adhoc - adhoc_c61831cb.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 213.3 s
total steps: 373

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 lined up in front of the bowls: a dark one on the left, a yellow one in the middle, and a green one on the right. I’ll bring the right gripper above the green fruit first, keeping it high enough to avoid disturbing it.

move_to

right_x0.3600right_y0.1300right_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, 0.8005, 0.6136, -0.3866, -0.0143, -0.0299, 0.9988, -0.0223, 0.7998, 0.6182, -0.3908, -0.0227, -0.0124, 0.9994] state[eef_state]: left_x=0.2955 left_y=-0.0004 left_z=0.1812 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2954 right_y=0.001 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.294, -1.265, 9.6205, 1.8877, -0.1197, 0.105, -0.1343, -0.0615, -1.1692, 9.1829, 1.8828, 0.0122, -0.0269, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.13,"right_z":0.15},"note":"I see three fruits lined up in front of the bowls: a dark one on the left, a yellow one in the middle, and a green one on the right. I’ll bring the right gripper above the green fruit first, keeping it high enough to avoid disturbing it."})

tool

executing move_to over 11 steps (1.1s)

step 11

assistant

agent noteThe right gripper is over the green fruit, which is partly hidden by the tool in the overhead view; the blue bowl is farther forward and to its left. I’ll lower the open jaws to about the fruit’s middle, with a slight adjustment toward the base.

move_to

right_x0.3400right_y0.1300right_z0.0270

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4007, -0.0135, -0.0311, 0.9987, 0.5369, 1.3167, 0.7227, -0.1093, 0.4152, 0.2863, 0.9993] state[eef_state]: left_x=0.2939 left_y=-0.0005 left_z=0.1767 left_yaw=-0.0 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3501 right_y=0.1296 right_z=0.1304 right_yaw=0.0328 right_pitch=-0.0613 right_roll=-0.037 right_gripper=0.9993 state[joint_eff]: [-0.1573, -1.7026, 7.2957, 1.8486, -0.0317, -0.0659, -0.022, -0.1846, -5.3812, 8.7863, 1.8974, 0.3492, 0.2027, -0.022] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.13,"right_z":0.027},"note":"The right gripper is over the green fruit, which is partly hidden by the tool in the overhead view; the blue bowl is farther forward and to its left. I’ll lower the open jaws to about the fruit’s middle, with a slight adjustment toward the base."})

tool

executing move_to over 7 steps (0.7s)

step 18

assistant

agent noteThe green fruit remains directly beneath the right jaws, but the readback shows they stopped around 7 cm above the tabletop rather than reaching the fruit’s middle. I’ll lower once more carefully at nearly the same horizontal position before closing.

move_to

right_x0.3500right_y0.1350right_z0.0050

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4084, -0.0139, -0.0319, 0.9987, 0.5545, 1.562, 0.4847, 0.5499, 0.4412, 0.2882, 0.9993] state[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1751 left_yaw=0.0007 left_pitch=-0.0275 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3654 right_y=0.1418 right_z=0.0732 right_yaw=0.0267 right_pitch=0.0992 right_roll=0.0383 right_gripper=0.9993 state[joint_eff]: [-0.0615, -1.2513, 7.0769, 1.8291, -0.0269, -0.0513, -0.0122, 0.3624, -2.947, 2.6325, 0.5836, -0.0073, 0.1148, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.135,"right_z":0.005},"note":"The green fruit remains directly beneath the right jaws, but the readback shows they stopped around 7 cm above the tabletop rather than reaching the fruit’s middle. I’ll lower once more carefully at nearly the same horizontal position before closing."})

tool

executing move_to over 5 steps (0.5s)

step 23

assistant

agent noteThe second descent did not track: instead, the right wrist rose and tilted while remaining over the fruit. I’ll back it closer to its base and try a less extended low pose rather than forcing the same target.

move_to

right_x0.3100right_y0.1300right_z0.0450

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4164, -0.0139, -0.0338, 0.9987, 0.5602, 1.8275, 0.4, 1.219, 0.4519, 0.2806, 0.9993] state[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1727 left_yaw=0.0018 left_pitch=-0.0382 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3828 right_y=0.1533 right_z=0.0863 right_yaw=-0.0132 right_pitch=0.3741 right_roll=0.1986 right_gripper=0.9993 state[joint_eff]: [-0.1299, -1.5521, 7.0632, 1.7851, -0.0708, -0.0269, -0.0122, 0.0889, -2.2085, -0.0479, -0.2808, -0.0024, 0.1001, -0.022] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.31,"right_y":0.13,"right_z":0.045},"note":"The second descent did not track: instead, the right wrist rose and tilted while remaining over the fruit. I’ll back it closer to its base and try a less extended low pose rather than forcing the same target."})

tool

executing move_to over 6 steps (0.6s)

step 29

assistant

agent noteThe right arm is now holding almost the same pose despite the retreat request, so I will lift it clear and return it toward its home position. That should let me approach the fruits without the wrist crowding the bowl.

move_to

right_x0.2900right_y0.0000right_z0.1900

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, 0.8089, 0.6132, -0.4236, -0.0139, -0.0338, 0.9987, 0.5602, 1.8275, 0.4, 1.2194, 0.4522, 0.2806, 0.9993] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1712 left_yaw=0.0018 left_pitch=-0.0458 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3828 right_y=0.1532 right_z=0.0864 right_yaw=-0.0137 right_pitch=0.3745 right_roll=0.1987 right_gripper=0.9993 state[joint_eff]: [-0.0615, -1.3333, 7.1179, 1.7705, -0.0708, -0.0513, -0.0122, 0.0068, -2.2359, -0.0752, -0.3004, -0.0024, 0.0806, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.19},"note":"The right arm is now holding almost the same pose despite the retreat request, so I will lift it clear and return it toward its home position. That should let me approach the fruits without the wrist crowding the bowl."})

tool

executing move_to over 13 steps (1.3s)

step 42

assistant

agent noteWith the right arm clear, the green fruit is still on the table and the three fruits remain separate. I’ll use the left arm for the dark fruit on its side of the table and inspect the alignment before descending.

move_to

left_x0.3450left_y-0.2000left_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, 0.8131, 0.6128, -0.4324, -0.0139, -0.0338, 0.9987, -0.1402, 0.5911, 0.2276, 0.2379, -0.1673, 0.1516, 0.9993] state[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1681 left_yaw=0.0018 left_pitch=-0.0591 left_roll=-0.002 left_gripper=0.9987 right_x=0.2955 right_y=-0.0084 right_z=0.1977 right_yaw=-0.0784 right_pitch=0.4388 right_roll=0.1893 right_gripper=0.9993 state[joint_eff]: [-0.1846, -1.5795, 7.0359, 1.8046, -0.0513, -0.0611, -0.0122, -0.1026, -0.1709, 9.5795, 1.9121, -0.1343, 0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.345,"left_y":-0.20,"left_z":0.14},"note":"With the right arm clear, the green fruit is still on the table and the three fruits remain separate. I’ll use the left arm for the dark fruit on its side of the table and inspect the alignment before descending."})

tool

executing move_to over 18 steps (1.8s)

step 60

assistant

agent noteThe dark fruit appears near the bottom of the left wrist camera, slightly left of the jaw center, so it is close to the fingertips. I’ll correct sideways by about a centimeter and lower toward its mid-height.

move_to

left_x0.3300left_y-0.1800left_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]: [-0.7788, 1.4715, 0.8806, -0.2604, -0.5735, -0.5411, 0.9987, -0.1402, 0.5964, 0.2298, 0.2089, -0.1875, 0.1452, 0.9993] state[eef_state]: left_x=0.3366 left_y=-0.1925 left_z=0.1239 left_yaw=-0.017 left_pitch=-0.1105 left_roll=0.0271 left_gripper=0.9987 right_x=0.2949 right_y=-0.0047 right_z=0.1905 right_yaw=-0.0569 right_pitch=0.4077 right_roll=0.1879 right_gripper=0.9993 state[joint_eff]: [-0.3624, -6.7077, 8.6359, 1.4872, -0.5983, -0.0611, -0.0122, -0.2667, -0.5538, 7.1726, 2.1661, 0.1392, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.33,"left_y":-0.18,"left_z":0.025},"note":"The dark fruit appears near the bottom of the left wrist camera, slightly left of the jaw center, so it is close to the fingertips. I’ll correct sideways by about a centimeter and lower toward its mid-height."})

tool

executing move_to over 7 steps (0.7s)

step 67

assistant

agent noteThe left grasp point reached about 2 cm above the table, and the dark fruit is centered between the open jaws in the wrist view. I’ll close the gripper and check its settled opening for a grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7681, 1.6547, 0.6201, 0.1226, -0.561, -0.5396, 0.9987, -0.1402, 0.6003, 0.2298, 0.2001, -0.1879, 0.1452, 0.9993] state[eef_state]: left_x=0.3219 left_y=-0.1753 left_z=0.0216 left_yaw=-0.0104 left_pitch=-0.1612 left_roll=0.0633 left_gripper=0.9987 right_x=0.2949 right_y=-0.0047 right_z=0.1873 right_yaw=-0.057 right_pitch=0.3952 right_roll=0.1891 right_gripper=0.9993 state[joint_eff]: [0.5402, -6.4752, 5.094, 1.5702, -0.2711, 0.0952, -0.0122, -0.1709, -0.5402, 7.4462, 1.9756, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left grasp point reached about 2 cm above the table, and the dark fruit is centered between the open jaws in the wrist view. I’ll close the gripper and check its settled opening for a grasp."})

tool

executing move_to over 10 steps (1.0s)

step 77

assistant

agent noteThe left gripper settled at roughly half its full opening, consistent with holding the dark fruit rather than closing empty. I’ll lift it clear and confirm it comes off the table.

move_to

left_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7681, 1.6756, 0.6037, 0.1314, -0.5613, -0.5438, 0.502, -0.1402, 0.6003, 0.2298, 0.197, -0.1886, 0.1452, 0.9993] state[eef_state]: left_x=0.3174 left_y=-0.1709 left_z=0.0108 left_yaw=-0.0045 left_pitch=-0.1815 left_roll=0.0804 left_gripper=0.502 right_x=0.2947 right_y=-0.0045 right_z=0.1866 right_yaw=-0.0564 right_pitch=0.3922 right_roll=0.1896 right_gripper=0.9993 state[joint_eff]: [-0.1573, -8.2803, 6.2291, 1.2381, -0.2808, -0.0073, 1.0085, -0.3077, -0.1436, 7.159, 1.9267, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.17},"note":"The left gripper settled at roughly half its full opening, consistent with holding the dark fruit rather than closing empty. I’ll lift it clear and confirm it comes off the table."})

tool

executing move_to over 11 steps (1.1s)

step 88

assistant

agent noteThe dark fruit is visible riding between the left jaws after the lift; the yellow and green fruits are still on the table. I’ll carry it over the center of the blue bowl at a safe height.

move_to

left_x0.4350left_y-0.3450left_z0.2100

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7681, 1.3918, 0.989, -0.5449, -0.5575, -0.5507, 0.5044, -0.1402, 0.6041, 0.2298, 0.1894, -0.1886, 0.1452, 0.9993] state[eef_state]: left_x=0.3194 left_y=-0.1736 left_z=0.1524 left_yaw=-0.0024 left_pitch=-0.1886 left_roll=0.0782 left_gripper=0.5044 right_x=0.2947 right_y=-0.0045 right_z=0.1837 right_yaw=-0.0568 right_pitch=0.3808 right_roll=0.1906 right_gripper=0.9993 state[joint_eff]: [-0.294, -7.1316, 8.7453, 1.2137, -0.3248, 0.0317, 0.6129, -0.1983, -0.335, 7.159, 1.9756, -0.0806, -0.0757, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.435,"left_y":-0.345,"left_z":0.21},"note":"The dark fruit is visible riding between the left jaws after the lift; the yellow and green fruits are still on the table. I’ll carry it over the center of the blue bowl at a safe height."})

tool

executing move_to over 16 steps (1.6s)

step 104

assistant

agent noteThe left gripper is above the blue bowl with the fruit still held. I’ll lower it toward the bowl’s opening before releasing, while staying above the rim.

move_to

left_x0.4400left_y-0.3600left_z0.1000

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]: [-0.852, 2.2421, 2.2486, -0.9955, -0.5907, -0.6491, 0.5044, -0.1402, 0.6075, 0.2298, 0.1814, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.4376 left_y=-0.3453 left_z=0.1993 left_yaw=-0.0038 left_pitch=-0.1942 left_roll=0.0554 left_gripper=0.5044 right_x=0.2945 right_y=-0.0046 right_z=0.1809 right_yaw=-0.0575 right_pitch=0.3694 right_roll=0.1915 right_gripper=0.9993 state[joint_eff]: [-0.8684, -13.6274, 8.0068, 0.5543, -0.4762, 0.022, 0.5495, -0.294, -0.5402, 7.4735, 1.956, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.44,"left_y":-0.36,"left_z":0.1},"note":"The left gripper is above the blue bowl with the fruit still held. I’ll lower it toward the bowl’s opening before releasing, while staying above the rim."})

tool

executing move_to over 7 steps (0.7s)

step 111

assistant

agent noteAt the lower height, the fruit is still between the jaws and the blue bowl’s opening sits slightly to their right in the wrist view. I’ll shift a few centimeters toward the bowl’s center and lower enough to release inside it.

move_to

left_y-0.3800left_z0.0720

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]: [-0.8604, 2.2612, 1.932, -0.7052, -0.5854, -0.6563, 0.5044, -0.1402, 0.6106, 0.2298, 0.1749, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.4356 left_y=-0.3513 left_z=0.1065 left_yaw=-0.0043 left_pitch=-0.2273 left_roll=0.0821 left_gripper=0.5044 right_x=0.2944 right_y=-0.0045 right_z=0.1785 right_yaw=-0.0578 right_pitch=0.3598 right_roll=0.1924 right_gripper=0.9993 state[joint_eff]: [-0.759, -11.494, 6.147, 1.3553, -0.442, -0.1294, 0.5495, -0.1846, -0.5265, 7.1453, 1.9463, -0.0611, -0.0464, -0.0122] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.38,"left_z":0.072},"note":"At the lower height, the fruit is still between the jaws and the blue bowl’s opening sits slightly to their right in the wrist view. I’ll shift a few centimeters toward the bowl’s center and lower enough to release inside it."})

tool

executing move_to over 3 steps (0.3s)

step 114

assistant

agent noteThe jaws are now low over the blue bowl’s opening, with the held fruit still visible between them. I’ll open the gripper to drop the dark fruit into the bowl.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8772, 2.3562, 1.9869, -0.6765, -0.5915, -0.6865, 0.5059, -0.1402, 0.6125, 0.2298, 0.1741, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.44 left_y=-0.3695 left_z=0.0788 left_yaw=0.0016 left_pitch=-0.2295 left_roll=0.073 left_gripper=0.5059 right_x=0.2945 right_y=-0.0046 right_z=0.1778 right_yaw=-0.0579 right_pitch=0.3572 right_roll=0.1926 right_gripper=0.9993 state[joint_eff]: [-1.265, -13.053, 7.9932, 1.0232, -0.4664, -0.0513, 0.6032, -0.0615, 0.0479, 7.1453, 1.9072, -0.0122, -0.0366, -0.0122] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The jaws are now low over the blue bowl’s opening, with the held fruit still visible between them. I’ll open the gripper to drop the dark fruit into the bowl."})

tool

executing move_to over 5 steps (0.5s)

step 119

assistant

agent noteThe dark fruit now appears inside the blue bowl in the left wrist view, and the jaws are open. I’ll lift out vertically to clear the rim before reaching for the yellow fruit.

move_to

left_z0.1900

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]: [-0.8753, 2.4008, 1.9915, -0.6838, -0.5842, -0.6899, 0.9949, -0.1402, 0.6125, 0.2298, 0.1631, -0.1883, 0.1455, 0.9993] state[eef_state]: left_x=0.4385 left_y=-0.3678 left_z=0.0547 left_yaw=0.0101 left_pitch=-0.2643 left_roll=0.1041 left_gripper=0.9949 right_x=0.2939 right_y=-0.0045 right_z=0.1751 right_yaw=-0.0584 right_pitch=0.3461 right_roll=0.194 right_gripper=0.9993 state[joint_eff]: [-0.4991, -17.4564, 6.0513, 1.1404, -0.3785, -0.0269, -0.1099, -0.1709, -0.0479, 7.1726, 2.0244, -0.0317, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":{"left_z":0.19},"note":"The dark fruit now appears inside the blue bowl in the left wrist view, and the jaws are open. I’ll lift out vertically to clear the rim before reaching for the yellow fruit."})

tool

executing move_to over 9 steps (0.9s)

step 128

assistant

agent noteThe dark fruit is visibly resting in the blue bowl after the left arm cleared it. I’ll position the open left gripper above the yellow fruit next, leaving the right arm parked away from the work area.

move_to

left_x0.3200left_y-0.3050left_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]: [-0.8757, 2.5576, 2.7747, -1.2545, -0.5842, -0.7044, 0.9958, -0.1402, 0.6151, 0.2298, 0.1528, -0.1886, 0.1452, 0.9993] state[eef_state]: left_x=0.4472 left_y=-0.3785 left_z=0.1818 left_yaw=0.007 left_pitch=-0.2285 left_roll=0.0495 left_gripper=0.9958 right_x=0.2935 right_y=-0.0043 right_z=0.172 right_yaw=-0.0583 right_pitch=0.3332 right_roll=0.1948 right_gripper=0.9993 state[joint_eff]: [-0.1436, -11.7402, 5.6821, 0.2613, -0.3248, 0.1099, 0.0806, -0.1026, -0.3624, 7.1453, 2.044, -0.0904, -0.0659, -0.0171] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.305,"left_z":0.14},"note":"The dark fruit is visibly resting in the blue bowl after the left arm cleared it. I’ll position the open left gripper above the yellow fruit next, leaving the right arm parked away from the work area."})

tool

executing move_to over 10 steps (1.0s)

step 138

assistant

agent noteThe yellow fruit is close to the left jaw column, slightly right of center in the wrist view. I’ll shift sideways about 1.5 cm and lower the open jaws to grasp its middle.

move_to

left_x0.3200left_y-0.3200left_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]: [-1.0012, 1.879, 1.4693, -0.7727, -0.6155, -0.8268, 0.9959, -0.1402, 0.6189, 0.2298, 0.144, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.3207 left_y=-0.305 left_z=0.1228 left_yaw=-0.0006 left_pitch=-0.2867 left_roll=0.1024 left_gripper=0.9959 right_x=0.2933 right_y=-0.0044 right_z=0.1689 right_yaw=-0.059 right_pitch=0.3207 right_roll=0.1958 right_gripper=0.9993 state[joint_eff]: [-0.6769, -10.8923, 6.3521, 1.326, -0.6716, -0.0562, -0.0024, -0.0752, -0.2803, 7.2274, 2.0049, -0.0855, -0.0806, -0.0171] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.32,"left_z":0.025},"note":"The yellow fruit is close to the left jaw column, slightly right of center in the wrist view. I’ll shift sideways about 1.5 cm and lower the open jaws to grasp its middle."})

tool

executing move_to over 7 steps (0.7s)

step 145

assistant

agent noteThe left jaws reached roughly 3 cm above the table, with the yellow fruit at their tip in the wrist view. I’ll close on it and check the opening before lifting.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0164, 2.0254, 1.3136, -0.5091, -0.6136, -0.8459, 0.9959, -0.1402, 0.6189, 0.2298, 0.136, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.318 left_y=-0.3136 left_z=0.0332 left_yaw=0.004 left_pitch=-0.3076 left_roll=0.1227 left_gripper=0.9959 right_x=0.2928 right_y=-0.0043 right_z=0.167 right_yaw=-0.0592 right_pitch=0.3127 right_roll=0.1965 right_gripper=0.9993 state[joint_eff]: [-0.8547, -8.9778, 5.1077, 0.8816, -0.4176, -0.1148, -0.0122, -0.0889, -0.253, 7.2137, 1.9902, -0.0952, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left jaws reached roughly 3 cm above the table, with the yellow fruit at their tip in the wrist view. I’ll close on it and check the opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 155

assistant

agent noteThe left gripper closed almost completely, so it missed the small yellow fruit; the wrist image showed it off to the right just before closing. I’ll reopen, lift, and shift toward that side to realign for one more attempt.

move_to

left_gripper1.0000left_z0.1100left_y-0.3400left_x0.3050

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0168, 2.0521, 1.3041, -0.5045, -0.6098, -0.8459, 0.0093, -0.1402, 0.6189, 0.2298, 0.1322, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.3152 left_y=-0.3104 left_z=0.0194 left_yaw=0.0106 left_pitch=-0.3272 left_roll=0.1492 left_gripper=0.0093 right_x=0.2925 right_y=-0.0043 right_z=0.1661 right_yaw=-0.0593 right_pitch=0.3089 right_roll=0.1968 right_gripper=0.9993 state[joint_eff]: [-0.1162, -12.7658, 6.3521, 0.7741, -0.4225, -0.022, 0.6471, 0.0068, -0.335, 7.1863, 1.9219, -0.0659, -0.0611, -0.0171] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_z":0.11,"left_y":-0.34,"left_x":0.305},"note":"The left gripper closed almost completely, so it missed the small yellow fruit; the wrist image showed it off to the right just before closing. I’ll reopen, lift, and shift toward that side to realign for one more attempt."})

tool

executing move_to over 10 steps (1.0s)

step 165

assistant

agent noteThe yellow fruit is no longer visible in the left wrist view, and the left tool blocks the table in the overhead view. I’ll move the open arm aside so I can locate it accurately rather than repeat a blind close.

move_to

left_x0.2800left_y-0.1600left_z0.2000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0668, 2.0514, 1.607, -0.8665, -0.6102, -0.9203, 0.9948, -0.1402, 0.6189, 0.2298, 0.1295, -0.1883, 0.1455, 0.9993] state[eef_state]: left_x=0.3063 left_y=-0.3383 left_z=0.0874 left_yaw=0.0211 left_pitch=-0.3497 left_roll=0.1548 left_gripper=0.9948 right_x=0.2924 right_y=-0.0043 right_z=0.1654 right_yaw=-0.0595 right_pitch=0.3062 right_roll=0.1974 right_gripper=0.9993 state[joint_eff]: [-0.8957, -13.1624, 8.335, 0.6911, -0.5495, 0.1245, -0.022, -0.0889, -0.2667, 7.1453, 1.9023, -0.0855, -0.0171, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.28,"left_y":-0.16,"left_z":0.2},"note":"The yellow fruit is no longer visible in the left wrist view, and the left tool blocks the table in the overhead view. I’ll move the open arm aside so I can locate it accurately rather than repeat a blind close."})

tool

executing move_to over 16 steps (1.6s)

step 181

assistant

agent noteThe overhead view shows the small yellow fruit was pushed backward to the left of its original spot, at about the middle-front of the table. I’ll bring the left arm above its new location before attempting another low grasp.

move_to

left_x0.2750left_y-0.2550left_z0.1050

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8196, 1.4063, 1.2732, -1.0168, -0.5297, -0.6724, 0.9958, -0.1402, 0.6193, 0.2298, 0.1291, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.2852 left_y=-0.1694 left_z=0.1964 left_yaw=0.0358 left_pitch=-0.3396 left_roll=0.1282 left_gripper=0.9958 right_x=0.2924 right_y=-0.0042 right_z=0.1652 right_yaw=-0.0594 right_pitch=0.3055 right_roll=0.1971 right_gripper=0.9993 state[joint_eff]: [0.1709, -6.4615, 5.7915, 0.906, -0.2564, 0.1685, 0.0855, -0.1026, 0.0205, 7.2547, 1.8779, -0.0806, -0.0415, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.275,"left_y":-0.255,"left_z":0.105},"note":"The overhead view shows the small yellow fruit was pushed backward to the left of its original spot, at about the middle-front of the table. I’ll bring the left arm above its new location before attempting another low grasp."})

tool

executing move_to over 8 steps (0.8s)

step 189

assistant

agent noteThe yellow fruit fills the bottom of the left wrist view but sits slightly right of the jaw center and close to the base side of the tips. I’ll lower while moving a couple of centimeters back and sideways to straddle it more squarely.

move_to

left_x0.2500left_y-0.2750left_z0.0180

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0161, 1.6833, 1.2057, -0.8204, -0.5735, -0.8696, 0.996, -0.1402, 0.6189, 0.2298, 0.1291, -0.1886, 0.1452, 0.9993] state[eef_state]: left_x=0.2707 left_y=-0.2482 left_z=0.1048 left_yaw=0.0222 left_pitch=-0.3784 left_roll=0.1566 left_gripper=0.996 right_x=0.2924 right_y=-0.0042 right_z=0.1653 right_yaw=-0.059 right_pitch=0.3059 right_roll=0.1971 right_gripper=0.9993 state[joint_eff]: [-0.4855, -7.8291, 5.9966, 0.8327, -0.652, -0.1197, -0.0024, -0.0752, -0.294, 7.1453, 1.8584, -0.1001, -0.0562, -0.0122] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.25,"left_y":-0.275,"left_z":0.018},"note":"The yellow fruit fills the bottom of the left wrist view but sits slightly right of the jaw center and close to the base side of the tips. I’ll lower while moving a couple of centimeters back and sideways to straddle it more squarely."})

tool

executing move_to over 6 steps (0.6s)

step 195

assistant

agent noteThe yellow fruit is now beneath the left jaws, with its body crossing their closing line in the wrist view. I’ll close and check whether the gripper stops on the fruit.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1019, 1.8557, 1.0821, -0.6132, -0.5842, -0.9539, 0.9959, -0.1402, 0.6235, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.2487 left_y=-0.2675 left_z=0.0235 left_yaw=0.0219 left_pitch=-0.4034 left_roll=0.1945 left_gripper=0.9959 right_x=0.2926 right_y=-0.0043 right_z=0.164 right_yaw=-0.0595 right_pitch=0.3009 right_roll=0.1975 right_gripper=0.9993 state[joint_eff]: [-0.6085, -8.1436, 4.9846, 0.6422, -0.4567, -0.188, -0.0171, -0.2256, -0.6906, 7.3368, 1.8779, -0.0757, -0.0611, -0.0171] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The yellow fruit is now beneath the left jaws, with its body crossing their closing line in the wrist view. I’ll close and check whether the gripper stops on the fruit."})

tool

executing move_to over 10 steps (1.0s)

step 205

assistant

agent noteThe left gripper stopped around 40% open, and the yellow fruit remains between the fingers in the wrist view. I’ll lift it and confirm it comes along before moving it to the blue bowl.

move_to

left_z0.1900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1038, 1.8736, 1.0729, -0.606, -0.5835, -0.9619, 0.3986, -0.1402, 0.6239, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.2467 left_y=-0.2651 left_z=0.0155 left_yaw=0.0322 left_pitch=-0.4117 left_roll=0.2088 left_gripper=0.3986 right_x=0.2926 right_y=-0.0043 right_z=0.1639 right_yaw=-0.0595 right_pitch=0.3005 right_roll=0.1975 right_gripper=0.9993 state[joint_eff]: [0.1162, -10.1538, 5.9556, 0.4713, -0.3785, 0.0269, 0.9011, -0.2393, -0.2256, 7.1863, 1.8828, -0.0659, -0.0708, -0.0122] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.19},"note":"The left gripper stopped around 40% open, and the yellow fruit remains between the fingers in the wrist view. I’ll lift it and confirm it comes along before moving it to the blue bowl."})

tool

executing move_to over 12 steps (1.2s)

step 217

assistant

agent noteThe yellow fruit stayed in the left jaws during the lift, while one greenish fruit remains on the tabletop. I’ll carry the yellow fruit high over the blue bowl.

move_to

left_x0.4400left_y-0.3700left_z0.2100

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1038, 1.7485, 1.5585, -1.2121, -0.5674, -0.9691, 0.4007, -0.1402, 0.6247, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.2479 left_y=-0.2728 left_z=0.1687 left_yaw=0.0289 left_pitch=-0.4233 left_roll=0.1926 left_gripper=0.4007 right_x=0.2926 right_y=-0.0043 right_z=0.1637 right_yaw=-0.0595 right_pitch=0.2998 right_roll=0.1976 right_gripper=0.9993 state[joint_eff]: [-0.0342, -9.306, 8.8274, 0.3394, -0.4371, 0.0659, 0.1978, -0.1436, -0.3487, 7.159, 1.8779, -0.022, -0.0806, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.44,"left_y":-0.37,"left_z":0.21},"note":"The yellow fruit stayed in the left jaws during the lift, while one greenish fruit remains on the tabletop. I’ll carry the yellow fruit high over the blue bowl."})

tool

executing move_to over 15 steps (1.5s)

step 232

assistant

agent noteThe fruit is secure, but the carry stopped several centimeters short of the bowl while the left wrist remained strongly tilted. I’ll straighten the wrist and make a modest repositioning move over the bowl instead of lowering off-center.

move_to

left_x0.4350left_y-0.3650left_z0.1800left_pitch0.0000left_roll0.0000left_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]: [-0.8524, 2.5435, 2.8548, -1.5646, -0.5034, -0.7166, 0.4027, -0.1402, 0.6277, 0.2298, 0.1291, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.4111 left_y=-0.3354 left_z=0.1794 left_yaw=0.0447 left_pitch=-0.4213 left_roll=0.1691 left_gripper=0.4027 right_x=0.2928 right_y=-0.0043 right_z=0.163 right_yaw=-0.0596 right_pitch=0.2971 right_roll=0.1978 right_gripper=0.9993 state[joint_eff]: [0.1983, -12.5607, 7.6376, 0.8034, -0.315, 0.2906, 0.1978, -0.1846, -0.1709, 7.159, 1.9072, -0.0659, -0.0415, -0.0122] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.435,"left_y":-0.365,"left_z":0.18,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The fruit is secure, but the carry stopped several centimeters short of the bowl while the left wrist remained strongly tilted. I’ll straighten the wrist and make a modest repositioning move over the bowl instead of lowering off-center."})

tool

executing move_to over 15 steps (1.5s)

step 247

assistant

agent noteStraightening the wrist brought the yellow fruit above the blue bowl, although the gripper drifted toward its far edge. I’ll move a few centimeters toward the bowl’s center and descend into its opening.

move_to

left_x0.4300left_y-0.3550left_z0.0850left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9146, 2.7598, 3.121, -1.2972, -0.6975, -0.691, 0.4043, -0.1402, 0.6304, 0.2298, 0.1219, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.4557 left_y=-0.3999 left_z=0.1878 left_yaw=0.0198 left_pitch=-0.0919 left_roll=0.0374 left_gripper=0.4043 right_x=0.2925 right_y=-0.0043 right_z=0.1606 right_yaw=-0.0598 right_pitch=0.2872 right_roll=0.1986 right_gripper=0.9993 state[joint_eff]: [-0.8137, -14.2701, 7.2547, 1.5604, -0.5641, 0.232, 0.149, -0.1162, -0.5402, 7.2547, 1.9609, -0.0659, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.43,"left_y":-0.355,"left_z":0.085,"left_pitch":0,"left_roll":0},"note":"Straightening the wrist brought the yellow fruit above the blue bowl, although the gripper drifted toward its far edge. I’ll move a few centimeters toward the bowl’s center and descend into its opening."})

tool

executing move_to over 7 steps (0.7s)

step 254

assistant

agent noteThe yellow fruit is hanging just over the blue bowl’s right side, and the wrist is not tracking further small corrections reliably. I’ll release it from this low height into the bowl rather than keep dragging the tool near the rim.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9207, 2.9417, 3.1268, -1.1233, -0.7277, -0.6884, 0.4059, -0.1402, 0.6312, 0.2298, 0.1097, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.4765 left_y=-0.4266 left_z=0.1057 left_yaw=0.0314 left_pitch=-0.0736 left_roll=0.0557 left_gripper=0.4059 right_x=0.2917 right_y=-0.0041 right_z=0.1575 right_yaw=-0.0601 right_pitch=0.2743 right_roll=0.1997 right_gripper=0.9993 state[joint_eff]: [-0.9778, -15.1179, 7.1726, 1.453, -0.5543, -0.0415, 0.149, -0.3214, -0.4308, 7.241, 1.9756, -0.0611, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The yellow fruit is hanging just over the blue bowl’s right side, and the wrist is not tracking further small corrections reliably. I’ll release it from this low height into the bowl rather than keep dragging the tool near the rim."})

tool

executing move_to over 6 steps (0.6s)

step 260

assistant

agent noteThe yellow fruit landed on the tabletop beside the blue bowl rather than inside it; the dark fruit is still in the bowl. I’ll raise and retreat the left arm to clear the view, then recover the misplaced fruit.

move_to

left_x0.2900left_y-0.1200left_z0.2000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8875, 2.9623, 3.1268, -1.1267, -0.717, -0.6773, 0.9948, -0.1402, 0.635, 0.2298, 0.1036, -0.1879, 0.1452, 0.9993] state[eef_state]: left_x=0.4892 left_y=-0.4113 left_z=0.0917 left_yaw=0.0536 left_pitch=-0.0951 left_roll=0.079 left_gripper=0.9948 right_x=0.2914 right_y=-0.0042 right_z=0.155 right_yaw=-0.0607 right_pitch=0.2644 right_roll=0.2004 right_gripper=0.9993 state[joint_eff]: [-0.6769, -17.7709, 7.4462, 1.16, -0.2955, 0.1148, 0.0122, -0.0615, -0.5265, 7.3368, 1.9853, -0.0464, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.12,"left_z":0.2,"left_pitch":0,"left_roll":0},"note":"The yellow fruit landed on the tabletop beside the blue bowl rather than inside it; the dark fruit is still in the bowl. I’ll raise and retreat the left arm to clear the view, then recover the misplaced fruit."})

tool

executing move_to over 26 steps (2.6s)

step 286

assistant

agent noteThe yellow fruit rolled forward beyond the blue bowl, near the far side of the table; the green fruit remains within easy reach. I’ll park the left arm and level both wrists before trying the green fruit with the right arm.

move_to

left_x0.2900left_y-0.0800left_z0.1900left_pitch0.0000left_roll0.0000right_x0.2900right_y0.0000right_z0.1900right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.775, 1.9572, 2.5881, -1.3628, -0.6445, -0.5877, 0.9958, -0.1402, 0.638, 0.2298, 0.0994, -0.1883, 0.1452, 0.9993] state[eef_state]: left_x=0.3905 left_y=-0.2289 left_z=0.4085 left_yaw=0.0595 left_pitch=0.0084 left_roll=-0.061 left_gripper=0.9958 right_x=0.2912 right_y=-0.0041 right_z=0.1532 right_yaw=-0.0605 right_pitch=0.2572 right_roll=0.2011 right_gripper=0.9993 state[joint_eff]: [0.1026, -11.494, 5.9966, 2.1172, -0.3053, 0.2564, 0.0952, -0.2803, -0.1026, 7.1316, 1.9609, -0.0415, -0.0562, -0.0171] camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.08,"left_z":0.19,"left_pitch":0,"left_roll":0,"right_x":0.29,"right_y":0,"right_z":0.19,"right_pitch":0,"right_roll":0},"note":"The yellow fruit rolled forward beyond the blue bowl, near the far side of the table; the green fruit remains within easy reach. I’ll park the left arm and level both wrists before trying the green fruit with the right arm."})

tool

executing move_to over 15 steps (1.5s)

step 301

assistant

agent noteThe green fruit is near the bottom-left of the right wrist view, and the right wrist is level again. I’ll bring the open right jaws above it with a small leftward shift, then assess the alignment before descending.

move_to

right_x0.3150right_y0.1250right_z0.1200right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5915, 1.0996, 1.8076, -0.654, -0.5415, -0.44, 0.9959, 0.0311, 0.7792, 0.6041, -0.4187, 0.0456, 0.0521, 0.9993] state[eef_state]: left_x=0.2758 left_y=-0.0713 left_z=0.5644 left_yaw=0.2354 left_pitch=0.5532 left_roll=-0.536 left_gripper=0.9959 right_x=0.2884 right_y=0.0045 right_z=0.1761 right_yaw=-0.0389 right_pitch=-0.021 right_roll=0.0157 right_gripper=0.9993 state[joint_eff]: [0.3624, 1.4291, 5.6274, 2.6398, 0.2125, 0.2759, -0.0073, -0.0068, -1.4564, 9.347, 1.8926, 0.1148, 0.0708, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.315,"right_y":0.125,"right_z":0.12,"right_pitch":0,"right_roll":0},"note":"The green fruit is near the bottom-left of the right wrist view, and the right wrist is level again. I’ll bring the open right jaws above it with a small leftward shift, then assess the alignment before descending."})

tool

executing move_to over 11 steps (1.1s)

step 312

assistant

agent noteThe green fruit now appears centered beneath the right jaws in the wrist camera, unlike the first attempt. I’ll lower toward its mid-height while keeping the leveled wrist and checking whether the descent stops on contact.

move_to

right_x0.3000right_y0.1250right_z0.0500right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5602, 0.7189, 0.9142, -0.448, -0.4881, -0.6983, 0.9959, 0.6327, 1.19, 0.5488, -0.1066, 0.5053, 0.3717, 0.9993] state[eef_state]: left_x=0.274 left_y=-0.0698 left_z=0.336 left_yaw=0.2476 left_pitch=0.2642 left_roll=-0.5651 left_gripper=0.9959 right_x=0.3056 right_y=0.1225 right_z=0.106 right_yaw=0.0101 right_pitch=-0.0656 right_roll=-0.0426 right_gripper=0.9993 state[joint_eff]: [0.0889, -0.2803, 8.8, 1.9707, -0.0171, 0.0073, -0.0122, 0.1299, -4.3009, 7.8564, 1.7949, 0.4078, 0.1734, -0.0122] approver: 11 step(s) modified (delta_clamped ×11). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.30,"right_y":0.125,"right_z":0.05,"right_pitch":0,"right_roll":0},"note":"The green fruit now appears centered beneath the right jaws in the wrist camera, unlike the first attempt. I’ll lower toward its mid-height while keeping the leveled wrist and checking whether the descent stops on contact."})

tool

executing move_to over 4 steps (0.4s)

step 316

assistant

agent noteThe right grasp point has reached about 3 cm above the table, and the green fruit fills the space between the open fingers in the wrist view. I’ll close now to catch it near its base.

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]: [-0.5602, 0.7177, 0.9142, -0.445, -0.4881, -0.7044, 0.9959, 0.6579, 1.3464, 0.3313, 0.2047, 0.5198, 0.3855, 0.9993] state[eef_state]: left_x=0.2739 left_y=-0.0698 left_z=0.3369 left_yaw=0.2513 left_pitch=0.2653 left_roll=-0.5741 left_gripper=0.9959 right_x=0.2853 right_y=0.1141 right_z=0.0312 right_yaw=0.0135 right_pitch=-0.1096 right_roll=-0.0771 right_gripper=0.9993 state[joint_eff]: [0.1026, -0.7179, 8.841, 1.9658, -0.0317, 0.0366, -0.0122, 0.1709, -5.2034, 6.5436, 1.9951, 0.3248, 0.0073, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The right grasp point has reached about 3 cm above the table, and the green fruit fills the space between the open fingers in the wrist view. I’ll close now to catch it near its base."})

tool

executing move_to over 10 steps (1.0s)

step 326

assistant

agent noteThe right gripper stopped at about 62% open, which could mean it has the broad green fruit, though the wrist view is ambiguous. I’ll lift a short distance and check the overhead image to confirm whether the fruit moves with it.

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]: [-0.561, 0.7261, 0.9131, -0.4667, -0.4889, -0.7078, 0.9959, 0.6724, 1.3666, 0.2939, 0.3153, 0.5385, 0.3744, 0.6188] state[eef_state]: left_x=0.2744 left_y=-0.0702 left_z=0.3296 left_yaw=0.247 left_pitch=0.2428 left_roll=-0.5539 left_gripper=0.9959 right_x=0.2869 right_y=0.1172 right_z=0.0318 right_yaw=0.0226 right_pitch=-0.0597 right_roll=-0.0644 right_gripper=0.6188 state[joint_eff]: [-0.0068, -0.9368, 6.612, 2.0293, -0.1441, -0.0024, -0.0122, 0.0342, -4.2325, 4.7932, 1.4237, 0.3101, -0.0171, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.14},"note":"The right gripper stopped at about 62% open, which could mean it has the broad green fruit, though the wrist view is ambiguous. I’ll lift a short distance and check the overhead image to confirm whether the fruit moves with it."})

tool

executing move_to over 7 steps (0.7s)

step 333

assistant

agent noteThe right gripper still reads partly open after lifting, but the fruit remains visible low in its wrist view, so I cannot yet tell whether it is securely held. I’ll carry it over the blue bowl and check whether the fruit actually travels with the jaws.

move_to

right_x0.4250right_y0.2750right_z0.2000right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5613, 0.7319, 0.9131, -0.4683, -0.4885, -0.7082, 0.9959, 0.6724, 1.0733, 0.5682, -0.2398, 0.5228, 0.374, 0.6214] state[eef_state]: left_x=0.2753 left_y=-0.071 left_z=0.3278 left_yaw=0.2452 left_pitch=0.2376 left_roll=-0.5489 left_gripper=0.9959 right_x=0.2886 right_y=0.1216 right_z=0.1269 right_yaw=0.0352 right_pitch=-0.056 right_roll=-0.0486 right_gripper=0.6214 state[joint_eff]: [-0.2803, -0.7863, 6.5162, 1.8339, -0.1001, -0.0464, -0.0122, -0.3624, -4.1641, 9.4291, 1.707, 0.2955, -0.0513, 0.8864] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.425,"right_y":0.275,"right_z":0.2,"right_pitch":0,"right_roll":0},"note":"The right gripper still reads partly open after lifting, but the fruit remains visible low in its wrist view, so I cannot yet tell whether it is securely held. I’ll carry it over the blue bowl and check whether the fruit actually travels with the jaws."})

tool

executing move_to over 13 steps (1.3s)

step 346

assistant

agent noteThe large green fruit traveled with the right hand and is now over the blue bowl, so the grasp is real despite its visibility in the wrist camera. I’ll lower it toward the bowl’s center while keeping the other arm out of the way.

move_to

right_x0.4300right_y0.3000right_z0.0950right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5606, 0.7349, 0.9112, -0.4755, -0.4889, -0.7082, 0.9959, 0.762, 1.7901, 1.3888, -0.3759, 0.5644, 0.4122, 0.6239] state[eef_state]: left_x=0.2756 left_y=-0.0708 left_z=0.3246 left_yaw=0.2442 left_pitch=0.2292 left_roll=-0.5398 left_gripper=0.9959 right_x=0.4121 right_y=0.2676 right_z=0.1755 right_yaw=0.0715 right_pitch=-0.0629 right_roll=-0.0604 right_gripper=0.6239 state[joint_eff]: [0.0615, -0.212, 6.7761, 1.8486, -0.1441, -0.0269, -0.0122, -0.0205, -9.8667, 9.3607, 1.7167, 0.4371, 0.3004, 0.6813] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.3,"right_z":0.095,"right_pitch":0,"right_roll":0},"note":"The large green fruit traveled with the right hand and is now over the blue bowl, so the grasp is real despite its visibility in the wrist camera. I’ll lower it toward the bowl’s center while keeping the other arm out of the way."})

tool

executing move_to over 6 steps (0.6s)

step 352

assistant

agent noteAt bowl height, the blue rim appears to the right of the green fruit in the right wrist camera, so releasing now risks missing. I’ll shift the held fruit toward that visible opening before letting go.

move_to

right_x0.4300right_y0.2450right_z0.0800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5613, 0.7368, 0.9112, -0.4751, -0.4885, -0.7082, 0.9959, 0.7845, 1.98, 1.2659, -0.0902, 0.5671, 0.4198, 0.6239] state[eef_state]: left_x=0.2759 left_y=-0.0713 left_z=0.3242 left_yaw=0.2428 left_pitch=0.2281 left_roll=-0.5388 left_gripper=0.9959 right_x=0.4194 right_y=0.2897 right_z=0.0814 right_yaw=0.0866 right_pitch=-0.0823 right_roll=-0.0731 right_gripper=0.6239 state[joint_eff]: [-0.0615, -0.4855, 6.7077, 1.7851, -0.1392, -0.0415, -0.0122, 0.3214, -10.4821, 6.2427, 1.7607, 0.2857, 0.1343, 0.6374] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.245,"right_z":0.08},"note":"At bowl height, the blue rim appears to the right of the green fruit in the right wrist camera, so releasing now risks missing. I’ll shift the held fruit toward that visible opening before letting go."})

tool

executing move_to over 4 steps (0.4s)

step 356

assistant

agent noteThe bowl still lies to the right of the green fruit, while the grasp point has dropped close to table height. I’ll lift above the rim and move farther toward the bowl’s center before releasing.

move_to

right_y0.1850right_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]: [-0.561, 0.7406, 0.9112, -0.4751, -0.4885, -0.7082, 0.9959, 0.6865, 1.9556, 1.1473, -0.0311, 0.5022, 0.358, 0.6264] state[eef_state]: left_x=0.2766 left_y=-0.0716 left_z=0.3233 left_yaw=0.2426 left_pitch=0.2255 left_roll=-0.5359 left_gripper=0.9959 right_x=0.4244 right_y=0.2425 right_z=0.0537 right_yaw=0.0681 right_pitch=-0.1418 right_roll=-0.1051 right_gripper=0.6264 state[joint_eff]: [-0.0205, -0.253, 6.5573, 1.7705, -0.105, -0.0122, -0.0122, 0.6085, -13.8325, 6.7761, 1.8291, 0.2955, 0.0562, 0.6178] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.185,"right_z":0.14},"note":"The bowl still lies to the right of the green fruit, while the grasp point has dropped close to table height. I’ll lift above the rim and move farther toward the bowl’s center before releasing."})

tool

executing move_to over 6 steps (0.6s)

step 362

assistant

agent noteThe right arm stopped tracking while the fruit was pressed near the bowl’s rim, so forcing another sideways move would be unsafe. I’ll open the jaws and lift clear, then see whether the green fruit falls inside the bowl or beside it.

move_to

right_gripper1.0000right_z0.2000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5613, 0.7406, 0.9112, -0.4755, -0.4889, -0.7082, 0.9959, 0.6804, 1.948, 1.1336, -0.0261, 0.4919, 0.3359, 0.629] state[eef_state]: left_x=0.2765 left_y=-0.0717 left_z=0.3232 left_yaw=0.2425 left_pitch=0.2253 left_roll=-0.5356 left_gripper=0.9959 right_x=0.4231 right_y=0.2397 right_z=0.0523 right_yaw=0.0818 right_pitch=-0.1484 right_roll=-0.1163 right_gripper=0.629 state[joint_eff]: [-0.212, -0.3897, 6.5983, 1.7851, -0.1587, -0.0415, -0.0122, -0.0342, -13.5863, 6.5573, 1.6923, 0.1441, -0.0415, 0.2515] camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_z":0.2},"note":"The right arm stopped tracking while the fruit was pressed near the bowl’s rim, so forcing another sideways move would be unsafe. I’ll open the jaws and lift clear, then see whether the green fruit falls inside the bowl or beside it."})

tool

executing move_to over 10 steps (1.0s)

step 372

assistant

agent noteI could not complete the transfer. The dark fruit is in the blue bowl, but the yellow fruit rolled toward the far edge beyond reliable table-level reach, and the green fruit was released beside the bowl after the arm stopped tracking near its rim. The fruits are not all in the blue bowl, so pouring it now would not meet the goal.

give_up

hindsightOn this setup, a fruit visible near the bottom of a wrist image can still be behind the actual grasp point; for the small yellow fruit, moving the left grasp point about 5 cm toward the base and 4 cm toward the arm's right from its first approach produced a secure grasp. The left arm tracked poorly near the blue bowl when its wrist was pitched about −0.4 rad and its elbow approached its joint limit; straighten the wrist before carrying to the bowl. The blue bowl is roughly at left (x=0.44, y=−0.37), and the right arm's view showed that a green fruit held at right y=0.24 was still several centimeters to the side of its opening. Release only after checking the actual readback and alignment.

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]: [-0.561, 0.7471, 0.9112, -0.4763, -0.4889, -0.7082, 0.9959, 0.6838, 1.7901, 1.5032, -0.5148, 0.4778, 0.3218, 0.998] state[eef_state]: left_x=0.2777 left_y=-0.0723 left_z=0.3214 left_yaw=0.2417 left_pitch=0.2202 left_roll=-0.5302 left_gripper=0.9959 right_x=0.4268 right_y=0.2477 right_z=0.195 right_yaw=0.1066 right_pitch=-0.1225 right_roll=-0.0966 right_gripper=0.998 state[joint_eff]: [-0.0615, -0.4034, 6.5573, 1.8046, -0.1441, -0.0415, -0.0073, -0.5538, -9.2786, 9.0462, 1.5702, 0.3492, 0.0952, -0.0757] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not complete the transfer. The dark fruit is in the blue bowl, but the yellow fruit rolled toward the far edge beyond reliable table-level reach, and the green fruit was released beside the bowl after the arm stopped tracking near its rim. The fruits are not all in the blue bowl, so pouring it now would not meet the goal.","hindsight":"On this setup, a fruit visible near the bottom of a wrist image can still be behind the actual grasp point; for the small yellow fruit, moving the left grasp point about 5 cm toward the base and 4 cm toward the arm's right from its first approach produced a secure grasp. The left arm tracked poorly near the blue bowl when its wrist was pitched about −0.4 rad and its elbow approached its joint limit; straighten the wrist before carrying to the bowl. The blue bowl is roughly at left (x=0.44, y=−0.37), and the right arm's view showed that a green fruit held at right y=0.24 was still several centimeters to the side of its opening. Release only after checking the actual readback and alignment."})

tool

give_up: I could not complete the transfer. The dark fruit is in the blue bowl, but the yellow fruit rolled toward the far edge beyond reliable table-level reach, and the green fruit was released beside the bowl after the arm stopped tracking near its rim. The fruits are not all in the blue bowl, so pouring it now would not meet the goal.

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 4.834 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6136, -0.3866, -0.0143, -0.0299, 0.9988, -0.0223, 0.7998, 0.6182, -0.3908, -0.0227, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0004 left_z=0.1812 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2954 right_y=0.001 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.265, 9.6205, 1.8877, -0.1197, 0.105, -0.1343, -0.0615, -1.1692, 9.1829, 1.8828, 0.0122, -0.0269, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e267a0fe79c528bdd758185a45578acb848671fad9d05dd5bb178eb2ec5b244",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f76603526e774457c3884d57005aec59ae99f7b3b3a0c5a577471c025ef01f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef0e5b1a7687dabef2fc26ea44e831372d3b01951f896a1cfdca43295fccdbe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 4.588 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUT8IGz4deatIfUaCyHIPtVgjyW27L09nRmcBd3lhZb6-nXI1vDTGL7y8YeNHQoPpuIq0ex5Y3Iq5yweJqa1V0H6LMoOA-k3_Uc-v6htEY_B38FTGAwICoX2g5CAjdhl1oc7zFvzEVsRSw_wJdopc8RkkdSWYAuwmY2Bt835NYaoAE452AET5MC_QoGESqB0DUKw9PFeVnqYWAUfMiXeXamvU186lO6gt-dHtZl839Tz-hjBSpzPytPwt3IEXQqWwET7xf3Rf-F7h16QVn_GQYVxzPL3uQsaJ9cmfq6rW14gpkL3hezwvdmi_1v_A3BgNMocyFgzNFZo9edrQZVz0TtbWUR4nSezPq7EgWeRATF0be6pCWgJ1g2qRWsNgBWDFj92N_mahPh-qKqv0bVUfG1E5ZKe_kgmb25WM-ZsU72qQo-xBZBxDP7TsMNsqxVry2dD-2_leydl6ybx7-3KETBuhciZRLEom_BVg82iyS1WAMWwfEy2lrWpwbctmI1n6eqhxizJOBqv8FKiPO1Ys9birFP1U4FRO5rKy9Ffycz66_GvWn5M0qDoHQgsSZUqRr5IYhycCkwAHSUTbFi_ce4thYy8FGLk0IudcfiDWaSO5VH7aHVXE2x-YIk2U1wntfMohvbclMDjceZxL-g94bCHGG_Drwsoq0zihng1Ya_kOeFNdaWIkvTe2RxMH5KFzK5Q-MmiFTxx4sOFT0UTgoCTnMXGgulPum4rklNTYF_020RqJdTLqiOR-ZjprOYs5RcjO9h87L5SErYegwh6UsOAwQulsTyy5qfItE5evmOvQaoxRTzeqmgrbC0DFFnOLiPGVQf2XD1xjsxXiyxb87nm9n0rCSZMdhzU9-H37eQtMq32pWnVBWcoY3xJYhq4ZhzJJ1WCz1QwKdHG1SjUvI-1yhWw593HnV9dqtPxAcrWbjXCbn2pwpR7ZZ4xY2lxvNwyIPHZs1-QLa0M7rWvyVCKr__5KLwNzwrLDBlEWK6vSPFvtgkDfilRzAn8tbgX-zUy4Bn7Pgn44Do0m01kP5O4wxZINzM7bldNlWNA_iFIKAmJDC3av5daFo0jRiTocX3aW8oXsI7damoNMKAXdCQjhfmdH4ewQifaq__P6yxg2nDxBAGDco-cSUh5rmIAk2p72JCBspHE3HzPqxlxMo4TEObeG-HdAKzVHTI4xOvvHhmE5PkidIp4zb85Ub-anw9USjELs6GO_JUR-dNCy9x26Gs2dZ4sTixOskfVX5uvprHS6kC3KVK80Exm9gbpW6EZ9X5V4V90qlScW83rVoivi5XF9kKUQBqvlhFnaIk7pq7ld_qDqo_9lRYjI_4pHxzESEuRUDV6M8TRb4ngG8kBxC9z_gI686A3B4L2rbE2Ptmd3F9QSW4OsPGERBvbYGK0Xd-vyafIj4FcPmmborElRVGhISrKlka8m7EDq4--6D7soUhhy2CG52T1Ry9P8QHC9_1IWejrg7WOes6MpVhmZ_7ivjGS6_n4BMZChTu7KHhjLj2vCaWxMgYPH0x6Lwzedc-OQqrNNoOGDla7tSyeEAR3l6eTnEW9wF3rAMaryLY4IHCtNy9OV233rWQLoerIfK5yt7yxtg9eY4xYXrparSmRTH4MQnnV1_B6gtrW8Njej6GP5T85HFTOoioQ1UuduY23_IFM_ynJ6OL5vxeXBLFNHSnpztwvdlWLpLEPbUlfclXKnaeFRZoMLzlH6NNDTwSk2IxIgKxdRFG9OCZyW-VCCyRE9_9rPi9xLoOOKloa17E6_ngb66GTgH2PWJV-JaGQGM1W0CL1Bs-S7X8lIGuQC2WfA38NjD2ckiIKvDOnxnMFbbARzRMRx4pk729Bh5CIpm5yjdfFSBHK3EHMnyCvtyJhPvUP8j2MjSY7HDK1Mf7m4SVTHwhihGob4LPUTq3wldH5QVMk-Np1DRMOPlIoY8gida8qY9eb6euJSgoY7UYfNJLQuvh4CVaw5piHoUNpS1oOiOLgrL7GMzCa84coe2BgHm7-V4uf5pB3gatkP2Nr4fghj2T8sONBbRiCIz8lhFxVuaVMb4E3phDgv8_TV5T5MWdEap3fdZPWPxB1was-zzG-lnrsfq5TqRQXzpsEQT18V6cDtlzCY3cFwZILf8WobSBYDtZUvgeHS93oB56JLjumHEDDF9O4Kqa9LEjfAvapD_LXPSbkqUvy85fBjKuH2zOEeS84eKBFClyDaDmfybDuL1wuDHARSaJepyWp7Qw4QRe1b_1yUQixBYGH4ilrD_lAebc8oqi2dqUf2m2joBACs8IsDvs95sef0xnnn2c_7cb9vQz-M9IQ1baMUqscTJgaC8eCzMcqlMpJ96jv5A8-zAraveFbMtYenjv06TJ-Kk6WeFPtuTwYRXbiQkJ2vRMBBmgt0ggWrulQqyaJS4fe2fgPVBZ7B5-pA0dj7skazK63VxAcYKLfmTvn9b3gF2zJbk6YbH3ngQU1fXJX1PgPrjxhWcKyjdnFoCsvJU5sQwSdIRfEk22IYK60PSsuv-kEpPvsmDoHqf-P-UOl0Lw7N1IzGx5LJegMkdutPjx3o_g4qJwB1bAc0f_GT26ef11tpljAOhlkE00j4oDSmUEZJGQvUPPLvRGA5kTAOS8RBG2j2InLIAE4l3WIvx90AwXuC9-PZGpUvylLhgaClPGHFNwVJenURic4W6EgDWZ2yrUtNNNb1DWNryclo5aYy29cLdRYku7cdI=",
  "id": "rs_02f80a158c77b49a016ab4351011d487d0b352160bb28b8aeb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.13,\"right_z\":0.15},\"note\":\"I see three fruits lined up in front of the bowls: a dark one on the left, a yellow one in the middle, and a green one on the right. I’ll bring the right gripper above the green fruit first, keeping it high enough to avoid disturbing it.\"}",
  "call_id": "call_rOD4BtE0smcSRNikQXKTcNqj",
  "id": "fc_02f80a158c77b49a016ab43512f45887d0b30412bb45810adc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rOD4BtE0smcSRNikQXKTcNqj",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4007, -0.0135, -0.0311, 0.9987, 0.5369, 1.3167, 0.7227, -0.1093, 0.4152, 0.2863, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0005 left_z=0.1767 left_yaw=-0.0 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3501 right_y=0.1296 right_z=0.1304 right_yaw=0.0328 right_pitch=-0.0613 right_roll=-0.037 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.7026, 7.2957, 1.8486, -0.0317, -0.0659, -0.022, -0.1846, -5.3812, 8.7863, 1.8974, 0.3492, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6423ff4e61699893abd3b4cc42e1064c2c7ed6a26ed384c027fc3982c983c1d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0d87c4dd6341dca58ba2c854fb2522ca241876c12810e1d2009102419830ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce322d4b192446fe3a1b87fe5c0a9da82a9c20f93edda2340ab92bdad8755459",
      "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 · 3.549 s

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

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6136, -0.3866, -0.0143, -0.0299, 0.9988, -0.0223, 0.7998, 0.6182, -0.3908, -0.0227, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0004 left_z=0.1812 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2954 right_y=0.001 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.265, 9.6205, 1.8877, -0.1197, 0.105, -0.1343, -0.0615, -1.1692, 9.1829, 1.8828, 0.0122, -0.0269, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4007, -0.0135, -0.0311, 0.9987, 0.5369, 1.3167, 0.7227, -0.1093, 0.4152, 0.2863, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0005 left_z=0.1767 left_yaw=-0.0 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3501 right_y=0.1296 right_z=0.1304 right_yaw=0.0328 right_pitch=-0.0613 right_roll=-0.037 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.7026, 7.2957, 1.8486, -0.0317, -0.0659, -0.022, -0.1846, -5.3812, 8.7863, 1.8974, 0.3492, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6423ff4e61699893abd3b4cc42e1064c2c7ed6a26ed384c027fc3982c983c1d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0d87c4dd6341dca58ba2c854fb2522ca241876c12810e1d2009102419830ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce322d4b192446fe3a1b87fe5c0a9da82a9c20f93edda2340ab92bdad8755459",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUg-mroyftg0gGO_LLrnSbnUEuh-VIE248_9GcYHtYoCeXImekoMUlnl7-Pg8hdVrl0NNOA9WRzpgonYyn5dN9UAGnlw_0V8G3Km1qzrM1Jb5T3Xy5pSgER13Fom3DSBfhd7OgRnvlnfmJnVqQY-L91aPkkwyngNmX9mG7NxKk_eKLlfrsxMfcEuDzJfnKC8F-UD2_8dPIg1oWCU4xXkMZdXVNxE8LdGNfozb5Hfh7ChhOgC009M309agBHHy4vbtyeeENnet3VvC36KoBlr0GYBOe7ZNpQWheqv6wwgiKCjDQG-H6zFEHhIf9sG6pNwjQbdV6hJnRaUUOlxmyrUKbkUT0kSDCk9DiauTBJoyE035PeYtOrX_xryUENXjnnfK7fH-i-p20VcbiQqisAB2FFMu8cZ-hg7y7R3ehqAYuT7LPKuPJkiN1dr4GeBBhYeE2WZOqPf6nLgCNB9gBp2R0js7gKawbctVVGgHKfFfJRqgKOWT4Ig-R6UHEJ69wNXPi5pFQKloa-FZF6-SNsqEnoBRa-txPy6hHxOFNO4J5StZuepTbH1gZrYzFHNqxDpvbRBKq6i7fRhSddsoBywkiOIhja5aBVViCrI-fdDbikG8xvFgLly5s38XDGg4whdluV9r7ZSX8mZo05VVUVo89BDeorsBeFzqO6QFF65pO4C5IAn5etinI8c6z9rkuSgnv6XxDf9Y_Z54ENXSgfvU0UKubaRqOsm_B9k9EQaLcHty9iBMllrNhx2NQW-d0de70xuR39N5gM9p4vsrZ1-dPKSpzBBc83-FzIPKWAL3uNFHPtnQ71RPPqJ0PwQjfdKSl6laewkUJO2ku-H8ELuhwvjZFEZme57bIIexU5CkUXRepSsCX1CDTmkY4fzGGQ-na5earnsExRWLJaQKGq7KCRlm4Hw-K3fLZBP9iTN8kDdC5BsX9I7CLM9ruXvoBCt4GPnaQTDtpy5UiGM9-3ZeyXFFQfAysFvO__HtT4lbpV_hUq14t4aZHDlKgI_XLXF9g_xD0C8RMs_TdgIiw8MyRGKvZXB46TM_w8DqvTMZ_dSkvNVQRzWMOofYZI4hdBhkVygYpprt4zkhKIvARJ8ykdUXPzTIETGVdR6Fa1FGJ1FSCx8rsN_paOp2Sfeg2HdHJAzEU1U_NlsMoruFYBjAuubWOtpFTe3mTRCura71M-yKzln6XEizdJjkTY6wV5qYREEbc-UW_TMC-qMZYEYWUgTK1wT4_KCblbIz3o714Cg3Hn_tBMkNNkhXYXomHbByqvSQJW-5lKJgesEVDa-mf04CuSdtbZ_9G-l1THiFfhdNa1uzli6v0QoQNIOff-bBJ36ANpmfGbCNzv1qvfsHdr3Y1xeOMIz55lNZZTSX6PWNGAyOFSWpkqaCw_A1rBYVYWz432pXCPsml7xyRh5TGJXQL7No_28nBTTiwgbA1Lr03ohPL9JwddCjvhDR0cej_aN0WH4z21K3n6b57p_Hcb0aeaEq5t4gM8ymo6uIAXoIAoc0zTrKpTYydf1LjgNTztw1Y3-g0LGatChbzGBlscrDZ6mxCk3P-0Yukh-vuZPCpW4JOThkVQU2TvogjAtyg0TvXTsFKmF1qkF6p9l9oS_iLevHTdglkjWWQenEFTRafDowOA4GMGeIs57l9D_y8-9fy9wFxdzoirijCzmXbvqTv0sRX4JhNsgUzPuSp8upnGg3n9bAqdApnC5kOG0d1kHdlxROTPGiG2JOwkQDDxdqPA5AJJit6SpFoP2kEurS5lpOj_7-ei_wFPUSE4s09TvOxzRCv5HRhQ_vLPCzy7JUvWT2drn_4dyrFpXDK5xqgsGChkkP7dtkcy1TnwZxtA048sSUmw6-uwr6Suy0o52u-qqUP-2Z-ElQBYrP_02ogM_VpEf2BFwhbDQQcQ3tvPfAdeMwTO1bU2e54ZoQf9cJ654cgEGrFuke0aW6RjLOO7ZFuLKJPCnDLrP9UfloeRlkYPAglVwrcTPToIW-ibBD6jfQDwzShiUBUnyS-YIEpxhGH8X1sUfnj-rJH0ePqUPmlX3Yn4Wlj0MDUeFeITpeBMTKQCqCGuhbh5E-HKY6jW0SX7cQDVG4oi745YynSVynr_BhewL-ZYwYJHcKo5Y606AIW_HnwbmRobO8-D7xogQESJbOoTJ5jLKwX5DhTD5XcFkbEQhnpJXiAuTcnQcIkvGvh8oMyjD11p3Wsq_zM=",
  "id": "rs_02f80a158c77b49a016ab4351d532887d0919e8129700be0be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.13,\"right_z\":0.027},\"note\":\"The right gripper is over the green fruit, which is partly hidden by the tool in the overhead view; the blue bowl is farther forward and to its left. I’ll lower the open jaws to about the fruit’s middle, with a slight adjustment toward the base.\"}",
  "call_id": "call_yXvzONCC1PYecnBcxmld8Zzt",
  "id": "fc_02f80a158c77b49a016ab4351f91ec87d0b5e72bac15ce78b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yXvzONCC1PYecnBcxmld8Zzt",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4084, -0.0139, -0.0319, 0.9987, 0.5545, 1.562, 0.4847, 0.5499, 0.4412, 0.2882, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1751 left_yaw=0.0007 left_pitch=-0.0275 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3654 right_y=0.1418 right_z=0.0732 right_yaw=0.0267 right_pitch=0.0992 right_roll=0.0383 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.2513, 7.0769, 1.8291, -0.0269, -0.0513, -0.0122, 0.3624, -2.947, 2.6325, 0.5836, -0.0073, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56c9fa5e7f92db88882b458d12bf3eb3407e64baad60e81bc81da5b91b883ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb7bd63f1dc1cbe9d1940cc1661c5d87bcda8c67761f61b01e80fd0b524bce9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59fc9c20a2c04fc7418028669e616fa38b656e65f3b403c1d97624283c57e468",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.196 s

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

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4007, -0.0135, -0.0311, 0.9987, 0.5369, 1.3167, 0.7227, -0.1093, 0.4152, 0.2863, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0005 left_z=0.1767 left_yaw=-0.0 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3501 right_y=0.1296 right_z=0.1304 right_yaw=0.0328 right_pitch=-0.0613 right_roll=-0.037 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.7026, 7.2957, 1.8486, -0.0317, -0.0659, -0.022, -0.1846, -5.3812, 8.7863, 1.8974, 0.3492, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4084, -0.0139, -0.0319, 0.9987, 0.5545, 1.562, 0.4847, 0.5499, 0.4412, 0.2882, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1751 left_yaw=0.0007 left_pitch=-0.0275 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3654 right_y=0.1418 right_z=0.0732 right_yaw=0.0267 right_pitch=0.0992 right_roll=0.0383 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.2513, 7.0769, 1.8291, -0.0269, -0.0513, -0.0122, 0.3624, -2.947, 2.6325, 0.5836, -0.0073, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56c9fa5e7f92db88882b458d12bf3eb3407e64baad60e81bc81da5b91b883ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb7bd63f1dc1cbe9d1940cc1661c5d87bcda8c67761f61b01e80fd0b524bce9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59fc9c20a2c04fc7418028669e616fa38b656e65f3b403c1d97624283c57e468",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUos5wpTdP6Lh4DHo8tLXtAN1EZVAll-W8tsw5S1l9mO8X23foTLDiouRrkDKvRlN5aKvFoNblqrDHC43QCNjoXVXBl2yACkyY-9fr59MZ7gM2-WNycYOfhRga-AHyQPBezp1c_sN8ZCuAlp4jCMNVKGH-l__b3cKcKMqXRdqhorbIsRQureZEU4Ox-x_bl2VNqOdnfRBfwQ9_xUNbXwh1G8gZHDxe2WfvcQr3KhqkZA-_6XtzHsO_KvUUV0ZiTOjH4R42SlibFQ_wjMXNh7-pNnTBxWkuPkTw3pLDf4oAVtttLD9PAN6l9Qs_OlgHYQXNCh-ZmRrlIJKzHisd_98iYCynbPMhX1tbjEnOE4X8D6MfgURNyC1mWYqYX2hDtS1ogRylSvu5SsmjfxyKTdlGRTW7GB7EclgT8GDI3MjyktEZr0juP8IDE93-iK7kUteybc1-2iDDzr_Xd6sHZUUfWO7kl8lob6QSV0G_UcMs3sK-9BgHRS42uygJ4lUoxCNj1EyhUAgJ7_MCbfXCPU8fGujf7joRNWyzyeRRmY1GqurDC9Qsw_gJloyorq42_aHCINqYmF0dALHMv4-fVecU3qXjsEJth3kW5aeCdqji_HWLx0sMEHYVBYQcVT9o_4dG82t6qq3_aaBwyq1GnMiHJGnQslj6bBEMSs2J7BGUA8P9kNIKvKDERvjB7SEo3yiBe2MlNxWRKfCtMdig-xDLTktU5QjHZc1VJXzydsSQfEx7oipJk_oNMmxLdYENTEXuqEMVfnhYvtlo8Jmi-AJTcSwq73CCR0arEA6CsLI47OZTnX98jIy-uz3FxgOk9wNJ4PiRH16MYfZX4KDv2hArsJ_Lh933KFucYwOYUFid_OZN7yPgqgj3GEeq-G1vVlUOY1ezyaF9bw04LRqJ49NPv3oFKF4Pa4sliZEjyNXODLl2_iS0lLl46SrPDxkmvYLWWnXyq0sbX949ULnxPli2dSCnzJUk2dvbZj5RnZkmEY7ASbW8cexNQRXGfvbRdsz2FkIUmUyys2IEZNUVN-D0glrdwBym9gvZTd-xARBvADrj0dFWvFX60YeKkY9HK6MBiRZI8igvxG33wks8bqPQQ0a5FROv7Ft1qdCCOG22R_0twPnh4KAu6mkC8C0Ur1XW6txN7AnM6EicLCQEtgtUWkjPPl0_3bnnHAvcxtbDXvtrZPDQbSmjqKDdKpcOKS0PFoUj6uXQjyuYk-pFaTIJ4xAx0gL-YRGQL5EGiT1-txneThMJJR2CSO-JiIiuPitRNEfJpxlBvyz0jEM4clxr1fGGLAMokYGt6z3NYjaCQSw6S7ewlui7h6bEo0RoXQXNwYMKM03fbB3z7nTkzOAebfYE8RSovt0f8DnTYcLWjAjVOt2mrtvHw7hMxl0ipzAUJdKIz-gj5nccbQyZsUCtVlpcaeppC3cnFiuz7f1Ca7hxx_0eYS_zt0hO9BVGKp-TlwYfEM4NY9zJ8ZgctJMninLmhqfDnC_63Wv54G55FEzhn9_om7A2PlCb8fACUCvEVe33s_UkrgrcFFS8knymYOGpUaikVl48Wj6GEFxmqOzNEu99Xh8mRT6lf2r9OoHtMTqNS89D4AqWUJqsmtTz21b45qeNiIZqGvrOoQ9giblaF-_PTHoGzlFBgTsmI8WRNs0OggW2OlE_ACubgAuA1Z8H2auzSRC45knxxKQhk6Q2r3v7kR1kTANlXT-gVdl-KIbApPBY5exC9SpoUoK7UYiBDo88Z0wAMAgR61vWPHozFZOtkDrlg_nhKIJqlYmozPLzzJ5jNIdKqEGutsJp8alVhRPOVHRLkjEGuUnmy8EXrV1y4Y5vZC_kPWyWRUXzaivFr7uBuJjk_jVxRN5W5Rhx-x5DRNdGfMtlfTo6eyE_x1qaFxHc9I3BzmBgiGI5xiM7lgItvaUmTMYXvgmlmLSoQiY3x9mNLWfS0iLF2kZOdMDqWqcSeXUwniAsY2luMdFcOM2OvFNdh9CUeZEbmskfU8M23VnBGreFpryUQgMAHXFHFZIULnWkpFEPFHkXFocl0oP0W7Ut7lJEHkR9p3zyEjA4lpH-pmKWE0AffaoQ=",
  "id": "rs_02f80a158c77b49a016ab43526496887d080b5985ee4d4398d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.135,\"right_z\":0.005},\"note\":\"The green fruit remains directly beneath the right jaws, but the readback shows they stopped around 7 cm above the tabletop rather than reaching the fruit’s middle. I’ll lower once more carefully at nearly the same horizontal position before closing.\"}",
  "call_id": "call_xQBGA9aBgYr5GqWTzAowXd5l",
  "id": "fc_02f80a158c77b49a016ab43527df3887d08f8661ed2c745621",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xQBGA9aBgYr5GqWTzAowXd5l",
  "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, 0.8085, 0.6132, -0.4164, -0.0139, -0.0338, 0.9987, 0.5602, 1.8275, 0.4, 1.219, 0.4519, 0.2806, 0.9993]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1727 left_yaw=0.0018 left_pitch=-0.0382 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3828 right_y=0.1533 right_z=0.0863 right_yaw=-0.0132 right_pitch=0.3741 right_roll=0.1986 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.5521, 7.0632, 1.7851, -0.0708, -0.0269, -0.0122, 0.0889, -2.2085, -0.0479, -0.2808, -0.0024, 0.1001, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f36aa0a24bfeaadba9816775eed1b31f6b164d7a0a6feea3ef69a4f94f753df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e1295d1b7a5d73bbdd73cfcc9acbc49d4787fd9be4c933e37f1bab78648e7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554e84d8b409b58fcd7adf7143a1c2f7a69837149d10b3d207be7006d8713bb3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.619 s

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

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6136, -0.3866, -0.0143, -0.0299, 0.9988, -0.0223, 0.7998, 0.6182, -0.3908, -0.0227, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=-0.0004 left_z=0.1812 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2954 right_y=0.001 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.265, 9.6205, 1.8877, -0.1197, 0.105, -0.1343, -0.0615, -1.1692, 9.1829, 1.8828, 0.0122, -0.0269, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4084, -0.0139, -0.0319, 0.9987, 0.5545, 1.562, 0.4847, 0.5499, 0.4412, 0.2882, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1751 left_yaw=0.0007 left_pitch=-0.0275 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3654 right_y=0.1418 right_z=0.0732 right_yaw=0.0267 right_pitch=0.0992 right_roll=0.0383 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.2513, 7.0769, 1.8291, -0.0269, -0.0513, -0.0122, 0.3624, -2.947, 2.6325, 0.5836, -0.0073, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4164, -0.0139, -0.0338, 0.9987, 0.5602, 1.8275, 0.4, 1.219, 0.4519, 0.2806, 0.9993]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1727 left_yaw=0.0018 left_pitch=-0.0382 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3828 right_y=0.1533 right_z=0.0863 right_yaw=-0.0132 right_pitch=0.3741 right_roll=0.1986 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.5521, 7.0632, 1.7851, -0.0708, -0.0269, -0.0122, 0.0889, -2.2085, -0.0479, -0.2808, -0.0024, 0.1001, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f36aa0a24bfeaadba9816775eed1b31f6b164d7a0a6feea3ef69a4f94f753df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e1295d1b7a5d73bbdd73cfcc9acbc49d4787fd9be4c933e37f1bab78648e7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554e84d8b409b58fcd7adf7143a1c2f7a69837149d10b3d207be7006d8713bb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUw_Zn8y37sKlu2iMrIvVS855gk0GkM0Snpx4fzXKEc_JycBA6D1pMvFe1UfuPl8x6Pq3O3bo3caBu5czWyy7I7VaPWDLo0OPhlXCC5KtiZK6xtjazc8cDZW5fvzPyblR-SydAMx6urXQ9eGRTnHFMoene-pETJtFIB-5K9QiCXw2fw7U_fPzH-6Cd9AQvCDdRuv-0DCyq2jN9z8xJ1qSL_tbesPMCAx4s1LfYoce1fJ1rsWTJPL3I1JESYebjWpHQGqgCFjft4ZWGFSMba7ONWHkssHoabEEHiB6nFBSQMQ4NAYGz-JM7D21Pc4cfv-fVzAmGC67xjadf7sC9dl-lnAJvd6ChLwVA5Jp8TX_VgVdLg8Yg5uSKtfuZoyvG0TNR7v5z1JEDw4d5SPB_HTVCsyQQfAvBhu3sRBgN3PYK_1GRQK_Pyox6eB0s5n9j3g79DPxLo6p6rFjDiJeYOOEUY4GUGZj0Nb5HTtxw8KGqKEfamhn4VcRS8-_ihxQCrayK_vC5HzfVT0taYfn53QvUTp6G9n54UWdbcA-UmCXYbCeZbzXSdDmBta4ZX_5yNSmDQLmAJlZn8xu0E4evNOyvrlHdtnPn7VQGhvqT1HAhdlzDfrDHu68iykRUJ7XzNZgUpRVzc7Zd3dAvtPW4lqVxqghmByX28M7KKlOAtHnrudwMLw4bOK8xR20aVUjIsskrvPDjyBl3k3svTaiekr4FuXjZCR-RuOx_Dk3iODKBhTqPcUbcyWyF1zAYZQO01RxSBOvwGjj28cBPul39xqN4v8z0IUlXqqdhtkG8G94pkcOlVttGnh449qLxuj5KvE68i31UozPby0EiGbS0ENEvvlunUVE4zMhBe9w9AR7mpLeXFvTNDJpunHXFhgWatpDeiVm9gLnYnFIAil54Ke1MAbGxNCyBKBDz_BoY9NLgZWMUIbySsLh570C97MxMNDQpZhSlubJNZSiXgBjI2LS0WQY4fmO9nSd466SrPubkooFZv5bW-jnfF1m9q8CeR4PTtudUFF9VGStMAVRbM38KGISL3qVm2osEZIJ9SCHBHXWCk1-PXmhSpiZejr7smU9O1CzYzT8ifhhmEqhI5hJtvKmn42Gfta5P9mWekLl5xaTytbTXkEGeFxV-HnfhW6QAZIue5-F3K1qWD0kUgnFLT6gw6NJGDzjL9aNEIYR6xD4tbTUcHe2_QKGKT5sDjwjO5Mz7leurRDnyeObVnT-YzWgXjZI488b4jrBdc09Zfc0rcqi6078jDyJ76rDcvCJ8ys0xyp1M3HQ7RSHy1ndSRqIIBW7hxcTmnPazJEXhFLREiVs0tApF99HzNavah46ZCawTo6r1vA_N3rK4Qy8_y2JLUg6BlG8U41q5Rpupe7sEKTwgngiusSDPBI1Rxm7nqR-8_DBUkXLSWgKx0QMBP1Mg49mlIU1M3WJNNUrVccWeWBm0p_HktCkTxdswOve5sizlSoK778gxXXXbggB1FE9tmFQav5os7Ism3FgOC9b_ODV3ne0fzrHjbbAQx7S3pa4fi_tQTOCjo18whb0yImuLWmzYXZ8JKHkgadZ1hkUtPdZ7MEPwSDVHFs3-duE9X5-A3yfz9BJd1aQGxXEb0YKIlYMSlNEXiHTXrd8tKANN_x9qCTtcCu9taQkefliJtkOMtJaqunQEPpIePeSsD_Ax00oXgIwnX3MuDCM06SasmCLFXioB2OqBBq09WQMS0ogfYsllhgCKbJql11r9e16diZuTs52h6nOW4N4bfxLYmhY8Z9htxm1I63Fo1p7vw",
  "id": "rs_02f80a158c77b49a016ab4352eddfc87d093f7437a91216dc0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.13,\"right_z\":0.045},\"note\":\"The second descent did not track: instead, the right wrist rose and tilted while remaining over the fruit. I’ll back it closer to its base and try a less extended low pose rather than forcing the same target.\"}",
  "call_id": "call_qyTIVnVXu9BSNYAGKStWcJ0A",
  "id": "fc_02f80a158c77b49a016ab435300e5087d0a2ab6f7dfdb16ab1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qyTIVnVXu9BSNYAGKStWcJ0A",
  "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, 0.8089, 0.6132, -0.4236, -0.0139, -0.0338, 0.9987, 0.5602, 1.8275, 0.4, 1.2194, 0.4522, 0.2806, 0.9993]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1712 left_yaw=0.0018 left_pitch=-0.0458 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3828 right_y=0.1532 right_z=0.0864 right_yaw=-0.0137 right_pitch=0.3745 right_roll=0.1987 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.3333, 7.1179, 1.7705, -0.0708, -0.0513, -0.0122, 0.0068, -2.2359, -0.0752, -0.3004, -0.0024, 0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da72d35fe3aa93c6cac38178f9c1cdd44d6cb4f9638db619545b68f53ff6ccf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c0df1ad1688bd2e9e98833e7015cab60057f2588df7eedbd545154e526a547",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948b0e4433ae08176bb6a9adad0a85f7aa037c9f4ff512cec5342b0498b72853",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 3.012 s

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

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4007, -0.0135, -0.0311, 0.9987, 0.5369, 1.3167, 0.7227, -0.1093, 0.4152, 0.2863, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0005 left_z=0.1767 left_yaw=-0.0 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9987 right_x=0.3501 right_y=0.1296 right_z=0.1304 right_yaw=0.0328 right_pitch=-0.0613 right_roll=-0.037 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.7026, 7.2957, 1.8486, -0.0317, -0.0659, -0.022, -0.1846, -5.3812, 8.7863, 1.8974, 0.3492, 0.2027, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4164, -0.0139, -0.0338, 0.9987, 0.5602, 1.8275, 0.4, 1.219, 0.4519, 0.2806, 0.9993]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1727 left_yaw=0.0018 left_pitch=-0.0382 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3828 right_y=0.1533 right_z=0.0863 right_yaw=-0.0132 right_pitch=0.3741 right_roll=0.1986 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.5521, 7.0632, 1.7851, -0.0708, -0.0269, -0.0122, 0.0889, -2.2085, -0.0479, -0.2808, -0.0024, 0.1001, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4236, -0.0139, -0.0338, 0.9987, 0.5602, 1.8275, 0.4, 1.2194, 0.4522, 0.2806, 0.9993]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1712 left_yaw=0.0018 left_pitch=-0.0458 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3828 right_y=0.1532 right_z=0.0864 right_yaw=-0.0137 right_pitch=0.3745 right_roll=0.1987 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.3333, 7.1179, 1.7705, -0.0708, -0.0513, -0.0122, 0.0068, -2.2359, -0.0752, -0.3004, -0.0024, 0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da72d35fe3aa93c6cac38178f9c1cdd44d6cb4f9638db619545b68f53ff6ccf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c0df1ad1688bd2e9e98833e7015cab60057f2588df7eedbd545154e526a547",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948b0e4433ae08176bb6a9adad0a85f7aa037c9f4ff512cec5342b0498b72853",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDU3dd07i4p86iqUFZ7olDWW7bV0wpSoBYz_hZjjRiHENT8h1rn82X_1XJ52kXYvCEaZp_NndQRwT3YDbkcUWsjs-6EBO7-rObV1rI1OttYYmauoQTC46mWT2rmY3I4B1liBlSKX-UEg5fTXBpGtYxnzAfiGIFj7fGrTDZDdQV7Nw5scNr9uXwuD8SuhG8i2-ccDXcDG3jm4wZBjuIZR-9z6z6bnPt4SHWdHQoxJxtSgWikocn8zf6TF5OGPAYQUhAa8XYO49HI79PHx-43y0OuvBif84QTIEmjlq0efm0sd5IRxdDA_Hk0h6AX522ElKGQcIzG5fav4EDP6dFvnGNi-PAqgi4SSpLJUnj5Kcl_f__6Np_VCsULW2UpnzTiJyFeiPIFL5lhAxm8JU4J311_DsycKk_-NwSf9BdHJIyipMImfOOcqP49Az8DAppatFqmVS9G4FUXi4MmqH6iAbx2_fkp9HzVz-EU3icL6iPpMhvTjQKghsKxvCdIGLv9QsB7nQA461GVTt5LjW3ZeUzFDJb8BsAsRcEZX7akPs51j2uFT8UbNTQugsrI9ZndARqUOZNaFwGv5GmSmvppjXswOQiK3bAX9kHmWmrKY-_HBcdTI-g-sFHZkOS6EA2oM-zAR6qLVn9Pd2ODQa3vWpBsX3aIm1HNA0u7sZH7iC-eEdA_RF4zxl3v4dnfodsh1QI3qBh-D0JnP2LmN1MwR1xa5B0JQGitiAaaxqsdfkUqgW1JuzK6tLHfzWCEpPio8k6_48zCfJaPh5ySKtslc1ScPSpgen915uDqAelFExqeM2_n_rST93qQdDT2NT-E1xOVLO7shNHZJl6TG0tm9bR2nH5tjq-O6RhnFsItUlYtuutTJVtsxxTP12RIwsR4G_9Wkuy2xENF4ZIgkj-KXZpLenc1IedSF0PQ4ffFnuTM981IApuDSEU6ccYBAoyv1NXzJABVQDxoZynEpk8BOr0POt9AC-r5kj-ABxvhvg9INEUaIUB-10VmKJH_5DxDa76wtOGaifuOHZSXa6I2vbrgmF5gW5_XTkztaQxi7mWgOjo39_G3GT-PlsL6TqU65fHp59EBYcy6AybVKbE2ooNsi11t6jEZbG00SDR0ahw8NLouiZhjiPoaKiFBAHhEF3zBT3D0DgB1TSpScKsou8xURTShaWAM0EeceBXTVX2vLU1crxkcseCb_PpY5E_thWgQbRJZQOcxMgxhF8NvOmWo1MTXyw5LVW-fXm7QClGhoqNg08uCS9JChOPYbgBAwY47WUCI_YCdXdx-LMSg3K5zsPkD8JPR-aZHquR6sVYSJSem63HbFwn3stx5KyuI6axm3",
  "id": "rs_02f80a158c77b49a016ab43536b64487d0af6d1f09d529d9d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.19},\"note\":\"The right arm is now holding almost the same pose despite the retreat request, so I will lift it clear and return it toward its home position. That should let me approach the fruits without the wrist crowding the bowl.\"}",
  "call_id": "call_i3k8YT3mQWPlSCu7Yo2JgtuU",
  "id": "fc_02f80a158c77b49a016ab43537018c87d096df09528934dc21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i3k8YT3mQWPlSCu7Yo2JgtuU",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8131, 0.6128, -0.4324, -0.0139, -0.0338, 0.9987, -0.1402, 0.5911, 0.2276, 0.2379, -0.1673, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1681 left_yaw=0.0018 left_pitch=-0.0591 left_roll=-0.002 left_gripper=0.9987 right_x=0.2955 right_y=-0.0084 right_z=0.1977 right_yaw=-0.0784 right_pitch=0.4388 right_roll=0.1893 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.5795, 7.0359, 1.8046, -0.0513, -0.0611, -0.0122, -0.1026, -0.1709, 9.5795, 1.9121, -0.1343, 0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547a5e3f1e9f09db323cd8458c6c093a51f3cefe21bbf23a618693d73eb73c4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1964da2c12b3f6b4d668313907808cbd54ba18b041db11a350f06baae0a98a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75020ca1bc452300b4ce3604381d01fe895d0a68a3c678d76736ece43a3bcbef",
      "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 · 3.256 s

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

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4084, -0.0139, -0.0319, 0.9987, 0.5545, 1.562, 0.4847, 0.5499, 0.4412, 0.2882, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1751 left_yaw=0.0007 left_pitch=-0.0275 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3654 right_y=0.1418 right_z=0.0732 right_yaw=0.0267 right_pitch=0.0992 right_roll=0.0383 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.2513, 7.0769, 1.8291, -0.0269, -0.0513, -0.0122, 0.3624, -2.947, 2.6325, 0.5836, -0.0073, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4236, -0.0139, -0.0338, 0.9987, 0.5602, 1.8275, 0.4, 1.2194, 0.4522, 0.2806, 0.9993]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1712 left_yaw=0.0018 left_pitch=-0.0458 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3828 right_y=0.1532 right_z=0.0864 right_yaw=-0.0137 right_pitch=0.3745 right_roll=0.1987 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.3333, 7.1179, 1.7705, -0.0708, -0.0513, -0.0122, 0.0068, -2.2359, -0.0752, -0.3004, -0.0024, 0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8131, 0.6128, -0.4324, -0.0139, -0.0338, 0.9987, -0.1402, 0.5911, 0.2276, 0.2379, -0.1673, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1681 left_yaw=0.0018 left_pitch=-0.0591 left_roll=-0.002 left_gripper=0.9987 right_x=0.2955 right_y=-0.0084 right_z=0.1977 right_yaw=-0.0784 right_pitch=0.4388 right_roll=0.1893 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.5795, 7.0359, 1.8046, -0.0513, -0.0611, -0.0122, -0.1026, -0.1709, 9.5795, 1.9121, -0.1343, 0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547a5e3f1e9f09db323cd8458c6c093a51f3cefe21bbf23a618693d73eb73c4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1964da2c12b3f6b4d668313907808cbd54ba18b041db11a350f06baae0a98a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75020ca1bc452300b4ce3604381d01fe895d0a68a3c678d76736ece43a3bcbef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDU808uPBvbFi-iMwZGkn2twwVT7E82WVG_9-mMARoLS1bqNtqkWwy0D2S07vOPwad_yJgZ1k3YKQbQrID4TtuOcGBy4Y5lcVJNmVSbcmK_Vb9sMOpC4-IsQX6wn-M2JE09vuPfdZHD220LEfLK70kN4soCRORrA7_2ve5rdTqivwYS-tcVknSMku9enza0ZrKPBB0aYkOpU5HI3Kt1rEL0tStJ_d80k17Xjtq-7i02G3UWtx6nOZqFD9coZiNPmqLZRvzeYiP0Xryx4Tt5BvqdFjvshDDlxpr3pkaFWIerIR7rGALhHXFk093sIZx8mnUv3ZotS-9Z47Xi4rv43kDQN_8W2BsrQzK_v99ZNxslXjj2ZFU2K0Jy3U4dP5LJ_7Mc0g4nIcoYMDk2gt5FDEIAbep3vPHGtoRIIvKJ8Ud00fbjD_OHx556R5JOPDG-vbA5DvFLcPoT9KYX2lBoVHUG6qzW5XKtLUOxlvI3zcwh_Dduhtuy0QFxk4Ar2vum6uLOdjXlT0i6GEdwMGJoiJzatwBp3VxQNQlBUNFpWAYwN94u4Js_v7IbI4dQ6_Bj8ghnDakb32a2sqFN3vak-OfDmjpnMsf-uWr1dwJ4iIGR5gPYabLZbj9GR45Vpg_hJaZnw6nlUxun4hg84x9s1aUW7J8vHYFaOCus4gXFr10Rrrco8dGgI0C3XxzOD6-t9VHcQ_mwhgFvNkPYxE1ol2t6pghm3t9kXBoGKzyxBi4bZnQNZHSNi9cqo3Lv8pJc6jST-SVp6E0-njGLiNE9q6tK1YW7ett_agr1K3kxoxvPyNxkZjXvda275XvuCsr7lPKgK_HXriyyCWavrLu1Xgl7UUFLGg9qVb7xRHpbfUKY_XDrtOgbdTtPs-ZGghkTUjgN2BswqtF0hpXWkfxMEhbt0MQ_gxDg-q3MUTe8zBjtNJzLySkfCSDfpqUZPRHxYDluB11Oc1Kcn9ZHV13a4YQ0tAGmBj8_H-r8N68xBgFg4Q4bWmolJPLwllVS_-Q6vwGezrL0Fhp1aKXgmSiRcKiU9TKmSdK07LHh3q0NiBWA1pyuJ6DmSIOQzM9Ory_YOOJ-MHZNIhfDj_-lY9llTJmaKGPw3EzCjE3KHV2leT6Hg3F7xN1SMEMGl0bvtsa-BgrI-XXo_Kkx_2L3DvHeVqf9sRU8XnCfQ1uuOQpe0UUq11up9mYqkvwu6JP-QJOLurh1J1rJPCSgbafrjAYlVG3NPWTF2H0CgxhqMHoNH6_7Ny7dFZN6t3G8Zn8Q2EVsa558tTZfEUvgG-lTIbz5Z6HoAtqMsNfswGNOJcAMOizOFURDUihx7gSRug0UPpGbI6953y9gB5lLMjTUkXCi8E2rTRVgXwam0OD_R_fsyC9vPiHYlctf9V4fokp8d0WBT7a8ZRTxVrYjADpvvPpjNbWE8JSA7TnE2w7HF8oi_Di8DYxT-vFoYvLD8UN2ttnrWSgdjDPZKmNGNgCBDi2zh5vZYO2-HV5jkikzSuu6F21FHTX0P07mYlvYdAk697fnJZ1wFoYc5Kh5TiOhZd69UnRvx25NAkUmFMYTZCY84UIlMUa-rAs1BNmS90KzX6ORk_5Iq1u-BOzh7CumtPXZPkBb4b0IDIJjeisFFQ0EIZJCiK5z2q8NVxitc_6QW1-N72x2yYmbuv-cJ8Bq5uesCkvy1jbqZ77Nrj1wJi9KYHtBl30xTeJ5lw1bDUIrNAzX5ugoc",
  "id": "rs_02f80a158c77b49a016ab4353a357087d0926969ed35797818",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.20,\"left_z\":0.14},\"note\":\"With the right arm clear, the green fruit is still on the table and the three fruits remain separate. I’ll use the left arm for the dark fruit on its side of the table and inspect the alignment before descending.\"}",
  "call_id": "call_Pb1B9uI558HVV5O38OjuM66Z",
  "id": "fc_02f80a158c77b49a016ab4353b3fe087d0b617c71154b3fefc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pb1B9uI558HVV5O38OjuM66Z",
  "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]: [-0.7788, 1.4715, 0.8806, -0.2604, -0.5735, -0.5411, 0.9987, -0.1402, 0.5964, 0.2298, 0.2089, -0.1875, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3366 left_y=-0.1925 left_z=0.1239 left_yaw=-0.017 left_pitch=-0.1105 left_roll=0.0271 left_gripper=0.9987 right_x=0.2949 right_y=-0.0047 right_z=0.1905 right_yaw=-0.0569 right_pitch=0.4077 right_roll=0.1879 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -6.7077, 8.6359, 1.4872, -0.5983, -0.0611, -0.0122, -0.2667, -0.5538, 7.1726, 2.1661, 0.1392, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:313634da63fe9e435dc70b534ebe642a9b7b2bd4bd56fcb4e51c01df4c57d94a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de8a81cd2b296b0c66749341d4b8e696ef794fba8c8573ef4d5c337794489ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd05f940346ee60a0d0b7c8705901e3edabbc9161f1ecec44718357e4435f2f",
      "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 · 2.787 s

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

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4164, -0.0139, -0.0338, 0.9987, 0.5602, 1.8275, 0.4, 1.219, 0.4519, 0.2806, 0.9993]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1727 left_yaw=0.0018 left_pitch=-0.0382 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3828 right_y=0.1533 right_z=0.0863 right_yaw=-0.0132 right_pitch=0.3741 right_roll=0.1986 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.5521, 7.0632, 1.7851, -0.0708, -0.0269, -0.0122, 0.0889, -2.2085, -0.0479, -0.2808, -0.0024, 0.1001, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8131, 0.6128, -0.4324, -0.0139, -0.0338, 0.9987, -0.1402, 0.5911, 0.2276, 0.2379, -0.1673, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1681 left_yaw=0.0018 left_pitch=-0.0591 left_roll=-0.002 left_gripper=0.9987 right_x=0.2955 right_y=-0.0084 right_z=0.1977 right_yaw=-0.0784 right_pitch=0.4388 right_roll=0.1893 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.5795, 7.0359, 1.8046, -0.0513, -0.0611, -0.0122, -0.1026, -0.1709, 9.5795, 1.9121, -0.1343, 0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7788, 1.4715, 0.8806, -0.2604, -0.5735, -0.5411, 0.9987, -0.1402, 0.5964, 0.2298, 0.2089, -0.1875, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3366 left_y=-0.1925 left_z=0.1239 left_yaw=-0.017 left_pitch=-0.1105 left_roll=0.0271 left_gripper=0.9987 right_x=0.2949 right_y=-0.0047 right_z=0.1905 right_yaw=-0.0569 right_pitch=0.4077 right_roll=0.1879 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -6.7077, 8.6359, 1.4872, -0.5983, -0.0611, -0.0122, -0.2667, -0.5538, 7.1726, 2.1661, 0.1392, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:313634da63fe9e435dc70b534ebe642a9b7b2bd4bd56fcb4e51c01df4c57d94a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de8a81cd2b296b0c66749341d4b8e696ef794fba8c8573ef4d5c337794489ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd05f940346ee60a0d0b7c8705901e3edabbc9161f1ecec44718357e4435f2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVBymgY2_qjzTwNlpAmnNRFGSl-BvWhnaO_KpY1hxMV7Ty63JbWcebnf_dttA0pXyqLXND98s9VvfwH2nCw8TYKl1_0QAtNPZi1DwEC_uAwI6So_Z-kVjCzr-xXKU7CFwpvSGfUqZnYspUAtuDH37KZfWobzay9GNzs-qFCLznZLXUeSdQOC7SDc_dz2nooVS3yI6yCLKjtYQBgwbJRBu1MXOMJqpvyv9CKs9wRkZ78ydBXoffjGEPCg9uDmQU-I62Uim8YufPl4igC5pvo63_ppwbwfGVqj7TdebhMcajwdI4lyof2T2OP4E_SkjSKgVZglO7aaTOHPJQM_zgV3dVCRdgOinYbk84kGotDBXo0bv0rG8fzDP19BNQC6K2X58mtkWnahH6azXgpAwLVHuNPaEJTJVQQsrkSjAgYZNQHHYWma_LrEFtIQ-pQm7NuigTkSpBXf12AtGyMr3w7-5m2IQ9VfN_9dvzdSQjvNO6el5nzJW0WGTq8atDzvLJDaCtfEC98Lgb2ooJaKrdBNgTlu4tpHHZeT0RrZpO31Oz9s_o8n4HV1NmT_ylpy51ImI1fGamhe2jidwEoOPvHoe2uj0CXLEzNB5qDnfsIJzLwFaqQ5ar_FADCRuK--jz8wrdUS2MlaYXDWR0qPSASOqJGtpQQm_F08zwT_qz1R0ijwM0O3E3cusQKTuOJ8i_9_9XSpJQ88vthEwQxsS0504unWtAQ4VhnD4S1fA4zhEbDF_uMzidONwnJl0-xmION2SqPDe_BrWDMtFicibeBXTA5DBFFvFp1QLDqx_RMuXflaWeEDSXw1_vFFJ1WhzfVopauducGTbFsdiNZWY7fkr9br9xJiOq0LNVnIyKFA6OFqtdbJS7CNI6Ma4DMo052oOCDMBkTdiCb31uoi9yVUMk8SaDHFMAZXRBKlkyn6Dw79avGP-M_MqpQSGMvkz9RBkC0RyhFl9GdsNSSyakasWQ0u6hvCGCZ_K1-tafn7NuRrzERcFfhcghTm82ylOFtxiTob-pz3beTEknO3q1Br_KbE6iChRaLUR9EyzlY0EpA5hExGM-kzZIRgf-zr1ZCAXQCPHvHgqncXOKvVc07NdEZtu1M9792pDrCbE4Crnbv1pf4EUHJtQo7o8AmRnu8Q2m_58K3Tbf7vBdnEIZWx8zqkTC3Bu3xiS4ETt2C6nMSI9rD-97B3_smaiE3u1xIeLIs9t54Dbd4oQ1BV1iaTchL4GzfQu1IeeuZSiyZcx_FxDNLIel0RZutmxJ8b_Dh0DlAsejHVZUJG5RLeDNxqExdmhwtcJanNMs405BifT_IoHargOO95xvI_ZCzLbcIIMGFH3-Bdj-d3UErvqX2xya5m2ueVwQ8FSqGVNyCjU3JQK7amPOZPCmjJK7_gYyRvRqxDtMtQz7Kv_dWE16uD9ZdDR7qD0pOZUD6GL84A5-68JW5kvZ7GqHm2zIquDie_DvTB24zGahb3RPGZ4npiUrsIAe7rZbffa8GE4hK-9Eg5kIB4SfeekLdCh3sfQV4-MzbhrhNY360qwj2i65PoFZhGj8TvRMZXBb9Y_SbDFZeGuhJjTd-lMQrZ-7SF040HYN-wEhTR4aonA5RvEEHtB8Se1AsxecHPa2LUFB4OMzwV4OCAyxBhUveAQA3XXwhYjD4r3ALO0GupoLCg1t_xphkvuD8_3sBo5lO3xcl_SK31YvcKVKm2KqHyheJX3fkhAwVwyhwgyX_qSZSMLntnNt4rx8yCvU3fZ7NrLl8REEiC2pkDq9csX88kmL4__t6j7AFzTRJpswOzHNbt29ettA1qi_6iN9WGohyNTMyOjZMas6CnM-t69sd3YgVluMDQe2MaUcyRYUbYcbjALK4IK2b9O7i-lmLMqSXc2qmnpvLJ0_jybebBXHT0mpQw2NIBmSZ",
  "id": "rs_02f80a158c77b49a016ab4353ed88087d08dd83a951a227980",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.18,\"left_z\":0.025},\"note\":\"The dark fruit appears near the bottom of the left wrist camera, slightly left of the jaw center, so it is close to the fingertips. I’ll correct sideways by about a centimeter and lower toward its mid-height.\"}",
  "call_id": "call_qCsilwtoPcvgRleUSXlWQgH2",
  "id": "fc_02f80a158c77b49a016ab435401b9487d0a92353a5ea2fdf57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qCsilwtoPcvgRleUSXlWQgH2",
  "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]: [-0.7681, 1.6547, 0.6201, 0.1226, -0.561, -0.5396, 0.9987, -0.1402, 0.6003, 0.2298, 0.2001, -0.1879, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3219 left_y=-0.1753 left_z=0.0216 left_yaw=-0.0104 left_pitch=-0.1612 left_roll=0.0633 left_gripper=0.9987 right_x=0.2949 right_y=-0.0047 right_z=0.1873 right_yaw=-0.057 right_pitch=0.3952 right_roll=0.1891 right_gripper=0.9993\nstate[joint_eff]: [0.5402, -6.4752, 5.094, 1.5702, -0.2711, 0.0952, -0.0122, -0.1709, -0.5402, 7.4462, 1.9756, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17fef36f2ba53b9f4b862950d62113c1e4dc84018101ed9b7c7d3effb69d3bea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549514d2929cfbbe3baa0198ddb73db255d4ff2a97ebad1aa749f4cbc4f35cf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452b0facde66d57c3fc1da1ef020c41aa22729bd7b359152b174d01d1f6909b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 2.055 s

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

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4236, -0.0139, -0.0338, 0.9987, 0.5602, 1.8275, 0.4, 1.2194, 0.4522, 0.2806, 0.9993]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1712 left_yaw=0.0018 left_pitch=-0.0458 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3828 right_y=0.1532 right_z=0.0864 right_yaw=-0.0137 right_pitch=0.3745 right_roll=0.1987 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.3333, 7.1179, 1.7705, -0.0708, -0.0513, -0.0122, 0.0068, -2.2359, -0.0752, -0.3004, -0.0024, 0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7788, 1.4715, 0.8806, -0.2604, -0.5735, -0.5411, 0.9987, -0.1402, 0.5964, 0.2298, 0.2089, -0.1875, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3366 left_y=-0.1925 left_z=0.1239 left_yaw=-0.017 left_pitch=-0.1105 left_roll=0.0271 left_gripper=0.9987 right_x=0.2949 right_y=-0.0047 right_z=0.1905 right_yaw=-0.0569 right_pitch=0.4077 right_roll=0.1879 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -6.7077, 8.6359, 1.4872, -0.5983, -0.0611, -0.0122, -0.2667, -0.5538, 7.1726, 2.1661, 0.1392, 0.0073, -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 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7681, 1.6547, 0.6201, 0.1226, -0.561, -0.5396, 0.9987, -0.1402, 0.6003, 0.2298, 0.2001, -0.1879, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3219 left_y=-0.1753 left_z=0.0216 left_yaw=-0.0104 left_pitch=-0.1612 left_roll=0.0633 left_gripper=0.9987 right_x=0.2949 right_y=-0.0047 right_z=0.1873 right_yaw=-0.057 right_pitch=0.3952 right_roll=0.1891 right_gripper=0.9993\nstate[joint_eff]: [0.5402, -6.4752, 5.094, 1.5702, -0.2711, 0.0952, -0.0122, -0.1709, -0.5402, 7.4462, 1.9756, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17fef36f2ba53b9f4b862950d62113c1e4dc84018101ed9b7c7d3effb69d3bea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549514d2929cfbbe3baa0198ddb73db255d4ff2a97ebad1aa749f4cbc4f35cf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452b0facde66d57c3fc1da1ef020c41aa22729bd7b359152b174d01d1f6909b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVEnJd1xqE3WsOTHZ26TvfNiojuMMffC4Snt7lxfikqYtUlv6faN_L2N-r5xIzCSFD-IF1-LLP3InWuVL8M_JV9fJNmmCDl2pOzHlcYsNySzQrblTzOcctkZFgc6lND2bkpBNiR_L3TZ7PM_xMzVtfuxs7Gys_sigSdbTQnBX22CjEwSxY6QHd4stEnW90mN4_kHoS4t3aVglMujBSgD88UlkWAb-kpVSRrz2BZfYbrY1UUAtO9zvbMmRxh-oAJSIN-QE5bsEisM7yHgM5eElrWbn0g4u-S9OmeRuPTxEPlqufgzJ8iW1ULE3P_lL8bqC4a5c0rgYumMhvsDv0y4H6IX2VOKkVAVWyJSlvRodUy8og1Hr3KMlD7YRk_3AooZ6DH3knAfgNcYyxSWh6cHNI1BMiAOCtoZWftjelMe8DpkkUuavfiamICSWYge07HHICmr0GweRpqs0tbcJh00BHCf_ybSS1KgSDioPDtuekvv5-zpQ3E5AGS6UBYyDafIkRbVYCDeiP_um9ucZoyOrmPRJxBREFi2LxSDMnYiFj9q_wjNGFwUbWWhPs6s041BVJwIdcfl-jcNvIKjcmm_wRkz0DWJt6LtbqCnQg0BquTy3lrsggD9VMh02w15xqCQriIIUN5QEEB99ltBGlTnwe-bSouwcpFql6L_VjHhcTn-oAtZyqu4PgnQ23JB2ZtOYNJp3yY4CKgYTiraXRylj7050jmri3D_OCtLgGXtEkkecXZ81Sj-mbmNnxRVJCjXunWdatLfFc5qXjtHQmgbnuP7M7qvlOQ1Rp0XnlY2seBLFdhzbyIOKUc13L_6xl3ForvfRTwxqkiSumsJeXXudwr7giEKushc44lFzH4fmjaD3jDdECcKzM7vO_PSRXFqC4VOiQufF-miiFOv1qVBa7X7KKe_mI6XUrs1DsrJJ6aGrgZx2atEhu8ofHPS_bgviA0CYD8JbP09mhCt_xIHJXDc9TMe9Ola5P6EyPnt_9X-ixi8ZMWWq_ELGRJ01kUd2itJ42a3Dvimn8BDgw_5Qpa9x2cw35Hq9PlEcJSFau78wpaa5bD2Rl6dUGdErv2Sr8L0GDc4-9WKK5zm2V-Xzsn0RLQEqCyiXFXF1J4vgIimRCoQSG1IjmtG1q2N1tEsURutGfIaoPpf5DRHzF8OVTBV-rjV76Z5tKu8vbACnki1PLcU6FV2hHg0Ez2s9BTLYqE58aD40gXoTDIIYj7UxM3uN50aqvUCUBPUUq8P-l5nOi2Pbcw3smsKAAyl9yGG3dDsduwh00YqekOZiMGYBN8tULauYlOTYn4nLcDAcbMB0J786DzY5D5Ywf3K9eAjSmG",
  "id": "rs_02f80a158c77b49a016ab43543365087d0b85c35900a9fa5f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left grasp point reached about 2 cm above the table, and the dark fruit is centered between the open jaws in the wrist view. I’ll close the gripper and check its settled opening for a grasp.\"}",
  "call_id": "call_wA1LRXME2SNGBiua2OoKtnS3",
  "id": "fc_02f80a158c77b49a016ab43543d69887d09eb4c7c10441d35a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wA1LRXME2SNGBiua2OoKtnS3",
  "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]: [-0.7681, 1.6756, 0.6037, 0.1314, -0.5613, -0.5438, 0.502, -0.1402, 0.6003, 0.2298, 0.197, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3174 left_y=-0.1709 left_z=0.0108 left_yaw=-0.0045 left_pitch=-0.1815 left_roll=0.0804 left_gripper=0.502 right_x=0.2947 right_y=-0.0045 right_z=0.1866 right_yaw=-0.0564 right_pitch=0.3922 right_roll=0.1896 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -8.2803, 6.2291, 1.2381, -0.2808, -0.0073, 1.0085, -0.3077, -0.1436, 7.159, 1.9267, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687a904922685126af1f36e8a3ed843cbd3129f27cb50016dfed080c94642865",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc50f887f0c2cb5c6080e024de9402e42325f46152fa2deb01b0dec9be14a13f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97633f3a9d3adcfbd60e6c520813047143c5ed58e9e76d71dfb851ac6442f57e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.23 s

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

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8131, 0.6128, -0.4324, -0.0139, -0.0338, 0.9987, -0.1402, 0.5911, 0.2276, 0.2379, -0.1673, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1681 left_yaw=0.0018 left_pitch=-0.0591 left_roll=-0.002 left_gripper=0.9987 right_x=0.2955 right_y=-0.0084 right_z=0.1977 right_yaw=-0.0784 right_pitch=0.4388 right_roll=0.1893 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.5795, 7.0359, 1.8046, -0.0513, -0.0611, -0.0122, -0.1026, -0.1709, 9.5795, 1.9121, -0.1343, 0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7681, 1.6547, 0.6201, 0.1226, -0.561, -0.5396, 0.9987, -0.1402, 0.6003, 0.2298, 0.2001, -0.1879, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3219 left_y=-0.1753 left_z=0.0216 left_yaw=-0.0104 left_pitch=-0.1612 left_roll=0.0633 left_gripper=0.9987 right_x=0.2949 right_y=-0.0047 right_z=0.1873 right_yaw=-0.057 right_pitch=0.3952 right_roll=0.1891 right_gripper=0.9993\nstate[joint_eff]: [0.5402, -6.4752, 5.094, 1.5702, -0.2711, 0.0952, -0.0122, -0.1709, -0.5402, 7.4462, 1.9756, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7681, 1.6756, 0.6037, 0.1314, -0.5613, -0.5438, 0.502, -0.1402, 0.6003, 0.2298, 0.197, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3174 left_y=-0.1709 left_z=0.0108 left_yaw=-0.0045 left_pitch=-0.1815 left_roll=0.0804 left_gripper=0.502 right_x=0.2947 right_y=-0.0045 right_z=0.1866 right_yaw=-0.0564 right_pitch=0.3922 right_roll=0.1896 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -8.2803, 6.2291, 1.2381, -0.2808, -0.0073, 1.0085, -0.3077, -0.1436, 7.159, 1.9267, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687a904922685126af1f36e8a3ed843cbd3129f27cb50016dfed080c94642865",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc50f887f0c2cb5c6080e024de9402e42325f46152fa2deb01b0dec9be14a13f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97633f3a9d3adcfbd60e6c520813047143c5ed58e9e76d71dfb851ac6442f57e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVHDpgBEZZeyv6cMUxR5VNaynbhVa_vO7DEPpSu59v6uywKfqTLRnkbZqR24XQDZudGIRPdbMQ_sRWXpbcmTjNyfU0D88dnbvdlOXtA4ZIaRtLzay2QDWd3urysflO5I-iam6EdODMK-BZUV-MBV0T94Xz275jop_kt7ztuQAUDMHdAHfBEFhMgCqNCjeEsMDjB5zvtwI6pBnVYO745N4oJOSqOkbX4_BNM-RZPsrJBtR7fE1xWROg61XOCbja1TDGxFHRetx_S5ibyUYHt6rhuLTXI-zFknqPBe8vKPEGxS68UkacJT7_z2wEG6r3YcglFelwRg2vJKbhYDr7-mK6eICeyGEIAnGrgyrCedDRZVhklU8NU7FSrErFHBguM5cJj4iNa-kE1SE5BAzH4okVApQl-eO5J__3yT9hCvSXPazuLv_JUg7eCQgr6iDV1CiDPaCEHAh5zq5tsfWlZOv7Dzdwk6N6xGUwkG4_XMGaAxbdW-_nM_4-AlOdoVLbPHxzZbXWrXuDtjEAoZI83_s_Lzaz8B6VqjaXGciyX-L9chYkzKQEChf_216Djvxk-Xyog8U2XpaUXTdcyilPgKbMABqJO33TG7IWfADFUT1EluuQlemmn-LeQJjtw1mhx7Y94id6LVhQKRGezKlBTBF7gxZjF1BUWHJX67yHAmfp2_OUTR8Xnb4qAz5nQxtCmz0WU5fN-N6Ww9PFycfho6iOKNxhIMLNVYilqhxrdvPczcOVGXSHGGKKDW_KnPxfMBe1FK2VNuACEuMzOwSX7W1uYrYbyxGqVGDwUgA6H1Fa36KYMC9Zg4CK-VaCsPcwZ8TJx5C55oGZwoaFAwKPQFHe574fD-QocKlrVSyU49FvDFMEaQG4OMiIj9AWrRbsfzZLOGjnf758va2UjkdNhGWTx9hPwhgXkwkJAG0uuEB65KotCrWyx8bwio31ADM6hdHGKEa-iIpxmKcfs1Z_0Ums9kibMCBvT3zoej_BdkKBSyKDmtTttyMSUPXMIeuzyAVMhLCvRa0_Y9GwRpSH-USGjuHfQHcwmINiyvH3q5e9G59jT4Ig7hAQ69iWWLKX3llevXXsCpaY7cF39jaQe36cBIJqZBv4R6JAi6-lcgNr7Wd56GmnfNXEkOEcvFJqqexTWUrUC9GyP6ysJb68Q9qtl3GYHAvTc7fvWt0BXMsf1A7UhH3MoT1TqUXrPJN1v3O18Q7peuDNrPN15Wc9_HIRiCQ3cw-9Ow7SaE7B6XWKlhv2R3lJanoXPgrWDvHr_J2gg8h7Hj5cXIl1scbnyV95NNOmJqyKATve_33PRLnh1b58_J56GjpR7kdHIzXpIPGaecj9bs5DW3kw8ioi_Z538YA==",
  "id": "rs_02f80a158c77b49a016ab4354651bc87d0ad2886fcd352625d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left gripper settled at roughly half its full opening, consistent with holding the dark fruit rather than closing empty. I’ll lift it clear and confirm it comes off the table.\"}",
  "call_id": "call_yFrTvpcdUqCATGNfJVDya1Vm",
  "id": "fc_02f80a158c77b49a016ab43546c8a887d0b7da351845fc0574",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yFrTvpcdUqCATGNfJVDya1Vm",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7681, 1.3918, 0.989, -0.5449, -0.5575, -0.5507, 0.5044, -0.1402, 0.6041, 0.2298, 0.1894, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3194 left_y=-0.1736 left_z=0.1524 left_yaw=-0.0024 left_pitch=-0.1886 left_roll=0.0782 left_gripper=0.5044 right_x=0.2947 right_y=-0.0045 right_z=0.1837 right_yaw=-0.0568 right_pitch=0.3808 right_roll=0.1906 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -7.1316, 8.7453, 1.2137, -0.3248, 0.0317, 0.6129, -0.1983, -0.335, 7.159, 1.9756, -0.0806, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c21c3ad4b74feeb3111aaa40adaf44ad01ce6d9dfd4e0a65a8cca8215cb8c69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a83ef98952de4bbdf64c7598b7705d784f612ffa14dff3a8f2e98407f88f016b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7af9244d92618a518f22b76d1ea013105e1018bf944966653ee4098f7da1108",
      "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 · 4.574 s

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

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7788, 1.4715, 0.8806, -0.2604, -0.5735, -0.5411, 0.9987, -0.1402, 0.5964, 0.2298, 0.2089, -0.1875, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3366 left_y=-0.1925 left_z=0.1239 left_yaw=-0.017 left_pitch=-0.1105 left_roll=0.0271 left_gripper=0.9987 right_x=0.2949 right_y=-0.0047 right_z=0.1905 right_yaw=-0.0569 right_pitch=0.4077 right_roll=0.1879 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -6.7077, 8.6359, 1.4872, -0.5983, -0.0611, -0.0122, -0.2667, -0.5538, 7.1726, 2.1661, 0.1392, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7681, 1.6756, 0.6037, 0.1314, -0.5613, -0.5438, 0.502, -0.1402, 0.6003, 0.2298, 0.197, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3174 left_y=-0.1709 left_z=0.0108 left_yaw=-0.0045 left_pitch=-0.1815 left_roll=0.0804 left_gripper=0.502 right_x=0.2947 right_y=-0.0045 right_z=0.1866 right_yaw=-0.0564 right_pitch=0.3922 right_roll=0.1896 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -8.2803, 6.2291, 1.2381, -0.2808, -0.0073, 1.0085, -0.3077, -0.1436, 7.159, 1.9267, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7681, 1.3918, 0.989, -0.5449, -0.5575, -0.5507, 0.5044, -0.1402, 0.6041, 0.2298, 0.1894, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3194 left_y=-0.1736 left_z=0.1524 left_yaw=-0.0024 left_pitch=-0.1886 left_roll=0.0782 left_gripper=0.5044 right_x=0.2947 right_y=-0.0045 right_z=0.1837 right_yaw=-0.0568 right_pitch=0.3808 right_roll=0.1906 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -7.1316, 8.7453, 1.2137, -0.3248, 0.0317, 0.6129, -0.1983, -0.335, 7.159, 1.9756, -0.0806, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c21c3ad4b74feeb3111aaa40adaf44ad01ce6d9dfd4e0a65a8cca8215cb8c69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a83ef98952de4bbdf64c7598b7705d784f612ffa14dff3a8f2e98407f88f016b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7af9244d92618a518f22b76d1ea013105e1018bf944966653ee4098f7da1108",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVLoEslr7p0p8YVn_hvtVi62j6ZiEgZHbgiNg6QV97dVOIb006slC0EN_tT1EACZdkIaMdVF9FptxlAjDf3vSQPSxv5r_1kNeZaGLW7UGgVsdMolJGx0syBZ7rbCxDWkOrcx05zD8pAgSeE38l98_jQntgQoQgCJayMfT-huASEAT63ISbwM_x1TBGpTzFcoTr0oDhah2a3xv_VS47yUyEGCpkCBIehhwqyCIWTgc0gACLCWGZbq5vxcohXwX2mBplqG1opNT5nRFoKDfcIL3h8u8HUt8YJkwALuJqSv9yq93mOfEk1Pq-IB-gBhhFwd2hen7lgLNWfuamdHUPo9A6P3EE4bs6LJUt8ycepeR_-6FgJoApTqAUARDr8u0OKb6O65IgYEWAooDP2A380t8KziTx42thWQlaHR-cuZJFo7eDdYLqdJdXnUIJ93yRfIeBuvN3ccbbygBnwPJdwHdf1ryZkAOrx5jks9FVv-aedFPEBRA2XXk-v2HTCdl-lNVQiLG5bsGiumnJ2oLeaBvNyvyujV2p6UoPMtfKoma07JPtpetm5iMK0yJktJnFpkejQBBCZRZSLvJK3GcGrxfg-8EHuJ6Q0qzG5Rdde4TBlvTD3JiKyE70UiQ_kJpI7ZBvA7k_qEaihqnwwfWSpvRp7DKutCWkdGm4opK52j5X2apYfWOoXn1AvaNQsC1wn2ji0VsZrELeNNrNDjumPbgiJbpPBPOR5_KrCm2Ul6GMKKgiEME7zYdhy9UEn-GI3BGpCJqpIPUAc4d8amzTFv8HriFWxkaw3v7jU3Oie2xhAdnGgvC_oKkufYMiaXF_DGojWui4GCdZ0zaQdQvBWizhBk4dZnV5jQLV_d2NF5rB8EmBS_r9r_pnK8vj_rx0MzqhOcoGytHK7DtRmY_-Y07IFpW2FmkZT3AWXcb_fYIJHdcWXDhiLQdmlsxyzrakvZQbyi1nS2ipm4h88ijOfDjEErVKsHpWMrsp3Et7-hfNoKcFF32PqsDHI0o9PY3pBhdpQCrxpolZNIUk6OH2wMks_B7D1huTiC2TeyPynNKMO4ET77V26KMkjtIYLFl725eRs7PbgHr0s8vfGo2aBfAWGIpAHjNWI48KGqJKYzNfKLLzw6XCb7d-fquJ2nAIoHHT62wv38PBneu8YKbHKjGpeCibSrK_Ofw3gqwWq8IfK1zkrq5bv5hG5Ru0TBWZ3UAbexqG4b4N7v6uPW0l3S2DtMGTFCqXKhdlTVkAVr0YcyyvaQTje1CoJUdc6uwKu8iNr3giIIkQIXgkqqr3ohwaxbD8W77PegAIT4rmPK2r21bnUfqcu12XTY26qOCDkADWMH0SEhPANMjmKUJsfw3Bs-PJWTL79kkyysWlxD9OpoirX4hvupY2bxb8vM7zKqd9mmilGgMbHJNBrJUmEhw9A9fd5m_S9GeYIUdEefBAa7iF2SLREVbjZdxeysdLBJ3sTEg5Wz3lhMGpuR7QbVMB13EYu6bbKQNsYJ2FkoFeAV_u7w-9cyNtvpHp0P275Vwb01bupxcLgFbWWeyphTJvcrv5w-XpfhM1dgMjPtPBoyD4_tP8L8PBaVmBrRL4Cl2pZBimWzoyANVUlLmE-Qg3vC2QESzMrRWMVpTPfW7UYEfi-oEjMfdImX4uAW2wSoiqcJVBj73iEIXYbgW0Ra2alMQzpxsCFBXEEyhMyJtc8RZFsEnrpLiqn8WoqNfez8njuFVRbp1OoGzEpLKiIs-zQhQkmXagW5AYP3P4jXOesyB8vocoMNGBss9f2nOixcIv8dSTYIuNEebGodglE0_oglTmgrjF-S1mJJhoQQFLhBbrc-Ho78v_Fl_lYzpXhJgh3",
  "id": "rs_02f80a158c77b49a016ab435499ca487d0a71745e5624d20bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.345,\"left_z\":0.21},\"note\":\"The dark fruit is visible riding between the left jaws after the lift; the yellow and green fruits are still on the table. I’ll carry it over the center of the blue bowl at a safe height.\"}",
  "call_id": "call_oiSjdNk8qyzaZBkVOjnlWyBn",
  "id": "fc_02f80a158c77b49a016ab4354b043c87d09f68dd418ab3a326",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oiSjdNk8qyzaZBkVOjnlWyBn",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [-0.852, 2.2421, 2.2486, -0.9955, -0.5907, -0.6491, 0.5044, -0.1402, 0.6075, 0.2298, 0.1814, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4376 left_y=-0.3453 left_z=0.1993 left_yaw=-0.0038 left_pitch=-0.1942 left_roll=0.0554 left_gripper=0.5044 right_x=0.2945 right_y=-0.0046 right_z=0.1809 right_yaw=-0.0575 right_pitch=0.3694 right_roll=0.1915 right_gripper=0.9993\nstate[joint_eff]: [-0.8684, -13.6274, 8.0068, 0.5543, -0.4762, 0.022, 0.5495, -0.294, -0.5402, 7.4735, 1.956, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4865605ce9cc30715874bd9c398cc7a414043b406308d7220124293365a79fee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1dbc6495a1b7a2e4b9a131ecd3bae354d3659706cb8ea0bcff73cd9c1ec676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d8146f8cfb80f32aae7dc5e41f0a269b3d6f13abeb1a87ab8096880f6a524e0",
      "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 · 3.758 s

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

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7681, 1.6547, 0.6201, 0.1226, -0.561, -0.5396, 0.9987, -0.1402, 0.6003, 0.2298, 0.2001, -0.1879, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3219 left_y=-0.1753 left_z=0.0216 left_yaw=-0.0104 left_pitch=-0.1612 left_roll=0.0633 left_gripper=0.9987 right_x=0.2949 right_y=-0.0047 right_z=0.1873 right_yaw=-0.057 right_pitch=0.3952 right_roll=0.1891 right_gripper=0.9993\nstate[joint_eff]: [0.5402, -6.4752, 5.094, 1.5702, -0.2711, 0.0952, -0.0122, -0.1709, -0.5402, 7.4462, 1.9756, -0.0171, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7681, 1.3918, 0.989, -0.5449, -0.5575, -0.5507, 0.5044, -0.1402, 0.6041, 0.2298, 0.1894, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3194 left_y=-0.1736 left_z=0.1524 left_yaw=-0.0024 left_pitch=-0.1886 left_roll=0.0782 left_gripper=0.5044 right_x=0.2947 right_y=-0.0045 right_z=0.1837 right_yaw=-0.0568 right_pitch=0.3808 right_roll=0.1906 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -7.1316, 8.7453, 1.2137, -0.3248, 0.0317, 0.6129, -0.1983, -0.335, 7.159, 1.9756, -0.0806, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.852, 2.2421, 2.2486, -0.9955, -0.5907, -0.6491, 0.5044, -0.1402, 0.6075, 0.2298, 0.1814, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4376 left_y=-0.3453 left_z=0.1993 left_yaw=-0.0038 left_pitch=-0.1942 left_roll=0.0554 left_gripper=0.5044 right_x=0.2945 right_y=-0.0046 right_z=0.1809 right_yaw=-0.0575 right_pitch=0.3694 right_roll=0.1915 right_gripper=0.9993\nstate[joint_eff]: [-0.8684, -13.6274, 8.0068, 0.5543, -0.4762, 0.022, 0.5495, -0.294, -0.5402, 7.4735, 1.956, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4865605ce9cc30715874bd9c398cc7a414043b406308d7220124293365a79fee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1dbc6495a1b7a2e4b9a131ecd3bae354d3659706cb8ea0bcff73cd9c1ec676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d8146f8cfb80f32aae7dc5e41f0a269b3d6f13abeb1a87ab8096880f6a524e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVRTTQAJQZDdE_VgT17LGsWW-WiaUBZABPC3jJqg-Uv_efyWluU-Z9eIZSOyFvepYlf9XuNYEmq_BLP7O7PblP9fvN0TPILLyONypNmsbkFtOvnchnIYgklkpQSYYr0f50-QTzkwi1XWM182w8cz1jSv6B8PP0662OdEe43sYN7A-M9S4iyd9Poln7vvbqD-GcyAEmuIWiyyyIoLVaYGgRQdgs9E2fPaLK89ToHX-Lw2ATwA4DC5rBtR4GTIM-GhBv8x8bw6nqaeZ6HG3WqybyLb_4OKydepjsfpKQjziJDXPA7xmJKxBamL6uxpLbpx-RNjs3LrLZI5VuGmtfrdiV8Q0jjJT_Yg1qvxOArQl550OSb7yWniC9ItzWdRIncNIopwt9Hz4XgLPOs-6GDIWQ088dfqwvJG9hQOj9TtDRvbXBtYfnYPrjgZzOQJDusPRypRSiOHO6NrAb6Eyi73bbpXDHx1G6WJP039RIpCKu1SXhoWTs0jwG3zZyrIrRS8K7qrUew2i4wFioC6LpoNtRWW4hO1C6V6xoT7o1xIAqIvoerVZ16XOXh9JJF_xEup4X1LA64cCu2okIWm2YM4_gKKhHY5R5frYFmFvP0WovB2dxIM1F18Ia-hNKZ_DoTmN7FJbiDl356LgiT_MqVe8zhpFQWGG9W_ZVTJvwRfVLVQHA0udAad98gJiNsFivXNIV4YuHFzvpY-ytWPgLYw0LGzg8Eo0xxq8FudLTmITJ-40eLdY1tjHlbCLegl_yQw2nZz2QPJdXqz6zH0pYNvNyWLiZpDAf8w2IAzeM9ZP0TOIxCvbfhfOKYleCliDXkPg6rMkoK8y3HI4hk1jylPXRBXqIeNNtuDvK_n0NOUX45ZaqLEXAiVJofPh2YFc9NjkYH11sXyxYVWb3hBpiBdMXdmFV9qmgQHvTNjkBXSNxTx452Nik0Kezo3wG9s872sHVuxx_eLDvivYhVuRt0FlcDbbYQsrj2_QgDIxbPNfkGAmvx4YD3zNDvQfNZOmwZW29vjdckM-0zTIwx-KUvcnHHFXwMb7k6vd1tLmon5qnIafcM2U24pWx2ZoT8wjvPyedFianMY1Ztf1GNYkmmEHBwXuCKfMqChr9Neol1Kd2Hz4n6VaPtLIwf2gccvz4KgnvZ1UvEN5o69QGRfNT0vh0qfH-BAEPbgrv4p-EhHbuYYz2_uxBL-w1a1KsB-jDEpQ9wwjWLhjhTMQmHPWE53yBbn-jJB9QamLZEYKtucCRSe-Tf3JEhiFlsa0Rx7o1J_AnOJG5dJz7srvRQTU07kBgVR5t0BQz9_If8dcBBeiPd9d5xexC9FH38jqtIhI5zY_GXgc1_1y94-SPaqt9TrfRPChbFxqdc_vqsPTH7CQtHgsDjyDiwBOmS6volTSwHqzrf2LOZje-wlIO5oPHZYrwvh_WJHG-yCSBZ0Y0QaoqI0kebV3RmMtR0JIAWgHQk7fL3_R2zsPoepF1Qu0vcVEpDpm3QvciW1U6w7l-imcHyFk94YZFEdhLFh9hBmxzFM9ctUr_TkhvsAdJ2RcaXLlIkNYSC4i6rXejLtdeBtO732to4hvssr7h7puH2LhEhPO0BEchl2Ro2kbILZreWc-5hSwN_DW5PCchPBNHLbfcvRhWIOGXSYbCJ4iPAxSwYjjwLsPmNJnGWx9jnf9uD-DKyPwsoPQiKtbIs358qREw1VkDe1ttpgSnTwDYYr7OejaqjM5fJC2JGoGq4sMizq2o92dB1liGuRKOfjAfjhydiJcAussRJDX__cS9_qzCS_MucFibRdfaYKxY0f-L716v6A_EmFM0vv3ZbU_6WtswrDLTI4ZfErgYiuY79s-pqvepIgpPyefh4Q2cl3mN37hcDmTjwqQjCRUVlJ7Mva1g6qvHbHooauSQMPRp7dhP0h1ds4ju3VV5FF9lg3OCttzsmzzj6DLD83E4Uk8GxeE2p0D4MAIoVDMxq-SsN22Gc4itg5WJT8PW_5BGuMrOV6eYZnrCBUTArhwmFIR_QoLm50RYgm14ETGKecUQD0wakpk5zZlNtiPswlaI0BCDoOTK27Wqbmw2YRLBBDDgL3YHFK2Loeh41lB2mbY7ZHGHDMdB-jrFu_bhGBQRvLMc8ixpri1u-hJV6t54atqCSJycxXkb4H--zX8vVe173MmpDEjT2EFDEV18xpLp3vYSCqXtcPJw0nCywMQHl8x17ip9jvoUsnAARaQfRRfjLSFsJ6r4etWXwFJEfpOFJkkkVKFUpDMeXyA2yI2ER9wP0N90v7bpjFjfS_tBTq0xqPV92ayr72Llp1aPdzl53H-8VQDXqXoVCBE_qDXn7wqLcZ53mvX0gy7MqgsMF_h2ZsdFsnylUA00FXF-YZt-RAyB0C7ov_mGvbNkMZNMp7KtsguZC2I3N-HEPoe4hGmwx4WYJdIwRl7g2G8Jv1AH9y0ckdRbd5l5Q-WIDJAakOXKfdOmRJIm5go6ujq44t8zgPeU4YHsHnnu4rB_Ti2Lg3Cdp_RVIGBSdYSvCNTEzK9cWssXcCoEd1lnJsyi4SLBM_VLfopAL1e8pD5RT5JErRUPqs9vbZQ==",
  "id": "rs_02f80a158c77b49a016ab4354e5eec87d09982fcbcb1806558",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.36,\"left_z\":0.1},\"note\":\"The left gripper is above the blue bowl with the fruit still held. I’ll lower it toward the bowl’s opening before releasing, while staying above the rim.\"}",
  "call_id": "call_Phrx80LBjTz8IUXvJobVF2Wl",
  "id": "fc_02f80a158c77b49a016ab43551198487d08d7167c65f123fd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Phrx80LBjTz8IUXvJobVF2Wl",
  "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]: [-0.8604, 2.2612, 1.932, -0.7052, -0.5854, -0.6563, 0.5044, -0.1402, 0.6106, 0.2298, 0.1749, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4356 left_y=-0.3513 left_z=0.1065 left_yaw=-0.0043 left_pitch=-0.2273 left_roll=0.0821 left_gripper=0.5044 right_x=0.2944 right_y=-0.0045 right_z=0.1785 right_yaw=-0.0578 right_pitch=0.3598 right_roll=0.1924 right_gripper=0.9993\nstate[joint_eff]: [-0.759, -11.494, 6.147, 1.3553, -0.442, -0.1294, 0.5495, -0.1846, -0.5265, 7.1453, 1.9463, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e29cb73b9eb3338c17b06745ac964e059671b00a52aeab575d2a6c868934636",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d106e216f0551a33911b26b03d98c4b6dcc3f2576f1eee30ab8ba01a2a707ba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cba0d59bbce4df21b8551a79664163ec3e5e29c711311ba655d119be68993f7",
      "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 · 1.603 s

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

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7681, 1.6756, 0.6037, 0.1314, -0.5613, -0.5438, 0.502, -0.1402, 0.6003, 0.2298, 0.197, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3174 left_y=-0.1709 left_z=0.0108 left_yaw=-0.0045 left_pitch=-0.1815 left_roll=0.0804 left_gripper=0.502 right_x=0.2947 right_y=-0.0045 right_z=0.1866 right_yaw=-0.0564 right_pitch=0.3922 right_roll=0.1896 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -8.2803, 6.2291, 1.2381, -0.2808, -0.0073, 1.0085, -0.3077, -0.1436, 7.159, 1.9267, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.852, 2.2421, 2.2486, -0.9955, -0.5907, -0.6491, 0.5044, -0.1402, 0.6075, 0.2298, 0.1814, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4376 left_y=-0.3453 left_z=0.1993 left_yaw=-0.0038 left_pitch=-0.1942 left_roll=0.0554 left_gripper=0.5044 right_x=0.2945 right_y=-0.0046 right_z=0.1809 right_yaw=-0.0575 right_pitch=0.3694 right_roll=0.1915 right_gripper=0.9993\nstate[joint_eff]: [-0.8684, -13.6274, 8.0068, 0.5543, -0.4762, 0.022, 0.5495, -0.294, -0.5402, 7.4735, 1.956, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8604, 2.2612, 1.932, -0.7052, -0.5854, -0.6563, 0.5044, -0.1402, 0.6106, 0.2298, 0.1749, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4356 left_y=-0.3513 left_z=0.1065 left_yaw=-0.0043 left_pitch=-0.2273 left_roll=0.0821 left_gripper=0.5044 right_x=0.2944 right_y=-0.0045 right_z=0.1785 right_yaw=-0.0578 right_pitch=0.3598 right_roll=0.1924 right_gripper=0.9993\nstate[joint_eff]: [-0.759, -11.494, 6.147, 1.3553, -0.442, -0.1294, 0.5495, -0.1846, -0.5265, 7.1453, 1.9463, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e29cb73b9eb3338c17b06745ac964e059671b00a52aeab575d2a6c868934636",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d106e216f0551a33911b26b03d98c4b6dcc3f2576f1eee30ab8ba01a2a707ba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cba0d59bbce4df21b8551a79664163ec3e5e29c711311ba655d119be68993f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVWEE3Qdkqdzmf_YXucfBua4Acg8fP48Ihuqcz7FIDIleRWkSGmMXckPA9QJlTLyIf16NUsbRH11ERcg1SB6TpDCc1T1FTE2ZxRKdQXWnfach-Hg0mVvrBNFCO9SSzTFwgJYf0EwwS4E9fz7T5FCa1EIXt2EGRaKp9-amMsvrIdyPyX5YsrJmmQ--Fieu2zoMEVUfoMRYBHRSoLhGnMq9Z532m1glauXmFooIXcGeo4xp5xTQNs4Ci39okSWwl4zNRsTGuFn-q8fxQ3xOTta6i385iVbJcHl8H8zhzS8Di-jEgA4rcLlMOQ1v2Us58vlRPfXNLi8MinAHYUcOntjMdyzdca6LD8FPOWRubDywfd7Fl9f4lVsAeQ0wmUDLtCt-6vfbvri8bzdXcSTjGO5JJyjDKpiWF0nICSIwTfHkcGxYxHy42qbvXj1Z0GiYgofZS16CJYCn_RdAsXQdVES5FLmVDBUuUOelOXS0ArPR6cXu3cYOqvzvF67guklQW0RQzalwDOcuX0bX2b5hf5UwNKa69tKii-BomWwhHqsVcX0i2Lufb9nGBGm59SVLY_eVGmeCC68lTP4rE8g4fqah9Z6e9wYflEQPIMx0QrOw85FbvjSmzBxjYTvpeSLFGBz-zp1WJItQ_LNcQ7EGOUI5HIec4GP9aE-_ySKXABAhm86EMyxcVtLXDPyErOeO735XwQL6t2rF01shW3-gqZ9Gg2Ix97dc2_9i8fVt6_Ci3YUdiVbGRK2ns-iz5iHCBmsh1eQGVB0orl2UlJJd1enxdhWnR-jUcF0_hlYNA6aOLmAuF-yTZRHJAwokuZvGbXJAti9-NvsQGAQ-UdvG6qwjnINXJp0qivTvcUqfHdiaOjo6LWQM9yj_SH2ODODohuOGIsLRPFhTOqjuoxXdzH2fBxk-M8Ry1FtLjs1f_TbQIfslf1x9biD0Rtnduh5iTH59-7Q5DcfbDax6VAvBUQdHy2vSQsoqyS8JQOrc6cIQ5rW9Xx8DOJBD5r_9Ar0Lk6uJUidXCgnWqknmq5stJXDY3c3AeX2Z_AGb04GfQcZyfxAHFGpatGfzeSkTp1NbiGaPr-olD-1YgVT_BEgUlcqvwRKky6glRinjkhlxWNnhGB83VfPfvGEirHxzf4bTg6jhFJYL1kw1F7XX_EwIfAkDgdNLeJyxLOBQ3IIhkSSqcmsPmf63W0k-Aqur8cZY6JuCW0iQMCV46ADn-kxWku5xfHFWvpg2Dllm6EU2HkicfoPWUks6lNJ5jSOQSsAPZh1vx47eHKAhX_m4JpyssYoON_KobfEcehYCWFoxKbQrPHYrXLTkR7KqDth0QMb2FOTxI3Ozz-oonMc2yaI1Axn7dD5bhaoCq3xcCcxbnEshhh8QU1pyLxYODd8fhnZ4jLcC5qj0ozkKzidqbpcPXHxAy6oNcJdgZ_aqZrZGRDDaNVvvDleCLYi_yM1rmoMYJ2w5YW6qNI55AVEOgd06icJeEvWWGH0GlIJTH8fsqi3v0PGI_x_2GYK1J09v0fOp03yom3DdDlHi1bXvP3AWn6FQndx4yPdjR2kMFNqcuRrluCnm9U_gvWHBeUM96sBrXqcEePeKnwrYfdzYUwcGTdUpTlc4Mms1wUdypNFpJBin6XAeJLZk2u2GRJiEfCg_uyOQhhFnb_lgsyCYlbeF5XL_MOkOuEdE-Zy2Zrnz996Topxzi3orN8aYaCa2zcaddlLyRhHKl58kVI5SkmtQ9q5GuKoZCuqym9YdxvSDn0FTWbqT-zgSbk_EvgU2SNQL9OfmB9leaUfFTraJ9UHXSQ6oLRcYty1bkU9nAwDg79vR6VH-VyYNlNYWf6NX9CmPfs7BcMPJToiNf12geW4meINAFDiTGG6rwl9l3eKOeB2S_jYuJtv7luXJib-30pBh_mEk0qvp5k-sInjqlApk5KpZ82nb_OjvcggjIdQF2RCuThkAAuyqncZv_cgS1X4uL8qmCcPzKgxpzjb4e3xqePrLzv2A==",
  "id": "rs_02f80a158c77b49a016ab43553e4d087d0bfa70280b71844ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.38,\"left_z\":0.072},\"note\":\"At the lower height, the fruit is still between the jaws and the blue bowl’s opening sits slightly to their right in the wrist view. I’ll shift a few centimeters toward the bowl’s center and lower enough to release inside it.\"}",
  "call_id": "call_zCh8BqihiNEZryhFmZz92QYE",
  "id": "fc_02f80a158c77b49a016ab43555541887d0b75f795394382ba9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zCh8BqihiNEZryhFmZz92QYE",
  "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]: [-0.8772, 2.3562, 1.9869, -0.6765, -0.5915, -0.6865, 0.5059, -0.1402, 0.6125, 0.2298, 0.1741, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.44 left_y=-0.3695 left_z=0.0788 left_yaw=0.0016 left_pitch=-0.2295 left_roll=0.073 left_gripper=0.5059 right_x=0.2945 right_y=-0.0046 right_z=0.1778 right_yaw=-0.0579 right_pitch=0.3572 right_roll=0.1926 right_gripper=0.9993\nstate[joint_eff]: [-1.265, -13.053, 7.9932, 1.0232, -0.4664, -0.0513, 0.6032, -0.0615, 0.0479, 7.1453, 1.9072, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5178b8646326480c53c4c7a651c34f0ebdc1c422ee1d0ef77b2a65d33e9fa02e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ffdf8a54eb29a680a71823ed5b3bd95b213cb9ffbfba727b3ab09963e12fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8798c3647bdf54d3a48bc67f0ed71050f87ef50aa2d290848d3262753990218",
      "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 · 2.373 s

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

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7681, 1.3918, 0.989, -0.5449, -0.5575, -0.5507, 0.5044, -0.1402, 0.6041, 0.2298, 0.1894, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3194 left_y=-0.1736 left_z=0.1524 left_yaw=-0.0024 left_pitch=-0.1886 left_roll=0.0782 left_gripper=0.5044 right_x=0.2947 right_y=-0.0045 right_z=0.1837 right_yaw=-0.0568 right_pitch=0.3808 right_roll=0.1906 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -7.1316, 8.7453, 1.2137, -0.3248, 0.0317, 0.6129, -0.1983, -0.335, 7.159, 1.9756, -0.0806, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8604, 2.2612, 1.932, -0.7052, -0.5854, -0.6563, 0.5044, -0.1402, 0.6106, 0.2298, 0.1749, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4356 left_y=-0.3513 left_z=0.1065 left_yaw=-0.0043 left_pitch=-0.2273 left_roll=0.0821 left_gripper=0.5044 right_x=0.2944 right_y=-0.0045 right_z=0.1785 right_yaw=-0.0578 right_pitch=0.3598 right_roll=0.1924 right_gripper=0.9993\nstate[joint_eff]: [-0.759, -11.494, 6.147, 1.3553, -0.442, -0.1294, 0.5495, -0.1846, -0.5265, 7.1453, 1.9463, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8772, 2.3562, 1.9869, -0.6765, -0.5915, -0.6865, 0.5059, -0.1402, 0.6125, 0.2298, 0.1741, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.44 left_y=-0.3695 left_z=0.0788 left_yaw=0.0016 left_pitch=-0.2295 left_roll=0.073 left_gripper=0.5059 right_x=0.2945 right_y=-0.0046 right_z=0.1778 right_yaw=-0.0579 right_pitch=0.3572 right_roll=0.1926 right_gripper=0.9993\nstate[joint_eff]: [-1.265, -13.053, 7.9932, 1.0232, -0.4664, -0.0513, 0.6032, -0.0615, 0.0479, 7.1453, 1.9072, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5178b8646326480c53c4c7a651c34f0ebdc1c422ee1d0ef77b2a65d33e9fa02e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ffdf8a54eb29a680a71823ed5b3bd95b213cb9ffbfba727b3ab09963e12fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8798c3647bdf54d3a48bc67f0ed71050f87ef50aa2d290848d3262753990218",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVYU-vfFMXTB6YS0UHtZBwQSRm_emFEzM7jGlElKGwOkgu6vun1l_d2wJS458mTcNjyuWPICcLqrqJUyZ83X8rMHx_xHB09dTwgDANAdIE-sAVnVjzIiKSMWV1F5FGzw3vsOJmwSl_7DbSBqZMiKX_SnVmuv_JW479LvQGC8ROQJQzn4_48lV8xFDQPzIILtAijOw9oMK_1icOckon75mmc-9Qkby0rzxEPKKBki_Y_KuPXif7uWwNGAE61LvcfQcbmrn7gLjcDH3S6MKOr7SiDL8wdM1la8QR6ZSUjoUjlNVlgcs1QMOsV_jjC6C_S-iorwc7mAN8CZsPwhjotgd5Puf9K2x_P0cLLRzS2_eVsT071Z1d-QN2WXgubsLMCMDuRIW3ayLkhC9CJCw-vDuAJTql9LFa8YbqouwD7mSfV-jMVp8qIYbBZQzoBXjsaBt1lRPxdGO3AtKjiF63mif8dSmimf1qvKqIea22pehs-TX2t4935xXpnGweR-HqGMwH925E9r67jJpb0W5MhZ7J6tuoAAEYEHBrII-eSQyro2NZq75iaFf_NiA9ONvcSuhNAkwkq-c9xkNw7hZhOdl1fdAOVFFqe0JSMtKrQgPs5iBpKwB8BUiYxNeuoT1DDzIZ6_EFqFbE_rzUDwMqh2A4IwLmJs3uujadsnmAfwOhCDFnETH3NPI69gsMwDc39p22V0McdsToNSn6LDqZCCen84qv3EmI9fxqM27oNEk15HWsFTohHUPjQmcqixJvBF-hpTVQozh-yJwGxJKEBze0XOyoGh4m50CKeVH4xQVaOVdOgBNYwyFxUhJDmAD1VD0p4lZpOBd8FS6LMqGIinnF___x8RhGJEpta1jLn1guRcUhmz3L9XyQ2_wWcpfchDR3E3MVJjrM_EjnfwPjE-fFky9Dm2eq1Gu5wUexO9cewXSsW8zz0Y7UYDJH6lheT9Q7tSg_cHAtmdJgkWnm3hTlIa115dRb-nxRs9mKnSWZRORoWwVRWGTn2hIlMbgaojCAbYd_Rf-jQrfdEQxJrFBg6Tyxlr1uOEQmFOyd7e6L07XxTkeoJmiiFNm6SUOsxDwWsenLm8OE3ZNWNUWgZyrWUZG2Xm8nz0C_CKBA-qHU1INAgFLHHh5sqDQw57DcQsNM8F-Xr1f_sOfg8X9_IEBirhwU0gCxDN1h_6mfqz6j_f4Y=",
  "id": "rs_02f80a158c77b49a016ab435575e6c87d0a7a0f639cd8e7863",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The jaws are now low over the blue bowl’s opening, with the held fruit still visible between them. I’ll open the gripper to drop the dark fruit into the bowl.\"}",
  "call_id": "call_NDrckAVAiYwexaRupb0gHYAo",
  "id": "fc_02f80a158c77b49a016ab4355777e487d0a4bc0d187b022dbd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NDrckAVAiYwexaRupb0gHYAo",
  "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]: [-0.8753, 2.4008, 1.9915, -0.6838, -0.5842, -0.6899, 0.9949, -0.1402, 0.6125, 0.2298, 0.1631, -0.1883, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.4385 left_y=-0.3678 left_z=0.0547 left_yaw=0.0101 left_pitch=-0.2643 left_roll=0.1041 left_gripper=0.9949 right_x=0.2939 right_y=-0.0045 right_z=0.1751 right_yaw=-0.0584 right_pitch=0.3461 right_roll=0.194 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -17.4564, 6.0513, 1.1404, -0.3785, -0.0269, -0.1099, -0.1709, -0.0479, 7.1726, 2.0244, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e316c39b877566ce9ec88b9f8c0ad949d660c63967714c2386ab713acdf0628d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:096f61738f7d9bbd86ec0d3bd7c37bf17d4da0ec54a169e21f9deee3912e1cee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687c42cf38f16b3ff7da2a91ee1430016662de42c28d55551deb4d412a48f939",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 2.304 s

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

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.852, 2.2421, 2.2486, -0.9955, -0.5907, -0.6491, 0.5044, -0.1402, 0.6075, 0.2298, 0.1814, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4376 left_y=-0.3453 left_z=0.1993 left_yaw=-0.0038 left_pitch=-0.1942 left_roll=0.0554 left_gripper=0.5044 right_x=0.2945 right_y=-0.0046 right_z=0.1809 right_yaw=-0.0575 right_pitch=0.3694 right_roll=0.1915 right_gripper=0.9993\nstate[joint_eff]: [-0.8684, -13.6274, 8.0068, 0.5543, -0.4762, 0.022, 0.5495, -0.294, -0.5402, 7.4735, 1.956, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8772, 2.3562, 1.9869, -0.6765, -0.5915, -0.6865, 0.5059, -0.1402, 0.6125, 0.2298, 0.1741, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.44 left_y=-0.3695 left_z=0.0788 left_yaw=0.0016 left_pitch=-0.2295 left_roll=0.073 left_gripper=0.5059 right_x=0.2945 right_y=-0.0046 right_z=0.1778 right_yaw=-0.0579 right_pitch=0.3572 right_roll=0.1926 right_gripper=0.9993\nstate[joint_eff]: [-1.265, -13.053, 7.9932, 1.0232, -0.4664, -0.0513, 0.6032, -0.0615, 0.0479, 7.1453, 1.9072, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 2.4008, 1.9915, -0.6838, -0.5842, -0.6899, 0.9949, -0.1402, 0.6125, 0.2298, 0.1631, -0.1883, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.4385 left_y=-0.3678 left_z=0.0547 left_yaw=0.0101 left_pitch=-0.2643 left_roll=0.1041 left_gripper=0.9949 right_x=0.2939 right_y=-0.0045 right_z=0.1751 right_yaw=-0.0584 right_pitch=0.3461 right_roll=0.194 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -17.4564, 6.0513, 1.1404, -0.3785, -0.0269, -0.1099, -0.1709, -0.0479, 7.1726, 2.0244, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e316c39b877566ce9ec88b9f8c0ad949d660c63967714c2386ab713acdf0628d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:096f61738f7d9bbd86ec0d3bd7c37bf17d4da0ec54a169e21f9deee3912e1cee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687c42cf38f16b3ff7da2a91ee1430016662de42c28d55551deb4d412a48f939",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVaoOgu2fv6KJVN8Po0zmc_VkC2fetVsGrc_t3K6ASTjfqjb0rFnsPsf4gnnyc8n83NjGm3cAAjSxgRBAI4nNORBqjTVR4p5anWXvhyana8B7NwHqgFjEyOlkAuXX_9mPVs9kNQ3oKV4YqRsUbvrariSI9WSamtAjQJyJUd-3FPzZNTH6dunBowszA9E62KMTiQTToclKcmLjceuiK2NKJpz11gOEyTyJi3-l58OMJxlrBeoQ7tv8YGA-YrnE_SP_sVOASOk5drpsRhTtOVnZ_L7KAlV3jL8-yFuXzKMOxVc5-FQ-fuldT5p5k5jDulXWOdrNyBin9TYFCaTvQ8sQOXecEk2xfqHE5brqKVWYa5AfqFOKMti5p04sJlac7pra7XD6S2gkTRUHjlDjzApxMzBuzmYgd5sDnwoTobAYDePXXl_HXunzdpyJvr_ipB4_iL4GViMI066KiAN8b2yGHj3EfJnlvXCDpIbgPkowC0Zx11vc4QnjiwkaDkrkkd7wYHQ0K-6KYofmEE33QRcxyTzFg5bk3Ff14dfMMvXZ_Jhdveoiy3BuK7lp0Y2f846CU8StcseSAKfpl5Q9_RIlRA_LgNp_tUkWjHas486cwStsqFTV3sCkl-R97AUdG2rU4dht5gyXGzIbAuC7wAHmYsyE-25eMe5G2agTzHEK3EUjd8NYLjDcwcm_OB9TuUx28DzTsUfv8qM2BYDNAfu9UgKXyZoAOrU8Xnxp9cSnRoqx8R1yVhdFTV2ZhDiOOVohqnq4cw001p7_t9JJ_SO4fWwvgsCKEA3dQVwPyW6eKIAIG6WpR6mvh0hDSe8J0CyPtGlXsWdvdEALxAsayprEpjf9tfUCd0HFi7WB6TEEqErgvr6MBBUXiSSynk4O4G6qyew2GGtQvoxQuTGDyltUXGUqHnGVs09gYoVJ934kzICbeNPJJPNuEMvIdo0SYIjtJk2lVEv6ciCP-2O18Z-yrZgVat6Wr6UVZUl3jpcHWgeyDOf8BWKQBJENIs73wAzEogVvMOoAsykqKN4Xb5MrX0Q3cVIuT6ySZQZjQw2ldPCTXBA-CMOgvUr3apbz6AgMnEpxOVkSnO50ab23XmW_0IuPCTqNbTUILdXkHhamMH5ZBzRjRyY-tRzbD_fvXOEYB0K63_fHrFMQKUw0yZGwZFf_VIy3hsnkkV4NLDGLeRJ5_Tl4IwBZU7aptiWA_i3doD5-4naNwsToY1e6IKSw8zNknDM8NhdAVa0dsQnINtv1Gg-vcPT6Xcbn6eN6w7EbRxTD7oXrdYWbL-9pXZZbDeUshqAoREgUE_-oK1nuXm5LbS93640KM9uK8QFGlTa1BfpQ5FLgeKgADioIxZVbSyZswQMtUXiNnR2DV2hlPeNI8HWg4Skjhu-tUM55Y2tdu07W5dZneQy25jGXmhoKufCswYRld-L04p1BkvWKAlhmT0rKtG9DE_1u7oazk8v97jYgDpu_f-pVOwPoBm7MPCwnV-hbc3TF0S8HrMQSp9iai0wRolLmF_ffzZzL8_QgewNHX3PVE3obJIahch6xQST2d-yamoVYTYw6ctniIVD4M5BcbZy3XAK1nIL8fMCwK0cZDUKi3GdEhYr6U468mHNSW50YvjbudN8CtVb2sWY2H1Qlq4Tv2ttyHC3_oYN6g4RWLJ2M4o4nZcQK2epYh-qfPX2PfBoGj7XAfvQB2c25hX0KeUvaITOd6bi9HToNkr",
  "id": "rs_02f80a158c77b49a016ab435594ff887d0b76ebb2d7f91b793",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The dark fruit now appears inside the blue bowl in the left wrist view, and the jaws are open. I’ll lift out vertically to clear the rim before reaching for the yellow fruit.\"}",
  "call_id": "call_8AAQEQFkMUFFSzaskIqlBY2e",
  "id": "fc_02f80a158c77b49a016ab4355a532887d0aa3f2588a92d400b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8AAQEQFkMUFFSzaskIqlBY2e",
  "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]: [-0.8757, 2.5576, 2.7747, -1.2545, -0.5842, -0.7044, 0.9958, -0.1402, 0.6151, 0.2298, 0.1528, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4472 left_y=-0.3785 left_z=0.1818 left_yaw=0.007 left_pitch=-0.2285 left_roll=0.0495 left_gripper=0.9958 right_x=0.2935 right_y=-0.0043 right_z=0.172 right_yaw=-0.0583 right_pitch=0.3332 right_roll=0.1948 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -11.7402, 5.6821, 0.2613, -0.3248, 0.1099, 0.0806, -0.1026, -0.3624, 7.1453, 2.044, -0.0904, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7026ea8fad327d2617e5673989306a968374d496547eaa812e9887d918a3e77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9d14089572fdf80445752a818388d775cd7022c8ca93734f513b058be036e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c671efc3cc300fe87d5320f4a0ed2f4f660c7001cefb584e6b4f0847d244bbb4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 2.203 s

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

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8604, 2.2612, 1.932, -0.7052, -0.5854, -0.6563, 0.5044, -0.1402, 0.6106, 0.2298, 0.1749, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4356 left_y=-0.3513 left_z=0.1065 left_yaw=-0.0043 left_pitch=-0.2273 left_roll=0.0821 left_gripper=0.5044 right_x=0.2944 right_y=-0.0045 right_z=0.1785 right_yaw=-0.0578 right_pitch=0.3598 right_roll=0.1924 right_gripper=0.9993\nstate[joint_eff]: [-0.759, -11.494, 6.147, 1.3553, -0.442, -0.1294, 0.5495, -0.1846, -0.5265, 7.1453, 1.9463, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 2.4008, 1.9915, -0.6838, -0.5842, -0.6899, 0.9949, -0.1402, 0.6125, 0.2298, 0.1631, -0.1883, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.4385 left_y=-0.3678 left_z=0.0547 left_yaw=0.0101 left_pitch=-0.2643 left_roll=0.1041 left_gripper=0.9949 right_x=0.2939 right_y=-0.0045 right_z=0.1751 right_yaw=-0.0584 right_pitch=0.3461 right_roll=0.194 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -17.4564, 6.0513, 1.1404, -0.3785, -0.0269, -0.1099, -0.1709, -0.0479, 7.1726, 2.0244, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8757, 2.5576, 2.7747, -1.2545, -0.5842, -0.7044, 0.9958, -0.1402, 0.6151, 0.2298, 0.1528, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4472 left_y=-0.3785 left_z=0.1818 left_yaw=0.007 left_pitch=-0.2285 left_roll=0.0495 left_gripper=0.9958 right_x=0.2935 right_y=-0.0043 right_z=0.172 right_yaw=-0.0583 right_pitch=0.3332 right_roll=0.1948 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -11.7402, 5.6821, 0.2613, -0.3248, 0.1099, 0.0806, -0.1026, -0.3624, 7.1453, 2.044, -0.0904, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7026ea8fad327d2617e5673989306a968374d496547eaa812e9887d918a3e77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9d14089572fdf80445752a818388d775cd7022c8ca93734f513b058be036e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c671efc3cc300fe87d5320f4a0ed2f4f660c7001cefb584e6b4f0847d244bbb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVdZXfRaECijxyktV3U8scGl45hu7iyqSaLA9bcG0nBQOCa5D9rSseqoSB7b3WMAi4T-8_obDte_qYj5EOehoxwc6IaUn2KYEnk9dcwf3sVICq19sD6pWb3TVav2MSMY2NwV0n6JR58NMyM_Bu3FRx72cNXGVjXghGCuJe7_IetlWWAuHL9jxkhkWa_ecg46nG_pjHWzqHVy38mU9Lk_flZLS9DJIUzCg7ydAweSWsxDQB0PbaR1qSJODf5x-8i6ElmhCnQocO87odaGXF4lKfaH7YVB8VWMR1Ldbyej_1WGpI1j4IMafztxrRkBd9Z0ijU1CRPsH4GEkvExOM_s40cujX2YqP72u48IdFoPqhiXkM5HmlrUQPB6ef46D0I76IyLdDfze6qCXrq84b_QKGYqWFbHsSOdmecSJDU0UE3jNvr2sYI7Y888UefqzTtk0R81gIAhiXCeUy0PKtTlUZsf1GO0PmOGtV5zUtMGdE_SvMX5YRE1C5JEvXoW_gyiENwGNf_ufvZNnDXMRIKhgsoaLORFZuu4xg2Pibs2zP7_745Vuw8GzhpccfuTWBKrMiywmdasldD-dulWXQKE7DyLsM8vs9HcR71OldFFN_2MfWQBV3O6cpFMSLavwsp4hE7XZVbyhqfbQkvXesNgjC9X7Pj91eSn8VQkuz5-zb6m_DwNGQ2tkoOzWZNztUoud_7HrH4CPup7oyOhfuShUnUd6S-8ECGUJi0Yhms49zAvB_dXGmDOwFasBajCp5w-6JWGjjlvARuwZtJNw2_RseiIPc3x1a8ZmsMqdKk726c-gLYWmLlHlsQyByW3-lOkXKTL-jmCFX_2oApISe7CZ6NV-ZNpzrMzfBab7KZnFznAvsPQItHTTdldpW0xjo3Wm7ET-cuBL-OXuXzRlxGhxxtwaGDgz3fD-Ck2g9fnir3Ao_ezx0dJBV6MfYxmqKkcDYvdUWerP1lUMgkGd2cExj30y9ajKGAm_WAzXPvGMFOzPh6ASGEXdh1VUKiHWy4Hupe_tCIbhqDvE6243em-Aw0rJavE_YXaOUgy4K7rTjTttusyPYQHjoApdQz7kNTuVtkeylBCvc0dhcdLaQdu85Vp47JUtdreh2q8BI-TRuZW2kJvK7Fq3L0Y_hTV1ibBzXf56mH8Aj_i1nZCQPvGG-VYt6U4WCvYb1BVjsDT1WoW7v-_vjsDNZu2mX-pQ_0KUysZ5fgg39mf75OTE_tQu7p8AaKoW-Wf846XXIVQKbFzdPV5nzXkld1ZH8aV_HzKWmhxbfPT1yV2Hd4-eHDBjQvbK2ysr_TXej0o8Rblgx-jvz2l0I1QHijrJZGuQYmHBuRzXBR71plAqQVfiX7KhG0angiimZg1EAUJ4bqrhathKGx2r_pGsclCZI4mp8VrWhN5RHx2pE272JzoL0k41XuYw==",
  "id": "rs_02f80a158c77b49a016ab4355ca96887d0b74c25b0eeac3975",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.305,\"left_z\":0.14},\"note\":\"The dark fruit is visibly resting in the blue bowl after the left arm cleared it. I’ll position the open left gripper above the yellow fruit next, leaving the right arm parked away from the work area.\"}",
  "call_id": "call_lBvHDOhNTa2EDt6uq01auvL8",
  "id": "fc_02f80a158c77b49a016ab4355d248c87d0befae0e1ccc89b14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lBvHDOhNTa2EDt6uq01auvL8",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0012, 1.879, 1.4693, -0.7727, -0.6155, -0.8268, 0.9959, -0.1402, 0.6189, 0.2298, 0.144, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3207 left_y=-0.305 left_z=0.1228 left_yaw=-0.0006 left_pitch=-0.2867 left_roll=0.1024 left_gripper=0.9959 right_x=0.2933 right_y=-0.0044 right_z=0.1689 right_yaw=-0.059 right_pitch=0.3207 right_roll=0.1958 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -10.8923, 6.3521, 1.326, -0.6716, -0.0562, -0.0024, -0.0752, -0.2803, 7.2274, 2.0049, -0.0855, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4c1924759815f90eadb9e05e8b127f6831a712c5d465ec5143db9c0e7df1a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4b72a7c03d999b591fbad29228efcc5aaf7989e84a8c8137b0bced180d4250",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7cc58aa5e91e2af9a6c9bd42ce7a0114c69398f5f496e503feb32451b1f4e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 2.654 s

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

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8772, 2.3562, 1.9869, -0.6765, -0.5915, -0.6865, 0.5059, -0.1402, 0.6125, 0.2298, 0.1741, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.44 left_y=-0.3695 left_z=0.0788 left_yaw=0.0016 left_pitch=-0.2295 left_roll=0.073 left_gripper=0.5059 right_x=0.2945 right_y=-0.0046 right_z=0.1778 right_yaw=-0.0579 right_pitch=0.3572 right_roll=0.1926 right_gripper=0.9993\nstate[joint_eff]: [-1.265, -13.053, 7.9932, 1.0232, -0.4664, -0.0513, 0.6032, -0.0615, 0.0479, 7.1453, 1.9072, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8757, 2.5576, 2.7747, -1.2545, -0.5842, -0.7044, 0.9958, -0.1402, 0.6151, 0.2298, 0.1528, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4472 left_y=-0.3785 left_z=0.1818 left_yaw=0.007 left_pitch=-0.2285 left_roll=0.0495 left_gripper=0.9958 right_x=0.2935 right_y=-0.0043 right_z=0.172 right_yaw=-0.0583 right_pitch=0.3332 right_roll=0.1948 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -11.7402, 5.6821, 0.2613, -0.3248, 0.1099, 0.0806, -0.1026, -0.3624, 7.1453, 2.044, -0.0904, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0012, 1.879, 1.4693, -0.7727, -0.6155, -0.8268, 0.9959, -0.1402, 0.6189, 0.2298, 0.144, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3207 left_y=-0.305 left_z=0.1228 left_yaw=-0.0006 left_pitch=-0.2867 left_roll=0.1024 left_gripper=0.9959 right_x=0.2933 right_y=-0.0044 right_z=0.1689 right_yaw=-0.059 right_pitch=0.3207 right_roll=0.1958 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -10.8923, 6.3521, 1.326, -0.6716, -0.0562, -0.0024, -0.0752, -0.2803, 7.2274, 2.0049, -0.0855, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4c1924759815f90eadb9e05e8b127f6831a712c5d465ec5143db9c0e7df1a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4b72a7c03d999b591fbad29228efcc5aaf7989e84a8c8137b0bced180d4250",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7cc58aa5e91e2af9a6c9bd42ce7a0114c69398f5f496e503feb32451b1f4e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVhRmJFeZMmZ7O2-aPx5HRx2BqZdsX7PvrTDZZP2RndHtC9Y6k1lC0mhA3ksnFOBW3qG7Tpbg4RvL9tACTTvWs9J37kSLZzI7fZFoBEyEkVsMKULi0aYmz2U2L9wCkWbxi1-KDvydzPbPmvdCMKiub_IiS4-Qkc8sMwM6totRHGB9DovlhyXcqU-vKr7PnLukOrYQbJMBeR3Q7zidnxsTi2A-oysSxj4F7FlxSuCxj8Trv0BJCXH2Oo9GLEIR1yxXM4MvtAvtfEC10HD_7FDbeyMNxeiv-Xd3fKnePvLYlD3rNWTqbhv-P09UqN5aX57qMkZdKUVGHFBEcLQFOx8LLfgfj6013mViwFG-A5vqKnIKr4cEPpiRqEDEeFKteiYZiDlPumErhQdysg3s9UMuIPV5IHZc9QSq5aUoAZ3tGX2x2LyBzotjau3PUWDAF85ZiWBvBtNjFXWKkUqC_-GF7djTRz3fyBMb-9ubwaNMHzMLEjNrGEqiYOymwUzoUO-Y3p6y56jdycGJNmBzQwTmYObEAK52FdV7TqaoBN7Js7s93o7exLkBk20JaRqpm2ghBnFNkSi0mbZfEznMZ5qedy9TZIIcbeanGwMkbn-RlknfO5Du0yFItNEBRZHFuv71dZ-obmrLwxLNXo0u1nBdaMwZ3d1kswBktg0LjYL4eBEKL8b7hiJgJhkV84MVFVuKEkkA92JNR9kPWmAM0-H7rl0NL12mOG1JoendeJe6qOlS8ZOYaZXV13PU6RQk0M45by5cL-UzdATrEtLfTmce2E7poL1jlJTWtYGBGP5rHQ18rruEI3iE4u6c7PKCaFODjOlrebeAonkgpVzHM_rHrCc7Kqqe8uMxB7zC13YjNYLocQcW_27uuZyLtZSBXcLj9CzCQkTxXYUvhQefseNN3LgkizFxYfSpWx1RnnQrIkhgr7K0FiVwdi2RpjR4KH_i37xLnR_1xhAd3HDB7Oon3Hu1P24GAIdjWAoYyZY1qovoeoCAp8sG0k_es9-gGzGDxXHMfJGvJt0di5uMX0_pSuj7fFBBka3A3FBOvO1pv6Wb0DLQaLyOIz6GNPIGmUqUCTZTY8_JnVGS6YKxezETJEr7nJq-G4JDk0KO7OB_bmdnF6IjiziTt9D8TtpSziTXq2F-UNzldAhtw1v1aF2QNpQ_XGsw8RTrrKPR06u_h25iLXAnXQgwMrw2s1FN-knj0-2i2PxgKvOUcveC5Qa__kyqDcgwKExwWUoOsOrtyv83hMYI7BqHvhc51f9a4cWdvahFiDA785rIC2XpY4inU65ve_Dzf8HRUql689lDU3R1TaQ_YDPiWBaquZNHCawszT0oW43LkPr-KlWJFo9zX9eiyf4bVLHUkI1PR1hdWscs4KcYii7nvhev_GNWPjxsr4EHwrul619ylRQb7RVJCC6Q==",
  "id": "rs_02f80a158c77b49a016ab4355fd27087d082c61e4499df272d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.32,\"left_z\":0.025},\"note\":\"The yellow fruit is close to the left jaw column, slightly right of center in the wrist view. I’ll shift sideways about 1.5 cm and lower the open jaws to grasp its middle.\"}",
  "call_id": "call_OR5OnrdAy8p0FqKgvAEwT9K1",
  "id": "fc_02f80a158c77b49a016ab435606b7087d0909100b4990a6ebe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OR5OnrdAy8p0FqKgvAEwT9K1",
  "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]: [-1.0164, 2.0254, 1.3136, -0.5091, -0.6136, -0.8459, 0.9959, -0.1402, 0.6189, 0.2298, 0.136, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.318 left_y=-0.3136 left_z=0.0332 left_yaw=0.004 left_pitch=-0.3076 left_roll=0.1227 left_gripper=0.9959 right_x=0.2928 right_y=-0.0043 right_z=0.167 right_yaw=-0.0592 right_pitch=0.3127 right_roll=0.1965 right_gripper=0.9993\nstate[joint_eff]: [-0.8547, -8.9778, 5.1077, 0.8816, -0.4176, -0.1148, -0.0122, -0.0889, -0.253, 7.2137, 1.9902, -0.0952, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1288db30d760126ed7e0408d36f23815615e94820ef11e57ca3d7a6126e29f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace458f8dff4f5e65c55f87ed00e6fd33c2d66324bf47e2f4ee1ca26bae0ccd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5270dd1fe20d76f8c79b740fabb41fbd5fb6cbaf008dc28ee70d4da0a4b76027",
      "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 · 4.018 s

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

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 2.4008, 1.9915, -0.6838, -0.5842, -0.6899, 0.9949, -0.1402, 0.6125, 0.2298, 0.1631, -0.1883, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.4385 left_y=-0.3678 left_z=0.0547 left_yaw=0.0101 left_pitch=-0.2643 left_roll=0.1041 left_gripper=0.9949 right_x=0.2939 right_y=-0.0045 right_z=0.1751 right_yaw=-0.0584 right_pitch=0.3461 right_roll=0.194 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -17.4564, 6.0513, 1.1404, -0.3785, -0.0269, -0.1099, -0.1709, -0.0479, 7.1726, 2.0244, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0012, 1.879, 1.4693, -0.7727, -0.6155, -0.8268, 0.9959, -0.1402, 0.6189, 0.2298, 0.144, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3207 left_y=-0.305 left_z=0.1228 left_yaw=-0.0006 left_pitch=-0.2867 left_roll=0.1024 left_gripper=0.9959 right_x=0.2933 right_y=-0.0044 right_z=0.1689 right_yaw=-0.059 right_pitch=0.3207 right_roll=0.1958 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -10.8923, 6.3521, 1.326, -0.6716, -0.0562, -0.0024, -0.0752, -0.2803, 7.2274, 2.0049, -0.0855, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0164, 2.0254, 1.3136, -0.5091, -0.6136, -0.8459, 0.9959, -0.1402, 0.6189, 0.2298, 0.136, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.318 left_y=-0.3136 left_z=0.0332 left_yaw=0.004 left_pitch=-0.3076 left_roll=0.1227 left_gripper=0.9959 right_x=0.2928 right_y=-0.0043 right_z=0.167 right_yaw=-0.0592 right_pitch=0.3127 right_roll=0.1965 right_gripper=0.9993\nstate[joint_eff]: [-0.8547, -8.9778, 5.1077, 0.8816, -0.4176, -0.1148, -0.0122, -0.0889, -0.253, 7.2137, 1.9902, -0.0952, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1288db30d760126ed7e0408d36f23815615e94820ef11e57ca3d7a6126e29f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace458f8dff4f5e65c55f87ed00e6fd33c2d66324bf47e2f4ee1ca26bae0ccd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5270dd1fe20d76f8c79b740fabb41fbd5fb6cbaf008dc28ee70d4da0a4b76027",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVksatIIABFKybm1GqxEGQR4iHVyBgctOzCExQHpHWqJ6q8CpNum-ye5GTh_RqrwmhmRzJRuM-T3eMl80oi7D-41fv4RSMMsykdRgi3djQuGOCYylAYsoRK_A70bRTshEISSZoB5BpwJ0IBPTrLHVfp9a62SA7ctNi4QfbQ3961k3kCE-JHv4Fm2mH_mjpp3kPS59O8v1DZNHvCQzXOoCAiojuoh7tbxJekfBOJrvwgYgGsv48dXrcoBl899S_Eho1nqRGQ_EJw_VBhF00l7k8wN9USXpLeoXeN-zFTAdLZtU1pjY3xg7rlTivkgVEtIpary0FhqpzFg5JuXV5gFkaLYG197VFv-Bh3VpjT7IdE1UWVRJKynZGN6reUWydSJRIXqJimm4kX9cC4KnKjeL2DAZ4ss_CwYgmwedb0vEh4VHsZakZA4n3wL7II6cgFB6nIK6z2wHSjE8Ky9g07y9t6ipfcucxiJ49YXezuxeapUdQx6exk2KdtnvHvkQvEPWdn1aTRm4Kyni6zN7PdxaU3f9bFTT6l0h3RCH4gMcvCWwW8hUqzOeM4XNnmOIIlHhcnq8elgCCQ8wAtBqj1RvcSrw5vlApqWFk3goe_2Ifn6-6iaIXAGdYoEJbi92mL981TlUzGp8CIFWkwl8ySkm_Nkg8ZtTJbfmC3zs17HCWt0t2nG50ggcGUJXTIA_-wxgLOYPwWS65KXxwZN8RpXLr3RnlZtV4OxcrrFlJZ0_dJpFQPUDgQ12-_DeQjHdOz7RIPHmksrLfNXTwEmcHYiBFZgMCw_p5e76p1FzTlVj8yqCd-UCASgC4OwsUiFBETEocwNWGZDjnfghksEokMdB2FlgOompc_hgsCGTMYwbENRHvN-e0IvFvDTrOFCxGucgiC69-8jBQAtQK_pjsr038eSdgbHjsTGF2KznwZYLQS_gz11RXEsaFs1cZZSwYsteqMZ57UIGHLhFFpUuSNhOVJiQLkdgSDkbncHSutEMKuVbBV2fCPleMSzpjXm47RgP_VVOWu5bFI6hPWnddASI5QqB2ckgQ7HGshnTblk5t8-9vRp8GaEcrAQLcQPsCkqkl386fmsHdMetpjrcgXN8Qf-WoBfGOHHIbsBnUQCeXkkLau9zh6jnTCCVcZa0wHMiXKqEyGAZCb1xC1WtniNVmXqq8zDXHJcS_uTHoyXUoiiFrC4cepMiuM1yvZMfAY45bVeclq6wpqJXK_l8TtDkWLIrbVSjdfFnwEyAgdUhWWEZQSgowGGEew2meInu5ATXBE0ETS0nOil7HF6yg8i8_KtQFYKT12p29NcZrfcOitY8IAK_Wo14Sb2mov1kyp0QTwaiFIINvHDIQNNAUKosc6lDg4wVc0Hro2QT7h7e1CT7IABS8X3_kacURWrZ-Ly-dVlJZMze5c5SGjzqcCgzZ8gLXgua5ArqKRy1jMPIvgVrhiRki_87xsDcHCmUTar0yKVvPAuCaJea-_YgD1xpSeWicmcBUEhD_PBh2DAcgn3qxa-wXVx-rOei5yI-wUq0KQdcLg2RYeC0l4op-IZXSpVY67_BzrKIsaBHwNRzoU6mJpuLDwKy7lMwXJneWPAmDWzu1CCbBE7BnHLkH4L9rHxmZnOGly3OF62FQbz90-MThrMAonUDvyC1YhsjONo9dc",
  "id": "rs_02f80a158c77b49a016ab43562f31487d0904adc1672e0468e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws reached roughly 3 cm above the table, with the yellow fruit at their tip in the wrist view. I’ll close on it and check the opening before lifting.\"}",
  "call_id": "call_LgBYiu1Qqa9u6pUyI5rWxQEW",
  "id": "fc_02f80a158c77b49a016ab43563c23887d0b904419b624744d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LgBYiu1Qqa9u6pUyI5rWxQEW",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0168, 2.0521, 1.3041, -0.5045, -0.6098, -0.8459, 0.0093, -0.1402, 0.6189, 0.2298, 0.1322, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3152 left_y=-0.3104 left_z=0.0194 left_yaw=0.0106 left_pitch=-0.3272 left_roll=0.1492 left_gripper=0.0093 right_x=0.2925 right_y=-0.0043 right_z=0.1661 right_yaw=-0.0593 right_pitch=0.3089 right_roll=0.1968 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -12.7658, 6.3521, 0.7741, -0.4225, -0.022, 0.6471, 0.0068, -0.335, 7.1863, 1.9219, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7caf4c2f8a30f226e79c4ebdad1d9cbe8f5979a3fb2f39ae65c3f0ba46f98967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ee0a43fe9cfe20945f232fa34dd034266426fe92c8ecee065f5d8ee1ad12e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0928e4e36cce424e19931cdfc0b337a8ae6ed472e70d75f69953b8adc44aaa4",
      "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 · 5.386 s

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

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8757, 2.5576, 2.7747, -1.2545, -0.5842, -0.7044, 0.9958, -0.1402, 0.6151, 0.2298, 0.1528, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4472 left_y=-0.3785 left_z=0.1818 left_yaw=0.007 left_pitch=-0.2285 left_roll=0.0495 left_gripper=0.9958 right_x=0.2935 right_y=-0.0043 right_z=0.172 right_yaw=-0.0583 right_pitch=0.3332 right_roll=0.1948 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -11.7402, 5.6821, 0.2613, -0.3248, 0.1099, 0.0806, -0.1026, -0.3624, 7.1453, 2.044, -0.0904, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0164, 2.0254, 1.3136, -0.5091, -0.6136, -0.8459, 0.9959, -0.1402, 0.6189, 0.2298, 0.136, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.318 left_y=-0.3136 left_z=0.0332 left_yaw=0.004 left_pitch=-0.3076 left_roll=0.1227 left_gripper=0.9959 right_x=0.2928 right_y=-0.0043 right_z=0.167 right_yaw=-0.0592 right_pitch=0.3127 right_roll=0.1965 right_gripper=0.9993\nstate[joint_eff]: [-0.8547, -8.9778, 5.1077, 0.8816, -0.4176, -0.1148, -0.0122, -0.0889, -0.253, 7.2137, 1.9902, -0.0952, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0168, 2.0521, 1.3041, -0.5045, -0.6098, -0.8459, 0.0093, -0.1402, 0.6189, 0.2298, 0.1322, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3152 left_y=-0.3104 left_z=0.0194 left_yaw=0.0106 left_pitch=-0.3272 left_roll=0.1492 left_gripper=0.0093 right_x=0.2925 right_y=-0.0043 right_z=0.1661 right_yaw=-0.0593 right_pitch=0.3089 right_roll=0.1968 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -12.7658, 6.3521, 0.7741, -0.4225, -0.022, 0.6471, 0.0068, -0.335, 7.1863, 1.9219, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7caf4c2f8a30f226e79c4ebdad1d9cbe8f5979a3fb2f39ae65c3f0ba46f98967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ee0a43fe9cfe20945f232fa34dd034266426fe92c8ecee065f5d8ee1ad12e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0928e4e36cce424e19931cdfc0b337a8ae6ed472e70d75f69953b8adc44aaa4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVpRSyJwL_iqe5NS-v36epEF0pdCkWYCrCHmiwBLmjLP2sNR-QlQfklYcqg1TAf0AyxSvf-O5WTOBeyr42ZDFQMuFuFylmDicEaRto5nfww0Tb3lQcc1wwkTHiDGe86dRpcPeEKs-TUOqyEkQ25lBn4SrJ97IEBlpvAMf0m7M28TR8uQ_wext2kosuu2SwoEje4qiYo74ECP161zXlxRhu8AHQmyOM6S4yhkjPinoWwWJPZLQWV2ypp1j50x7B8xFXZTU0qtO-mQCfR63RAl2h246aaeAffLjDwOUiZpWK2k2Tebrhu2nqKWJkCv2tsokeNasR6ZrJQBpyzm_n2xlXb2wp1HV-gf9oqcAuZc2xkWYUQkDt_NytjsVZLv-MwE7-S7nt_2-ym43BtNrAA0-bl6jjjjwfS13czLHzNFUiapRuSfPQDSTPHiQqL-AYtKWcSryGGu06BWraWAEnuK6V-DK8FsEZ1LfwVKWk2BUMTBnNF8X5gQo-ImKIsTDQ6aluq3L-xjxcX2DsdeYQIP6Ih8rAbE9EgvZM9hwssRGiq_xqkFkmy4pp2LS2QnXGsUGXyGriP3GijMI4wTO5KAOZvyafZfyW00MVOoV8s_bO5DlqZjJp6n-dN_SLNLlFFXLxtLg0GBPY5Q6CwRefdm070jljjeSE11XZ3XpY5PKFB24GeTOM-LZYC34xGtsKKdqh2TakQAaJYxaHHbe1XSMrWYhWQaziDzScogcz3q1OmwgxguqHCt1lUSi_tfDw1rA9A2n9pC2Nr9nrjZ9_fh-EDfKOhPoP4ILRxrpVMdKlBdAI2ELyZwt90Rj9qWQ0g0DXPKxs9psWlYV-6PEIQ5E-FBF2MBPnoWG6gEa31dOsENJ0Hu8XcfoCwQXpiTBVa5PCeS51s_6wL7BauSv_dhlygXuKwMQyFJdS4q2GM64pcBLNeupUtDk-VLpo0I3QbHhY4HHv540_Tdh-U4G18UHC84tGFJh9kXf-RuU9iDujJXV7VrnnmuPsn5IsZ8zVTQFHsn7Pfqij4JwsdZFvbutazjwfkOIht9LAkMxJuSx7U0_DYb1up6eUfkvSUTJN2u1_nVfJGzAPlSSytg9pEKsRIxJxd7Gce32MytSTkNQQiomoDjDcjNSLG7vqKQkCEuYqCEQ7frb6tmz_4sKYTNO4UIEfqPww7EADs9DVk3Oq4fC5QIvNGzghAXfBRmR46_gRBDnnaRlIk7-rATfLvESk6yFvrtAUhWrL7cmBqfBX0EiqORcntvFHNeRUbFvpvx5QxX769Up-I6b-Zr41EUDc6rOKTtYITRlTklf3Rne3DBEGii1uMeoM1e6bZA4Fay_5bavCKsxFGrk4lSrfSSVOigSTnSY8jwXRCVF6QRTXHqJrTgcLRQZ-NTEIUJoajjDrGKFAtaUN6ziAtEm0C-K32Us44lHjRJ4KeTEKxuetMLsa5kuObftvNC4RbMOt5bdsN-wBwkpakrKDuyTLOB6j3e2rsSP3cn1xh3bqH8bAkTJPKkUBDGm1GOzI5sjrcYi4_dOqIodmf2-aJO268X9K0dvAmKTh00v-crL-hlR-hiOeAiqUg1Q0mxmsOgvqIMYrUGEUSdZWo7rbzL_wbVi3a1FD_rOuCmzXsSf6-B2ZNm3McMIcB8g9wTFVKBG6m2UTIqVHgNAE0N01noTE9UXXFMuzb0o0_z0TPjA3FFRFfbJs9ovMlmIwy57S02VKR2vbC7U58GU1H2HpCSeYeVq3QUmLzJk8uad8eKgTc28_GbunN24cgG5splV4YwcwmGu5zNgA1xyVYclyC0ft_AGpl3szDOp9y1oLKImON6N5OR0_OIs5I2hR8_-6wEcdVdW_ra4MorYibabsypybP2j8YbQu51jfRYiFeYMhHLUFaAhMevHKoqaQGQszcZUYdfW4on3B-dx6ojZMFjIJq6wV2xgrbq3B2tAnrkXnUOPj6GTFZIn0dNxxJ5Xh5xBwqHn0oZTPKbMj3YeSnMfuLU7GiTlT9aQACCEUqzH49aHKkkrd9rLkUiox-sLyyZ1ihHw_4nqHCxbUjH53ie89qzH1eBykaljbkwCUtNndDnaruYq48jQzz4lW-WpYKN_CcXRTy907G5oVNU6__5Kx3EgFe-CWev3ZAQ_E2mF9tXrWWPXONgEOMTSMBuMGyrS6IIJE96PKI1OW5JyvHCaWj_EhgzdE4x2-AppWeIgCVqsb4aAizh26V2tBIYemTXrOcwAI-By_rRbrj579pJotibaWjjy4mK5MD64YfWkvx9-4sLd0RZ2881P11EEa4mGnhobRgafWT8ilQI8vzxSfjPbchGw==",
  "id": "rs_02f80a158c77b49a016ab435663cec87d0895b54b389fd4be4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.11,\"left_y\":-0.34,\"left_x\":0.305},\"note\":\"The left gripper closed almost completely, so it missed the small yellow fruit; the wrist image showed it off to the right just before closing. I’ll reopen, lift, and shift toward that side to realign for one more attempt.\"}",
  "call_id": "call_Yq6Yfb3M2hcji3LmjA8CTPVl",
  "id": "fc_02f80a158c77b49a016ab43568689887d09392422900e82b96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Yq6Yfb3M2hcji3LmjA8CTPVl",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0668, 2.0514, 1.607, -0.8665, -0.6102, -0.9203, 0.9948, -0.1402, 0.6189, 0.2298, 0.1295, -0.1883, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.3063 left_y=-0.3383 left_z=0.0874 left_yaw=0.0211 left_pitch=-0.3497 left_roll=0.1548 left_gripper=0.9948 right_x=0.2924 right_y=-0.0043 right_z=0.1654 right_yaw=-0.0595 right_pitch=0.3062 right_roll=0.1974 right_gripper=0.9993\nstate[joint_eff]: [-0.8957, -13.1624, 8.335, 0.6911, -0.5495, 0.1245, -0.022, -0.0889, -0.2667, 7.1453, 1.9023, -0.0855, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4f8aafeec373b44a67edb64a4e67171ff5e9066ec121531ae2abfd5104e95e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8113ba9ed8c397ac3d3fe0f339aba4467c820e5d43c48c9d9b8793d9ba53fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d50c5c5e430af397f4adc665a41fe5cc026d835c1ad71ce5b875bf734f8bea4",
      "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 · 4.299 s

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

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0012, 1.879, 1.4693, -0.7727, -0.6155, -0.8268, 0.9959, -0.1402, 0.6189, 0.2298, 0.144, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3207 left_y=-0.305 left_z=0.1228 left_yaw=-0.0006 left_pitch=-0.2867 left_roll=0.1024 left_gripper=0.9959 right_x=0.2933 right_y=-0.0044 right_z=0.1689 right_yaw=-0.059 right_pitch=0.3207 right_roll=0.1958 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -10.8923, 6.3521, 1.326, -0.6716, -0.0562, -0.0024, -0.0752, -0.2803, 7.2274, 2.0049, -0.0855, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0168, 2.0521, 1.3041, -0.5045, -0.6098, -0.8459, 0.0093, -0.1402, 0.6189, 0.2298, 0.1322, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3152 left_y=-0.3104 left_z=0.0194 left_yaw=0.0106 left_pitch=-0.3272 left_roll=0.1492 left_gripper=0.0093 right_x=0.2925 right_y=-0.0043 right_z=0.1661 right_yaw=-0.0593 right_pitch=0.3089 right_roll=0.1968 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -12.7658, 6.3521, 0.7741, -0.4225, -0.022, 0.6471, 0.0068, -0.335, 7.1863, 1.9219, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0668, 2.0514, 1.607, -0.8665, -0.6102, -0.9203, 0.9948, -0.1402, 0.6189, 0.2298, 0.1295, -0.1883, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.3063 left_y=-0.3383 left_z=0.0874 left_yaw=0.0211 left_pitch=-0.3497 left_roll=0.1548 left_gripper=0.9948 right_x=0.2924 right_y=-0.0043 right_z=0.1654 right_yaw=-0.0595 right_pitch=0.3062 right_roll=0.1974 right_gripper=0.9993\nstate[joint_eff]: [-0.8957, -13.1624, 8.335, 0.6911, -0.5495, 0.1245, -0.022, -0.0889, -0.2667, 7.1453, 1.9023, -0.0855, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4f8aafeec373b44a67edb64a4e67171ff5e9066ec121531ae2abfd5104e95e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8113ba9ed8c397ac3d3fe0f339aba4467c820e5d43c48c9d9b8793d9ba53fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d50c5c5e430af397f4adc665a41fe5cc026d835c1ad71ce5b875bf734f8bea4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02f80a158c77b49a016ab4356bbff487d08af76b4b1d0beef9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.16,\"left_z\":0.2},\"note\":\"The yellow fruit is no longer visible in the left wrist view, and the left tool blocks the table in the overhead view. I’ll move the open arm aside so I can locate it accurately rather than repeat a blind close.\"}",
  "call_id": "call_AzgGOjFNm4GwSjIh9cxCMuTJ",
  "id": "fc_02f80a158c77b49a016ab4356dfb8087d08da8866462441565",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AzgGOjFNm4GwSjIh9cxCMuTJ",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [-0.8196, 1.4063, 1.2732, -1.0168, -0.5297, -0.6724, 0.9958, -0.1402, 0.6193, 0.2298, 0.1291, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2852 left_y=-0.1694 left_z=0.1964 left_yaw=0.0358 left_pitch=-0.3396 left_roll=0.1282 left_gripper=0.9958 right_x=0.2924 right_y=-0.0042 right_z=0.1652 right_yaw=-0.0594 right_pitch=0.3055 right_roll=0.1971 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -6.4615, 5.7915, 0.906, -0.2564, 0.1685, 0.0855, -0.1026, 0.0205, 7.2547, 1.8779, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d21702c33d4edb2efeeae0e2d89f421c8f1f86033deb445fb98eea26ef5d484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f484191e50fc4f8155af24c0b3473450ca5abfca93ddf44bfaeeb04402891481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70801b966900d9e33a0a5e23557daff08d8aa37a861b6be29ee3a37ec0d621fa",
      "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 · 4.381 s

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

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0164, 2.0254, 1.3136, -0.5091, -0.6136, -0.8459, 0.9959, -0.1402, 0.6189, 0.2298, 0.136, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.318 left_y=-0.3136 left_z=0.0332 left_yaw=0.004 left_pitch=-0.3076 left_roll=0.1227 left_gripper=0.9959 right_x=0.2928 right_y=-0.0043 right_z=0.167 right_yaw=-0.0592 right_pitch=0.3127 right_roll=0.1965 right_gripper=0.9993\nstate[joint_eff]: [-0.8547, -8.9778, 5.1077, 0.8816, -0.4176, -0.1148, -0.0122, -0.0889, -0.253, 7.2137, 1.9902, -0.0952, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0668, 2.0514, 1.607, -0.8665, -0.6102, -0.9203, 0.9948, -0.1402, 0.6189, 0.2298, 0.1295, -0.1883, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.3063 left_y=-0.3383 left_z=0.0874 left_yaw=0.0211 left_pitch=-0.3497 left_roll=0.1548 left_gripper=0.9948 right_x=0.2924 right_y=-0.0043 right_z=0.1654 right_yaw=-0.0595 right_pitch=0.3062 right_roll=0.1974 right_gripper=0.9993\nstate[joint_eff]: [-0.8957, -13.1624, 8.335, 0.6911, -0.5495, 0.1245, -0.022, -0.0889, -0.2667, 7.1453, 1.9023, -0.0855, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8196, 1.4063, 1.2732, -1.0168, -0.5297, -0.6724, 0.9958, -0.1402, 0.6193, 0.2298, 0.1291, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2852 left_y=-0.1694 left_z=0.1964 left_yaw=0.0358 left_pitch=-0.3396 left_roll=0.1282 left_gripper=0.9958 right_x=0.2924 right_y=-0.0042 right_z=0.1652 right_yaw=-0.0594 right_pitch=0.3055 right_roll=0.1971 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -6.4615, 5.7915, 0.906, -0.2564, 0.1685, 0.0855, -0.1026, 0.0205, 7.2547, 1.8779, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d21702c33d4edb2efeeae0e2d89f421c8f1f86033deb445fb98eea26ef5d484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f484191e50fc4f8155af24c0b3473450ca5abfca93ddf44bfaeeb04402891481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70801b966900d9e33a0a5e23557daff08d8aa37a861b6be29ee3a37ec0d621fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDV1SdDJKShtjbGinGVfXLdqxH9-eqtPEqnnCHMPXfg-Gtbe04QT_RHTwCSj0_p_3mCHFS4Kvl2WqMtMUSXZTPwM-cK3Z3zNxM9VjJ-nJ3XFAfCLJEJu1Ut1h-JGTFb5MStyMomkXyaHCuUcZbemYomj6N-MkzrE9YfNiyo2sASN7H1zyiqnBvv5wHAqNBQ0_fDWdI8RCzJ8FPFPgwE7chEm-b1ES7W0fdFXY-eueasAMYbfE3U0XKQUfOrh2dFLUHYgUhijroH03h0qcIXI2vT9iVNkl5-a8lUItpCsu8jq_m5mSx84aBBmwNlIZMn2yAnMkAN2cqQxzUoW8xG9yDO7_mbMyeoqcfa4orLtTguHSLkMvyyHsHATmpvfvfgowlRZfl4HIK0tpO4yfkASNlgIcYsF2I646qM6LWIQCGCEzRRn3cQEd4dPqJxVArFRg3bzMskeFxKMR6bWAG7illPi96lj9eK2EoOJWOvySgstZAWxmrljUyLOPT7eZbxzdMigf0zf9bZAn2nNtuIYNAJG-bT2GcYiNkWM1bXmdbvO8Tsj6LJpylX65Gcla2MbCKf2QVuaG1DZqfE1XOfM3C5t9RXI7KUGRv0RoN7UA-LoemQXqeZrjBvLE_ywBtl5iTwTIt4sC3xXo49crsdzXG_lyKS_ynnxt_YQyAdLP_eeuAKAfKidCjtYh05GC8cQHJ8weKI9A5rIYyqt0ycMsVdR2XuDkON5X1HArY-wCGqZtw9GaexSy1mT2OC0E7FMNQ-bfKSk8GZVl9B4MgyFMG68GWGHLcbQTKZq3en_9F4kLC6n01Exuxen6zO1mUJThxTk-tqECQQCCbwLy2DHu3LxIazM4D5O4QUjZG3cenv3x8dsMuXYL_fyIV5rz1bbkOj5uK5_pif3Zkgi8x4QxmKj6MOfNA9J-40q40kiUfJbeHNwBcN8X12IfiG5LeljVc-QmFMWSnP3iIAgS1IZa7qityWmCm7Ts8WsVNH-zfPlJluvsT8lhUOU8-FQkcWj2uazufNhcLEdtg0yAA7ENtW5KV0YJ6XxjQ0JerRM4mxi1JeINxhcDmavs6Qu9-LgGAgfbroxQOqUq41LzybLltAcq254jyBuzcSmaJMd3egcnik5pxUewFGgFm8O8df9Fc0U7jz9tdc4BrAj83NV_Ngv8gJgsI4mkk8_1jpPYVURhU6riAnMnn1xWV-Jgv0L_W73GWk3EXwZ5xAwihdT5IgPAIPlbdVGHuG729bJqeg2WCeLQhrq_13fJZT82QY9avZrNxsdSn7MkiBiUAqfsJm_a1S0dpBctFOqMIv_IIXCs2YRkxlebwuS1qzwA7yJGeju2KzGf0oakvdAtsSkHXeg8FcGaAvDeeyZyhC07sRGWC7dhxASPcwq_i88iox7uNk91wVR5LenBHtPYnOU68ilPhDzg0lZUPcEI3tJteJXWd0DTt4gRog09r22juDC3UqTFDOSp9s4LRJriArIpCDuOBAkNWZsqDdkbdffNx_V1yYiNd1qxnn4BE48wt4sG1U8TMJt4IMfjSp-xd3fFGsW9EnF-PdgNunc2Lf-CxQmrur6fU9DcENF8cY8YLuSC6by83xF86399bmt8I-iXsK3Qw9BMJfvn6pkow7xD3-uT0KzM8H63frJe3m8A1zi_8-xtg7UTMDfFPb2n9HZ9UOiN_jtzkUT7uxNGCHYTioe27bvyCCcWO9E1F6Ifz5f-e5wfQx97g1N6A0SN8Q5a191wKgwBUnbYChWrBoZLAtLJjkEWeoBbSNSaEXAFvJROjsOd6913K_VjDIPSZCp3NPFlCEBivHw-od6FkOxDnE8yxP1BNmu9OuNIPWOyy-ANGauPEZ7wTQRsrovMDUDy_iitpEhIDl-OXyjOaw5bPL-Zxxrjwbk3J4yi7UsW_U-AHumufekuw16GwNYIw80ITOh3_xuJNhFhX67mlhMNlnct6VFdAu1t68mcbmO5a0pZqCLurG2sEY-Nhzsa76vtn5v4GWhYAZRXUCo-XWusJwB50tYn-aaYCTe56cBp7awJv3L_hkm0IgRV7iifdBpZtbW6BYHaH-AaBIE1lPEzLnWw88PS3ZjjBB1oI-mAsOjS-sIr46xYzfUwzIr7IxImWVquULW9bQPLp4fY8Ff-SnW-g5RRwQ2BmQMPhp5UDmJD84dz3Nt71rY8175ZrUXhSPpF7MLNC-c0eK2OGKutSDXS4bL2TCAjuuaORh0dUmRji-iC3gfMWY2iHhRbnjjjY9WkUhqiiLrYygfE2VQmK1V-gLPYC-019Tg6jLeJu3kDgFc652IrPWmnCMCKG5yIsT3FTav8J-3BR9I4CYemxBOLRKSXMJjN7jJ617B1bREOFRr7SjRii94vst8zW1DBDevubLX9jy_CDHCvXLC_UeH3zzAz1cEGtWC7KBXnbJBYVxb",
  "id": "rs_02f80a158c77b49a016ab435722f5887d0a5148e4068e09fb4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.255,\"left_z\":0.105},\"note\":\"The overhead view shows the small yellow fruit was pushed backward to the left of its original spot, at about the middle-front of the table. I’ll bring the left arm above its new location before attempting another low grasp.\"}",
  "call_id": "call_z0vXZ9fyn7hIU2LqfnJDM0dI",
  "id": "fc_02f80a158c77b49a016ab435747a2087d08fbea92470194844",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z0vXZ9fyn7hIU2LqfnJDM0dI",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0161, 1.6833, 1.2057, -0.8204, -0.5735, -0.8696, 0.996, -0.1402, 0.6189, 0.2298, 0.1291, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2707 left_y=-0.2482 left_z=0.1048 left_yaw=0.0222 left_pitch=-0.3784 left_roll=0.1566 left_gripper=0.996 right_x=0.2924 right_y=-0.0042 right_z=0.1653 right_yaw=-0.059 right_pitch=0.3059 right_roll=0.1971 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -7.8291, 5.9966, 0.8327, -0.652, -0.1197, -0.0024, -0.0752, -0.294, 7.1453, 1.8584, -0.1001, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fe4e0ea81a4c9dd830160e1042c447159b6dd755e3e181e78ebfa33c1ce7c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9fa6f639a8f1d10010db65f35cf2894745d7b110329754ffe3eb05289fe441e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b89e469ded7b493b022c36fe1975322b4328f899d2c8cc815e7abbea6d2da8",
      "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 · 2.406 s

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

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0168, 2.0521, 1.3041, -0.5045, -0.6098, -0.8459, 0.0093, -0.1402, 0.6189, 0.2298, 0.1322, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3152 left_y=-0.3104 left_z=0.0194 left_yaw=0.0106 left_pitch=-0.3272 left_roll=0.1492 left_gripper=0.0093 right_x=0.2925 right_y=-0.0043 right_z=0.1661 right_yaw=-0.0593 right_pitch=0.3089 right_roll=0.1968 right_gripper=0.9993\nstate[joint_eff]: [-0.1162, -12.7658, 6.3521, 0.7741, -0.4225, -0.022, 0.6471, 0.0068, -0.335, 7.1863, 1.9219, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8196, 1.4063, 1.2732, -1.0168, -0.5297, -0.6724, 0.9958, -0.1402, 0.6193, 0.2298, 0.1291, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2852 left_y=-0.1694 left_z=0.1964 left_yaw=0.0358 left_pitch=-0.3396 left_roll=0.1282 left_gripper=0.9958 right_x=0.2924 right_y=-0.0042 right_z=0.1652 right_yaw=-0.0594 right_pitch=0.3055 right_roll=0.1971 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -6.4615, 5.7915, 0.906, -0.2564, 0.1685, 0.0855, -0.1026, 0.0205, 7.2547, 1.8779, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0161, 1.6833, 1.2057, -0.8204, -0.5735, -0.8696, 0.996, -0.1402, 0.6189, 0.2298, 0.1291, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2707 left_y=-0.2482 left_z=0.1048 left_yaw=0.0222 left_pitch=-0.3784 left_roll=0.1566 left_gripper=0.996 right_x=0.2924 right_y=-0.0042 right_z=0.1653 right_yaw=-0.059 right_pitch=0.3059 right_roll=0.1971 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -7.8291, 5.9966, 0.8327, -0.652, -0.1197, -0.0024, -0.0752, -0.294, 7.1453, 1.8584, -0.1001, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fe4e0ea81a4c9dd830160e1042c447159b6dd755e3e181e78ebfa33c1ce7c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9fa6f639a8f1d10010db65f35cf2894745d7b110329754ffe3eb05289fe441e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b89e469ded7b493b022c36fe1975322b4328f899d2c8cc815e7abbea6d2da8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDV6U-hqDZcwI2wvoT5BSazT1Gko4tF2-8b2WqphbxZoasrbJ9_MAv9o-cEIjx3TsoL4_gbI1e4ujGrkIzBK3bZHOB9F9fdTw_yETh5VMMfEENWcjv2f48_uYle8DMwKyRSR7EgmW2h60sJ_8ead94Py3WxlcZLi28o52uCrqdo4u7NgwNxIipKjLOgVPP80i9lOpGZYLcXE1Utqo3hPi4_XKc76CCSm2fsE7PLKUn8Jt1S3xoaGrVRRJPS2fCZiiXcoZzUtS9Sq5J5aKbs-Iz3GK2q0DKmWocoAOG-Fk8SNlFl8PLnX-a6dd-GiLAYoZXWXZdnTxCqfDaXFt7bI6BOnz3CM3XsDNL6l9E5uTyAAkgSkDKYQ2w8JjhrAO1L61Y4nyM_Yie2B0IlY9TC31l1rMvPToSly6VdMV56-S8nnR6P-fea7qO03qFWgt9aDt9_B1a1EqgWIaHn1wNDN4xJKrQSl6Iu4EEba7ceoHroKmbnep9nMj5cWqmjDFl79UalZTYMtG8_PHelJTUQ3bLO7KuGBgnCgWnTJPzFYyGKWtqCeYBnEhBGuZrJEXWb1pV3FDg972AqfaPq4LB9VMBRWyUPgQJnPRBCVifpplBJbj8AmdiLXbtMW712b7X87zm8h1RTjRu9Qlu1_Wm21Y5UsGbXJJZai1g38et31VANQVGBb-JLqJkDS_QpwZVJRMAiwW1Kb3w-ZwvjUsJJu0u0rmAjSjvpewO8DgiEqhaRkiDgcSHbY6aMwnAoD9pxVFNY5Ug5F3SnFibnqa4kHEdp0KEbW-QI8UYZjgHJDxlm-Wx3JMb5F_B3mFPGWx68KWoNk7LY691Ph-X9PI9Q8j1UtDy-uS7l_UcAQjHmLVlcOeafHs9yjguPyWvdYQtv07iDoNxItUCfbpIQqiEOhjt8jg9USb984Qyj1pR93b3Mw3ITSHd0ZmKIQc1uCYAkhBgoIT4mu1of150b1EFgsMPoWKgJdQMVjMHhNvQUoFRn3OdRhzdLrtn1MJ7FfGgR_ZqwUs1BXL-6EW37FR7oqOk_bAuqjnetu7FQAqJ6dy1in4R9bwQN6E9rNaQ2llCzE4SyDItTPICImNfGY5K2_pjumMHRMoy6bPVvCWV4BZLGFZ0y4IvotzeLGgI9vtGdbBgqqq1alyg2Y2ItJ3GkpJXGSVVnFyRm7vbJc4-J80SncLm4vF2umHRtrthbsFt6AxVqXzoAz9c1NLemnd2INogFfmL4hGXRhz01OE9IYvhcRIhUwtz8ahluA3O9pRW9qhqrbwZC1UvWSAFFkREOlQBGztUSMCoEsN5HxR8HsNF83hXo97zEljH_uzUUiUfe64GHGw806BhKDlA93GbM4aWm2RUCFBeh88exbx3HpNa20aqkRjupyRsYxmj4tSQkrE3dXFmhp3if4U3jMhiXOp_mygiYEbkS5RWTZVtt9Q4V00dQM0iVvfs01E_vIi0jwujY1YigVhHL2LdC8JhRYDDQI4yTNTSCmL0OD8ufxR_9D7u9I1Dm-vjEavqpdkjsNbAZfCiUjP_cUvGQPnQUddBP2cVkdv-2fP8o4wqsYXImW_BFqpyghADlW3LQcb2yDJjtW9552FouRHIAvYiZnL6FwNRZ6NV3Ufhq4FIQdj_0iBbNUM9Sbn7xWwwjMcZFiHXmkuhAwGcMQcHWBPW-dI6A8xeOqzR9r3crooDorVST0gBJf45q1_H5xeck4NtbtvjiFly0mIPprPjz0W1VkXJCFGT-RF0xkP2qbyDvp_QxPhpKFh_-N-TgphjQ_3TN1933tRrBe-NTI1xh__LaY0vfk-7MutlZNrauqrID27TJevlGJnMLF408nYls5Bw63I-QGhX3n_rf02jPgUaN9WVJ_5PCHAkHn5pDNpPS9oPBT_bYVF8sSsljEkCjJ-MUEyjPRxkvR9kLQd7X26wJzZCHSPgGBxAuPWJ_OSWt0zCZNU6x4k8q_Qp-Hzn4VtAPEIufGHFakTdf_1PJ02m4shC8pcgOw9CBLw3TzemI_FlFEwO-ET91DPHazzVUGjBXg438ECMLDY4PAeTSfddRZIDogp5QzzDtodwj_IdS8q59VWmchbdhPHiWeggFxIb2uNDs2kSvlc9H8bawM8TNJwdx-1eUs5k7SGcYeV5284T4rvB8S1llhK4i_KHMPeSwJbSfsPqe1VdJ0P4TdtkLZXa558efQ_aJHds2gy5K-7pPjuOsqKYAbVDAD9NKgrfr9t8Bt",
  "id": "rs_02f80a158c77b49a016ab43577e4d487d097c90613155d3de2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.275,\"left_z\":0.018},\"note\":\"The yellow fruit fills the bottom of the left wrist view but sits slightly right of the jaw center and close to the base side of the tips. I’ll lower while moving a couple of centimeters back and sideways to straddle it more squarely.\"}",
  "call_id": "call_TQtuNhc6Sl8W15NjHK4uLOY4",
  "id": "fc_02f80a158c77b49a016ab43579aa6487d08da29e60683e85b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TQtuNhc6Sl8W15NjHK4uLOY4",
  "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]: [-1.1019, 1.8557, 1.0821, -0.6132, -0.5842, -0.9539, 0.9959, -0.1402, 0.6235, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2487 left_y=-0.2675 left_z=0.0235 left_yaw=0.0219 left_pitch=-0.4034 left_roll=0.1945 left_gripper=0.9959 right_x=0.2926 right_y=-0.0043 right_z=0.164 right_yaw=-0.0595 right_pitch=0.3009 right_roll=0.1975 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -8.1436, 4.9846, 0.6422, -0.4567, -0.188, -0.0171, -0.2256, -0.6906, 7.3368, 1.8779, -0.0757, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2756d06191c8d97e495cab51aab51fc431df9b571e697007f4b1712dec37fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348386cb57c54100d6573259bc190db61a3eaef3e486a4192ba55cb615e2c434",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7f0776c76bc1407ca0f2df004010d9553089ef8b72484d78b64ce540322d83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.411 s

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

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0668, 2.0514, 1.607, -0.8665, -0.6102, -0.9203, 0.9948, -0.1402, 0.6189, 0.2298, 0.1295, -0.1883, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.3063 left_y=-0.3383 left_z=0.0874 left_yaw=0.0211 left_pitch=-0.3497 left_roll=0.1548 left_gripper=0.9948 right_x=0.2924 right_y=-0.0043 right_z=0.1654 right_yaw=-0.0595 right_pitch=0.3062 right_roll=0.1974 right_gripper=0.9993\nstate[joint_eff]: [-0.8957, -13.1624, 8.335, 0.6911, -0.5495, 0.1245, -0.022, -0.0889, -0.2667, 7.1453, 1.9023, -0.0855, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0161, 1.6833, 1.2057, -0.8204, -0.5735, -0.8696, 0.996, -0.1402, 0.6189, 0.2298, 0.1291, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2707 left_y=-0.2482 left_z=0.1048 left_yaw=0.0222 left_pitch=-0.3784 left_roll=0.1566 left_gripper=0.996 right_x=0.2924 right_y=-0.0042 right_z=0.1653 right_yaw=-0.059 right_pitch=0.3059 right_roll=0.1971 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -7.8291, 5.9966, 0.8327, -0.652, -0.1197, -0.0024, -0.0752, -0.294, 7.1453, 1.8584, -0.1001, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1019, 1.8557, 1.0821, -0.6132, -0.5842, -0.9539, 0.9959, -0.1402, 0.6235, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2487 left_y=-0.2675 left_z=0.0235 left_yaw=0.0219 left_pitch=-0.4034 left_roll=0.1945 left_gripper=0.9959 right_x=0.2926 right_y=-0.0043 right_z=0.164 right_yaw=-0.0595 right_pitch=0.3009 right_roll=0.1975 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -8.1436, 4.9846, 0.6422, -0.4567, -0.188, -0.0171, -0.2256, -0.6906, 7.3368, 1.8779, -0.0757, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2756d06191c8d97e495cab51aab51fc431df9b571e697007f4b1712dec37fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348386cb57c54100d6573259bc190db61a3eaef3e486a4192ba55cb615e2c434",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7f0776c76bc1407ca0f2df004010d9553089ef8b72484d78b64ce540322d83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDV9PZ8VDBFJrol8hYYMXS4TFO9ZQJ5U_el-lT4nr5tjeHgpbpFEI85lwgRDR-OFN-p3_UVx-l4oGFHAeyzjzX_MM35h2yqn0s3ApcUK28cfp-Glb4E9cwXlEm8mAOQeZlvZnQwXdUiPjAvDKFWZN1_uXG4AN32PpWTq3nWwcK2gA7nwt7zcDEO-m81-b0xfWrxbDqS653SybJQhDPDjZhbQyjoAYsYCwlt3AeN1aCrkjkxke7Ix5dMXV1pPlwi2g5WvuR7QzwUbdYP1KZ3nlx-jBlSHEmFCoJWKqPVgex8uPCHTDQM6MLsdpML6ysDsaeHyI-U1zj8vIApkKXKeGsG6wOhyqkKrz3FD8Io2PCVGKsHxoXwCmpSOwN_z59-tS6ysJ6I0mGUNxJivhDG9D9hJ3ffiCXTMfy3XPYUedG4NDduw5ytGRJygy7JDd36R_Bmvk-Pl1UzeX59oQgiuD0BsBkR2dFnF7oIfSuATr1x99BydHCodV0CVXGzlWMB6sVcnhvhy1N4eT1KoZU7FETN6Rb6xlOLbozXdh6yT8fO3i8m8Gm064SI9kQAt1yKe9RVJQJdM91K-mHhdD-gtfQTycXqRN-kXfj8qMd2h9DRKubbWLFdC9xyhRFQSbax7CaSs8-9v1UNOY6dZFp0js_6KvDGSsfw9vPGdjPsEIVab4FNQM-bQVQBEnpv_NrrSHqRoQ40tt3VGkx4vCLAWalVICqKTHNAHKAeVbzCC9J48vrhFZeBPZksUDKjd_snVBUWwLHsZf2Q8nYs8zGKY2X6amzKJ2MIucBglDGsWQR411tu8rab72hgkDQypqyW3cW5XtRuCtvWJeZiOVcQeZPgL-nAHD-kywFopRH-qxep4Tu43dCpc6HWW9IKt-SVw1yXW5dPcYisURgpeDQWlBZUiueei02mLB8y7HL38vfKpa-pTQnqAd3cIRL9A4orE1Leas-8cd2BNi15vERjtv8lgjkHXtvZfjyHyCntkfljaWm9KMlfMDSBTgt0OIrnKVDOobJBNPGhb6k1ZH9lvM1cHSS-fHl7jqgE9kVc5I0LwB1VwAyXkqsUh3smBcazsZk--1YJIW7aOBQ22MdEfFvzEWraKIXr8EJ7m28bpl94-TqU___18mDaQ40ZakW0THKf9eB0iAMri7LbuKFRhFg_7fEKmcFqm2spljQ9xNfm3pzX6Lsjoir4kUxymVTadTT7VtJ67Y2HhNa73FssWCRUUfnG0490gFSWXjXRr9W3vQCMN4k0uldR_4jNdJlViyB-TJkhfdBbl2h1EEx4BU2CGrg==",
  "id": "rs_02f80a158c77b49a016ab4357c8b9887d0ac5fe421550741a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The yellow fruit is now beneath the left jaws, with its body crossing their closing line in the wrist view. I’ll close and check whether the gripper stops on the fruit.\"}",
  "call_id": "call_Atup8S9TLheDHCDWOOuyua0D",
  "id": "fc_02f80a158c77b49a016ab4357cc7dc87d0b8dfc96669e07e53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Atup8S9TLheDHCDWOOuyua0D",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1038, 1.8736, 1.0729, -0.606, -0.5835, -0.9619, 0.3986, -0.1402, 0.6239, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2467 left_y=-0.2651 left_z=0.0155 left_yaw=0.0322 left_pitch=-0.4117 left_roll=0.2088 left_gripper=0.3986 right_x=0.2926 right_y=-0.0043 right_z=0.1639 right_yaw=-0.0595 right_pitch=0.3005 right_roll=0.1975 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -10.1538, 5.9556, 0.4713, -0.3785, 0.0269, 0.9011, -0.2393, -0.2256, 7.1863, 1.8828, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa57c6bdce805ba266b7dac489be80da310147324082fb51d559569783ccabc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252751a447ead9e0dbf6833dfd5782e48a0df6dfa5351fa26ac23f31be0f6cdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c83e5c29671fbe54f9a93fb1da3520214579fdfa975bcb525c91573b1419b6c",
      "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 · 2.754 s

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

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8196, 1.4063, 1.2732, -1.0168, -0.5297, -0.6724, 0.9958, -0.1402, 0.6193, 0.2298, 0.1291, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2852 left_y=-0.1694 left_z=0.1964 left_yaw=0.0358 left_pitch=-0.3396 left_roll=0.1282 left_gripper=0.9958 right_x=0.2924 right_y=-0.0042 right_z=0.1652 right_yaw=-0.0594 right_pitch=0.3055 right_roll=0.1971 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -6.4615, 5.7915, 0.906, -0.2564, 0.1685, 0.0855, -0.1026, 0.0205, 7.2547, 1.8779, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1019, 1.8557, 1.0821, -0.6132, -0.5842, -0.9539, 0.9959, -0.1402, 0.6235, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2487 left_y=-0.2675 left_z=0.0235 left_yaw=0.0219 left_pitch=-0.4034 left_roll=0.1945 left_gripper=0.9959 right_x=0.2926 right_y=-0.0043 right_z=0.164 right_yaw=-0.0595 right_pitch=0.3009 right_roll=0.1975 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -8.1436, 4.9846, 0.6422, -0.4567, -0.188, -0.0171, -0.2256, -0.6906, 7.3368, 1.8779, -0.0757, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1038, 1.8736, 1.0729, -0.606, -0.5835, -0.9619, 0.3986, -0.1402, 0.6239, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2467 left_y=-0.2651 left_z=0.0155 left_yaw=0.0322 left_pitch=-0.4117 left_roll=0.2088 left_gripper=0.3986 right_x=0.2926 right_y=-0.0043 right_z=0.1639 right_yaw=-0.0595 right_pitch=0.3005 right_roll=0.1975 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -10.1538, 5.9556, 0.4713, -0.3785, 0.0269, 0.9011, -0.2393, -0.2256, 7.1863, 1.8828, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa57c6bdce805ba266b7dac489be80da310147324082fb51d559569783ccabc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252751a447ead9e0dbf6833dfd5782e48a0df6dfa5351fa26ac23f31be0f6cdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c83e5c29671fbe54f9a93fb1da3520214579fdfa975bcb525c91573b1419b6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWBzpAv8QZUe7iz3dDaU64MndHSwm0s_hAIvG6ZEWd74zIuSjtPEbk9x_hmETy-64tb5-HuVrqiuYG1IouYfd2KI24b6QX9p30kK3viKDKOnsQlD_vNDLwWhP-56OsMlTfzYeQj2eq2whcvSRhomdtQwOd1lurkYTcGYdOvzdRpbql0XakaWbw6hdwj_uayxhqwAn8j_jxGtOQw6OdRV4WfxjVRiS5xlRTB_BjXh8GWa69OL7PHHatI5GXl94yATChyJTb9EOiKNaD5fvI4kQT5tMbPkmwv9CH8rdwsf8MxDcOSJkbJsW50hYU0gnkMtrCrVVolsIaGo13aCb4SWt8qsOFVf2woL2p6ZpfcSZgGCFSaCF8a-RLmsg-W4f-souJdBnNmiShH_ysI-r38zkiBdkPni-8S6MuodvQd8pw4j1hqByhcoYnohyx8iTSu7mXJJW8ADLxg5eFCfkkIh7DAKchmOqBYacmygAtTDKiBidxMEFuGMsyg_WaATioc9Nl0lSFpimF-fp6JUfNS5M4_xiPlutVJ3RgXWykar3J1q3abe578C7lZiXYX2CnKzD9ZKCX9EehLEcuu_z2C3PVWsRXZ9gV3Edk9b_TXPIryLx3EzynziM6z32wS1-Nrb4BTyGsO2t7gWqXvCYR7cz2oS_CgLtgeAOYt70W2wHYX0Zoc-Jy-bKRoxSAIdT0wSOXXwGBW-C1sM5NzyUNbSNmDWy3mW201f3hAXcXFTM30jaBfzpDP29doSJ4zwk3BxQtRmqVYJhl3IIVcyPTIzRqahMATlCrik4dYCO0ZtNIJDf3WeWoIBKiogvsi8PJSdw3VMqQDLFrSdCav21IRFZVDpJrifacdNlbVGIQAZP4adRIwYxDaaNqVh8DP7jqr_EfYwhyNrDOQTArrZn7baeKVPcGTjIzvVuGLINxoAsPDjfxWyPi2-jGgELExfpqhux9jvvJgZqhPB6yO7stV3nt-Oc-IJkEp59WpSW-Vj5cSNR8Z69KhmmeZXQLzhGL2-Ht7HiaIYUi0AqsM1GIXFj5uEkAwE64fsV3ljh0_qNZ8M1DRzk0UFWIR580HEweJUwak9hI4pStLTgX6GG_p7_ByR4Uy3htnGHTir_Y1pJ8FaFs8SShcveoQfTYsIOyOy8mumj7ZyIm_1N6RXAW25xTISDtrpvHLBNM8kqILOnReRkaIpBAX0GB02OWrhFOEfAxw",
  "id": "rs_02f80a158c77b49a016ab435805d9887d09c102df293f671cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The left gripper stopped around 40% open, and the yellow fruit remains between the fingers in the wrist view. I’ll lift it and confirm it comes along before moving it to the blue bowl.\"}",
  "call_id": "call_SbFYzjrk64WT9KZHQrdiCbqk",
  "id": "fc_02f80a158c77b49a016ab43580ca6c87d0b9f6578031c508a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SbFYzjrk64WT9KZHQrdiCbqk",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1038, 1.7485, 1.5585, -1.2121, -0.5674, -0.9691, 0.4007, -0.1402, 0.6247, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2479 left_y=-0.2728 left_z=0.1687 left_yaw=0.0289 left_pitch=-0.4233 left_roll=0.1926 left_gripper=0.4007 right_x=0.2926 right_y=-0.0043 right_z=0.1637 right_yaw=-0.0595 right_pitch=0.2998 right_roll=0.1976 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -9.306, 8.8274, 0.3394, -0.4371, 0.0659, 0.1978, -0.1436, -0.3487, 7.159, 1.8779, -0.022, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6ec7e54b691130c53aa65533681313f6f8647d1d20d41a05acef00c0c195c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1f2876b26ff217cb583497fb3a56724afb54a920ea4e518453960a44503969",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7ae3347c6eb2578d5ba60ca5ed0b2879ddb53b395c5d1a421bd56da53548a64",
      "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 · 4.229 s

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

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0161, 1.6833, 1.2057, -0.8204, -0.5735, -0.8696, 0.996, -0.1402, 0.6189, 0.2298, 0.1291, -0.1886, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2707 left_y=-0.2482 left_z=0.1048 left_yaw=0.0222 left_pitch=-0.3784 left_roll=0.1566 left_gripper=0.996 right_x=0.2924 right_y=-0.0042 right_z=0.1653 right_yaw=-0.059 right_pitch=0.3059 right_roll=0.1971 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -7.8291, 5.9966, 0.8327, -0.652, -0.1197, -0.0024, -0.0752, -0.294, 7.1453, 1.8584, -0.1001, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1038, 1.8736, 1.0729, -0.606, -0.5835, -0.9619, 0.3986, -0.1402, 0.6239, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2467 left_y=-0.2651 left_z=0.0155 left_yaw=0.0322 left_pitch=-0.4117 left_roll=0.2088 left_gripper=0.3986 right_x=0.2926 right_y=-0.0043 right_z=0.1639 right_yaw=-0.0595 right_pitch=0.3005 right_roll=0.1975 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -10.1538, 5.9556, 0.4713, -0.3785, 0.0269, 0.9011, -0.2393, -0.2256, 7.1863, 1.8828, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1038, 1.7485, 1.5585, -1.2121, -0.5674, -0.9691, 0.4007, -0.1402, 0.6247, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2479 left_y=-0.2728 left_z=0.1687 left_yaw=0.0289 left_pitch=-0.4233 left_roll=0.1926 left_gripper=0.4007 right_x=0.2926 right_y=-0.0043 right_z=0.1637 right_yaw=-0.0595 right_pitch=0.2998 right_roll=0.1976 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -9.306, 8.8274, 0.3394, -0.4371, 0.0659, 0.1978, -0.1436, -0.3487, 7.159, 1.8779, -0.022, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6ec7e54b691130c53aa65533681313f6f8647d1d20d41a05acef00c0c195c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1f2876b26ff217cb583497fb3a56724afb54a920ea4e518453960a44503969",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7ae3347c6eb2578d5ba60ca5ed0b2879ddb53b395c5d1a421bd56da53548a64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWFJbLhpx0FhiyaAb-1li_LXG8mLdjFa0NzT2drxnDeYBqL5cHxVOcFqqPBJXeF8nH_G-8Nlum1ip1gNjzOIXF2vpru6wVqwgvdM5AUA_XsM8fR4-cKgu2B0sX7CtIuhXM9MDBruNK8K47DIvouBwm0nh5sx03ClI5Cf3n-eaEGo7UFUc-Fh_pTQtAOWT0xEITsDcrO-LmtYJE32xA0aWG2iN2RvoFzeVUyT52Kb909YsGVGPOBfjGN5NDbJ3OG2OlSv0xU1tDsLVOEv6xDTnhX_uyingrGLW0IRjUAzDwEX_wfCz9rLoKDRK15BHNoa2t6qxu-N1V5ixmSX1-uuRxUfPa7Lyl-sUHIJzn3FmNIX-L_cHG4tCA7eLf0ZoI_AIBojBn_XZ-N11x3q9GXrZMWAMZuNDUQPxTQ7zMmraL9aXL1guDV8S84G6slGQruC9LJxoP2NH8M-GHIUJ3foDyiuy5yrv5zAO0MBMfpjgy852HUr4ydioo-lRjiV5STvy72JFRY7gHhlRfisLNAzkEr-n6x1D8LblSWUsNxIOpJsNIT9Iyu8wtKKw8pnZ0y_DgY-_rcQp1W13KCstyDHGAT0Z4dyMfOUIkSXNRxUra1lIKjcbANWnXPIKzWTu7ngcQ6anlKgq2vnNlyyHGmK1fSD5pHurKFtNYVYUWFDanhqN_NZyRXDrHclt_2HjIi7uDmlo3l8Qhtn3X2VmUHuCOSStPIV6uqVseKx9PrR5TxsyJjrYIeYziyXZpU2aPwlIV7Tf4ELulfJGg9AFtEM6DIapmJr66NlZLLDeMu7fmzAEZMu6ixjxwxCVYTicwjqs8tdgXw9RlErREHqsen2fqgAj3LYcVD6RcoYJarSMpTNT1tL_a5M6JKlgr9gaYZTfQO8I2pOcg4Cs9XQGEXK6V6FmZd1A-CYb9nRLgRL1GnjmXpt1JMYDUljJjeX-ioDdxU5Ip2LSR8SB9XL12GAQMazTdTun9-wsc748A-R8DWWeHYhvbUy1dlzqqicuSLdIEQ1wm4fLkYI-W7fe5xYL9gKl4aOsdPbLgdZrzte5i2QBWQP6L1cBzEGiqE2MG8v_J3i9BW5TbkH2f6pFlH3X8ml1157IrOox9ezuCAaS7KqmvSvg5xrPxQJfFz8XKhf081Y_RaohjVCMR-gyeu4_z6o3WEtc23OvbCxf6KMdU5619_VaRU5TzX8OK2C24cFW4e5KmEdR-sCcRCOVskL-YNdxRyFd2uutN5owFqO2EbRNFSr6k1z7b2ezsy6q_GYyeYUTkBbB6swHe2DaedSD5d4jKRyYQJ45bPuEM-ZI2lLSIrVOTI99qydD5CTSHQ0c_MyMqutnG2JT3KokKYHl0oQbzNXFVaV3KdKJk17-eNw371f59pXYRMgGo4T4ktc1Meo0Nq2ew6ioIso5L6CWBhis91feTmiefdVrC5bztad4AWapyAuwImiBoJsTBUAw7nKBIHG6vxZXLtv4IaTsrHCOxTvoEWiVSLoM3ruql9feI=",
  "id": "rs_02f80a158c77b49a016ab435842be087d0b1a2ac3c5374d3ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.37,\"left_z\":0.21},\"note\":\"The yellow fruit stayed in the left jaws during the lift, while one greenish fruit remains on the tabletop. I’ll carry the yellow fruit high over the blue bowl.\"}",
  "call_id": "call_Szz82bnJ9A3SJpIWN114HY9r",
  "id": "fc_02f80a158c77b49a016ab43584cc6487d0802829943eff158e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Szz82bnJ9A3SJpIWN114HY9r",
  "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]: [-0.8524, 2.5435, 2.8548, -1.5646, -0.5034, -0.7166, 0.4027, -0.1402, 0.6277, 0.2298, 0.1291, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4111 left_y=-0.3354 left_z=0.1794 left_yaw=0.0447 left_pitch=-0.4213 left_roll=0.1691 left_gripper=0.4027 right_x=0.2928 right_y=-0.0043 right_z=0.163 right_yaw=-0.0596 right_pitch=0.2971 right_roll=0.1978 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -12.5607, 7.6376, 0.8034, -0.315, 0.2906, 0.1978, -0.1846, -0.1709, 7.159, 1.9072, -0.0659, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b6bf01c0523f8c9fa35ced029c3b9b0c30290f5599cf82c1305d5267dcb1d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f26f7bc3d3754ca61afb4f2b0b0f0640ac40458fc7b6c3d56d9e70c802ea7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b054c738d531b157bdcd34687ba437b8afa4b228f2ad9ef20edb624349afcd",
      "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 · 4.001 s

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

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1019, 1.8557, 1.0821, -0.6132, -0.5842, -0.9539, 0.9959, -0.1402, 0.6235, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2487 left_y=-0.2675 left_z=0.0235 left_yaw=0.0219 left_pitch=-0.4034 left_roll=0.1945 left_gripper=0.9959 right_x=0.2926 right_y=-0.0043 right_z=0.164 right_yaw=-0.0595 right_pitch=0.3009 right_roll=0.1975 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -8.1436, 4.9846, 0.6422, -0.4567, -0.188, -0.0171, -0.2256, -0.6906, 7.3368, 1.8779, -0.0757, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1038, 1.7485, 1.5585, -1.2121, -0.5674, -0.9691, 0.4007, -0.1402, 0.6247, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2479 left_y=-0.2728 left_z=0.1687 left_yaw=0.0289 left_pitch=-0.4233 left_roll=0.1926 left_gripper=0.4007 right_x=0.2926 right_y=-0.0043 right_z=0.1637 right_yaw=-0.0595 right_pitch=0.2998 right_roll=0.1976 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -9.306, 8.8274, 0.3394, -0.4371, 0.0659, 0.1978, -0.1436, -0.3487, 7.159, 1.8779, -0.022, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8524, 2.5435, 2.8548, -1.5646, -0.5034, -0.7166, 0.4027, -0.1402, 0.6277, 0.2298, 0.1291, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4111 left_y=-0.3354 left_z=0.1794 left_yaw=0.0447 left_pitch=-0.4213 left_roll=0.1691 left_gripper=0.4027 right_x=0.2928 right_y=-0.0043 right_z=0.163 right_yaw=-0.0596 right_pitch=0.2971 right_roll=0.1978 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -12.5607, 7.6376, 0.8034, -0.315, 0.2906, 0.1978, -0.1846, -0.1709, 7.159, 1.9072, -0.0659, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b6bf01c0523f8c9fa35ced029c3b9b0c30290f5599cf82c1305d5267dcb1d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f26f7bc3d3754ca61afb4f2b0b0f0640ac40458fc7b6c3d56d9e70c802ea7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b054c738d531b157bdcd34687ba437b8afa4b228f2ad9ef20edb624349afcd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWL7XnRIIzG0s7ZMyEt4USSTB-tZVIcyXULVMgYFTMBo9jxW-ReQDCpH50SpsjxpGkiP7wtZgopYv8N-QRd-9Bl8D8WErH8lXsYNw8_KZ5RWfac54KjAgsWQiU07IllQKSJQ4bpXiZMfe52I4omELbCpt5RgiNF2rNoC1Jmz7H5YfJbM8Bvyq7blYtXvbxmcvKXm00l0rTvM2jkm08rq9VsJVnDKHpTk-PFLLtntXtc3uMOnIvzgBHjaGK8IebqHiETKY-gccoEDq60DIRpvtWGWpTOZUsSVZ9OEUoTsh7TbKXHaHfe_sruedFuRAYl6tVfNomnc3c6QTcfKXH7Ut9W1UQSquYclwYMp12IvNWbabvK_j76j2-srYRxO__WGpYlzhv6p8jD-d1N_8ZZoESsCK9cDLNd_B4gkrBzUJW2QHyg4KVOHy4kFzyNMd7gVGV90ptcydfjBQxPSALU-eLUBIR8PBeNnTOmrCdZx5vqtzwcECYm2DBzxh9FiSHx4w9rZFamxHTVc_xjomrmU3cEFSBegn6QpSEIJNh5H_pYQfKXqKgQqnpn-xvkDBldA967dNwS_4sB4kliRVjvfw50KjIDkCQNUPF-bZfrUE59NLpDc__WRvcnJtzH1wRCFKnOH8c58lfCKM8aK2BhlIGiUEynA2yeWQTmqh-WT3Ot6NBWkheW6ARTAN9dJoxh-Uyf_I8xfePpAGMXJpv3Nvspcdbd4GDZ4zT3Sgb-VKN2ig5vWxGmDmMfM3tGTI1rwY91mjN-XCtlSPDBqqaPLcaXgD-QZ29Bm-Mgd0lZh--vqsPtQ4Idw7OnbICu1oV8xh1eeJSzR_Ik4WVYroPvQnbRQ9iLjhxttbIuFY7memW4UPAptRcPYe2UD0R5D3sGEYVZaqnDwyfDCqBfdfQ9u3vJcm128Uc8H6d2dR9KsOkebEGupxWW_b5cCgxy9u7ez78JBatsPZsdu2VbclOYhbJBU9_yjuG6SDHb4z_NSAuo51R_IfoRqN_U9K_xtcM5xh-GiiedKWDGKIGK_707VP2-Yt7ri_-sxndLVzwNnDZcbNx6rIy5nyGZXLyQo-BFF9HEoLK0tOLwc4hyxkysiMbgd_qfxP5A1JVdE6IAJnjXpp-EHV2NY01U989wqhJEfdYosjztCHyEYbvuofQqlTVtTG5Du-kadpuQuhmacFBBc80j2V4wFb_VjoUf4hF7o0s0Q5d9TgCPjGdcZI-ngkJB0FOEDyjFPU_LIOu7toUF8VVcU5_-k5fccadcDpCBLfYcqYRAGXJ2z7FTjUdZmgjuPD3UDVxMWOzCZiTd2DqVZoDYx9LuB8FEq-biPDch6L1bmRy96LOr7PVl801eBicVRcSJE4GppiFOzAXWpIOQfOnm6K4CxbC1RsmJ23aI4G3tisnV6mT6JPNC30Ya3tbKroHMHEqQqxQmxKXgYvaHHLHADaTn15gejP4zw_YcPBm6rSN4Dd_jROE7YO_WASu5lWs4iUpRHlHkmXxrfgTYtSuBNDVvolMsJNEnv-76XheD2h_6fVQFKJFlUnKfMzq0c_Ef4TjIRjt6_3llpWv6_D5zmIES2QvXCuMVQjXAFCLLRtk-Qx1my0YoCXBffkhpYMTQLi3wBLMaYXnC2OVoAzBEouCyrb182aZZJHpFkN06yE8t1s6gDAgOR9b0vv6GYEvMPN7eTSAoD5XAzLgaCtrK27DCToKghWPj0erOaOLjfmaTTZrM64EZQhSQq4C7aO0W20EkGnY3Gui3mC9f71tHjEEGoOXEx6ie0ScWVdCLwi7WRbxiKMu6m8Y1nxovT114KNkIIFZHHP3k6oxieScHog63mF7ouPUNjUkxHUueJwZKpxXTVqUIn1vMvKRWngkZtTZW3uphz2b4OH2RXXH6uTSNE9gtoAPtNblkQIkKYR8tIU8HrRm8xTt_tq2jbHqrm1oKvS5IpnXd6wA_4rWXoTVsZ3LUf1aU_ggKbHeAtn_wTi1jOGC9GLfbVVv6Jmv_ovBsNNCxjw3kj4O8Q8kXoe3gK2vocEfXC2CGBXK0LRh98eKxyDur8eT2tt8UsOeJHE1EItWjnLL76iUdcKqhr-EOMc5BWkZI9-ju_oERG5cpFKXkhdopYMa7ETN4SsWSMGQVLEQ1yExaHzB3sMw=",
  "id": "rs_02f80a158c77b49a016ab435883a7887d0938130498fc34f5f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.365,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The fruit is secure, but the carry stopped several centimeters short of the bowl while the left wrist remained strongly tilted. I’ll straighten the wrist and make a modest repositioning move over the bowl instead of lowering off-center.\"}",
  "call_id": "call_6Wke5zV7xpEI3oq3EdgckizY",
  "id": "fc_02f80a158c77b49a016ab4358a3ad487d0839e10cf42b63150",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6Wke5zV7xpEI3oq3EdgckizY",
  "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]: [-0.9146, 2.7598, 3.121, -1.2972, -0.6975, -0.691, 0.4043, -0.1402, 0.6304, 0.2298, 0.1219, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4557 left_y=-0.3999 left_z=0.1878 left_yaw=0.0198 left_pitch=-0.0919 left_roll=0.0374 left_gripper=0.4043 right_x=0.2925 right_y=-0.0043 right_z=0.1606 right_yaw=-0.0598 right_pitch=0.2872 right_roll=0.1986 right_gripper=0.9993\nstate[joint_eff]: [-0.8137, -14.2701, 7.2547, 1.5604, -0.5641, 0.232, 0.149, -0.1162, -0.5402, 7.2547, 1.9609, -0.0659, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e28e54098bd5d9ffa2b18dedbb54ad9bdffa058e0977fdc43afcfa36242f28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a580c3d1e8aebc0e77e79fa5691b0a67aa2b488acd89f4e97b7f7621ce0270",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd4a07c35b8d1c6e3cd5b4df1860085abbb06a4dfca57484617fb03bb6271b1",
      "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 · 4.997 s

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

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1038, 1.8736, 1.0729, -0.606, -0.5835, -0.9619, 0.3986, -0.1402, 0.6239, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2467 left_y=-0.2651 left_z=0.0155 left_yaw=0.0322 left_pitch=-0.4117 left_roll=0.2088 left_gripper=0.3986 right_x=0.2926 right_y=-0.0043 right_z=0.1639 right_yaw=-0.0595 right_pitch=0.3005 right_roll=0.1975 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -10.1538, 5.9556, 0.4713, -0.3785, 0.0269, 0.9011, -0.2393, -0.2256, 7.1863, 1.8828, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8524, 2.5435, 2.8548, -1.5646, -0.5034, -0.7166, 0.4027, -0.1402, 0.6277, 0.2298, 0.1291, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4111 left_y=-0.3354 left_z=0.1794 left_yaw=0.0447 left_pitch=-0.4213 left_roll=0.1691 left_gripper=0.4027 right_x=0.2928 right_y=-0.0043 right_z=0.163 right_yaw=-0.0596 right_pitch=0.2971 right_roll=0.1978 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -12.5607, 7.6376, 0.8034, -0.315, 0.2906, 0.1978, -0.1846, -0.1709, 7.159, 1.9072, -0.0659, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9146, 2.7598, 3.121, -1.2972, -0.6975, -0.691, 0.4043, -0.1402, 0.6304, 0.2298, 0.1219, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4557 left_y=-0.3999 left_z=0.1878 left_yaw=0.0198 left_pitch=-0.0919 left_roll=0.0374 left_gripper=0.4043 right_x=0.2925 right_y=-0.0043 right_z=0.1606 right_yaw=-0.0598 right_pitch=0.2872 right_roll=0.1986 right_gripper=0.9993\nstate[joint_eff]: [-0.8137, -14.2701, 7.2547, 1.5604, -0.5641, 0.232, 0.149, -0.1162, -0.5402, 7.2547, 1.9609, -0.0659, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e28e54098bd5d9ffa2b18dedbb54ad9bdffa058e0977fdc43afcfa36242f28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a580c3d1e8aebc0e77e79fa5691b0a67aa2b488acd89f4e97b7f7621ce0270",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd4a07c35b8d1c6e3cd5b4df1860085abbb06a4dfca57484617fb03bb6271b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWQ81Wj_2YJ6yBuq-8JSHN88s_uMGxsHcbUAnU8jm5s68QhXMywvwTyhjI9AIsfozU7J_xjj67-T7CucBHmtv6H0wThTTJ5dO65KU_8RH9_CjD9eUPZOSZ52FzasD33Sx4DxmxsWW7S6PO_VLW-B3pdZ6wfsbsuGDEMgOVfXxhbV-xnKdbskqJJw9pM2oKKDnLWRQbYnz4ElKv0W09wwhM30G4c8fnO8Duh4OGtII_HYBX4y9R5XXrPK_bZF5bRQ_1W0kRAJsD21kBsSvyNlltllfoLIxgtFHelABISlFUEy2VGS6V4SDHzJAKrKmJ9FgDaQ5nGEed9Cd9NwooCOJGroSbmgJQN4HVzxvT9LIwKJCiz0dTNZx2Gvjw21QMYiACmB7ANf80l2jQ5N2T9XprUflrSn1-g8HpKNUhxaTXI8QHI_t4x-blzxT3WUxWwMS5E4-vnJ7TgJChx1Nm9GgC2detXEA1h5kFzmpbRFOncrcFjhGtgqwdUcTp5Nue1M_tQAnhsm5LCIxGB7ie6Xqo-vdurWo3iFwD8IJCL6JiGpokspRs4ZaVrg-vvF21Rz4nky_DrR2Ft7A-6l37ELj78kZ32kO0ezxHIT63vqAPyML8XAKXbJU29sbIKdhCvweuFErFsTT-7Zn2BNPPTE4kKuUHHvQRalqTaVo9iXD2I64xuHLtbo8ngnMTZbvm0i7d5nHP_Qkx30lAmaWOmRWudI4IWBHGlMLzrFfAOXUlCO54_ZIHhcI1EpxvmADwCnASpr0A0NDW3WWNLpmUi70G_3DqgPWXxfAxCfwV9NMu9S_-XBFaXO97Ad2WYka3fzjhfvFtCFVdAnWXnhk30MiPP6ASZ4cCJLr5briEEQtnwBeOBLReqnjblqoeMoabNEOwPPY0_JM1iI-K19wR-g2DTk8W0-EVMdKmJRPQNDRaGu-ptBHSwZcLuRi9saDEITesOcMs9UZPax0f7eqxhZHqoOdvqY5KfQaKeErlJ6GhRyGuub1DxQ_kH9X9dfBcnsOBABXFF5eTKzeZla-eBYsakcnCciL44_fBSYP45IlwsZs5tQooNmP65QyegYerRJenXWLellGvEooAMSVITPz0Dekve3sZusI5bSQug86RmcXtd4e4peVvk5vvLO3_fQrUMERtvzgjQyjsalDNWPkZyBk6-44xF4UACblollAs1beeDtCOMMvcKJ10uHw8QfpDj2b0isQo4vMb_LEn9Sh_fsmyvzZ0lkUUvyUQIrjz-hQztwTpchWaFgbeDZap1rFqOLmnMwtZFniLf7N6QKDwq7GbL8B2D_ZF1RCz8POmlsu4WKEgAWFba4ItqiQWdR3miCT2I9mPtzRbtCw9JNlUhK1CSm-Dn6tJUKFjWTi1bbL30_CHqwGDsuBPJ0y0BRi00XumYEt7J7_7xEuySK1NJyG10hRHqI6IOxOBBXMGszgQgzYnTqLT0frs6_pR6YuRhQuJVPFYAJKf6ie1XrzugCR6o5j6Evwf8isMPptvRzQmxQsVvK9vc3ohydx0YhylXiYh3haJmFsK-cTNY3YmYsAY__cfIqw1uIiay7fa83cafgJjSCTCgrarreBz9Yk7iPOjy9o38rP-1ZUBES6DCVatufaEqAB_n3-yubfK6z2ubZN06t7Szbxy6KUaMGzlGVMPeu0F_ZiX0UcGCurC4VMq-voTfHMPXvwPZjVnHUIgSXZQUUOk385naHXo68GLG-OP_5uya0aJD2DtgGuDuwg==",
  "id": "rs_02f80a158c77b49a016ab4358eb37c87d08852e46ede5f1fc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.355,\"left_z\":0.085,\"left_pitch\":0,\"left_roll\":0},\"note\":\"Straightening the wrist brought the yellow fruit above the blue bowl, although the gripper drifted toward its far edge. I’ll move a few centimeters toward the bowl’s center and descend into its opening.\"}",
  "call_id": "call_H6Y9pJZ6lvccsb6ra1Zw5vKP",
  "id": "fc_02f80a158c77b49a016ab4358fd92887d0964f643f939e617f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H6Y9pJZ6lvccsb6ra1Zw5vKP",
  "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]: [-0.9207, 2.9417, 3.1268, -1.1233, -0.7277, -0.6884, 0.4059, -0.1402, 0.6312, 0.2298, 0.1097, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4765 left_y=-0.4266 left_z=0.1057 left_yaw=0.0314 left_pitch=-0.0736 left_roll=0.0557 left_gripper=0.4059 right_x=0.2917 right_y=-0.0041 right_z=0.1575 right_yaw=-0.0601 right_pitch=0.2743 right_roll=0.1997 right_gripper=0.9993\nstate[joint_eff]: [-0.9778, -15.1179, 7.1726, 1.453, -0.5543, -0.0415, 0.149, -0.3214, -0.4308, 7.241, 1.9756, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1e6d4abc5215fbfd644c3046983c380a634faf04c279c8c79ea160bf1f323a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3c5b6067e656a776770d4a75877de0aa0535e9c75c068ef4fd66901c4ff320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9c9b1590f45732474ecceea98d4eeca3e6dc6170c99dbd6a53ab31511c2954",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 5.527 s

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

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1038, 1.7485, 1.5585, -1.2121, -0.5674, -0.9691, 0.4007, -0.1402, 0.6247, 0.2298, 0.1287, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.2479 left_y=-0.2728 left_z=0.1687 left_yaw=0.0289 left_pitch=-0.4233 left_roll=0.1926 left_gripper=0.4007 right_x=0.2926 right_y=-0.0043 right_z=0.1637 right_yaw=-0.0595 right_pitch=0.2998 right_roll=0.1976 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -9.306, 8.8274, 0.3394, -0.4371, 0.0659, 0.1978, -0.1436, -0.3487, 7.159, 1.8779, -0.022, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9146, 2.7598, 3.121, -1.2972, -0.6975, -0.691, 0.4043, -0.1402, 0.6304, 0.2298, 0.1219, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4557 left_y=-0.3999 left_z=0.1878 left_yaw=0.0198 left_pitch=-0.0919 left_roll=0.0374 left_gripper=0.4043 right_x=0.2925 right_y=-0.0043 right_z=0.1606 right_yaw=-0.0598 right_pitch=0.2872 right_roll=0.1986 right_gripper=0.9993\nstate[joint_eff]: [-0.8137, -14.2701, 7.2547, 1.5604, -0.5641, 0.232, 0.149, -0.1162, -0.5402, 7.2547, 1.9609, -0.0659, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9207, 2.9417, 3.1268, -1.1233, -0.7277, -0.6884, 0.4059, -0.1402, 0.6312, 0.2298, 0.1097, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4765 left_y=-0.4266 left_z=0.1057 left_yaw=0.0314 left_pitch=-0.0736 left_roll=0.0557 left_gripper=0.4059 right_x=0.2917 right_y=-0.0041 right_z=0.1575 right_yaw=-0.0601 right_pitch=0.2743 right_roll=0.1997 right_gripper=0.9993\nstate[joint_eff]: [-0.9778, -15.1179, 7.1726, 1.453, -0.5543, -0.0415, 0.149, -0.3214, -0.4308, 7.241, 1.9756, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1e6d4abc5215fbfd644c3046983c380a634faf04c279c8c79ea160bf1f323a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3c5b6067e656a776770d4a75877de0aa0535e9c75c068ef4fd66901c4ff320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9c9b1590f45732474ecceea98d4eeca3e6dc6170c99dbd6a53ab31511c2954",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWW_xB11l6uU_giBOqJ_4iblLndLoC5FEj1AMSA5A_zGoT2lJw6w9Q0rPwOvjGH1CuQttSctlaBcs7qeRc498mchbDeUP4Vxc2MSa7KL6DqaWr9-gl6U0SmqQFJISWprjoWjFBCJGWgT1rKbfaSyuCBYZzqvFSy-53MjH51GfMbR9ZYw7-SFIiliwtt0nYHiQS1Kw1rMD_q0oXZhzuiidy97pUXVuXDEw08RlN07PUbrj5ajyys-ho_AF76dZHSKADT7RciPn6U3z9lsSnS3Ucr3TUPehOpvy45ehayfx7E6pHpal7qPLr1_Ql-1Qx9Io6PRDYOl_eF6LZUB7eupxy4bEwTOyayaN6ccnHiWdIa1Zd33_vTxquKj1kDDx18kQF_IA5WdcvvFRp93-ua0eQ9CUKXbVOW0wQCKkzByzCL0qUyOyaly5ITzC7Gl_yAKsDcBtyBl9RETFhbk0hqiVaQnG9gGOO2o1yBMV7C19ph_1HLLxM2mEbhb-LQlVbfJTRWRCPE2X-Dky8qbL_jIy-RTTB7W31Mm3dYoe-KPE0yo9AFWCqJHRWyfbS8BJpu2WOj21daMIjgcQVlAM7f2jnuyGr7UnTfW_YkFQ9tUwMoy2x-ima8o9yYi3pOWL_AEbJcuo5Zenc1pn5ZC9I0tgk7TaDDd_zEsTi8D17Aaytgv4_wKjcgN0VGfUK3pgAiuy0VqzPq7pPqwl58ggpyPKfHJ53g9fINvjl67JTsWVOgO0I_4KWRShz6elmxQsoQFOTh5BM1ktDZclcCUBnCUbTjnuT9aNkEPbdKH__g7lLM1diZF983c-C7Zow67WwtIC3k4NYp7SNagnbL0Bk4i3esxRTeAwVsdS6dYzxywJMkCbuzfsZywoEk666Dci0jyW-fSWAhdaF82whbKrOizC-lTB8Riw9VhOEm_MWiR4BoZa4IgWXkRV4GyJwl9TF1-3RAAfCCkDuH4HuUzr0UYIgMI5TnSCZgRinLi-_L3qBQ6PA9JzwQlS0oQPHvbyE5FfV8TmdNaHDRfLTglDx4yYmcaCnO79AsHWq46-fEO043JTYHiid6uRRpvx_GDHezHnKrBKltTYkBhUwXbBGPJ8omr_w1HGzzVOoR8N1AyXmUlqMzcf4oiQOvLVjc3ukHSBqDNYJXKT1cmZmGnGERxPdAy6PNwGIYpIMkgcSeTbzttKOw7B5gK9wk1Sht5zgC2bajSGUBIQAvweTZaBBPgiG8Ya-LZb6KRsFvR31U5HB3K6jOKjCsA5_v1gABYYrIm8aTeqhRqUJIE_c-PuupKrwINnY3c65jb94Sdz63dO0VwHv9cYMPjg8OBjyMt7quFiNK4YhzxxeJHykKlfYkVLdNh7SjidhiOFV5OQcLHxEiT4U7_sQIpxoWo1DhEXhOMokCGhq7OASoeRGSnYhgSjUhbaWR-a-u0Z_EMBnJicJScPlMrKob6MQRtqumV2Ixq6XZtaNUqrFGdxp9ZrX4Wmj6ZOgnppQssIacY0hIgqMO_OYOcUS7FwFyZThl1yBwO1O8AtqDRQth6YfeMa5g7fn3ouCdczoUXpp7wS7ZDcVS6ldIA__tzmrETOLwJ4FDLoK9IMuP5tP0kCVf8psTb1El-M680RxAI77R2JLv0w7edsSbdBeLPptmFJZhS6FZUdqSUEdaALlyVuKUQ1JThTenf5rBxO8FhGSS7bBpRAbTafaZtrEXIG3a3ECShr-Zv9K4JkFRfpa-kH-iLWJ4-wrz-rqNqw_OXZzsFTA0SmsbW0DJb5B7OmEndrZBiAnHJHi7ut9munBZpve6B4TEuFFwrgfHLuGH3EEw-z8nx_8XS4DZ2G96EMbpz0QV-3jIZhigpk0yaOa8yfiUuRlbUrCorKpwoXfMfu3IubWnHEOLLelsCApDovBQzsukJwvKw9y3tmDiit0REsm7C8-2-Fu0fZZbk_wTxz-kAGwpAW-e4wcMreF0if44NUC5VG2gOpSJhR8o1QhiZKRfNXj6D2H0sHPHw4hNIZevP7xX611-PZtmN4i3GUR85zvGEUKS3-HH4uzMsa-1K6ifVtQ04nYLTk6R1mxiMKtXx-6nUULrgwjhWd2kBDOvjCBaFv5igVqQD3du6PV043AuG3eFAnRDSXTP4MdIiki7eiMJfZs1wGaPLI2TisbpJvXU3IWdg9tyh9_R_1zlWWu9qSMXPZbtMl3Ppt-h4aLBdy4KHltPUtUH-PRrXFTmTKFYv_lCbNO_8PzviL0Sso-NZbd8HxgGNDYUHAzfrJxZkELbA1qDxsVrVjsT_iUf5QWb8tVO71-_OeflaBhFwGpIQNRjJ808HzClhF3fysYsM5sV2VGPbxlwKrAYGiFimxxSjdn-qrvChgAePInm3IIsPELBodEhSMPG-ptqjeBdSnb1vybQLmvxJiur4Lac7a9W1PUl7Aw0FePXZISHb1SILMXlqNiaS_xRGSPJx17Ai335GIPko3rGWCZGqPog31NK_89H12_nkbhBF6DS3fTdxqZHBBFP9tDaSgAsVCOPz0dO1n_W54SdBZiGLGjvGPe4wWdS1hjOo6QFUMA1NqPD8W4AfYP30kMv_-5cUm4B58fW5OMF6Pi0m-0TTFGvaDPC-SW6mDHOmx2E5wPq28yK7IFIbPAYvXcHjgYTxX3vWXco-PCWRH0tEoJAeP7inJfPWOYQ_BOr5aAPQpnMhRAok_NNUxyupBdE1NDQF7l3rYB4MgqNlcw=",
  "id": "rs_02f80a158c77b49a016ab43592cc2487d0be0f8492623afb7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow fruit is hanging just over the blue bowl’s right side, and the wrist is not tracking further small corrections reliably. I’ll release it from this low height into the bowl rather than keep dragging the tool near the rim.\"}",
  "call_id": "call_q91PtfKJp62LvXQ1abfczINE",
  "id": "fc_02f80a158c77b49a016ab435959a2c87d089fd7b79481eecad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q91PtfKJp62LvXQ1abfczINE",
  "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]: [-0.8875, 2.9623, 3.1268, -1.1267, -0.717, -0.6773, 0.9948, -0.1402, 0.635, 0.2298, 0.1036, -0.1879, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4892 left_y=-0.4113 left_z=0.0917 left_yaw=0.0536 left_pitch=-0.0951 left_roll=0.079 left_gripper=0.9948 right_x=0.2914 right_y=-0.0042 right_z=0.155 right_yaw=-0.0607 right_pitch=0.2644 right_roll=0.2004 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -17.7709, 7.4462, 1.16, -0.2955, 0.1148, 0.0122, -0.0615, -0.5265, 7.3368, 1.9853, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50418a3ac4327113e115ca2546f91ce3faafe3f7e2b3f14adc079e8d8164b2f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57d544cad1263842d6de71a1a4abced8ade026348118868947b86da818296c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:394fbc26fe9ca35b51fa44cf66c05761568f5ec2e396ac92d458ea438ba9300d",
      "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 · 4.64 s

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

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8524, 2.5435, 2.8548, -1.5646, -0.5034, -0.7166, 0.4027, -0.1402, 0.6277, 0.2298, 0.1291, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4111 left_y=-0.3354 left_z=0.1794 left_yaw=0.0447 left_pitch=-0.4213 left_roll=0.1691 left_gripper=0.4027 right_x=0.2928 right_y=-0.0043 right_z=0.163 right_yaw=-0.0596 right_pitch=0.2971 right_roll=0.1978 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -12.5607, 7.6376, 0.8034, -0.315, 0.2906, 0.1978, -0.1846, -0.1709, 7.159, 1.9072, -0.0659, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9207, 2.9417, 3.1268, -1.1233, -0.7277, -0.6884, 0.4059, -0.1402, 0.6312, 0.2298, 0.1097, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4765 left_y=-0.4266 left_z=0.1057 left_yaw=0.0314 left_pitch=-0.0736 left_roll=0.0557 left_gripper=0.4059 right_x=0.2917 right_y=-0.0041 right_z=0.1575 right_yaw=-0.0601 right_pitch=0.2743 right_roll=0.1997 right_gripper=0.9993\nstate[joint_eff]: [-0.9778, -15.1179, 7.1726, 1.453, -0.5543, -0.0415, 0.149, -0.3214, -0.4308, 7.241, 1.9756, -0.0611, -0.0464, -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 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8875, 2.9623, 3.1268, -1.1267, -0.717, -0.6773, 0.9948, -0.1402, 0.635, 0.2298, 0.1036, -0.1879, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4892 left_y=-0.4113 left_z=0.0917 left_yaw=0.0536 left_pitch=-0.0951 left_roll=0.079 left_gripper=0.9948 right_x=0.2914 right_y=-0.0042 right_z=0.155 right_yaw=-0.0607 right_pitch=0.2644 right_roll=0.2004 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -17.7709, 7.4462, 1.16, -0.2955, 0.1148, 0.0122, -0.0615, -0.5265, 7.3368, 1.9853, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50418a3ac4327113e115ca2546f91ce3faafe3f7e2b3f14adc079e8d8164b2f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57d544cad1263842d6de71a1a4abced8ade026348118868947b86da818296c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:394fbc26fe9ca35b51fa44cf66c05761568f5ec2e396ac92d458ea438ba9300d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02f80a158c77b49a016ab43599f40487d08a37dc39e3357f79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.12,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The yellow fruit landed on the tabletop beside the blue bowl rather than inside it; the dark fruit is still in the bowl. I’ll raise and retreat the left arm to clear the view, then recover the misplaced fruit.\"}",
  "call_id": "call_1TvyB1aOQa8JuEWwOkaKjylZ",
  "id": "fc_02f80a158c77b49a016ab4359ba97887d0806a677f7fc1b983",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1TvyB1aOQa8JuEWwOkaKjylZ",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-0.775, 1.9572, 2.5881, -1.3628, -0.6445, -0.5877, 0.9958, -0.1402, 0.638, 0.2298, 0.0994, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3905 left_y=-0.2289 left_z=0.4085 left_yaw=0.0595 left_pitch=0.0084 left_roll=-0.061 left_gripper=0.9958 right_x=0.2912 right_y=-0.0041 right_z=0.1532 right_yaw=-0.0605 right_pitch=0.2572 right_roll=0.2011 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -11.494, 5.9966, 2.1172, -0.3053, 0.2564, 0.0952, -0.2803, -0.1026, 7.1316, 1.9609, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786ac3d32876d7d9eec45099911cf45f556e2d5a6b62a7b74743a651894b6a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f26d8b8d546c2dfce83ef05c353641d26cde60e3c225104ee55b2214736351a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55e328f79fa33aacf35dd57517addb764bfa208dc5e80c64110df602e2e4004f",
      "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 · 4.941 s

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

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9146, 2.7598, 3.121, -1.2972, -0.6975, -0.691, 0.4043, -0.1402, 0.6304, 0.2298, 0.1219, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4557 left_y=-0.3999 left_z=0.1878 left_yaw=0.0198 left_pitch=-0.0919 left_roll=0.0374 left_gripper=0.4043 right_x=0.2925 right_y=-0.0043 right_z=0.1606 right_yaw=-0.0598 right_pitch=0.2872 right_roll=0.1986 right_gripper=0.9993\nstate[joint_eff]: [-0.8137, -14.2701, 7.2547, 1.5604, -0.5641, 0.232, 0.149, -0.1162, -0.5402, 7.2547, 1.9609, -0.0659, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8875, 2.9623, 3.1268, -1.1267, -0.717, -0.6773, 0.9948, -0.1402, 0.635, 0.2298, 0.1036, -0.1879, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4892 left_y=-0.4113 left_z=0.0917 left_yaw=0.0536 left_pitch=-0.0951 left_roll=0.079 left_gripper=0.9948 right_x=0.2914 right_y=-0.0042 right_z=0.155 right_yaw=-0.0607 right_pitch=0.2644 right_roll=0.2004 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -17.7709, 7.4462, 1.16, -0.2955, 0.1148, 0.0122, -0.0615, -0.5265, 7.3368, 1.9853, -0.0464, -0.0317, -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 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]: [-0.775, 1.9572, 2.5881, -1.3628, -0.6445, -0.5877, 0.9958, -0.1402, 0.638, 0.2298, 0.0994, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3905 left_y=-0.2289 left_z=0.4085 left_yaw=0.0595 left_pitch=0.0084 left_roll=-0.061 left_gripper=0.9958 right_x=0.2912 right_y=-0.0041 right_z=0.1532 right_yaw=-0.0605 right_pitch=0.2572 right_roll=0.2011 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -11.494, 5.9966, 2.1172, -0.3053, 0.2564, 0.0952, -0.2803, -0.1026, 7.1316, 1.9609, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786ac3d32876d7d9eec45099911cf45f556e2d5a6b62a7b74743a651894b6a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f26d8b8d546c2dfce83ef05c353641d26cde60e3c225104ee55b2214736351a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55e328f79fa33aacf35dd57517addb764bfa208dc5e80c64110df602e2e4004f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWjYbwCLneARuxtQ_aM-e1-jny0XRnQlauQ6y14rWtOar7A9mL1H7FoyssfUyjCdzpJWJC38xXaHvd5Y3WsSXs7O5f78lVdqabnUuS_5XKJuCuWs21bIKiy_1g4jgHMSRjO_vXonHzG7b4guIjVn_eseFWiUYivUoez1XszOW_jVeFY36zkIc4F5rvRk9v8tIAGYhAnJiDLUu51aEMs7rky4PeUp5xaw1UUSHYiQqZ6Ujia_GVmqqBo73KN21TcppSv7unczvqXtiPzxFpIAR8CWSagC6o-sLFsw7GfGxWE4Xe6CEIqp8Im1FbEEl8bXP0d2espXtP4fT2AqNbFu2eSZH70oJSbb09bV_LyA7a2AErJgG2vkqaAiFNAc9BpSXJSRgdD_R2VVNlEibqx_0eztMKeh4m9yD8RUmvqiO-Z4Ulg6nIcsEnWIBexVFo_a9c4nlLJBjT3SIWrcZF-vdeYcySxqQH0pcq0S75rF9ehNVE6f72QenK1OSe3qFjGXGTiSYQcSfptxziMzBCuSsjGVoavaRPB-F967czSDAtdkKd5N7ffRG_58wJH1W13QASvlrXvEww4CgoFdIjHTiD_nF6FYmM_uxhv-SkSELfQp4zwFY10DM76cUmhMF1GEH_AHORg3VDHE36lcPWneKWQeno7xSSaSwlpBtoChZjnzDUCltqdTMAr1VpxdwtWGEism8K7H4xYhhte8jrvbP2Ko8-0LGn0GBTNwUQhomfTolQAtXkLQTIYtXQTHWJ6HFbEMSsoYxt-2zV4gtHBZ1nAYrsRejV0Ljko2y11rkUJ1uvDo5UKyPUzbY30U3NwIclDfICp-MJeDAi2vMEBhJ5fk6yqyraoq2j76Ai7mPrlOF6Ae3MD35UxB-YwhPwHxVziq_q4_RQnsqd5Otlp4FgDAFjnqIvoqTYPO4rnLMS6ESkU5ex5wqJZvH36CtKBTvmr8PotNafAaKQ9wuZc7hzA7NtbmYppawAC81tRsFnBGwVwOTsuD89QX2p9Ju0D0DwfY8Knf5Cv2WPPYS_Bf03c6rcWLr7FDkITN-LLkjPX_WRRH8TLwvwEpWroT9_wQrjImpV2axLJG0r8LpLeH_YESxgHprDFCcER2bZ-6xHhJjFnb7qlqpMDGekYU-zOHSJJ9DTcmgXxEVAYKiT8eYWCFHNPH5S86SoBC8cXB107GcEc5BQmJ_AKGO-BOg4F92QeS9iKWL9jf_KS0P-4vfVNw9F1KsYDjJ0wd0KksW739cGhiWv-4abzJV9yB3-3zJnWrt4M32qyOcddEhjrEtfDxdH7amBI1FHyN6RWMZzcM6p-AcFckl5zfp6q1IvHGe5Vl8EGvI1JX9z4mcGBTA4h20Fb4DqGQHL_8DBhfFXgBRCT_wFchvSRofxIsMI0VoG4AbqUxCgjr--m5rDJCixOEwT2RjGXqCE6riZg2r9a_RyuK_FcKF7Q7PtfSTPMZHO6-57nW-6OQFB-fL96ppngfp-6IoR1tunu3UsvBEAL3fdP5BHYY-Tm95I-rhbEHeFkg2pRkNCTyzhUfuDuZsmNS4LALju_bbcvrRtzCexOTvoG8XQCoHTV8abMi0UXNQE_RVF01e3b_wntW4Cp151qRlxrTc8LeDf0Np-3jSpVf0r24Cf8Gmdje4R2VxlCzyaOvuNDBNVZ6IwYNW_HD_gxXUZZ9A3kczsL2hbAh61DKMTG9-kwhGMZ2utKB_Z4nMKIxO8ubwyfFn80D_xUBMU1eeKq9fM5cbWYf9_oBVTTEULcqcFqpMCZjJHr1VklH8G5-oxQE83IzxYBZhIVrzVL6YUmV0xxmfcLWoaGHsr9rE6BdckT4EVcy_uYDakSY-Rh87p-x-7eUpl-FDqSDgWyHnualGXrv97tdmXlDfuAoGWUHTiwEcgtPyrHdjlfkFq3fYGk0Isu5UYk7wWel2KNV3KVNyxoomg7gBgF9IdrMsm0j33qei4gIZr1JenouoUOzfiYa1BYWKKSHciZkABxCUjLhjrL6J61DqQIgEffBEtVvuVt_YVydpnIzxY8agDABOyRmgxzgDxkZVtJeQeV7uidfjpkWdh01exQB4Bg6yYmGJOD_A4OmFXR05b1wR_QqhELtDsRtJJqtbUo1lLiv6fP2ca-dn1Og_C4Sb7a8Rpja8Qlx2Z8YvnqfbFUCqlGsbfLrKva_yfY-MCrHJFBhuAXWtFKbOnMqjgPwlPMERxWhchzgmM7Lp4k_SQcJZyMjOugb88NcZJKn0YrcVufC5W234ih5tBK60i64K3eG1TRcdsx_nwgz0EdOkXlzbxlY1fQmF0aYA9geP_GqXQnYwnBJO1N_jYbBuyTUNnI00t57z86A8Pp9IZow8jJf258L2cQK9PYZg4tlgXQv6VDQCOtnskt6z4i2gJWz_uaPckfzAqUcYeLdLrquBVt6jMeUVDP0XEAP-dLi4-8Tp_3RvFDS6ejBttG-YYwB61gNuQvCWAsZyP5sy_NLCvb6XizRqzuFnCiJeFjxH8k_UmLbgtE5rJtpHRJTrccLzejKDFT8hcZFUa5zIoqGcIbBP4-RJiLrCl81z-hQLVifpHG-82s4XeQb80xXUwsIZmFbcJDyGkMmU9kXOXKLcksV7Lb6KL0xwVkqFcb9R1WBWQ4ACy558Qk4XeeLPEkWO0UMmJ-gzt4Md_fZHj4cYyQY9YfGIIO99UbUAJqvXI8M_b7CA==",
  "id": "rs_02f80a158c77b49a016ab435a0296c87d0bdf0fdf91cc2a4ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.08,\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.19,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit rolled forward beyond the blue bowl, near the far side of the table; the green fruit remains within easy reach. I’ll park the left arm and level both wrists before trying the green fruit with the right arm.\"}",
  "call_id": "call_ABrLiOPDqyQRg0MhWovn5ePS",
  "id": "fc_02f80a158c77b49a016ab435a2c7c487d091f8fdd9f4ad6d54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ABrLiOPDqyQRg0MhWovn5ePS",
  "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]: [-0.5915, 1.0996, 1.8076, -0.654, -0.5415, -0.44, 0.9959, 0.0311, 0.7792, 0.6041, -0.4187, 0.0456, 0.0521, 0.9993]\nstate[eef_state]: left_x=0.2758 left_y=-0.0713 left_z=0.5644 left_yaw=0.2354 left_pitch=0.5532 left_roll=-0.536 left_gripper=0.9959 right_x=0.2884 right_y=0.0045 right_z=0.1761 right_yaw=-0.0389 right_pitch=-0.021 right_roll=0.0157 right_gripper=0.9993\nstate[joint_eff]: [0.3624, 1.4291, 5.6274, 2.6398, 0.2125, 0.2759, -0.0073, -0.0068, -1.4564, 9.347, 1.8926, 0.1148, 0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0de3730324d6be5fbe63ca444db6682e8fc63d4afe94239c3f82b8f72bdeb891",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b842e88f14930eb9e90d6cd747b29ae6c33f2b2faacdc8be806e9cb56223071",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa210ebac24124ee4e02b108ec3912ac0ac775b87be6a578e0a6d6bcffbaf78f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 2.821 s

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

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9207, 2.9417, 3.1268, -1.1233, -0.7277, -0.6884, 0.4059, -0.1402, 0.6312, 0.2298, 0.1097, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4765 left_y=-0.4266 left_z=0.1057 left_yaw=0.0314 left_pitch=-0.0736 left_roll=0.0557 left_gripper=0.4059 right_x=0.2917 right_y=-0.0041 right_z=0.1575 right_yaw=-0.0601 right_pitch=0.2743 right_roll=0.1997 right_gripper=0.9993\nstate[joint_eff]: [-0.9778, -15.1179, 7.1726, 1.453, -0.5543, -0.0415, 0.149, -0.3214, -0.4308, 7.241, 1.9756, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.775, 1.9572, 2.5881, -1.3628, -0.6445, -0.5877, 0.9958, -0.1402, 0.638, 0.2298, 0.0994, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3905 left_y=-0.2289 left_z=0.4085 left_yaw=0.0595 left_pitch=0.0084 left_roll=-0.061 left_gripper=0.9958 right_x=0.2912 right_y=-0.0041 right_z=0.1532 right_yaw=-0.0605 right_pitch=0.2572 right_roll=0.2011 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -11.494, 5.9966, 2.1172, -0.3053, 0.2564, 0.0952, -0.2803, -0.1026, 7.1316, 1.9609, -0.0415, -0.0562, -0.0171]",
      "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]: [-0.5915, 1.0996, 1.8076, -0.654, -0.5415, -0.44, 0.9959, 0.0311, 0.7792, 0.6041, -0.4187, 0.0456, 0.0521, 0.9993]\nstate[eef_state]: left_x=0.2758 left_y=-0.0713 left_z=0.5644 left_yaw=0.2354 left_pitch=0.5532 left_roll=-0.536 left_gripper=0.9959 right_x=0.2884 right_y=0.0045 right_z=0.1761 right_yaw=-0.0389 right_pitch=-0.021 right_roll=0.0157 right_gripper=0.9993\nstate[joint_eff]: [0.3624, 1.4291, 5.6274, 2.6398, 0.2125, 0.2759, -0.0073, -0.0068, -1.4564, 9.347, 1.8926, 0.1148, 0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0de3730324d6be5fbe63ca444db6682e8fc63d4afe94239c3f82b8f72bdeb891",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b842e88f14930eb9e90d6cd747b29ae6c33f2b2faacdc8be806e9cb56223071",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa210ebac24124ee4e02b108ec3912ac0ac775b87be6a578e0a6d6bcffbaf78f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWpByLDLiW3kA6eFYgx0zXvksSEeOsBQ_OK2309po3XDyBp0l7FKtdFck_zXzBquOYMrG-WzZsIYwfVCJVwQ6s-nJ5RXl_zwGXlW_CkH-k2g7_gS_3AjULEjXUqzqjWe4_UIuTAQdbU1rhwxj_tuBucLna19Kpqjg2xg4ogXaWcHROXKd5hXfdDuHQKCGZkbydCBFSg5URs7ysU5pMwpxM5Q6L6tBZEHPD0iJi-qPPWTqItCm2hzfdeAIwmLNee-8e4ZiaavQqB3tgSEn5pcvUzM9P-R0YJIMnGnNXNLkYp_iL3iTmBeV1qcwwWsdzbMzCjcxc6wyo-NmJ2HkhKouwXSRCY5eB_GdvPyb3nCJQa4PvtNtW2XTncAw50mxexiKCBA2Gbq98p-4Oh0xJVKVOd6o88Zs98GbxdU6SqapOEbE7dm7kgaW00AWVvsY32wvGbp1u9sw7Wevc92TbExlbC_n4xeRNULuNZwmvjQdqhk8JBaScbqz20RnQN2LXKy_hfS2D9Far1oPbezo39KUPrIJ97NPs5lqlnDD2ONosR02-jmQBOedbn0W-rxoVEHyh4TlhHCixFNSYWxTku9ZP_MDfrIkacaHJ61S2ouSqhFm_Do-wg2EikjyBqEo0gFFkboatS1NVyNUeA9tkCK7lP1JJUo8nMiqIpg-7v9GMqfJzT-pp_wl83wVa5lr7CTPS61p42OJfzrmTUf1TSChZUFXPV3dfagaqJCc857yXlZYiuvuX9UnQS4NQBelf2Nh1os2W807fQnyN1LXckZQEntIijQ1H2u3oDJ4USoZbT6QB_LCXTWwOnSXeW5WSrbsv7FEv_CX-j51w3yHC9Gw_AVXvmGCHf6zdmpa1hZFWGorpRIFZTS7hnIFPDT_28r7GHqQ-6OpSLhDdRSd-MDf3cuhCknBEZEQpWF4kev622uugpS3Cfsom05z9pxEaUAOlJ4XI61uzEfvOtcGYF0zqbPg1ISKFYLW4zAvzYm3ieS6k281meqcQywg3SraXOEYxanBzOl40I2nrRQV9Jd2mnvofwKcYQLDdHW-ZjhM0qG5PUYdD_dwqJLqvTpFumBCSd715--jL8Mx8YUSWvvgoWuEybamdDb_-ZcHslN386T1so_YswZsoEYd6PtK3CDt2xQQepyp7y0Ga21_RWGRfyBkIYZCY8-ZBfr-_rNO2DBtBFFXzEnHOST-ogdfqthSFEdh4i9hvrvNI-33HXIKUiN8RmNEEXkUeuDFdF71ByS-3n1qou2svxKmPoYkMEfaKSsdcR5nudjYOQLNyTUUYWAsZ3TvCuuoRitGF-jvg9uUsvMwlHDbprM5OYdkY3LN5qYKumUmfc4R3f7YQhW40W7SYELrb2PJPkfVw5sDiRGYDrz_F9dQ_PGLjBC8br56_mxUCSmH9jpWE3UuDRYYRa4URHfTcEKvqnmRPDT9u0zhKEaWzfAUTNWTuNHPd-lN-9j7Yzp0Lg6KKQ-Dr02GQ4udCgMHcX8PxWEejKkvVD04tjd8tgOv5SZReNcM50tf8vBYtSVNd6gqYVS72qdSBJiEqh9eHlnh4WleBNmD-8fj-W0nKNohAa9IjdJ7c2Jhzy_OtLNyFA9t7sGrM5EaDPLB5yOht-roZ27SN86QDoMJNLo_GGHp0eOWf7gcE3RvBbLs99MDG2ILHM1hXAJUGAwZqNWm08_IWhlckCSrE3o8UgqXsrUrfvd40dHR9Liv1sm3npj3MdJA8AnTXnWvucwOgF9GwdwIorSsfxA21qCAsDn0MNMfuio-sOZCtnF1ogIR-EpEzvUvvqm3nsPZ_ndYDzfY3FwyRj-nx2EZS9r14pFZ5_XjxfipX3IZgCOa9no07CqDT36W9YTzFKPLtlwB-UK5c8ri6LzxQYDX1WMSlSBQwlEUUpTMKaV40JeJ4Lp2MmlDXmgTZGQvUb_Oxtwa71Q2QM_aeFUZankh81a5uP_aGqDLaZEAISFLJL0ewDZIv5Sp54gS4_eU30qma8SuyoDlBp1KGw_nv-elDBnhAE9iOCvtnkM22vECz5kY3hyDi6h7Of-SkP1sQONpTHZdJRxliX--thdUxn6riERLSDEu4Kc1TXUnrEd9z0w0BGWdC3pUq3I9YDm1wWr5R_xyJlKdFeRXDvJ2rwhSZWXAD-tUIZFKPPHE2cP9617OrR8_MuuzvZjFzovYjJ1_Zg3bKt3Btph76sKgQn69ORFDWIKuYic8CLwbsIJfx2JmYLS8jog8zmLKdP_MR8bqY-fMpX5JrpeVcc5JJCifylU_dnBVK6JI_r93wE9KultXpT5oR1Fv9oC58nNuRbnLJVEsr3thPGNugc1Ob-gXuaZtMpDTG6lrfP1vSyaCd6loLyX69dc4pqpjwSfSFNMO24NQcknviuga66-N4ZiyJeCG4t4hMc7sb0ZBHQSuOwjEcCpNLFQWAXcvWSgecSs0wzkw==",
  "id": "rs_02f80a158c77b49a016ab435a6435487d0b0049ca5ad7a3f28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.125,\"right_z\":0.12,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The green fruit is near the bottom-left of the right wrist view, and the right wrist is level again. I’ll bring the open right jaws above it with a small leftward shift, then assess the alignment before descending.\"}",
  "call_id": "call_TILEYxpMZmTPtnFropUxbXyS",
  "id": "fc_02f80a158c77b49a016ab435a8d10887d099246643cbb0399d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5602, 0.7189, 0.9142, -0.448, -0.4881, -0.6983, 0.9959, 0.6327, 1.19, 0.5488, -0.1066, 0.5053, 0.3717, 0.9993]\nstate[eef_state]: left_x=0.274 left_y=-0.0698 left_z=0.336 left_yaw=0.2476 left_pitch=0.2642 left_roll=-0.5651 left_gripper=0.9959 right_x=0.3056 right_y=0.1225 right_z=0.106 right_yaw=0.0101 right_pitch=-0.0656 right_roll=-0.0426 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -0.2803, 8.8, 1.9707, -0.0171, 0.0073, -0.0122, 0.1299, -4.3009, 7.8564, 1.7949, 0.4078, 0.1734, -0.0122]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1875a940d452530916d7137981dc0be9ce10ce5f6702284f78cb226f6d2a7c40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c970299150119e6bb3382959c2281a1ac40b36e0b51b2b8eb9d92d357413e859",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8149493436e3b2186fde7ad6b4fdf53361cf90c56df59c3040170523cf591e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 2.691 s

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

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8875, 2.9623, 3.1268, -1.1267, -0.717, -0.6773, 0.9948, -0.1402, 0.635, 0.2298, 0.1036, -0.1879, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.4892 left_y=-0.4113 left_z=0.0917 left_yaw=0.0536 left_pitch=-0.0951 left_roll=0.079 left_gripper=0.9948 right_x=0.2914 right_y=-0.0042 right_z=0.155 right_yaw=-0.0607 right_pitch=0.2644 right_roll=0.2004 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -17.7709, 7.4462, 1.16, -0.2955, 0.1148, 0.0122, -0.0615, -0.5265, 7.3368, 1.9853, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5915, 1.0996, 1.8076, -0.654, -0.5415, -0.44, 0.9959, 0.0311, 0.7792, 0.6041, -0.4187, 0.0456, 0.0521, 0.9993]\nstate[eef_state]: left_x=0.2758 left_y=-0.0713 left_z=0.5644 left_yaw=0.2354 left_pitch=0.5532 left_roll=-0.536 left_gripper=0.9959 right_x=0.2884 right_y=0.0045 right_z=0.1761 right_yaw=-0.0389 right_pitch=-0.021 right_roll=0.0157 right_gripper=0.9993\nstate[joint_eff]: [0.3624, 1.4291, 5.6274, 2.6398, 0.2125, 0.2759, -0.0073, -0.0068, -1.4564, 9.347, 1.8926, 0.1148, 0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5602, 0.7189, 0.9142, -0.448, -0.4881, -0.6983, 0.9959, 0.6327, 1.19, 0.5488, -0.1066, 0.5053, 0.3717, 0.9993]\nstate[eef_state]: left_x=0.274 left_y=-0.0698 left_z=0.336 left_yaw=0.2476 left_pitch=0.2642 left_roll=-0.5651 left_gripper=0.9959 right_x=0.3056 right_y=0.1225 right_z=0.106 right_yaw=0.0101 right_pitch=-0.0656 right_roll=-0.0426 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -0.2803, 8.8, 1.9707, -0.0171, 0.0073, -0.0122, 0.1299, -4.3009, 7.8564, 1.7949, 0.4078, 0.1734, -0.0122]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1875a940d452530916d7137981dc0be9ce10ce5f6702284f78cb226f6d2a7c40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c970299150119e6bb3382959c2281a1ac40b36e0b51b2b8eb9d92d357413e859",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8149493436e3b2186fde7ad6b4fdf53361cf90c56df59c3040170523cf591e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWtfLzP9q8KNG8ztgs9VT6RlAjQ1QLt2QGBF_Rh3x5NDpsUlL2KCRku5c3OoUdJmsLRGC4yEFUcMyR4l_XfVx0HOJ9P4mpl0-mRr-jZMOSFMNL6bIz37MaZjnJjsZizLlEuNS4qK2hoW_qCJgu-R080xWsiUpxegyGdi1Vykm4Bu3zsC7sFM-CPo1_AsA2ktLZnBmiP2Rmg4XPA9Ij4LA1eSLUm7r3L93x0RxiLvRVQAtYZk37w1sz8Ua1AgTbeaBF4UBTKOCj4iH_L87U2GWDes7iGJ49ELsApyeEPnhba1OOVcsw_ez36eB-dsm2n60YQfSEpM3mYX9bsnmqJUls0oZi-NpDGcIqCryK2YZul7Bs0BMPj3xtiw9UfG892gyK0hALK5vL3S7tjP_laWIh2b7jRtWYPTJ8y5DK_r9hH5EEN0bMA7ZRFLUEG3GSNOcxooRf9crH1Nf4Z3uucHInKHf2005ttzbqrKaOcBALF6P7jSuiUaYtPnUbfPynMdsN8sSeBeL0EHTEAYw-5YpVITYyxigP7aD9INmx4x1dFhLl9y9g0ZS76cajTiixdwSwolDm9Xa-EvDGMJKTnGG_f8NEPFG_GKbwJPSTlJMbBhFHq8tg7BxNz6AzBxeHWMAHv0tNn0qeq4Z2w4shb6gDM4RmEyRkID1ivqpSHOzatalFC4jyX99BuJdCAF0BbdCumvbnWZ6nKso8TKFhsjNG-0X_rYjbA35K0N29dY35Y1SNGO3dzRg76daupv9BTi8QIq1Q6iXRGtEDAg-n-ycMHDewk48a-4eHgl8Q6QznV-4pyHZF04xcf84kW41PfwPCs93Z0cHm0v3dXwrRVi_DvoOQQxcnZwEV2X2YMpZFPRz4nPmHnYfw0N96uyPWdUF-V6vrIhGOOLdvxJAqtBfZ0na8IKLpG7lPWkDNyW7s1ka7378NsG7NtcMoljGE5xxBLNJgUoiYIPiKZyQmwndz7oqrunTi3k8ArQ53T6eEsY_CwGHQYbtV5yg1MnZcmPIgOFX54oQ2teSnMU2_dxE04JSWkA3aD4jOT69NDgVGNwLHuy9641bTIRx5YqvPHznu1Ir365-GK3x7hImSfbooPSGqmVMCaPyEb4Va3oAe_SowYfbDl0kF-dNJrtgU3TfJyjVoH0Lg89xkM-7jS-zF-fs4Ib9AarqAKBUADNuR9FqoAyG9h0rwJYP2JZjWwSxja_bLueEve0yHfKe9iR2OooARb1ZRUiyKF-mDbeB9LO9Qy4OOfE6ycUebRRSlUOYdZEHCTAj1mZtfKF1ubnfxye1nq-TKdvEbpwITIf3rgnRuQr-LU9TwZDXe9EP7VRfJ4sOVy6nnOm_27dn8XtOi9G4xe6s2qUHG7uc0FbCUj7HyQ_joNoNRFWS22PwgN_9tqeXpAaPP6eeKqcyaDNcZpc18jeWixOC9o0c8LRh0I2GWRI-PlKcr9VSnGqAenxf45",
  "id": "rs_02f80a158c77b49a016ab435ac572087d083c8901d398a204f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.125,\"right_z\":0.05,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The green fruit now appears centered beneath the right jaws in the wrist camera, unlike the first attempt. I’ll lower toward its mid-height while keeping the leveled wrist and checking whether the descent stops on contact.\"}",
  "call_id": "call_ovmAUsZ43y0FdWTO97c0LzVu",
  "id": "fc_02f80a158c77b49a016ab435ad04ec87d09c085fa4cbd632a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ovmAUsZ43y0FdWTO97c0LzVu",
  "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]: [-0.5602, 0.7177, 0.9142, -0.445, -0.4881, -0.7044, 0.9959, 0.6579, 1.3464, 0.3313, 0.2047, 0.5198, 0.3855, 0.9993]\nstate[eef_state]: left_x=0.2739 left_y=-0.0698 left_z=0.3369 left_yaw=0.2513 left_pitch=0.2653 left_roll=-0.5741 left_gripper=0.9959 right_x=0.2853 right_y=0.1141 right_z=0.0312 right_yaw=0.0135 right_pitch=-0.1096 right_roll=-0.0771 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -0.7179, 8.841, 1.9658, -0.0317, 0.0366, -0.0122, 0.1709, -5.2034, 6.5436, 1.9951, 0.3248, 0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da46ce948a4d1a4100eb0798159560833967c1b918adc631e0c7676e9dad54b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b56321556f095f4e92be3a7953a002945d6772b3c4f0a50374559ad37850df3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeda282826600629be6b2f6f7e4378a4350091e09afb218b0f81263d66c7b714",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.31 s

model: gpt-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]: [-0.775, 1.9572, 2.5881, -1.3628, -0.6445, -0.5877, 0.9958, -0.1402, 0.638, 0.2298, 0.0994, -0.1883, 0.1452, 0.9993]\nstate[eef_state]: left_x=0.3905 left_y=-0.2289 left_z=0.4085 left_yaw=0.0595 left_pitch=0.0084 left_roll=-0.061 left_gripper=0.9958 right_x=0.2912 right_y=-0.0041 right_z=0.1532 right_yaw=-0.0605 right_pitch=0.2572 right_roll=0.2011 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -11.494, 5.9966, 2.1172, -0.3053, 0.2564, 0.0952, -0.2803, -0.1026, 7.1316, 1.9609, -0.0415, -0.0562, -0.0171]",
      "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]: [-0.5602, 0.7189, 0.9142, -0.448, -0.4881, -0.6983, 0.9959, 0.6327, 1.19, 0.5488, -0.1066, 0.5053, 0.3717, 0.9993]\nstate[eef_state]: left_x=0.274 left_y=-0.0698 left_z=0.336 left_yaw=0.2476 left_pitch=0.2642 left_roll=-0.5651 left_gripper=0.9959 right_x=0.3056 right_y=0.1225 right_z=0.106 right_yaw=0.0101 right_pitch=-0.0656 right_roll=-0.0426 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -0.2803, 8.8, 1.9707, -0.0171, 0.0073, -0.0122, 0.1299, -4.3009, 7.8564, 1.7949, 0.4078, 0.1734, -0.0122]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "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]: [-0.5602, 0.7177, 0.9142, -0.445, -0.4881, -0.7044, 0.9959, 0.6579, 1.3464, 0.3313, 0.2047, 0.5198, 0.3855, 0.9993]\nstate[eef_state]: left_x=0.2739 left_y=-0.0698 left_z=0.3369 left_yaw=0.2513 left_pitch=0.2653 left_roll=-0.5741 left_gripper=0.9959 right_x=0.2853 right_y=0.1141 right_z=0.0312 right_yaw=0.0135 right_pitch=-0.1096 right_roll=-0.0771 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -0.7179, 8.841, 1.9658, -0.0317, 0.0366, -0.0122, 0.1709, -5.2034, 6.5436, 1.9951, 0.3248, 0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da46ce948a4d1a4100eb0798159560833967c1b918adc631e0c7676e9dad54b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b56321556f095f4e92be3a7953a002945d6772b3c4f0a50374559ad37850df3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeda282826600629be6b2f6f7e4378a4350091e09afb218b0f81263d66c7b714",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWwRQJ8VgcmQzVL_hpaauQRsu1Ep4YyhN1yMeG1vXJ0IGLFiCSCtGAE0GPMGNZczQzs5edz4ObuX65h_UkKJrqfFgIDPzVOZSgI1KoKhkKCo4VDy8eYWzNTOnjRC22sXca11dS30Q22EKYV3t0t_9bcy7Crcgb5HMTgFhy5Cz3YRcU7cZFBiCN_gh20BAc_VDg7Pk2sNQjZCkCqWxbPl2Aq8LJTsOl4Ls5d8_qstHFjTrSZkk_eAxBEClv2xIg1gpsquTUimy3wTB8REDXxmHCOoynf9oaW_HZM_UyAwAofs5PaGRhBatKUq6lk6goYSqrr20ZWcTKPuUvttoIGTh6_8W19OWE0NU2HVYApMHfAIzQqxbH5fq0Um0XoVf_Q5LND8OaiuYwWU4PFihcZmoC9P4CeU7RmhvHatqPIXqGQh_zwR8fDdxYEIhKYn2DKvmxB8ewgQYPu22h1PMmSTKuFJFpm0PcdvjUJAOZmmPqreXYJDYeGKrwCKaXl4f2rspqsLuvZOmPdidaPVFPVu4rHgpU77mBc5Xdx10yweoqJd_XQv_R8mP5Rw8hQAC3w5W1KASqzaZcFj0WK6RBBzgZKvYCqapiDp7t4RobPO0o7iVA5rxnW5K_99gpqS-Io9Cn5NBguc9gglGotDuCDd67oG-_lYo3d5ADlnJLWVcCGNI35yqA2afAU56lBi49llaXLvHDxvSB-UOvh5OY-d_6m4tfG8x8Bu5AkY3aq25ED69iqwn_GVe7qaIH68sFzzIossnPiO4Uhoh2tn2z3MmfnBf2JzJM2cHu8tFxXQvwLNM98TIIUA37s6T6wfkjD_ofvlh0J9oo98mJpDYC0A5Yist62MqsiLMyoHqk98nHoizzsHGg7HwOLBMMaXBne7V9kHUxgKE0PFgxfWcVckKh-Iumh6K-h5aSRds2iNJOdaNkaSyImWyjwbkkmQMS0FR6CwwmTPj2abHLa7lFOjOKyf4RbSMKcpBpfdl1RDglgG_HhR_ePO_QY6hu8jspWeNJnofV5ztJjAIKkABvrRMXlLxTWyuteK9-Uzci9Q1ws0qeaKHQUW0Y31vWSb44RmsdmykXGnRWIzsVX389yA_YUXh8brhtGwfrqz8z3BhYi0MaBqg2t_CpMX8zP764fUz6o0sA5t9sxtXeRF7MsOHHVPJgE9QdarY-5gf7GA92iOXVruakg1mEmQtxM2JoVVFYsjeueKzBpegf5xt4I4RoqZkg8yCCFkW0EqwrxyBPB0WHKWNJKYmMCg4SnBkbNgny9vWXR3A0XP2-ZzkaMrGnmCHzePtyi8u6vG9Gq4g_o4dtIUmAeSTtYjHcDhyvj1gtC",
  "id": "rs_02f80a158c77b49a016ab435af90d087d09eb9a15c91d150d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right grasp point has reached about 3 cm above the table, and the green fruit fills the space between the open fingers in the wrist view. I’ll close now to catch it near its base.\"}",
  "call_id": "call_5yWbVKjkTSxfWPScaWUNz8Wh",
  "id": "fc_02f80a158c77b49a016ab435b00c7c87d0a846a4846da00670",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5yWbVKjkTSxfWPScaWUNz8Wh",
  "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]: [-0.561, 0.7261, 0.9131, -0.4667, -0.4889, -0.7078, 0.9959, 0.6724, 1.3666, 0.2939, 0.3153, 0.5385, 0.3744, 0.6188]\nstate[eef_state]: left_x=0.2744 left_y=-0.0702 left_z=0.3296 left_yaw=0.247 left_pitch=0.2428 left_roll=-0.5539 left_gripper=0.9959 right_x=0.2869 right_y=0.1172 right_z=0.0318 right_yaw=0.0226 right_pitch=-0.0597 right_roll=-0.0644 right_gripper=0.6188\nstate[joint_eff]: [-0.0068, -0.9368, 6.612, 2.0293, -0.1441, -0.0024, -0.0122, 0.0342, -4.2325, 4.7932, 1.4237, 0.3101, -0.0171, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4a90869932983070810f1c4975edc0598259a717922ff2427eb44526d613d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ed692ebc30b7a09987f66bd75586c5d8035615b6484491ff5bca35adb76dde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff7e458e1fc53216b7000e615f47ebcdfb17bd2560c2357c0209d6b2b1046fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 8.315 s

model: gpt-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]: [-0.5915, 1.0996, 1.8076, -0.654, -0.5415, -0.44, 0.9959, 0.0311, 0.7792, 0.6041, -0.4187, 0.0456, 0.0521, 0.9993]\nstate[eef_state]: left_x=0.2758 left_y=-0.0713 left_z=0.5644 left_yaw=0.2354 left_pitch=0.5532 left_roll=-0.536 left_gripper=0.9959 right_x=0.2884 right_y=0.0045 right_z=0.1761 right_yaw=-0.0389 right_pitch=-0.021 right_roll=0.0157 right_gripper=0.9993\nstate[joint_eff]: [0.3624, 1.4291, 5.6274, 2.6398, 0.2125, 0.2759, -0.0073, -0.0068, -1.4564, 9.347, 1.8926, 0.1148, 0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.5602, 0.7177, 0.9142, -0.445, -0.4881, -0.7044, 0.9959, 0.6579, 1.3464, 0.3313, 0.2047, 0.5198, 0.3855, 0.9993]\nstate[eef_state]: left_x=0.2739 left_y=-0.0698 left_z=0.3369 left_yaw=0.2513 left_pitch=0.2653 left_roll=-0.5741 left_gripper=0.9959 right_x=0.2853 right_y=0.1141 right_z=0.0312 right_yaw=0.0135 right_pitch=-0.1096 right_roll=-0.0771 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -0.7179, 8.841, 1.9658, -0.0317, 0.0366, -0.0122, 0.1709, -5.2034, 6.5436, 1.9951, 0.3248, 0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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]: [-0.561, 0.7261, 0.9131, -0.4667, -0.4889, -0.7078, 0.9959, 0.6724, 1.3666, 0.2939, 0.3153, 0.5385, 0.3744, 0.6188]\nstate[eef_state]: left_x=0.2744 left_y=-0.0702 left_z=0.3296 left_yaw=0.247 left_pitch=0.2428 left_roll=-0.5539 left_gripper=0.9959 right_x=0.2869 right_y=0.1172 right_z=0.0318 right_yaw=0.0226 right_pitch=-0.0597 right_roll=-0.0644 right_gripper=0.6188\nstate[joint_eff]: [-0.0068, -0.9368, 6.612, 2.0293, -0.1441, -0.0024, -0.0122, 0.0342, -4.2325, 4.7932, 1.4237, 0.3101, -0.0171, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4a90869932983070810f1c4975edc0598259a717922ff2427eb44526d613d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ed692ebc30b7a09987f66bd75586c5d8035615b6484491ff5bca35adb76dde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff7e458e1fc53216b7000e615f47ebcdfb17bd2560c2357c0209d6b2b1046fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02f80a158c77b49a016ab435b34cb087d0870365094e89e983",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The right gripper stopped at about 62% open, which could mean it has the broad green fruit, though the wrist view is ambiguous. I’ll lift a short distance and check the overhead image to confirm whether the fruit moves with it.\"}",
  "call_id": "call_CnMeUsQ91Zn2hvag6QmSlZAL",
  "id": "fc_02f80a158c77b49a016ab435b460e887d0aa7eb6e35cfb2bf8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CnMeUsQ91Zn2hvag6QmSlZAL",
  "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]: [-0.5613, 0.7319, 0.9131, -0.4683, -0.4885, -0.7082, 0.9959, 0.6724, 1.0733, 0.5682, -0.2398, 0.5228, 0.374, 0.6214]\nstate[eef_state]: left_x=0.2753 left_y=-0.071 left_z=0.3278 left_yaw=0.2452 left_pitch=0.2376 left_roll=-0.5489 left_gripper=0.9959 right_x=0.2886 right_y=0.1216 right_z=0.1269 right_yaw=0.0352 right_pitch=-0.056 right_roll=-0.0486 right_gripper=0.6214\nstate[joint_eff]: [-0.2803, -0.7863, 6.5162, 1.8339, -0.1001, -0.0464, -0.0122, -0.3624, -4.1641, 9.4291, 1.707, 0.2955, -0.0513, 0.8864]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0e6b6a08f2dbbdd02634730e31a0d41174b24e3e0b62203c4e3362d29e0371d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75c573361378bb647c9a5ad068ee61b9e2bd8ab479dbce0ea1db87f92938d77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5254c6b3a742ac1cc0af313d04bbb06523cdf394a295761b3fca3b102b2de878",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 3.245 s

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

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5602, 0.7189, 0.9142, -0.448, -0.4881, -0.6983, 0.9959, 0.6327, 1.19, 0.5488, -0.1066, 0.5053, 0.3717, 0.9993]\nstate[eef_state]: left_x=0.274 left_y=-0.0698 left_z=0.336 left_yaw=0.2476 left_pitch=0.2642 left_roll=-0.5651 left_gripper=0.9959 right_x=0.3056 right_y=0.1225 right_z=0.106 right_yaw=0.0101 right_pitch=-0.0656 right_roll=-0.0426 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -0.2803, 8.8, 1.9707, -0.0171, 0.0073, -0.0122, 0.1299, -4.3009, 7.8564, 1.7949, 0.4078, 0.1734, -0.0122]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.561, 0.7261, 0.9131, -0.4667, -0.4889, -0.7078, 0.9959, 0.6724, 1.3666, 0.2939, 0.3153, 0.5385, 0.3744, 0.6188]\nstate[eef_state]: left_x=0.2744 left_y=-0.0702 left_z=0.3296 left_yaw=0.247 left_pitch=0.2428 left_roll=-0.5539 left_gripper=0.9959 right_x=0.2869 right_y=0.1172 right_z=0.0318 right_yaw=0.0226 right_pitch=-0.0597 right_roll=-0.0644 right_gripper=0.6188\nstate[joint_eff]: [-0.0068, -0.9368, 6.612, 2.0293, -0.1441, -0.0024, -0.0122, 0.0342, -4.2325, 4.7932, 1.4237, 0.3101, -0.0171, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5613, 0.7319, 0.9131, -0.4683, -0.4885, -0.7082, 0.9959, 0.6724, 1.0733, 0.5682, -0.2398, 0.5228, 0.374, 0.6214]\nstate[eef_state]: left_x=0.2753 left_y=-0.071 left_z=0.3278 left_yaw=0.2452 left_pitch=0.2376 left_roll=-0.5489 left_gripper=0.9959 right_x=0.2886 right_y=0.1216 right_z=0.1269 right_yaw=0.0352 right_pitch=-0.056 right_roll=-0.0486 right_gripper=0.6214\nstate[joint_eff]: [-0.2803, -0.7863, 6.5162, 1.8339, -0.1001, -0.0464, -0.0122, -0.3624, -4.1641, 9.4291, 1.707, 0.2955, -0.0513, 0.8864]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0e6b6a08f2dbbdd02634730e31a0d41174b24e3e0b62203c4e3362d29e0371d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75c573361378bb647c9a5ad068ee61b9e2bd8ab479dbce0ea1db87f92938d77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5254c6b3a742ac1cc0af313d04bbb06523cdf394a295761b3fca3b102b2de878",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02f80a158c77b49a016ab435b8bdac87d0b191345a0b5c5de8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.275,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right gripper still reads partly open after lifting, but the fruit remains visible low in its wrist view, so I cannot yet tell whether it is securely held. I’ll carry it over the blue bowl and check whether the fruit actually travels with the jaws.\"}",
  "call_id": "call_2Hfk7uRtJchLPJyWJtCYsaeG",
  "id": "fc_02f80a158c77b49a016ab435bd04fc87d09e8d0f4e251f8b96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2Hfk7uRtJchLPJyWJtCYsaeG",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5606, 0.7349, 0.9112, -0.4755, -0.4889, -0.7082, 0.9959, 0.762, 1.7901, 1.3888, -0.3759, 0.5644, 0.4122, 0.6239]\nstate[eef_state]: left_x=0.2756 left_y=-0.0708 left_z=0.3246 left_yaw=0.2442 left_pitch=0.2292 left_roll=-0.5398 left_gripper=0.9959 right_x=0.4121 right_y=0.2676 right_z=0.1755 right_yaw=0.0715 right_pitch=-0.0629 right_roll=-0.0604 right_gripper=0.6239\nstate[joint_eff]: [0.0615, -0.212, 6.7761, 1.8486, -0.1441, -0.0269, -0.0122, -0.0205, -9.8667, 9.3607, 1.7167, 0.4371, 0.3004, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8217ffaaf0574e6dd7e9cd4c5f754641955ea05acd732c49c0513af7647c2e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81c401d22934b908665d67352e82fd32e27d7f6538ec036e416e363f3cb624ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd96d6dcca08b7630fba172cc575927fccae5b1467ee2752c830c757acfab65f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 5.57 s

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

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5602, 0.7177, 0.9142, -0.445, -0.4881, -0.7044, 0.9959, 0.6579, 1.3464, 0.3313, 0.2047, 0.5198, 0.3855, 0.9993]\nstate[eef_state]: left_x=0.2739 left_y=-0.0698 left_z=0.3369 left_yaw=0.2513 left_pitch=0.2653 left_roll=-0.5741 left_gripper=0.9959 right_x=0.2853 right_y=0.1141 right_z=0.0312 right_yaw=0.0135 right_pitch=-0.1096 right_roll=-0.0771 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -0.7179, 8.841, 1.9658, -0.0317, 0.0366, -0.0122, 0.1709, -5.2034, 6.5436, 1.9951, 0.3248, 0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5613, 0.7319, 0.9131, -0.4683, -0.4885, -0.7082, 0.9959, 0.6724, 1.0733, 0.5682, -0.2398, 0.5228, 0.374, 0.6214]\nstate[eef_state]: left_x=0.2753 left_y=-0.071 left_z=0.3278 left_yaw=0.2452 left_pitch=0.2376 left_roll=-0.5489 left_gripper=0.9959 right_x=0.2886 right_y=0.1216 right_z=0.1269 right_yaw=0.0352 right_pitch=-0.056 right_roll=-0.0486 right_gripper=0.6214\nstate[joint_eff]: [-0.2803, -0.7863, 6.5162, 1.8339, -0.1001, -0.0464, -0.0122, -0.3624, -4.1641, 9.4291, 1.707, 0.2955, -0.0513, 0.8864]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5606, 0.7349, 0.9112, -0.4755, -0.4889, -0.7082, 0.9959, 0.762, 1.7901, 1.3888, -0.3759, 0.5644, 0.4122, 0.6239]\nstate[eef_state]: left_x=0.2756 left_y=-0.0708 left_z=0.3246 left_yaw=0.2442 left_pitch=0.2292 left_roll=-0.5398 left_gripper=0.9959 right_x=0.4121 right_y=0.2676 right_z=0.1755 right_yaw=0.0715 right_pitch=-0.0629 right_roll=-0.0604 right_gripper=0.6239\nstate[joint_eff]: [0.0615, -0.212, 6.7761, 1.8486, -0.1441, -0.0269, -0.0122, -0.0205, -9.8667, 9.3607, 1.7167, 0.4371, 0.3004, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8217ffaaf0574e6dd7e9cd4c5f754641955ea05acd732c49c0513af7647c2e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81c401d22934b908665d67352e82fd32e27d7f6538ec036e416e363f3cb624ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd96d6dcca08b7630fba172cc575927fccae5b1467ee2752c830c757acfab65f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXC2hEwJfC4w9tN1Flxwh8kEHIqXedY_sDMZgjcBf1Y9GbcklAJ5qEEIF_HArXo_PSjjsEDbTTjbtxSeuT6Mge4Wf588ZbjBu1_PncSPCMioGU_xzD40kqlUS86VoshZDQGHg6NHCisd2Y2mFbQIJ0XuGKfGs3An3z8GN-GB0qswfIe2Ly1x_kWkfj32QN3I9lQMS9nbO_WAZmGD1PUMgebbBXHpCSwKTnhppQEwkLuHflttWp6HXhlbUCWmVg4F5r7Fd7ABRd3kFPY2KwfGpJ_hP-hWS91RZh4aqJkm1DnDgzj55Qyt4Zc3qVwbflVG9TjCaevWeH3_FPe6SvFwBiysVJzrzy2Bg5LQ288OQXtsgMAvEbU2q5VXdzrfa7unOyHJG05Tb_EFa4ibmBolh3-S8U141Il9ACrw1ao1OS68eyKZCWeAw7xMe3TWXY2GSBeOVixxHAFvCphcT7HhwAodIteBENOVX4uJrk-JZKRXjZNYdS8gRDm4khSxJu5iOYe9Lr-VVnmvTVjrNrqBdESagUmohEcBmOjYe8yL42VKnJGhH9vUGph-cQaVSiav17JQq9ZPIojYSAO57erbe9acS7MUof9zJlu5FGHvmOdHliY5zL9254QNnuI_z4sBx12J228zWcCaz98nRlz3h5inj3pzVwyfH8gud9cOA_v2qjOiSVLWfIVndqUL-FRVBLammTvI35WdN0c80oUh0-S7Tc7CShQzm3MH_tiiqb0VuVXsj3BiYgX8lHOlror2kzxhQ9zt6TlAiDDr8dq4hCDfhFUc0AF6RaW9czXji-g7p1cFthN6u431CBWyesASny4QQq7MbO8lpJ7Cdh_ie1AYv0J_ztbm02h3kdy42P-bp8Q5ACWFfJTB2aXklJ66kZogkNmH6htDnh9mk_RAFC_qp3QdLKABHEuLBeV5k8YSZaWcwiOnuxIGzov2Q8jZmXqGHTmXOxS-3zd_rEaZm2f3fs4n7iByAn5pnzjAwJLtu8n8bLRXy-aXydTOqPltN0KvGUMT8Brjefai5oiC3P4JHMq9atSfkhAXJ9Z25F0d__bm2r94fwCfq0BLFuzZGluVbpLyjo5BDMr-KCQjnNzGyqID7uftmHas-IwsiN7wPwUmweuZR9UvGBhG7xNB4S2c0n0eSxpaGH9CTXeaA3CGrHehE0rRoC91neuLmfDd4AmBRZxw2zoirYgI_YAX_etAwmQfdIkaLV53ne_jXmxSGbQF2eG-hrrokiLG23BveUyyheaKg7nl6AbTgIke0_chHgMWfXTlsn7wDSisYg8zKKXM22SmXiJr-h_ayeackokrtHUQcIcask6fuHzZHb9eZD6S-B71pYy2hLcgeXO1-gLdD4hfTQt9YSQxymJQyASMBkx_mAXadKHj2xtZvapCGZz2IGkJoSENB9G-Le7AwsEJ-eDsUJi18zVYkmCqxO4RBfJoQpuVPEqct7pHXNnborWkf2osyTYjg0a5Wut0C8_di3LGo7q5KM2hNAR6h-yjXHSb7VGINVWaQDWPO5mEug39LTwoNnkuPBpCU7rnKyyW6X6-Lb4syILb51rqnNpnkS6aaJEPyQPyQt5RyXv8MwJsilhbo7PSGpC03N2R6dAqpL9dqtasSdbqeZK-nCe4JUgl867bgC0n8RZyYo5HU1frgmFGKj9-IwimeT5oHCVlXTKOO5xQj0muFPAJILIHGTUyChWe9dDKrxzoF-CpuH9O7AtiYVDvDg2zk0ymw==",
  "id": "rs_02f80a158c77b49a016ab435c0b7d087d096f6c83cb1c2b28c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.3,\"right_z\":0.095,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The large green fruit traveled with the right hand and is now over the blue bowl, so the grasp is real despite its visibility in the wrist camera. I’ll lower it toward the bowl’s center while keeping the other arm out of the way.\"}",
  "call_id": "call_6pCWTe4z7412wIshO3ICiyOg",
  "id": "fc_02f80a158c77b49a016ab435c1a48487d0b5409bcad11014d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6pCWTe4z7412wIshO3ICiyOg",
  "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]: [-0.5613, 0.7368, 0.9112, -0.4751, -0.4885, -0.7082, 0.9959, 0.7845, 1.98, 1.2659, -0.0902, 0.5671, 0.4198, 0.6239]\nstate[eef_state]: left_x=0.2759 left_y=-0.0713 left_z=0.3242 left_yaw=0.2428 left_pitch=0.2281 left_roll=-0.5388 left_gripper=0.9959 right_x=0.4194 right_y=0.2897 right_z=0.0814 right_yaw=0.0866 right_pitch=-0.0823 right_roll=-0.0731 right_gripper=0.6239\nstate[joint_eff]: [-0.0615, -0.4855, 6.7077, 1.7851, -0.1392, -0.0415, -0.0122, 0.3214, -10.4821, 6.2427, 1.7607, 0.2857, 0.1343, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21406d9f9c48f2b135c4eadd0491e9066605d75f2284bfb13a255ed1ac03e439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9e7410c494e13389e46e977c62ab7d10ff135e226b75db2a5796548aed12d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43447447bef9baa46f8bae3ee8a2a835b9b14f74e4b71cbf549d6b6975aa7d1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 3.663 s

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

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.561, 0.7261, 0.9131, -0.4667, -0.4889, -0.7078, 0.9959, 0.6724, 1.3666, 0.2939, 0.3153, 0.5385, 0.3744, 0.6188]\nstate[eef_state]: left_x=0.2744 left_y=-0.0702 left_z=0.3296 left_yaw=0.247 left_pitch=0.2428 left_roll=-0.5539 left_gripper=0.9959 right_x=0.2869 right_y=0.1172 right_z=0.0318 right_yaw=0.0226 right_pitch=-0.0597 right_roll=-0.0644 right_gripper=0.6188\nstate[joint_eff]: [-0.0068, -0.9368, 6.612, 2.0293, -0.1441, -0.0024, -0.0122, 0.0342, -4.2325, 4.7932, 1.4237, 0.3101, -0.0171, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5606, 0.7349, 0.9112, -0.4755, -0.4889, -0.7082, 0.9959, 0.762, 1.7901, 1.3888, -0.3759, 0.5644, 0.4122, 0.6239]\nstate[eef_state]: left_x=0.2756 left_y=-0.0708 left_z=0.3246 left_yaw=0.2442 left_pitch=0.2292 left_roll=-0.5398 left_gripper=0.9959 right_x=0.4121 right_y=0.2676 right_z=0.1755 right_yaw=0.0715 right_pitch=-0.0629 right_roll=-0.0604 right_gripper=0.6239\nstate[joint_eff]: [0.0615, -0.212, 6.7761, 1.8486, -0.1441, -0.0269, -0.0122, -0.0205, -9.8667, 9.3607, 1.7167, 0.4371, 0.3004, 0.6813]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5613, 0.7368, 0.9112, -0.4751, -0.4885, -0.7082, 0.9959, 0.7845, 1.98, 1.2659, -0.0902, 0.5671, 0.4198, 0.6239]\nstate[eef_state]: left_x=0.2759 left_y=-0.0713 left_z=0.3242 left_yaw=0.2428 left_pitch=0.2281 left_roll=-0.5388 left_gripper=0.9959 right_x=0.4194 right_y=0.2897 right_z=0.0814 right_yaw=0.0866 right_pitch=-0.0823 right_roll=-0.0731 right_gripper=0.6239\nstate[joint_eff]: [-0.0615, -0.4855, 6.7077, 1.7851, -0.1392, -0.0415, -0.0122, 0.3214, -10.4821, 6.2427, 1.7607, 0.2857, 0.1343, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21406d9f9c48f2b135c4eadd0491e9066605d75f2284bfb13a255ed1ac03e439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9e7410c494e13389e46e977c62ab7d10ff135e226b75db2a5796548aed12d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43447447bef9baa46f8bae3ee8a2a835b9b14f74e4b71cbf549d6b6975aa7d1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02f80a158c77b49a016ab435c5a1c487d0b3bccdab97527616",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.245,\"right_z\":0.08},\"note\":\"At bowl height, the blue rim appears to the right of the green fruit in the right wrist camera, so releasing now risks missing. I’ll shift the held fruit toward that visible opening before letting go.\"}",
  "call_id": "call_ql9PyfbNIZm3e1UCWhldxYxl",
  "id": "fc_02f80a158c77b49a016ab435c7648087d08d84a8acd76ce57c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ql9PyfbNIZm3e1UCWhldxYxl",
  "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]: [-0.561, 0.7406, 0.9112, -0.4751, -0.4885, -0.7082, 0.9959, 0.6865, 1.9556, 1.1473, -0.0311, 0.5022, 0.358, 0.6264]\nstate[eef_state]: left_x=0.2766 left_y=-0.0716 left_z=0.3233 left_yaw=0.2426 left_pitch=0.2255 left_roll=-0.5359 left_gripper=0.9959 right_x=0.4244 right_y=0.2425 right_z=0.0537 right_yaw=0.0681 right_pitch=-0.1418 right_roll=-0.1051 right_gripper=0.6264\nstate[joint_eff]: [-0.0205, -0.253, 6.5573, 1.7705, -0.105, -0.0122, -0.0122, 0.6085, -13.8325, 6.7761, 1.8291, 0.2955, 0.0562, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bfeae8c1f13eb2cdeb777c9235e6c82762ca18de7248f5938049630d75d8a21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:201875802e414ea7b5f32527e5acbb9718c5c44ef0fd39adefa358260d5adf58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a4bd1f0b3cacea91d47225d0867bf740114368a9800f82141192537831e461",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 3.928 s

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

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5613, 0.7319, 0.9131, -0.4683, -0.4885, -0.7082, 0.9959, 0.6724, 1.0733, 0.5682, -0.2398, 0.5228, 0.374, 0.6214]\nstate[eef_state]: left_x=0.2753 left_y=-0.071 left_z=0.3278 left_yaw=0.2452 left_pitch=0.2376 left_roll=-0.5489 left_gripper=0.9959 right_x=0.2886 right_y=0.1216 right_z=0.1269 right_yaw=0.0352 right_pitch=-0.056 right_roll=-0.0486 right_gripper=0.6214\nstate[joint_eff]: [-0.2803, -0.7863, 6.5162, 1.8339, -0.1001, -0.0464, -0.0122, -0.3624, -4.1641, 9.4291, 1.707, 0.2955, -0.0513, 0.8864]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5613, 0.7368, 0.9112, -0.4751, -0.4885, -0.7082, 0.9959, 0.7845, 1.98, 1.2659, -0.0902, 0.5671, 0.4198, 0.6239]\nstate[eef_state]: left_x=0.2759 left_y=-0.0713 left_z=0.3242 left_yaw=0.2428 left_pitch=0.2281 left_roll=-0.5388 left_gripper=0.9959 right_x=0.4194 right_y=0.2897 right_z=0.0814 right_yaw=0.0866 right_pitch=-0.0823 right_roll=-0.0731 right_gripper=0.6239\nstate[joint_eff]: [-0.0615, -0.4855, 6.7077, 1.7851, -0.1392, -0.0415, -0.0122, 0.3214, -10.4821, 6.2427, 1.7607, 0.2857, 0.1343, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.561, 0.7406, 0.9112, -0.4751, -0.4885, -0.7082, 0.9959, 0.6865, 1.9556, 1.1473, -0.0311, 0.5022, 0.358, 0.6264]\nstate[eef_state]: left_x=0.2766 left_y=-0.0716 left_z=0.3233 left_yaw=0.2426 left_pitch=0.2255 left_roll=-0.5359 left_gripper=0.9959 right_x=0.4244 right_y=0.2425 right_z=0.0537 right_yaw=0.0681 right_pitch=-0.1418 right_roll=-0.1051 right_gripper=0.6264\nstate[joint_eff]: [-0.0205, -0.253, 6.5573, 1.7705, -0.105, -0.0122, -0.0122, 0.6085, -13.8325, 6.7761, 1.8291, 0.2955, 0.0562, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bfeae8c1f13eb2cdeb777c9235e6c82762ca18de7248f5938049630d75d8a21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:201875802e414ea7b5f32527e5acbb9718c5c44ef0fd39adefa358260d5adf58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a4bd1f0b3cacea91d47225d0867bf740114368a9800f82141192537831e461",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02f80a158c77b49a016ab435ca5e8087d099aef59fec557f3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.185,\"right_z\":0.14},\"note\":\"The bowl still lies to the right of the green fruit, while the grasp point has dropped close to table height. I’ll lift above the rim and move farther toward the bowl’s center before releasing.\"}",
  "call_id": "call_L4AHDNIUk0Mo9dZHeN4BhRW7",
  "id": "fc_02f80a158c77b49a016ab435cbdbf887d09120a609a674e904",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L4AHDNIUk0Mo9dZHeN4BhRW7",
  "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]: [-0.5613, 0.7406, 0.9112, -0.4755, -0.4889, -0.7082, 0.9959, 0.6804, 1.948, 1.1336, -0.0261, 0.4919, 0.3359, 0.629]\nstate[eef_state]: left_x=0.2765 left_y=-0.0717 left_z=0.3232 left_yaw=0.2425 left_pitch=0.2253 left_roll=-0.5356 left_gripper=0.9959 right_x=0.4231 right_y=0.2397 right_z=0.0523 right_yaw=0.0818 right_pitch=-0.1484 right_roll=-0.1163 right_gripper=0.629\nstate[joint_eff]: [-0.212, -0.3897, 6.5983, 1.7851, -0.1587, -0.0415, -0.0122, -0.0342, -13.5863, 6.5573, 1.6923, 0.1441, -0.0415, 0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78582339ebdcf11bc1d20f5a8a367ba79fe723f4a7d9428ae5d3549af53c500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c819049d697f803b8401a9ad02aefd82f982d285502ecaabfb57f3f66b593fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2995c8dffb237396e8d4f0e531d26c6cd8081f1377d6f80b4e36fc1956b97fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 9.413 s

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

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5606, 0.7349, 0.9112, -0.4755, -0.4889, -0.7082, 0.9959, 0.762, 1.7901, 1.3888, -0.3759, 0.5644, 0.4122, 0.6239]\nstate[eef_state]: left_x=0.2756 left_y=-0.0708 left_z=0.3246 left_yaw=0.2442 left_pitch=0.2292 left_roll=-0.5398 left_gripper=0.9959 right_x=0.4121 right_y=0.2676 right_z=0.1755 right_yaw=0.0715 right_pitch=-0.0629 right_roll=-0.0604 right_gripper=0.6239\nstate[joint_eff]: [0.0615, -0.212, 6.7761, 1.8486, -0.1441, -0.0269, -0.0122, -0.0205, -9.8667, 9.3607, 1.7167, 0.4371, 0.3004, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.561, 0.7406, 0.9112, -0.4751, -0.4885, -0.7082, 0.9959, 0.6865, 1.9556, 1.1473, -0.0311, 0.5022, 0.358, 0.6264]\nstate[eef_state]: left_x=0.2766 left_y=-0.0716 left_z=0.3233 left_yaw=0.2426 left_pitch=0.2255 left_roll=-0.5359 left_gripper=0.9959 right_x=0.4244 right_y=0.2425 right_z=0.0537 right_yaw=0.0681 right_pitch=-0.1418 right_roll=-0.1051 right_gripper=0.6264\nstate[joint_eff]: [-0.0205, -0.253, 6.5573, 1.7705, -0.105, -0.0122, -0.0122, 0.6085, -13.8325, 6.7761, 1.8291, 0.2955, 0.0562, 0.6178]\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 150 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5613, 0.7406, 0.9112, -0.4755, -0.4889, -0.7082, 0.9959, 0.6804, 1.948, 1.1336, -0.0261, 0.4919, 0.3359, 0.629]\nstate[eef_state]: left_x=0.2765 left_y=-0.0717 left_z=0.3232 left_yaw=0.2425 left_pitch=0.2253 left_roll=-0.5356 left_gripper=0.9959 right_x=0.4231 right_y=0.2397 right_z=0.0523 right_yaw=0.0818 right_pitch=-0.1484 right_roll=-0.1163 right_gripper=0.629\nstate[joint_eff]: [-0.212, -0.3897, 6.5983, 1.7851, -0.1587, -0.0415, -0.0122, -0.0342, -13.5863, 6.5573, 1.6923, 0.1441, -0.0415, 0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78582339ebdcf11bc1d20f5a8a367ba79fe723f4a7d9428ae5d3549af53c500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c819049d697f803b8401a9ad02aefd82f982d285502ecaabfb57f3f66b593fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2995c8dffb237396e8d4f0e531d26c6cd8081f1377d6f80b4e36fc1956b97fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_02f80a158c77b49a016ab435ce372887d0933e70daa5644bad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.2},\"note\":\"The right arm stopped tracking while the fruit was pressed near the bowl’s rim, so forcing another sideways move would be unsafe. I’ll open the jaws and lift clear, then see whether the green fruit falls inside the bowl or beside it.\"}",
  "call_id": "call_4bmHV0U9bQPeCIgfGgh6tu4V",
  "id": "fc_02f80a158c77b49a016ab435d04e9087d0814a84925290b627",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4bmHV0U9bQPeCIgfGgh6tu4V",
  "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]: [-0.561, 0.7471, 0.9112, -0.4763, -0.4889, -0.7082, 0.9959, 0.6838, 1.7901, 1.5032, -0.5148, 0.4778, 0.3218, 0.998]\nstate[eef_state]: left_x=0.2777 left_y=-0.0723 left_z=0.3214 left_yaw=0.2417 left_pitch=0.2202 left_roll=-0.5302 left_gripper=0.9959 right_x=0.4268 right_y=0.2477 right_z=0.195 right_yaw=0.1066 right_pitch=-0.1225 right_roll=-0.0966 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -0.4034, 6.5573, 1.8046, -0.1441, -0.0415, -0.0073, -0.5538, -9.2786, 9.0462, 1.5702, 0.3492, 0.0952, -0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981cf51587872dd99538624a29e7e46b48208373d1d6b950249361242d4334f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b39a1bc939c22d23852847fbc175711847ef754d9ceedc04aa80e5e4b5fd4d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b09bccb31b9ca86fae11fdb1e52258bf1c40cfde7415bd1e0a9e986aef22c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]