adhoc

completed
2026-09-23T18:33:26.066862+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
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
240.3 s
total steps
359
operator
0
scenes
1
trials
1
errored
0

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
camera top_cam flipbook
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
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.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits: a green one near the right gripper, a yellow one beside the blue bowl, and a dark one farther left. I’ll position the right gripper above the green fruit first.
move_to
right_x0.3400right_y0.0750right_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]: [-0.02, 0.7994, 0.6136, -0.382, -0.0139, -0.0292, 0.9991, -0.0227, 0.7994, 0.6228, -0.387, -0.0174, -0.0124, 0.9993] state[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2965 right_y=-0.0001 right_z=0.1857 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.6496, -1.7299, 9.5658, 1.7998, -0.105, 0.1587, -0.0952, -0.1436, -1.7299, 8.841, 1.8584, -0.0757, -0.0708, -0.0806] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.075,"right_z":0.15},"note":"I see three fruits: a green one near the right gripper, a yellow one beside the blue bowl, and a dark one farther left. I’ll position the right gripper above the green fruit first."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe green fruit is close in the right wrist view but slightly right of the jaw center. I’ll shift a little toward it and lower the gripper to its middle for a grasp.
move_to
right_x0.3550right_y0.0500right_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]: [-0.0212, 0.8013, 0.6147, -0.3901, -0.0139, -0.0307, 0.9991, 0.358, 1.1191, 0.601, -0.1234, 0.2844, 0.1764, 0.9993] state[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1808 left_yaw=-0.0003 left_pitch=-0.0088 left_roll=-0.0011 left_gripper=0.9991 right_x=0.334 right_y=0.0759 right_z=0.1371 right_yaw=0.0257 right_pitch=-0.0485 right_roll=-0.0234 right_gripper=0.9993 state[joint_eff]: [-0.0068, -1.4154, 7.1453, 1.8144, -0.0806, -0.0366, -0.0122, -0.3214, -4.0547, 7.5419, 1.9609, 0.2662, 0.1294, -0.0171] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.05,"right_z":0.045},"note":"The green fruit is close in the right wrist view but slightly right of the jaw center. I’ll shift a little toward it and lower the gripper to its middle for a grasp."})
tool
executing move_to over 6 steps (0.6s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe green fruit now fills the space between the jaws at table height. I’ll close the gripper around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8059, 0.6147, -0.4007, -0.0139, -0.0307, 0.9991, 0.2131, 1.4616, 0.3798, 0.4229, 0.1619, 0.0883, 0.9993] state[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1773 left_yaw=-0.0003 left_pitch=-0.024 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3499 right_y=0.0502 right_z=0.0368 right_yaw=0.0299 right_pitch=-0.0857 right_roll=-0.0274 right_gripper=0.9993 state[joint_eff]: [-0.2803, -1.5795, 6.9949, 1.8779, -0.0464, -0.0659, -0.0171, -0.1573, -5.1214, 5.2855, 2.0195, 0.0513, -0.0611, -0.0171] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The green fruit now fills the space between the jaws at table height. I’ll close the gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe gripper settled around a substantial fruit-sized width rather than closing empty. I’ll lift it and check whether the green fruit comes off the table.
move_to
right_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]: [-0.0212, 0.8062, 0.6147, -0.408, -0.0135, -0.0307, 0.9991, 0.2131, 1.4616, 0.3801, 0.4244, 0.1593, 0.0853, 0.695] state[eef_state]: left_x=0.2931 left_y=-0.0002 left_z=0.1758 left_yaw=-0.0006 left_pitch=-0.0317 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3502 right_y=0.0508 right_z=0.0372 right_yaw=0.0339 right_pitch=-0.0842 right_roll=-0.0279 right_gripper=0.695 state[joint_eff]: [-0.3487, -1.3333, 6.9949, 1.8046, -0.0122, -0.0464, -0.0122, -0.0889, -4.9026, 5.1897, 1.663, 0.022, -0.0366, 0.9646] 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_z":0.15},"note":"The gripper settled around a substantial fruit-sized width rather than closing empty. I’ll lift it and check whether the green fruit comes off the table."})
tool
executing move_to over 8 steps (0.8s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe green fruit lifted with the right gripper, and the blue bowl is just beyond and left of it. I’ll carry the fruit over the bowl at a clearing height.
move_to
right_x0.4300right_y0.1250right_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]: [-0.0212, 0.8062, 0.6147, -0.4175, -0.0139, -0.0307, 0.9991, 0.2127, 1.174, 0.6674, -0.1997, 0.1551, 0.0849, 0.698] state[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1738 left_yaw=-0.0003 left_pitch=-0.0412 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3447 right_y=0.0502 right_z=0.1305 right_yaw=0.0363 right_pitch=-0.1331 right_roll=-0.0343 right_gripper=0.698 state[joint_eff]: [-0.212, -1.1556, 7.0222, 1.7998, -0.0513, -0.0855, -0.0171, -0.3487, -5.3538, 9.306, 1.8193, 0.0659, -0.0464, 0.6178] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.125,"right_z":0.19},"note":"The green fruit lifted with the right gripper, and the blue bowl is just beyond and left of it. I’ll carry the fruit over the bowl at a clearing height."})
tool
executing move_to over 7 steps (0.7s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteIn the wrist view the blue bowl is centered ahead of the held fruit. I’ll advance slightly and lower the fruit toward the bowl opening before releasing it.
move_to
right_x0.4550right_y0.1300right_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]: [-0.0212, 0.8124, 0.6147, -0.424, -0.0139, -0.0307, 0.9991, 0.3882, 1.5631, 1.1839, -0.4019, 0.2581, 0.1738, 0.6994] state[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1709 left_yaw=-0.0003 left_pitch=-0.0538 left_roll=-0.0002 left_gripper=0.9991 right_x=0.422 right_y=0.1277 right_z=0.1716 right_yaw=0.0739 right_pitch=-0.1864 right_roll=-0.0537 right_gripper=0.6994 state[joint_eff]: [0.0752, -1.7983, 6.9675, 1.7705, -0.0659, -0.0806, -0.0073, -0.253, -7.7607, 9.3744, 1.6777, 0.3297, 0.2418, 0.6325] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.13,"right_z":0.105},"note":"In the wrist view the blue bowl is centered ahead of the held fruit. I’ll advance slightly and lower the fruit toward the bowl opening before releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe fruit is low over the blue bowl opening. I’ll open the gripper to deposit it, then move clear to verify where it landed.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4244, -0.0135, -0.0307, 0.9991, 0.3626, 1.7527, 1.1072, -0.1795, 0.2306, 0.1493, 0.699] state[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1705 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=-0.0004 left_gripper=0.9991 right_x=0.4468 right_y=0.1301 right_z=0.0945 right_yaw=0.0821 right_pitch=-0.2349 right_roll=-0.0654 right_gripper=0.699 state[joint_eff]: [-0.1026, -1.2376, 6.9675, 1.6679, -0.0269, -0.0757, -0.0122, -0.3487, -9.2376, 6.7761, 1.8877, 0.0952, -0.0122, 0.6276] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The fruit is low over the blue bowl opening. I’ll open the gripper to deposit it, then move clear to verify where it landed."})
tool
executing move_to over 4 steps (0.4s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe green fruit appears inside the blue bowl in the right wrist view. I’ll raise the open gripper and bring it over the remaining yellow fruit.
move_to
right_x0.3750right_y0.1850right_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]: [-0.0212, 0.8135, 0.6147, -0.4244, -0.0135, -0.0307, 0.9991, 0.3626, 1.7527, 1.1069, -0.1841, 0.2314, 0.1463, 0.9964] state[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1705 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=-0.0004 left_gripper=0.9991 right_x=0.4459 right_y=0.1297 right_z=0.0937 right_yaw=0.0828 right_pitch=-0.2397 right_roll=-0.0695 right_gripper=0.9964 state[joint_eff]: [-0.1983, -1.3333, 6.9675, 1.6679, -0.0464, -0.0659, -0.0122, -0.1026, -8.7316, 6.4342, 1.4872, 0.0122, -0.022, -0.1929] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.185,"right_z":0.15},"note":"The green fruit appears inside the blue bowl in the right wrist view. I’ll raise the open gripper and bring it over the remaining yellow fruit."})
tool
executing move_to over 6 steps (0.6s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe yellow fruit is centered in the right wrist view, with its near edge just short of the fingertips. I’ll move forward a little and lower the jaws around its middle.
move_to
right_x0.3950right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4271, -0.0139, -0.0307, 0.9991, 0.6189, 1.5867, 1.1175, -0.4656, 0.3737, 0.3229, 0.9971] state[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1699 left_yaw=-0.0003 left_pitch=-0.058 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3686 right_y=0.1878 right_z=0.1301 right_yaw=0.1127 right_pitch=-0.2865 right_roll=-0.0923 right_gripper=0.9971 state[joint_eff]: [-0.1573, -1.265, 6.9675, 1.7265, -0.0611, -0.0611, -0.0171, -0.3624, -8.8274, 9.1556, 1.3358, 0.3199, 0.1245, 0.0659] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_z":0.035},"note":"The yellow fruit is centered in the right wrist view, with its near edge just short of the fingertips. I’ll move forward a little and lower the jaws around its middle."})
tool
executing move_to over 7 steps (0.7s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe yellow fruit is between the lowered jaws. I’ll close on it and check the resulting jaw opening.
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]: [-0.0212, 0.8135, 0.6147, -0.4309, -0.0135, -0.0307, 0.9991, 0.5758, 1.8191, 0.9691, -0.0971, 0.3397, 0.2836, 0.9972] state[eef_state]: left_x=0.2903 left_y=-0.0002 left_z=0.1692 left_yaw=-0.0006 left_pitch=-0.0618 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3907 right_y=0.1877 right_z=0.0315 right_yaw=0.1172 right_pitch=-0.3122 right_roll=-0.0996 right_gripper=0.9972 state[joint_eff]: [-0.0752, -1.3333, 7.0906, 1.8046, -0.0171, -0.0659, -0.0171, -0.1709, -8.8821, 5.3812, 1.5946, 0.1783, -0.0708, -0.0073] 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":{"right_gripper":0},"note":"The yellow fruit is between the lowered jaws. I’ll close on it and check the resulting jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe jaws closed almost completely, so that grasp missed; the yellow fruit has shifted slightly toward the base. I’ll reopen and reposition above its new location before trying again.
move_to
right_gripper1.0000right_x0.3550right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4343, -0.0135, -0.0307, 0.9991, 0.5758, 1.8179, 0.9691, -0.0975, 0.3431, 0.2729, 0.0239] state[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1685 left_yaw=-0.0006 left_pitch=-0.0652 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3909 right_y=0.1872 right_z=0.0321 right_yaw=0.1204 right_pitch=-0.3108 right_roll=-0.1091 right_gripper=0.0239 state[joint_eff]: [-0.0205, -1.347, 6.9675, 1.7363, -0.0464, -0.0415, -0.0122, -0.3624, -8.6222, 5.8872, 1.3455, 0.1197, 0.0806, 1.1648] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.355,"right_z":0.11},"note":"The jaws closed almost completely, so that grasp missed; the yellow fruit has shifted slightly toward the base. I’ll reopen and reposition above its new location before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe displaced yellow fruit is visible just left of the jaw column in the wrist camera. I’ll shift the open gripper left toward its center and lower it carefully.
move_to
right_x0.3650right_y0.2150right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4404, -0.0135, -0.0307, 0.9991, 0.638, 1.6089, 1.0164, -0.4099, 0.3634, 0.3119, 0.9984] state[eef_state]: left_x=0.2889 left_y=-0.0001 left_z=0.1673 left_yaw=-0.0006 left_pitch=-0.0713 left_roll=-0.0 left_gripper=0.9991 right_x=0.3513 right_y=0.1868 right_z=0.0907 right_yaw=0.1354 right_pitch=-0.3504 right_roll=-0.1263 right_gripper=0.9984 state[joint_eff]: [-0.1026, -1.347, 7.159, 1.7167, -0.0562, -0.0464, -0.0122, 0.335, -9.265, 8.841, 1.2723, 0.3248, 0.1441, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.215,"right_z":0.035},"note":"The displaced yellow fruit is visible just left of the jaw column in the wrist camera. I’ll shift the open gripper left toward its center and lower it carefully."})
tool
executing move_to over 4 steps (0.4s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe yellow fruit now appears partly below the wrist image, indicating the fingertips have gone just past its center. I’ll pull back about two centimeters before closing.
move_to
right_x0.3380right_y0.2100
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]: [-0.0212, 0.8135, 0.6147, -0.4461, -0.0135, -0.0303, 0.9991, 0.6788, 1.8084, 1.0084, -0.2428, 0.3698, 0.3336, 0.9986] state[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1661 left_yaw=-0.0008 left_pitch=-0.077 left_roll=0.0004 left_gripper=0.9991 right_x=0.3602 right_y=0.2131 right_z=0.032 right_yaw=0.1511 right_pitch=-0.3813 right_roll=-0.1388 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.2103, 6.9675, 1.7314, -0.0415, -0.0317, -0.0122, 0.4308, -9.0462, 5.641, 1.4286, 0.2564, 0.1148, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.338,"right_y":0.21},"note":"The yellow fruit now appears partly below the wrist image, indicating the fingertips have gone just past its center. I’ll pull back about two centimeters before closing."})
tool
executing move_to over 2 steps (0.2s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe first pullback was smaller than requested, and the yellow fruit still sits at the very bottom of the wrist image. I’ll pull back another small amount and raise slightly to center the jaws on it.
move_to
right_x0.3200right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4469, -0.0135, -0.0307, 0.9991, 0.6922, 1.8015, 0.9764, -0.239, 0.3702, 0.3336, 0.9986] state[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.166 left_yaw=-0.0006 left_pitch=-0.0778 left_roll=0.0001 left_gripper=0.9991 right_x=0.35 right_y=0.2118 right_z=0.0246 right_yaw=0.1597 right_pitch=-0.3996 right_roll=-0.1508 right_gripper=0.9986 state[joint_eff]: [-0.253, -1.1419, 7.1043, 1.6532, -0.0269, -0.0611, -0.0122, 0.3897, -10.4821, 5.2855, 1.1404, 0.2271, 0.105, -0.0171] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_z":0.04},"note":"The first pullback was smaller than requested, and the yellow fruit still sits at the very bottom of the wrist image. I’ll pull back another small amount and raise slightly to center the jaws on it."})
tool
executing move_to over 3 steps (0.3s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteAt this low height the arm is barely tracking the backward target, likely because it is contacting the table or fruit. I’ll lift clear before moving back over the yellow fruit.
move_to
right_x0.3250right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.45, -0.0135, -0.0307, 0.9991, 0.6922, 1.8008, 0.9756, -0.2432, 0.3702, 0.3336, 0.9986] state[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1649 left_yaw=-0.0006 left_pitch=-0.0828 left_roll=0.0002 left_gripper=0.9991 right_x=0.3491 right_y=0.2111 right_z=0.0242 right_yaw=0.1588 right_pitch=-0.4032 right_roll=-0.1531 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.388, 7.159, 1.7411, -0.0659, -0.0806, -0.0171, 0.335, -10.3043, 5.1897, 1.1453, 0.2076, 0.105, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_z":0.13},"note":"At this low height the arm is barely tracking the backward target, likely because it is contacting the table or fruit. I’ll lift clear before moving back over the yellow fruit."})
tool
executing move_to over 7 steps (0.7s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe right arm did not lift from the low pose, and the blue bowl rim is close beside its jaws. I’ll try an upward-and-forward retreat to clear the contact.
move_to
right_x0.4000right_y0.1600right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4511, -0.0135, -0.0307, 0.9991, 0.6918, 1.8008, 0.9756, -0.2432, 0.3702, 0.3332, 0.9986] state[eef_state]: left_x=0.2874 left_y=-0.0001 left_z=0.1647 left_yaw=-0.0006 left_pitch=-0.0839 left_roll=0.0002 left_gripper=0.9991 right_x=0.3492 right_y=0.2109 right_z=0.0242 right_yaw=0.1586 right_pitch=-0.4032 right_roll=-0.1533 right_gripper=0.9986 state[joint_eff]: [-0.1299, -1.1692, 7.1043, 1.6825, -0.0415, -0.0366, -0.0171, 0.1573, -10.2359, 5.1761, 1.1551, 0.2027, 0.105, -0.0171] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.16,"right_z":0.18},"note":"The right arm did not lift from the low pose, and the blue bowl rim is close beside its jaws. I’ll try an upward-and-forward retreat to clear the contact."})
tool
executing move_to over 11 steps (1.1s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe arm is clear again; the yellow fruit remains on the table just left of the blue bowl. I’ll re-approach it from above, staying higher until it is centered.
move_to
right_x0.3550right_y0.2200right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4538, -0.0135, -0.0303, 0.9991, 0.4835, 1.6962, 1.4452, -0.7929, 0.2642, 0.1402, 0.9986] state[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1641 left_yaw=-0.0008 left_pitch=-0.0866 left_roll=0.0006 left_gripper=0.9991 right_x=0.3971 right_y=0.1605 right_z=0.1634 right_yaw=0.1561 right_pitch=-0.4365 right_roll=-0.168 right_gripper=0.9986 state[joint_eff]: [0.0068, -1.3333, 6.9675, 1.6825, -0.0024, -0.0464, -0.0122, -0.253, -9.8393, 7.9385, 1.1111, 0.0708, 0.0269, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.22,"right_z":0.12},"note":"The arm is clear again; the yellow fruit remains on the table just left of the blue bowl. I’ll re-approach it from above, staying higher until it is centered."})
tool
executing move_to over 5 steps (0.5s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe yellow fruit is now centered in the wrist camera, separate from the blue bowl on its right. I’ll lower nearly vertically, keeping the jaws just clear of the tabletop.
move_to
right_x0.3400right_y0.2250right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4679, -0.0135, -0.0307, 0.9991, 0.6975, 1.7153, 1.3148, -0.7116, 0.3447, 0.3103, 0.9986] state[eef_state]: left_x=0.2848 left_y=-0.0 left_z=0.1614 left_yaw=-0.0005 left_pitch=-0.1007 left_roll=0.0006 left_gripper=0.9991 right_x=0.3515 right_y=0.2214 right_z=0.1212 right_yaw=0.1884 right_pitch=-0.4545 right_roll=-0.1696 right_gripper=0.9986 state[joint_eff]: [-0.0479, -1.3197, 7.2, 1.8486, -0.0464, -0.0366, -0.0122, -0.212, -7.665, 6.1197, 1.243, 0.398, 0.1636, -0.0171] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.225,"right_z":0.04},"note":"The yellow fruit is now centered in the wrist camera, separate from the blue bowl on its right. I’ll lower nearly vertically, keeping the jaws just clear of the tabletop."})
tool
executing move_to over 6 steps (0.6s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteAt grasp height the yellow fruit sits a little to the right of the jaw center. I’ll make a small sideways adjustment and pull back slightly so the jaws straddle its middle.
move_to
right_x0.3300right_y0.2000
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]: [-0.0212, 0.8154, 0.6147, -0.4721, -0.0135, -0.0307, 0.9991, 0.725, 1.7828, 1.0733, -0.4263, 0.3439, 0.3233, 0.9986] state[eef_state]: left_x=0.2842 left_y=-0.0 left_z=0.1606 left_yaw=-0.0005 left_pitch=-0.1049 left_roll=0.0007 left_gripper=0.9991 right_x=0.3366 right_y=0.2234 right_z=0.0418 right_yaw=0.203 right_pitch=-0.4742 right_roll=-0.1744 right_gripper=0.9986 state[joint_eff]: [-0.2256, -1.3197, 6.9402, 1.7265, -0.022, -0.0366, -0.0171, 0.4308, -7.6513, 5.9282, 1.2332, 0.2418, 0.1392, -0.0122] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.2},"note":"At grasp height the yellow fruit sits a little to the right of the jaw center. I’ll make a small sideways adjustment and pull back slightly so the jaws straddle its middle."})
tool
executing move_to over 2 steps (0.2s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe yellow fruit is centered between the jaws at low height now. I’ll close gently and check whether the opening stays fruit-sized.
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]: [-0.0212, 0.8154, 0.6147, -0.4755, -0.0135, -0.0307, 0.9991, 0.6834, 1.737, 0.9855, -0.4076, 0.3317, 0.2947, 0.9986] state[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1599 left_yaw=-0.0005 left_pitch=-0.1083 left_roll=0.0007 left_gripper=0.9991 right_x=0.3275 right_y=0.1972 right_z=0.0318 right_yaw=0.1826 right_pitch=-0.5028 right_roll=-0.1925 right_gripper=0.9986 state[joint_eff]: [-0.3077, -1.0325, 6.9812, 1.7656, -0.0269, -0.0513, -0.0171, 0.0615, -9.5658, 5.8598, 1.2625, 0.0659, -0.1343, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is centered between the jaws at low height now. I’ll close gently and check whether the opening stays fruit-sized."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe right gripper has a fruit-sized opening around the yellow fruit. I’ll lift it to confirm the grasp while moving the left gripper toward the remaining dark fruit.
move_to
right_z0.1600left_x0.3100left_y-0.2300left_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]: [-0.0212, 0.8154, 0.6147, -0.4759, -0.0135, -0.0307, 0.9991, 0.6785, 1.7237, 0.9836, -0.3962, 0.3252, 0.2802, 0.3907] state[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1598 left_yaw=-0.0005 left_pitch=-0.1087 left_roll=0.0007 left_gripper=0.9991 right_x=0.3302 right_y=0.1983 right_z=0.0368 right_yaw=0.1976 right_pitch=-0.4869 right_roll=-0.1825 right_gripper=0.3907 state[joint_eff]: [-0.335, -1.1145, 6.9265, 1.6239, -0.0415, -0.0415, -0.0122, 0.0889, -9.1282, 5.7641, 0.9988, 0.1392, -0.0024, 0.8034] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16,"left_x":0.31,"left_y":-0.23,"left_z":0.15},"note":"The right gripper has a fruit-sized opening around the yellow fruit. I’ll lift it to confirm the grasp while moving the left gripper toward the remaining dark fruit."})
tool
executing move_to over 21 steps (2.1s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe yellow fruit remained on the table despite the jaw reading, so that lift did not secure it. The dark fruit is centered in the left wrist view; I’ll lower the left gripper for it and move the right arm out of the way.
move_to
right_x0.2960right_y0.0000right_z0.1900left_x0.3250left_z0.0150
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]: [-0.9272, 1.4849, 0.9817, -0.4637, -0.6441, -0.7059, 0.9991, 0.6785, 1.6341, 1.3312, -0.87, 0.3176, 0.2726, 0.3903] state[eef_state]: left_x=0.3043 left_y=-0.2229 left_z=0.1356 left_yaw=-0.0169 left_pitch=-0.1507 left_roll=0.0238 left_gripper=0.9991 right_x=0.3286 right_y=0.1987 right_z=0.1405 right_yaw=0.1993 right_pitch=-0.5234 right_roll=-0.199 right_gripper=0.3903 state[joint_eff]: [-0.5949, -6.653, 8.7863, 1.2137, -0.6813, -0.022, -0.0122, -0.1299, -9.853, 9.0051, 0.9548, 0.188, 0.0659, -0.0562] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.19,"left_x":0.325,"left_z":0.015},"note":"The yellow fruit remained on the table despite the jaw reading, so that lift did not secure it. The dark fruit is centered in the left wrist view; I’ll lower the left gripper for it and move the right arm out of the way."})
tool
executing move_to over 17 steps (1.7s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe dark fruit is directly between the left fingertips at its mid-height. I’ll close the left gripper on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8764, 1.779, 0.7517, 0.0597, -0.6125, -0.6651, 0.9991, 0.0143, 1.2396, 1.1522, -1.0, 0.0444, -0.2981, 0.3903] state[eef_state]: left_x=0.3204 left_y=-0.2204 left_z=0.015 left_yaw=-0.009 left_pitch=-0.172 left_roll=0.0386 left_gripper=0.9991 right_x=0.298 right_y=0.0 right_z=0.1819 right_yaw=0.1556 right_pitch=-0.5432 right_roll=-0.2028 right_gripper=0.3903 state[joint_eff]: [0.6496, -7.1453, 4.6701, 1.4969, -0.3053, 0.1245, -0.0122, -0.253, -5.3265, 7.2, 1.1941, -0.1929, 0.0415, -0.0122] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The dark fruit is directly between the left fingertips at its mid-height. I’ll close the left gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe left jaws stayed open around the dark fruit rather than closing empty. I’ll lift to verify it is held, and reopen the idle right gripper for its next attempt.
move_to
left_z0.1600right_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]: [-0.8753, 1.7897, 0.7475, 0.0612, -0.6098, -0.6624, 0.5246, 0.0158, 1.2381, 1.1522, -1.0145, 0.0322, -0.3218, 0.3903] state[eef_state]: left_x=0.3189 left_y=-0.2187 left_z=0.01 left_yaw=-0.0092 left_pitch=-0.1824 left_roll=0.0495 left_gripper=0.5246 right_x=0.2948 right_y=0.0026 right_z=0.1806 right_yaw=0.185 right_pitch=-0.5569 right_roll=-0.2002 right_gripper=0.3903 state[joint_eff]: [-0.1983, -8.5812, 5.3128, 1.2576, -0.3443, -0.0464, 1.033, -0.212, -3.959, 6.6803, 1.2772, 0.0659, 0.1538, -0.0171] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16,"right_gripper":1},"note":"The left jaws stayed open around the dark fruit rather than closing empty. I’ll lift to verify it is held, and reopen the idle right gripper for its next attempt."})
tool
executing move_to over 10 steps (1.0s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe dark fruit lifted with the left gripper. The blue bowl sits beyond the left arm’s sideways limit, so I’ll bring the right gripper over it to move the bowl within reach while keeping the dark fruit raised.
move_to
right_x0.4450right_y0.1300right_z0.1350left_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]: [-0.8753, 1.5372, 1.0737, -0.5278, -0.6056, -0.6746, 0.526, 0.0158, 1.2385, 1.1522, -1.0191, 0.0319, -0.326, 0.9971] state[eef_state]: left_x=0.3202 left_y=-0.2212 left_z=0.14 left_yaw=-0.0038 left_pitch=-0.1914 left_roll=0.0461 left_gripper=0.526 right_x=0.2938 right_y=0.0026 right_z=0.18 right_yaw=0.1885 right_pitch=-0.5622 right_roll=-0.201 right_gripper=0.9971 state[joint_eff]: [-0.0205, -8.6359, 8.5949, 1.2723, -0.3492, 0.0855, 1.0281, -0.0479, -4.1094, 6.4889, 1.1795, -0.0317, -0.0024, -0.0513] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.13,"right_z":0.135,"left_z":0.17},"note":"The dark fruit lifted with the left gripper. The blue bowl sits beyond the left arm’s sideways limit, so I’ll bring the right gripper over it to move the bowl within reach while keeping the dark fruit raised."})
tool
executing move_to over 12 steps (1.2s)
step 200
top_cam
camera top_cam step 200
assistant
agent noteThe blue bowl is between the open right jaws, with the green fruit upright inside it. I’ll lower around the bowl’s outer wall near its base, avoiding the fruit in the middle.
move_to
right_x0.4150right_y0.1300right_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]: [-0.8745, 1.5276, 1.1404, -0.6487, -0.5976, -0.6811, 0.5266, 0.3393, 1.8927, 1.6108, -0.8989, 0.1574, -0.0727, 0.9978] state[eef_state]: left_x=0.3152 left_y=-0.2165 left_z=0.153 left_yaw=0.0026 left_pitch=-0.2251 left_roll=0.0719 left_gripper=0.5266 right_x=0.4309 right_y=0.1265 right_z=0.1259 right_yaw=0.2256 right_pitch=-0.6133 right_roll=-0.2099 right_gripper=0.9978 state[joint_eff]: [0.1436, -7.4872, 9.3333, 1.2967, -0.3004, 0.0122, 0.5201, 0.0752, -10.3316, 7.5829, 0.9646, 0.2515, 0.2857, 0.0611] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.13,"right_z":0.025},"note":"The blue bowl is between the open right jaws, with the green fruit upright inside it. I’ll lower around the bowl’s outer wall near its base, avoiding the fruit in the middle."})
tool
executing move_to over 7 steps (0.7s)
step 207
assistant
agent noteThe lowered jaws bracket the blue bowl’s outer sides in the wrist view. I’ll close on the bowl and inspect whether the jaw opening indicates a secure grip.
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]: [-0.8753, 1.528, 1.1442, -0.6548, -0.5907, -0.6811, 0.5297, 0.3588, 1.9034, 1.2545, -0.5587, 0.1661, -0.0624, 0.9979] state[eef_state]: left_x=0.3143 left_y=-0.2175 left_z=0.153 left_yaw=-0.0021 left_pitch=-0.2314 left_roll=0.0702 left_gripper=0.5297 right_x=0.4064 right_y=0.125 right_z=0.0331 right_yaw=0.227 right_pitch=-0.6376 right_roll=-0.2191 right_gripper=0.9979 state[joint_eff]: [-0.1846, -6.6256, 6.2017, 1.199, -0.4078, -0.0464, 0.6032, 0.4444, -7.8564, 5.9966, 1.1648, 0.0269, 0.0757, -0.0024] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The lowered jaws bracket the blue bowl’s outer sides in the wrist view. I’ll close on the bowl and inspect whether the jaw opening indicates a secure grip."})
tool
executing move_to over 10 steps (1.0s)
step 217
assistant
agent noteThe right jaws closed to only about 2.6 cm, narrower than the bowl, so they may have caught the fruit or a rim edge instead. I’ll lift a few centimeters and check what actually moves.
move_to
right_z0.1250
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, 1.528, 1.1442, -0.6548, -0.5858, -0.6811, 0.5297, 0.3637, 1.8771, 1.2179, -0.4683, 0.1825, -0.0784, 0.278] state[eef_state]: left_x=0.3139 left_y=-0.2181 left_z=0.1526 left_yaw=-0.0052 left_pitch=-0.2346 left_roll=0.0673 left_gripper=0.5297 right_x=0.4162 right_y=0.128 right_z=0.041 right_yaw=0.2326 right_pitch=-0.5582 right_roll=-0.2324 right_gripper=0.278 state[joint_eff]: [-0.3214, -6.7761, 6.4889, 1.1502, -0.3883, -0.0269, 0.6813, -0.2667, -9.3333, 5.1214, 0.7741, -0.0513, 0.0855, 0.5495] 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":{"right_z":0.125},"note":"The right jaws closed to only about 2.6 cm, narrower than the bowl, so they may have caught the fruit or a rim edge instead. I’ll lift a few centimeters and check what actually moves."})
tool
executing move_to over 6 steps (0.6s)
step 223
assistant
agent noteThe blue bowl still appears near its old spot after the short lift, so the grip is uncertain. I’ll make a cautious sideways carry; if the bowl follows, it will come within reach of the left arm.
move_to
right_y0.2400right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5835, -0.6811, 0.5297, 0.3637, 1.8359, 1.4223, -0.7391, 0.1787, -0.0868, 0.2769] state[eef_state]: left_x=0.3137 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.2364 left_roll=0.0663 left_gripper=0.5297 right_x=0.4179 right_y=0.1293 right_z=0.1005 right_yaw=0.2395 right_pitch=-0.5847 right_roll=-0.2364 right_gripper=0.2769 state[joint_eff]: [-0.1846, -6.653, 6.6803, 1.1013, -0.359, -0.0659, 0.6716, -0.212, -12.1778, 8.1573, 0.9695, 0.0952, 0.0269, -0.1245] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.24,"right_z":0.16},"note":"The blue bowl still appears near its old spot after the short lift, so the grip is uncertain. I’ll make a cautious sideways carry; if the bowl follows, it will come within reach of the left arm."})
tool
executing move_to over 10 steps (1.0s)
step 233
assistant
agent noteThe sideways move revealed the yellow fruit between the right jaws; the bowl stayed put. I’ll carry this fruit back over the blue bowl and lower it for release.
move_to
right_x0.4500right_y0.1350right_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]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.606, 2.0556, 1.9411, -1.0821, 0.2527, 0.1028, 0.2768] state[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.4188 right_y=0.2408 right_z=0.1529 right_yaw=0.2841 right_pitch=-0.5885 right_roll=-0.2332 right_gripper=0.2768 state[joint_eff]: [-0.0752, -6.7077, 6.7214, 1.1062, -0.2759, -0.0513, 0.6764, 0.1573, -11.0154, 7.8564, 0.6862, 0.2662, 0.2222, -0.022] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.135,"right_z":0.105},"note":"The sideways move revealed the yellow fruit between the right jaws; the bowl stayed put. I’ll carry this fruit back over the blue bowl and lower it for release."})
tool
executing move_to over 9 steps (0.9s)
step 242
assistant
agent noteThe overhead view shows the yellow fruit still on the table beside the bowl, so the narrow right-hand grip did not carry it. I’ll release and reposition around the bowl instead of assuming it is loaded.
move_to
right_gripper1.0000right_x0.4600right_y0.1500right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.3546, 1.9961, 1.6039, -0.8524, 0.1623, -0.1226, 0.2767] state[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.4368 right_y=0.1351 right_z=0.0829 right_yaw=0.2633 right_pitch=-0.6824 right_roll=-0.2465 right_gripper=0.2767 state[joint_eff]: [-0.0889, -6.7761, 6.5162, 1.1404, -0.3004, -0.0513, 0.6764, -0.2667, -14.3932, 6.3248, 1.3114, 0.0415, 0.0171, -0.0171] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.46,"right_y":0.15,"right_z":0.05},"note":"The overhead view shows the yellow fruit still on the table beside the bowl, so the narrow right-hand grip did not carry it. I’ll release and reposition around the bowl instead of assuming it is loaded."})
tool
executing move_to over 8 steps (0.8s)
step 250
assistant
agent noteThe blue bowl is just under the open jaws, but the right wrist has tilted considerably during repeated low moves. I’ll square the gripper and align it with the bowl’s outer walls before trying to pick the bowl up.
move_to
right_x0.4550right_y0.1350right_z0.0180right_pitch0.0000right_yaw0.0000right_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]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.3714, 2.0514, 1.5078, -0.6762, 0.1635, -0.131, 0.9957] state[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.444 right_y=0.1459 right_z=0.0414 right_yaw=0.2861 right_pitch=-0.6587 right_roll=-0.2487 right_gripper=0.9957 state[joint_eff]: [-0.1573, -6.5846, 6.8718, 1.1404, -0.3443, -0.0366, 0.6813, 0.253, -10.359, 8.7863, 1.1893, 0.1783, 0.1783, -0.0073] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.135,"right_z":0.018,"right_pitch":0,"right_yaw":0,"right_roll":0},"note":"The blue bowl is just under the open jaws, but the right wrist has tilted considerably during repeated low moves. I’ll square the gripper and align it with the bowl’s outer walls before trying to pick the bowl up."})
tool
executing move_to over 22 steps (2.2s)
step 272
assistant
agent noteWith the wrist straight, the right jaws are lowered around the blue bowl. I’ll close and use the jaw width and a lift to test whether they actually hold its outer wall.
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]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5326, 0.403, 1.9564, 0.8268, 0.4862, 0.3248, 0.1848, 0.9964] state[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5326 right_x=0.4515 right_y=0.1351 right_z=0.0184 right_yaw=0.0328 right_pitch=-0.0418 right_roll=-0.0399 right_gripper=0.9964 state[joint_eff]: [-0.3214, -6.7761, 6.6256, 1.1062, -0.3394, -0.0122, 0.5543, 0.1162, -7.159, 4.5744, 1.7167, 0.188, 0.3932, 0.0611] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"With the wrist straight, the right jaws are lowered around the blue bowl. I’ll close and use the jaw width and a lift to test whether they actually hold its outer wall."})
tool
executing move_to over 10 steps (1.0s)
step 282
assistant
agent noteThe jaws closed empty, so they were alongside rather than around the bowl. In the overhead view the bowl is slightly to the right of the fingertip center; I’ll reopen and shift right toward its center.
move_to
right_gripper1.0000right_y0.0950right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.535, 0.403, 1.9636, 0.8196, 0.4885, 0.3176, 0.1764, 0.0095] state[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.535 right_x=0.4487 right_y=0.1352 right_z=0.0128 right_yaw=0.043 right_pitch=-0.0549 right_roll=-0.0471 right_gripper=0.0095 state[joint_eff]: [-0.3624, -6.6393, 6.6393, 1.1013, -0.3541, -0.0562, 0.2369, -0.1299, -9.7709, 5.5043, 1.6532, 0.1832, 0.0513, 0.6911] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_y":0.095,"right_z":0.035},"note":"The jaws closed empty, so they were alongside rather than around the bowl. In the overhead view the bowl is slightly to the right of the fingertip center; I’ll reopen and shift right toward its center."})
tool
executing move_to over 10 steps (1.0s)
step 292
assistant
agent noteThe right fingertips now straddle the bowl’s center in the overhead view. I’ll close once more at this corrected position.
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]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5371, 0.2951, 1.882, 0.7853, 0.4351, 0.2268, 0.1036, 0.995] state[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5371 right_x=0.448 right_y=0.0984 right_z=0.0241 right_yaw=0.0493 right_pitch=-0.0795 right_roll=-0.0547 right_gripper=0.995 state[joint_eff]: [-0.253, -6.7761, 6.4889, 1.116, -0.315, -0.0317, 0.1978, -0.5812, -10.6598, 4.3966, 1.7411, 0.1294, 0.0952, 0.1832] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips now straddle the bowl’s center in the overhead view. I’ll close once more at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 302
assistant
agent noteThe right jaws closed empty again, so they have not secured the blue bowl. I’ll clear that arm and bring the dark fruit as close as the left arm can reach to the bowl, then judge whether a safe drop is possible.
move_to
right_gripper1.0000right_x0.2900right_y0.0000right_z0.1900left_x0.4450left_y-0.4000left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5835, -0.6811, 0.5385, 0.2924, 1.8759, 0.7849, 0.4351, 0.2264, 0.0963, 0.0091] state[eef_state]: left_x=0.3137 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.2364 left_roll=0.0663 left_gripper=0.5385 right_x=0.4487 right_y=0.0974 right_z=0.0266 right_yaw=0.0509 right_pitch=-0.0742 right_roll=-0.0589 right_gripper=0.0091 state[joint_eff]: [-0.212, -6.7077, 6.5846, 1.1013, -0.3394, -0.0562, 0.1392, 0.1573, -7.9932, 5.3949, 1.7167, 0.1001, 0.0659, 0.7204] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.29,"right_y":0,"right_z":0.19,"left_x":0.445,"left_y":-0.4,"left_z":0.13},"note":"The right jaws closed empty again, so they have not secured the blue bowl. I’ll clear that arm and bring the dark fruit as close as the left arm can reach to the bowl, then judge whether a safe drop is possible."})
tool
executing move_to over 17 steps (1.7s)
step 319
assistant
agent noteThe dark fruit is still several centimeters left of the bowl at the left arm’s hard sideways limit, so opening here would miss. I’ll raise it clear and put the right fingertips against the bowl’s right side to try nudging the bowl within reach.
move_to
left_z0.2200right_x0.4450right_y0.0350right_z0.0350right_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]: [-0.8993, 2.5153, 2.4344, -0.9691, -0.5861, -0.7231, 0.5401, -0.0193, 0.8478, 0.6666, -0.4492, -0.0017, -0.0803, 0.9973] state[eef_state]: left_x=0.447 left_y=-0.3997 left_z=0.1185 left_yaw=-0.0037 left_pitch=-0.2405 left_roll=0.0467 left_gripper=0.5401 right_x=0.2966 right_y=-0.0018 right_z=0.1795 right_yaw=0.0266 right_pitch=-0.0683 right_roll=-0.0627 right_gripper=0.9973 state[joint_eff]: [-0.8274, -16.1846, 7.2547, 0.5006, -0.4274, 0.0513, 0.1441, -0.253, -1.4701, 9.5932, 1.7558, -0.0904, 0.0073, -0.0904] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.22,"right_x":0.445,"right_y":0.035,"right_z":0.035,"right_gripper":0},"note":"The dark fruit is still several centimeters left of the bowl at the left arm’s hard sideways limit, so opening here would miss. I’ll raise it clear and put the right fingertips against the bowl’s right side to try nudging the bowl within reach."})
tool
executing move_to over 12 steps (1.2s)
step 331
assistant
agent noteThe closed right fingertips are beside the bowl’s right edge while the dark fruit stays raised. I’ll push sideways slowly to move the bowl left toward the held fruit.
move_to
right_x0.4450right_y0.1500right_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]: [-0.8967, 2.7148, 3.039, -1.4204, -0.5831, -0.73, 0.5415, 0.1089, 1.7744, 0.6891, 0.3595, 0.0803, -0.0227, 0.0086] state[eef_state]: left_x=0.4363 left_y=-0.3846 left_z=0.1629 left_yaw=0.0104 left_pitch=-0.271 left_roll=0.0776 left_gripper=0.5415 right_x=0.4236 right_y=0.0357 right_z=0.0186 right_yaw=0.0538 right_pitch=-0.1612 right_roll=-0.0697 right_gripper=0.0086 state[joint_eff]: [-0.0615, -20.9436, 5.0667, 0.9939, -0.2906, 0.0904, 0.1294, 0.4034, -8.0342, 6.4479, 1.8632, 0.1343, 0.1685, 0.6618] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.15,"right_z":0.025},"note":"The closed right fingertips are beside the bowl’s right edge while the dark fruit stays raised. I’ll push sideways slowly to move the bowl left toward the held fruit."})
tool
executing move_to over 10 steps (1.0s)
step 341
assistant
agent noteThe bowl shifted slightly left and is now close enough to the left arm’s reach that the dark fruit may fall inside its near rim. I’ll retract the right arm and lower the held fruit over that edge before releasing.
move_to
right_x0.2950right_y0.0000right_z0.1900left_x0.4600left_y-0.4000left_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8692, 2.6247, 2.7613, -1.3338, -0.598, -0.7338, 0.5423, 0.3912, 1.903, 0.902, 0.2176, 0.2817, 0.1593, 0.0095] state[eef_state]: left_x=0.442 left_y=-0.3634 left_z=0.1342 left_yaw=0.0732 left_pitch=-0.3209 left_roll=0.1679 left_gripper=0.5423 right_x=0.4414 right_y=0.1328 right_z=0.0186 right_yaw=0.065 right_pitch=-0.1839 right_roll=-0.0813 right_gripper=0.0095 state[joint_eff]: [-2.4, -18.1128, 6.0513, 1.6581, -0.0855, 0.0171, 0.0708, 3.3709, -7.9111, 7.747, 1.6874, 0.2711, 0.3297, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.19,"left_x":0.46,"left_y":-0.4,"left_z":0.095},"note":"The bowl shifted slightly left and is now close enough to the left arm’s reach that the dark fruit may fall inside its near rim. I’ll retract the right arm and lower the held fruit over that edge before releasing."})
tool
executing move_to over 12 steps (1.2s)
step 353
assistant
agent noteThe dark fruit is at the leftmost reachable side of the bowl, though its center is still slightly left of the opening. I’ll release it from just above rim height and see whether it settles inside.
move_to
left_x0.4700left_y-0.4000left_z0.0700left_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]: [-0.8795, 2.6862, 2.727, -1.2484, -0.5903, -0.7536, 0.543, -0.0021, 0.963, 0.7818, -0.548, 0.0288, -0.0891, 0.0125] state[eef_state]: left_x=0.446 left_y=-0.3791 left_z=0.0955 left_yaw=0.0727 left_pitch=-0.331 left_roll=0.1592 left_gripper=0.543 right_x=0.3051 right_y=-0.0021 right_z=0.1794 right_yaw=0.0228 right_pitch=-0.1681 right_roll=-0.0853 right_gripper=0.0125 state[joint_eff]: [-0.7726, -13.5863, 5.641, 1.0525, -0.4567, -0.0073, 0.0659, -0.1436, -2.5094, 9.1692, 1.663, -0.0073, 0.0562, 0.3101] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.4,"left_z":0.07,"left_gripper":1},"note":"The dark fruit is at the leftmost reachable side of the bowl, though its center is still slightly left of the opening. I’ll release it from just above rim height and see whether it settles inside."})
tool
executing move_to over 5 steps (0.5s)
step 358
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8726, 2.748, 2.7277, -1.2045, -0.5827, -0.7559, 0.9953, -0.0021, 0.9707, 0.7864, -0.5838, 0.0139, -0.1131, 0.0139] state[eef_state]: left_x=0.4524 left_y=-0.3823 left_z=0.0638 left_yaw=0.0817 left_pitch=-0.3465 left_roll=0.1681 left_gripper=0.9953 right_x=0.3003 right_y=0.0005 right_z=0.1727 right_yaw=0.0489 right_pitch=-0.2077 right_roll=-0.0914 right_gripper=0.0139 state[joint_eff]: [0.1846, -14.7077, 5.6137, 1.116, -0.3297, 0.1392, -0.1294, -0.1162, -2.947, 6.4752, 1.9707, 0.0757, 0.1783, 0.1392] camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.286 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]: [-0.02, 0.7994, 0.6136, -0.382, -0.0139, -0.0292, 0.9991, -0.0227, 0.7994, 0.6228, -0.387, -0.0174, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2965 right_y=-0.0001 right_z=0.1857 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -1.7299, 9.5658, 1.7998, -0.105, 0.1587, -0.0952, -0.1436, -1.7299, 8.841, 1.8584, -0.0757, -0.0708, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919f4e2aa24fde081f66f38009bfcb3d77f53d69c1f18cfbd42307d0822a3830",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e8c327ad23badddbfc09533a82e289b6e282b99364070899a2c5ee306407bf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f04f950786cf8e8f4825a5b530c800c55c0817509462eb8ad500156318c999c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.767 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0bcb718a40616c3b016ab41b85183c87d084868441aa25f8d5",
  "summary": [],
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}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.075,\"right_z\":0.15},\"note\":\"I see three fruits: a green one near the right gripper, a yellow one beside the blue bowl, and a dark one farther left. I’ll position the right gripper above the green fruit first.\"}",
  "call_id": "call_uWx5gHKSaNfcKLsd8vXJpjH0",
  "id": "fc_0bcb718a40616c3b016ab41b8ac39087d0a1d0666bd0a09b04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uWx5gHKSaNfcKLsd8vXJpjH0",
  "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]: [-0.0212, 0.8013, 0.6147, -0.3901, -0.0139, -0.0307, 0.9991, 0.358, 1.1191, 0.601, -0.1234, 0.2844, 0.1764, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1808 left_yaw=-0.0003 left_pitch=-0.0088 left_roll=-0.0011 left_gripper=0.9991 right_x=0.334 right_y=0.0759 right_z=0.1371 right_yaw=0.0257 right_pitch=-0.0485 right_roll=-0.0234 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -1.4154, 7.1453, 1.8144, -0.0806, -0.0366, -0.0122, -0.3214, -4.0547, 7.5419, 1.9609, 0.2662, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9df291e78b9858202ad797426e9d70b6d5a0f81794819e7d2c211e931e0f9b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8773ddc3caaeef74e978a0ebe8733de689615b836ebe97ee1eed292e763b3aad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c2600a84da77660e1509c181bede92eda05741a160cdb8e2d33c014584a232",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.096 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.382, -0.0139, -0.0292, 0.9991, -0.0227, 0.7994, 0.6228, -0.387, -0.0174, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2965 right_y=-0.0001 right_z=0.1857 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -1.7299, 9.5658, 1.7998, -0.105, 0.1587, -0.0952, -0.1436, -1.7299, 8.841, 1.8584, -0.0757, -0.0708, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8013, 0.6147, -0.3901, -0.0139, -0.0307, 0.9991, 0.358, 1.1191, 0.601, -0.1234, 0.2844, 0.1764, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1808 left_yaw=-0.0003 left_pitch=-0.0088 left_roll=-0.0011 left_gripper=0.9991 right_x=0.334 right_y=0.0759 right_z=0.1371 right_yaw=0.0257 right_pitch=-0.0485 right_roll=-0.0234 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -1.4154, 7.1453, 1.8144, -0.0806, -0.0366, -0.0122, -0.3214, -4.0547, 7.5419, 1.9609, 0.2662, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9df291e78b9858202ad797426e9d70b6d5a0f81794819e7d2c211e931e0f9b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8773ddc3caaeef74e978a0ebe8733de689615b836ebe97ee1eed292e763b3aad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c2600a84da77660e1509c181bede92eda05741a160cdb8e2d33c014584a232",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuU0VTBMxDdOSjTTfF2yt_OOIfQLCKmshBKHf8DjrGdeDSl0nzRZmLfg4UUiXM1ya49GZdZHrXOpu4RcfLyE9PSiPrq38OBmlpTRYD42_Vlr0_cXUxi7DCaPnJSoLs9eBFkv38RUKbuWDoA64mtuhjCSqD1WiSGn3g2PMu1NW2oaS7ewwnuOWSyKxcV2x-d5XUoqa4Rh75jWeVvuQqOw2K2Hu65TLEhi28iUR5CYWQ590mR_Xga_zp6J3pNxB1wlaq5BVuwxPJs9IqxjDpZGAeVKvYq5NeYSrn2iA8K8l20O7Tokxd_R73og6sNxGMxsP9QtrHkldUlCcrxAyvmeFjy-5E3Kl9JDEFXMR67mI_lP1kdvzoD-_DDsUOgZLx4DilvqpXCkjVXt1ChB3gW36DGmcdrVOy29OcZUZnqEvXTTZyKvsy8XaivIQ1yJK9gh_ADDZ9I461oOdA4e9cv8Z0wQntDhErJWcT-ofiii8ZoaDiczOg2UNwACHW30JCzXk3tvOyazo69amdRKoykkOKiA8Fjhp6EB0nz3Tx8YtaJQKc3gwH4n1hhPtGdkUZqgjmV3xV1u0DQhUS8SoZo3SX1MafDy-zOWuV_rwGUZRZftNLpZCPuZGhszRy7sl1Var9bJYw00SZW7cXb8Ipiq4EtIBauGErKg0wc1Dc44tWD6oa1cyZANgK6YFcLMSKV_OKdi3QyLtEaRzN9Q6e_Jde191gHHzFQBfuR34_18i6OERNKMdyXxP9KVgZktEyfLBcN4GgOwjskmJAoJFskr8CcJ_Hv3Ayb1eeYKtsgnVc_2LNOPfKvOkvb212znMzn2IxoiQUy1BBI8gVtmZzoRhnL3cuKAkBXq5SfmK9-0iuVnzqgE1OIjx2xN-nFpqDw4OfgWE74S1WEv7L4nr3pYUho-ugvXhK1eBJ3Qa3AV6X9oDdPLpRSTEBUl5x2maRpS8naq_4dx9jH_iy01vbHe65ZovJc0qYCQDN7ilAp35NcjUaUnf_VHt-xOc7wv4gzmjsp44wJYQMk6dvmtFTt8C76uJbuxiMsVmpJIVEN3ygF62ErWULWCxwyR6HEGPWWxUcA1gIBN0FONcsV-f3yMuw9slVP6L2IA2Vlf7WXp9nQZwCAGUoFMNds-JzUo__UouH1H7B5H3-inn4xBANYuWLwq84VHCEKNjLMot1Fhj6nm_GyyW5yx_VVdlazuQgRnIt-wV3UFSXXbVt9nUNOeqWCsaCEflIoIW9qmwPnXtenyiIeiEc9EcdRK2baP3VjV6F_bBN6qrc8IthbF_N078t4gZ-7bIv-2_3_7veH69af23hwOG-RflQTr4-SyPWclxhBhLzy6KkqgkBHBBo3r4zsglBYg1koNFWWvMMvav8t60uFvsEvc6WNwM3_z-6ZOEuSDfOW5W4_8KS_tHohXvvRrszGnK84n-7UxHaE1uAKaTpwDGYraYdNiP2Xx6DLPoWyk904ca9jyN3aLOYEguAIBhdawTYOudZ77Ewe5gaJo8-KcRtoNGbVQtsyv6CZ1kvTzVmJaR2P6VzzzxS8H1YTAucvWsKWQZPfsGAuI0uXtqKu4wwvUCsVF9cN3x6nbAKcxmh8TvdoUBk7hzjL-oRtOlTTCIu3XvEg0sG1mq-JXyiA_tCpiY1BpJhROMsVGo5lhpf7-z8SYWBSnAp7bdj6JxDqoksGxwDUwAxRX17FlzOCqWgQ_L0Xacyz0pe2ONRRgmvkrx8AgsbzMPUcqtDMfSW6jMbaS3JD2RqyeT1S0edeRtC5m-6OSuf_bWt-AfTvsJu03pYNqzTGDif_z-c7J4QQ0T8CFpz5wVGYERfqJPqvqoWfsV1MEMu8waiWQsfnx_Q2qRF_FK9X8La1WOsCY0eFgfzhmQT7m6U2__frQkQHBWuHnhoHADoMC7FVabTPOqisrTHmXlrVO3NewkPdBio0oOb0OcfKnJ9VQEgFTrRo73dDi9rlUHlggqjbmR53DCNaO7ovb1mqMfTYjPcP8THG65QXvSznDtWsdZzu3SvP0lemz7F3vkHP-8tcu8sqEY24VmRWf_Lr0FoOjQ3ttHgbJLeFvdPDcqOq_PmlchhEHgRo59s8PO4gtKgbspl8SrCwqKqjs9L0g26fsnwawxQxG_wuVvHc2bsMUo0NhoasGerp5anKp3PCm6biQJk7Q-1q0v_Qz19vAh5hs_OIpHTPvkWVTShs-JpPNz_r0Q3RRCi8pWDmrUuY4oMdl_vpvzS5Pq0aaBt7NiNKGyt0w7QrMns1U5cEAOrm0Q4t1z-owY8XCawqQLWzBJNVMM8O",
  "id": "rs_0bcb718a40616c3b016ab41b920ee887d091bb68c775f07af8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.05,\"right_z\":0.045},\"note\":\"The green fruit is close in the right wrist view but slightly right of the jaw center. I’ll shift a little toward it and lower the gripper to its middle for a grasp.\"}",
  "call_id": "call_GQ66IU053ELQCoeJG2M0SZBk",
  "id": "fc_0bcb718a40616c3b016ab41b93f88887d096786b3eb451df59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GQ66IU053ELQCoeJG2M0SZBk",
  "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]: [-0.0212, 0.8059, 0.6147, -0.4007, -0.0139, -0.0307, 0.9991, 0.2131, 1.4616, 0.3798, 0.4229, 0.1619, 0.0883, 0.9993]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1773 left_yaw=-0.0003 left_pitch=-0.024 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3499 right_y=0.0502 right_z=0.0368 right_yaw=0.0299 right_pitch=-0.0857 right_roll=-0.0274 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.5795, 6.9949, 1.8779, -0.0464, -0.0659, -0.0171, -0.1573, -5.1214, 5.2855, 2.0195, 0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53fba6e9f634fe7c2328f245d82eb483969c00f41d7dd68227b669a25f4acb40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849bf7e6dc89f95065dcad158dbc1eee515fd90cd7bf2518790eb4f0a098dbef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f286c1723c5e64ad2d2adf966a027c2668c40b44bf030cd17c9c01f6bc09c2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 1.747 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8013, 0.6147, -0.3901, -0.0139, -0.0307, 0.9991, 0.358, 1.1191, 0.601, -0.1234, 0.2844, 0.1764, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1808 left_yaw=-0.0003 left_pitch=-0.0088 left_roll=-0.0011 left_gripper=0.9991 right_x=0.334 right_y=0.0759 right_z=0.1371 right_yaw=0.0257 right_pitch=-0.0485 right_roll=-0.0234 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -1.4154, 7.1453, 1.8144, -0.0806, -0.0366, -0.0122, -0.3214, -4.0547, 7.5419, 1.9609, 0.2662, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6147, -0.4007, -0.0139, -0.0307, 0.9991, 0.2131, 1.4616, 0.3798, 0.4229, 0.1619, 0.0883, 0.9993]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1773 left_yaw=-0.0003 left_pitch=-0.024 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3499 right_y=0.0502 right_z=0.0368 right_yaw=0.0299 right_pitch=-0.0857 right_roll=-0.0274 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.5795, 6.9949, 1.8779, -0.0464, -0.0659, -0.0171, -0.1573, -5.1214, 5.2855, 2.0195, 0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53fba6e9f634fe7c2328f245d82eb483969c00f41d7dd68227b669a25f4acb40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849bf7e6dc89f95065dcad158dbc1eee515fd90cd7bf2518790eb4f0a098dbef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f286c1723c5e64ad2d2adf966a027c2668c40b44bf030cd17c9c01f6bc09c2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBuaHGtCSeHli8Q4UC6SSJUJFBu5phk3ADSRlYV6Vvkzk1I0SuobTgr3MOBFA9qWfE2SqP7PZbgkMlxUjCKYUJO9lukI2-MzOPkqpGGK6Vl_KMVknywcWZumIQJKNWUtEeFoJz7B71iz9iWV_3uxTw8LPxFggUpPoasfqTJ45Gh1KruIT8uX7vuPAM0fW93PdWS83WKcoNuiHlwT6DblUwYKXGCApEpzH73Bp8sJD0gKykqLqqXm8G_qA8kcWNWUDuKJkumOksIE9l3s9HPCaLHybYw5cR5gwLykjcYo7t2MysjwuzTXdU2NII02LkjnQc8haRbyOPsf_irqEEr8-wS7b9We2AUBC0yoTGOysFjDW4OJYx45rSaTwLgvbIjKI-t96Vja6_0AsajFbNgNgpeZ5nDXe-PvZsMimz9iweWo5RvVLlzeqIZQHyPtsR--6dnMJJpEsqf0yQkrlKAgXkfLPzsHtEJlJguN-EAb-B1lvcKrZ87MJMB5mUIkb0KRs09GhoBQLJ5XqbO79iU4w0aUtnJpTzoqYjSSmtTxn1zrCQIk3bTTS7LO3Qr-lRo407RjxW-9utGitjoZH_m9IrQmozZ9HAoJOQVJnHn11ocwqHKQ9PCWb2XTF-LOEbyTBpC4QuA9ZxBTiWmfNwvYNflHf1LW4CeC_u2WQTleqzMXRDM4d9YJA2J2Wtnmix609rb-lEBCVKIPqZG1YPIzoer0Y43VK6ttTD_0Nv8s4BbqoKRYFNyAL0bey6hJfRttO74ur4KpKsmMaIFYonS8zTqxXePnVSIrCI9BtmugPzTJxoRfiomVt2w0NikdrGP8SsTm15rO1KqfX70y5AVYjVgaoxcjNbuDvQT3nBMPBEDy2zQBrqS0VPUmytCu0bWOGefsSCQgA2ZVFoAFg19F6N6MN3a0VCbrfbWcvaEqo3zEcBB9X31ZL8hUuUr1ZoVO6wHEV91O-b9ohEwoMp528blQZ3NshabplFxPx53MDjJfRE_85lKoAmObi7nTn6Ox1LM7y3fniQPHiJYP4AZSpHfdcgNCInta7hAXui5AwEonjgsCu8IZTYrzv-6uhWPt_jhLI2umJ-uPr5s0M9bz8-ULHpCCkWItOacxAr2k3RJVHMb7jY7W7Az_mm11z4ZBM_6SLxVHdBXPnFuyu1PxvQOYc7ypAwlQgU8JDbvr-m2kV00821X-MIBEzwpKszwHDvikZ-nH-s3wrGRsgJk4HdiwMkEPux8zhWz3s5wjl1huf4IsU09PkL0mAYGmQx0jx4CIj_d8Y2JFkBq4cgFt9rUXw-WnHAjP_-Dilb2ptitga7EKw4_IupsDcSXg6Oi0p4eSq6_xR0FXCn_l0QGfpP0Q2C_KIFrsXamB0Ys5s8c9rFHrIqlS3JVlz_oW6PlIxLuaCpvQrEb7Mox_Brz4nhZ2Nxy6_Me6YVYiU14Mzq1YgC7-wRanMM2djCHUPl2foJ2XCSVemW0CEmeOM7xN-FmWYw==",
  "id": "rs_0bcb718a40616c3b016ab41b99755887d0a5b28f4a2ae88253",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit now fills the space between the jaws at table height. I’ll close the gripper around it.\"}",
  "call_id": "call_sWWfvuW4mQxTSpQpsOldahi9",
  "id": "fc_0bcb718a40616c3b016ab41b9a215c87d0af17200f76855176",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sWWfvuW4mQxTSpQpsOldahi9",
  "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]: [-0.0212, 0.8062, 0.6147, -0.408, -0.0135, -0.0307, 0.9991, 0.2131, 1.4616, 0.3801, 0.4244, 0.1593, 0.0853, 0.695]\nstate[eef_state]: left_x=0.2931 left_y=-0.0002 left_z=0.1758 left_yaw=-0.0006 left_pitch=-0.0317 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3502 right_y=0.0508 right_z=0.0372 right_yaw=0.0339 right_pitch=-0.0842 right_roll=-0.0279 right_gripper=0.695\nstate[joint_eff]: [-0.3487, -1.3333, 6.9949, 1.8046, -0.0122, -0.0464, -0.0122, -0.0889, -4.9026, 5.1897, 1.663, 0.022, -0.0366, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a8cdfeff5d6786c57169450bbfb2ff2c37366a2140f1ea6afe29a5adb92a2f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f2f147fe6f3c4e9af80be042902dfa7192fd998b683543c68f0e33a1920c7dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710697d8879cbdfc0affbe64d44df381f9a309674d77bcfa87a4412fdf77f044",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 4.198 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.382, -0.0139, -0.0292, 0.9991, -0.0227, 0.7994, 0.6228, -0.387, -0.0174, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2965 right_y=-0.0001 right_z=0.1857 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -1.7299, 9.5658, 1.7998, -0.105, 0.1587, -0.0952, -0.1436, -1.7299, 8.841, 1.8584, -0.0757, -0.0708, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6147, -0.4007, -0.0139, -0.0307, 0.9991, 0.2131, 1.4616, 0.3798, 0.4229, 0.1619, 0.0883, 0.9993]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1773 left_yaw=-0.0003 left_pitch=-0.024 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3499 right_y=0.0502 right_z=0.0368 right_yaw=0.0299 right_pitch=-0.0857 right_roll=-0.0274 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.5795, 6.9949, 1.8779, -0.0464, -0.0659, -0.0171, -0.1573, -5.1214, 5.2855, 2.0195, 0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.408, -0.0135, -0.0307, 0.9991, 0.2131, 1.4616, 0.3801, 0.4244, 0.1593, 0.0853, 0.695]\nstate[eef_state]: left_x=0.2931 left_y=-0.0002 left_z=0.1758 left_yaw=-0.0006 left_pitch=-0.0317 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3502 right_y=0.0508 right_z=0.0372 right_yaw=0.0339 right_pitch=-0.0842 right_roll=-0.0279 right_gripper=0.695\nstate[joint_eff]: [-0.3487, -1.3333, 6.9949, 1.8046, -0.0122, -0.0464, -0.0122, -0.0889, -4.9026, 5.1897, 1.663, 0.022, -0.0366, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a8cdfeff5d6786c57169450bbfb2ff2c37366a2140f1ea6afe29a5adb92a2f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f2f147fe6f3c4e9af80be042902dfa7192fd998b683543c68f0e33a1920c7dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710697d8879cbdfc0affbe64d44df381f9a309674d77bcfa87a4412fdf77f044",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuduhvULmebYQRCnK1PEENoCQkjjXMVMVMh-DgZjpMZYDkEECShALG-CfmpyLCDM5Czkw-1dFDq8zeDdnPqMga0Bmbzf8Nf4NEuKCmdAcoVKtrvuOu_UYecW-J2pdui8xreZLVyQQGnYoVutTMa6C97k6txMEC2n4MswM7WLGdqB0MKNjG8Z0OPgz3Yh-PU-7xyCFlXTOFvJbtWaIXf7A1kpSsXMDbvuEP58aAEk-8eWFcGVxhs6USQ9QXERi89o_0_X7isuPMepu8rCsaGVBSBFdOOxw9FeIaV5o8ljFH9VBtQOS451rLD_GRzw63f8uZABKg9ULoBSJubzFHgik6RP0VxaJmQQnVae13rDxSnCBG1FdmKW6TiZkbgmmnET5Ihw0Dve0u78toUh8DGNAX8vYgoqhl-T34hIcWyuxuccrKVER-PBgkMZoCB7OspNf2yurpIXcTKQcgR0z_leNMkQB0BgxExKa1jHnDib_6RRe2IEiysB40iFG_4WgjmZV699hhRhP1At9XNFK3ekkM1-jDLoTlrH8qtJD1fILR_QM_jT2xHNbWE8eENSBzqaYqLcUccIpBw-Bhvdkgh4AMQAtHSYwLGrl1RuI26gcF9B3s0H3vmJg8T886VZEoB_Fd5zCEBdD9AVA9JDuBQQAxgEi7Wx0zZj65xu9qcgb96tEtmsaUvtmM9FRZq5Dy_GVUntlzsLi2tOK9jW-K3C7xuheRrTiLPJdmxvGHmwLRi0KhTjosGS-9XoxKmOChMZ4i24XWJfcpMMmlC7kxWz1dhWU8fLzaFU423BEK1wOnQpRvCC896ARvxnixRUaeLFwcmnx4jY949x_VQNehUHiKqI3El_wz-khkuSZ9Jx9NmYekKidRwB49pSB9rABu5BcL_CnSBqvBv_51plCHMhcisOmEF6QersCcLTysynbR-S580G7fXjearB0tfrGgPQ8-jpMnd9BD5_MErNK-m9k0lH70TDyM_yUlPRFSR4F8SEatbLHZ6utx7acAjMD_4DDOf_pDAur-6YK-hxNdcT6q4shgnahhPVNwnbiPOVSbSCWT3dFn6wc9O9vahs598-trmmt2oTOZjEEpTL5P3EtQIrlituKLDtdv4UbsOt8sFIg0_8MZx9xBc0nOfnkRs_9o8KY1VRN1v_MPbK99sPAdOTGHxmXgdSThDYau-osjs0iwyn3Y34tY8d5RvhAzllXFYW1IkCDUUwfSZ2NktdZbyPDnEO8VXVQyGtXQrhHeVNTKNfdNoPYC5quUWXolk8aTZFjYkcgXlf-L57rKO3xn7OgkLkc7ggI55YEAYKOLC0y8=",
  "id": "rs_0bcb718a40616c3b016ab41b9c689087d0aa34691ee49f25d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The gripper settled around a substantial fruit-sized width rather than closing empty. I’ll lift it and check whether the green fruit comes off the table.\"}",
  "call_id": "call_Cj7khFLpeoQBnY1KmUtECo2w",
  "id": "fc_0bcb718a40616c3b016ab41b9cca5087d0a24208c297dbfcf8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cj7khFLpeoQBnY1KmUtECo2w",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.4175, -0.0139, -0.0307, 0.9991, 0.2127, 1.174, 0.6674, -0.1997, 0.1551, 0.0849, 0.698]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1738 left_yaw=-0.0003 left_pitch=-0.0412 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3447 right_y=0.0502 right_z=0.1305 right_yaw=0.0363 right_pitch=-0.1331 right_roll=-0.0343 right_gripper=0.698\nstate[joint_eff]: [-0.212, -1.1556, 7.0222, 1.7998, -0.0513, -0.0855, -0.0171, -0.3487, -5.3538, 9.306, 1.8193, 0.0659, -0.0464, 0.6178]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d25aac7e9cecd4f0753671b6b56fa4afdb355d025bd5880d1a1f16c0a0c14e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c498845aff7da14c2ef5ab3e111d23dd26cb2695b361f38f8a97548bab0f27b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f0cf0f27aa023dfcbd0c9baad22570214f5011af6dffde9f3b13f153aab1bed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.392 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8013, 0.6147, -0.3901, -0.0139, -0.0307, 0.9991, 0.358, 1.1191, 0.601, -0.1234, 0.2844, 0.1764, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1808 left_yaw=-0.0003 left_pitch=-0.0088 left_roll=-0.0011 left_gripper=0.9991 right_x=0.334 right_y=0.0759 right_z=0.1371 right_yaw=0.0257 right_pitch=-0.0485 right_roll=-0.0234 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -1.4154, 7.1453, 1.8144, -0.0806, -0.0366, -0.0122, -0.3214, -4.0547, 7.5419, 1.9609, 0.2662, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.408, -0.0135, -0.0307, 0.9991, 0.2131, 1.4616, 0.3801, 0.4244, 0.1593, 0.0853, 0.695]\nstate[eef_state]: left_x=0.2931 left_y=-0.0002 left_z=0.1758 left_yaw=-0.0006 left_pitch=-0.0317 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3502 right_y=0.0508 right_z=0.0372 right_yaw=0.0339 right_pitch=-0.0842 right_roll=-0.0279 right_gripper=0.695\nstate[joint_eff]: [-0.3487, -1.3333, 6.9949, 1.8046, -0.0122, -0.0464, -0.0122, -0.0889, -4.9026, 5.1897, 1.663, 0.022, -0.0366, 0.9646]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.4175, -0.0139, -0.0307, 0.9991, 0.2127, 1.174, 0.6674, -0.1997, 0.1551, 0.0849, 0.698]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1738 left_yaw=-0.0003 left_pitch=-0.0412 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3447 right_y=0.0502 right_z=0.1305 right_yaw=0.0363 right_pitch=-0.1331 right_roll=-0.0343 right_gripper=0.698\nstate[joint_eff]: [-0.212, -1.1556, 7.0222, 1.7998, -0.0513, -0.0855, -0.0171, -0.3487, -5.3538, 9.306, 1.8193, 0.0659, -0.0464, 0.6178]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d25aac7e9cecd4f0753671b6b56fa4afdb355d025bd5880d1a1f16c0a0c14e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c498845aff7da14c2ef5ab3e111d23dd26cb2695b361f38f8a97548bab0f27b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f0cf0f27aa023dfcbd0c9baad22570214f5011af6dffde9f3b13f153aab1bed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBui3jREguzEzWkJOqoNyDD43l_ifY8H5u6d9abPJ4yLgeCPTYB3vCcHIB-ZONgpYvm2rzO40spnKMXxsdTQ1G8v94n3Tioifj-LD9Z-ukwAdBSIbD1tsO0LbCZxpoJPVA_F8-ahTPGnD6tZCglSiedl8OJoXilqwWsD8MM4ffTp7Sdv0qcvDxOiwsigTC8gVlAS_4CWGWxVZA2Xkyxuz7vo6HWyR2SLP99EqnLQDYBKxyFD87vOlfs-z2WH2yVgdihMVR2PUJ_-XNL33kEjUVALlak1JKz6jAqgsSBxiv7iKUtkONJjyNOASfb__Hk9y03c4lqkLNYuqfTQ9LT1i0K4cihPHhAhjU0vbWuDMGDF3qzmsVn1ApurujfTXOfwPZP3Fxj_LHlXMDaWqal079T3rVGUtk2SgTN6HW5tUSGgl6115cRVNTyCdeQlnotWqfjl3libSG7EwQJBec5Vf-1CqjT6_IQaeENAEQP9hw5T24bfqAe2EbxQ7iNRztLNaGi1bZm1DHWx0fuWjygKatrmWrmB17nTLfIRCs31COIaweJepldi61O_tRr39Hk6Hq3xPYbdkagaaDp9dvQ-G91yaSOVeUVa0gP525HEFza2pK3VeEepQIbVm0IHHLKVx5Tl5p2huXHl-9frSb8S7bFdGJamhu4HoTpQLj_INxVSeMzWgdBQvpf10iNcryZPaTLnPWIhHVyDmRDexYiCYWRTOgeVlTF3eD9VIxgWUPXbAvk2RoRcbvzL3ag1x94Q8X7qw8n_sDedlXuRYuycV4paJ_WSWVrsP5lPjQ9vyuwmdo7JPLxRII4qSsO06quwWZNn1FBQqIEwhnUSMYSmd7MZa_uj8VqMatxdctvPxyBs54Vg0vsLHNwJMY3yVYDcGW5yjl7W4Z6-Kq7KuN98ggqs8ncxGbG0M_cnq63J7knDG-tmgQYgQAmCwZ91T2l7d8MuSUAKVQ9ga1ehUE_2Bm_ZBBKgteVysqLUwoovT5YuWt00c8kbyd2SpgT2RSgb0DXcJ8FxHQm-70gi0AtyuP6vKsbgjPG4iMoxEeAAT_Gg5jEJXw95ztJ-u7y2L8rDnmSgOZ-0IDGgK8T0EOTn2Z55FjfxgKcMhfhSH5kgQOBQ1mEJ1EGT01WJaPfxGNQPfbeldRJ_vUMIqj5ieHKEiiZvaS-v3ldE43RUnI3YI7jUyo0siM-KYi_WnVfqoCAFWkqSSYWDps2OaZzQmphxwiR8nfZXLjt_degtAz8uH4hXJN7Zyo8V2_ltOdLdEjZ2mTn4T0TtO9F4o0xvaf4mld_Z5EAZ0uvX6S0MK_RRaDY42hrr8K7tdx74EF3_TldQe8TUMOOVbQB3QgKcNrzgV7JKg5OhRS2c1hWrsXnRRbGbTb8uN5Y7Q3zvUghcZM3XFrKmcBkuYnfcSqmyc-tmRgvmNGiUn0XioZme0_c1Tv4o_eGUPltFlDEB869rZt01qYnUcrbtWhOZYU25nb9VFarOr4dN_s3jFs3xLFw_2t6p_BTC-cLGTsnh1O-dqELh97dANf6qe1A6jnJhfSukuDF8OTBUPW25ZLUdrNuPSHvXH_3Pb_P3o5uCuLqJmPgfRjEe-NIUlKdm4GuUF71hsKuMmRmAgqWOkGhEW44dHrrq5CixnMvAwvc_Ivyf6GUH3JsmK7CdCl5_oV3m-Bkfl95ZC983Q0D3GSVKuFuzeeW2FriD8cOcJvjjpFQAJmsFFknPailRdj6HEhZGXYFJ20xBIJBE6ZchbLd1v3DRtezpmPDUMplQKznVajARotgINNuyDoI5im_wkwsL-W0Jvo3iyBJScWUNDrOVig8lkUYZzEqJds2nPTroHgUQ897bSeMZZk05T5AXdoPzAu3uyAdWwWchxuxF4WOxizl_uJyHZA70PkF2ZUGAKlUbt5Z8nsg-o6T675PCLodIw3cmWcgcxN-LnvYi4DX0p2cAafKr1PTLjIRA2WT2s1ovmuMWS09Gh6XW9BmtJKx7YaR9EJtNdZ0frYd1Ob4m-WKPiYGThbbV5ncvOqkbzkjUkN27PCPtFh5K7fqFrHP-uwefxviTkukAsHg6IyhqHwRIFM9_-axvrPlo4IIqq962SyLlyoUMx6Qs5FEmyKcoagmB8o_Xi10s0c343Bz-_XUd5m0hIhvGWKcgtVcYTfGErbOVqbxhhbwEeB9LYsQ-rQdZ0IZXVcPbL3yvQZ2MI3GBfcvqkKJOYq6NXUM1XmQ-WceX3PNwO_gTQmYOZRJSzEzA8H0dVm7iXSC4esqgL4dZ3PZjJ8bPrv4Q5Ov9SQYofqwbHCi3",
  "id": "rs_0bcb718a40616c3b016ab41b9fe2a887d0afb81a16184a8db2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.125,\"right_z\":0.19},\"note\":\"The green fruit lifted with the right gripper, and the blue bowl is just beyond and left of it. I’ll carry the fruit over the bowl at a clearing height.\"}",
  "call_id": "call_sUTWltl1fonkqrvcUwVcHHQD",
  "id": "fc_0bcb718a40616c3b016ab41ba2298c87d0b4d2cd3b9130f1c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sUTWltl1fonkqrvcUwVcHHQD",
  "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]: [-0.0212, 0.8124, 0.6147, -0.424, -0.0139, -0.0307, 0.9991, 0.3882, 1.5631, 1.1839, -0.4019, 0.2581, 0.1738, 0.6994]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1709 left_yaw=-0.0003 left_pitch=-0.0538 left_roll=-0.0002 left_gripper=0.9991 right_x=0.422 right_y=0.1277 right_z=0.1716 right_yaw=0.0739 right_pitch=-0.1864 right_roll=-0.0537 right_gripper=0.6994\nstate[joint_eff]: [0.0752, -1.7983, 6.9675, 1.7705, -0.0659, -0.0806, -0.0073, -0.253, -7.7607, 9.3744, 1.6777, 0.3297, 0.2418, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:892ad9d84333457cf494a1271babce36020ec19bbf0dcc91dbaff0f3d82134d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aace2d046b94c7cdc27382f88931171ac704f98fa1d312025369878495bd09f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16c76481b87857923f91043a2cf762109d7b2a5a5e7820659695821a8d70904c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.656 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6147, -0.4007, -0.0139, -0.0307, 0.9991, 0.2131, 1.4616, 0.3798, 0.4229, 0.1619, 0.0883, 0.9993]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.1773 left_yaw=-0.0003 left_pitch=-0.024 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3499 right_y=0.0502 right_z=0.0368 right_yaw=0.0299 right_pitch=-0.0857 right_roll=-0.0274 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.5795, 6.9949, 1.8779, -0.0464, -0.0659, -0.0171, -0.1573, -5.1214, 5.2855, 2.0195, 0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.4175, -0.0139, -0.0307, 0.9991, 0.2127, 1.174, 0.6674, -0.1997, 0.1551, 0.0849, 0.698]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1738 left_yaw=-0.0003 left_pitch=-0.0412 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3447 right_y=0.0502 right_z=0.1305 right_yaw=0.0363 right_pitch=-0.1331 right_roll=-0.0343 right_gripper=0.698\nstate[joint_eff]: [-0.212, -1.1556, 7.0222, 1.7998, -0.0513, -0.0855, -0.0171, -0.3487, -5.3538, 9.306, 1.8193, 0.0659, -0.0464, 0.6178]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.424, -0.0139, -0.0307, 0.9991, 0.3882, 1.5631, 1.1839, -0.4019, 0.2581, 0.1738, 0.6994]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1709 left_yaw=-0.0003 left_pitch=-0.0538 left_roll=-0.0002 left_gripper=0.9991 right_x=0.422 right_y=0.1277 right_z=0.1716 right_yaw=0.0739 right_pitch=-0.1864 right_roll=-0.0537 right_gripper=0.6994\nstate[joint_eff]: [0.0752, -1.7983, 6.9675, 1.7705, -0.0659, -0.0806, -0.0073, -0.253, -7.7607, 9.3744, 1.6777, 0.3297, 0.2418, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:892ad9d84333457cf494a1271babce36020ec19bbf0dcc91dbaff0f3d82134d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aace2d046b94c7cdc27382f88931171ac704f98fa1d312025369878495bd09f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16c76481b87857923f91043a2cf762109d7b2a5a5e7820659695821a8d70904c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBuoQJtWUzDYgKn8vmlmqOc9OijRraoxbRHAq52lZfszAwIuHshJrq5W93WYhTl8RlK-a5URvBKQ0fjR_hYpN-8-p--lQMsJJ6yaKWYQl58i90EApSZ8nCFQ7OCG1QuiSwPBiqilNHk2VDA_YXkLPh0rTJ737mQmIEVw-dwdJ59PMvcSTkWuApXNqwU0AOCamm5HOek48Y0qSZYxjAeIsUCxm1kgtMGeJwapME5dSxvh455h65CwJJMH9bj533Jgu_GNVDom_98nhI28XzEsckLMeKta41WuSZTcr2tstYGriUsjcG6frICMj7aWW-ZMiK-8q-lhYdnBXkuB1Po8kSWaogdsbBHiw_pngYifgoyBOKyzk-4u-pOvyWb6gqyHTjq15tGy0DzYhDpdKbNkstlZVC0PFtKzxLEqt_U-bPneqxarbk_bNow85R2zTApMKBCXMsHMvqjbPUnaM1khbMKh1HRP2k-FluEI1zPEQNvLA84uyPV6jY_nRoqG5JMilhKpvYWX69rCKiTcJ1rZiGgHX_Gc8URqFrVmIcc33oecJuIyu3CPgL06c7kZgQet25KFNwGA8zqIw3MmP17Zi-1bJ-WGP95B4NA5NTlVX4urLJGREhf7YP0FKRiUxVzXj2Z-0X10nYBgtDKS1MJMEi06p4eqrRV9khI7mQJ13YndIO5eVggP4cjOOjFrfffkIXUEqDAJLo87vTEozdwbgV6DnPAQugH0gPJbp7xaI_7UFtxcAUI9XkaJnqbGODZ1J1Kd_nmJZCkT-JZwYzCzHMiw9iR_hikaDmjrj4tfCEwtp53mlLfDFpGwzRQSPZOGKi0zgR32EaxsYkR6GPqh6zbEIIxPpiYkIfYLWkZsw-WQP03yOawtLbi5jPUKQn0bS9v8SYehL2KVpIS0-x15bsieaKHcuz6d6KaPQogBL2BLJssmLuLh85lbsFRLk0OMUTFk-7WWMxbCygfFYRwREmfVuaxzngU3yLSrnAJ05j2VvspRad92X67UWhF9C45y4Ur1kzqw_FNTZlreqYAfIQHpGRxLWSBiQNw9FRQ-dZzP34f-7FaIDAe4Y07cGJQ2xJlTfoEVw1LzYu20grMvHMSbbFYQR0EMcXygQIQ5ed2Wiia81FYaUUAmzL2sRFjd12CYP1Tj9UWFm7wLYC19yeHA2C4LweOx_J-MzN3HezsgGGU8sjGXrr5f35mEU8mfN_jRP-U2C6vSEJbdmSG-I8AYy_1ovioUhqKH3VEx9neZJNTPvkGIZpbKNA-5QPgdqYNojyNkg2kv2TEiC9cmDi8zeChp59UCKmZduIpP7xFl5xj-p3TPNzDXxifGmh354EidkCFcovEOyQXLJgWGqeGUaO_S-ou8Gy1x1Eyy3S6ZtXRCuVI4EmhIhcNDIF1jQBCoJFQJ9WCx3DbbF_7O8iWX2jY-rnDXwhkITDMPcDjsKrHJz3t-S4vJYiDh9huu1SWkiuU4JpEQRyuDcXjqOp7eAGjk1lDXdj1DLb7pKkH1di-UOWSi7RUOCAMGxAonDSrRPFyrzAIH37MKmKMzrtswM5tRSTW3H2RuU06-edJGhsDaiNEBaI9JVb_8L10wPWhItCY3Lho2K7aV2xomLKknksxFNL6BRGop0fXO9t59d8L7RubaHaUb4fgopj-W9xhBPKph96wfoxwU7kVBt8YwOOogrHpQDKLSvK85b5egYnTeUr7zgM1GenNsfMMQqRR657omQ8bxrH8Dvjv-ar9anBKZYe2EtaqRP72pXOjMuVPBuJPZ_betx6kGn0K-6TrNAKqnjZeXNCkbkAgshRpGcK7aMIgNLvwgk9-zJEbTRdYwK6ANj8qMxOIjSUXlMpjZpjr_okG5t8MmhpBr7bxA72QtbGPvv_8zYxONBcBoTGy1POjUYTPx2W7RDL1lFu7FunR5hBBrV2sw66RsUJadD-hCJIwZFQE8Q08TAxCKFOpFH4TcP2Owr3pXBU3PO837JkuLaW3rsu6HEdIFhWlwiZWNkOC8m6924F3s17W5EG7ypku2ZQYQmbMIYxR1S2XrVimMKvpt7N97y92PhwmT9wfoO7uVat_r4IPbabuYI_C4fC6kRMbeblaEndGr-yLK84tOBLK-C2-RfhzY68jE7KM2LjpVmWDXfeUH1x-pwbasLBGuM3za-N-PkkDY42DMlMrcao-trs1NbV6u-548O52NmuCe8t2WyBFHud1pUGnDlLP0QE2_kQ3KzPIL7bqjCcZ_-ER4MFMGAonz-vPHP6Pe-2dJy5nk-uquygJxOxaciL6jRyws1mn36Fmx5Yp1GKeIxUm9eC87kUJTnSu9Uo5XlldRHf9k1MF5DM2mvTc5G4SOhZGMiqKFIXu9oFC9Dqed8c2vlcmR4n6rEmVva0iduivDyw2ull_U_8lsijcvE_iJSSfpU7-MXF1GQ3nyfvBJ6HN-k2pzRtWQGYWbE3fK_G-beiFIND9wHhcVYmc=",
  "id": "rs_0bcb718a40616c3b016ab41ba5506887d09edd18c8df734cf0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.13,\"right_z\":0.105},\"note\":\"In the wrist view the blue bowl is centered ahead of the held fruit. I’ll advance slightly and lower the fruit toward the bowl opening before releasing it.\"}",
  "call_id": "call_RQVh2kV9S9dk4Dv2dT45hqrM",
  "id": "fc_0bcb718a40616c3b016ab41ba7dca887d095a843ee1471ea14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RQVh2kV9S9dk4Dv2dT45hqrM",
  "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]: [-0.0212, 0.8135, 0.6147, -0.4244, -0.0135, -0.0307, 0.9991, 0.3626, 1.7527, 1.1072, -0.1795, 0.2306, 0.1493, 0.699]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1705 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=-0.0004 left_gripper=0.9991 right_x=0.4468 right_y=0.1301 right_z=0.0945 right_yaw=0.0821 right_pitch=-0.2349 right_roll=-0.0654 right_gripper=0.699\nstate[joint_eff]: [-0.1026, -1.2376, 6.9675, 1.6679, -0.0269, -0.0757, -0.0122, -0.3487, -9.2376, 6.7761, 1.8877, 0.0952, -0.0122, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6775e78030f406ca162680d67ccd0593fc02b6e12936324cb3890334e24755e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c69f2bfbfc38078f3e21f7187986492054e2abdd32094118651ce3fb43543764",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d865a7455df82e6488dd1e14249f2b3b76c2567dd8360a769f565bc4eea46f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.31 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.408, -0.0135, -0.0307, 0.9991, 0.2131, 1.4616, 0.3801, 0.4244, 0.1593, 0.0853, 0.695]\nstate[eef_state]: left_x=0.2931 left_y=-0.0002 left_z=0.1758 left_yaw=-0.0006 left_pitch=-0.0317 left_roll=-0.0008 left_gripper=0.9991 right_x=0.3502 right_y=0.0508 right_z=0.0372 right_yaw=0.0339 right_pitch=-0.0842 right_roll=-0.0279 right_gripper=0.695\nstate[joint_eff]: [-0.3487, -1.3333, 6.9949, 1.8046, -0.0122, -0.0464, -0.0122, -0.0889, -4.9026, 5.1897, 1.663, 0.022, -0.0366, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.424, -0.0139, -0.0307, 0.9991, 0.3882, 1.5631, 1.1839, -0.4019, 0.2581, 0.1738, 0.6994]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1709 left_yaw=-0.0003 left_pitch=-0.0538 left_roll=-0.0002 left_gripper=0.9991 right_x=0.422 right_y=0.1277 right_z=0.1716 right_yaw=0.0739 right_pitch=-0.1864 right_roll=-0.0537 right_gripper=0.6994\nstate[joint_eff]: [0.0752, -1.7983, 6.9675, 1.7705, -0.0659, -0.0806, -0.0073, -0.253, -7.7607, 9.3744, 1.6777, 0.3297, 0.2418, 0.6325]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4244, -0.0135, -0.0307, 0.9991, 0.3626, 1.7527, 1.1072, -0.1795, 0.2306, 0.1493, 0.699]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1705 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=-0.0004 left_gripper=0.9991 right_x=0.4468 right_y=0.1301 right_z=0.0945 right_yaw=0.0821 right_pitch=-0.2349 right_roll=-0.0654 right_gripper=0.699\nstate[joint_eff]: [-0.1026, -1.2376, 6.9675, 1.6679, -0.0269, -0.0757, -0.0122, -0.3487, -9.2376, 6.7761, 1.8877, 0.0952, -0.0122, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6775e78030f406ca162680d67ccd0593fc02b6e12936324cb3890334e24755e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c69f2bfbfc38078f3e21f7187986492054e2abdd32094118651ce3fb43543764",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d865a7455df82e6488dd1e14249f2b3b76c2567dd8360a769f565bc4eea46f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBuwfXEKQMCYTc6v-JIhaibo19jesxXa1SfLIOJRxVNJIcCXqLpNvZtY996Lc6oOpBBTGocV-kfgzN0pX-8MB1sCknDRg04e2gEtweqip67Z4JIPQRROB5b4y_S6AjCY9euIXhHExVRMGzo8psVfNpDG6oES9E_bUHqoBnHJJ_H3uW8JzIDV7LtE1gwAUNKY2IgdNf3MHjT9ijs2B3RJQGIMo7YHrG8EHWjB4dOG8fNL41Ixk_UoefTEF4lr8uJiR5evkJTiqxb3mcFmf6KtoztGclbqYrV4vWCI5h8LepMbwRkLcooJPEVeGI1BxurD0z-xIumaB_cLScTa5m-LQ0qgqEu503k0lZon7I3S5yC4D9XU_hxdOXXKQ4O21KzsrZtwnZDqVIcWB-WskUi2onx_-q4V0v9ybSa2l59XAe0TNs1ZnUDbZGWasgMV58Xxgmr4xE1Ukao787ZLrRuJRPmRdUI-xdFE5JWYLRytsUzVzLrMgWHfdy5osgHoLt41OSSBlgKoB-XbB4y5dvRdXAPNbWcl3IpTEyGO3MU1WltawJOYcPRIzKPEOYu-TJUNATU9SDJgQF-N6kB4vGjq76YIIr4tqo5TtGmHKii4VNKpXo7QYssk2tiwPI5TxHYStPeM-YoZPAXNV7XsJHgAQXGn6JNBKGlYhVaCaFV0giXbvTCktyPNApuLVByTCDoOslFsiug1yiRYJF0KWJ-uOtkJ0TpFFxbKAHru4BuEeXjBI3Tw2ODMkiRtv7jQx4bjl6oj2tzJ_h7-ykKYsHWZI5UlW8XERjHEIIWEEaA2rIty51Ns51MOOfRVsXfQyaGIGyaROAzXzPT9JAyhOIGDiIHpgSejBVfduTkF-7-Lp7hVWZiFPbHxXIWfdHCLbhmg2vCxSWqWWMdv6OxJHeYsOUq4y0PQFhaH_6PT1-Dm0OAEiN_hO3yneDEZ4ur-Ulm2yKbGnO7J5Lc13EooH7CT6QxctTyx6_Em6iT-JgvIZYAjDjY_0FC-5K_lGDNA50uv3-XGG5BbSTSz_00oLw4Ef5hJO0IIangU1-HGBfP4WDmtt3nArnFGncPBJ1HYGm54IX8sZqUmI4SXqK0VISkIJz9x3el0tJIkW534FlPfUTava9jL-sivgiJFyT6NdoKNM853XJ26K-LNt5x5ein96TTdui87-oqe0LcES3YZD4X-Y_-4g3GTuH809FZK2A_nY8e6vE8giZpvYqTLyLnhD-NLhykLDAR8CW9BfxJ9C_yFTogf0m6TQ4pF-UdNeHNrmQhoRUgD1QAytDpXCYi9DVhC20NFi4BKIHX4NOazHXbuzoD7-nI7i1KLEtt_oeDIlNc5EF1_ziDmq-ZSpKetkdoJO0V58HLr0JlryS5pp0IltO47jKmNWHRjsEYfzX79Fl5NBb2_NagR7SmmW5zQTBi4rk2aZ_xDgPydqCZ7zoj3aN1gUX9AHJe0t_WvEdGZ8wxmsJGXUXRARrebc6T_8watPod4kCiBVEAh11c_CTyzUqJikscLnIViljALijnAK_ArokR7Wm7CJ8TY1AFK8b3NftWPmJ-pWEAYxM9OKo_2mNlw4uP_Omf0wLQ5kBKcP9NYGDRSs9yFguulqcjLkVrx1LJawDpCTVu4kpaYz27Egx4=",
  "id": "rs_0bcb718a40616c3b016ab41baeffa087d0ada28e277a0d0827",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The fruit is low over the blue bowl opening. I’ll open the gripper to deposit it, then move clear to verify where it landed.\"}",
  "call_id": "call_flGPU54VEdaFuraORhEkstyG",
  "id": "fc_0bcb718a40616c3b016ab41bafd82887d0a4be80242d0dc366",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_flGPU54VEdaFuraORhEkstyG",
  "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]: [-0.0212, 0.8135, 0.6147, -0.4244, -0.0135, -0.0307, 0.9991, 0.3626, 1.7527, 1.1069, -0.1841, 0.2314, 0.1463, 0.9964]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1705 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=-0.0004 left_gripper=0.9991 right_x=0.4459 right_y=0.1297 right_z=0.0937 right_yaw=0.0828 right_pitch=-0.2397 right_roll=-0.0695 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.3333, 6.9675, 1.6679, -0.0464, -0.0659, -0.0122, -0.1026, -8.7316, 6.4342, 1.4872, 0.0122, -0.022, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75fff4dd2277cf5c659c630c84f3651b43c4007c7a2bc8589961c722f2bf3dd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fdf76d84d11d16c03014b013262cb07484e5e6e9669dc718b67575ec59ad8c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaf49cc7b498015432997269ed6d795c2be17118a09e7b2c0b859831f80615a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.726 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8062, 0.6147, -0.4175, -0.0139, -0.0307, 0.9991, 0.2127, 1.174, 0.6674, -0.1997, 0.1551, 0.0849, 0.698]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1738 left_yaw=-0.0003 left_pitch=-0.0412 left_roll=-0.0004 left_gripper=0.9991 right_x=0.3447 right_y=0.0502 right_z=0.1305 right_yaw=0.0363 right_pitch=-0.1331 right_roll=-0.0343 right_gripper=0.698\nstate[joint_eff]: [-0.212, -1.1556, 7.0222, 1.7998, -0.0513, -0.0855, -0.0171, -0.3487, -5.3538, 9.306, 1.8193, 0.0659, -0.0464, 0.6178]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4244, -0.0135, -0.0307, 0.9991, 0.3626, 1.7527, 1.1072, -0.1795, 0.2306, 0.1493, 0.699]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1705 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=-0.0004 left_gripper=0.9991 right_x=0.4468 right_y=0.1301 right_z=0.0945 right_yaw=0.0821 right_pitch=-0.2349 right_roll=-0.0654 right_gripper=0.699\nstate[joint_eff]: [-0.1026, -1.2376, 6.9675, 1.6679, -0.0269, -0.0757, -0.0122, -0.3487, -9.2376, 6.7761, 1.8877, 0.0952, -0.0122, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4244, -0.0135, -0.0307, 0.9991, 0.3626, 1.7527, 1.1069, -0.1841, 0.2314, 0.1463, 0.9964]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1705 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=-0.0004 left_gripper=0.9991 right_x=0.4459 right_y=0.1297 right_z=0.0937 right_yaw=0.0828 right_pitch=-0.2397 right_roll=-0.0695 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.3333, 6.9675, 1.6679, -0.0464, -0.0659, -0.0122, -0.1026, -8.7316, 6.4342, 1.4872, 0.0122, -0.022, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75fff4dd2277cf5c659c630c84f3651b43c4007c7a2bc8589961c722f2bf3dd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fdf76d84d11d16c03014b013262cb07484e5e6e9669dc718b67575ec59ad8c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaf49cc7b498015432997269ed6d795c2be17118a09e7b2c0b859831f80615a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBu0yTKB8QaWsR_i--qE1672C8hErT5cjd37aQoHlVj4hQh0z2lRn48YjXEUpdWXPEHblzl2CwCcnHMmaMySAxb6eBkZ1kNlTV_WATauq6ThdNPWwHsz5eEdQ2lnqTWqNrop1mlH3ClOPEyC-HsTS_ZVyglSK9RxyQL83cp421vEhLL-wqXxsUonEh2ALQCoxU8CgrdZS1U0kxZ5sv716qtfQBfBJFWNmWTml9ECA5DYWUmYqIuS42SHGNaQbBkkH7GXDRjk7hRPY3KPVOmSM0GiJ3Mppc2r32cfVm9x5Rv0krvLm4o1y_qrPZQEMEjB0y-SYOT_C2zE1t_7P4xevwwYUEpBQpq9mpB66bqUwaCyLQDMaKJfGwFJH8TacXKFI_HWFu1MqtK9DCLjq6Sdva34pYOY5AYPUHRRMfeUzZrFnbCtl4WoM79BRwAGbFeynFbxZbN7rlObsExHRZDyQKU4Hh14sLOMgL6D1OooO6idLPfvfAEcwVa_nAaYFjmSdjVnpLBGZG4J1H_FGKq99ejSJ7-oolUux4-u-jywsZV5O4Zjp1UyLcfBM3zXiDER-mTnC0WiyJ0KNlKYruGzL8dIX_xRukZcnz9WqDk6nchUGwdH-PYKdLNHELaoWW_2BvljNTj8n-Ck6qe2yYfxBSkjoxAhuHN27orKC39dOcMftZvL2W5HK7ccoafPzAoJkOsLvOE0q5165XRkgIq3bhKeu3vfo1BxqzD3d9Q0-EtHF5rDL3lNdVrM7GYoDuiq-dTBxYxkOjWL8nYa-ERQOZFqhi6WhlwyRAkm8Zo5WWTnGb6DNwCYPYUo9fF2Up6c509ZLFzEEwK29caC-UNFQQYwqVDIz_nPOKPgsCxEoU_69dCA4suyh5SR6aYk8rX5IwKCnCYXp7Ujn2R0GaIXUs0iutIu6SaClGWljDV-6ZE80Qt5a_UhxP6-JyFHbqK39I79F86isMhySA00uRNnNq__q3kQ4Lz4Lon10KDJQLyFQHbJUNVLEbTOZeRk2OUA3qJUGBwgFLknsaigVYg5rayeVmeeBHdj65yqZG_YjaldwxfhlE3wQP6MsAOffimyQtHJWhc_qBjvYwncaSqNUPQ9bSG5A7VY-83j89rKNX9bq_qulH5fN8QKYVpaC8MVzeDNposSiLBJF-sidsXg7DlGzql3UdZ6g92POwFIp2dCrpnf2K3z3WiZGqAQ8C2zvwkd6-wLseVtaw8mJs5elgSMJG0JdPeHPTmo-GSum1eghqGfh1QEO7neNMM02Da3L5SDvvOIiTsM8_sTR-aQnTxctCmeWJa5XuYbdG8RK1eTYzagnVuI0SVHn2IpAUC0nKl0JgyZeat61S1RoGAdmsM8ggxQGQ00T8U3AdECJD6uiKyGqphpvi5pFUQ0Sbwnqk_Exs1cqExn79X2vJXP5vO4mxWnHCJQ7KJSRpez4yGEmMJdkHoEoaCRNpTGHeZKaL4NSlQbwvv6XcjTNxjaSEYZ6Z-10TTryaSbrJ9SPELBucBGuRcShwMpUv3bUZZ5nVc-tbkGKQiu4yiYOsrTniN_qhTmzz5eCTd0R0CDAWKUdOM7EtaDnRWV7axoLfLx1NAisOn4vbhLXsXntHKHFqi0I2WHuvhjC3q0J8OCaKLYoh02dmDmrsq3rbeETKUehkrs1Z6q_086crQcfXeAIxcI_gIv6DqxuZuPvGtfJ13B4X-ttkpJKmjPlsugbvGCtIXji-J7fKC7_Ay3Dmjfgax282g1KPNYcWtRzz9Mb6gLaJiKDVmV_Rlz6BoUOX5hSiMMJ6O0_lXljgJbkWi3aJiAHONn6XRt02MbhxcabfSvcUNvd0zPhaPDSXnuhKOzwanreJAPLVNvoPY1kNcq2DNrKptus-lncv-aM0kvhk-fY07CvoimntlTrlkuKpgu1ePeSBdNUY8lgPPviJEs-Zi1Hgu1776gG_pJc96Asqia5R5_FVunBiOxIQLnVfTU_gWsXmttZcu2XpDTqVSQJ-WmDxLMRyTqINC3f1JGgTQazh7C2Iou_SfCYGdL7LMoIS0jOeE8HExevfPoAh1EK3iXe4UlSUMWiwDAOlwviTp1_QPfqRIfvOai_01-YVRNQnT8",
  "id": "rs_0bcb718a40616c3b016ab41bb1cf3c87d08ddb607aa4659a17",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.185,\"right_z\":0.15},\"note\":\"The green fruit appears inside the blue bowl in the right wrist view. I’ll raise the open gripper and bring it over the remaining yellow fruit.\"}",
  "call_id": "call_QzPr6nSGAYAK7XJHDK18efvS",
  "id": "fc_0bcb718a40616c3b016ab41bb3867c87d0a4a3208aedf9207d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QzPr6nSGAYAK7XJHDK18efvS",
  "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]: [-0.0212, 0.8135, 0.6147, -0.4271, -0.0139, -0.0307, 0.9991, 0.6189, 1.5867, 1.1175, -0.4656, 0.3737, 0.3229, 0.9971]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1699 left_yaw=-0.0003 left_pitch=-0.058 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3686 right_y=0.1878 right_z=0.1301 right_yaw=0.1127 right_pitch=-0.2865 right_roll=-0.0923 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -1.265, 6.9675, 1.7265, -0.0611, -0.0611, -0.0171, -0.3624, -8.8274, 9.1556, 1.3358, 0.3199, 0.1245, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd9253f0a3628d8d72511fe2d6e5daf504d0dbfb4b317bd8aa558b8623a46fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:171668451791be6f2a4a06201cbcac70db023eb3004d0e87095d71ebc9bdf931",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a617fdc470c7cd0e80ac336586505d61f9cb165f0b78a3dd5e5317a80fc6eaf6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.702 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6147, -0.424, -0.0139, -0.0307, 0.9991, 0.3882, 1.5631, 1.1839, -0.4019, 0.2581, 0.1738, 0.6994]\nstate[eef_state]: left_x=0.2912 left_y=-0.0001 left_z=0.1709 left_yaw=-0.0003 left_pitch=-0.0538 left_roll=-0.0002 left_gripper=0.9991 right_x=0.422 right_y=0.1277 right_z=0.1716 right_yaw=0.0739 right_pitch=-0.1864 right_roll=-0.0537 right_gripper=0.6994\nstate[joint_eff]: [0.0752, -1.7983, 6.9675, 1.7705, -0.0659, -0.0806, -0.0073, -0.253, -7.7607, 9.3744, 1.6777, 0.3297, 0.2418, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4244, -0.0135, -0.0307, 0.9991, 0.3626, 1.7527, 1.1069, -0.1841, 0.2314, 0.1463, 0.9964]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1705 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=-0.0004 left_gripper=0.9991 right_x=0.4459 right_y=0.1297 right_z=0.0937 right_yaw=0.0828 right_pitch=-0.2397 right_roll=-0.0695 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.3333, 6.9675, 1.6679, -0.0464, -0.0659, -0.0122, -0.1026, -8.7316, 6.4342, 1.4872, 0.0122, -0.022, -0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4271, -0.0139, -0.0307, 0.9991, 0.6189, 1.5867, 1.1175, -0.4656, 0.3737, 0.3229, 0.9971]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1699 left_yaw=-0.0003 left_pitch=-0.058 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3686 right_y=0.1878 right_z=0.1301 right_yaw=0.1127 right_pitch=-0.2865 right_roll=-0.0923 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -1.265, 6.9675, 1.7265, -0.0611, -0.0611, -0.0171, -0.3624, -8.8274, 9.1556, 1.3358, 0.3199, 0.1245, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd9253f0a3628d8d72511fe2d6e5daf504d0dbfb4b317bd8aa558b8623a46fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:171668451791be6f2a4a06201cbcac70db023eb3004d0e87095d71ebc9bdf931",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a617fdc470c7cd0e80ac336586505d61f9cb165f0b78a3dd5e5317a80fc6eaf6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBu49ufyFdivZGcAeNPlxAgK_J46lP4_u2KiH8otz4Olewom-2BU7CJrUcsrSdLbcdkSAZR6y2Aif1DG9U3bckwqRXWvo_rPGJf0e4krCMRegEfOFbMT_v5Oi2YS7h3QoqTvynBQCrRXXpapSmW9XFJH6Vvc1zfM0ibtJ5o0kKCiKpkqGEMM9VsqTlD4RyCZL6FO5I2HGcAE5dyXK2z1JI4rLGIEQGv0hLetEiZtn8xD-Wh8-IxKYBH3fN0x2RYCb8qLtuJb_9YXFe9q39nHX7KmO6-m6WyD9_8ur1WPn73eeB56jV2MfeZMKhbYsy3lO0VIZkemIadK0KqC48QhwotPLRM0Oxkrc0-ZKSNsbo4QOp4TCDxbI3gz4JDQ0-MiX7liiiju0CmWa7zRlpoVOQtJFZtoH8j1BxdZjE4z7A6NCbCfIuJYzVBZV72q3FMfK_mMQRf2-XH1EfvPS5y4tfx0Rtnnniy_Jw-pLTa5nM3X__9locSKyIXmeS4MY_q60Fgg0oQ01ucrNQtepNYc0Y0kuaFtPtM9EeVLjuVzcCBm5VIRMtSQGtn-dFsCCx7OvkKrxxNQ5gsqMJeET-WDetSL2eiwJplO7m08Dc6Oq--SFFleyiCtaJLL1ESEqshwJxtowwVreb7dTp5jLv4PSzof0rL-0MovVtyGfIQUrpk44xfIOtrZzKHPbZfz82yNWz68zSiAZ0gzZ7cqmxs7UALBZEkksQ3wgKoCXVZ1lnD2MBC4qWeUtpj9kMZiYEMxA43yqmI78xDfRYDrY-t0ai-uHKC2oWAUrAavPZpg7N2X0No8fyu6c3gpmpdmBPelDmh1fHXPWTV1twtlS_kDKXWz8LsK34nWAJpVG26ujnV7tsdrYSkWBdHu1gANu39CF84pXTprXGMk4nbr_fdKvlPQZWb0VVFFE6YZM5O5Jk40G5reC_-q9FovJr8Qyj8YwEFf6hM3hlrgmWs5fl_RNHLQ2kONu1pekEA7VGqCLpTCUQdl5wohOogvy6xcUIHIgAM-hK43La-E1WJRPFl4ILgqQoiDRlE3ZtpKtaKtiJqpi3ZaIr9tsuvv6HfOj8VTyu4JXL07Kui9YdJRpEYfd666m4oq754BYG2NR8oIYPB7xDUgXXc1e5MwCjLV3851LE35ScMBJIaUz-srom2IHiuiIfVB0c7E_lLlcxqutLlm8uVrYiZAahmuRUeJAmLILclryMwxREscXWTg4HRY0AdZG43D6A8SBa9ZpK7cnyeAgqii7rhZ3n_Sq-dvdBSYxqOxQm-tNC9KoZKnkUOXSoVfguXX_2zPg-GaPx00PRR_UgErOPrI5kDtYLRgTgbFp0ceomJHCXcQhe18QqzBeSjG86GjFMcnJdG-vgOk0fpeLiol4O3fIVTox7Lyfcj0v1nm7nN1uA219MrGqk64Phk7tXblfXmxYBUaNC9xpt4DRys=",
  "id": "rs_0bcb718a40616c3b016ab41bb760b487d0b368cc4570b1b047",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_z\":0.035},\"note\":\"The yellow fruit is centered in the right wrist view, with its near edge just short of the fingertips. I’ll move forward a little and lower the jaws around its middle.\"}",
  "call_id": "call_aWFYMuM84FjaU8lOsQy884YJ",
  "id": "fc_0bcb718a40616c3b016ab41bb7e9c887d096245ccc0ba5c8d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aWFYMuM84FjaU8lOsQy884YJ",
  "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]: [-0.0212, 0.8135, 0.6147, -0.4309, -0.0135, -0.0307, 0.9991, 0.5758, 1.8191, 0.9691, -0.0971, 0.3397, 0.2836, 0.9972]\nstate[eef_state]: left_x=0.2903 left_y=-0.0002 left_z=0.1692 left_yaw=-0.0006 left_pitch=-0.0618 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3907 right_y=0.1877 right_z=0.0315 right_yaw=0.1172 right_pitch=-0.3122 right_roll=-0.0996 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -1.3333, 7.0906, 1.8046, -0.0171, -0.0659, -0.0171, -0.1709, -8.8821, 5.3812, 1.5946, 0.1783, -0.0708, -0.0073]\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:fffe933e3153b2b69cf0381532206721416c7b2833e31ea3844acd4c0ce6626d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b01cc4c8522b6b2adc93da72c80d24fbe5994db8ab1acf42c5491f72ee792eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a842eaec27e9023d8bf750cbaf14498312f3eee9900689d2fc0bb749259423",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.113 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4244, -0.0135, -0.0307, 0.9991, 0.3626, 1.7527, 1.1072, -0.1795, 0.2306, 0.1493, 0.699]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1705 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=-0.0004 left_gripper=0.9991 right_x=0.4468 right_y=0.1301 right_z=0.0945 right_yaw=0.0821 right_pitch=-0.2349 right_roll=-0.0654 right_gripper=0.699\nstate[joint_eff]: [-0.1026, -1.2376, 6.9675, 1.6679, -0.0269, -0.0757, -0.0122, -0.3487, -9.2376, 6.7761, 1.8877, 0.0952, -0.0122, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4271, -0.0139, -0.0307, 0.9991, 0.6189, 1.5867, 1.1175, -0.4656, 0.3737, 0.3229, 0.9971]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1699 left_yaw=-0.0003 left_pitch=-0.058 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3686 right_y=0.1878 right_z=0.1301 right_yaw=0.1127 right_pitch=-0.2865 right_roll=-0.0923 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -1.265, 6.9675, 1.7265, -0.0611, -0.0611, -0.0171, -0.3624, -8.8274, 9.1556, 1.3358, 0.3199, 0.1245, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4309, -0.0135, -0.0307, 0.9991, 0.5758, 1.8191, 0.9691, -0.0971, 0.3397, 0.2836, 0.9972]\nstate[eef_state]: left_x=0.2903 left_y=-0.0002 left_z=0.1692 left_yaw=-0.0006 left_pitch=-0.0618 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3907 right_y=0.1877 right_z=0.0315 right_yaw=0.1172 right_pitch=-0.3122 right_roll=-0.0996 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -1.3333, 7.0906, 1.8046, -0.0171, -0.0659, -0.0171, -0.1709, -8.8821, 5.3812, 1.5946, 0.1783, -0.0708, -0.0073]\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,$blob:fffe933e3153b2b69cf0381532206721416c7b2833e31ea3844acd4c0ce6626d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b01cc4c8522b6b2adc93da72c80d24fbe5994db8ab1acf42c5491f72ee792eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a842eaec27e9023d8bf750cbaf14498312f3eee9900689d2fc0bb749259423",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBu9hpzZgcjobBUFFXI-VerBzFiFZNiafrOfD3pwIutnBy2B2Qej1iEJtlwKBZbNkoFKDXZtJQa7MOZudLjPKCwfCS9gaX7gsQaZwX1IGpt8SQMI5oJlxrpG2EZ4cDNVxNPfhXrBS_hnQo0PbbS7tXJjEcWxXmdtY1c_VlDjWZb1AbgD4Kkx1C06qj_CF7sBdS_dOx4jbPEf1yA4fQ-_8xgtfGs0bozT3ynXb4aTpW3X6bxp1cgnsFvnxs0j_16I-x65CvHV_dy_C_x5aUHAWuAOIJMqgKsR49yEU-cDURUyYxqXuvJujPYjSzqphzBUOu9sREZX_1F-FASg0dMFGnzlMp7kzFbo6HD8XXEYzTul8sunViyPCyc_dsBrvpGqX2qjXiPsehhYga_s4M4Sc2VnX3XMk9PP8or-CfFRjf0wn6obrY3qTXtuBEsvZZ2TjFH3uNZgyYufTR5jmIuq1zq1X3lntpl3_p0Cx5cjeRpJz_q7kff9BGoLBg0uk6clQlCB8PAb6gclpJ1ZYNoBqjFntGhEP-m3TrL44bIKr6U6jPqMRFY-oFyW7Qlkqk1p2DbB7p8j1C0rk62d91KcdXCJoFp3fmdLV3uKKfIgZquiGO1NNNrHi0s_a1MI9JJTXytZ0uckjrdxqMdYLqD38K8K1IDYVhA7KtzAFpf_3ggfn-Isc_zcLixkC1mq16VLvm-rjGqiSErVpN7lU5_d3IzR_yXupw_XhXVF8cMX6zPy4mmqyl_ZsCik6SaeXnIIRT8Yw7f7n_y060xF4hEf0b1KwIXC8lpKUsXhOK9bxX5xTnhEtfRNg6ZJWb0m6d2cucwblaKycLqfxCiXCZi6u09b3dRVFAOXgiEUNSJ7UZC4sXY9pA4NZjt90cwwgIyJ1k0T897OrWoRgAxdRXeJMT8AfC3DyKpJXqktIyDcLJ8-6wE846bXAlIIqeK41Szsbfe1mhLCm4SCgxQOfI14xe5wKLsWLfYSutjjINSKKlOh7-37-pFOWB6r_HvKRprCTtYPc4gCZdP_PJRECBpqOoCEHCMKuTvLIKr2X1hlxANHQAXYw7NAzN31MSgmaLe_r6QYRPielFKRmVaASx0JKb7ADhlmS_4lPr8nE2eQ2cmggeM6JVp4I_jmFRkIK8rQm6z3JnyvIys5JQPVcOyyv-YJZ41VJfo2bW4D0M8KBZb_qsRHGHnxi5IEadrdK4Jd2AYz2Sf5QlkFuW_cbwoXvpmon6VqcPdp_tIa7iA09ffxZ3TM9iaNhPscpLpq0CdKe13LoEJERvrkgZ8RQHnZ7LUlf8xQAjYh3hDMfcJfbnplbEuhOi5bhgu-gSa-xDOql3ElkWfYSJ9yLcGAjMgiZYicE83Xn3KXY9gAj2_eoIULdB-p6AgGAwIDTs6xjzl1s6n4_bguz1hSP1w1IH9gRZNwao70xMGfBb5VTZFYQHeu5iXilWjIjiDjd37Vj2RtOQOkwpaVibnc4Bxv9Ybq0nCmvSNAQJrB8hIYTScWMdbRFfOKBSWCozhJyax5l4rdOF-vVAPWChBMmDbdjHfBirzHsw==",
  "id": "rs_0bcb718a40616c3b016ab41bbccaa087d09c5d7a28eae1fa7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is between the lowered jaws. I’ll close on it and check the resulting jaw opening.\"}",
  "call_id": "call_8IXRtfe11U4vd97Gch0yoo0S",
  "id": "fc_0bcb718a40616c3b016ab41bbd62b487d0866b2560cfe79047",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8IXRtfe11U4vd97Gch0yoo0S",
  "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]: [-0.0212, 0.8135, 0.6147, -0.4343, -0.0135, -0.0307, 0.9991, 0.5758, 1.8179, 0.9691, -0.0975, 0.3431, 0.2729, 0.0239]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1685 left_yaw=-0.0006 left_pitch=-0.0652 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3909 right_y=0.1872 right_z=0.0321 right_yaw=0.1204 right_pitch=-0.3108 right_roll=-0.1091 right_gripper=0.0239\nstate[joint_eff]: [-0.0205, -1.347, 6.9675, 1.7363, -0.0464, -0.0415, -0.0122, -0.3624, -8.6222, 5.8872, 1.3455, 0.1197, 0.0806, 1.1648]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f86bf5fc8283e7e9469a3e4ec362dedee0bfab1f731a4251b8feea0e553dc697",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70682a3a9180bc540a1c170ded284faa43f57db8ab475cb78a1723ea84336169",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5092e6c70290fb759666b4eda1156cc46520ef677e49a5d4e884ea70a14840d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.33 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4244, -0.0135, -0.0307, 0.9991, 0.3626, 1.7527, 1.1069, -0.1841, 0.2314, 0.1463, 0.9964]\nstate[eef_state]: left_x=0.2912 left_y=-0.0002 left_z=0.1705 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=-0.0004 left_gripper=0.9991 right_x=0.4459 right_y=0.1297 right_z=0.0937 right_yaw=0.0828 right_pitch=-0.2397 right_roll=-0.0695 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.3333, 6.9675, 1.6679, -0.0464, -0.0659, -0.0122, -0.1026, -8.7316, 6.4342, 1.4872, 0.0122, -0.022, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4309, -0.0135, -0.0307, 0.9991, 0.5758, 1.8191, 0.9691, -0.0971, 0.3397, 0.2836, 0.9972]\nstate[eef_state]: left_x=0.2903 left_y=-0.0002 left_z=0.1692 left_yaw=-0.0006 left_pitch=-0.0618 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3907 right_y=0.1877 right_z=0.0315 right_yaw=0.1172 right_pitch=-0.3122 right_roll=-0.0996 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -1.3333, 7.0906, 1.8046, -0.0171, -0.0659, -0.0171, -0.1709, -8.8821, 5.3812, 1.5946, 0.1783, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4343, -0.0135, -0.0307, 0.9991, 0.5758, 1.8179, 0.9691, -0.0975, 0.3431, 0.2729, 0.0239]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1685 left_yaw=-0.0006 left_pitch=-0.0652 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3909 right_y=0.1872 right_z=0.0321 right_yaw=0.1204 right_pitch=-0.3108 right_roll=-0.1091 right_gripper=0.0239\nstate[joint_eff]: [-0.0205, -1.347, 6.9675, 1.7363, -0.0464, -0.0415, -0.0122, -0.3624, -8.6222, 5.8872, 1.3455, 0.1197, 0.0806, 1.1648]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f86bf5fc8283e7e9469a3e4ec362dedee0bfab1f731a4251b8feea0e553dc697",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70682a3a9180bc540a1c170ded284faa43f57db8ab475cb78a1723ea84336169",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5092e6c70290fb759666b4eda1156cc46520ef677e49a5d4e884ea70a14840d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvCTScbE1xIoYw7Thn5kH7nRELQ2YSbcm1JmtHoHTM23PznKeWPbTL9DpqMWDGc6dNGd9sdfjkhXPlQ2BUbgt3hAxLf7myvuu_RZFUz0Jkvt7_8VXeXr-ezVFeMnm-WFuR3ycFoNv51YVNC2wYLp2Py7Mh1vMPFhAyD1dvrvZ5QVky4k3wTFDzEOa3zE_liKrIKJgeetb6G-j7TGnwih9viSkw0xNTWa2E42NHtLw9s6Yo8qjygx-JSYmGSPn65nk0wUC2N9CM2OuMSC6sku6IDbuyArXBxoNILCulcBRR2u84oVQLFRN3XMDB4mvoOt8eEb7patpHL8GMeyl9nQ_O6C17qRlpqCbUCqd3cbDsgQWekY4WfZZ4c963vWkfqvkfVSjwXMj4irwkvJZvoKnB_oD8qFJV7339EQdVZilbTvEo_kCnyuxMgflbH1UL20PhMRjPL1ucRSJtClmJiZXIAtxJNx4B5KZRn3vD41tJX8v9EN2yGi13NSC2A4_OgHtNGred9fwfUmkE6ufoyr_lu10PJHvivrW2TEkUJPlLlKy2w7GR1419kD5ntGhgBiPff_8JlH0O59xPn1ExB3o-9IMc0g1kKF2ijhNaZMx5y7QctpBgGKekfK84vtK7lECsqjppcZxjtc1vjN7uhtkQVAyn6W78hLUAV8DNNLgT2M6Vd-XMJLQBfxpPsWLioi3lJBQQjzeLTowqPx6PuafVjwYBL1Xss9LyRqRtiWFyPGujpLPCvyXHrRUsevLv2ZDiRXUfKyIKRgTm_hVRdd3HzU3xOHWVVMAmmDOzW_Xk-Th3QiRqDl6VsfDxrstXEopzsFdoioIHW0xg-mtGOZWl15zbXzBHERi5Vke1JfGua4_alrGC23AdgcxthFXyfIrwSCRsBwnYQFlHe7Kfu0McIBJCXadPajf0DXHIHfya-lmz0Zegygf52kO2V3iYzh0Bl4e6ENwpq1k7gcdFBRZ2ne68r7DkZ2z3YKGMzfur4dxsYBC9RiWNBWQ3vzjfNZKfVbnPbPL87ACfWUCOYCH60esaOicqXRu3xqCZGt-iAK3Hhs9LnjNwsSS-0xMOw4-45LQWmfSh97K_wf9pr0m74MLmW64Bc03pEIPvbDx_-5Zue0yuakzvQEv6mrr5Q33eOFXF0YhOium1EMT7F6Xn_-DkPxUWpVs-d7n1tFNUI9rBxy6d6nB8gPFGoA01lv2IMjbQceTtpSPfljt2ywN96-CEaWU-mpTJ-mMsMHSM_IQMjSs6VrPW5ddGzwDTzZTgDbhCuF7jpqzhTUwyxzFjDH-L460iEf-8X8FFhuszeTsLvC36wXs_m0IDdV9j8OVj8eaoCEblTW9YFe0TuBFNPxS9ylceQBwXgHtbEVCFm01tT0U0JdDqU9ZJO_9fNLPLR-CZ-94d4emTYMI5-fcXpXIXYQCJFCcUWm9BH7Yj6AX9-dF8JwYWotaPAF_MfdViopVHrWNX6LJF4b32xRVpbumJux_-4USJvjDA6V87c8XqgJA-p5w2NSrNsDr1kiuSWwnCp_uSFdVGKVhSWzpkOw7C_x5_-M9b3QTccx21yXG950hrywo0vBoqvSD9H5R9bxnP9d3DUrOmszOkcAE6ndulFJwRHwTN86b4ZSoIW8d7b4pPjGoYP8Fc4Umi7VP21APLbohfFHBJF0aS0nYGQwXytJH3nqJy6Bq8RGKzWlL0fKOzK2mdc1fdg6fass7A7L69M5KzE1PKzyYe6Vxe7qaHZlHns4IyEwp8c7qsiK0_iw-8QOplDrVKM-U3bvNK-psQOqxHPDp0Kg8s73WMbxmrdjsCSuy90xAJtz_hEmPJP6bbhcW7_0yPsUnLLOjHo4wdOgmCmxoHBe6tiQCkarexEA_LZR61WOhqFZm4VyY2F17b2X-J0CDj12r8rEb-VsXU-5jJp8eNCuMh4yzTI4jXwY4i6x7xtta2X0aQ3NVnG70pwIe115C8jAtj4KZnafNOPgxb0iUY1DITVlK7tjYOgB0dEvxSb4XgjZoEyAy4kcNWHxujZaco-BA_DP_sgQRFGh5-quhNoxORYvSDCWrGL7Nux01IeEVUNJnrb9IfEwh7noBsx3foYB-ZhdHBZzpzLqMhieP_rknkrMo449eWOZHes8xNHrpfOyoLhgakJ1umSo9-ft0lX4Zm5-0xYiHOppsksCdlbVhCLhOS04zyuFk6i5cNuKIC9rspuIlttteLZk2sTexkyK01p2GrDmdusTZMH6lsmewsE66G52jEVBKODrMhkzBwbBr1klz32rSlFRV6g9VVBooD0QXKi",
  "id": "rs_0bcb718a40616c3b016ab41bc00a1087d0821645ef75daab42",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.355,\"right_z\":0.11},\"note\":\"The jaws closed almost completely, so that grasp missed; the yellow fruit has shifted slightly toward the base. I’ll reopen and reposition above its new location before trying again.\"}",
  "call_id": "call_DJDHxmWSb2drQIqwwkmXM9Ih",
  "id": "fc_0bcb718a40616c3b016ab41bc1f93887d0bcb694f27fbf2607",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DJDHxmWSb2drQIqwwkmXM9Ih",
  "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]: [-0.0212, 0.8135, 0.6147, -0.4404, -0.0135, -0.0307, 0.9991, 0.638, 1.6089, 1.0164, -0.4099, 0.3634, 0.3119, 0.9984]\nstate[eef_state]: left_x=0.2889 left_y=-0.0001 left_z=0.1673 left_yaw=-0.0006 left_pitch=-0.0713 left_roll=-0.0 left_gripper=0.9991 right_x=0.3513 right_y=0.1868 right_z=0.0907 right_yaw=0.1354 right_pitch=-0.3504 right_roll=-0.1263 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -1.347, 7.159, 1.7167, -0.0562, -0.0464, -0.0122, 0.335, -9.265, 8.841, 1.2723, 0.3248, 0.1441, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa3a56b7e6b7b7add622846544a3f5440aec359543d8bf4d3620023c2406563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ee36c8548ac5e7ec8173af37bb36e22aa176429e6d688bb890f214431f7c84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d7f2a7fe467edf08a8e30764cc7de1f3b304fb167f72c1819a20967808d369",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.724 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4271, -0.0139, -0.0307, 0.9991, 0.6189, 1.5867, 1.1175, -0.4656, 0.3737, 0.3229, 0.9971]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1699 left_yaw=-0.0003 left_pitch=-0.058 left_roll=-0.0001 left_gripper=0.9991 right_x=0.3686 right_y=0.1878 right_z=0.1301 right_yaw=0.1127 right_pitch=-0.2865 right_roll=-0.0923 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -1.265, 6.9675, 1.7265, -0.0611, -0.0611, -0.0171, -0.3624, -8.8274, 9.1556, 1.3358, 0.3199, 0.1245, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4343, -0.0135, -0.0307, 0.9991, 0.5758, 1.8179, 0.9691, -0.0975, 0.3431, 0.2729, 0.0239]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1685 left_yaw=-0.0006 left_pitch=-0.0652 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3909 right_y=0.1872 right_z=0.0321 right_yaw=0.1204 right_pitch=-0.3108 right_roll=-0.1091 right_gripper=0.0239\nstate[joint_eff]: [-0.0205, -1.347, 6.9675, 1.7363, -0.0464, -0.0415, -0.0122, -0.3624, -8.6222, 5.8872, 1.3455, 0.1197, 0.0806, 1.1648]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4404, -0.0135, -0.0307, 0.9991, 0.638, 1.6089, 1.0164, -0.4099, 0.3634, 0.3119, 0.9984]\nstate[eef_state]: left_x=0.2889 left_y=-0.0001 left_z=0.1673 left_yaw=-0.0006 left_pitch=-0.0713 left_roll=-0.0 left_gripper=0.9991 right_x=0.3513 right_y=0.1868 right_z=0.0907 right_yaw=0.1354 right_pitch=-0.3504 right_roll=-0.1263 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -1.347, 7.159, 1.7167, -0.0562, -0.0464, -0.0122, 0.335, -9.265, 8.841, 1.2723, 0.3248, 0.1441, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa3a56b7e6b7b7add622846544a3f5440aec359543d8bf4d3620023c2406563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ee36c8548ac5e7ec8173af37bb36e22aa176429e6d688bb890f214431f7c84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d7f2a7fe467edf08a8e30764cc7de1f3b304fb167f72c1819a20967808d369",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvHuVvFeRL8-SzNQpixBQTcsSKymYnriWQELJvuA2Ka9aVughd-f8jAGZ3d5VKIAmkCwNu76ig5mPwteQdW2VPfUdYnCttwhVzMSX4byoKvnxqZYxJ_YbNWrnGflkqQEE3glhueSjXLJyFWE95Pwipv8L774bzS60YFkuYCPwcstu4Y9J5X97g8PN3YNzmoBFYLiSBWApq15VTHkLPRq7Cqy-k5p2XaszsiVKJGJAOIhw2mzom8jVrdvqFpwqj2mItb7bnuvrgL02Q2-mGs6EbuHxRkszYxVuhPItWn0qpS1hanu_98gwCVeYGAaHeBlZ6IR8F_lpa9Y7dOx7TUs0Dc0HgpAkjbvhLx3voVhEg3JQ1cAxRdA3lIqzjaWcLqGuc4zR0gghNBAYPhH765nOyLxLETuXySIFg8Tl_sUV4fJ8PuIGsOe_4aKGZC9kLj0CYX2jYMjW7C2ltXPZ-hu7jRiJoM4K05BOl9pOFbJFH580E7iPfBX_59brxzud3fcsT9x7TLr9tD1Vfl3hXHJi_4OiF0lnTIimOEIcAk8wfNUSu6zSyo3cSk8ilTOrQjlb5NgBi5lMyjXPImP7pPRD3uxxyFPoH_LfF2rmjuuDq4ginZu8u0JVNtAigzK_DUdYTtD7Uxd4nX7xlXcoV-LJkjq7yonUwsdnYEXWAETDAsnfjJH3Q4RlQNAHqALFAa8iEZqKTL9BAw4MTZcA4j2tCjnG2t06QyjSJvaKybqfaq6kL0aOY2Js8vViWVNLXWnyGOOnSbjSt__Fv0c_69DseD_s4veqqjGLsxZEw77F9SJOprcAWNADwTqWZfsWLxmDbMlMlvPMfHzl__eG6m7DzK7x9oXGgGalDB6Mw1WsGc94yfUNS1BEzjaiiwynaiaxHqai6N9QrU0lnXm1vP62ipWFTx7gvXZc-rgmlvEIm9VslwBRO9Y2JY16WIK8oSLDJbXj_5Q4SEHgBkmnIQAfAPMMXutPQwLNCnR9EIBlazmSjgqFdTR60hTQXLSa1ibgzrFwy0gXYnf0vdDpNie6GwSKP7dCBMGMYHrr2rG1WQqiHvj7ZwusUduUZ6tdX1AcS0oMbDwXIHkJlYSEfi3brmwBGlMMFelKNvj0BI1_zkixyalIVT39zi9sXH19hIrrNFc6huqZ60wP5iA0lzG9DPKcUteqGi5_x323ETMG-eO9m0qxIC2yzWbpPq9rlxW5k76D9zWTTqMwmc7jSwoio3iabI-0R1m3jV7CehnvI01uemBm0njx9JwFaN2NEEvFxzA4rbMl6VhqaFvGRN7OPi8l06Ah2jXx9jiFC-Hr3mtXvduWwoT7KPJhZ-AIh0Ewd2NWGQwAZhggVO0Z71O1sezEfI3PrnMPr2Pwy3wp6dSRjNCR5KQpLjaKRO3KH7ga13APkHNxD2Xd6VvuvMSueeSHDrROidhSsoFrRiMln1pa6w5q9VVUPpxolyzomoTIRPsevGbFaPWzruLiIKXRQznJSROvX3FWi9EXodHREIlIqIvXh3wV3eRnh7dOanLoIuyYHr9e24o7XxgbRNLRN06XXCncaM0R5TiLQGnthT6QJsZBDTsYYd2-0cJ5qBOOady3lSfb9PQBplFCdVrwoOnRnqua1FpsslLYyQfbK_wfrEWOndeZUmjkplgfwoJXkBUgrLK2BAKpBVhHhCCRy48nXS77UFryBkpF6e49vbQqn9-dO3C1fGDBrOLMevydC2_AP9S9UpbhpdwNrNrX_FOllpQxZZe3FFeA9xW6qN_obLN4ZLo3SgQpnvqs5T2URISESFbN_SjPYK1D6kHnNX8Jb_WAtKk3Cie5qMTr3lXf5snbI5iE9cG31XQIEh-EcoRxw98yONdiydc4U5dOWT4KCdPgsxY_e0cOqXXv5EBjEfot4wQUKhEV9bjeeV-WYM",
  "id": "rs_0bcb718a40616c3b016ab41bc5adec87d0aa510776663c0cf4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.215,\"right_z\":0.035},\"note\":\"The displaced yellow fruit is visible just left of the jaw column in the wrist camera. I’ll shift the open gripper left toward its center and lower it carefully.\"}",
  "call_id": "call_8XGWhDvYofQY71u5cK3q3Z8K",
  "id": "fc_0bcb718a40616c3b016ab41bc716a087d0a7b7e46b4fefcc7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8XGWhDvYofQY71u5cK3q3Z8K",
  "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]: [-0.0212, 0.8135, 0.6147, -0.4461, -0.0135, -0.0303, 0.9991, 0.6788, 1.8084, 1.0084, -0.2428, 0.3698, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1661 left_yaw=-0.0008 left_pitch=-0.077 left_roll=0.0004 left_gripper=0.9991 right_x=0.3602 right_y=0.2131 right_z=0.032 right_yaw=0.1511 right_pitch=-0.3813 right_roll=-0.1388 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.2103, 6.9675, 1.7314, -0.0415, -0.0317, -0.0122, 0.4308, -9.0462, 5.641, 1.4286, 0.2564, 0.1148, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e1fef7405eded904671a2597767f2527847909204b73b09f90bb8be261a1a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a9cde94e37f0d9819ee0e5953c1479bf943af81f927cb3649fec51823f5a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89654359eb8c03060c7ae23cb335667df979aadf0053f86b6975936362beac93",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.62 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4309, -0.0135, -0.0307, 0.9991, 0.5758, 1.8191, 0.9691, -0.0971, 0.3397, 0.2836, 0.9972]\nstate[eef_state]: left_x=0.2903 left_y=-0.0002 left_z=0.1692 left_yaw=-0.0006 left_pitch=-0.0618 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3907 right_y=0.1877 right_z=0.0315 right_yaw=0.1172 right_pitch=-0.3122 right_roll=-0.0996 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -1.3333, 7.0906, 1.8046, -0.0171, -0.0659, -0.0171, -0.1709, -8.8821, 5.3812, 1.5946, 0.1783, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4404, -0.0135, -0.0307, 0.9991, 0.638, 1.6089, 1.0164, -0.4099, 0.3634, 0.3119, 0.9984]\nstate[eef_state]: left_x=0.2889 left_y=-0.0001 left_z=0.1673 left_yaw=-0.0006 left_pitch=-0.0713 left_roll=-0.0 left_gripper=0.9991 right_x=0.3513 right_y=0.1868 right_z=0.0907 right_yaw=0.1354 right_pitch=-0.3504 right_roll=-0.1263 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -1.347, 7.159, 1.7167, -0.0562, -0.0464, -0.0122, 0.335, -9.265, 8.841, 1.2723, 0.3248, 0.1441, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4461, -0.0135, -0.0303, 0.9991, 0.6788, 1.8084, 1.0084, -0.2428, 0.3698, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1661 left_yaw=-0.0008 left_pitch=-0.077 left_roll=0.0004 left_gripper=0.9991 right_x=0.3602 right_y=0.2131 right_z=0.032 right_yaw=0.1511 right_pitch=-0.3813 right_roll=-0.1388 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.2103, 6.9675, 1.7314, -0.0415, -0.0317, -0.0122, 0.4308, -9.0462, 5.641, 1.4286, 0.2564, 0.1148, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e1fef7405eded904671a2597767f2527847909204b73b09f90bb8be261a1a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a9cde94e37f0d9819ee0e5953c1479bf943af81f927cb3649fec51823f5a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89654359eb8c03060c7ae23cb335667df979aadf0053f86b6975936362beac93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvN04go-p4v4hGQEMT-S9ANl5sJw6BoreWufyRXMLB9EtTSVn5238fZKrK-Adr3uYGvSrqiexYEizwtiVIbzH9VpoHGzrxh7Lr50IJR3SX5T7KRKQtj90bvGhWqSwOfCRho6ZTeaLsbtvRvs02PHDd64-NMpCJUGDc9zzur6F1iuxysiLsGvw9v54Px0ij4_XeNoChOq4D55v-JDRRB4FVeKqeDtLuNAAp_HO6JaNUv2qv-OR_PmMvkDSZxTL_kW8DnnrhyY-z66bwyUwEHXbsTgfBYVL9oZDCH0FcQw6jUrLh-RlW1NXlVEa_hgfoXGzp4bgqdtUrZF2iwzK2-ykSQ6MYv2SsqMTz_8TI2foAXQDrvMgVMBaFGkgGk69wMnNltxk-M6vFkTC4zHvcpUN6n4rXFH54jKh4MgUIkIm1YJ4dBSuQmVzO5ACGAjEsPmSTyW2P1ksaLoCDggg-gcYiZgeSdMuzN89YKiBj783V5OQWLRu6ZrLu0NYwLRAE7rkXkwYcjkZPJQepWd_OnJNmm04PaVU823cIsURVTLyVV2VF_vBSfGv2dqYJ5QMhY5rAzFRICA6t9GrGUdv6rcqOps0UzGl4rv_JB9U_2LH0xvmkZjuxQ2OmUPb6Ex5KqKC6VWZ4f5t8a7spo2akO2793_QpmP9pwEwVbtydk_ODQZMfz0prT40eZsRCqGKPVM1yAPKOttAlERIf5wDj0ltcRzWmRLhn9ZBngRGh-yygNGywXTaMKM74haLdhPWgpNGkLaK_KTw9VS3gl1A-wkjXmiTXX5aNq9lV7c6FzfIPaaYyPLwIcrwFUKFDUg1bqQ4X5wLceW3wWzp4U3WuDsB4kbsLspZeV-f922hWqEPGPf4Bym3OV45G0yxL73HlVSY6AEEoi2RJAY2KJsdbwC_lPfRq45o5zqJdyhfw5GpWCytmx-rXvRwYBLHWB91gMJk9sFryE8YLYK3492CnHC3h6CukIQzlXVBO02q5ENg6KuGHpvrrT9PtqVJ70wHdpf5q9njTXqEEXD1XqaL3YPpi2VNo4gLmyfbVYwnPAbhjLDgB5xAfAa2e65RzSNNiLk5QM8cRJLZ-ztUdtTyBHoTba-FvuUM6E7P45F8dGbu30gfG6Lx4XL0fZM-rBYcLXpdcMbHDUCyGq2XuImoRVG2XLKsUrQ4XqNhzrd5La-sHWiMH0-ghUWUmWv-IIHp91FRMw1U_431Yga1UjKfpRWOkp-im2d-AM7pREgq2sN87btgbP-1Z9xPeUC5NB8uKKHlxbmOcG_SJcHaj25VOskJ-aoULDVsEdFZYQRt8_1K9z9rk-EaVU8PgOlHnJSdR_A33vfPFjTJaS-Yb6sq7muE8ssJP2upYFv97DcZMdHKlJ0hnPg_KS8K0nUSdDFMoyvqQW9KX1TW9KOFOULJ86dWSqf9qRMVCW5qAJlaarx-4VuieW0k0LWsPATsB8ZBrEudyTe9r1XQNl3sH9oUVJt31L4Qf0bWfnoobQpXAybAooamCYS5jQAOVJwbjcXkgXTmXHDoL75psGyAII5hIBUPMD38x0Dc7UXEBWEiYPsZH2IAP_ClYNmwtIgMeGJPebEhvpcU3kXKPRgo2w1Cug3uOA8vYyMG6x7yEm-ZmGSW7IVS3lcHyyZo7ycgdXFkZE6uVMFtuX1QVYxFLX5iHZEb1hvHM3kvN49K1i7Qj0K-Qg-A4d0L2VmUZ7Y5YU-B0bElbbXwddJmGTYqJ24LLZB_P2K3o33EJ3aJQVNgsSdsKZpRblU4wMRy4hMpnLN8Md6AyuPzAKp00CJnl-yr0_3EXdgzHPSFxlm9tfQXaMm-QpcnJTWw9mq3hxhjK2yxMJ7f74ySflvgI79UOBuGG0DydRfyM2jlwPBdFXT_VKdIXhC_5azsBYOv2mzP5s7oa1_aeI21zoy-_aeOcjtypGmpc_m1LgCYFefG_27DzXH7D6u_BCi7pdb_4cDMGoKfPUdDqDPutAN38Oh62kYG9rPw9oHaY0P6UiUnVWDe9LdokVUd82IRdmNPgVcF4K34hYW7G6NwPVSvkE8VB0dpmTzOhleAHIkJUo8QBQ0NjQlYQRFBDqY97vZLLWBlRreQoQ8GZ6KEZ4_ViaeMBiyMIwOp8bzrS94AkJx5iK6nK4u1p4Bv1xvkDmy1QCsF0OJ3jzIxjpWPM7psQlQjc4DOe-GSs2NxWLCCosqpCt45E_aTy5rjnTjMYiZLJgmdAkx1K92KCOz_GHSzSy-315nKliq7ASqTH4Lmfzp1_ZCooJ-wuufyPyJ0eotgqcxesDB0miiKfERnKAnA0Pp82rL7l92UZ3sJuPt-fxdISmFliyTTEzzOaAN2OXVfMpUGIbLrnwUCJXruX7eWPOUFh_K27FZ3YmSUiozqln5hprJlGfnh7Ob8PrhDMD-dKv0q5nORMYCjYfO5Xy26ITpX9UcKmpt-Xx1WiVhPVONMvE06EKxFbNduxhVrldgiZnlU_GZ4DyI09pZJnuMIzbFteoBWr6d93KJqYwGaTvAoJohhaRUh_lFUjlW0u6IenWWZrs_UgrWGO7RsO7GTZXfuBAtVO3d8vONB5qhS-cSszVCgxtpifVHOU=",
  "id": "rs_0bcb718a40616c3b016ab41bc9caf487d0904db4a124d96389",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.338,\"right_y\":0.21},\"note\":\"The yellow fruit now appears partly below the wrist image, indicating the fingertips have gone just past its center. I’ll pull back about two centimeters before closing.\"}",
  "call_id": "call_XzpHCJVtPO0ewMPjrg2Us86y",
  "id": "fc_0bcb718a40616c3b016ab41bccd2f487d09666c777224a1634",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XzpHCJVtPO0ewMPjrg2Us86y",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4469, -0.0135, -0.0307, 0.9991, 0.6922, 1.8015, 0.9764, -0.239, 0.3702, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.166 left_yaw=-0.0006 left_pitch=-0.0778 left_roll=0.0001 left_gripper=0.9991 right_x=0.35 right_y=0.2118 right_z=0.0246 right_yaw=0.1597 right_pitch=-0.3996 right_roll=-0.1508 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.1419, 7.1043, 1.6532, -0.0269, -0.0611, -0.0122, 0.3897, -10.4821, 5.2855, 1.1404, 0.2271, 0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7953427adc0704904ea026711f72d141c030569c17b5ff0b5c9699623d1d0548",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618998008e4bf31d9efa94dcaad175293a0acbfc396bef9ddb85413ddf3eb29c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccc2d628bedcb39307170fe19decc9a4f0da1017518b30abecb0ff6011ab1a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.49 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4343, -0.0135, -0.0307, 0.9991, 0.5758, 1.8179, 0.9691, -0.0975, 0.3431, 0.2729, 0.0239]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1685 left_yaw=-0.0006 left_pitch=-0.0652 left_roll=-0.0002 left_gripper=0.9991 right_x=0.3909 right_y=0.1872 right_z=0.0321 right_yaw=0.1204 right_pitch=-0.3108 right_roll=-0.1091 right_gripper=0.0239\nstate[joint_eff]: [-0.0205, -1.347, 6.9675, 1.7363, -0.0464, -0.0415, -0.0122, -0.3624, -8.6222, 5.8872, 1.3455, 0.1197, 0.0806, 1.1648]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4461, -0.0135, -0.0303, 0.9991, 0.6788, 1.8084, 1.0084, -0.2428, 0.3698, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1661 left_yaw=-0.0008 left_pitch=-0.077 left_roll=0.0004 left_gripper=0.9991 right_x=0.3602 right_y=0.2131 right_z=0.032 right_yaw=0.1511 right_pitch=-0.3813 right_roll=-0.1388 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.2103, 6.9675, 1.7314, -0.0415, -0.0317, -0.0122, 0.4308, -9.0462, 5.641, 1.4286, 0.2564, 0.1148, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4469, -0.0135, -0.0307, 0.9991, 0.6922, 1.8015, 0.9764, -0.239, 0.3702, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.166 left_yaw=-0.0006 left_pitch=-0.0778 left_roll=0.0001 left_gripper=0.9991 right_x=0.35 right_y=0.2118 right_z=0.0246 right_yaw=0.1597 right_pitch=-0.3996 right_roll=-0.1508 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.1419, 7.1043, 1.6532, -0.0269, -0.0611, -0.0122, 0.3897, -10.4821, 5.2855, 1.1404, 0.2271, 0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7953427adc0704904ea026711f72d141c030569c17b5ff0b5c9699623d1d0548",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618998008e4bf31d9efa94dcaad175293a0acbfc396bef9ddb85413ddf3eb29c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccc2d628bedcb39307170fe19decc9a4f0da1017518b30abecb0ff6011ab1a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvRTsi46ssONYZazUKQTnnzKxv0M-giyW0ffltQ_KnH3rthUyMu577SI2BRKQbMIOKTM6BA6qTLyRqEQXlT5k3_oXoBohoo0QrgSvEdwgbvq9gOLB7IE2PwuLbfFur4-mVKisgh_ZnBHSF3yvvKfcD5hBmCO1O2Wbf-aH9lb-V56Qui5Aw73kk5XjQf4BgA7rtwD5-IPjEy74r6muPTpYuwx2VNynF5B_XfV3Tg16iSxeCQPrsd1A43PwI3G3rqSkcIEMXZktoWZB6Vn6GuiylxOjJ_uw-4y138nSsRenBsGcQ6RnU2ntfYf_bTv_5Bddazcs-209csx0bKhy18q9GyFsbO9Z273lgrMQn0n-4NSb2ugIO-qcFu5ANyB0XrURfLRnpJIpiOQL0Uk2woZtvTS7b4rmoAFsW_dzL6IaJG3LgY3NLYxOoo2WyLZbGrHXfTr0g15DjwRW4XJWvOiBGMRfXCcE-OtonW1iY9l6YmMt8yWDf3owiS3g5ytJ8Ox6qc1pA9_R2njyDhOibhMhPsd4dnCQBdbHuGAC8okk2jCYAC6Ub9KdVc4mWqnQf5N7OFWoUM2X8doMD9ZJad7_fMMj_7pAaQRaLON0rUZCPiesuLpo0dI51nTB-SgN5V05RqcxNKWFGGFF-rDmrpAvxXyQL4LqYbm0JiJERlzOB23LT1HWFBrCVE7A1au6oQWUYtBomFMhINbehZrZ2jAzpioo5aLyjd-ed-D41vbCexsPLMg33JE9whkhNfzvk7vbMv_c_qQOS35KIpam0z3WH7HI4ck_ZyPAPo_SJT_9rH7FhvhJODZWIUTnNaNYrJiyjqaUDH53IaevaUWdd5UtnKbw-A_U0Y7SAUrKMF9P6niVNK8gvCj3bsKgQiGOBbFDxhRqzLIs2gf0myY8sThTs-U0W02kzuwKPN09UVlM9rG90APADmPIUwN1AFmz1DSo6kYmwbcoH0kFenCHStwE-U9jUXF38jO9f4U7is1ey1lBGKFHLv4E_jp8I7uCp-6t526A6314_YZ4mNGHXofLRwLjm_42hFB7SDpBIUV60f1lUpi38DoKnDhuCrfYo3tJgSjzJA0lhmIjUYpeHVCpPf6A_ee0P9-eqXF5Vic6czktSf2izRllzJVMukgDK46sY_4th2HeGnZJKRk384T6hXOx8qaMU_gB2sYNLi1uLOBaMVGTxES7SuCOZR9F2ECxH3xHLK_kiK7QO479li_EsfOZhTGoZdFv96sJwV7Dhb6bH8-FeviJ35g0CVx2x-a73KATOSNogFWLzvtM3tn4usGfYOVu5Xu7QZ6Ynin9fVzQtwGBhyyc5vSE4IyV_2FfOAYhWKrpf0LixWKoI4W0RFr-3pVjf-zX4gZbwJFMjqWruE-AzPD5pTridnTmTnX2T3ETYVCizLvVEPifvAjBIO_uNCjDDFZCxql5rHwN1vZ4VpTNY-GMbzBozGn1yfxyO4Tl3ACouWpXfyKHphrGMJVAHrZWIABMNMHNU2g658Je4=",
  "id": "rs_0bcb718a40616c3b016ab41bcee11c87d0a08d223f7f9fc09f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_z\":0.04},\"note\":\"The first pullback was smaller than requested, and the yellow fruit still sits at the very bottom of the wrist image. I’ll pull back another small amount and raise slightly to center the jaws on it.\"}",
  "call_id": "call_BAX8vMqplNUbSsEfafWGt600",
  "id": "fc_0bcb718a40616c3b016ab41bd07cd887d08af0b9c46df01c55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BAX8vMqplNUbSsEfafWGt600",
  "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]: [-0.0212, 0.8154, 0.6147, -0.45, -0.0135, -0.0307, 0.9991, 0.6922, 1.8008, 0.9756, -0.2432, 0.3702, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1649 left_yaw=-0.0006 left_pitch=-0.0828 left_roll=0.0002 left_gripper=0.9991 right_x=0.3491 right_y=0.2111 right_z=0.0242 right_yaw=0.1588 right_pitch=-0.4032 right_roll=-0.1531 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.388, 7.159, 1.7411, -0.0659, -0.0806, -0.0171, 0.335, -10.3043, 5.1897, 1.1453, 0.2076, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac128b9aa81430dc5007228debcbd380ac4d1394fd0c44b67b830882cb5ca13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a8960f7cdd195d35360911f4b819230b0af665fdb617e25ba67a7fd84db077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c78f53d91ca49c0a229afb8515dfd3d47ee330bd6f4f130d53ff6f29849e809",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.277 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4404, -0.0135, -0.0307, 0.9991, 0.638, 1.6089, 1.0164, -0.4099, 0.3634, 0.3119, 0.9984]\nstate[eef_state]: left_x=0.2889 left_y=-0.0001 left_z=0.1673 left_yaw=-0.0006 left_pitch=-0.0713 left_roll=-0.0 left_gripper=0.9991 right_x=0.3513 right_y=0.1868 right_z=0.0907 right_yaw=0.1354 right_pitch=-0.3504 right_roll=-0.1263 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -1.347, 7.159, 1.7167, -0.0562, -0.0464, -0.0122, 0.335, -9.265, 8.841, 1.2723, 0.3248, 0.1441, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4469, -0.0135, -0.0307, 0.9991, 0.6922, 1.8015, 0.9764, -0.239, 0.3702, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.166 left_yaw=-0.0006 left_pitch=-0.0778 left_roll=0.0001 left_gripper=0.9991 right_x=0.35 right_y=0.2118 right_z=0.0246 right_yaw=0.1597 right_pitch=-0.3996 right_roll=-0.1508 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.1419, 7.1043, 1.6532, -0.0269, -0.0611, -0.0122, 0.3897, -10.4821, 5.2855, 1.1404, 0.2271, 0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.45, -0.0135, -0.0307, 0.9991, 0.6922, 1.8008, 0.9756, -0.2432, 0.3702, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1649 left_yaw=-0.0006 left_pitch=-0.0828 left_roll=0.0002 left_gripper=0.9991 right_x=0.3491 right_y=0.2111 right_z=0.0242 right_yaw=0.1588 right_pitch=-0.4032 right_roll=-0.1531 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.388, 7.159, 1.7411, -0.0659, -0.0806, -0.0171, 0.335, -10.3043, 5.1897, 1.1453, 0.2076, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac128b9aa81430dc5007228debcbd380ac4d1394fd0c44b67b830882cb5ca13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a8960f7cdd195d35360911f4b819230b0af665fdb617e25ba67a7fd84db077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c78f53d91ca49c0a229afb8515dfd3d47ee330bd6f4f130d53ff6f29849e809",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvUUbuAxOz8uV1MtE9nHuMsNAntHc6uiUQ6MHAhI6ARxFxesUztkmGcwvA82qqqlqhU78MiwtpncIi_CKysloE1NPCHJm0U6Hj2dOMnF-4IesKc3eYsTL_oPQFxWnQTE2gmJAt5WBoIniE22tZ4Knma3BTH-JWGr1BSij_iTl7qwwnVr71lCuLMDHbgZSt9PNi2rri_5Voa6DAshJXAd8-FJLmwsQUiJ6lB-HzctXlNIoJnicCs18yPatvUn4Uzw9DLHG-e5TJ431UuWxNIr70rfEnvaTYyHlyh5CPLaB9sO0_TvP5vSoaiAg5k5u0mDRDRaT_S99B8ypbU7MjyV_ZW9LkowaijkGM3J6b660E7nz5qKGoUZpQFvMXVnEYa9uGPqxb7bivx1rKegqLkXESgemJLp0aSQwySMwe3ucuvTtLQMDLe63P5CpmJHknQeLaIGk8s54Eu5nXEUwbfUrDd7-cvPplzjw5nOkU5UnegbrilG4_AJg4g7ePYo5DTDX0fneeEj_8_pUUwnz2JDmX4ws1O9pxLdgtxuNHf-qNb-H9gF1yNHO1NJAcbUpxXYi0GAyLN5MoPEAUc2gbyVDgfn971QnqHwW-Np6vuvQpahCEV7gLDrYi53WbpUyxyX5gtXKR8p_EtftW-EkgHKYZbIpoJsZk3fGP_0i4zYNGYUDH81mSdawn77-MBZsVZ0-4fstPJTbpUnxNRRwRWgbi8bpSG9ieJNt-B4diunSReXxRyaTz4H83ELrA4fEMVvzwaJzeP0CtaK2gV7FoAWysbhzkuLAagSNWOiiprso8JB4qesKJWd9SsjdKcgi2MOphRRzRkNbl53ViqCIhvaKlNpLpvOJ8XbpVGiN77A6tO59Z8nV_ym1i6mX3zuAptPiLjD_PybjReAIoWAI9jEh3zKQLdQwfnxzdDHULkv_qo-I_zgvZCeoNOF0hXOtkNZEr0MJ2nR7SNEdnyqVv59wfAa3JY_ZUocB9C6QJ1TXPa9OVP2ERQoFgjV5wd3tvd_3kDmHIfm8uKz-QO4PLLteJDMVU9AYlOUOzqyznp1PEI9z_o9v3GtfpKuIU8XxC7X0dEqjgQU7GLL-IgsAAhfLUPF-5kYtskmmT9fh2FZQifon4L29UegqobSob-6rlZgeT84-kU5Kje9hPbhOLAr5MyCQkpNmPbwZv6AF2hlEl2L0E6rE5qaExu7QzlboPjlQu98b98rSxioTglyiVrQfTMCJ1gM0Sy67sIqe7sH-ndgKqehZcAIDeSs6lIRufWu4tNWXGtuWZsIjdBpwhcUBkW_Cyy8jlTKVu0c0kxdgfo1V42eIWqZxBRNX41lRTNc78SZ6DlivvJ8U9KEp7BF7tFsVCRfKgMn-PCuPllyRoVKSLSaYnP1zl6nfkEfBKtJ2KchDJe988d5sWS-pP7vTMqWclwx8NZb7zmtpV32qSnyVabJhfImssYNtlh3wYvcDgttdJgoteOa7geZ6sP5ak6N1z7N5SY71K5MbQJwicbkOks_sJ4VliMsJ4AjOtxtUbnXIzqyCUhJu2r2x0y9Jv6YfMoIXVsmBJOn1ktgbphZeY7-ameHG124gpthxShXQUx8kbxaTbCLaR2wghfNgJrlg==",
  "id": "rs_0bcb718a40616c3b016ab41bd360ec87d0afa5cf49671d5b25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_z\":0.13},\"note\":\"At this low height the arm is barely tracking the backward target, likely because it is contacting the table or fruit. I’ll lift clear before moving back over the yellow fruit.\"}",
  "call_id": "call_DqRAzOpKdAL9P3XfxJUO6P3f",
  "id": "fc_0bcb718a40616c3b016ab41bd3ff7887d0a7889ccc74119813",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DqRAzOpKdAL9P3XfxJUO6P3f",
  "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]: [-0.0212, 0.8154, 0.6147, -0.4511, -0.0135, -0.0307, 0.9991, 0.6918, 1.8008, 0.9756, -0.2432, 0.3702, 0.3332, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0001 left_z=0.1647 left_yaw=-0.0006 left_pitch=-0.0839 left_roll=0.0002 left_gripper=0.9991 right_x=0.3492 right_y=0.2109 right_z=0.0242 right_yaw=0.1586 right_pitch=-0.4032 right_roll=-0.1533 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.1692, 7.1043, 1.6825, -0.0415, -0.0366, -0.0171, 0.1573, -10.2359, 5.1761, 1.1551, 0.2027, 0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef559ca7c47327b0c727696b49b844a36a0f17c6477ef1e4eb8d4b9ff21a3a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec9b2890c4d5d19bce7e24db35e5a97fb03d4ae6752c29d6b52c51a7adcf8f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ccea345a169bc44b51c1180b17a5873e818a61ce476aee51d4a81969b7ab2c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.756 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4461, -0.0135, -0.0303, 0.9991, 0.6788, 1.8084, 1.0084, -0.2428, 0.3698, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1661 left_yaw=-0.0008 left_pitch=-0.077 left_roll=0.0004 left_gripper=0.9991 right_x=0.3602 right_y=0.2131 right_z=0.032 right_yaw=0.1511 right_pitch=-0.3813 right_roll=-0.1388 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.2103, 6.9675, 1.7314, -0.0415, -0.0317, -0.0122, 0.4308, -9.0462, 5.641, 1.4286, 0.2564, 0.1148, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.45, -0.0135, -0.0307, 0.9991, 0.6922, 1.8008, 0.9756, -0.2432, 0.3702, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1649 left_yaw=-0.0006 left_pitch=-0.0828 left_roll=0.0002 left_gripper=0.9991 right_x=0.3491 right_y=0.2111 right_z=0.0242 right_yaw=0.1588 right_pitch=-0.4032 right_roll=-0.1531 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.388, 7.159, 1.7411, -0.0659, -0.0806, -0.0171, 0.335, -10.3043, 5.1897, 1.1453, 0.2076, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4511, -0.0135, -0.0307, 0.9991, 0.6918, 1.8008, 0.9756, -0.2432, 0.3702, 0.3332, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0001 left_z=0.1647 left_yaw=-0.0006 left_pitch=-0.0839 left_roll=0.0002 left_gripper=0.9991 right_x=0.3492 right_y=0.2109 right_z=0.0242 right_yaw=0.1586 right_pitch=-0.4032 right_roll=-0.1533 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.1692, 7.1043, 1.6825, -0.0415, -0.0366, -0.0171, 0.1573, -10.2359, 5.1761, 1.1551, 0.2027, 0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef559ca7c47327b0c727696b49b844a36a0f17c6477ef1e4eb8d4b9ff21a3a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec9b2890c4d5d19bce7e24db35e5a97fb03d4ae6752c29d6b52c51a7adcf8f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ccea345a169bc44b51c1180b17a5873e818a61ce476aee51d4a81969b7ab2c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvXwz5MipEdqjzx_z1nxEYDplsufUHkt6EaDiYGx5OE_XCXpLdMT2N5dPFX5NquXtFZJXGx2NK6eKb8hcQdTu_93TXDOlfWf5HlGuVJedoQEyY8YlabbXCgT3G8OZ0y0iPA6E3dWiqPXwOlNzmu7qPOls1KN7VnFzg1Au4VBrLoSJg8cHhHuDm_CWfq0oXPVwmzl6y45c0bCw_xxN6fE0GsVfrcPQ-xCsPp40v5SHSk3n6ltw2ncCCTi6sSSN1DXk3js2DjJW_qn0C3fBvUhv0lOD-HdQ5z83vv40N5pzVl4EsEAcEy5FgMMGhXltlsMaQvNMw6Jbyr3eIliJSUJd45cLhqFq4gsaJzxy_M9Bk8Cuxn1QX3U01fpQmQHWO23UyxDxtLTsa3HoTPxuTp0PsWXYYrynTvFJima9B8AYLRvFP0VUwN-kpElzASb6cJe5iMhaP_cLzRFJiIRrZliaXgniyHXAM17dYQ6iRpA7_R-Oqme7RYihQV09BfeGII41h1HhZJ8L5KroljEuWAnJ-ZISbR9-yfhi82XnoCF4Qw-L1bsiOPxv-JJNaUeESpt5V6FOU4YrEY50Kx-7sZQnw2C4OU-t5BI6xbm_BHl4l2HoSpXe1A6iDd6p47__za6mTuslqQ7zkvpqSd9jnRHXAudxKdimwbn_akWp-jSjj6XJKrhCrdRP3Gi5AywEfbzF69eBLq029_eoJ6YuTlz7l9R_J6BOMyEbA6hlID75505JXZx5ejmXACGKXFlD5p5d5416DAVJCB_mBuPtVZ6DCZtWdSXFmThWD5HOH0G3nyUAUWI_8daIDXRs24JaUiHax_luSqh9pFR3w534hoVGgrNFeMslzVtT19Y8kzvgVtk9GfvnwSHZLoumjPQs_zCYKrb8Q7hyLpRLlSYU8mH8hQ105huAErvRZeAutyeznnNByAEAQdcmSyooUsfdtUnGWZctpnoihf7E5R9YXwoHZXJ6VM30iEuSInAXTxFMpN9cNBhExo5hZmsDmm3UIrfqo8bIEP5tEkDEIEGJnisxrQymNctl5r8FusefEvruXKB-GlJ5U9GVJoKdb8mRSN6685e3cjSyoCLHuXVW_3m5xLaUZ4MDXWL1eJ_KCUOW8CvK2_BNS6Xh86_yUZCGYUrLGwHcc_A8xZuQ84fnjDF38PlX-TjOJaFcrqc48cL5QPBhCilSQl2ZhZRUzQcwDWvi8NwmmIuj2Qjr7zsBn_-sy3hzBauSIn5qT8Caf2mZbM-RBIv9lE5FIK-8ztr0aZphiyozWEzrRd1M11vk2ACyxgdjIYLNV7nWhI_qUI68WRk3FSO7DW0nu8Wam2mRHIEK4R320GfpEuwGJ8-fxqriyZi28iZvg7J9NO0KtbfS26-zm-iSzR6gTE2wuz7Tsy6vYBSB-c0kXnfVNBIjSijzoVzBL5LskwVG65gx4eVUb_DnylfDJNE3GSmmVby5XABbm6HAJiXafDLN0vhZBdKXpOUnIy7dJXN2yunS9iUCbmMDY-QOQt6WTnr5KsvnG0ehojPAHjjY-VKhlQMU_lgIJoAA==",
  "id": "rs_0bcb718a40616c3b016ab41bd6ab3487d0b6056347e71f5f3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.16,\"right_z\":0.18},\"note\":\"The right arm did not lift from the low pose, and the blue bowl rim is close beside its jaws. I’ll try an upward-and-forward retreat to clear the contact.\"}",
  "call_id": "call_Zkr8pLIXHRsmy34hxgShmiPC",
  "id": "fc_0bcb718a40616c3b016ab41bd7509c87d09104296291136261",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zkr8pLIXHRsmy34hxgShmiPC",
  "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]: [-0.0212, 0.8154, 0.6147, -0.4538, -0.0135, -0.0303, 0.9991, 0.4835, 1.6962, 1.4452, -0.7929, 0.2642, 0.1402, 0.9986]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1641 left_yaw=-0.0008 left_pitch=-0.0866 left_roll=0.0006 left_gripper=0.9991 right_x=0.3971 right_y=0.1605 right_z=0.1634 right_yaw=0.1561 right_pitch=-0.4365 right_roll=-0.168 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3333, 6.9675, 1.6825, -0.0024, -0.0464, -0.0122, -0.253, -9.8393, 7.9385, 1.1111, 0.0708, 0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5b2bea228f92602029b4b689fd15e40a87ddfdd15906f63e757da07a67bd7a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99146944301e574a424a2208fdce1382e25e5742932c32db808b971ac7390292",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6124c0b435948748e4e45ad4808c52859ed599f861692596589e3ff96266e8d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.796 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6147, -0.4469, -0.0135, -0.0307, 0.9991, 0.6922, 1.8015, 0.9764, -0.239, 0.3702, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.166 left_yaw=-0.0006 left_pitch=-0.0778 left_roll=0.0001 left_gripper=0.9991 right_x=0.35 right_y=0.2118 right_z=0.0246 right_yaw=0.1597 right_pitch=-0.3996 right_roll=-0.1508 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -1.1419, 7.1043, 1.6532, -0.0269, -0.0611, -0.0122, 0.3897, -10.4821, 5.2855, 1.1404, 0.2271, 0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4511, -0.0135, -0.0307, 0.9991, 0.6918, 1.8008, 0.9756, -0.2432, 0.3702, 0.3332, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0001 left_z=0.1647 left_yaw=-0.0006 left_pitch=-0.0839 left_roll=0.0002 left_gripper=0.9991 right_x=0.3492 right_y=0.2109 right_z=0.0242 right_yaw=0.1586 right_pitch=-0.4032 right_roll=-0.1533 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.1692, 7.1043, 1.6825, -0.0415, -0.0366, -0.0171, 0.1573, -10.2359, 5.1761, 1.1551, 0.2027, 0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4538, -0.0135, -0.0303, 0.9991, 0.4835, 1.6962, 1.4452, -0.7929, 0.2642, 0.1402, 0.9986]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1641 left_yaw=-0.0008 left_pitch=-0.0866 left_roll=0.0006 left_gripper=0.9991 right_x=0.3971 right_y=0.1605 right_z=0.1634 right_yaw=0.1561 right_pitch=-0.4365 right_roll=-0.168 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3333, 6.9675, 1.6825, -0.0024, -0.0464, -0.0122, -0.253, -9.8393, 7.9385, 1.1111, 0.0708, 0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5b2bea228f92602029b4b689fd15e40a87ddfdd15906f63e757da07a67bd7a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99146944301e574a424a2208fdce1382e25e5742932c32db808b971ac7390292",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6124c0b435948748e4e45ad4808c52859ed599f861692596589e3ff96266e8d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0bcb718a40616c3b016ab41bdc342087d09c8c15264566ef5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.22,\"right_z\":0.12},\"note\":\"The arm is clear again; the yellow fruit remains on the table just left of the blue bowl. I’ll re-approach it from above, staying higher until it is centered.\"}",
  "call_id": "call_oCGZI03XRkXuSjUc5RbNeOU3",
  "id": "fc_0bcb718a40616c3b016ab41bddadfc87d08cd09e58d3670db4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oCGZI03XRkXuSjUc5RbNeOU3",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4679, -0.0135, -0.0307, 0.9991, 0.6975, 1.7153, 1.3148, -0.7116, 0.3447, 0.3103, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0 left_z=0.1614 left_yaw=-0.0005 left_pitch=-0.1007 left_roll=0.0006 left_gripper=0.9991 right_x=0.3515 right_y=0.2214 right_z=0.1212 right_yaw=0.1884 right_pitch=-0.4545 right_roll=-0.1696 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.3197, 7.2, 1.8486, -0.0464, -0.0366, -0.0122, -0.212, -7.665, 6.1197, 1.243, 0.398, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:112c68578356178a58597de7164795486f161bd335bf4fa424806118bf3bddc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067fadb4a88b91204dda37554e137be39c32765690b3fd8e94d7951d5c2727fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8d9c1bb313534c19b98dfcec19d797efe9136c8e5cb1f412e54e8a626d3c299",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.929 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.45, -0.0135, -0.0307, 0.9991, 0.6922, 1.8008, 0.9756, -0.2432, 0.3702, 0.3336, 0.9986]\nstate[eef_state]: left_x=0.2875 left_y=-0.0001 left_z=0.1649 left_yaw=-0.0006 left_pitch=-0.0828 left_roll=0.0002 left_gripper=0.9991 right_x=0.3491 right_y=0.2111 right_z=0.0242 right_yaw=0.1588 right_pitch=-0.4032 right_roll=-0.1531 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.388, 7.159, 1.7411, -0.0659, -0.0806, -0.0171, 0.335, -10.3043, 5.1897, 1.1453, 0.2076, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4538, -0.0135, -0.0303, 0.9991, 0.4835, 1.6962, 1.4452, -0.7929, 0.2642, 0.1402, 0.9986]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1641 left_yaw=-0.0008 left_pitch=-0.0866 left_roll=0.0006 left_gripper=0.9991 right_x=0.3971 right_y=0.1605 right_z=0.1634 right_yaw=0.1561 right_pitch=-0.4365 right_roll=-0.168 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3333, 6.9675, 1.6825, -0.0024, -0.0464, -0.0122, -0.253, -9.8393, 7.9385, 1.1111, 0.0708, 0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4679, -0.0135, -0.0307, 0.9991, 0.6975, 1.7153, 1.3148, -0.7116, 0.3447, 0.3103, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0 left_z=0.1614 left_yaw=-0.0005 left_pitch=-0.1007 left_roll=0.0006 left_gripper=0.9991 right_x=0.3515 right_y=0.2214 right_z=0.1212 right_yaw=0.1884 right_pitch=-0.4545 right_roll=-0.1696 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.3197, 7.2, 1.8486, -0.0464, -0.0366, -0.0122, -0.212, -7.665, 6.1197, 1.243, 0.398, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:112c68578356178a58597de7164795486f161bd335bf4fa424806118bf3bddc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067fadb4a88b91204dda37554e137be39c32765690b3fd8e94d7951d5c2727fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8d9c1bb313534c19b98dfcec19d797efe9136c8e5cb1f412e54e8a626d3c299",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvk5UXv0IgEnkiHbmn0wjdAoMzUfHgQ4tXWKxxnHlvg25Gp1dvo0Dk7tc0eChBvF3XeFD4oEPU0UETGF0drx9-Kc-tUwYdbkj_9B7kuMZPbujiEGXP5hpOy1l1Tfr3W0KzlEvap8ThVkE9md9taNYyHpwE3BUAu89Jj4OLcrCDeufM0suAd0mpUQk4K7AG2EmDrz9FwqjbgXz8rIrf9t3yuRWhasSFTNujAeUPzSM9U_E-MngX83I4ZESDVibITGrLuyt6PDRqnbsupYzzcnLuQ5TsSi9aD9J9IyKW8IdIGcXjaTlGhkwLXQTT7J9TUrSYJTAJ0C0rR56xl1Q0Ab5BNWQr-TK59k7za9SSbZ8RFnzblvTzZE3U7XxCImijnmFlrehwEv6Pxsni24OZzHA_k29gItkD8F1jwuivoiaDGUNSZU-1DOghcTrqeDnnHd6cd2Mi-LpzmnmUB7ykvv_Dx623q2mYBTgZd7A3i8WkQEcNE2ejb1sqfL4iVFR7gwmlWt7k2e6TPLQdNX62wDPw-UZt0Mjy5TRr9aH9wxH6CoB34MfX6_bdCQdzUhW-Zh8liyrb9c1m5URNPtwJvwlmmqMTEHMhuN6_gGcofo0EQ6a4Mz797QwsQZXSH5KvBKuynw736g52yySld9XdBuJO6b5wY_9Iu0ha-AkKg84WCAy3IQUxdpcl82LF6F35sVZnNow3RdV83ug7TIpJxdNeGNHtUZxNbovcvamKhTRSPhatuAIExJaHE0Xi56yHdh-8VdOGewTRsDyz9WRRM_Cb5rQz6Who8tgnwTMNxzF-TaPvZl7zIvnxpL4V5IsnQqS9QFZCXQfMBT5LZESyZCW9J_iOpqHSFDB8dXWVTw2-lzea-tFT31KS2J1k6DAxlb5zacuSnNbDrA8qIri9RzhTvmDzxkiUn3F1oSit9tFrwvetJJjuPm55SkvWYo-RV-osS1RwQ4a0e3cv3bwb7xvUoPRypXGDSHAP6vJFQtPVyppO-jMaK_RLpsiS9CLdC4iQxX2sIlCqyuXvu8kFVprg3KJTJKLDUtP3EmeYHF5qUGUFt7VMgbDPPYWpu_gJux57qlvggO4b_J_7RakuJV76uC4LcUDi20kCvJkgz1E9e627k_2Sif_oSYuJgu8b4R_tMtOHm72i9P6bJujfoX0ZPU7EAI6Qmzhr703liFTxKiBU_TdVuufar42dPiS7AmhIi3KxEIcVtwrM9ZNDnK5BIfbjPomwaO08bOiK4A15EsSLX9FD-rtmSlUIVu02kepBX20LSDv_j4TzLRPQ_1oQkGVi15SbNdTONhU9cSgattSFFirhTjHjCJgX7K4STrAuc1-bzoA55hvCaw_lQ-orFFTETEQS94qrdQ-pE1b2PvBVW0B9ebAmh75crRgdmhko3HLRXn-wj2SRYTDexQmOyRpXtyIAMW2puxa6NBeTuSoAnVUD-AlLe9XI8utxr7ky19eFujsj00n33DMebkh3U5zFjFQ9yN2JZNos7n95Gw5i2ViON-BcYdHgXmA6oqMsbqAdx9n5dFzi6frVxHH9Hs-xqOeM3VoPBt3IpeqFawZlk_7fuSgPUtEKaspwY9GNsiAZnJH0n7hhNg-BPfik2RAUNcko2o8wKmqFpJ7OvUF6m-hS7gZZRiz6UZtvIBZLNFqeWq3zGQfRVZ3TkDyGezVyXK3s-9rhpTxeixTrDC4e0R3ZXZN2Hd8RUxcQ5otsCZuPy3heMdR69PjHKnQnYhI23WQ_eB_5NSrz3KFdppx-Rwa3hrD7yISdVb4KCytO7ytMTOrVgxukgLmDeTZa1AO6h7Lp8PWor4lNOmSREmIWVrM857cGFEtAai9ZFBzwGyFDkNI5qKuoZIpAg9ZyIwUyz1t2EbOmLk6U7hnVOTpbvSKFjU8nS0kgvtNHsflLjNrc0H5bQ2OrLBk4T535wdy6f74QChpINs46p4-3bA98Qg_CFA1aFB9S9DAURWufRjZX8_Q_8nqB5RfS6uWMLR3LHcDXZMZyh_wSWFzr2VOKvSXde7QvXxib6FeLvUMVQl_fZve46gWbqEY97j78JPVo6SpAky0AdRi4MyR0s50zSKHAp_zWcZ0gFnbvODCjJjw2oP2c6Hd9JKXq02ChzLhk0_9M7aenz1kFNdX0v3V2cVCS-jvzZQPtZ1YdEgjOTGZ-vcw8PxpKy-9U7n3xEVFLfqfeyvTsUIgVGPsVVn3OUFqBsMR9sEIhQnix8jTrCqL0NsZfbncP5aL27nFcFpiwr01-1315uRcS8z8n1BnyU5X-0xmCZJ-ygIC-ZUFd5_Ahb9yTX_y1hpF7nW7ER1QwrFeoFOg24CzwxNjs5s-uz-PbLdk4s8Xehb8WosJGGWRgqbUcfgg-4pwE9ES8-bqlfSZW-TdMTjWf1rae32CaDjmLZC6tyvY2g2SqZbAAub4ypLqY5hx8WbfSkxq9kzqFjPqpXUy8qPATb_Zth7WnII3Lf-pHNr9bG7rJnZJpWbZpdR3nRnRH7g6U-igzqBXFuWC1PpuZKseSW2De5pFMPiE-V13LoMPKjVyQxqDyPRt_CP9OdfbY5bEPkGk1jcEer6YXQU8zS1I6oqt5v61Cc4TaOqHLywmVjpyB775Kb9LlPhLUutyDWuFr2SRzb_b5R97528k_39vw0o-vsiTzwu_Gjoe9fQpMw8ryCmDVHa3WK6grGK4jFS6pEMM_U5TR7QHAO-khNnS-2-dWKo0wwvqzHyYlW70DED2_b7JmabKrLtjRGQeNff8E_M3zMK6fDW8awpZUJkS1eP2Gyyzr1sr1d87rtaT_lYg17O3Xvj6yFG9loL5QmZvzCyW_ARFL_KBTTgaCWMLIM0bC20Z4hH8XtE10e3G-wGMdBgHW8sXCJtIx1QM1uCkupSk6MHECi5KhhjLlJtS3dOfsnpZTfLSipSqtycpdkXWDayVLp8RzWQriEQNNWwf2OItm_pg==",
  "id": "rs_0bcb718a40616c3b016ab41be0af7087d0bf1eca00da8e3e05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.225,\"right_z\":0.04},\"note\":\"The yellow fruit is now centered in the wrist camera, separate from the blue bowl on its right. I’ll lower nearly vertically, keeping the jaws just clear of the tabletop.\"}",
  "call_id": "call_4htqimuQlCb9TtDeuvrPJ4jW",
  "id": "fc_0bcb718a40616c3b016ab41be3c2d087d0ba9106340bde7c3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4htqimuQlCb9TtDeuvrPJ4jW",
  "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]: [-0.0212, 0.8154, 0.6147, -0.4721, -0.0135, -0.0307, 0.9991, 0.725, 1.7828, 1.0733, -0.4263, 0.3439, 0.3233, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0 left_z=0.1606 left_yaw=-0.0005 left_pitch=-0.1049 left_roll=0.0007 left_gripper=0.9991 right_x=0.3366 right_y=0.2234 right_z=0.0418 right_yaw=0.203 right_pitch=-0.4742 right_roll=-0.1744 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.3197, 6.9402, 1.7265, -0.022, -0.0366, -0.0171, 0.4308, -7.6513, 5.9282, 1.2332, 0.2418, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60954b99f6ada57aeb514dba005bcec5d4609c1427caaa9441acf12c078737f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e753b7160103bfe8cc3a6b478227a69e20bef7706cb9b1180c2e6c9af95bf48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028ac868d3be194e6cd001fa30939c68de7cd5326c41527a76f87de7b6c85404",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.523 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4511, -0.0135, -0.0307, 0.9991, 0.6918, 1.8008, 0.9756, -0.2432, 0.3702, 0.3332, 0.9986]\nstate[eef_state]: left_x=0.2874 left_y=-0.0001 left_z=0.1647 left_yaw=-0.0006 left_pitch=-0.0839 left_roll=0.0002 left_gripper=0.9991 right_x=0.3492 right_y=0.2109 right_z=0.0242 right_yaw=0.1586 right_pitch=-0.4032 right_roll=-0.1533 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.1692, 7.1043, 1.6825, -0.0415, -0.0366, -0.0171, 0.1573, -10.2359, 5.1761, 1.1551, 0.2027, 0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4679, -0.0135, -0.0307, 0.9991, 0.6975, 1.7153, 1.3148, -0.7116, 0.3447, 0.3103, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0 left_z=0.1614 left_yaw=-0.0005 left_pitch=-0.1007 left_roll=0.0006 left_gripper=0.9991 right_x=0.3515 right_y=0.2214 right_z=0.1212 right_yaw=0.1884 right_pitch=-0.4545 right_roll=-0.1696 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.3197, 7.2, 1.8486, -0.0464, -0.0366, -0.0122, -0.212, -7.665, 6.1197, 1.243, 0.398, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4721, -0.0135, -0.0307, 0.9991, 0.725, 1.7828, 1.0733, -0.4263, 0.3439, 0.3233, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0 left_z=0.1606 left_yaw=-0.0005 left_pitch=-0.1049 left_roll=0.0007 left_gripper=0.9991 right_x=0.3366 right_y=0.2234 right_z=0.0418 right_yaw=0.203 right_pitch=-0.4742 right_roll=-0.1744 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.3197, 6.9402, 1.7265, -0.022, -0.0366, -0.0171, 0.4308, -7.6513, 5.9282, 1.2332, 0.2418, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60954b99f6ada57aeb514dba005bcec5d4609c1427caaa9441acf12c078737f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e753b7160103bfe8cc3a6b478227a69e20bef7706cb9b1180c2e6c9af95bf48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028ac868d3be194e6cd001fa30939c68de7cd5326c41527a76f87de7b6c85404",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvoUKVGWzL4KkmgkOmpnS1q9_lDU8ChzfPqg0Bt3cXHtkgGpTETztDPo_HvEv1fH0_pVOu3djEdxFPbvJJvIh-EuTgyr0Ez_e0CjCOPsTBudXSNlsuKv41UXxdPH6vT9iDEKN1hJqg_GuyUZIb2Gam2IWPi6F595OVj_1UNktU-0NFF1SGJ0AuJJIqc3gf0yblgTYxxkvk0BUkddnlWiNjWrbV1H8MZq6S8cCY3o4kZ7cG4w5J1J4TuqHNxCqzln5c4Z7VXTASzCW7nTaB8TTs_2GrRDoaZMOPPKj70YSunV8WN-WRr0MkWTR8bTh2CQwpj6jwqDoW6d2g9vRtZu73P2DcnfuWpYYdtDwjpRggzMOONGpmkQYec9XaqI7aEC3crBUJc-zlbI6yywW21GrRSwVLpeiShsNuqpcs0IvB81LmiFJjXxy87oN_CuGrT6V-2fF8MkN5JxWI8k7M91LTn2uBrHoencuN4b0XIyd8DxluCAqEYG7_P8xaPXtuYy3Yne15V7J7f8-L3JyF8PdxwdpbuLodIQj4FJRo2ILc7tkvBqh-mbzmkgHWkIvAqbfp5WsQzDo7Wb_-I9FIYwYyqK8-omRv56Oly5POS53Nxglif6vohLv9b209LS8dX_UdpKebLojXZ5gi3LkMuN8FFtn8JW_hEiNRERsJyUPgjdEgvqSb0u-s4KXHoSZ9jCf7ae9DiWn-LhkNFIhx1k7CytkngAzrX7HZzRfNf18-j1AaXBER0yn9ffl-UaEmZOBKnspsTIzdYLG2cn7FvYyU5JJ9roDRwcWE_fYU3DBADgi-6HhfCgRGMYl94Bl5qp9VhU_p_lOW6aEqxrdmsCkV8aZm5E95Z4DX191vrzsJTScnMMVCHedDCB6_9q-MUkeCQUtNRtrURi1lfBVOasDU5KoSQZ1CilN66KyvBfr023safeAh1uwpD3hIJmwJRn56IFpZ5MYqeP5fGWPuUTYZC6sxbf4BN_GnHFwsdfA3reB0VfV9OT6wUW9nM2tw-tvNG53nTDvaNuqo2kz61Mfm1m8j_2ltHICfAqbT0bjF3RmKtzhCMO76SIeRVW1lyMYt1MPSSknsAdtTInc19PA3WE3VrKwaaZZMAb4YFqe6qHQeLZVy-PJtRZTjHhRgjnKn7xgK_pWDrRsoJk9nvs3gGQsvlqrD9dyp9r9v_L02gt32URpw3UMRRH7zAg7AWwI81fJohXXNxR04be2x3A4Q2oca-5IHprcBsA7V_JzwIm-slklk8Dft907Sk3KT-bvzB_8bijza-ZhrZr0kBs688X8wNGjFLKPm43PVIp30o3uJxOGDN0mjagTU4YRcnEkno7txPKEfaAMGqa8Lbjx08xvwJL2uw-cTETYOM8hz-0P9aKg8XCt8OhZ_Eai9Y_KQnP8Eq-mfw1UHy1_G5r_qQRKmVd_WJ2bQhs-KqDRGNet43KMSJd8WBVpCytW_g4rHcrV1QOQITmLzSe67p636NDA5Cp8xuI7G68T5DAvjF38arRXhhLdpELXvWuCzC_wzzlzAd6TPnnlUeu9d0rrmRmIXGLj0MfXECSaJCzXDcQMhQndMU7BJkMVEus7cJu-5zaJzr2Vsp-PsVxCjYa3roIHkflRmiN5Lz5JeycPhSKy-41Nite6FoPZZQqiwxiy6ggbtAOvNyGZBDF65ckxPJ2Led7Pzsnm3sq4rb0Bgpk4F2QEemeF-nM4kGiiD2GMoIHO-IdJ-KeAa1114IvBwvqxk03EQXgknvchf840p5rUmZrlu33T--atzGyk_TdJyTNoRVJMlEs1oYMCQw0HDimgXXZPAjNRXnN2ajbWFV-6Dni9_q3_kqqwHLKWDw3sRFAxLqb5oL0JLWAxhx8xSvLug_nJeHCsf2IXyvUVF1WDJ_gDWOg0tsLvHzwywo8Sw0Z_RNIl1mJQXnLGi4yLs1jNH7Ruz0g3xyCu3msoTO-YZyev9wIPMSp9jKpe_4KWPc",
  "id": "rs_0bcb718a40616c3b016ab41be7605487d090432c5327ccfcd1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.2},\"note\":\"At grasp height the yellow fruit sits a little to the right of the jaw center. I’ll make a small sideways adjustment and pull back slightly so the jaws straddle its middle.\"}",
  "call_id": "call_3Uln933XDq0GTlxhiV0jmZO0",
  "id": "fc_0bcb718a40616c3b016ab41be8402c87d08e1051df35e85d03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3Uln933XDq0GTlxhiV0jmZO0",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4755, -0.0135, -0.0307, 0.9991, 0.6834, 1.737, 0.9855, -0.4076, 0.3317, 0.2947, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1599 left_yaw=-0.0005 left_pitch=-0.1083 left_roll=0.0007 left_gripper=0.9991 right_x=0.3275 right_y=0.1972 right_z=0.0318 right_yaw=0.1826 right_pitch=-0.5028 right_roll=-0.1925 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.0325, 6.9812, 1.7656, -0.0269, -0.0513, -0.0171, 0.0615, -9.5658, 5.8598, 1.2625, 0.0659, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7477903534e5d7fa59e083b7e50ab2148f08cfc57d9db2f7a32dfa4db5d8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d8287f4b29baab606baf4b159d7e03b2991da50cfcc9a77ac255ab7e71c03e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09004031055e1feff9e2798f68002b628af3c0f540f58c81ca6862492947833",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.323 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4538, -0.0135, -0.0303, 0.9991, 0.4835, 1.6962, 1.4452, -0.7929, 0.2642, 0.1402, 0.9986]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1641 left_yaw=-0.0008 left_pitch=-0.0866 left_roll=0.0006 left_gripper=0.9991 right_x=0.3971 right_y=0.1605 right_z=0.1634 right_yaw=0.1561 right_pitch=-0.4365 right_roll=-0.168 right_gripper=0.9986\nstate[joint_eff]: [0.0068, -1.3333, 6.9675, 1.6825, -0.0024, -0.0464, -0.0122, -0.253, -9.8393, 7.9385, 1.1111, 0.0708, 0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4721, -0.0135, -0.0307, 0.9991, 0.725, 1.7828, 1.0733, -0.4263, 0.3439, 0.3233, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0 left_z=0.1606 left_yaw=-0.0005 left_pitch=-0.1049 left_roll=0.0007 left_gripper=0.9991 right_x=0.3366 right_y=0.2234 right_z=0.0418 right_yaw=0.203 right_pitch=-0.4742 right_roll=-0.1744 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.3197, 6.9402, 1.7265, -0.022, -0.0366, -0.0171, 0.4308, -7.6513, 5.9282, 1.2332, 0.2418, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4755, -0.0135, -0.0307, 0.9991, 0.6834, 1.737, 0.9855, -0.4076, 0.3317, 0.2947, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1599 left_yaw=-0.0005 left_pitch=-0.1083 left_roll=0.0007 left_gripper=0.9991 right_x=0.3275 right_y=0.1972 right_z=0.0318 right_yaw=0.1826 right_pitch=-0.5028 right_roll=-0.1925 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.0325, 6.9812, 1.7656, -0.0269, -0.0513, -0.0171, 0.0615, -9.5658, 5.8598, 1.2625, 0.0659, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7477903534e5d7fa59e083b7e50ab2148f08cfc57d9db2f7a32dfa4db5d8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d8287f4b29baab606baf4b159d7e03b2991da50cfcc9a77ac255ab7e71c03e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09004031055e1feff9e2798f68002b628af3c0f540f58c81ca6862492947833",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvropJcsHKVvxvyyQtRdtkg2CBErPNafjUK2Qo1tLFV6nHHkp7M5FNQ51270JbEhy97d-KjUqe3z-KzPCYs43XgYVAY2OOdIlzd1f3EcZAupf8MhQvypT56zUcgOgBWqdZiBidiTRaXMX3yiIwykkIq4TRV88lIrj_hN5whyPwLMPLqtketaK-tbyhEGwS_N0Ghi5gHFGSTyh29-pSeamFNnNddpho4pkdd2lzEvXGXG-YMGMSB017dh0ddxFNegH79WSUeUhQ8Sk_fAlls37bMhOvJaCJHXercyUr0GRO8vyIRKPimbVPt1M7cw-7DRTMI6HMt-1cnR44BxJ4g752Aa-rDKVN7c5WaRkv3c4jtLJCC7ZXE5LujTNkguoGLQmp2PbDfS6MT4nmLU7DNbN2hdCVKpZOHPnFxMgD7dgm7dsPXaZWSHzI_kTC7l_Sh-Wh9Uke5UuP95TzvhZOnMkVfsHtF2P3QotCyTnTjzMCSR7o-udZbHcxutNXHSYots6azpaROVxgmVmQzmyJUnXjof22UgOn-cJpAFF-o4rUbOxepSAcynQSY7oGN0ZTyAq3sRAOuDM7z1DAgpZKcuSWDINw_t8-eqBMXaq7I-jm3cjG6K1GxeFdsTgWQYqW7pBdGczoyfUhOoq1Z3AsPKALcchVS4WapW81Mh3BGRHuF1wc9U4pymgKeVKEqA7uX-9c6RQAAICTsYQACuNNWmRwpVXc20DE5BRd8aUM_1qqwO3hodI0yHpkIS2tiYrD1iviHvJ3Dv3W-9oOkjE2BJmpVJTFDdlvqrdGJELQqtxQDsbKrAItLTdEbXMOyAIw4EgBdOSJIRntFXq2Bo84eF0lJHY0v4OgdEa1kmy03KgfXtexpVRPcocTwZdxtXHFBHk1z-uEUe-LPHn_J5R3LB_2swizu9CurpitdNMdir62NEkV_1zzXsteJHayb7-9iOYEU4t2RVz6xgBokRlw3NH9lZHjJG3_cfzusTEV6Pdu1rRYWphxMG1WWWcR8tWXGS8mLK32G-Cm7c9VWn2vnMGAshs4VRaxz-oMXYTtxU_glRMB_sGEKHfVhilKQo0eibwu9sQPtILdZTcNe_o2ccJ4j8tfvOMq7NXZoIJPlyuShCk6NEa8UhNoE-91dr0UbcASv6MmtDjGXKwdvkRaPGLsFGWJqRyNXA87fTFHklMae_ZemXvapA6duBYKySWUt9B3jyh5YGbEjVYX9eojTR--8BwK9zZu0c-BEaARIVMkZbPk=",
  "id": "rs_0bcb718a40616c3b016ab41beb23d087d0947a7b20cadef063",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is centered between the jaws at low height now. I’ll close gently and check whether the opening stays fruit-sized.\"}",
  "call_id": "call_x5QINjEqzlrVSQgZMVbk4nzx",
  "id": "fc_0bcb718a40616c3b016ab41beb53e087d099b6783612b6b5a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x5QINjEqzlrVSQgZMVbk4nzx",
  "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]: [-0.0212, 0.8154, 0.6147, -0.4759, -0.0135, -0.0307, 0.9991, 0.6785, 1.7237, 0.9836, -0.3962, 0.3252, 0.2802, 0.3907]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1598 left_yaw=-0.0005 left_pitch=-0.1087 left_roll=0.0007 left_gripper=0.9991 right_x=0.3302 right_y=0.1983 right_z=0.0368 right_yaw=0.1976 right_pitch=-0.4869 right_roll=-0.1825 right_gripper=0.3907\nstate[joint_eff]: [-0.335, -1.1145, 6.9265, 1.6239, -0.0415, -0.0415, -0.0122, 0.0889, -9.1282, 5.7641, 0.9988, 0.1392, -0.0024, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14832aa8c21b6ae872954982ebd253052b955cac9a0987edc0f4924931036df5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11432a4cd237e1aa778d3d4e7b048bdef09d36dad4aa17a471ec37d348ac5a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5206786eb533a3474a660d459433583f6067b62cf5712e8056f2efafbf77db5a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.824 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4679, -0.0135, -0.0307, 0.9991, 0.6975, 1.7153, 1.3148, -0.7116, 0.3447, 0.3103, 0.9986]\nstate[eef_state]: left_x=0.2848 left_y=-0.0 left_z=0.1614 left_yaw=-0.0005 left_pitch=-0.1007 left_roll=0.0006 left_gripper=0.9991 right_x=0.3515 right_y=0.2214 right_z=0.1212 right_yaw=0.1884 right_pitch=-0.4545 right_roll=-0.1696 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.3197, 7.2, 1.8486, -0.0464, -0.0366, -0.0122, -0.212, -7.665, 6.1197, 1.243, 0.398, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4755, -0.0135, -0.0307, 0.9991, 0.6834, 1.737, 0.9855, -0.4076, 0.3317, 0.2947, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1599 left_yaw=-0.0005 left_pitch=-0.1083 left_roll=0.0007 left_gripper=0.9991 right_x=0.3275 right_y=0.1972 right_z=0.0318 right_yaw=0.1826 right_pitch=-0.5028 right_roll=-0.1925 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.0325, 6.9812, 1.7656, -0.0269, -0.0513, -0.0171, 0.0615, -9.5658, 5.8598, 1.2625, 0.0659, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4759, -0.0135, -0.0307, 0.9991, 0.6785, 1.7237, 0.9836, -0.3962, 0.3252, 0.2802, 0.3907]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1598 left_yaw=-0.0005 left_pitch=-0.1087 left_roll=0.0007 left_gripper=0.9991 right_x=0.3302 right_y=0.1983 right_z=0.0368 right_yaw=0.1976 right_pitch=-0.4869 right_roll=-0.1825 right_gripper=0.3907\nstate[joint_eff]: [-0.335, -1.1145, 6.9265, 1.6239, -0.0415, -0.0415, -0.0122, 0.0889, -9.1282, 5.7641, 0.9988, 0.1392, -0.0024, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14832aa8c21b6ae872954982ebd253052b955cac9a0987edc0f4924931036df5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11432a4cd237e1aa778d3d4e7b048bdef09d36dad4aa17a471ec37d348ac5a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5206786eb533a3474a660d459433583f6067b62cf5712e8056f2efafbf77db5a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvwHMpFMtozMljvzS4qWqA6_xtIq3getv5y2v1ZeZEDurkcVP_hQ7NkYLwkWMn9WvvEOd6QJ0m-arAMsGYxei4TpTussMQ_bDcdpsrmRTLpvt7pi0WKe_DG6O2KOnKu07hGSHvkkmrHRWzNG7ovbXgMoUHL0ChGJtIC9toks0ZAe9suzOM4ONhAOWFPkBfSCZfaLDfSQfU4A7SWlHrBayE_FErYanMDeXHL6vGoM6ABCEJJ0DEBe4mKCJSUVWh9fqmWorfJYhph69JEHlDkpRbi_vQ8za-_vxbyp1hRDri4mblqyHg8f0H1w0VBForJmeXfUrmjkdFxkmZPmZa3EQQL0lHT-JFxXEJCWGrIyt8GS_nQI2OreolmpFoJRj9Z7xTg4ebW4DEHJ7H1tqYXuz1CkcsV_PyaY38_URbzUA7rkMo98wEg0An5TH_-xsUGnTSvYJuFsy4xYcY4GJ--xxsTbF26zxp3BXLKnNvHBF6Az63KK70y7ePTFlHnDLM3H3JuZHlPdvymL3VTv_Yc6fXm0jHUTowclsYulP4i0W_Sc-JDnt7EsSmsSXKEThf8IxGVC5Tjusxd7bIMI9IpIV402RJDx-0UneBjSW_qJrfIjYZdOOYsl1k1URGRUQ4H9eJ1l5Bs1YaWo6_8x9TWn0b34e44iI-l2B0DYCqbSzE3Jcxr0SvbFajZxobQa9dQmsRBdcP2xysOEI6KV3QLipcktBCOwEYi6wG-eYyKDVaQibXKhxzKBGYbKUrcLM9f6HQDA6h0t4H2Un2U8MpS4fuom8NTdS2bS9Sf9U2p2K-f2ja7IB38us1FNVbL9pTQYSuDBqYzuezS6I1P1nQQ9baduubitVvu1g6hZPG7rFvoABNXQs8VbREcybInkfAP4ouOZ7q0z5qAZ6KxXTM_LW8r6Cc0OnyODhbwzLX_m7diWYLfCeIO9HYXSa9j8BNN7zFJhCWZPa6pbTwDs1zqf82L5tIRpAGmLx7Ym1nvQ6ZDhvdAUCd7CLqOGKVh6sGh7bZvSkyVZJrWct_6F3v1sKMfbs_AGjG2fa0KK68vl0fSt3gfr6E0M_NkxghsM1ddQ0SZaHQU9wUR7Exlvt2s-toJ-08HpU72-k5UIe5EVI_VJ02dVi3QAr85LYvtHpLNca4VbYAAdhkmZhrzLlKjqKz2U9-AMnVjxgmETbSrCcaU7yZd4rIyrigFQhovbo7WRazNTuzJol6Z9HDKunDktF3r7qrUrqSQ4yIFTVKjHrDsmCWotD7pToUi1ELSc_4BKzZWZdfOvVAf3mNRcd7Fizc8THW98Guh7u4RlbsXegU226Zu5epXqBWO_8NpTETTBBuyUMdn15mX-tQzMJLecb-MgpnYNcJT3WmH-Cvk3Sc2Mzau7zIMyNvb8s0mqoadDjrONhugESy0lpILhhA3FohtDhn9sIvzSrvoMVxAJpyV8eRrn8GiGtS6xwpb7VheCCx4Kgv42AADMp6CJovehOws5LRn0n2-O-glFBm1x3hmd-vkXBMLprW2AcKHMDApENy4yyOpD39A9EQRxHu2ADvfZwHKD-52nFLbzqH-G41GPnxUtqo-yPZrrgGnRpDipImW586Hr_Lle5H27735fw3H-4W8O9OhRuL-IS1RFqKOtuW3wzYZZMG-5POmipxICxrf0uefWwQ6F1cSXjE4hBNsmSMOVMZM6TRv7dc9RfFqgwu_jXInQHT42i9moXUzzhjWjuVCyFmVUmk4PhgN2Ej7j7e4fzyui16TeFz1RCiXlI4rxik6Nu5zBGM9kI77NuLFlnBluGI-gp_9AhJKNcUSuULzFrFZdk9y2XpYzl5_OOSKxewZ-2f8fWlmqVHR4Dd7WCxWQLGhkehhA7Nq7F363LQnm7Sn0oRgI2BY8ZFj1d6ApoceJ1QpOgmgcfbXxSLfQGfKO56PTia4MhEHL_pu9dI_Htmg6XPP3PPXe8JbvlH52yEKV4_4-_VdJ5G4MUA8aGFA8Vvc5VJJwIOiBrdjadEBRT--NYONSkRZstS3NBnuB9cC77mf3QHrAPhDtGboUEcaxIuWB_fVomSK4LCfVRqCZOdK5BGchyblBCh7s14=",
  "id": "rs_0bcb718a40616c3b016ab41beddfd087d0b711be4c5b0809e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"left_x\":0.31,\"left_y\":-0.23,\"left_z\":0.15},\"note\":\"The right gripper has a fruit-sized opening around the yellow fruit. I’ll lift it to confirm the grasp while moving the left gripper toward the remaining dark fruit.\"}",
  "call_id": "call_5YJER9XOORYjsCM1uBFIMy2D",
  "id": "fc_0bcb718a40616c3b016ab41bef41a087d0a77faf8678c46b52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5YJER9XOORYjsCM1uBFIMy2D",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9272, 1.4849, 0.9817, -0.4637, -0.6441, -0.7059, 0.9991, 0.6785, 1.6341, 1.3312, -0.87, 0.3176, 0.2726, 0.3903]\nstate[eef_state]: left_x=0.3043 left_y=-0.2229 left_z=0.1356 left_yaw=-0.0169 left_pitch=-0.1507 left_roll=0.0238 left_gripper=0.9991 right_x=0.3286 right_y=0.1987 right_z=0.1405 right_yaw=0.1993 right_pitch=-0.5234 right_roll=-0.199 right_gripper=0.3903\nstate[joint_eff]: [-0.5949, -6.653, 8.7863, 1.2137, -0.6813, -0.022, -0.0122, -0.1299, -9.853, 9.0051, 0.9548, 0.188, 0.0659, -0.0562]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aee02153d2a3b4b3acc088bd2216836eea13c92a35fa02609680c2c60412f43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4641f7dc5dec197e08f46f90e8f29bdfcdd4517fc5a37fc5677e566ff519c36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5443f09947fdb40d5b9bd708b5623b1192d3038694687d24cb93a4e7338b37dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 5.165 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4721, -0.0135, -0.0307, 0.9991, 0.725, 1.7828, 1.0733, -0.4263, 0.3439, 0.3233, 0.9986]\nstate[eef_state]: left_x=0.2842 left_y=-0.0 left_z=0.1606 left_yaw=-0.0005 left_pitch=-0.1049 left_roll=0.0007 left_gripper=0.9991 right_x=0.3366 right_y=0.2234 right_z=0.0418 right_yaw=0.203 right_pitch=-0.4742 right_roll=-0.1744 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.3197, 6.9402, 1.7265, -0.022, -0.0366, -0.0171, 0.4308, -7.6513, 5.9282, 1.2332, 0.2418, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4759, -0.0135, -0.0307, 0.9991, 0.6785, 1.7237, 0.9836, -0.3962, 0.3252, 0.2802, 0.3907]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1598 left_yaw=-0.0005 left_pitch=-0.1087 left_roll=0.0007 left_gripper=0.9991 right_x=0.3302 right_y=0.1983 right_z=0.0368 right_yaw=0.1976 right_pitch=-0.4869 right_roll=-0.1825 right_gripper=0.3907\nstate[joint_eff]: [-0.335, -1.1145, 6.9265, 1.6239, -0.0415, -0.0415, -0.0122, 0.0889, -9.1282, 5.7641, 0.9988, 0.1392, -0.0024, 0.8034]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9272, 1.4849, 0.9817, -0.4637, -0.6441, -0.7059, 0.9991, 0.6785, 1.6341, 1.3312, -0.87, 0.3176, 0.2726, 0.3903]\nstate[eef_state]: left_x=0.3043 left_y=-0.2229 left_z=0.1356 left_yaw=-0.0169 left_pitch=-0.1507 left_roll=0.0238 left_gripper=0.9991 right_x=0.3286 right_y=0.1987 right_z=0.1405 right_yaw=0.1993 right_pitch=-0.5234 right_roll=-0.199 right_gripper=0.3903\nstate[joint_eff]: [-0.5949, -6.653, 8.7863, 1.2137, -0.6813, -0.022, -0.0122, -0.1299, -9.853, 9.0051, 0.9548, 0.188, 0.0659, -0.0562]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aee02153d2a3b4b3acc088bd2216836eea13c92a35fa02609680c2c60412f43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4641f7dc5dec197e08f46f90e8f29bdfcdd4517fc5a37fc5677e566ff519c36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5443f09947fdb40d5b9bd708b5623b1192d3038694687d24cb93a4e7338b37dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBv7vKXM5nN9WBkEiphA4kI0g7R0GAMq-b1_VlqaEzO59uk_ryKwW0c5pllaTljvVFcoGnzC-piChbGlBlCI0r4JOwrqUuOFQSRVZv_xu9GJrOC7oMA9XG92MB_-oPcjQcCLdRT6zg6eH74IilkJa7_BLJrCUJ30WAaXp0ev4JbyNdaqgmEFgQT3o909Yyl-7Wace3AjH6IRetoCHpn6bYkgmwHTmgvFuAnNx8GC7jMb9vEXw-E6wthNUEP6BwaAbFRjSdJzkNmXRe_aqhu-SfjT8wQ8MnOqh5iUPEIou4sZvRl33S5YbSxEP67yxd2DGx47OGFn1Me7fBJr6FMOJBWtL-22cD-ICTc1VBGxVOZ26FJay8HyfL0QTwpvJ4IZ1LUH4nyi-_yp0RmiNknsp4Gqn9hct5gXYXeaJwqLwFmmLodt6ii-EZulMBlMf2JUhxQvGhUYUhCcSLOtvdkNJ7IKHY1PHfBJcPVo_jFNBx_xvemOXVhguqlHy4UWdbVYCaiRRwnh0teme7FTtoNTLlQVMd1fpGPauTm5gbcWtCXzrTnDajARf3IjC9_Hl3E-iqY3TRFK3fQnTDe1PuVRDvUN53v83QPa_HMdA8yEEYQWfLvt0LhcMjM5NYUGHLUDYSmd8LIMElaaq95S4DRcf0UYzAhagJiQYWoMLNOIc6CjI33FONkNZvQaj0GlAaI_Ft-nDQfsqWv3oKpXa-mBoVQYRYSb7ATnDHys4Cp0-7VcUgf7f5kPRcRP511jWzO_9WM2f4XwFn3nEF3LMUIfqoVEJvkJUGDf757VR_0UYoo3UEeaf8ZBzlDFeMx1dqcd2T3xPDjbOVk0tTRUup_uW4daMQ2K-RD1T3vtUn6hnXUTezQR3XHsfNzLXkCzxIWcTbWcpqx-q2NBdbDYy6HScF-4WpTt1hJSuzu_DKs7E-j1lrM2PG2Z5Ty3hnw1R1JoauN5lnL_bJicREA82xEd50_O8fx2XlNUSU7rDV6QRwd1SZ6HtkJTQx7gS_i7CnSHBVbMlS1oFMcjwgAYTVqs5u7voWMlxfbHcUCQAsP-x9aZGjka6mYfeeE_heM4gMLp8Bhf5uBFuGyc8b4ie-P9ywgI0eFtshch70d6RNL9_QpteKu-9zn6XbgNgFFp9VxYJ8hAGEYURj46FEgjmlHlVsp4cV-BUcJDMAwb7D1LQcLoOpQhoRFSolhV7mh4yO8EJUPALg6DRqD-SY-RJYvtAwBwuKnjD260xNrd42Gko_8KE6OTW22_WieQskLtxAD7WCJ9xOTa3eeEGbmQCLoWUdEGS0mVxdysQtS55SND6WIkibhPKDPrqrEmHOTjcrangmQM6boYcAcWu25-tx43kp-K91gg17Qbjwan7skeue4SWZYTrREj6SAkTHHb0ThOP7HFFMbge5NN8dodIGiJtAe8hJqTxl42qM3g1h5XVWIwDAq4Bh0K6phtNaONKqwl3GMyKPfLZQq5lGQiXR8Pt1Ezxo5yttM4f_BrtvV5VGh-A6O71HYGUTk9QHtNXvwik7-fTpoBZTCul4NcLADl4zqdNnMMWBsPPd_OhXA1vGfbjV4Le7HLWCQnz89j_NeshbMkaQENWiSv6_iCawS1FAuMM0OoB0OS9ZDVVQ9jRxNw9mo9KjzXpkZiGosEQ7YOyXvhCPUBo8ECvA5TPcCzO045im3cCYLMqITi2NF_uVnNH8xscQjwRhvvfYFLABrJWKFv-HFEN1uMm98Gai-q-mbnPELguXAcKxgAOt6_bynAKmN2YXcohqHIUKS9n20efWxV_1wtvfJWqW4_3RmXnE_otGuhjVQT51vSR8Pz3SPiX3JnuEhp97nURiuc3eR46nDNyXvnvZG98pbemLj-4pmY8A_Bj9Rh7AEXV7JGlH7swQuJ1NV-N6H1Ps-zb_5enGh9CbRk3lrz4cNxfkzpJTc4ops1D_SRvsW8c3HZxavSzN15rUB_xuaq_OIlsA0eI-3z1am0xslmAnnS3H6MjgyhKYduyZKANJDrMcE7_B_pSCHtfKUmiEBiCSXJ10bBhFM7mY118Ab2EE_AFgyj8S_cwzU6EvrsZOitkc8dWKx9w3FrapPdvG3JxJe3fxP2p4z5LTD0c6jhQ654y6-iDS8rjRhR-xAO6bCEX3NqNuz9ZTDSY_dLYz-CNmojd1_yGbl8ZELtS8zVBTjavdXJPdR2BIfsi_gk5mV6wPPmzQcDZwLOs3GRFXY38YXlT7Dxez2wV1fSXQ7qGA7DqUKN_yahOM-2AtW2ayWw2gtur91SSpo=",
  "id": "rs_0bcb718a40616c3b016ab41bf8d89c87d09bd63fcf475b20c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.325,\"left_z\":0.015},\"note\":\"The yellow fruit remained on the table despite the jaw reading, so that lift did not secure it. The dark fruit is centered in the left wrist view; I’ll lower the left gripper for it and move the right arm out of the way.\"}",
  "call_id": "call_sMDtT8ieZUxtOgah38e15kwm",
  "id": "fc_0bcb718a40616c3b016ab41bfaa14887d0b57bdba5fe012e06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sMDtT8ieZUxtOgah38e15kwm",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8764, 1.779, 0.7517, 0.0597, -0.6125, -0.6651, 0.9991, 0.0143, 1.2396, 1.1522, -1.0, 0.0444, -0.2981, 0.3903]\nstate[eef_state]: left_x=0.3204 left_y=-0.2204 left_z=0.015 left_yaw=-0.009 left_pitch=-0.172 left_roll=0.0386 left_gripper=0.9991 right_x=0.298 right_y=0.0 right_z=0.1819 right_yaw=0.1556 right_pitch=-0.5432 right_roll=-0.2028 right_gripper=0.3903\nstate[joint_eff]: [0.6496, -7.1453, 4.6701, 1.4969, -0.3053, 0.1245, -0.0122, -0.253, -5.3265, 7.2, 1.1941, -0.1929, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c67d96e82ca46b6159ccd5cdf25ca37e623f43b1cec5202556c649471be025",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bed191b9c1965555cb9d3d314af947246d1b059b028635f671c304f824fd246",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ed11b82cfbedfcc4e3838a3906f2c8f823c6c07429e4991366a9b0f204c88e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.194 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4755, -0.0135, -0.0307, 0.9991, 0.6834, 1.737, 0.9855, -0.4076, 0.3317, 0.2947, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1599 left_yaw=-0.0005 left_pitch=-0.1083 left_roll=0.0007 left_gripper=0.9991 right_x=0.3275 right_y=0.1972 right_z=0.0318 right_yaw=0.1826 right_pitch=-0.5028 right_roll=-0.1925 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.0325, 6.9812, 1.7656, -0.0269, -0.0513, -0.0171, 0.0615, -9.5658, 5.8598, 1.2625, 0.0659, -0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9272, 1.4849, 0.9817, -0.4637, -0.6441, -0.7059, 0.9991, 0.6785, 1.6341, 1.3312, -0.87, 0.3176, 0.2726, 0.3903]\nstate[eef_state]: left_x=0.3043 left_y=-0.2229 left_z=0.1356 left_yaw=-0.0169 left_pitch=-0.1507 left_roll=0.0238 left_gripper=0.9991 right_x=0.3286 right_y=0.1987 right_z=0.1405 right_yaw=0.1993 right_pitch=-0.5234 right_roll=-0.199 right_gripper=0.3903\nstate[joint_eff]: [-0.5949, -6.653, 8.7863, 1.2137, -0.6813, -0.022, -0.0122, -0.1299, -9.853, 9.0051, 0.9548, 0.188, 0.0659, -0.0562]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8764, 1.779, 0.7517, 0.0597, -0.6125, -0.6651, 0.9991, 0.0143, 1.2396, 1.1522, -1.0, 0.0444, -0.2981, 0.3903]\nstate[eef_state]: left_x=0.3204 left_y=-0.2204 left_z=0.015 left_yaw=-0.009 left_pitch=-0.172 left_roll=0.0386 left_gripper=0.9991 right_x=0.298 right_y=0.0 right_z=0.1819 right_yaw=0.1556 right_pitch=-0.5432 right_roll=-0.2028 right_gripper=0.3903\nstate[joint_eff]: [0.6496, -7.1453, 4.6701, 1.4969, -0.3053, 0.1245, -0.0122, -0.253, -5.3265, 7.2, 1.1941, -0.1929, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c67d96e82ca46b6159ccd5cdf25ca37e623f43b1cec5202556c649471be025",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bed191b9c1965555cb9d3d314af947246d1b059b028635f671c304f824fd246",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ed11b82cfbedfcc4e3838a3906f2c8f823c6c07429e4991366a9b0f204c88e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwCVmSl1MYmcHbrDzCRqxVze_K7U8kArmYQhSjm5FVWBKFgHZdjLb2ExgvGXKtbqlQmtoignYQgpGCZLyJd3o3qh8fP4ewdZGG9hNMuTqOOhIJAHw0MwuRm737O5AV-fLFz_UArKwnrxETkvbu9wJnN2uVU3drd85DywWw9hvD7m4SGOzy0B4ogEn6TiquMbxpKK322xzKyRmfaABsH5aUi14f6OL7sO4Q9OJSTJfa8sWtB_7vvvvxZdJGyZv9_WGcwOJc28maRK_A4zzM20Dvo-s9dvi19LAtrcn8-vmg4JzjSxuXjVu9vJiuQdvuE8rNO1FMZEHHUawu9YgQ_FrTiLzj63WVNTExwJjVcrSh8jcfj8NzlJWZ4bb35W85vGAN4ljlqciUYvKCgoEka-DluIadHAcIfKATX6mpQYk9_DcI0640mZ1YbEPJXmP94T1cN1xjqwN8ip1NUyt3ZEPDyu-yxr6zY7SOagn3DskMhGJvlDB-jGMT2Ol0HHmKcS9AAFxoUYK4Wp74zUeESnsDxyA1J3q5EvFFj8td5hPsVLNughJDOstPKmJZFUgpdjxUi45BC1cqxT4P4O8_-4kyD3zxVxO-gLQav03P-ejHbQhvqxhtopSBX6mk0Kq8zSnri3LvLLbnFTfDUiK3Y2fN-bszP500c8wprKgMp3yy6VItG26SDC6aUhDBYHZEGlJ_nymhLkvq54s6Y0tC8t4eP-msk9ToBdtG9y3GdtI35FZiQNFGg_vX8tGIiwtvF2l_cA0_Yq34oSSwzkzfhRECCa8fNbdWiDRc79r1lEyZXId_sIhMI7v5gOfpeCbzCsfwxhB56wH9--r243zEkDcXsp9uUFdZjLTwCFHVhzlKojYHhW5546YZCbHdYSd2Yx3mLHf06RXgGN29DYuhgtiaLUT0WItE6VB762yyaTXdn16-ZMDEKNWtR5T78tSPFF4D2VGQ5ixLt8R8TgAIrVZq6VtyeExqFNxYXFpPxnxLxidoY6y96MmYVorudYl6_8_DtJfrRbdw9BRx8RyC-Ea36jWZRaBeesErrPXGUv1zimKzV7q5xfzroi3Tj8N2NPFYxNVRKrAzYle7Vh5QfUqWO2qem8ypSnUA97SS8yEQ2m59qW2-0fGFuQrAqS3XXKPAJ7mBEfV_Xl6fRgnQ3wZ5_QYAYMBfpDeDjV0NRxU45KIs16aTSZNZShvbB1ntfy0k3_812Ks_6TTz18qqI9BzEKgOoA_jsNGhbNq7x_mFyHq1fPXgLHbjLCgKIdxzXELOHbs-61SN3hTWQiv-3iCDUmV3C0BlE7tmtrCbhbIHMMbhZAKbiFlC0i_AGTlOsJIeyk5LlFhc34kKK7pyHbEuS1yEXtw_OqE0Ji9yVpd4W9d4=",
  "id": "rs_0bcb718a40616c3b016ab41bfeb65c87d08a9166f15ed7fc07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit is directly between the left fingertips at its mid-height. I’ll close the left gripper on it.\"}",
  "call_id": "call_UpmeVSLTIXPKsAkc0OzvYSEo",
  "id": "fc_0bcb718a40616c3b016ab41c00b2b087d0b76b1cfaad44bdf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UpmeVSLTIXPKsAkc0OzvYSEo",
  "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]: [-0.8753, 1.7897, 0.7475, 0.0612, -0.6098, -0.6624, 0.5246, 0.0158, 1.2381, 1.1522, -1.0145, 0.0322, -0.3218, 0.3903]\nstate[eef_state]: left_x=0.3189 left_y=-0.2187 left_z=0.01 left_yaw=-0.0092 left_pitch=-0.1824 left_roll=0.0495 left_gripper=0.5246 right_x=0.2948 right_y=0.0026 right_z=0.1806 right_yaw=0.185 right_pitch=-0.5569 right_roll=-0.2002 right_gripper=0.3903\nstate[joint_eff]: [-0.1983, -8.5812, 5.3128, 1.2576, -0.3443, -0.0464, 1.033, -0.212, -3.959, 6.6803, 1.2772, 0.0659, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33bef3de9f1f902a1e62150d9d3c6307f0d79b997e58529a7da3003c7f6a2157",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c92b3e2107f3ac7fbb956aeb6189c085592d3dcac1786610e373cef5570f7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d7caf34491422f711a90c549d2b843ea6ffa24862f5746b6a9baa6feaa7c48",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 10.98 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8154, 0.6147, -0.4759, -0.0135, -0.0307, 0.9991, 0.6785, 1.7237, 0.9836, -0.3962, 0.3252, 0.2802, 0.3907]\nstate[eef_state]: left_x=0.2836 left_y=-0.0 left_z=0.1598 left_yaw=-0.0005 left_pitch=-0.1087 left_roll=0.0007 left_gripper=0.9991 right_x=0.3302 right_y=0.1983 right_z=0.0368 right_yaw=0.1976 right_pitch=-0.4869 right_roll=-0.1825 right_gripper=0.3907\nstate[joint_eff]: [-0.335, -1.1145, 6.9265, 1.6239, -0.0415, -0.0415, -0.0122, 0.0889, -9.1282, 5.7641, 0.9988, 0.1392, -0.0024, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8764, 1.779, 0.7517, 0.0597, -0.6125, -0.6651, 0.9991, 0.0143, 1.2396, 1.1522, -1.0, 0.0444, -0.2981, 0.3903]\nstate[eef_state]: left_x=0.3204 left_y=-0.2204 left_z=0.015 left_yaw=-0.009 left_pitch=-0.172 left_roll=0.0386 left_gripper=0.9991 right_x=0.298 right_y=0.0 right_z=0.1819 right_yaw=0.1556 right_pitch=-0.5432 right_roll=-0.2028 right_gripper=0.3903\nstate[joint_eff]: [0.6496, -7.1453, 4.6701, 1.4969, -0.3053, 0.1245, -0.0122, -0.253, -5.3265, 7.2, 1.1941, -0.1929, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.7897, 0.7475, 0.0612, -0.6098, -0.6624, 0.5246, 0.0158, 1.2381, 1.1522, -1.0145, 0.0322, -0.3218, 0.3903]\nstate[eef_state]: left_x=0.3189 left_y=-0.2187 left_z=0.01 left_yaw=-0.0092 left_pitch=-0.1824 left_roll=0.0495 left_gripper=0.5246 right_x=0.2948 right_y=0.0026 right_z=0.1806 right_yaw=0.185 right_pitch=-0.5569 right_roll=-0.2002 right_gripper=0.3903\nstate[joint_eff]: [-0.1983, -8.5812, 5.3128, 1.2576, -0.3443, -0.0464, 1.033, -0.212, -3.959, 6.6803, 1.2772, 0.0659, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33bef3de9f1f902a1e62150d9d3c6307f0d79b997e58529a7da3003c7f6a2157",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c92b3e2107f3ac7fbb956aeb6189c085592d3dcac1786610e373cef5570f7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d7caf34491422f711a90c549d2b843ea6ffa24862f5746b6a9baa6feaa7c48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwH0RKaJ-hxqRi-2eqXse02oxwD3GJLnsd7rOs8yixhDhvMWHmGuhcVqLbe6IkjXurZCvi8aPbrL199PRfwTPxq0gfcivvONVORUDnqNx7ZIZQt2Cbgybx9vW3ecBU6rpiQXcgYsriYUePt9FW3sZO6X7uyoM1v8ZgY4YQnGH2MQre0Awoev29BooHuSPvqzOKtHxYcWsQuoWYRscwnNY2698AAmHxZK7EvOtiEHuJTVoHqPYGMutHTIk3OQIJp-f4mFqzUpK30bAvm4w3MrZFFY8I32CdqJ0WQMGkpyzP6OkzE3M5OL12S03RJu6F-rlagaXuD4p4gJyjaLH0q7wqEZ0ik1ayASUYhlDP7saoGieDHNuyTRO5BuFm33GW3JwMkThd6D_5YiEFEUv_hAz8jMj2IynBbEUWJPi4rcBdXOelgyazXYhwPfROoYOMH8Xv55lIf2Qf8Mu5DW5nrm774Yj0S8-Ufjtb04EZxVzBUeQRQFovAmpUWHSDjrjKijakrPM5_CT0bwvcY3xgTKD-iWX_kznTAYKKpWNvAtGCl388NOxyu9BgjSS94wiVhOplE1q8U5mXtpkYxIoF98biZoVhWxVM18296HgTWqenCuYFezlMeo66VOFQNHcbTaav8EtF3N-UL3w1iDSnzYjZJgFTUfIT49z6LDrWVmBF74D4hfb-r6BnWuhnOJUrrL3siCGJM1oeoE_JmKAh_DeaWr1kdzUJAGxa758WKpTiIzYitiQg4bUvCYsxV8m1MkPFRov_r4BYUn3Q2GSmnmL81szM8xWLiKc8bYVYYi14wSHuLyaHqJGVEiEEXZgpnh3kkupyKU06Rd9Ahz1ev6WYT2rNRXLn8mvMfNe-i8WqJfY7ShcQehXHCQjNO31f4GQ5dHFXx6G_ZmYW3vW7JW7AwFJ4W2021IG5bIKvK8BsFiyg0DjvHpxfZ5-8Ih8mcfOW8Mzhhvje488cze9adGDPKtzr4ieI3uqQN4965zTt7zHMFoH1wQ_gLmPEKen1_CeK2-nbTAAWph6uk206QtWBtA0vPwXBqHeK19XEOVW8szfiadEusYwpOFz_z1aGR_m6uLFV8U9232Wx5VexSthAcDs-cBockanomC58lfiMjG2Hj9n0onZz2EIEytbLyueL8Db8c6_3Z3lUm2KNgavhcwJ8ZFPqBr-yrjud6l0Vm79FMCh7maa5w8BJkHWlt2gYOeuN87qcvVyFJaXQGEc3FQM1eJVWGfQOKZB_enf4m_oC8_14wskmZGkEoyFtSfj5a2PPs8gHWhwqmgPHhWG1bO0qb5B2yxdQkM4nQM0A9ZAs8HkTfLzX0cXD5g9iOUd0RRP7v8Cz0zIBVjFUOtMrYhSpf9Kv4gGCx_DLpvtd6cI2zD0fCunDfo51fK4ufOtFMsqb685rsQYgwvnmPRqm6y6rCKxquqJK13LAlAlhMF38H4DIeuvx5U663Z64eEjaD2ZN11ECOEZw-c3wXbcnROBTg37oTANlOqyzl1ruGZLuBa6BkEz3BNIiDeKV2VG71UJ3LVZ5g6vrLXvVARJpU76PSD4NyUBketTgAHTTiNeV-CIBw_0eZmbe7U-L8vK1Wl2DvHcaBtL9eI_7nOreezkSwhm9wTADiu_ofGvwkoVrzz8lUT1Q4iQmwNiU8wZQ7BsYi4a7U967PAnc_xcr_M_LHhA1KAtku3H8dZ8iHqgM2p6r6XzMmkw_4XYV2iy9li7zACfo10n9y2ssZ_2mut6SheaLDjmCrI2knG02wl-LydgtpH6C9qgDlzrjZv4GdQhbgzSKe8o579j4TxFlRZDm7mUHD5k4Te-ctWcwlhmdN0nP61e9mcdR-KoMH_q63m0urnu2DAv-ZsQyZOwdMHYR3X24MQlD5Xfjpp34cIY0ZyCAcWZg6jGIbHtyOEAXdFFMvNI5vC5ZlWevt0t78RnpxP3Wd6EEF1vgJF37TLtlmLwWli82iTz8SoxIre2GyN1W5bXwGm6IgcNdI6_A3oQQkI5Ujw0mkYX_MPOTNyYFpc1asDNw6tLTD9H7lhxK8qZ2s03kl7HaGgX2crhktOi5Y7pAFrbbRUw5yKhxXy2Hdr051oLPCfduHykp41i3kw-R5U3c-MIdpw3_ww-s2wLp8ROKEDTC0EqkNL9RRidY7V8adThy5IMIz0a0b6-4jp6A6P4Nmj7OiNDHuB2muWaZo36heG6xdffpc42lnUlHWHAesnJUnoyJNgNyFtkJ88we1LEO9QR4ztH4MfOPd-b0q3yhq-2rWkI70N9uJkFQmGNHim2y5EnER82si-r4Yc-I2B9Gz3HVBflNHFJb_zA==",
  "id": "rs_0bcb718a40616c3b016ab41c045ad087d08af159c891e8c84b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"right_gripper\":1},\"note\":\"The left jaws stayed open around the dark fruit rather than closing empty. I’ll lift to verify it is held, and reopen the idle right gripper for its next attempt.\"}",
  "call_id": "call_jtM9kYxnym5ocnFdBSOSXxCW",
  "id": "fc_0bcb718a40616c3b016ab41c06bca887d08ef1db8bf2518779",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jtM9kYxnym5ocnFdBSOSXxCW",
  "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]: [-0.8753, 1.5372, 1.0737, -0.5278, -0.6056, -0.6746, 0.526, 0.0158, 1.2385, 1.1522, -1.0191, 0.0319, -0.326, 0.9971]\nstate[eef_state]: left_x=0.3202 left_y=-0.2212 left_z=0.14 left_yaw=-0.0038 left_pitch=-0.1914 left_roll=0.0461 left_gripper=0.526 right_x=0.2938 right_y=0.0026 right_z=0.18 right_yaw=0.1885 right_pitch=-0.5622 right_roll=-0.201 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -8.6359, 8.5949, 1.2723, -0.3492, 0.0855, 1.0281, -0.0479, -4.1094, 6.4889, 1.1795, -0.0317, -0.0024, -0.0513]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef7615d8e43435dbc840dbb3614268b97ed08fb6813f90f22d28b6886e9851b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2e77d45f86ce8001f07c356d89bd51c38ee14d88389b2fb0f3011b49fe5741",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24dd3d3b28e4e17ea2679a9aa7b57095b42e8f1d61dcdf8ef7a37b2db09e08da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.213 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9272, 1.4849, 0.9817, -0.4637, -0.6441, -0.7059, 0.9991, 0.6785, 1.6341, 1.3312, -0.87, 0.3176, 0.2726, 0.3903]\nstate[eef_state]: left_x=0.3043 left_y=-0.2229 left_z=0.1356 left_yaw=-0.0169 left_pitch=-0.1507 left_roll=0.0238 left_gripper=0.9991 right_x=0.3286 right_y=0.1987 right_z=0.1405 right_yaw=0.1993 right_pitch=-0.5234 right_roll=-0.199 right_gripper=0.3903\nstate[joint_eff]: [-0.5949, -6.653, 8.7863, 1.2137, -0.6813, -0.022, -0.0122, -0.1299, -9.853, 9.0051, 0.9548, 0.188, 0.0659, -0.0562]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.7897, 0.7475, 0.0612, -0.6098, -0.6624, 0.5246, 0.0158, 1.2381, 1.1522, -1.0145, 0.0322, -0.3218, 0.3903]\nstate[eef_state]: left_x=0.3189 left_y=-0.2187 left_z=0.01 left_yaw=-0.0092 left_pitch=-0.1824 left_roll=0.0495 left_gripper=0.5246 right_x=0.2948 right_y=0.0026 right_z=0.1806 right_yaw=0.185 right_pitch=-0.5569 right_roll=-0.2002 right_gripper=0.3903\nstate[joint_eff]: [-0.1983, -8.5812, 5.3128, 1.2576, -0.3443, -0.0464, 1.033, -0.212, -3.959, 6.6803, 1.2772, 0.0659, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.5372, 1.0737, -0.5278, -0.6056, -0.6746, 0.526, 0.0158, 1.2385, 1.1522, -1.0191, 0.0319, -0.326, 0.9971]\nstate[eef_state]: left_x=0.3202 left_y=-0.2212 left_z=0.14 left_yaw=-0.0038 left_pitch=-0.1914 left_roll=0.0461 left_gripper=0.526 right_x=0.2938 right_y=0.0026 right_z=0.18 right_yaw=0.1885 right_pitch=-0.5622 right_roll=-0.201 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -8.6359, 8.5949, 1.2723, -0.3492, 0.0855, 1.0281, -0.0479, -4.1094, 6.4889, 1.1795, -0.0317, -0.0024, -0.0513]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef7615d8e43435dbc840dbb3614268b97ed08fb6813f90f22d28b6886e9851b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2e77d45f86ce8001f07c356d89bd51c38ee14d88389b2fb0f3011b49fe5741",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24dd3d3b28e4e17ea2679a9aa7b57095b42e8f1d61dcdf8ef7a37b2db09e08da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0bcb718a40616c3b016ab41c09805c87d086ce7853808ba122",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0bcb718a40616c3b016ab41c0d604887d0a00a82d4333d3388",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwTT0pcfZcGri8OHmC_ywMuVbIdzRYIXJTPYbU1Mz4IxqKJarEEImFEjBGDOs3hvXDbegZEh-NCrFBTqpiAyHP6IFvYMvKqVQ5KhYguaxGS0CSNJpUvuj2QdcuFqYNEuP_5jdA1PrLBaZJ3BS56vPyZ1uePwvRptA-8yOxY501FREho2M-ur9XykRkum3Rew4kczWiY5tgw5caqw0mFaX22sjzH0nkwM9L97PLsjDZkjSsY5-mdxD-Ls08xiN15uCKT7MYwcM-NnFhpUr-780in3XdK3fHmq9b-e4EQDfvOQ3_L8kL_BHvLFQRYjwg_ymgPmthFgob5332XLIkPdgvGgnxqYlnDA8NjOuW3Pd3nbohM9dCV6ljsJ1FZrWsMMrVBePaB9S62LoDVUdzSZzgJygF7JWaM9tsrpqGgpH8oXdxBT_KyXojArnmgtwuvfCp8JA6B4yCqmKIC53GXJOqWLLfecSWYvBL5pWKWnEUW-Nrl0eOZ2Wcu7oFIEu2xJT_i-u90G3jlfU1wuPFu2qNuqs70AaoJ8ZbERbjPb8i4CRFV0wq-8LKv4NwzKClBG5cG7Dxju7Qk-44J2fwx5XHC3MW2Iykaf1Rul4M_jyj__DAS73wWMAX1tZtTJILkHjnCNFAl7DhjH60G7N1BMB2_B48Ev51BW0wYc_3RCi6fY5tbtwXJZx2K6SdZQ4t67EtfOEXR9EuKf1Rg9BvUaWAJmrVxEbvNfqgjXtO4k9SsMjWs6Rc0Kl9jLyFnB1qdWIz9w8uNUrgSTGQXWY607MEkf07q9mqWzS8rDZLmvD2XRTxN21FXfFLMApfa60aUWW1B0Hes_76-quWEhLOhpPqCBqOIyTlme6m-Gy7-7rcGeGEqhTFRHt2Cta-_qEhccAjUL3brT1VcwK3r0EoO23gu8rkXBzdDJlojdWWF6DQlAZ5jh3U6XGL_lzzGjpiQNW87JlGrHfwupe0wa-Q6nfK1iWvk5wQOm76HeVz695_9DOsuXZD0ecCROI2jAO1e_INFcYl2bRBL-hA12o2JgeQvlsP-s8oqZTJ9P7sOIqMI0MhgRoqi9CWHyxOaYyjuUPQ7xmgBEKpdtIRwk68qo9Sa1kB2DkdObzkPXO3arDQPMD_EaFMcnnZgvLEMcfAk7Gx2_NBcWNlPzkaKfbBImtrAtC4qF-MZ3B3fcRVLsjh3qQMHXH0HFpljlZfj6yEs-xJMhxjEdNH50zZEsH3qVKh16GrxByNGEBEuGJFUndVCiCZA07S1rcBtnRCnUYpLBL14bl-ub6jdeDgPBmctoWZpY46J-vwk1EMaalYLNyDxoN9p0pf5P--euDjQcYftOhxIEktn29_BHqSDk9gOwA2xuuKGlX1XXzmw0kpS12e8u27Op5Vo_kNWth3U-FIdcNkyS2qTalHRdQVGfOaLApmm3rTTqAXzQOSE4VYtNUBBcLg=",
  "id": "rs_0bcb718a40616c3b016ab41c11c23087d0bd79b28cfc4d2be3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.13,\"right_z\":0.135,\"left_z\":0.17},\"note\":\"The dark fruit lifted with the left gripper. The blue bowl sits beyond the left arm’s sideways limit, so I’ll bring the right gripper over it to move the bowl within reach while keeping the dark fruit raised.\"}",
  "call_id": "call_vmeCK0D6UMvRXfw1O8cwOx02",
  "id": "fc_0bcb718a40616c3b016ab41c126a2087d0b96fc337801d0fb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vmeCK0D6UMvRXfw1O8cwOx02",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8745, 1.5276, 1.1404, -0.6487, -0.5976, -0.6811, 0.5266, 0.3393, 1.8927, 1.6108, -0.8989, 0.1574, -0.0727, 0.9978]\nstate[eef_state]: left_x=0.3152 left_y=-0.2165 left_z=0.153 left_yaw=0.0026 left_pitch=-0.2251 left_roll=0.0719 left_gripper=0.5266 right_x=0.4309 right_y=0.1265 right_z=0.1259 right_yaw=0.2256 right_pitch=-0.6133 right_roll=-0.2099 right_gripper=0.9978\nstate[joint_eff]: [0.1436, -7.4872, 9.3333, 1.2967, -0.3004, 0.0122, 0.5201, 0.0752, -10.3316, 7.5829, 0.9646, 0.2515, 0.2857, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ebd5f23242f48ac6c8606e9ee8cf45b08043c7592271c65611631a5d1dcb4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dda35fb7de71a2f470b18e8a9fb37ac8a08c7568f31a1c7e35dc6373124b622",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa6c272257c1cf5e4ad2f8fcb9c92c2db42d15facbabee2de932742fabcb510",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.826 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 105 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8764, 1.779, 0.7517, 0.0597, -0.6125, -0.6651, 0.9991, 0.0143, 1.2396, 1.1522, -1.0, 0.0444, -0.2981, 0.3903]\nstate[eef_state]: left_x=0.3204 left_y=-0.2204 left_z=0.015 left_yaw=-0.009 left_pitch=-0.172 left_roll=0.0386 left_gripper=0.9991 right_x=0.298 right_y=0.0 right_z=0.1819 right_yaw=0.1556 right_pitch=-0.5432 right_roll=-0.2028 right_gripper=0.3903\nstate[joint_eff]: [0.6496, -7.1453, 4.6701, 1.4969, -0.3053, 0.1245, -0.0122, -0.253, -5.3265, 7.2, 1.1941, -0.1929, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.5372, 1.0737, -0.5278, -0.6056, -0.6746, 0.526, 0.0158, 1.2385, 1.1522, -1.0191, 0.0319, -0.326, 0.9971]\nstate[eef_state]: left_x=0.3202 left_y=-0.2212 left_z=0.14 left_yaw=-0.0038 left_pitch=-0.1914 left_roll=0.0461 left_gripper=0.526 right_x=0.2938 right_y=0.0026 right_z=0.18 right_yaw=0.1885 right_pitch=-0.5622 right_roll=-0.201 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -8.6359, 8.5949, 1.2723, -0.3492, 0.0855, 1.0281, -0.0479, -4.1094, 6.4889, 1.1795, -0.0317, -0.0024, -0.0513]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8745, 1.5276, 1.1404, -0.6487, -0.5976, -0.6811, 0.5266, 0.3393, 1.8927, 1.6108, -0.8989, 0.1574, -0.0727, 0.9978]\nstate[eef_state]: left_x=0.3152 left_y=-0.2165 left_z=0.153 left_yaw=0.0026 left_pitch=-0.2251 left_roll=0.0719 left_gripper=0.5266 right_x=0.4309 right_y=0.1265 right_z=0.1259 right_yaw=0.2256 right_pitch=-0.6133 right_roll=-0.2099 right_gripper=0.9978\nstate[joint_eff]: [0.1436, -7.4872, 9.3333, 1.2967, -0.3004, 0.0122, 0.5201, 0.0752, -10.3316, 7.5829, 0.9646, 0.2515, 0.2857, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ebd5f23242f48ac6c8606e9ee8cf45b08043c7592271c65611631a5d1dcb4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dda35fb7de71a2f470b18e8a9fb37ac8a08c7568f31a1c7e35dc6373124b622",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa6c272257c1cf5e4ad2f8fcb9c92c2db42d15facbabee2de932742fabcb510",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwX3HNexJWy2gKk5oMsRn2rZib1VorMdAN_fLltHdvFTyRBnq1beckHxIm9HDDZltPTDD0stTFVeYgCkWwHnHRG0yAx1bwQB7ORdsYRPM-LfE7KE1irBw6oXIxrNwrD3_gia-Fe4ePD0aLg0hsf_rqZ2hfGt5tLBiFqQuMbAgppZGzOyVkb_JYbdkcwRU_gyjriHHQn0Ufrlba-JbMaeP8HLRXytszbLGuXvlKh6LrXLNDa0ikEwNlqLC-vEHA9350LWN25iALXu_I8oJW7sTA2c-rJJ-WpvUCo6ZMOY6aIZ38FNDlC5t4nx-Lx-cL2Uv6AB0A616DSCNP8hNdrIXmNiKRAtSCsJyAKkH0QrTBnrVIHJLbuedlThsPn9MhegvDDBBzYrWH0bycNpPyCKCp4kSPemDOvm-_tLWCO56o20o3tpk6YofFNyuDZ8D19_fPo5TT8jgs7iab8jvy7DxrGmg-kWg8FgC8aJ5OaJBu5U1zg_L1F54pxu4suCVsIIE-aCEdK-Ln9hnyqNVW-TOvODPXiD1ntPzETJZPtdG6TdGxSzn3IyzTbGlQ5Qng8H-zxe3FH52aBjmyyn0v5APzJogbFxU3W8bUyFqShlRu9CXFT3dtqXWvfEwP-MvTCyVHzd804A5EXo44KQaOg5X3gAFo_Bi8GFldAyPwVr5JWgJcFpiGFAmJxn9IEhhNOYUw9JS_8K8gNGnUQmr65Q1qzJjl2K3pLfwTGV-AbUlR7WC5lgeX5Zfpbg85cpV6H13QXiiK2UKqNq823KPnBaIaZRMQa6SUaj9eLkGVkH4oV1ATkd3DRQ3BpXFYEupx7p8qi-jE13MNUSHJjXgXrBI3HZdVfU2uiBKRPucF592UVIAaTN4etx_CuSI91bve4WPbFSAFW3tcfnzpuTgH8mmC-Nohl-9QcvkmTeXtFliPSOFTDhh3quFVCwt4ulh74PUDWZ_YmpKmv-m4SRsrDKKEwdjE670xSaBmEXqBE1Ge26Pdso6h4Ew-etJfpLgWyAwnU-UHzfIlvYGbA_vj6Aoy08cnI07TIX8jxZAkeI_9Ih4BLFdH5xyzDDEMGCGjGD4I4PPU-BPgqxu2uvKqh1a7uwIqe3J8DahD-eIbsRKNZjx3oKODqtuCd7xpNJ_kkqXUjZ6UL1q0oC6j079_TCpNevJ5tZPiHmivp0Af61pUbKSs74e4agWiGfLyqLFQz1CyOgH2kANSC3DntZaE2kHvNuURsX2VBDsvnspWq9HNDPDFkGyE5nKsbNVPgR3Sor_FFJCYc5b6nbwUgSsSugEHXtLvhUB3uB-Rk2vnnohJ0b-A-Xy_5_F7Gn7SZtnCfM4P8Sfhn573u_aeH9E7fjR9JeDdquFQYk0y6lyGuxwoBfqpcISmvBbt4CFzQsqVZE6sfkm3Y7KTFakvrQswguiUCh-kO6DwIv9pICmxdVrIRV0pvidfpbpKGBOYScKVz-Qd0jTDePVmITHrV_m-drk5grGqug_RfQzHQfdFQGqGWF6iHzXblbLcg85TOgdIZFvEfykC_IFOYd05R0W2rWZzXXNaCR3P9iuqIAckh9kMIcis9VzHuzS9wNPaVzrhsKX3NlQna5iU5LUvdJFqUoHRAiBCpy4AFKJzpZwTNqt7ZDlEpKwysQiAKDLrET6u5aEdmqBKoN5EOA_hYDq8i0DMuijvpG--ds5xMAmSHKhL1S8UUJd0nE72dU1Wi9FGjPEB3Ra0Y3tYBflWmTOQvONSJUxAUvOqYkI9JZS1pChHQUWblakXIHhI0y69JrNiBprheCMkJ8kcWSL9SpcpMYM9og96ag1Pi0lSZaSdrDZIrFRpCJ3cLnbDEaYd5SIpCrYeD3_vV0nDM2lpsJlSOlgePMqUCoJlNgwCZiHoBMZYkqIHmqJDIjUtjwGm6224F3K9k",
  "id": "rs_0bcb718a40616c3b016ab41c15b1d087d0a6dbacaa651649ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.13,\"right_z\":0.025},\"note\":\"The blue bowl is between the open right jaws, with the green fruit upright inside it. I’ll lower around the bowl’s outer wall near its base, avoiding the fruit in the middle.\"}",
  "call_id": "call_ZwXpeIHdZMD52gKscQjWrD1x",
  "id": "fc_0bcb718a40616c3b016ab41c16d13887d08b72179d9754f387",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZwXpeIHdZMD52gKscQjWrD1x",
  "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]: [-0.8753, 1.528, 1.1442, -0.6548, -0.5907, -0.6811, 0.5297, 0.3588, 1.9034, 1.2545, -0.5587, 0.1661, -0.0624, 0.9979]\nstate[eef_state]: left_x=0.3143 left_y=-0.2175 left_z=0.153 left_yaw=-0.0021 left_pitch=-0.2314 left_roll=0.0702 left_gripper=0.5297 right_x=0.4064 right_y=0.125 right_z=0.0331 right_yaw=0.227 right_pitch=-0.6376 right_roll=-0.2191 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -6.6256, 6.2017, 1.199, -0.4078, -0.0464, 0.6032, 0.4444, -7.8564, 5.9966, 1.1648, 0.0269, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f918a61db99924fc19ad88c7bb47f8b8b4407c2ee25b81fe67d9e58afb9e4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384ebe206179c673b9d8eacddfb66a1a1d7ab10400fe461d44d4cd0effc24a74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1672068d51bce696532b13fd5e7353c96573f8332c83a9467c6a04b63d5b0420",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.09 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 105 changed as sent

message 109 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.7897, 0.7475, 0.0612, -0.6098, -0.6624, 0.5246, 0.0158, 1.2381, 1.1522, -1.0145, 0.0322, -0.3218, 0.3903]\nstate[eef_state]: left_x=0.3189 left_y=-0.2187 left_z=0.01 left_yaw=-0.0092 left_pitch=-0.1824 left_roll=0.0495 left_gripper=0.5246 right_x=0.2948 right_y=0.0026 right_z=0.1806 right_yaw=0.185 right_pitch=-0.5569 right_roll=-0.2002 right_gripper=0.3903\nstate[joint_eff]: [-0.1983, -8.5812, 5.3128, 1.2576, -0.3443, -0.0464, 1.033, -0.212, -3.959, 6.6803, 1.2772, 0.0659, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8745, 1.5276, 1.1404, -0.6487, -0.5976, -0.6811, 0.5266, 0.3393, 1.8927, 1.6108, -0.8989, 0.1574, -0.0727, 0.9978]\nstate[eef_state]: left_x=0.3152 left_y=-0.2165 left_z=0.153 left_yaw=0.0026 left_pitch=-0.2251 left_roll=0.0719 left_gripper=0.5266 right_x=0.4309 right_y=0.1265 right_z=0.1259 right_yaw=0.2256 right_pitch=-0.6133 right_roll=-0.2099 right_gripper=0.9978\nstate[joint_eff]: [0.1436, -7.4872, 9.3333, 1.2967, -0.3004, 0.0122, 0.5201, 0.0752, -10.3316, 7.5829, 0.9646, 0.2515, 0.2857, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.528, 1.1442, -0.6548, -0.5907, -0.6811, 0.5297, 0.3588, 1.9034, 1.2545, -0.5587, 0.1661, -0.0624, 0.9979]\nstate[eef_state]: left_x=0.3143 left_y=-0.2175 left_z=0.153 left_yaw=-0.0021 left_pitch=-0.2314 left_roll=0.0702 left_gripper=0.5297 right_x=0.4064 right_y=0.125 right_z=0.0331 right_yaw=0.227 right_pitch=-0.6376 right_roll=-0.2191 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -6.6256, 6.2017, 1.199, -0.4078, -0.0464, 0.6032, 0.4444, -7.8564, 5.9966, 1.1648, 0.0269, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f918a61db99924fc19ad88c7bb47f8b8b4407c2ee25b81fe67d9e58afb9e4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384ebe206179c673b9d8eacddfb66a1a1d7ab10400fe461d44d4cd0effc24a74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1672068d51bce696532b13fd5e7353c96573f8332c83a9467c6a04b63d5b0420",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwbmLX6RRCcBbecWGFF8KxF0mb8DT4OcS8iIMWH-IHBoRnOHpx4SJlbCSmBo3_GMR3DIR1q6KWZLr84PUqFeaaXS0_zGUq6IJooRvBBAPZxrt3v01zdOzaAYkU9HLyXsrg9iJFfd1Uf_DMXk5MXK93OyFAdhFMI_5NdM149SoFgS7BtuyL3cRsgLXj0Pdm3tMzKD6wYXPJG1E2R8Nm1AvsWvbUX_IKO8soMZXNoQ_zDNOTW3ooM33SKzzGhT5A9ZvI6s20K0QGoZjLZPxfWQJxFtBQRf4JA1r_hFjASCT6TWaNx9E24OPDK8Pb5jW-QoOQnsXHoPZJsQH-TV4VWBTg8YQtJO3wq0ymfK4cLszQm6RhRUqalO_4Xwg85LrmeVs-BOd9L9RfUg7yffLfYF3RcPcSFl8ZDVf9zVUvdcV4LVzHxPYM7EISJ9sy6WFbLXSL5bUEBhFpOZHDa1yXAR6Awa_mIOG_-ZfaZ2KnaHVK8yThF2xhCu7ZXP5Q0K6OrDYLtbKjT6vsLfqmXVR3SzGdsqZPsz3O9MAD17DdJp6RsQuHPpfzpHvVICeA5_KzAMepz0xLEp13CDWg-AuBdwz3BTdU_cLJxg4IcGkAHQuKR8TsSBON_i0Mk8KmNtwwvlHCefa-b8FppZUsRKFixU8watlNtoSAXOvXY9oOEhLiFqfbP4NOX_5lJ4zUvkF2fGBKR5smbFsdim_jBgRsMcbZ1qe8iErTePit5hFGMhhNEu6LbWcT98MhBvsBySmY3jqwfM6C8PEaElYf1yHwf8gN7WyHqtN0RsoXoqVlLfCsia4p3pGw3i2-ZX8WqRsM_OrY2pmwQB7qVU4A-lOHfFbBo25tbEBDe_aAnkobfDAYB1wwRcykh3f_cjDkmn0ldpHy14VKMz6uC-q5kWcS3gBZRTQ5vqY_04uudZwdKcr4V5_FKsuKoaGab5aFw5844Jitj5QBuU9nm1weXUEIlnMYUcDFk13p60ifBf97NMgQacKjuMbuT_w92PwDBAwsGspnctZz1UaK8V5QWMG3kJw4O4wlsRPka5x1SyyMzE3jU4cPeKHCKk93Klyj-7wnbgv5HAfqMKDJ53iax-YBtEKIcvxt-w6C67mPUe2Z9eRanmezf9UM_jBWA4gNczCAfsJMu414L7eJ0xqcMR4PBs1Js2xq6IjuGNprFgFLhVZ7Lo7u5FLJ2oT9g50042KWxy7JetZo3w9WB70jCjrE_sa0WzjuzCcbYO9695A6iXvJieh2qoco-VttWmLmMiSGkdEwv-VDSUH8oV8uPI3cUfd7yHkBAYNctfLDyZdPc7_bDW4YQdT_ZU3p3bP1xbElXR3LyP2G-v4-KR73JjvYS5gKpHBawPqVgWk-0qXPWxW6ZVtrNng-7p6__UT5q_sxf3dezQJ19kKM3Ejvb6z6aTWIjUjXRUVGvijm2zDKS9-YnRbfVImgvsvPxmXPVED0tIbpg5_IwumtIIv2_tnY8b7BnmrA6r0Q1rb4bPI33zFW9mZmVgm9afpioYjULfwMFgP4L-PMfe306zcXFzQPjVpJmka7UD1a70IR54thRYUAVEboBl-PaIwxCP3BKJAjzXzQWD8ykhIMVGpgPkAS6M5igJqOH8rsphYnsXFNRCapEvdFXaZ0Tilug0e_pRMkVYtppp8L_yKSAAaCmEcSkNMC6Dw==",
  "id": "rs_0bcb718a40616c3b016ab41c19679887d0a06f7d3ca8189476",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lowered jaws bracket the blue bowl’s outer sides in the wrist view. I’ll close on the bowl and inspect whether the jaw opening indicates a secure grip.\"}",
  "call_id": "call_O8ZkghNkN1I61ihm237Gamj5",
  "id": "fc_0bcb718a40616c3b016ab41c1a737487d0a9b5ad95ffc5b8ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O8ZkghNkN1I61ihm237Gamj5",
  "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]: [-0.8753, 1.528, 1.1442, -0.6548, -0.5858, -0.6811, 0.5297, 0.3637, 1.8771, 1.2179, -0.4683, 0.1825, -0.0784, 0.278]\nstate[eef_state]: left_x=0.3139 left_y=-0.2181 left_z=0.1526 left_yaw=-0.0052 left_pitch=-0.2346 left_roll=0.0673 left_gripper=0.5297 right_x=0.4162 right_y=0.128 right_z=0.041 right_yaw=0.2326 right_pitch=-0.5582 right_roll=-0.2324 right_gripper=0.278\nstate[joint_eff]: [-0.3214, -6.7761, 6.4889, 1.1502, -0.3883, -0.0269, 0.6813, -0.2667, -9.3333, 5.1214, 0.7741, -0.0513, 0.0855, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fed333885df31a887dfeba395530c12cbd07e59dee8beb59a6fab9e4ddd6a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350d20413f3519f7650b2b36222d2aa4561a22704f2be8aff08b4b851eab8b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2169e3352b92293d5b736ce98236ad26e78e2246efe4c3601876c7c387c900f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.5 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 109 changed as sent

message 113 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.5372, 1.0737, -0.5278, -0.6056, -0.6746, 0.526, 0.0158, 1.2385, 1.1522, -1.0191, 0.0319, -0.326, 0.9971]\nstate[eef_state]: left_x=0.3202 left_y=-0.2212 left_z=0.14 left_yaw=-0.0038 left_pitch=-0.1914 left_roll=0.0461 left_gripper=0.526 right_x=0.2938 right_y=0.0026 right_z=0.18 right_yaw=0.1885 right_pitch=-0.5622 right_roll=-0.201 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -8.6359, 8.5949, 1.2723, -0.3492, 0.0855, 1.0281, -0.0479, -4.1094, 6.4889, 1.1795, -0.0317, -0.0024, -0.0513]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.528, 1.1442, -0.6548, -0.5907, -0.6811, 0.5297, 0.3588, 1.9034, 1.2545, -0.5587, 0.1661, -0.0624, 0.9979]\nstate[eef_state]: left_x=0.3143 left_y=-0.2175 left_z=0.153 left_yaw=-0.0021 left_pitch=-0.2314 left_roll=0.0702 left_gripper=0.5297 right_x=0.4064 right_y=0.125 right_z=0.0331 right_yaw=0.227 right_pitch=-0.6376 right_roll=-0.2191 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -6.6256, 6.2017, 1.199, -0.4078, -0.0464, 0.6032, 0.4444, -7.8564, 5.9966, 1.1648, 0.0269, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6548, -0.5858, -0.6811, 0.5297, 0.3637, 1.8771, 1.2179, -0.4683, 0.1825, -0.0784, 0.278]\nstate[eef_state]: left_x=0.3139 left_y=-0.2181 left_z=0.1526 left_yaw=-0.0052 left_pitch=-0.2346 left_roll=0.0673 left_gripper=0.5297 right_x=0.4162 right_y=0.128 right_z=0.041 right_yaw=0.2326 right_pitch=-0.5582 right_roll=-0.2324 right_gripper=0.278\nstate[joint_eff]: [-0.3214, -6.7761, 6.4889, 1.1502, -0.3883, -0.0269, 0.6813, -0.2667, -9.3333, 5.1214, 0.7741, -0.0513, 0.0855, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fed333885df31a887dfeba395530c12cbd07e59dee8beb59a6fab9e4ddd6a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350d20413f3519f7650b2b36222d2aa4561a22704f2be8aff08b4b851eab8b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2169e3352b92293d5b736ce98236ad26e78e2246efe4c3601876c7c387c900f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwfT4zgzuwU1zfQstYhwUmeBbbJT6oBStDCLqA1IQ0H5lxX3LwbNN0ZSXAYygMvpsMlKBw_RywfSZubC-s9DwHZpYzxm0ad0karEUicfDZxckMAQN70IhIE_uwbLkiAATm6FimEVhMljaV7otN2SxIeFnAFGj5NbHJughToPXHVBFigy1CfOk6joTy9FpIJgibW6xNliL6YPtt4Bse0CFjswn0GQGr9AwNe82dbyTeaioLX7f-10BXQinyV5_vn--BWnoG8nj-A_Ihur4Tlv4w90BL9zR-S2MfL-nn-RJGSmg7U7kS5Q-Mcj0rkG82O2MUs3SZ0mPhhLvtE9NudteCcopFYSwHG-d460ZumXusQ-ZUkRnsAwD2LPY_VHaiCpbHUwwUf4Zgxq921lmS_D4beGcU8ioNIj5PiN1uHyMW27bkehrdwcyThil35cXwk1dw8VdYHE-8N5Y-azd3G8p5Ezy98ltJyfHuDBHFcLOD0t5N9rgukcR_218VFwWsffrd659HUlothqJAehdx7G5T_Raxxw-BD6i2UW5cZvXkxIc5gYeiobrd8TxbbsF8RtwMtGPw0CBjNaojlp_nqGTtfQb1z2p3JIESrMziX8r0w8nwly3zqcZagSVHrMCACv70fsuSGHhvZjQpsynlp2DIjSCGSVG7XmC4AJPNOQjMxCOWasg3b8Ho71_2TDvJ4-W1BEhI7pTOIa8VhE-c962hnys5SSqtZBpreAk48UvJxpD4ClHDLzqzvQBTue4Wfda4EZSAcI18Fv65Pimjne4yYIZq-f2s-D01Uvl2gj17wN8KKcElXBKesPJQAc61urMennaSw0uypuHMeWzi-cqPB8koXZsCU6u5ngKXS0GKmRT-9xIVQigvkEKZ-44YRWPXeS5WDnSy9I49pwMs1eg-2qEbuq2O4LMqBIix1zTBPybXwUPnr6YFx1Q6q05Iu_sA_qIZeJds-m8JzytxOr2EVr3OkUThO1444_7GWN1eC632inUTK3D33dH1YiDVaMv7K2R25hftEReNsnJHM46Z6WSGe-UTSOYjaH4tlfIpGi4kUkA_fHyzGV41y48UcS9pDwgM5UeSm69szWWcK-TW__cfTntlrsLke17lStVc0N_9I6y4j-tZNTNjjFizYaZft7DQCcWCFzZ6PhbCYNuNenZFnYSEob1h6AZTMWZtMufg63QXxKncw5bERQZIkczDTV9Himt5HO3toYFGNl378kxNVXDuW9oJUJIwvWIHzSgbIBWDzZAyAV89g3HfsFoqqjD7Vrm-bsHQvR4IvVM3E6RlF9T6c0vlVBqt3wiRm9-cM-Y7qBsKTB5gH3T2xefBm74qmzERTDflN-aGBbwSFEkZJD5OT-CFdC0pGJBJVZBN3E726bdYCbQRpe47FFXH7jzoUsXFChaii5iy0suU5C-LYhLyxo-K97vd8BIyHddSGu45_BoDHWKfEwRxxx3jm",
  "id": "rs_0bcb718a40616c3b016ab41c1de5e087d0a601567f6535bd2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.125},\"note\":\"The right jaws closed to only about 2.6 cm, narrower than the bowl, so they may have caught the fruit or a rim edge instead. I’ll lift a few centimeters and check what actually moves.\"}",
  "call_id": "call_4OBWfSYcWjjp6DC117UWCbt9",
  "id": "fc_0bcb718a40616c3b016ab41c1e85fc87d0bae648acc15abffd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4OBWfSYcWjjp6DC117UWCbt9",
  "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]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5835, -0.6811, 0.5297, 0.3637, 1.8359, 1.4223, -0.7391, 0.1787, -0.0868, 0.2769]\nstate[eef_state]: left_x=0.3137 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.2364 left_roll=0.0663 left_gripper=0.5297 right_x=0.4179 right_y=0.1293 right_z=0.1005 right_yaw=0.2395 right_pitch=-0.5847 right_roll=-0.2364 right_gripper=0.2769\nstate[joint_eff]: [-0.1846, -6.653, 6.6803, 1.1013, -0.359, -0.0659, 0.6716, -0.212, -12.1778, 8.1573, 0.9695, 0.0952, 0.0269, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2627dbd6f816a48fca7f86a5a352f76c24c86a47e4ab63d9a006f3e2f43b71da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e9bba02d11c515d20ea211e70dbbf47bb6712e998f7b304676e0b87206d151",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e3cd96cb52fd861f34830b81e52f1177c21850e44843c9bae53993c2b290bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 4.554 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8745, 1.5276, 1.1404, -0.6487, -0.5976, -0.6811, 0.5266, 0.3393, 1.8927, 1.6108, -0.8989, 0.1574, -0.0727, 0.9978]\nstate[eef_state]: left_x=0.3152 left_y=-0.2165 left_z=0.153 left_yaw=0.0026 left_pitch=-0.2251 left_roll=0.0719 left_gripper=0.5266 right_x=0.4309 right_y=0.1265 right_z=0.1259 right_yaw=0.2256 right_pitch=-0.6133 right_roll=-0.2099 right_gripper=0.9978\nstate[joint_eff]: [0.1436, -7.4872, 9.3333, 1.2967, -0.3004, 0.0122, 0.5201, 0.0752, -10.3316, 7.5829, 0.9646, 0.2515, 0.2857, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6548, -0.5858, -0.6811, 0.5297, 0.3637, 1.8771, 1.2179, -0.4683, 0.1825, -0.0784, 0.278]\nstate[eef_state]: left_x=0.3139 left_y=-0.2181 left_z=0.1526 left_yaw=-0.0052 left_pitch=-0.2346 left_roll=0.0673 left_gripper=0.5297 right_x=0.4162 right_y=0.128 right_z=0.041 right_yaw=0.2326 right_pitch=-0.5582 right_roll=-0.2324 right_gripper=0.278\nstate[joint_eff]: [-0.3214, -6.7761, 6.4889, 1.1502, -0.3883, -0.0269, 0.6813, -0.2667, -9.3333, 5.1214, 0.7741, -0.0513, 0.0855, 0.5495]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5835, -0.6811, 0.5297, 0.3637, 1.8359, 1.4223, -0.7391, 0.1787, -0.0868, 0.2769]\nstate[eef_state]: left_x=0.3137 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.2364 left_roll=0.0663 left_gripper=0.5297 right_x=0.4179 right_y=0.1293 right_z=0.1005 right_yaw=0.2395 right_pitch=-0.5847 right_roll=-0.2364 right_gripper=0.2769\nstate[joint_eff]: [-0.1846, -6.653, 6.6803, 1.1013, -0.359, -0.0659, 0.6716, -0.212, -12.1778, 8.1573, 0.9695, 0.0952, 0.0269, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2627dbd6f816a48fca7f86a5a352f76c24c86a47e4ab63d9a006f3e2f43b71da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e9bba02d11c515d20ea211e70dbbf47bb6712e998f7b304676e0b87206d151",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e3cd96cb52fd861f34830b81e52f1177c21850e44843c9bae53993c2b290bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwjHKckGZGBN1p9L9BhxJmf-exXZ1_b6lCotYKXBET-owT6Q3tBQS9yHsV62xc00rd-U-vXZpoOdxaKLrXdM_Wn6KZ8FPkT15HxnAZFCXcF-gA8TXxvOxnK5DZqGPF7ndawv4LlrDGH_3IN1v5hkn90GDGxoNnSZFYEAc289S9eXkBrXZgqRrG8hUpLo_qmlxPPJpuAXjxc0s1yr_iFTBMYCg18nteKqdAGQhJwr99prdn-ayRy1K4FqGmOpY0Q-e1OBsyI-ZX-gyTSBzSSXZ0qW4iD_Fvgp1Glr90ryurEZDeBLQi5obfvrqwx4XDnFrn-xguS8FBpueDGBMgxmUr0Yty-qa0rGU9pLHRILuigdl-LxaFodMyAljTRHkm1uU7gzkbnaso5FfmeIxvAvOZ3m_tSNs0GDEzYuIudgrX7JqSztW_Sibz46lXaq9uiWlb7Z7aNXLeQykhNJhE8G0GZlhFAt4cS1zxK3Bm1uTuzJPfHduFTvP-PR2zwxah8DmRrfkEUCa8RsRMfkQU0Qvc6Vz2Pb7uZcttSqPHMnLnj3BhFMfr11ZKWxY2oTLeRIy15jgBN5myCmrAAUldaInjB5WAmmTXflhEnh1e65N8q4dASCRMrVs3bH6bW5lnDHg2UDgYo3iizKyyM9VRkTLoqj0HzWB7cIows9E5-P4qKJ3DnEvW4yoFi7zgfNm5t5XXQMJje5G5MCIdDFzCt5M2Btt0c9MxCtJgeEbSp5eUhwy31gugRe80PmoJN74T8-FNn0fXjIdBZUN_3tLKAsNKsnBvVDEgdu7NTprkTM3Ie9GopGa4tCm_yTpa3Vbtjo2vl_90twDslP5543HTRROK7qkrThK_j8r5nnULDm0BywXWeL4aR8OdDn1Hef8iHgl0NZmQJTmIzwXTRFMkE7f9NoIkc9mvT3VLRc9SqLM_qjUG5RiPl7Pg2kzh0MiekCVCWBvSFgOU-sr7BBeMX-FdeO61QXuEIKNMFJb0P8GxT8IYT1XgXeDNwKA1rMitsx1GlqFQYEoKVGFQD-gZxy6b5qFapSPK_Ow47Dp9JO2QWzCyVFItWKTTqQAxkkODRpuo2cpOqez3PCluAskGlgZgpmkH6LjiJVVESSpt8waVudiARqRC6l7DOMnx8DWCkxlCSva2BJFt4_bCRSABkhfzlcdxKNhzda_MkrdxoeEAzgQqyiotn7JK52uotR3a-hjE2Y9NFpNGvmpwuYk0c-y8w6knKlFPO5tkKfuAOy_GmBmc6807MNHhi2hMnbwj0RFvcRctoktLJHQvcZr8tPsNQjaUcfutHBlcNZ69XmveXK55m9HiDiy0jQF-qZIUHIkYhzY8hXMHHYq5NyUaCX-uXhZ1BqJZUdo0Z4VHY3HAKp75R_PPRDZbkalo79NcJmXTKHWhhRxo1gd0AZFOOKG9iyc5ILivFS2TCj61SRC5CzU7IVrzzQ2PkaM0PhytBswqyE7JI8mDEkaBcAiSTPX9j89hiRQXptcfiC7dtuyQl2sxdNjFUnwO5YMXZ-7Zg3IDvem0kZzR44a1hkj65marIvJJN1Marwd1_qhbCPjKxlBQkePI7xWx6RHtlkj0L5AGJvZUCV12zLE15V3fTpHCqwDbCbPtKbL8eOcZ8tFGAa3h-iWwZp9ZfmhcUGgxV1fhNYm6gTtt-x_rw2poljx0MvGq5betRnxccIg_a8B5W1qfzVuHt2eqveE7WlFnw4YUxmPOJQW6iTEcOALrsJq2bZ841pVr2m5DqHBFooC8R6Z0LyzRkSM49TbDTRzyi2z4KiHvCY7gLxNgqvYY08Dpx7jj3pO8Mf5GoEdSprpYHIbffAZBT3gMtACyRbHy1lTxv5-Zp_xkDktidO2EAhHZBZKWmLe7CYRY-groRzAs6VEb3iiCem5w1O4N1_tWieIJPDAzynxs0O5hkDdAuBcjiTunoaqTH5pad8u7rQq1AQVqMdZHI4GVjuCH12hEZ53OCHc6oHqlacD_VUwOPCEy35KGHvpsDmbuV6vlaiDgL7W7T9OpmXJEOJpP932VMm5nEuc9WmE0M7J5w5K6fIDa0ARxl-qfaqOXaHg2IeS5titTvi0sW5wUdDU_-CyIwMKDKUVCGYi_Vn6utqjt8NS-dZYl59s-GcC9VNkTmXKqx4cIHDNa1386l6Wqk7gGzpKLMqswypBr0337Q9bhK_Uj-ekKwtigdcV3AmUr9b9p4JM0=",
  "id": "rs_0bcb718a40616c3b016ab41c20d05087d0bc7cc173fcc32599",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.24,\"right_z\":0.16},\"note\":\"The blue bowl still appears near its old spot after the short lift, so the grip is uncertain. I’ll make a cautious sideways carry; if the bowl follows, it will come within reach of the left arm.\"}",
  "call_id": "call_YSztrKrKnmaVOnR2riEHhUBK",
  "id": "fc_0bcb718a40616c3b016ab41c22483887d098857ccb62e12546",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YSztrKrKnmaVOnR2riEHhUBK",
  "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]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.606, 2.0556, 1.9411, -1.0821, 0.2527, 0.1028, 0.2768]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.4188 right_y=0.2408 right_z=0.1529 right_yaw=0.2841 right_pitch=-0.5885 right_roll=-0.2332 right_gripper=0.2768\nstate[joint_eff]: [-0.0752, -6.7077, 6.7214, 1.1062, -0.2759, -0.0513, 0.6764, 0.1573, -11.0154, 7.8564, 0.6862, 0.2662, 0.2222, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07eab9d6a024928c2087baff4a4aabb777a0377e023fefdbf4d62c8e7fd9d17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6210b01ff835b3089765495afb759579bb37613b7f5c177d786c9539c30dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a2ee67a9e0741651658aa7ebb4e876460ab949957672dae1cb7c218875eea5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.792 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.528, 1.1442, -0.6548, -0.5907, -0.6811, 0.5297, 0.3588, 1.9034, 1.2545, -0.5587, 0.1661, -0.0624, 0.9979]\nstate[eef_state]: left_x=0.3143 left_y=-0.2175 left_z=0.153 left_yaw=-0.0021 left_pitch=-0.2314 left_roll=0.0702 left_gripper=0.5297 right_x=0.4064 right_y=0.125 right_z=0.0331 right_yaw=0.227 right_pitch=-0.6376 right_roll=-0.2191 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -6.6256, 6.2017, 1.199, -0.4078, -0.0464, 0.6032, 0.4444, -7.8564, 5.9966, 1.1648, 0.0269, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5835, -0.6811, 0.5297, 0.3637, 1.8359, 1.4223, -0.7391, 0.1787, -0.0868, 0.2769]\nstate[eef_state]: left_x=0.3137 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.2364 left_roll=0.0663 left_gripper=0.5297 right_x=0.4179 right_y=0.1293 right_z=0.1005 right_yaw=0.2395 right_pitch=-0.5847 right_roll=-0.2364 right_gripper=0.2769\nstate[joint_eff]: [-0.1846, -6.653, 6.6803, 1.1013, -0.359, -0.0659, 0.6716, -0.212, -12.1778, 8.1573, 0.9695, 0.0952, 0.0269, -0.1245]\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 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.606, 2.0556, 1.9411, -1.0821, 0.2527, 0.1028, 0.2768]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.4188 right_y=0.2408 right_z=0.1529 right_yaw=0.2841 right_pitch=-0.5885 right_roll=-0.2332 right_gripper=0.2768\nstate[joint_eff]: [-0.0752, -6.7077, 6.7214, 1.1062, -0.2759, -0.0513, 0.6764, 0.1573, -11.0154, 7.8564, 0.6862, 0.2662, 0.2222, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07eab9d6a024928c2087baff4a4aabb777a0377e023fefdbf4d62c8e7fd9d17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6210b01ff835b3089765495afb759579bb37613b7f5c177d786c9539c30dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a2ee67a9e0741651658aa7ebb4e876460ab949957672dae1cb7c218875eea5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwowmDiXf5AI29gTYhz5lKWnTOq981OvVU1O8OXAh6WGii_42a-so01dwhM8RzXDRg9zsb3Uy-bHEworXBpnsnMv-tMnXstSwLxvu_PNzB3s7_1QSrF5S8emJOlTlVe6ey-YnSatAOmzAvw5tEtG5Wiqwp4ENI6QtqYDeuIITFDsYhLxC7QCfoMl9TMXDsIYN4h16eV1CFhZxIR4RlZywE0eiye-2tY6bivwiOe0mEk-2BXSiiH4Hqm3v3TK552mEuptCixYRtl9IfbgN3XWGBJNqlsrHKBF8BdRn4QiX6TIdsLQrTAy5lXn4X7cb5dokEPjHrPU9tMiiEzF48jqgO5gRVKBmgcWgwPvf_0PyzN8nnUlzJJbKzpNqHWCGoS-i2rfC_JxbQeIVWu-6_au1UVC-lORFKJ7JnUuDRus3Ni62167pEcG1-8qk3SQQAcORhJfIMtIB6sWT4b3fwRjTWMDoGlU7xcvlqaE7Sg6GsmWgNqcDrXD2XU2JKd9IPN7rGYaoTCjtyGtoHLFKrnXG4Mxvup32KJprgEnr55U0JVP_srF_SeqlWNZrQY7YtfrAL8NO1Dm-fNjORXLnHx_GAWQ96KQSguxNJY81EFIadK_cejyK37CEP8PmGHFFBg_ZpBrpXTXQMu6wBqiCKt899KnyYSxEfl9MGQv-sPImm-D0bY1QujPJ3_-bwgpVW9TaUGYy6kKIIMAF_Blw37M34RnjxJZ67BJVWr8h8pzhFXuntgNr0a-20levG5FP03TPw1Ak9XOk1WBDA2Bh3yqw5kv8VvRyCn5i37Snkqps1H3HEJI-FA26uXEZOQ83LsE1VX59QeujEgz8qxu9YVPxMHNMEzBD6sDg-88KdHx-2WOEFf3AG284En7ghoveDe58PqQ1eR3PcvcjBid2CnJ6J7mh72t5zXMyOtMGMvgOneNdGssh08Cx2jVgBqJObOGkw_5I5eXLh_W1DjTr83pNii9Qr3y0W2YZCyE3xYfRwTQfKXTGRMGpQCkPvY0Y5M5CDopkOjMpRN-Z3d_JzOuPJ1cNm8soFJkHyhGWec0wUZIWndz_EQvA4Uq-foO2i8OPO_7fVShwlEG3kFTjvKzQk-81Xi--aEqM-XYk1S_5rOXW82oOhNIP6rOYkTF3d9IvbKiFb4xeg7shfVTTHT-AZRgHyU09lEmj5XfDS-mkpwLSdVGLkfgw1K009_l9hy1YF9FqgRVbmpYbQG_wBWZZcCuRVLGzTjDlQbHLXVeNEYbkN-W_4V25meiuOrPXqn05WOIYQYXNx-h2UYIdCWCSy-fhuRDSOXLOXSjXrh_RMeyduhfrmLl01YYj5RYqX-jECiLTfbTMXXgySd2Yde1Qc5FGZmJD6dYJ4NCOOjc5_yEzwhJfDiTIcD2-6a2sPTtqsN0rOsu8uyHUb7E7jwJXJ_mi0vyeVMY0XuwYDQlpLkyYxsro7tQsfLOHmLoXe1oIIAT8l5y5THlZTa44whnQnZWq7fsLEjlmLK0cm_eN6Is756J8mu_rzAELgNTW-9PMpxyD9XpaJ5rfbWdMR3sWi5OkddqTpgU7OEgvD6GN0HQkyvi1Jrxgy2CP1Xy9p_7en-l6S4Pzxl-WP8QxdTvmOasvhfDx7F8NR1nkw8ufs6iIZgNO0dqodZ8mKD_0zqXVjAeEEQ_SWtxEpdItiTz39__7UW6yrIHp4qRoJbkbljw6BZLdCuggrYqBYrp5nsbVqd-SWKouy6ImFyMVYcl0ADybBGdRdPUcy5136RXis_uzkdG3C_Yd7X7hPepSS8iu-egTIOOQ8twPF3XJE8vgdDWz-K1eAirLj7FMOZXk0QByGZ0KrzXzvgiPrB4TO2NYQ6mzwsw08HViQKo2ZpPeU0P6T0sg-fIhV3QkxR76I6-ZgLJ-MdVF_4MtaB8YoOnr7fGigJjw4I4fHmqj6agNrpB9j54uWrcR7ADzdSqDwk9MpgTuN4DU2cwzrEjd-KQcVMGbfXlaUzAxAc6GxFUjx4_4gu4sUq9J2Zac6XKMc1jla1XKx7--ZpJtRkLs-ZKoLIkBZwPSMmZVcGyQ12a4KVEhHA6OUNiKStL4ucR9p6Js_mJzyS4Vw51IahDkt6lsIXlhSoBuThAhh1jbYgEjLP9-B-z4gPR9xWiqTmmKBVCF4TJfwktT-BjR1dW6sEzXVmhY54W6elbPe11yU3X8iHdYWwg_g_LIsPa2gRyrroK5A0F_TB_OyhsfK8EW5Ssiz1avPYIpnWATOlQ8Dre2mrjK87gv5BN5QBW2Sl3NqrQ3J0XTagjQ6Od9vxnA1ZOiZyJtQw7KU64nXCBAXviYD9mA==",
  "id": "rs_0bcb718a40616c3b016ab41c26033887d094f8b2ce4bf813bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.135,\"right_z\":0.105},\"note\":\"The sideways move revealed the yellow fruit between the right jaws; the bowl stayed put. I’ll carry this fruit back over the blue bowl and lower it for release.\"}",
  "call_id": "call_T8a8KhU6GUxuX4gdQmWaTY1Y",
  "id": "fc_0bcb718a40616c3b016ab41c27bf6887d09a65cb59f1ca3aa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T8a8KhU6GUxuX4gdQmWaTY1Y",
  "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]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.3546, 1.9961, 1.6039, -0.8524, 0.1623, -0.1226, 0.2767]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.4368 right_y=0.1351 right_z=0.0829 right_yaw=0.2633 right_pitch=-0.6824 right_roll=-0.2465 right_gripper=0.2767\nstate[joint_eff]: [-0.0889, -6.7761, 6.5162, 1.1404, -0.3004, -0.0513, 0.6764, -0.2667, -14.3932, 6.3248, 1.3114, 0.0415, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd3a293089598642c02170be6f443116126faa0036f5eff7146a6fd0fd411753",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7db66c81a16e2d2514ec2e28f13f06733773250731ea40de8aea08d80b0494",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b6f93237faadfedb391d49d57250185fbe433556296758c778154b1f7e726c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.747 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6548, -0.5858, -0.6811, 0.5297, 0.3637, 1.8771, 1.2179, -0.4683, 0.1825, -0.0784, 0.278]\nstate[eef_state]: left_x=0.3139 left_y=-0.2181 left_z=0.1526 left_yaw=-0.0052 left_pitch=-0.2346 left_roll=0.0673 left_gripper=0.5297 right_x=0.4162 right_y=0.128 right_z=0.041 right_yaw=0.2326 right_pitch=-0.5582 right_roll=-0.2324 right_gripper=0.278\nstate[joint_eff]: [-0.3214, -6.7761, 6.4889, 1.1502, -0.3883, -0.0269, 0.6813, -0.2667, -9.3333, 5.1214, 0.7741, -0.0513, 0.0855, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.606, 2.0556, 1.9411, -1.0821, 0.2527, 0.1028, 0.2768]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.4188 right_y=0.2408 right_z=0.1529 right_yaw=0.2841 right_pitch=-0.5885 right_roll=-0.2332 right_gripper=0.2768\nstate[joint_eff]: [-0.0752, -6.7077, 6.7214, 1.1062, -0.2759, -0.0513, 0.6764, 0.1573, -11.0154, 7.8564, 0.6862, 0.2662, 0.2222, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.3546, 1.9961, 1.6039, -0.8524, 0.1623, -0.1226, 0.2767]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.4368 right_y=0.1351 right_z=0.0829 right_yaw=0.2633 right_pitch=-0.6824 right_roll=-0.2465 right_gripper=0.2767\nstate[joint_eff]: [-0.0889, -6.7761, 6.5162, 1.1404, -0.3004, -0.0513, 0.6764, -0.2667, -14.3932, 6.3248, 1.3114, 0.0415, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd3a293089598642c02170be6f443116126faa0036f5eff7146a6fd0fd411753",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7db66c81a16e2d2514ec2e28f13f06733773250731ea40de8aea08d80b0494",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b6f93237faadfedb391d49d57250185fbe433556296758c778154b1f7e726c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwuOL-Pv6XtXUVR7MIUm9B77aMOGjSfbn9967jsvoh13vH2-bM8crrdb3YaiydJyi--Ap8dFrUWUDkVnEcGPcZQcDg8kf30cOBxFYn8EDpr00-CZ95xyWn6ZYa7yUBQNmQzBaN0g7MM8VdnqsNlJTU__9ks-weSqrwlWWnBTJWwPxU_JUl0BgDIpms-OH0EiD4Xic5MBaSytfUxFtkN3yhSk1bCqbGvFCVCCS8vYovRKCJMagHbJjDLShy-hGw60EY7LQQ1xNUkOiQo_eEslLRxACFCEtpVUqIQzah5HKl9WVmTLADuGkQExSmOVCtbxkznNCQ0hjiMSYYj65zzLm9ApOkQ0q_kYW7T6aD6lf5ymdXk7orYL9_l00kRV9Ak6_FhqYUrRKZz6_pyPfK4XQtp9dtIYmlPGkt5XcUw4nph0OOmW0ntHdVpjv4HSybOk3_cirFgYrf99DbPGNZAiHTSnM9pyg_aike91xbjz8_sGiwwpzLbSzVM7ZRO6pe2xp7PYKVxej8MgYuQnl97LJVyTEhzp849vSSgwWO-jhqX9ZiEA5V8rfZOTyrvH4185s-VAtZqxx-hHgEfuDz--DYoaTWjCxaxMbQ3RIDUzaFFKnaC8EchKndbJ4DqMwUE6X7BhK6md9a_3ydbCRopIWi_FuPyL2HFuSjv19wrBCxxplGPPFrlqEhe82_nmk368blpx6ACqnr56UeJai_mgr8ffNB_AS1k4H8VZz4u4YJbuxwt7fXIzg1Vp6hdPqZkh72hTTeqNlf20ulJD1evmEK1qL3vCW26HonN1ITuHDCiI2O2fdw0lHXu9rgznLg8YEyNyFUab6pc9DiGy7Gzh9JgvmLyCfJS4Ncate13XUj0PV_KCqm32W9BL2iW6UzjHO3sWj5wzSRTvIOqDmwxZ_2H5vELyPdzpF7kFbe6rz8qumWfpap0AxvEe5q7x9tOoU2gDv-Wajqo8vU5jzA2l_KmtL__8yPBiC3z-dRKTQru4fN6b5yQ886lsbzLG2BYbD3fgSWKfIox-Xq3kRitTyTljUm_06yf444Y-gbJIf3D4IHG0YYdWYZWNWZt2kp7F0QCoAhhFeBH2cGgTnWB9b-z1UZx1qbTfk1YOq5hxbMGxdxtLk05XhNYM45Jxl-ODXmcRox-F3t5SDS8NrkUE4EQ_A__zmPy_DIbEEXefn0bMbFs_TYZf8mFSSsYBjvYMOq4jS_WPEqRREx-661ZgGn5NggQ97savCUig4L7kEFlkQNiloVUN85Tg9kRFt6bfYw21WDUsGTkvljFzyM6vAocJUFY-WqGp52XVIFTubf0CBbsaIesRhLUSJPfyKP2mpTS9I6kE7Rvn0Md9xDsfxb7ALIyRh9iVhgtgVYnwny_b5IMR2F0-S5b4bDNpKqCRhGMa3zVFPOZN2WqUHz6AIHpMjoWR6-2pdCnqmw1qEwzrqvNm14eO7NNwUIjFtX1eGLzCcd94WmeBXL1JraDhJQMtwrQEyio6Cc8MXc4eK7SxKhqQ-VItNxdgjssTE2iRWtM4CO4GSsseVsY-e930vj0ue9RJiiAG8s8qD9V_rbe3zalDPxFyQVB-VddFH61CM774NaRcxBbAYAyrN2qJ3pYgu3YpFqo1I58fANZjz3nz_KPxx-FCRLxG9AJ61pZ8R-ix9n0pFcH9qgWmft9TPheNhd-fbRvQmEk4cI2-HTXL2ABiPiVHHyerlzr7eN4iL6I_TfkY-__OUaWXBYMzTk7hluJLOf_K4u_zdO9ChseivdpbVKVZ_gDVyFQfUDGniAHu-5DP5404HvP6HUeeW4GQLbFuAXq-kfhpr8rofaqcgEdIsT7A0befAoLBKw-ycrggxSHtJd8KNlfpYhq7rhPD3KM0Qfv3NTzNQRiPlshAgbEgWNa0FCGu2nUtI5WR5i8Wl1btplCHortVdtvZrzOnyuAjDhnEpIvvDGCoKISnC7xQPP-t0tBKW6h-BCjzAFoxcEK56FnRne3TuxefTRV1zmMt3TwRaJEy87DQDA8JixeqOM9AGwJSwCxPdgO185MlqoVYlQuy2QF858xw7SpuGORLle2lq2U7a7rCaxdS53gamE-wXz65pasEcS128B4dtWYLnkXcBlCN4zQKCYZfzQV3RZr--254Eo0QLsMuLEGJFa93AXaN4xqF4PUNf1XuwCmKErAzJMyY6OhoT0_4TQ-CdxF4AfZg2QkSJbZxkhDxLVJi6sFYWRTPky7JjMT4PrLlGv-MSSmrLM-GzfuIDD7k-U5Qkly5AFuXETueyV-OiM2By5q3Cyvhoaw10B7HpYRhjbMkMsxbhrTJ0Ly51X71VF18pZoM9LVpRi0zZIq4wZnVwKr5Xe3vWUgiuhUc5flt0IK_Caepe92Qg5E80DIAxdK6Jn8sbmhwh4PMGKnDIVz1Sq5xcHREJ0ITDFtXqC2DAPyzRxSNL81g5f_AE4kONxH7qbpLif-ldqd-Zukd-21yUPBExZXIS9gzkJllR7TuMe0NqTbK1qW9C4dOIRBDSBeFyCqCPrutEMW4TQHx9sXgjaJJlYky1Bv1wkBskigVcPHTxWtyy7Ix_R9nclMAcY9j4NR9bmy7VeUVXyAoj_sxBw3J3Y10Z4yRO3epG7t7MAGn4W9qA7MDVw_ZPy5UxsLsu91_qwwmppp-Meph6cSIV-SB8oUoHhNiNN-SZ7Uqlx2ORqUv63zxUVvtXi9utJ7IJWkWtSnUm6WCcUZfBoAkfRCfhDzMTlDiPD7DGZCPDktBH20bMCLZPj6HXVonnsOrcxiBXhPoYeOIjg=",
  "id": "rs_0bcb718a40616c3b016ab41c2acca087d093a83cf2d401c837",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.46,\"right_y\":0.15,\"right_z\":0.05},\"note\":\"The overhead view shows the yellow fruit still on the table beside the bowl, so the narrow right-hand grip did not carry it. I’ll release and reposition around the bowl instead of assuming it is loaded.\"}",
  "call_id": "call_Za4889phpMAIT0PA1zAUoHqW",
  "id": "fc_0bcb718a40616c3b016ab41c2cf2e087d0bba625f1714d9855",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Za4889phpMAIT0PA1zAUoHqW",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.3714, 2.0514, 1.5078, -0.6762, 0.1635, -0.131, 0.9957]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.444 right_y=0.1459 right_z=0.0414 right_yaw=0.2861 right_pitch=-0.6587 right_roll=-0.2487 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -6.5846, 6.8718, 1.1404, -0.3443, -0.0366, 0.6813, 0.253, -10.359, 8.7863, 1.1893, 0.1783, 0.1783, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdccedc3eafccffbb01232459b571f546274e4abce1cec519221013a6199484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44212c22fcd1ed972d7a7a669f7fd2ec03e27139494556244ed308456a62f7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59528e0a8d09afbf5cc78f5e88e43395a161bcf19ac3ae7dea0773c9b57ddc50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 2.154 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5835, -0.6811, 0.5297, 0.3637, 1.8359, 1.4223, -0.7391, 0.1787, -0.0868, 0.2769]\nstate[eef_state]: left_x=0.3137 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.2364 left_roll=0.0663 left_gripper=0.5297 right_x=0.4179 right_y=0.1293 right_z=0.1005 right_yaw=0.2395 right_pitch=-0.5847 right_roll=-0.2364 right_gripper=0.2769\nstate[joint_eff]: [-0.1846, -6.653, 6.6803, 1.1013, -0.359, -0.0659, 0.6716, -0.212, -12.1778, 8.1573, 0.9695, 0.0952, 0.0269, -0.1245]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.3546, 1.9961, 1.6039, -0.8524, 0.1623, -0.1226, 0.2767]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.4368 right_y=0.1351 right_z=0.0829 right_yaw=0.2633 right_pitch=-0.6824 right_roll=-0.2465 right_gripper=0.2767\nstate[joint_eff]: [-0.0889, -6.7761, 6.5162, 1.1404, -0.3004, -0.0513, 0.6764, -0.2667, -14.3932, 6.3248, 1.3114, 0.0415, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.3714, 2.0514, 1.5078, -0.6762, 0.1635, -0.131, 0.9957]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.444 right_y=0.1459 right_z=0.0414 right_yaw=0.2861 right_pitch=-0.6587 right_roll=-0.2487 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -6.5846, 6.8718, 1.1404, -0.3443, -0.0366, 0.6813, 0.253, -10.359, 8.7863, 1.1893, 0.1783, 0.1783, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdccedc3eafccffbb01232459b571f546274e4abce1cec519221013a6199484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44212c22fcd1ed972d7a7a669f7fd2ec03e27139494556244ed308456a62f7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59528e0a8d09afbf5cc78f5e88e43395a161bcf19ac3ae7dea0773c9b57ddc50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBw0Qt9S16vhB6KUARmy4nUWI8i-OIJq6Ngnt_x8IFKQqYI4AkfM5uTSbegsxg-lG0DeFtkCL6EmFKd3u6YAjFbWuXkMW8RVPLW0C-O5DQOkCYMo6drrCeRUPeJlu3fOB-ZN2JUFzEqYrBr4AI2DB_td3OioPqIWkNmb6VfpIB9BLh5e5HcfyxAjZPVKdG-CBXvjU7QVdecRmh9CZOg5d_ZT6XVAxbC20fAWzrxMqOwYuJIsxrUiLTrZoTf_IyIay3UAGMJPAP0e6FQKr3_1_oogucdgx2trDQyrNCj44yKr_cPyou_cD2xy2wPRIoDo74icby5EB-LSmXw-C-JWLfixT6IWj9E_lQcBDsI29Y5EmGhPxaJ3oUEMf7HdOHnpDOiDesHSO4PcSKU3wEY8o65JrhV7BGXYzL4EJxZ-0bzWOTviVXRPabEZ2DU23gmRafggVhi2SRUK4d6Q9Rrkp5zk4W-zsMm4u6iGMQgSoxlAez74ndA_LnRMqhuEM5_i2hSXwj8K8WPQdQf9U0vfr8SVmU1HLYYPkBevtAFIhZLQzYa-YLkKQP6dtymzYlS5zGpxAOG2cZoT5GSYGWNEfKFlVR0OF9LEXb1UWgutjWggmY2A5SsIiVwPE00l0AUPLCaTQJb0jTb3mYb5VjCqEGpwrE4DsrLMAUY78dK4VbeeX5UGw_fR6Q6_LNpwjZQIHeysuQlfumTnx-WWHUvsgEb8udBMqRrehDOq7rMXuBxftsNZBmC46UWYrQXCUw6J0Gme5oVCpC_0MVsRED8qnCg3JCfa5Ao0XUp3LnVRevMIg_Ei-ANy9mzklIYOK-G8PbnMJ9YN0KaM7xwQMYT2xWrzmLNE9lNx03KPFl1gA6MpI50hejdmt25tmnRWpyNlqv4lLHHFHldajcEKYbTDNUG20q9ECG7hd4rc_Fq6ZbEyDJ9F32OHKQ8goe1S0mMv6JSOYUDRqRgpeQbWgLYruAuAEnIZloKoQqTs4qHzN-i1u7VH6OIt-EC-DPEIo1SKEIdOpTXNCh20GWnVzoghs0n9wLVsRCssz8LUfPPLch-W5OVa92gSpvs_W93wXhyzdLLdnHV55N5Dwl6vD8iwJZCThHgDEHbsI_qlvrCfuqpY8_627vFZsNYQAPzKM7_G9bYuUSw_r_nqZz0hy-itUfcGmxHNIR5NYNajPpTQkFFQzsxNL17Kmc4kfwFWpP8tjF7yxEHDajfwLibNUPYvYj34Ut2YLL0NY0IPoH6hABM1gWnBbcMj2TJ912Uh0DmC3cidRQw6Ql4EJ4jwef8bmq3bfijYve7nc4VFbb3ZuYWO1SRNTeGjW3bm0gqBUI5BhE1FwhwOPZRw-e10cHA1wS2MzYL6QygP1BAWgpaJwmuWyjgZWJZ9mx9hVM0POWQaAF8KeyJGXwe0s0cbQuEhNY7Ufw4nPnf_DHrQVwHvRMuFK811pdolJD2y4DxGtlHT1hPzeFsGM2Oe0kXWDkiV6s74ro9omgfZfAR_fcnW1UnXkkcDv8CgpO9KGCB8qBe7J1bq6JknGyFIFnHlhg6RARtu7uvj3FYHjnM11pTV2xlHtTpusKtwshie0tjBpMkba59x_UoffaaFNqyw4TWIY3wjTcm_2X228dPIGw8FADgNlbFHxwjan7FeJ8jOJnlDkaA-ZI-Vz-a3cdt4njmS7PZXckvB9G0kUDmddzh_DHhGh0lfyMOANUb7y7eBEqFhztq2NWgx7_XnSxAiXK1g7EQp67-w98YPjTLhYqAS-no_xHj8x_76jIu6MPhAgt6a9mBJgVP3p14B7mVXbNm-yB8aOTw5zvD36hKJ3TB0V4vwfkvpS2SIrownI6sORc4NJsWO3e1uo2ihHq1ZgTUWBP4MTYRXkylOuizOMg_Q2FQTRmsJCpScJqsRH8mxuwNmV5Eg5j3upXloVQuPQCIYMp-pNEACO1M1NpbDnmyZ5VkfFaOrgnSL77wPc0j8D0BPNB3Uc8QrvQq14prUjhJv54inb43WS3Lvhy8l_8RltZsYbrEnbBVW4tne2GkeTajKpqaWqvlmEopgMac0S8EGi0BxJUoIMEkakBX_5LRcWKN3eW3ZAdNMTH-YUVyNE5gT38EGfLjHNki4BhEuMarnFtwtKoOd1gbXPaQ4W7EkirtCthmZgQR8fgDWRhg3u3Vwn29RlzOcrokMy5W90D1oNVisJzWudz6UDhN7KpqhRCJyGeW0b8ueqsfF6108dL3HVIIR3YdWkGjQtX0H_NMqPEy_RHTwPVmDn63Nc_gXySQw_V6T-pshAd7vJEmWsBDFEqkNOe5Ir1YYz6eKL8H2bgjv4PEhjAHlmSoo_Dy3SgUEydpc6eU_vm2Urvg92cA08hzhx3NxdK4hkiQhoDzKInFgg-lXoy6xUZbCtqj4HxKQSoAATyqdgSVi-0OnbbbyIXf5ge5mO2ooCV-LzBTIY0rS6CvPeN_3bCptAYyNGAQxv5_xgoLbeHHXYXWAC9v04lGRM6yDAfKI8bYJeZcG7UfnoyGV7J-0e7Dl_IZ1JGR0I6MYr3utkcfze9uqnb4U11k5fiLU5tcwLmDLPA_fA5e3WRt7a3k6I8uY2XooyVGITQQxAlUNBEEuh07U_JpKthzx3OfoM2sg9RwmKgldRhPunoJPIaI0DwdoEltRMjCjUxwKgMDr4gCN68UkIekAYKeXa2gYWqOK0ctE9mwZdPEap8FLd3Of4T9jECZgq_qRBJb7GWE9sUxjc2jGEWd5Jhvr2f8WhyRCHHw15aZBnztEupcqtm_Ds1adWVulf3iVeefp5_MH9kXlEU_IMIbu783V2-SJLGQKx8i4ZzHrI1b60bnd3_jqhGI3I7xsvA4gUb96smkDmBQXxOo6lrH-j16JMWpQYyM4s9Qt0PLibx7EelFqT4MyohfetZQcqf87ESoCszIL-O6xyfUyqTerBb-Efg8md16eO3h5s5a-VEvRucB1Gi5-ANQ1yrbBMwahj_Tm1wxXd0z48WEmLnX9chW_jxTs00NSA6za8P1YjsYxhuPgpm_Wj_DpgQat9vhDX0981WMmDQu14lHu7ygHGY6lpOA3g7xAz6PkY-x73a7tW5SeZd8BDFs3wXhHTrQsPpmVnP_5Aha9xsoCGHpG_H_mSV37nDwzTnHVNdnF5zTHzQ-bpFJrTDOH4CuIziuyGLHS4ABlKhglgHMysYe05OLwBkim4e3XxlaFXEGBQsKWDOy8DA4NV-5LDheKxUTCaHM0zF7Fiq2ROw6US9sv9q-9xNj-dZhl5rqnZg32fJads7mMWflFjGSENMg1Nx4fwVhGmkW-ukkGpDtVMy44gZ7yJLZ_iX1cUBEM17IiBqmBP66S1hIfD4zh2k-80yxJlZg=",
  "id": "rs_0bcb718a40616c3b016ab41c304f7487d0a2ce76dfae9267ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.135,\"right_z\":0.018,\"right_pitch\":0,\"right_yaw\":0,\"right_roll\":0},\"note\":\"The blue bowl is just under the open jaws, but the right wrist has tilted considerably during repeated low moves. I’ll square the gripper and align it with the bowl’s outer walls before trying to pick the bowl up.\"}",
  "call_id": "call_LdxNpDU9tKhI8Y3FQTXSO6rk",
  "id": "fc_0bcb718a40616c3b016ab41c33900887d0b703e3f12810982c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LdxNpDU9tKhI8Y3FQTXSO6rk",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5326, 0.403, 1.9564, 0.8268, 0.4862, 0.3248, 0.1848, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5326 right_x=0.4515 right_y=0.1351 right_z=0.0184 right_yaw=0.0328 right_pitch=-0.0418 right_roll=-0.0399 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -6.7761, 6.6256, 1.1062, -0.3394, -0.0122, 0.5543, 0.1162, -7.159, 4.5744, 1.7167, 0.188, 0.3932, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05294f9130c2f7684a14ee5f545d9bb8fd4a360410114722ea212009e95bcd26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd3b112e813555e20b343fd6e8b912e7f71931fc9bbd4f1611d257f91cf31d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf03de92a5deae2d3f5701ef0a4a56e7d81d150f6d3d5fd4a3cf20b4f663751",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 5.062 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.606, 2.0556, 1.9411, -1.0821, 0.2527, 0.1028, 0.2768]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.4188 right_y=0.2408 right_z=0.1529 right_yaw=0.2841 right_pitch=-0.5885 right_roll=-0.2332 right_gripper=0.2768\nstate[joint_eff]: [-0.0752, -6.7077, 6.7214, 1.1062, -0.2759, -0.0513, 0.6764, 0.1573, -11.0154, 7.8564, 0.6862, 0.2662, 0.2222, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.3714, 2.0514, 1.5078, -0.6762, 0.1635, -0.131, 0.9957]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.444 right_y=0.1459 right_z=0.0414 right_yaw=0.2861 right_pitch=-0.6587 right_roll=-0.2487 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -6.5846, 6.8718, 1.1404, -0.3443, -0.0366, 0.6813, 0.253, -10.359, 8.7863, 1.1893, 0.1783, 0.1783, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5326, 0.403, 1.9564, 0.8268, 0.4862, 0.3248, 0.1848, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5326 right_x=0.4515 right_y=0.1351 right_z=0.0184 right_yaw=0.0328 right_pitch=-0.0418 right_roll=-0.0399 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -6.7761, 6.6256, 1.1062, -0.3394, -0.0122, 0.5543, 0.1162, -7.159, 4.5744, 1.7167, 0.188, 0.3932, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05294f9130c2f7684a14ee5f545d9bb8fd4a360410114722ea212009e95bcd26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd3b112e813555e20b343fd6e8b912e7f71931fc9bbd4f1611d257f91cf31d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf03de92a5deae2d3f5701ef0a4a56e7d81d150f6d3d5fd4a3cf20b4f663751",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBw5E6Gb1G6z9kHdgUCSruiHWRiYXGTWLPIe27Gie3hPNoRA-cnXPZX4nDj0qIzH9f_eqoFxhrpmDhd2FQ5PekOOSIOJ0AXb3XF-94cmETev-2CxHY_FI5XLI8ACnGIK1anDiscvwteOyEieZRGz0gjvILDu_517p8TX-74355A3Ng0_af4Q9mvg2pOcXVdqexjTAMCU2FW02JXo0lpDWbp1BvpyjBcSEL6fk4YO1RUeuERi3ZcysBbP2853cylwpoAoLLOTZ5Di_Dpzoiuu7M05cx27Th-q3KL1k9sU20R9hGFH3DBpGPLZ9VCkZYY9vBGVSZYxA5GjiWSW26HHbbmtIdKLzDsdNyVUqWZCBXJuJUkR7TUASAvIKiMM3qYGLxoq8UUuWuN254Pz2Ns2g2roUpkMgbIWikn6eG6fPEZkRZUqLa7LPSowftP3zVw4mt0OVKRM2fehS_yqKwItwFiegegzYwsTWRWE1YK6NWfmTI-oWd1gFLy1EPwsD5YpPnIl-OK8SL5J4w4s_jxzPWWXbw-6IP70-RdeNgctHku88gya4wKYWVjzgFBYIvbWZblrjNJNoZ_jV0zbx_d-CO-JM40ShooX1rfTyyNygK3gfJgX55av4D5e-4-bnPFb27W08MqzZF4PN2YVxMMNyjOefwLRJjNyOQVKHxfIZtY-gpM6oAq9V22bhhq-9A69Pm_cYtk_8-P1UOrUvKDVXtchVQB242gPF-ItEpKzW4KLDSmSowLrNi_H1ofv4SP8gsF5bEzRdgpz3hPffdoECFcbi08MouP-wjTdy84LAEYxRW0mCRLQWY3VnTS-ARl4C9xoEG7PksSyQaQ_fbrmHTm_cyglLKbNcS6sRmSn9r5pN1LonddTib9NbAvvoi9e0ekzXUW0cfGANPyyZmErSEmmLFp2pswP-NNr6Z6YS1wcOPPm4ROC4RbdAVnkikeV1OlG3uAVc7bfOxnz2_DcGmLkPv_lcldJjPwM-6s8-1B0TcowyTKDscHLwYc781BW61Us9fVUTeNTHXJs46XAvU3qYvqn6Jsu0rnYmAiHo9m0Hf4ggJv22AsfH9kBKQS8uKwxxm0NCp2fr-kWvFcUJ4fjixcGSalJumdo_TcQkNOYfIVoJ9HCOLulK38WzBEVa6n4LV7HjXhXicLkid0GtWITFUIktP4933keLC07SFXwkydTJ1pubsqbPXGmwNYFZIac5rmITPm_serfVwU5JHU1Yg4xQ4mx_FsbZJwQd3j6VFJQA36C4XdEF7POKE0WCLK4mhSbTc9HcMaTWHPG1Tre2dgo0hcS8PJMywlEn7TCkx30NSqrYs-nH5d3TuEfmfGzmVLkrdKo2G3DaH3DOVUVu_WQTIMDQWfWVnI212BbKfYMFTP3R1KO2DfxjMCYNdyk",
  "id": "rs_0bcb718a40616c3b016ab41c37fe6487d08c5398fee4d7e294",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"With the wrist straight, the right jaws are lowered around the blue bowl. I’ll close and use the jaw width and a lift to test whether they actually hold its outer wall.\"}",
  "call_id": "call_hXzJuw7Yxwuyr7vmnFtW5gmQ",
  "id": "fc_0bcb718a40616c3b016ab41c3855d887d09f758e01178b3849",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hXzJuw7Yxwuyr7vmnFtW5gmQ",
  "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]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.535, 0.403, 1.9636, 0.8196, 0.4885, 0.3176, 0.1764, 0.0095]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.535 right_x=0.4487 right_y=0.1352 right_z=0.0128 right_yaw=0.043 right_pitch=-0.0549 right_roll=-0.0471 right_gripper=0.0095\nstate[joint_eff]: [-0.3624, -6.6393, 6.6393, 1.1013, -0.3541, -0.0562, 0.2369, -0.1299, -9.7709, 5.5043, 1.6532, 0.1832, 0.0513, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e50bc1aab6f109bbf281d200f055d646c68c18b71b8372a43c7f0fd899286c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8990a064f03476e76ccfd4ca4fb78067acf60e824dda5f0219bbc87f0889b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce4274113f5ab978d8b5feb9f38dce7fa7d268cc5da2cca38200ac71ad875ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.87 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.3546, 1.9961, 1.6039, -0.8524, 0.1623, -0.1226, 0.2767]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.4368 right_y=0.1351 right_z=0.0829 right_yaw=0.2633 right_pitch=-0.6824 right_roll=-0.2465 right_gripper=0.2767\nstate[joint_eff]: [-0.0889, -6.7761, 6.5162, 1.1404, -0.3004, -0.0513, 0.6764, -0.2667, -14.3932, 6.3248, 1.3114, 0.0415, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5326, 0.403, 1.9564, 0.8268, 0.4862, 0.3248, 0.1848, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5326 right_x=0.4515 right_y=0.1351 right_z=0.0184 right_yaw=0.0328 right_pitch=-0.0418 right_roll=-0.0399 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -6.7761, 6.6256, 1.1062, -0.3394, -0.0122, 0.5543, 0.1162, -7.159, 4.5744, 1.7167, 0.188, 0.3932, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.535, 0.403, 1.9636, 0.8196, 0.4885, 0.3176, 0.1764, 0.0095]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.535 right_x=0.4487 right_y=0.1352 right_z=0.0128 right_yaw=0.043 right_pitch=-0.0549 right_roll=-0.0471 right_gripper=0.0095\nstate[joint_eff]: [-0.3624, -6.6393, 6.6393, 1.1013, -0.3541, -0.0562, 0.2369, -0.1299, -9.7709, 5.5043, 1.6532, 0.1832, 0.0513, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e50bc1aab6f109bbf281d200f055d646c68c18b71b8372a43c7f0fd899286c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8990a064f03476e76ccfd4ca4fb78067acf60e824dda5f0219bbc87f0889b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce4274113f5ab978d8b5feb9f38dce7fa7d268cc5da2cca38200ac71ad875ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBw-UMwNecnScy9V2rceBsj-nFF_D-LN5LwCrajRo_IqYOLu4CQhqA14Gdg0ogC2mJU4058WwLbbu092sIAVWBdiEFAhLRck2bUXzaOR9KWkhGNnetrFMG2l0BSe5_vJkRyQ6-KqQ8erbnFwpFbnAPR-gfLgyPnb2E-xNJo4UgMdKYrMYeSi1mc2F1pnp-GVHHkO5XJ9Sxr54LH6C71rsbO3zfqIuPT9OyMBhcrYH3A5n3hhb2hFNohQkp6brSzXHPgF_BX3scSIU0o98XAPVgC3L5H5sK9Z0M60ueW05HXCG5zt4CFJ-3Al78-qXugucnEPubiF23q16v0caz4lqc6Wj13U1VWqYO38tilj2lR-1-3npExb6Hv02mwLgze3qjxM8Pi3ZWoiGOjnGlTN6DscDhAH7ANDxTaHCzOsqlDkhcb3aaUzY9WRQr3fbXXYdWj9dCI85grFSR2HafT-6juRSbLxX8AGAp-mRbSZwhHJsArdMgKu74TGDV9TCGqmD1vBH6Wn15CMMW-8RWuzhWA4ykxWGCznK_9kCv5qBqGJxvZlJXoL-YvDSA2cCbP9vLOyWQIJsfgMJzG8mam3sj-m7eo0Z4HX0b7-jxwAlo432mfwejk16vExWETNlfkHWqMEuJ0Y9twilSNb-IVq-t-HfYxaEjY-jLYWqVpAnyZBiC79QHVShrE1VsEIz1KkQVCEPGfMCIPpLILI1km2KibHT3b1sD1lv5UDntsSHbl16VziDGXtH8IZqNQ7jPX7XxKcO1Lg2vE-2tCflEkyPLuQjnaIJepE0-a5y2ddCgrKU4o3Hd12JI2vv4X-AQHsYkFCllQ0JqGpzYpO2wjMIUhoxgx6EBEZbo4wUE6uD8NC7rQOSu094Oe_2kWH6T7cjwwccUiAATefRj5VvFRCzWbyB27gGsbYHXs0qbJzo_Wg_6rfkPMbrbtd800BYl7TUe38O7m6t8skvbZboxqq6Gls1pLAdJKel0dBrB31a8t4R1GWM91bHOlhELLIVCFhgkA5TjunFyK03jFuCoKThjXPsD79lt7qg37oPYREsZBQ55ROAUJ8qTmoQqxo8SD1N7H7O-vhvh8HYMBt-ikOHCE6dsk7ULByMceTjOO8pqoxGwNVKCAbBxT-34lYkORTnr5OaT8EEUMU2OKMunRSRsA0uBmD3LWdQXVwIGNUirCMkfgrh0SPSTCyZWLrj0UifLvx0cum08YX5xQhQ6UvkPgyApjjt3Vw9csNbvJ0HTjj8i68S9lzxTDwDK0OreVKNVAKZoA5Vf7cKeE9uDZoyONIjFUd4p_VGFQ1SiyPeEVLnTo8kQCYAZ00tl_y_-TEZH-xQmK5-GXphBz9B8GabW-2tu6sCRvM-GKfy4IeYyBVLJ5yXJhD4Gu6ZUeAa5i9c0xx_F9xdShbLyDoDtPGBsl_uVNIkgBlGM4p8kWOGd2LjqmDrf_LH4isg8P3OuRo9x2eJfaxN-k-Dc9AY1wJjXncKOcMNcKU9YBJPCtGS8APggGKPlsYpBub1cX_8oIIOlBvCugInxPxXTfgFbLqXCj8c3E8BCSQM-YzBQGIIfck5SRfSLtlVTXCaEGm8IaeHw_Hd4g_Og0H-ghtxd9SXv1elgY6FEspgDz4WOeccLu15BX-RCAl0e_h4JMPfhXmT-5uBGrujAL-mtrnT0FwzvIcOxyXlsD_tQOshklP9lAPiFAngDeqnPJJmcq3BCI5SbHljeKcNgeD_d7fhfwZOoMljdS24Pesj1qGKH0MgxXu1xdRPhmAPlzVQGCbPdeua4iCN-AN0hrN5yDPe6x-VPD-hpx_IViefg-wvyAdDBXeq5Nhudl3ckKFMeioVfraMu2J18rhDa8mSKZKB4OwtrIvMkgVO5j3ly7SQgb0A6CBP0P4z3VVxaG2xpf-F_pcbvIMF3JQoCedlxZL2e-fMe8shVF2OGQZNYo8aGhBjCHFToZXyc8q5R6lf6LUJOYYhJVuzfyiHDdl7uFMDFwTPtz5S4jK31M0ZzCXX8VUunU_2FOMIHfSRB4EbESidHx65JgD3XYQeBUx-V_RwqAltL_0mijoIfmh1ahPuMEcWKh6gycBxPLrG73BrZT3S-LwmZKOvRpeI1Gnm0w9rRyXA3q_Wii8u1MxsYhvf7GjsbXviI-MmPzM1HpZk9HxsYV2zJLio8NkaMrWhaL1TjI299kQSxTnYZ9swxbeeDrTb5g6_blyYHxfqjPARzMiXWbBezvIO3UlSoPLzsZhQMSpG6mc3ukkM-tJtjoGiJAWe2WCGbFBvIjk1vMBVnNErT9iUmPYDqHVsjuCQVExSiKO_10dDvFjbfQEjASxai--jwDimRWYIHWw7D6Jr9J0u7rOOl026fXrVihMywa4ncWkm0Stk9AtjgAKx8a3WoCEDqYo0XhlTvLHaRMrAXeRTD92QARCHbP_HEucDJhJ0S8wLUHKPzi71HoOdo9DYKF7vOjenQ-I8HjET-fakW0sHymUpEM87xv8BkeEnmPu-4fDaq-TThxYNxMROQhdMVKOSJ9Cjb0GPF2PxQb15pkayiZazrgt2SfqoAf8vBID6W5yzisr0UnKoP-emUc6dQ53RN_Blx3QPoQnbU72vKGZKWGdb-mzdZc4zaESWubZIUqU4bUUOiai5nIztZWEVZVVFBoXiJKt1rzG3-8Ddova23mQiXRN1XlYzoRNqZZosAC1QmDWDA==",
  "id": "rs_0bcb718a40616c3b016ab41c3b403487d0ac72c9e9d9d5afa8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.095,\"right_z\":0.035},\"note\":\"The jaws closed empty, so they were alongside rather than around the bowl. In the overhead view the bowl is slightly to the right of the fingertip center; I’ll reopen and shift right toward its center.\"}",
  "call_id": "call_LXFR1m8wdVMPVj0OUemBZ8Wu",
  "id": "fc_0bcb718a40616c3b016ab41c3e048887d0a51d39e9c52b6cc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LXFR1m8wdVMPVj0OUemBZ8Wu",
  "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]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5371, 0.2951, 1.882, 0.7853, 0.4351, 0.2268, 0.1036, 0.995]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5371 right_x=0.448 right_y=0.0984 right_z=0.0241 right_yaw=0.0493 right_pitch=-0.0795 right_roll=-0.0547 right_gripper=0.995\nstate[joint_eff]: [-0.253, -6.7761, 6.4889, 1.116, -0.315, -0.0317, 0.1978, -0.5812, -10.6598, 4.3966, 1.7411, 0.1294, 0.0952, 0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c57fa9ecf1d2a2e3eb02963483a04c9ea7a6f8be67bbbf5baa41d772abf4037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfcad5737e2bc21b5be08418544f5b600f3f26c083b559a53cbb46fc1f3a44ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f257d13225b7cf7daaa085c4585457c9f1cdc703fdf90139f7b3b5d50fd4d98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 6.528 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5297, 0.3714, 2.0514, 1.5078, -0.6762, 0.1635, -0.131, 0.9957]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5297 right_x=0.444 right_y=0.1459 right_z=0.0414 right_yaw=0.2861 right_pitch=-0.6587 right_roll=-0.2487 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -6.5846, 6.8718, 1.1404, -0.3443, -0.0366, 0.6813, 0.253, -10.359, 8.7863, 1.1893, 0.1783, 0.1783, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.535, 0.403, 1.9636, 0.8196, 0.4885, 0.3176, 0.1764, 0.0095]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.535 right_x=0.4487 right_y=0.1352 right_z=0.0128 right_yaw=0.043 right_pitch=-0.0549 right_roll=-0.0471 right_gripper=0.0095\nstate[joint_eff]: [-0.3624, -6.6393, 6.6393, 1.1013, -0.3541, -0.0562, 0.2369, -0.1299, -9.7709, 5.5043, 1.6532, 0.1832, 0.0513, 0.6911]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5371, 0.2951, 1.882, 0.7853, 0.4351, 0.2268, 0.1036, 0.995]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5371 right_x=0.448 right_y=0.0984 right_z=0.0241 right_yaw=0.0493 right_pitch=-0.0795 right_roll=-0.0547 right_gripper=0.995\nstate[joint_eff]: [-0.253, -6.7761, 6.4889, 1.116, -0.315, -0.0317, 0.1978, -0.5812, -10.6598, 4.3966, 1.7411, 0.1294, 0.0952, 0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c57fa9ecf1d2a2e3eb02963483a04c9ea7a6f8be67bbbf5baa41d772abf4037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfcad5737e2bc21b5be08418544f5b600f3f26c083b559a53cbb46fc1f3a44ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f257d13225b7cf7daaa085c4585457c9f1cdc703fdf90139f7b3b5d50fd4d98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBxCajiiS3nyDZ26sycaXriE07eoREcH9oFKWQusGv7c7NjNE9zc8389iPB7GS51Ev5JP2tTgHyqO5LPPtpqJ8Bj6yoHPudDJBXLFJGkCcrwNhjkR5E33tK4RwPv95ZIYjM5Guo5ZBSmYM06lbAPBxS8mrne9uSdU67A3ZrriVCHDRO5xcHvPTh7948CyH2JzPGVEFVCuPI5T8QlgNqQ97OxMfMK3RRnv2nfP6abhXmpPbriXr5YvPtuC1RVXc3SqlgnA4FYhT9pTch8baENvKdhG2HoxfE2_et5vSudGSsnIR2643OwsxfZivOSFegHv4hF9hw0lwB-ZdScHmF7GfWNhuqdQ9RgrXkQvaHpfca97bQ6_DdcuFMRXXoIDmZBx-dLOU51ELrus2w73oVD9c299ZJqYqIWBDnKRiQ7mjWOBoktqMXRIBRLHS09Fm-I4w9876ND4Ay7xr33q0qgy2HYAJSav0Q6-HLvDEgar63ONOWTpB1ptkGozJOhGJwdIMlKQN4ycg0J-cpPy8igta6Prug0qxHYsWfuRcWXaEpDbpvCzsFb-jgII0b92hCRwI2Re1NJ1W0fcK7oQ8dlqnnfiILjIF__0Aeb2PyVH4QQTzWECxc1RJx2w1Mp8_d5KWM0iIoUuIioVKf4tcVuBtXpOiAOfkSkmOkX5KySm9hy0e3Z-oQA25PhrgkK6IBMs9NTPEHf6TEgz6amCA4xSd9vktXuRE9qFNKy17bz_zxFA3eGk09Q0J6oWzmUWPf-42qRK5shfnvAS3b3Cb28qzv1o6CuNXLMfvGfVRc95wlQCX1vQgdvtJh7Q0wzMFwJ9EsUdIEGQ5z4eCv9gjTXC9jf-TXs_qTy-9Zht2rsCtI6P0sFAYLYDZ-ubztoo_6usQrFCF7i4q8ZSuLCMzVvSUBDGhjs5DzFz4tZV_7q9fg7TLMVIXx5P-SaIwRsRgi_hK2FiV94PebOk3pStHF4P_yf5oUX0sd3gV5wlMAPXRqHIMunDmWr9XGd_zyEk_RAs5dzNLQW-qDBSpFPUzJdciT2HJEiOUN3ywU88976tU3XkH563uAJu__mekQiWOJpyCGcAzfdlBAZKvoGkkyRV4tVr3HBpuFwRGKfaVfDjMMzJb5KYj0EnlTROO9zcjGTurDcxxPsu_Xx_ELWq3JvBvqDYt0mUj_UpUtUc-pjW72jR--yxmNNUrVC_3ReaCLnUPL5SFcv4r7X-DBu7GE_QWOOgCnMTfjtcmKZapFUiuzVLGN8a10Zux9Y8LTguGFpYuSJorip2HwR60yWpeJ_vndMFOKv69siDfeKS1fhdxjCnWHjraDRoZODpWT3HMTkc5bUbANNotCMGOTTXLnVlp9ocqy0lADWAG37yfEfjLe4PBExDBWiIB04axAs4x6fKphPCtONDcsr7mSEltacD3vIyCYgh7wxxePtfvvsfiwuYWUIabOVo5A8sQaVfgpiKPiigqqLkmqgleKF-INA2wGEhZqvsr_zU8DI73-nF5jfewoYNfs9-Noxf64tlYpVx23HWOPrcv2Pb9lHDEjzlKrHmucLymFq1r1xNXRonTjgiPfXzuDuOmaGPPzVMUEVsFBh",
  "id": "rs_0bcb718a40616c3b016ab41c4188e887d0980f42dea31cf1a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips now straddle the bowl’s center in the overhead view. I’ll close once more at this corrected position.\"}",
  "call_id": "call_MqvuTwHRu0Ir8BbeZ1Hj3ZNq",
  "id": "fc_0bcb718a40616c3b016ab41c42415887d09aa6154302ab1181",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MqvuTwHRu0Ir8BbeZ1Hj3ZNq",
  "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]: [-0.8753, 1.528, 1.1442, -0.6552, -0.5835, -0.6811, 0.5385, 0.2924, 1.8759, 0.7849, 0.4351, 0.2264, 0.0963, 0.0091]\nstate[eef_state]: left_x=0.3137 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.2364 left_roll=0.0663 left_gripper=0.5385 right_x=0.4487 right_y=0.0974 right_z=0.0266 right_yaw=0.0509 right_pitch=-0.0742 right_roll=-0.0589 right_gripper=0.0091\nstate[joint_eff]: [-0.212, -6.7077, 6.5846, 1.1013, -0.3394, -0.0562, 0.1392, 0.1573, -7.9932, 5.3949, 1.7167, 0.1001, 0.0659, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e263a16becc85be4d5d0652975f2582bd70ec5232ed6678ca3ecc9fc1dc5d448",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5d9a9c3a6a3316b73d637fdd11c4f936dd5b8c9109de06609598d8e090a780c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf13a370491d7d8605751010c6df280e59828a704bebf6368d9200c88147028",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 9.051 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5326, 0.403, 1.9564, 0.8268, 0.4862, 0.3248, 0.1848, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5326 right_x=0.4515 right_y=0.1351 right_z=0.0184 right_yaw=0.0328 right_pitch=-0.0418 right_roll=-0.0399 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -6.7761, 6.6256, 1.1062, -0.3394, -0.0122, 0.5543, 0.1162, -7.159, 4.5744, 1.7167, 0.188, 0.3932, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5371, 0.2951, 1.882, 0.7853, 0.4351, 0.2268, 0.1036, 0.995]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5371 right_x=0.448 right_y=0.0984 right_z=0.0241 right_yaw=0.0493 right_pitch=-0.0795 right_roll=-0.0547 right_gripper=0.995\nstate[joint_eff]: [-0.253, -6.7761, 6.4889, 1.116, -0.315, -0.0317, 0.1978, -0.5812, -10.6598, 4.3966, 1.7411, 0.1294, 0.0952, 0.1832]\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 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5835, -0.6811, 0.5385, 0.2924, 1.8759, 0.7849, 0.4351, 0.2264, 0.0963, 0.0091]\nstate[eef_state]: left_x=0.3137 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.2364 left_roll=0.0663 left_gripper=0.5385 right_x=0.4487 right_y=0.0974 right_z=0.0266 right_yaw=0.0509 right_pitch=-0.0742 right_roll=-0.0589 right_gripper=0.0091\nstate[joint_eff]: [-0.212, -6.7077, 6.5846, 1.1013, -0.3394, -0.0562, 0.1392, 0.1573, -7.9932, 5.3949, 1.7167, 0.1001, 0.0659, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e263a16becc85be4d5d0652975f2582bd70ec5232ed6678ca3ecc9fc1dc5d448",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5d9a9c3a6a3316b73d637fdd11c4f936dd5b8c9109de06609598d8e090a780c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf13a370491d7d8605751010c6df280e59828a704bebf6368d9200c88147028",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0bcb718a40616c3b016ab41c44f99087d0839bba722fdcae04",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.445,\"left_y\":-0.4,\"left_z\":0.13},\"note\":\"The right jaws closed empty again, so they have not secured the blue bowl. I’ll clear that arm and bring the dark fruit as close as the left arm can reach to the bowl, then judge whether a safe drop is possible.\"}",
  "call_id": "call_d7TPQgibFYGA0Dm93TuWQib9",
  "id": "fc_0bcb718a40616c3b016ab41c4926dc87d0b55a10feb7468feb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d7TPQgibFYGA0Dm93TuWQib9",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8993, 2.5153, 2.4344, -0.9691, -0.5861, -0.7231, 0.5401, -0.0193, 0.8478, 0.6666, -0.4492, -0.0017, -0.0803, 0.9973]\nstate[eef_state]: left_x=0.447 left_y=-0.3997 left_z=0.1185 left_yaw=-0.0037 left_pitch=-0.2405 left_roll=0.0467 left_gripper=0.5401 right_x=0.2966 right_y=-0.0018 right_z=0.1795 right_yaw=0.0266 right_pitch=-0.0683 right_roll=-0.0627 right_gripper=0.9973\nstate[joint_eff]: [-0.8274, -16.1846, 7.2547, 0.5006, -0.4274, 0.0513, 0.1441, -0.253, -1.4701, 9.5932, 1.7558, -0.0904, 0.0073, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869e9664c8200625b4816d96e904db0dba0b0914ec615b2b2a6fc4c3c48acbd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55af3372b33547afa362c82e5333cf044b9a45f5aeb5219aa8a788290c0fdd10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb33fb56e34dc3449ad3c933596c806c0c3c4d7ca1343d6b5830f4b62420846",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 4.466 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.535, 0.403, 1.9636, 0.8196, 0.4885, 0.3176, 0.1764, 0.0095]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.535 right_x=0.4487 right_y=0.1352 right_z=0.0128 right_yaw=0.043 right_pitch=-0.0549 right_roll=-0.0471 right_gripper=0.0095\nstate[joint_eff]: [-0.3624, -6.6393, 6.6393, 1.1013, -0.3541, -0.0562, 0.2369, -0.1299, -9.7709, 5.5043, 1.6532, 0.1832, 0.0513, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5835, -0.6811, 0.5385, 0.2924, 1.8759, 0.7849, 0.4351, 0.2264, 0.0963, 0.0091]\nstate[eef_state]: left_x=0.3137 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.2364 left_roll=0.0663 left_gripper=0.5385 right_x=0.4487 right_y=0.0974 right_z=0.0266 right_yaw=0.0509 right_pitch=-0.0742 right_roll=-0.0589 right_gripper=0.0091\nstate[joint_eff]: [-0.212, -6.7077, 6.5846, 1.1013, -0.3394, -0.0562, 0.1392, 0.1573, -7.9932, 5.3949, 1.7167, 0.1001, 0.0659, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8993, 2.5153, 2.4344, -0.9691, -0.5861, -0.7231, 0.5401, -0.0193, 0.8478, 0.6666, -0.4492, -0.0017, -0.0803, 0.9973]\nstate[eef_state]: left_x=0.447 left_y=-0.3997 left_z=0.1185 left_yaw=-0.0037 left_pitch=-0.2405 left_roll=0.0467 left_gripper=0.5401 right_x=0.2966 right_y=-0.0018 right_z=0.1795 right_yaw=0.0266 right_pitch=-0.0683 right_roll=-0.0627 right_gripper=0.9973\nstate[joint_eff]: [-0.8274, -16.1846, 7.2547, 0.5006, -0.4274, 0.0513, 0.1441, -0.253, -1.4701, 9.5932, 1.7558, -0.0904, 0.0073, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869e9664c8200625b4816d96e904db0dba0b0914ec615b2b2a6fc4c3c48acbd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55af3372b33547afa362c82e5333cf044b9a45f5aeb5219aa8a788290c0fdd10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb33fb56e34dc3449ad3c933596c806c0c3c4d7ca1343d6b5830f4b62420846",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0bcb718a40616c3b016ab41c4d197c87d0acedff3183a0f4a0",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBxUOfRadzueUUb3RFcFT07yTdbX79eisEphfBaMC3PobLGM_oR0cKoG5yvEEVwP1kzOzbAgQt2j_Gxbl8ljA9ecYYq_Kq5ktPJ6t9ooTkKVoi-NaMbIWz5oEt07ANrzTK2geVCwIlr7KLWdOj4VZeIkLd4Rm2n-FX5inS6aG8bHBp5jM3dc-b3ecX1dDtMHcNV8U_YTRjk6EphgvojiLKws7tC3gwtQQWW-domfjJNHLvJKlOby6N4pksuMeVURgY3eXC4dHdns-NiyFNlE9ZOK1ukseBsY2x70GmExzbxTaOYU-vxxkeMl1m8p8P_S-8B00YTDH8HFdiHpr_U8LLcUdJmdRlOpsNW2qVOApxWFx-k0FMu9nhzyKSd_S18PVx2eUHhNhY0YEjf7s8QJOFDaGdDq7xAp7qMQAwpfy7GOCXJSw7bpctS_97Jo4fFKoN6_UqFpFiJPzFMkzyZ1pgrXRDrWaBYNzFTvYdlUniuHnK8cHVq4W6vQlHpZF0qS1tqogxxHXHcWzT-LIS19FRqfXyWPa2RZ8tvz6sE9o_oa5JkBT_wclwaeifIObE3TpfrnMbLRcdsN2iA9yoM3zDjlyjFwsNGHkMPz7b2J5B6CwjC9vpnTvfAZ1Q4rhKpL-AD34SlM9_cMxBOuIQ_pvx5rAdNj_TzYjh-zijC3-dATVGvliXDlfgkkqr8hrTZRdB68vUcJBf0hToOCQyXkKrWG3QzU-2LVug1DsW6CCW1THiBj63SIjOFo2oVSsJzkZTpp_7zpTg0aXorxuh9z8NpTmotaxu6_xD0t0IKvXQwjWPp9LV0PrGm7eMlhn1V3GanwgvmveZox-vk4QPUBNRiQOm6OeDE7vWPRONz4KbAsj2EGUaq3gY4eXAPjs2cyU0my7PO81WVAstPqynr5GDVK8iwMkaZAzwnIosyGwmaVSTVhPlSR8vgscoKtUeoy0WOXo00IhPt69yktrgKNviczpnmccC4JbtDz2sKj831ECVoTipuf7GIzmq1Bdcmk52GS8gJqq8O8AIR_ODJI76vU4OdlNgd49BhVeqhhIT87qp4cXPJgTWWxY1OB1klhgfrjFSd64nF20SKd4POpmOS7O1SW-fp7UfAzzbj6hAEcC5V2HuSx0XVvMHdL60vg5sal98LfKNPesSB2xt8cjUC5EYP3PDB5WV6PkWDO67ipjO2fecdDSkr-_DQvqCg2S-QFxTgKybopfBH84uQXDWlk16g0GdNGqxjAWd7CYcI7J9jF9wGXgCNGGAXcYM4FDd5T8WWvXcGmIG6IkNmmxmNqaKn3gsxMJLA4lljBVczl5WN6oYAMWFRRWU7mAOUjf5dFZwjtVmfrYok2t_O5y4s00j5o_TTp-aRGYiubVjathaqqcEnYAlqp3ltQKNZGCohbZ_rh-rR3qJC_dDXkjgGNVaezDHsaltD6guSVRJXr4lbOR3zQtnsOSzIeYZ40Gt_-AI5WqyD8pFmcVtzkis6GIr05hRdii0xuAeQqTyWQZyzVnW2soCtHSCYaXoqY-kEWtG9xQpiS-64A9c-QldMkAgZqa7nbelni2ScTQ-0GnBhD-nHeps48s_KooSAcc1LES4O8X2Mihu1PDpBkyXbIYl6PLZ-ngd2it5XUf0B-dGiM8XxX1ok_88V0310I7Ej-7nxdq0K9RdnBNDJzXY19zB41HsQ_1dtceXwfSGgAzseyDeDiPlYmfXc1bcF8hwjYEvgikAspL21nKDVTNfc3PqxjjDizeczRBQEExQi0qiwESftQil3tQuOQXjWe_4tBtblhbnf84CBs3CQbcDIj9ujvTFvBz3SNCtyn--QVkuLrBBGjWb7LWdffQbgYMVl-SeHu0ay89BuFeO0HwqUHFR99i7apEa_1tcApU2qXNaoUdsP_N7GTZaR6iN_bBYOpCCgyzJVjYi1KlGr1DSkFmuTs-zU-FIuefNBPGefgDsaiDIL4kV-P_etNFO6ieV7ZyqFH84lX3LG472vXKAkZKryzOIaPOCX4V2KHTzIprS1rDsTCzPumufKEy-UPxAlHpPeydXPKytoQEhLKB5Jj8HrExc9RmqZb88_UjJpspvZfNcTZ26n2v6emSlMDN60X2hgVH4JJyJqRm0Qq3dXXZDsjhhjEJjAcRilQz1qDSq95bkrgYmwUcU5DPoFEVtB5dmF415l7GGpymLkKMvDv8SbYagBg9p8Ciywl0DLnGjZW3O3ZA0OYobAP3CRInjVl8AAjLfxs72OdkdK3Rq6W218OehkGYSSPqmbA2gnn5IlE24nZAKO9gXTyYamLbM7d",
  "id": "rs_0bcb718a40616c3b016ab41c51525887d0aed1906725912487",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.22,\"right_x\":0.445,\"right_y\":0.035,\"right_z\":0.035,\"right_gripper\":0},\"note\":\"The dark fruit is still several centimeters left of the bowl at the left arm’s hard sideways limit, so opening here would miss. I’ll raise it clear and put the right fingertips against the bowl’s right side to try nudging the bowl within reach.\"}",
  "call_id": "call_SPzEba1523hCwptm2ArkpEYB",
  "id": "fc_0bcb718a40616c3b016ab41c538c9087d0980a3bb2ff8eb047",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SPzEba1523hCwptm2ArkpEYB",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8967, 2.7148, 3.039, -1.4204, -0.5831, -0.73, 0.5415, 0.1089, 1.7744, 0.6891, 0.3595, 0.0803, -0.0227, 0.0086]\nstate[eef_state]: left_x=0.4363 left_y=-0.3846 left_z=0.1629 left_yaw=0.0104 left_pitch=-0.271 left_roll=0.0776 left_gripper=0.5415 right_x=0.4236 right_y=0.0357 right_z=0.0186 right_yaw=0.0538 right_pitch=-0.1612 right_roll=-0.0697 right_gripper=0.0086\nstate[joint_eff]: [-0.0615, -20.9436, 5.0667, 0.9939, -0.2906, 0.0904, 0.1294, 0.4034, -8.0342, 6.4479, 1.8632, 0.1343, 0.1685, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bac49f167ce0bbcd8baa8b07d070c21375fe81f0c65074b7224b1a85ea01ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eff345a8376b98e285898d8901471ddf5aa22b67b30e0b9baf5e11f7b58e437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:690ec9c21b24bd9b5c7b1bc0ccf3049db7c18127d37c271af4b02c6045a95f05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.38 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 154 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5831, -0.6811, 0.5371, 0.2951, 1.882, 0.7853, 0.4351, 0.2268, 0.1036, 0.995]\nstate[eef_state]: left_x=0.3136 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0069 left_pitch=-0.2366 left_roll=0.0661 left_gripper=0.5371 right_x=0.448 right_y=0.0984 right_z=0.0241 right_yaw=0.0493 right_pitch=-0.0795 right_roll=-0.0547 right_gripper=0.995\nstate[joint_eff]: [-0.253, -6.7761, 6.4889, 1.116, -0.315, -0.0317, 0.1978, -0.5812, -10.6598, 4.3966, 1.7411, 0.1294, 0.0952, 0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8993, 2.5153, 2.4344, -0.9691, -0.5861, -0.7231, 0.5401, -0.0193, 0.8478, 0.6666, -0.4492, -0.0017, -0.0803, 0.9973]\nstate[eef_state]: left_x=0.447 left_y=-0.3997 left_z=0.1185 left_yaw=-0.0037 left_pitch=-0.2405 left_roll=0.0467 left_gripper=0.5401 right_x=0.2966 right_y=-0.0018 right_z=0.1795 right_yaw=0.0266 right_pitch=-0.0683 right_roll=-0.0627 right_gripper=0.9973\nstate[joint_eff]: [-0.8274, -16.1846, 7.2547, 0.5006, -0.4274, 0.0513, 0.1441, -0.253, -1.4701, 9.5932, 1.7558, -0.0904, 0.0073, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8967, 2.7148, 3.039, -1.4204, -0.5831, -0.73, 0.5415, 0.1089, 1.7744, 0.6891, 0.3595, 0.0803, -0.0227, 0.0086]\nstate[eef_state]: left_x=0.4363 left_y=-0.3846 left_z=0.1629 left_yaw=0.0104 left_pitch=-0.271 left_roll=0.0776 left_gripper=0.5415 right_x=0.4236 right_y=0.0357 right_z=0.0186 right_yaw=0.0538 right_pitch=-0.1612 right_roll=-0.0697 right_gripper=0.0086\nstate[joint_eff]: [-0.0615, -20.9436, 5.0667, 0.9939, -0.2906, 0.0904, 0.1294, 0.4034, -8.0342, 6.4479, 1.8632, 0.1343, 0.1685, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bac49f167ce0bbcd8baa8b07d070c21375fe81f0c65074b7224b1a85ea01ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eff345a8376b98e285898d8901471ddf5aa22b67b30e0b9baf5e11f7b58e437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:690ec9c21b24bd9b5c7b1bc0ccf3049db7c18127d37c271af4b02c6045a95f05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBxabrRJAQjZifBoBgdR_igUbrHnxjsFhqg1e7XBl084CqO6YVXbClD83lkKF0cuQyKvOuY4oxsKI9zl1HXE3PItaSFPza3_wdg0ujWwe1PJbun57eIPrX7-lnGg95cMeHG3eKcCTpGPBAfndiy-5OVU8VwLc4ptR6KYFHxCBFH5_Zn3t5PlIeT4KgtWUTA4c5SrO4Wtcd6zAAxAwlOkuKHSblrd_ngEui4jdoaTcX1w4yRumM2jItg3zccQZsfOQQr4sns02iTYWnWZZBEZV95q5StKtOR6qkYIj4lrR4sjhUp_Fd8adiWPUvmTU3J6ZWGfPQnW9udWxiZ-gl9-OoHBQ-qvpuufIunDyZ7wvyEm3PXJoHR3S6_Wo1nSnsbw-zoT-6UcP7TFgcz-W8lCqOwzzx6lEZvzJtiCEZq-e4KxQRKTXXvOJRjAcyne9cYS5MQcFr15skePhLquEutHuX_6zUjB7h8CD-Sj03m3y-8YeT7cUibZM5uzEsCzj5zaxWQBahtXHb2ydIUtE9FZm4N1NQPEL4bqRw02Rm37FHmdGyRFo9xGhMI0lsJS1hI8cpbOnNmwLC4u3g_iQUE0TX9zhh3Gx5QLhuUFC77ggFtiirhgXlVy0qZsL6H1GfUWitflnOPB23llG8kVfut-QKN1Avq9wq84f9Cle3Inz7ggV0-z49RZc0lPa_SjeLMETeZXaftkJja3vMo5U9oCGTXJle2lZVnPH1Ui3ZpYHRsSeObYhQuh5F8juHqQJZk71_543vbnMH1S6AZuFNbOVrFTJXy9ZxHabfFPqD87I6ylujNk_AIQGQtTgrK4hV-QjQlYqShrZe6beBwET5AsaRZ0D4NfSYG1UWMoEmNoLErnMir0DHTCspy-4Nzg9r1h6HI3ZpPOflQY8-mBGGhxFpehLLFAonC8_v7PDdEL_TIDq33QLfnmT-wpMYP9O7HLhKsNnFXr9Fffl-wOSu1a6DBwnPEb7OFP8Mg9QOu4rJsD-Yv9iapgdNdvq4leawO-gmHrFX2EeALoznRoFph56MJFPm2vJU0gKfhvbhpi8wnTwlHAMh3b23qXJViP5GVnNOAHCiLfzShDhhNXKzrHR8hCGwzG_7dzxLzSWlfB3x8ejTtZlOso2pwVgwgu99Td9aEzALUacd--8r3oNL3enNJ-TVlrFiQ8tZkNiWQnKR-Ht40Pi2R_wcXAGw6C_Gssw41Q06z_iVk_SKj7QaEj-gtoQVCok25WsVU8qLzkReUnpFlGJDZAR7vx7PJLgguLdYBx2VlXx4imZ2d3XQxLtchzO6vP_bbcu_P5ShbI10ZEF8IQpmgt3aojZ-hhtB8QuWQsifq8JUEnQ3IUkpKnw73KqP8cRKa7CAD2glDacXsIHDuJcboE4kLPdK30NnRISAIWw5R0sEUOCGm7hoidZHVsRS7eCkBxYkCEg_LPFuHS2sYr5Jo0g8O-2_gEYvGT2zJNn7q0_8h22gH4_istSrC3w1BQwZlMTzp0m7zwszaONsjM02Ukv_aBPZGTjyZ6xVsLGoh4yiOpnEaMvyxvR_dEYzuXGmAMp1-rnD1xw4zhpTY09GlQ5Yg1Ol98yOzgzZNZVhodQisDhodI6qPqoq261UvsvlKkUUNXXXexfLCJj-NWEycIqQwF6yQ-XhNk-ltZ2H-xIjdhUCJSfQKbChC2BMhsmTPu77OdwN59Hk6umCmxnP_Xq65gIuK7wJTx5TIn6gL3Pg45_2HugM7r6XBMaEtoBJDW_aseL4IZhv9MZn_aJPGvy_CFqNENuJPVtoDZ0SMJDGr8mfSAu8GUIiInGjL2u7TrHabTySbXPll2z28KYf2D6DQT-hK9kNj41PN-EIV4p8FD9T3ye1o7BsQVTxG8c8dLahOkqeqNVp4Ywy4uv4yiyFji-4OFnz3InMNzRpGKXZrALYhmN49ycBFBNnsgvjctywzawkBLwSjS0OM=",
  "id": "rs_0bcb718a40616c3b016ab41c582bc087d0b870de48bb841404",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.15,\"right_z\":0.025},\"note\":\"The closed right fingertips are beside the bowl’s right edge while the dark fruit stays raised. I’ll push sideways slowly to move the bowl left toward the held fruit.\"}",
  "call_id": "call_HjV1Wki0gfsyidQLj8mEy6JL",
  "id": "fc_0bcb718a40616c3b016ab41c59b2bc87d09ea370bfbc220ec8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HjV1Wki0gfsyidQLj8mEy6JL",
  "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]: [-0.8692, 2.6247, 2.7613, -1.3338, -0.598, -0.7338, 0.5423, 0.3912, 1.903, 0.902, 0.2176, 0.2817, 0.1593, 0.0095]\nstate[eef_state]: left_x=0.442 left_y=-0.3634 left_z=0.1342 left_yaw=0.0732 left_pitch=-0.3209 left_roll=0.1679 left_gripper=0.5423 right_x=0.4414 right_y=0.1328 right_z=0.0186 right_yaw=0.065 right_pitch=-0.1839 right_roll=-0.0813 right_gripper=0.0095\nstate[joint_eff]: [-2.4, -18.1128, 6.0513, 1.6581, -0.0855, 0.0171, 0.0708, 3.3709, -7.9111, 7.747, 1.6874, 0.2711, 0.3297, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a4e06e53baf15846d35b751aa423c31e3cf8c107cc4118a37bb0b313d4224e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eed65c4e8d68d437b2edb478bb2c38b126d75771c1acc257e4e24d3fcd5ba11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb8cd5eaefd3ecf27f9005fa72540af1e6a7311d21c290525493b871d1bb9f97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 9.866 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 154 changed as sent

message 158 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 1.528, 1.1442, -0.6552, -0.5835, -0.6811, 0.5385, 0.2924, 1.8759, 0.7849, 0.4351, 0.2264, 0.0963, 0.0091]\nstate[eef_state]: left_x=0.3137 left_y=-0.2184 left_z=0.1523 left_yaw=-0.0066 left_pitch=-0.2364 left_roll=0.0663 left_gripper=0.5385 right_x=0.4487 right_y=0.0974 right_z=0.0266 right_yaw=0.0509 right_pitch=-0.0742 right_roll=-0.0589 right_gripper=0.0091\nstate[joint_eff]: [-0.212, -6.7077, 6.5846, 1.1013, -0.3394, -0.0562, 0.1392, 0.1573, -7.9932, 5.3949, 1.7167, 0.1001, 0.0659, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8967, 2.7148, 3.039, -1.4204, -0.5831, -0.73, 0.5415, 0.1089, 1.7744, 0.6891, 0.3595, 0.0803, -0.0227, 0.0086]\nstate[eef_state]: left_x=0.4363 left_y=-0.3846 left_z=0.1629 left_yaw=0.0104 left_pitch=-0.271 left_roll=0.0776 left_gripper=0.5415 right_x=0.4236 right_y=0.0357 right_z=0.0186 right_yaw=0.0538 right_pitch=-0.1612 right_roll=-0.0697 right_gripper=0.0086\nstate[joint_eff]: [-0.0615, -20.9436, 5.0667, 0.9939, -0.2906, 0.0904, 0.1294, 0.4034, -8.0342, 6.4479, 1.8632, 0.1343, 0.1685, 0.6618]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8692, 2.6247, 2.7613, -1.3338, -0.598, -0.7338, 0.5423, 0.3912, 1.903, 0.902, 0.2176, 0.2817, 0.1593, 0.0095]\nstate[eef_state]: left_x=0.442 left_y=-0.3634 left_z=0.1342 left_yaw=0.0732 left_pitch=-0.3209 left_roll=0.1679 left_gripper=0.5423 right_x=0.4414 right_y=0.1328 right_z=0.0186 right_yaw=0.065 right_pitch=-0.1839 right_roll=-0.0813 right_gripper=0.0095\nstate[joint_eff]: [-2.4, -18.1128, 6.0513, 1.6581, -0.0855, 0.0171, 0.0708, 3.3709, -7.9111, 7.747, 1.6874, 0.2711, 0.3297, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a4e06e53baf15846d35b751aa423c31e3cf8c107cc4118a37bb0b313d4224e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eed65c4e8d68d437b2edb478bb2c38b126d75771c1acc257e4e24d3fcd5ba11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb8cd5eaefd3ecf27f9005fa72540af1e6a7311d21c290525493b871d1bb9f97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBxf_m3xYo5lvQPmru2Du4twJAnNNlgxm7L8S_AQxqHAsXxmQF5aXC4bkJVWfaWtsw4Z8wfnpLnB9SV2qxHheUV0G_eN_YCGsYAq-7QvMW2CnL7CUkAUzZyu8c691f7jkA0YBRC-Emew_MLRLv6_T7nBIQZ3Rle1i9BSNO9KGsIHJ6RJhot1TNOFh9cm84uDy8hdafcMUqoW0BVKEmEKlXv9ppGFXgFanacUSDEdGuXK65exTxZc5lsttzpzxo5l-m98t7NVTo99bKgA9jcgEX1EETTXQYSQFaD1arlKLIoaRLLSel8qsmYKgFiSxZQf_HQhMtie6WENC2KjBc5mOQHc-LTIke0HEZ3I1aelzMiO7Lq3HnKIzHYX-8cZaEORGZNSoer5KsGssrWnBx-0BFzctTR0yigPZkmZ2wU7oA1ctmQvndFsx8PQE1c47JSDSfiJDrLZz0_wjabdPanZxI1CBTfWc0tBT4_sw9t8pcOm5f50TkAU5m8Yfa0R68pLjhwzOf6o2nvzcd0OGbyUoaB9YhU3scMMiUcetRVp8qSqPgo-YbRI2p8oRVV2PdXgZlnplCYdBGrzX0mNEsT8uuJ1jXLtZNYODDK35K62h6TvyNtTtsbvr2OcfhDYjGDNbRe6JGApGfQH5Ay4rU_WNy51WbDA_ul_xlkqXclgG9TW9CWsKIGJOq1d1OkbsW4lXG3bzQlX16kAYjb5JEkAOQekUkHe1gU1r9CbQqmqImlzZspvXv8f9bO1DZzc5AhX2Y7I7J7OJWDLQmYfsxAlPd3FggSbDLyVkk_8AxZLKhXHtHXkBD9WTNcGNLSLzrmWhVk-LDSSDiPAuZbdIdpLFP6GM9J6hZBoCNqTXJKARvix2y5J6nHrvX7THe1E9ulS8SssLp9oUPJwiIJpVlzHaFWMMw2zoR9ZNKQbT4Kldw8xxoIzOLXK6bke-Hwe3F9yc-Y5HLb9NFP6n9posYhT-JzDp6214StoH23eDoQkYGxV9IXKzpaScoiEWZ048K18tSU1lwjbKHGys41t-393HmNe-6ukmxXpWqeJ6YzgjYeFs-xnWVXL4K_TsIPxrKBqDH88w1jvwkY2I4UyXjZf4Yw0PffYckEVqEFvVt9nuoBYPtXJMahPnfGgSUij25xK1cyduOtjF3xy3B93MjBay5s1w7029Ufh71aOPwusa2VMPco2A5p11Q2HIZbFvp0ega8pKp5ypQDPeBtQnRBbp8ueMc8ZwcW-uBP6MaRguY2qmA7lUARtnvQshYcfu7VDhiMEU0vmb6aii78MIOXTZvqGygsQMapMbN67Hi_dXfL7_Zm2SCp_TEMiH7GLYwdIM-HL9T9isx9XlYfcgPVlJdRYXoA-vyqqOTsccS0dEYtNsMQEItjdT-u9jn6JtQz8LVvKxJPPFE4Ba5dahDQv0chqhqFS_itiYRLzFC6sjBJRLtJ2w6U5gBTQk7wxltTSYEKJk2yJF44vFuBSg3ygjo3IrkWfl6UGP9RnuMOSa5y1ou4IG0LgtU1ZeASSmQ4l5sBU38Mu8o3gJE7NRj4hbPT0pbUkdUV8SP5nsuGdDC_W9GZ-xsfGvdu0ooVBqZEPcfPnJzzIO0Acxeqr56G3hzUp_PWS5GpPA1G4W0O-XSwgm1wOeRPcL_LoJkh2mjlXVdoJjxIsTqudvd3qABlUG4n24phENcV-4EpTDptSonVaSir3w-pMrGwUtmppHuyB1iX-peVnyXsZcYhPMI6DW0H-QU679y2J7CQIiEfuyzAMa6X2h2maFY5dllCh7Do0I6jzwkTCxqmcsboDQ8eGLPqLTfiYtLRaF0IyuZ-v_h17HtRzkgDQwl5gXtpY5Qn4tnX85n04w-k6I7QEWXXZvFlvGJ1RJ8gCVLrHbO4scGMxvdQ5VpBNPfUVqcIk0PMpQ1lyQVsDQiNBhUjzNvgvcE-jGAgCnbZ0bCmpFfQbdsEZwEbNzYZhYEr8M7SZsHkzD6lCq8nNvaf7mhY6FwMgEx7l6mUFm-U57qRSnkTDsWkikBwyE4qNHzNidDUXmECTU5OkIOeUyDxHi2XwUcb_Wmh4TmHwxNj3ua1Q2JoMhyoBDyjjxlxRB0ftq0KGu1UPbbDseHcwm7VSE-RPtE1q0nnp1-0P3q61OJpL_-r1lQ2k-6CQz6GQs10WjSrPlPofInHKWaUYKxoIeynCpz4JK8VhWH0Imcxckkh12jOrumkKkb7IjQ0MMuzJusuv8zlVQsimekGjVAVDIVE9caZiBdPV3gjhBcwdtxHTHoU_qjfm81nyhTEH6_KKfMfSEMZcSfI3Y1KrnYG68tEbaWXgw1Y4vLisIFQ1ciYUMWLbQHixzZtrE8YIvu-CiafQI1nlV3mOKYpytTXZgByrNoMQOR4jsbQ47up7addCw8_JlfsTitD67kRIj0DJwZ4v4rim8G4yOs6G0ZayjxYjTRvl7VTx5-YVvbOCrjgR4TQQ386WHCp6wxY4P_nLPfTFB1giETCd65sigtwueRkhw60vPeXBv8pn0-jFh_imHPjn1agx6Cl42lNlUkH0ZFwQO-LrYjaS",
  "id": "rs_0bcb718a40616c3b016ab41c5c935487d0978f89fdb7f26a52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.46,\"left_y\":-0.4,\"left_z\":0.095},\"note\":\"The bowl shifted slightly left and is now close enough to the left arm’s reach that the dark fruit may fall inside its near rim. I’ll retract the right arm and lower the held fruit over that edge before releasing.\"}",
  "call_id": "call_UtUSIRWgnXneFZO7zFtiZGb2",
  "id": "fc_0bcb718a40616c3b016ab41c5ef60087d0828e96a6a8d8d69e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UtUSIRWgnXneFZO7zFtiZGb2",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8795, 2.6862, 2.727, -1.2484, -0.5903, -0.7536, 0.543, -0.0021, 0.963, 0.7818, -0.548, 0.0288, -0.0891, 0.0125]\nstate[eef_state]: left_x=0.446 left_y=-0.3791 left_z=0.0955 left_yaw=0.0727 left_pitch=-0.331 left_roll=0.1592 left_gripper=0.543 right_x=0.3051 right_y=-0.0021 right_z=0.1794 right_yaw=0.0228 right_pitch=-0.1681 right_roll=-0.0853 right_gripper=0.0125\nstate[joint_eff]: [-0.7726, -13.5863, 5.641, 1.0525, -0.4567, -0.0073, 0.0659, -0.1436, -2.5094, 9.1692, 1.663, -0.0073, 0.0562, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2498009d01560e354a541bbf0091b11a82db1cce04f11bbc45597dbc7cf9c231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac5cea191a12985040866e911a0f49ead1c006b22e6678eed16a9eb4d2c9db8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cb66ec7be56fef330d59440232dd8b6d3d57e68ccd22dc23df019a7d12e245f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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