1c85YnUN1PfVvwFLoDLmLXmOv-pwDqaZ3H7O-MRXaPmi2JMbcF3OdnCDAWMdv9qn3CBUA_ApbweyHNxf5t87Jfj4nNtHftlyJEnuaZdbigQY6CUxuEnPYHaXPDrDPqq6g1oUjfCCrg_2fE65Ay9XJXXC7ZNRDS75B-kYq2u4iOr2xIwYCJk2LAkq0mS6q4uU7F0GbCj4AjfLeuhx1JwYHXsxA_NyaBStyHg-R91yhAIrziGjBMRtQSM7-xUlyus6bYmASkznx-evJBwps57wjh_iv8PZm5RCAtxDdelS37k-O3q873XoYCW0BojQ9cLB4Omdflre_v-FuotVthjQPAc8L5ME3joYvxxGi-6zT3n9OwSediNDeT9btHSyjLEpDTk_ulnt9To7mXt4r8-fjBXvABhMRr5rFwD5tDQo0Bnb8J7Sm7MvzFWIFclYj_T5fsmKuHfBLmbaPz0aQXSf2BOs0IAWIH7-Yydl6lyCUIfekkl3sHubvKlWunN9qoaRL3HgCHN7Z65qKCEx33Zm7qrg7EXiSF6zyxKdwuaRdHcMbK7P3LPqosVYuMkIr9Mo6tHbqJY8sBNappSg_lrLUPPQ3RXWHchJ8nk4nsLnzbolDprsCyE2eB1cDasyKGqCqtAi9d5FU62miBDJiJEQkrZHNX8AKr_s3nafYxRyafxFVxMcciuunEZbPEKxcj4n6Lk-aAcC4ua9dfRgW40dglMUZJIdBwLLGYFjuV2E72jHyUJSspJt0O7Dxg3jasbuaH5bVsfAv0jTXrv4xxR4i7efUfZkvyTYx4zMYWj6LqoxK8Vapg4ct9tnKo448wIkNshxs55IhsMudW4uFrF6UttfHalviHlJmTVlj59kgAi0U81nyT2o6lN-KTC8lGYWo0DDR5WbKSU_GIx5TwTtC9AqvfArAxd1ERDGEEypImX2cbznjsbiqqFjByodA3mxzisgYK8c2_vc2tmc_0_6Sd760QLY-m-NLs8JgSmc54aMbS3RBfCc5Kq_HpGdmz5a-_vqZ19oT7TSk2_aEH67y35eNAsVpAU2F7cgi5thgHwi9qtJ6gl0XrPBvVltgqFWUSqN7C0ADVcVFmh_KXh_QkcAHUVT0LHgScdULB90h8hdYLVRAlKU5JpgGj0QkckCII-LP0TLSr_0yajQVZaNCNK7QZS1vOmKTF9Xl6QQjHvgAPdq2wNgpK5T5GUxCivDIgu3SWyeQswVoFxaww6u-t_H3xUR2DxYPdYSgo5LUMjZnHZnCsYnkmESJ3kd4Z8Z2M93fY_fcD9Wx5pXn9o050Vz90xZm8DHwccAASETse9PIZzDTC1maASneaYf",
  "id": "rs_094f0dcb31f4da75016ab440a4121487d0a4dc217cd6f34a9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.0,\"right_z\":0.14},\"note\":\"The raised overhead view reveals the lemon is not only rightward but also much closer to the bases than the low arm suggested; it lies near x≈0.36, y≈0.00. I’ll move high to that directly measured point before the final recapture.\"}",
  "call_id": "call_JcjnhSC3wP5848WOLRkYZXdw",
  "id": "fc_094f0dcb31f4da75016ab440a559dc87d0a37394806372f338",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JcjnhSC3wP5848WOLRkYZXdw",
  "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, 0.8368, 0.6128, -0.4942, -0.0135, -0.0307, 0.9907, -0.234, 2.093, 1.4574, -1.1938, -1.2869, -2.072, 0.9965]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1499 left_yaw=-0.0008 left_pitch=-0.148 left_roll=0.0021 left_gripper=0.9907 right_x=0.3841 right_y=0.0864 right_z=0.1283 right_yaw=1.5368 right_pitch=0.2809 right_roll=-0.2339 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.306, 6.9265, 1.6239, -0.022, -0.0757, -0.0122, -0.5402, -12.4376, 5.5316, -0.0464, -0.6813, -0.2857, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f19f0af3af23f5402cd9a9e3a3d677d58960a985129c4f4f572f997d5e15108",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:957a4efe5d186afd768eea12f8ea1c17846be7561f08d1efaaeeccd90828ca41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f272bea258f783eb601d97a0487ce0d6103c85632d73cfc7c6da5ccf8e4ae684",
      "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 · 5.027 s

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

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4938, -0.0139, -0.0307, 0.9907, -0.1802, 2.5252, 1.8099, -1.1061, -1.3399, -2.0708, 0.9965]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1512 left_yaw=-0.0005 left_pitch=-0.143 left_roll=0.0022 left_gripper=0.9907 right_x=0.4565 right_y=0.0952 right_z=0.0424 right_yaw=1.5823 right_pitch=0.3299 right_roll=-0.2514 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.265, 6.9128, 1.6239, -0.0562, -0.0415, -0.0122, -0.3214, -11.1385, 6.6393, -0.2906, -0.6276, -0.2711, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.4946, -0.0135, -0.0307, 0.9907, -0.1993, 2.4973, 2.0521, -1.3323, -1.306, -2.072, 0.9965]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1506 left_yaw=-0.0008 left_pitch=-0.1457 left_roll=0.002 left_gripper=0.9907 right_x=0.4794 right_y=0.0808 right_z=0.1056 right_yaw=1.5831 right_pitch=0.2885 right_roll=-0.2907 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -1.5658, 6.9128, 1.5751, -0.022, -0.0806, -0.0073, -0.9641, -16.2803, 5.1214, -0.5348, -0.7546, -0.3101, -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 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6128, -0.4942, -0.0135, -0.0307, 0.9907, -0.234, 2.093, 1.4574, -1.1938, -1.2869, -2.072, 0.9965]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1499 left_yaw=-0.0008 left_pitch=-0.148 left_roll=0.0021 left_gripper=0.9907 right_x=0.3841 right_y=0.0864 right_z=0.1283 right_yaw=1.5368 right_pitch=0.2809 right_roll=-0.2339 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.306, 6.9265, 1.6239, -0.022, -0.0757, -0.0122, -0.5402, -12.4376, 5.5316, -0.0464, -0.6813, -0.2857, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f19f0af3af23f5402cd9a9e3a3d677d58960a985129c4f4f572f997d5e15108",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:957a4efe5d186afd768eea12f8ea1c17846be7561f08d1efaaeeccd90828ca41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f272bea258f783eb601d97a0487ce0d6103c85632d73cfc7c6da5ccf8e4ae684",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_094f0dcb31f4da75016ab440a8539087d0ad11c0b192008ecd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.1,\"left_z\":0.14,\"left_gripper\":1.0,\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The lemon is currently occluded at the right edge, so I need the right arm parked to determine whether it remained on the table. In parallel, I’ll bring the left arm to a high hover over the clearly visible dark fruit, using the otherwise idle motion efficiently.\"}",
  "call_id": "call_zDeeZXIunDWnHFTMWXxMqtTN",
  "id": "fc_094f0dcb31f4da75016ab440abbf2887d0aef590dea49e2c0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zDeeZXIunDWnHFTMWXxMqtTN",
  "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]: [-0.487, 1.1446, 0.6884, -0.3889, -0.3256, -0.3313, 0.9914, -0.2661, 1.8393, 1.2858, -1.2877, -1.2713, -2.072, 0.9986]\nstate[eef_state]: left_x=0.3064 left_y=-0.0942 left_z=0.1208 left_yaw=-0.0317 left_pitch=-0.2178 left_roll=0.0266 left_gripper=0.9914 right_x=0.3319 right_y=0.0882 right_z=0.1713 right_yaw=1.5048 right_pitch=0.2685 right_roll=-0.2187 right_gripper=0.9986\nstate[joint_eff]: [-0.335, -3.5761, 9.3607, 1.7021, -0.3834, -0.0122, -0.5739, -0.6222, -9.6889, 5.1077, -0.1783, -0.6325, -0.2173, -0.1636]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b632ca7b5347b3445231ea6741025e24fb976948e29989898667aaf1b62418eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024a33c19a54a91a64e91e88b5ac98c70a8967b40e81ec381cfd98bbc8eb4c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e38e29d8a9332cc4cbea95237f0296fa06e8ffea1fcf685ca1cbc001cfc18d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]