adhoc

completed
2026-09-23T19:50:55.000984+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
227.2 s
total steps
308
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 along the near edge, the blue bowl behind them, and the large white bowl on the left. I’ll bring the right gripper above the green fruit to line up a first grasp.
move_to
right_x0.2900right_y0.1700right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.3874, -0.0208, -0.0334, 0.9992] state[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0005 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.4855, -1.6752, 9.5795, 1.8095, -0.1197, 0.1441, -0.0855, -0.1846, -1.7846, 9.1282, 1.8632, -0.0317, 0.1783, -0.1001] 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":0.29,"right_y":0.17,"right_z":0.14},"note":"I see three fruits along the near edge, the blue bowl behind them, and the large white bowl on the left. I’ll bring the right gripper above the green fruit to line up a first grasp."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe green fruit is at the bottom of the right wrist view, a little to the right of the jaw column. I’ll shift the gripper sideways over it while keeping enough height to clear it.
move_to
right_y0.1350right_x0.2850right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8005, 0.6147, -0.3973, -0.0139, -0.0307, 0.9993, 0.8604, 1.2289, 0.6514, -0.2447, 0.6617, 0.5133, 0.9991] state[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1795 left_yaw=0.0007 left_pitch=-0.0141 left_roll=-0.0009 left_gripper=0.9993 right_x=0.2831 right_y=0.1682 right_z=0.1239 right_yaw=0.0334 right_pitch=-0.048 right_roll=-0.0418 right_gripper=0.9991 state[joint_eff]: [-0.2803, -1.2786, 6.9675, 1.9121, -0.0269, -0.0366, -0.0171, -0.1162, -3.959, 8.4855, 1.5214, 0.525, 0.0757, -0.022] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.135,"right_x":0.285,"right_z":0.115},"note":"The green fruit is at the bottom of the right wrist view, a little to the right of the jaw column. I’ll shift the gripper sideways over it while keeping enough height to clear it."})
tool
executing move_to over 3 steps (0.3s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe green fruit now sits on the right gripper’s jaw column. I’ll lower the open jaws to the fruit’s mid-height for a centered grasp.
move_to
right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8013, 0.6147, -0.4072, -0.0139, -0.0311, 0.9993, 0.7403, 1.1343, 0.5442, -0.2085, 0.5831, 0.4194, 0.9991] state[eef_state]: left_x=0.2929 left_y=0.0002 left_z=0.1773 left_yaw=0.0009 left_pitch=-0.0248 left_roll=-0.001 left_gripper=0.9993 right_x=0.2826 right_y=0.1313 right_z=0.1091 right_yaw=0.0214 right_pitch=-0.0733 right_roll=-0.0604 right_gripper=0.9991 state[joint_eff]: [-0.1436, -1.2786, 6.9949, 1.8144, -0.0757, -0.0708, -0.0073, 0.1026, -3.9043, 6.2838, 1.5946, 0.232, -0.0562, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025},"note":"The green fruit now sits on the right gripper’s jaw column. I’ll lower the open jaws to the fruit’s mid-height for a centered grasp."})
tool
executing move_to over 6 steps (0.6s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe open jaws are down around the green fruit’s position, with the fruit centered between them. I’ll close the gripper and check whether it catches.
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]: [-0.02, 0.8021, 0.6147, -0.4168, -0.0139, -0.0334, 0.9993, 0.741, 1.4208, 0.3332, 0.2813, 0.5739, 0.4107, 0.9991] state[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1751 left_yaw=0.0021 left_pitch=-0.0351 left_roll=-0.0026 left_gripper=0.9993 right_x=0.2828 right_y=0.1336 right_z=0.0265 right_yaw=0.0333 right_pitch=-0.0837 right_roll=-0.0675 right_gripper=0.9991 state[joint_eff]: [-0.1436, -1.3197, 6.9949, 1.8388, -0.0366, -0.0317, -0.0122, -0.1846, -3.2752, 4.0821, 1.5409, 0.2613, 0.0415, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws are down around the green fruit’s position, with the fruit centered between them. I’ll close the gripper and check whether it catches."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe gripper stopped partly open, suggesting it is holding the green fruit. I’ll lift it clear of the table and verify that the fruit comes up with the jaws.
move_to
right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8024, 0.6147, -0.4236, -0.0139, -0.0334, 0.9993, 0.7414, 1.4212, 0.3298, 0.2993, 0.5827, 0.4068, 0.6375] state[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1736 left_yaw=0.0021 left_pitch=-0.0424 left_roll=-0.0025 left_gripper=0.9993 right_x=0.2843 right_y=0.1334 right_z=0.0286 right_yaw=0.03 right_pitch=-0.069 right_roll=-0.0661 right_gripper=0.6375 state[joint_eff]: [-0.0752, -1.1692, 6.9949, 1.746, -0.0806, -0.0415, -0.0122, 0.0205, -4.3692, 5.2581, 1.3016, 0.0806, -0.0024, 1.0281] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.14},"note":"The gripper stopped partly open, suggesting it is holding the green fruit. I’ll lift it clear of the table and verify that the fruit comes up with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe green fruit rose with the right gripper, and the blue bowl is just ahead and left of it. I’ll carry the fruit high over the bowl’s opening.
move_to
right_x0.3650right_y0.2500right_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]: [-0.02, 0.8036, 0.6147, -0.4248, -0.0139, -0.0334, 0.9993, 0.7422, 1.1172, 0.622, -0.3302, 0.5674, 0.4065, 0.6406] state[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1731 left_yaw=0.0021 left_pitch=-0.0446 left_roll=-0.0024 left_gripper=0.9993 right_x=0.2807 right_y=0.1334 right_z=0.1249 right_yaw=0.0403 right_pitch=-0.1014 right_roll=-0.0796 right_gripper=0.6406 state[joint_eff]: [-0.0889, -1.3607, 7.0222, 1.707, -0.0611, -0.0415, -0.0122, -0.4034, -4.2872, 8.4034, 1.4823, 0.3492, -0.0464, 0.6032] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.25,"right_z":0.17},"note":"The green fruit rose with the right gripper, and the blue bowl is just ahead and left of it. I’ll carry the fruit high over the bowl’s opening."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe carried fruit is over the blue bowl but appears near its near rim. I’ll move a little farther forward and lower it toward the center before releasing.
move_to
right_x0.3850right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4313, -0.0139, -0.0338, 0.9993, 0.8268, 1.6684, 1.2263, -0.4744, 0.5972, 0.4568, 0.6398] state[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1706 left_yaw=0.0024 left_pitch=-0.0553 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3579 right_y=0.2474 right_z=0.1528 right_yaw=0.0687 right_pitch=-0.1516 right_roll=-0.119 right_gripper=0.6398 state[joint_eff]: [-0.0068, -1.1145, 6.9812, 1.7753, -0.0708, -0.0317, -0.0171, -0.0889, -9.0325, 8.3487, 1.4335, 0.4908, 0.232, 0.4957] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_z":0.115},"note":"The carried fruit is over the blue bowl but appears near its near rim. I’ll move a little farther forward and lower it toward the center before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe green fruit is held low over the blue bowl’s opening. I’ll release it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4347, -0.0135, -0.0338, 0.9993, 0.7719, 1.7752, 1.1851, -0.3363, 0.5449, 0.4065, 0.6399] state[eef_state]: left_x=0.2894 left_y=0.0002 left_z=0.17 left_yaw=0.002 left_pitch=-0.0588 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3791 right_y=0.2462 right_z=0.1074 right_yaw=0.0769 right_pitch=-0.19 right_roll=-0.1319 right_gripper=0.6399 state[joint_eff]: [-0.0615, -1.265, 7.1179, 1.7167, -0.0122, -0.0513, -0.0171, -0.1436, -9.265, 6.5983, 1.6093, 0.3834, -0.0757, 0.7302] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The green fruit is held low over the blue bowl’s opening. I’ll release it into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe green fruit is visible inside the blue bowl after release. I’ll move the open right gripper over the yellow fruit next.
move_to
right_x0.2850right_y0.2650right_z0.1450
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, 0.8078, 0.6147, -0.4355, -0.0139, -0.0338, 0.9993, 0.7719, 1.7752, 1.1851, -0.3408, 0.5438, 0.4, 0.9956] state[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1698 left_yaw=0.0024 left_pitch=-0.0595 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3784 right_y=0.2458 right_z=0.1067 right_yaw=0.0807 right_pitch=-0.1945 right_roll=-0.1389 right_gripper=0.9956 state[joint_eff]: [-0.3214, -1.306, 6.9812, 1.6679, -0.0611, -0.0855, -0.0122, -0.0752, -8.9778, 6.3658, 1.2967, 0.2027, 0.0122, -0.0366] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.285,"right_y":0.265,"right_z":0.145},"note":"The green fruit is visible inside the blue bowl after release. I’ll move the open right gripper over the yellow fruit next."})
tool
executing move_to over 8 steps (0.8s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe yellow fruit is visible near the bottom-left of the right wrist view, offset from the jaws. I’ll shift left a few centimeters to center it.
move_to
right_y0.3050right_x0.2850
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, 0.8078, 0.6147, -0.4423, -0.0139, -0.0334, 0.9993, 1.026, 1.636, 1.1664, -0.6342, 0.6586, 0.6369, 0.9962] state[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1684 left_yaw=0.0022 left_pitch=-0.0664 left_roll=-0.0019 left_gripper=0.9993 right_x=0.2849 right_y=0.2684 right_z=0.1309 right_yaw=0.1035 right_pitch=-0.2247 right_roll=-0.163 right_gripper=0.9962 state[joint_eff]: [-0.335, -1.2786, 7.0222, 1.746, -0.0513, -0.0269, -0.0122, 0.1573, -9.935, 7.2, 0.9548, 0.5641, 0.1245, 0.0513] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.305,"right_x":0.285},"note":"The yellow fruit is visible near the bottom-left of the right wrist view, offset from the jaws. I’ll shift left a few centimeters to center it."})
tool
executing move_to over 4 steps (0.4s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe yellow fruit is now nearly centered on the jaws and sits in front of the blue bowl. I’ll finish the alignment and descend to grasp its middle.
move_to
right_y0.3250right_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]: [-0.02, 0.8089, 0.6147, -0.4461, -0.0139, -0.0334, 0.9993, 1.0775, 1.7561, 1.29, -0.6895, 0.6582, 0.6712, 0.9962] state[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0713 left_roll=-0.0018 left_gripper=0.9993 right_x=0.281 right_y=0.302 right_z=0.1231 right_yaw=0.1263 right_pitch=-0.2526 right_roll=-0.1814 right_gripper=0.9962 state[joint_eff]: [-0.212, -1.0462, 7.0769, 1.7411, -0.0513, -0.0464, -0.0122, 0.1573, -8.2256, 7.9658, 0.8669, 0.5055, 0.1245, -0.0073] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.325,"right_z":0.025},"note":"The yellow fruit is now nearly centered on the jaws and sits in front of the blue bowl. I’ll finish the alignment and descend to grasp its middle."})
tool
executing move_to over 7 steps (0.7s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe last descent did not move the right arm; the readback stayed near 12 cm, so that pose appears awkward or blocked. I’ll approach from slightly farther forward and lower more gradually.
move_to
right_x0.3200right_y0.3000right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8089, 0.6147, -0.4496, -0.0139, -0.0338, 0.9993, 1.079, 1.7599, 1.2934, -0.701, 0.6586, 0.6743, 0.9963] state[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1667 left_yaw=0.0024 left_pitch=-0.0748 left_roll=-0.0021 left_gripper=0.9993 right_x=0.2799 right_y=0.3012 right_z=0.1219 right_yaw=0.1234 right_pitch=-0.2589 right_roll=-0.1894 right_gripper=0.9963 state[joint_eff]: [-0.212, -1.2923, 6.9675, 1.7021, -0.0513, -0.0562, -0.0171, 0.0479, -8.212, 8.0479, 0.9695, 0.5201, 0.2076, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.3,"right_z":0.07},"note":"The last descent did not move the right arm; the readback stayed near 12 cm, so that pose appears awkward or blocked. I’ll approach from slightly farther forward and lower more gradually."})
tool
executing move_to over 4 steps (0.4s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe right arm is stalled at this cross-table pose, and the overhead view shows the yellow fruit much nearer the bases than I first estimated. I’ll park the right arm and use the left arm for the remaining fruit.
move_to
right_x0.2960right_y0.0000right_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]: [-0.02, 0.8089, 0.6147, -0.45, -0.0139, -0.0338, 0.9993, 1.079, 1.7599, 1.2934, -0.701, 0.6586, 0.6743, 0.9962] state[eef_state]: left_x=0.2872 left_y=0.0003 left_z=0.1666 left_yaw=0.0024 left_pitch=-0.0752 left_roll=-0.0021 left_gripper=0.9993 right_x=0.2799 right_y=0.3012 right_z=0.1219 right_yaw=0.1234 right_pitch=-0.2589 right_roll=-0.1894 right_gripper=0.9962 state[joint_eff]: [-0.3214, -1.2923, 6.9675, 1.7021, -0.0611, -0.0415, -0.0122, 0.0889, -8.4034, 8.0068, 1.0085, 0.5153, 0.2076, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.18},"note":"The right arm is stalled at this cross-table pose, and the overhead view shows the yellow fruit much nearer the bases than I first estimated. I’ll park the right arm and use the left arm for the remaining fruit."})
tool
executing move_to over 26 steps (2.6s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteWith the right arm parked, the dark fruit is clear on the left side of the table, in front of the large white bowl. I’ll bring the left gripper above it.
move_to
left_x0.2800left_y-0.1800left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6147, -0.461, -0.0135, -0.0334, 0.9993, -0.0013, 1.0039, 0.8383, -0.6861, 0.0406, -0.2546, 0.9962] state[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1635 left_yaw=0.0019 left_pitch=-0.0896 left_roll=-0.0017 left_gripper=0.9993 right_x=0.2922 right_y=-0.004 right_z=0.1681 right_yaw=0.0918 right_pitch=-0.296 right_roll=-0.1929 right_gripper=0.9962 state[joint_eff]: [-0.3214, -1.2923, 7.1043, 1.7949, -0.0122, -0.0317, -0.0122, 0.4991, -3.3026, 8.253, 1.5067, -0.2076, 0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.18,"left_z":0.14},"note":"With the right arm parked, the dark fruit is clear on the left side of the table, in front of the large white bowl. I’ll bring the left gripper above it."})
tool
executing move_to over 17 steps (1.7s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe dark fruit appears just left of the left jaw column, with clear space below it in the wrist view. I’ll center the jaws and advance slightly so the fingertips reach it.
move_to
left_x0.3000left_y-0.1500left_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9211, 1.2625, 0.749, -0.4381, -0.6624, -0.7044, 0.9993, -0.0021, 1.0042, 0.8383, -0.7006, 0.0299, -0.2703, 0.9962] state[eef_state]: left_x=0.2735 left_y=-0.1744 left_z=0.1251 left_yaw=-0.0017 left_pitch=-0.1284 left_roll=0.0221 left_gripper=0.9993 right_x=0.2896 right_y=-0.0023 right_z=0.1656 right_yaw=0.1097 right_pitch=-0.3116 right_roll=-0.1935 right_gripper=0.9962 state[joint_eff]: [-0.1436, -4.3145, 8.9778, 1.3309, -0.5006, -0.0073, -0.0122, 0.0205, -2.5231, 6.9538, 1.5604, 0.1294, 0.0952, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.15,"left_z":0.115},"note":"The dark fruit appears just left of the left jaw column, with clear space below it in the wrist view. I’ll center the jaws and advance slightly so the fingertips reach it."})
tool
executing move_to over 3 steps (0.3s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe dark fruit is now centered between the open left jaws. I’ll lower to its mid-height before closing.
move_to
left_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]: [-0.7597, 1.2621, 0.6914, -0.321, -0.5678, -0.5724, 0.9993, -0.0021, 1.0061, 0.8383, -0.7021, 0.0288, -0.2733, 0.9963] state[eef_state]: left_x=0.297 left_y=-0.1461 left_z=0.1114 left_yaw=0.0174 left_pitch=-0.1468 left_roll=0.0278 left_gripper=0.9993 right_x=0.2894 right_y=-0.0021 right_z=0.1649 right_yaw=0.1125 right_pitch=-0.3152 right_roll=-0.1942 right_gripper=0.9963 state[joint_eff]: [-0.0752, -4.4923, 6.2974, 1.6435, -0.2808, 0.1929, -0.0122, -0.0068, -2.6188, 6.9949, 1.4481, -0.0024, -0.0464, -0.0073] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"The dark fruit is now centered between the open left jaws. I’ll lower to its mid-height before closing."})
tool
executing move_to over 6 steps (0.6s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe left jaws are down on either side of the dark fruit. I’ll close them to take hold.
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]: [-0.7597, 1.504, 0.4683, 0.1143, -0.561, -0.5762, 0.9993, -0.0021, 1.0061, 0.8379, -0.7094, 0.0284, -0.2737, 0.9963] state[eef_state]: left_x=0.2932 left_y=-0.144 left_z=0.0204 left_yaw=0.018 left_pitch=-0.1717 left_roll=0.0421 left_gripper=0.9993 right_x=0.288 right_y=-0.002 right_z=0.1636 right_yaw=0.1133 right_pitch=-0.3228 right_roll=-0.1932 right_gripper=0.9963 state[joint_eff]: [-0.1846, -5.3675, 5.1487, 1.5458, -0.3785, -0.0171, -0.0171, -0.212, -2.4684, 6.735, 1.4676, -0.0073, -0.0611, -0.0171] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are down on either side of the dark fruit. I’ll close them to take hold."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe left gripper stopped about half open around the dark fruit, consistent with a grasp. I’ll lift it and confirm it comes off the table.
move_to
left_z0.1650
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]: [-0.7597, 1.504, 0.4683, 0.1123, -0.5606, -0.5762, 0.5354, -0.0021, 1.0061, 0.8379, -0.7097, 0.0288, -0.2737, 0.9962] state[eef_state]: left_x=0.293 left_y=-0.1438 left_z=0.0202 left_yaw=0.018 left_pitch=-0.1733 left_roll=0.0433 left_gripper=0.5354 right_x=0.2879 right_y=-0.0021 right_z=0.1635 right_yaw=0.113 right_pitch=-0.3232 right_roll=-0.1935 right_gripper=0.9962 state[joint_eff]: [-0.1299, -5.1761, 5.094, 1.3455, -0.2857, -0.0171, 1.0281, -0.1573, -2.2906, 6.7487, 1.4237, -0.0073, -0.0415, -0.0171] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.165},"note":"The left gripper stopped about half open around the dark fruit, consistent with a grasp. I’ll lift it and confirm it comes off the table."})
tool
executing move_to over 10 steps (1.0s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe dark fruit lifted with the left gripper, leaving its spot on the table empty. I’ll carry it across to the blue bowl, keeping it above the rim.
move_to
left_x0.3800left_y-0.3600left_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]: [-0.7597, 1.2316, 0.868, -0.5892, -0.5568, -0.577, 0.5408, -0.0021, 1.0061, 0.8383, -0.7097, 0.0284, -0.2741, 0.9963] state[eef_state]: left_x=0.2915 left_y=-0.1432 left_z=0.1507 left_yaw=0.0196 left_pitch=-0.1964 left_roll=0.0615 left_gripper=0.5408 right_x=0.288 right_y=-0.002 right_z=0.1637 right_yaw=0.1136 right_pitch=-0.3228 right_roll=-0.1935 right_gripper=0.9963 state[joint_eff]: [-0.3624, -5.3538, 8.9094, 1.116, -0.2955, -0.0122, 1.0281, -0.2667, -2.4821, 6.8171, 1.4139, -0.022, -0.0806, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.36,"left_z":0.17},"note":"The dark fruit lifted with the left gripper, leaving its spot on the table empty. I’ll carry it across to the blue bowl, keeping it above the rim."})
tool
executing move_to over 20 steps (2.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe dark fruit is above the blue bowl but appears slightly to its right in the overhead view. I’ll shift toward the bowl center and lower just inside its rim.
move_to
left_x0.3800left_y-0.3900left_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]: [-0.9714, 2.1414, 1.9442, -0.9207, -0.6441, -0.8093, 0.5432, -0.0021, 1.0061, 0.8379, -0.7238, 0.0284, -0.2741, 0.9963] state[eef_state]: left_x=0.3766 left_y=-0.3568 left_z=0.1551 left_yaw=0.0195 left_pitch=-0.2352 left_roll=0.0729 left_gripper=0.5432 right_x=0.2852 right_y=-0.002 right_z=0.1613 right_yaw=0.1141 right_pitch=-0.3372 right_roll=-0.1917 right_gripper=0.9963 state[joint_eff]: [-0.7179, -12.3692, 9.1966, 1.072, -0.6422, 0.0415, 1.0281, -0.0479, -2.2769, 6.8581, 1.58, -0.0073, -0.0757, -0.0171] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.39,"left_z":0.105},"note":"The dark fruit is above the blue bowl but appears slightly to its right in the overhead view. I’ll shift toward the bowl center and lower just inside its rim."})
tool
executing move_to over 4 steps (0.4s)
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 dark fruit is lowered over the blue bowl at almost the same forward position used for the first fruit. I’ll release it and then check the bowl from a clearer view.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0039, 2.3104, 1.9598, -0.8627, -0.6399, -0.841, 0.5432, -0.0021, 1.0061, 0.8379, -0.7273, 0.0284, -0.2737, 0.9962] state[eef_state]: left_x=0.3727 left_y=-0.3823 left_z=0.081 left_yaw=0.0241 left_pitch=-0.2876 left_roll=0.1322 left_gripper=0.5432 right_x=0.2845 right_y=-0.002 right_z=0.1608 right_yaw=0.1141 right_pitch=-0.3406 right_roll=-0.191 right_gripper=0.9962 state[joint_eff]: [-0.1846, -14.9402, 8.7453, 1.1111, -0.5836, -0.0757, 1.0281, -0.1026, -2.4684, 6.7214, 1.4579, -0.0415, -0.0806, -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_gripper":1},"note":"The dark fruit is lowered over the blue bowl at almost the same forward position used for the first fruit. I’ll release it and then check the bowl from a clearer view."})
tool
executing move_to over 5 steps (0.5s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe dark fruit has dropped into the blue bowl; the left wrist view shows it there. I’ll bring the left gripper back toward the remaining yellow fruit.
move_to
left_x0.2800left_y-0.2900left_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]: [-1.0027, 2.3104, 1.9617, -0.8486, -0.6399, -0.8543, 0.9953, -0.0021, 1.0061, 0.8379, -0.7277, 0.0284, -0.2737, 0.9962] state[eef_state]: left_x=0.3749 left_y=-0.3846 left_z=0.0827 left_yaw=0.0287 left_pitch=-0.2785 left_roll=0.1087 left_gripper=0.9953 right_x=0.2845 right_y=-0.002 right_z=0.1607 right_yaw=0.1141 right_pitch=-0.341 right_roll=-0.191 right_gripper=0.9962 state[joint_eff]: [-0.1983, -14.9538, 8.4444, 0.9695, -0.5397, 0.022, -0.0611, -0.1983, -2.4547, 6.694, 1.4286, -0.022, -0.0464, -0.0073] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.29,"left_z":0.15},"note":"The dark fruit has dropped into the blue bowl; the left wrist view shows it there. I’ll bring the left gripper back toward the remaining yellow fruit."})
tool
executing move_to over 9 steps (0.9s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe left wrist view clearly shows the blue bowl holding the first two fruits, while the remaining yellow fruit is near the bottom of the frame. I’ll shift slightly toward that fruit and lower partway.
move_to
left_y-0.3150left_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0809, 1.795, 1.4643, -0.9081, -0.6506, -0.944, 0.9963, -0.0025, 1.0107, 0.8383, -0.7372, 0.0288, -0.2737, 0.9962] state[eef_state]: left_x=0.2851 left_y=-0.2996 left_z=0.1476 left_yaw=0.0161 left_pitch=-0.2854 left_roll=0.09 left_gripper=0.9963 right_x=0.2829 right_y=-0.0022 right_z=0.1582 right_yaw=0.1139 right_pitch=-0.3547 right_roll=-0.1896 right_gripper=0.9962 state[joint_eff]: [-0.335, -8.6496, 7.0496, 1.3748, -0.5495, -0.1294, 0.0855, -0.1846, -2.7692, 6.6667, 1.5751, -0.0317, -0.0073, -0.0073] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.315,"left_z":0.115},"note":"The left wrist view clearly shows the blue bowl holding the first two fruits, while the remaining yellow fruit is near the bottom of the frame. I’ll shift slightly toward that fruit and lower partway."})
tool
executing move_to over 3 steps (0.3s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe yellow fruit is close to the left jaw column and separate from the bowl, though the dark fruit is perched near the bowl rim. I’ll lower the jaws around the yellow fruit and keep clear of the bowl.
move_to
left_y-0.3300left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0931, 1.8606, 1.4326, -0.8417, -0.6472, -0.9646, 0.9964, -0.0021, 1.0107, 0.8379, -0.7395, 0.0284, -0.2737, 0.9962] state[eef_state]: left_x=0.2843 left_y=-0.3097 left_z=0.1165 left_yaw=0.0223 left_pitch=-0.3012 left_roll=0.1033 left_gripper=0.9964 right_x=0.2824 right_y=-0.002 right_z=0.1577 right_yaw=0.1148 right_pitch=-0.3573 right_roll=-0.189 right_gripper=0.9962 state[joint_eff]: [-0.7726, -8.8, 5.9145, 0.9206, -0.4811, -0.0269, -0.0024, -0.3214, -2.4547, 6.8991, 1.3846, 0.0024, -0.0513, -0.0073] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.33,"left_z":0.025},"note":"The yellow fruit is close to the left jaw column and separate from the bowl, though the dark fruit is perched near the bowl rim. I’ll lower the jaws around the yellow fruit and keep clear of the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe yellow fruit has shifted left of the jaw column during the descent. The dark fruit has also rolled out beside the white bowl, so I’ll finish aligning on the yellow fruit first and retrieve the dark one afterward.
move_to
left_y-0.3050left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.113, 2.0167, 1.3254, -0.5739, -0.6434, -0.9947, 0.9964, -0.0021, 1.0115, 0.8379, -0.7395, 0.0284, -0.2737, 0.9962] state[eef_state]: left_x=0.2859 left_y=-0.3322 left_z=0.0388 left_yaw=0.0165 left_pitch=-0.3011 left_roll=0.077 left_gripper=0.9964 right_x=0.2824 right_y=-0.002 right_z=0.1575 right_yaw=0.1148 right_pitch=-0.358 right_roll=-0.1889 right_gripper=0.9962 state[joint_eff]: [-0.6632, -8.1299, 4.4239, 0.7448, -0.4811, 0.0024, -0.0122, -0.212, -2.5504, 6.6667, 1.3748, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.305,"left_z":0.025},"note":"The yellow fruit has shifted left of the jaw column during the descent. The dark fruit has also rolled out beside the white bowl, so I’ll finish aligning on the yellow fruit first and retrieve the dark one afterward."})
tool
executing move_to over 3 steps (0.3s)
step 204
top_cam
camera top_cam step 204
assistant
agent noteThe yellow fruit now fills the center between the low jaws. I’ll close and test whether the gripper has taken 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]: [-1.0855, 1.9762, 1.1992, -0.4526, -0.6369, -0.9836, 0.9964, -0.0021, 1.0126, 0.8379, -0.746, 0.0284, -0.2737, 0.9962] state[eef_state]: left_x=0.2882 left_y=-0.3135 left_z=0.0259 left_yaw=0.0251 left_pitch=-0.2915 left_roll=0.0483 left_gripper=0.9964 right_x=0.2812 right_y=-0.002 right_z=0.1562 right_yaw=0.1151 right_pitch=-0.3656 right_roll=-0.1879 right_gripper=0.9962 state[joint_eff]: [0.4308, -10.6872, 4.7111, 0.7302, -0.2759, 0.2906, -0.0122, -0.3624, -2.3179, 6.6667, 1.4335, -0.0171, -0.022, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The yellow fruit now fills the center between the low jaws. I’ll close and test whether the gripper has taken it."})
tool
executing move_to over 10 steps (1.0s)
step 214
assistant
agent noteThe gripper stopped substantially open around the large yellow fruit, and contact nudged the arm upward. I’ll lift to see whether the fruit is securely held.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.087, 1.956, 1.2106, -0.4103, -0.6579, -0.9962, 0.7782, -0.0021, 1.0126, 0.8379, -0.7467, 0.0284, -0.2737, 0.9963] state[eef_state]: left_x=0.2962 left_y=-0.3239 left_z=0.0427 left_yaw=0.0227 left_pitch=-0.2411 left_roll=-0.0202 left_gripper=0.7782 right_x=0.281 right_y=-0.002 right_z=0.1561 right_yaw=0.1152 right_pitch=-0.3664 right_roll=-0.1878 right_gripper=0.9963 state[joint_eff]: [-0.0342, -8.2667, 4.9026, 0.5055, -0.188, 0.1099, 1.0281, -0.1573, -2.4684, 6.7761, 1.3358, -0.0073, -0.0708, -0.0122] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The gripper stopped substantially open around the large yellow fruit, and contact nudged the arm upward. I’ll lift to see whether the fruit is securely held."})
tool
executing move_to over 9 steps (0.9s)
step 223
assistant
agent noteThe wrist view shows the yellow fruit already inside the blue bowl, while the dark fruit is outside beside the white bowl. My last close appears to have caught the blue bowl’s rim rather than a loose fruit, so I’ll lower the bowl before releasing it.
move_to
left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0866, 1.8656, 1.5299, -0.8303, -0.6395, -1.0039, 0.7773, -0.0021, 1.0126, 0.8379, -0.754, 0.0284, -0.2741, 0.9963] state[eef_state]: left_x=0.2972 left_y=-0.3309 left_z=0.146 left_yaw=0.0204 left_pitch=-0.2608 left_roll=-0.0238 left_gripper=0.7773 right_x=0.2796 right_y=-0.002 right_z=0.155 right_yaw=0.1157 right_pitch=-0.3736 right_roll=-0.1872 right_gripper=0.9963 state[joint_eff]: [-0.1436, -12.5197, 7.8974, 0.8474, -0.5739, 0.0415, -0.1001, -0.1846, -2.4821, 6.7077, 1.3944, -0.022, -0.0757, -0.0171] approver: 7 step(s) modified (delta_clamped ×7). 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":{"left_z":0.07},"note":"The wrist view shows the yellow fruit already inside the blue bowl, while the dark fruit is outside beside the white bowl. My last close appears to have caught the blue bowl’s rim rather than a loose fruit, so I’ll lower the bowl before releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 228
assistant
agent noteThe blue bowl is back down near the tabletop, with the yellow fruit visible inside. I’ll open the jaws to leave the bowl in place, then recover the dark fruit.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0866, 1.9274, 1.3266, -0.6228, -0.6357, -1.0031, 0.7772, -0.0021, 1.0126, 0.8379, -0.7544, 0.0284, -0.2737, 0.9963] state[eef_state]: left_x=0.2916 left_y=-0.3215 left_z=0.071 left_yaw=0.0327 left_pitch=-0.2894 left_roll=0.0288 left_gripper=0.7772 right_x=0.2795 right_y=-0.002 right_z=0.155 right_yaw=0.1155 right_pitch=-0.3739 right_roll=-0.1869 right_gripper=0.9963 state[joint_eff]: [0.0479, -9.4564, 6.0923, 1.0574, -0.3932, -0.0415, -0.022, -0.0615, -2.3179, 6.7624, 1.37, -0.0122, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The blue bowl is back down near the tabletop, with the yellow fruit visible inside. I’ll open the jaws to leave the bowl in place, then recover the dark fruit."})
tool
executing move_to over 3 steps (0.3s)
step 231
assistant
agent noteThe blue bowl is released and the dark fruit sits just outside the white bowl’s right rim. I’ll bring the left gripper above that fruit for a second, more secure pickup.
move_to
left_x0.3500left_y-0.1700left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.087, 1.935, 1.3128, -0.6018, -0.6353, -1.0031, 0.9961, -0.0021, 1.0126, 0.8379, -0.7544, 0.0284, -0.2737, 0.9962] state[eef_state]: left_x=0.2914 left_y=-0.3215 left_z=0.0652 left_yaw=0.0323 left_pitch=-0.2899 left_roll=0.029 left_gripper=0.9961 right_x=0.2795 right_y=-0.002 right_z=0.155 right_yaw=0.1155 right_pitch=-0.3739 right_roll=-0.1869 right_gripper=0.9962 state[joint_eff]: [-0.3077, -10.441, 7.0769, 0.7839, -0.398, -0.0317, -0.0708, -0.1983, -2.4547, 6.7897, 1.3211, -0.0317, -0.0464, -0.0171] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.17,"left_z":0.14},"note":"The blue bowl is released and the dark fruit sits just outside the white bowl’s right rim. I’ll bring the left gripper above that fruit for a second, more secure pickup."})
tool
executing move_to over 14 steps (1.4s)
step 245
assistant
agent noteFrom the cleared overhead view I can see three distinct fruits: one inside the blue bowl, the dark one beside the white bowl, and the yellow one still on the table. The dark fruit is on the left jaw column but short of the fingertips, so I’ll advance slightly.
move_to
left_x0.3750left_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6716, 1.5509, 1.1107, -0.5793, -0.4583, -0.6113, 0.997, -0.0021, 1.0126, 0.8383, -0.7544, 0.028, -0.2737, 0.9962] state[eef_state]: left_x=0.3496 left_y=-0.1735 left_z=0.1313 left_yaw=0.069 left_pitch=-0.3006 left_roll=0.0233 left_gripper=0.997 right_x=0.2796 right_y=-0.002 right_z=0.1551 right_yaw=0.1159 right_pitch=-0.3735 right_roll=-0.1866 right_gripper=0.9962 state[joint_eff]: [0.1162, -8.9504, 6.1744, 1.2332, -0.1636, 0.2173, 0.0757, -0.1026, -2.3043, 6.6393, 1.3651, -0.0415, -0.022, -0.0073] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_z":0.115},"note":"From the cleared overhead view I can see three distinct fruits: one inside the blue bowl, the dark one beside the white bowl, and the yellow one still on the table. The dark fruit is on the left jaw column but short of the fingertips, so I’ll advance slightly."})
tool
executing move_to over 2 steps (0.2s)
step 247
assistant
agent noteThe dark fruit is exposed beside the white bowl, slightly left and ahead of the fingertips. I’ll descend on it from the table side, aiming to keep the open jaws clear of the bowl rim.
move_to
left_x0.3900left_y-0.1500left_z0.0320
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]: [-0.6407, 1.586, 1.1179, -0.5488, -0.4442, -0.5747, 0.997, -0.0021, 1.0134, 0.8383, -0.7685, 0.0284, -0.2737, 0.9963] state[eef_state]: left_x=0.3606 left_y=-0.1697 left_z=0.1239 left_yaw=0.0684 left_pitch=-0.307 left_roll=0.0366 left_gripper=0.997 right_x=0.2768 right_y=-0.002 right_z=0.1529 right_yaw=0.1162 right_pitch=-0.3883 right_roll=-0.185 right_gripper=0.9963 state[joint_eff]: [0.841, -5.6957, 7.8701, 1.1111, -0.1636, 0.0415, -0.0073, -0.0479, -2.4957, 6.8581, 1.4579, 0.0073, -0.0171, -0.0073] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.15,"left_z":0.032},"note":"The dark fruit is exposed beside the white bowl, slightly left and ahead of the fingertips. I’ll descend on it from the table side, aiming to keep the open jaws clear of the bowl rim."})
tool
executing move_to over 6 steps (0.6s)
step 253
assistant
agent noteThe descent stopped high, likely because a wide-open jaw met the white bowl’s rim. I’ll narrow the jaws above the fruit and approach from the table side.
move_to
left_gripper0.5500left_x0.3900left_y-0.1700left_z0.0850
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]: [-0.622, 1.6417, 1.0786, -0.4896, -0.432, -0.5716, 0.997, -0.0021, 1.0157, 0.8379, -0.7685, 0.0284, -0.2741, 0.9962] state[eef_state]: left_x=0.3638 left_y=-0.1654 left_z=0.0952 left_yaw=0.0843 left_pitch=-0.3412 left_roll=0.0548 left_gripper=0.997 right_x=0.2768 right_y=-0.002 right_z=0.1521 right_yaw=0.1166 right_pitch=-0.391 right_roll=-0.1849 right_gripper=0.9962 state[joint_eff]: [-0.253, -10.359, 6.1607, 1.2723, -0.3004, 0.1197, -0.0122, -0.1026, -2.6598, 6.653, 1.3407, -0.0122, -0.0562, -0.0171] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.55,"left_x":0.39,"left_y":-0.17,"left_z":0.085},"note":"The descent stopped high, likely because a wide-open jaw met the white bowl’s rim. I’ll narrow the jaws above the fruit and approach from the table side."})
tool
executing move_to over 5 steps (0.5s)
step 258
assistant
agent noteThe arm still cannot lower beside the white bowl, even with narrower jaws. I’ll raise and turn the jaw axis so the fingers approach the dark fruit along the bowl’s edge rather than across its rim.
move_to
left_z0.1500left_yaw-1.4000left_gripper0.8000
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]: [-0.622, 1.6417, 1.0786, -0.4892, -0.432, -0.5682, 0.5553, -0.0021, 1.0157, 0.8379, -0.7689, 0.0284, -0.2737, 0.9962] state[eef_state]: left_x=0.3639 left_y=-0.1654 left_z=0.0952 left_yaw=0.0823 left_pitch=-0.341 left_roll=0.0568 left_gripper=0.5553 right_x=0.2768 right_y=-0.002 right_z=0.1521 right_yaw=0.1164 right_pitch=-0.3914 right_roll=-0.1846 right_gripper=0.9962 state[joint_eff]: [-0.1709, -10.359, 6.2564, 1.2479, -0.2418, 0.0855, 0.2076, -0.0205, -2.2769, 6.8581, 1.3065, -0.0024, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15,"left_yaw":-1.4,"left_gripper":0.8},"note":"The arm still cannot lower beside the white bowl, even with narrower jaws. I’ll raise and turn the jaw axis so the fingers approach the dark fruit along the bowl’s edge rather than across its rim."})
tool
executing move_to over 10 steps (1.0s)
step 268
assistant
agent noteWith the jaws rotated, the dark fruit is between them and the white bowl is off to one side. I’ll advance slightly and descend to the fruit’s mid-height.
move_to
left_x0.4000left_y-0.1700left_z0.0330left_yaw-1.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1947, 1.7496, 1.4109, -0.8387, 0.4892, 0.8997, 0.7982, -0.0021, 1.018, 0.8379, -0.7704, 0.0284, -0.2737, 0.9962] state[eef_state]: left_x=0.3815 left_y=-0.1562 left_z=0.1384 left_yaw=-1.1801 left_pitch=-0.385 left_roll=0.0468 left_gripper=0.7982 right_x=0.2766 right_y=-0.002 right_z=0.1513 right_yaw=0.1165 right_pitch=-0.3952 right_roll=-0.1842 right_gripper=0.9962 state[joint_eff]: [0.4171, -8.8821, 7.788, 0.6276, 0.4908, 0.2271, -0.0611, -0.1026, -2.3863, 6.6667, 1.3455, -0.022, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.17,"left_z":0.033,"left_yaw":-1.4},"note":"With the jaws rotated, the dark fruit is between them and the white bowl is off to one side. I’ll advance slightly and descend to the fruit’s mid-height."})
tool
executing move_to over 7 steps (0.7s)
step 275
assistant
agent noteThe rotated jaws are down beside the dark fruit, now visible between them near the white bowl rim. I’ll close to pick it up.
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]: [-0.1844, 1.9766, 1.3651, -0.6998, 0.5438, 1.0782, 0.7988, -0.0021, 1.0191, 0.8379, -0.7834, 0.028, -0.2737, 0.9963] state[eef_state]: left_x=0.3928 left_y=-0.1626 left_z=0.0493 left_yaw=-1.3513 left_pitch=-0.405 left_roll=0.0026 left_gripper=0.7988 right_x=0.274 right_y=-0.0019 right_z=0.1491 right_yaw=0.1176 right_pitch=-0.4091 right_roll=-0.182 right_gripper=0.9963 state[joint_eff]: [-0.5949, -7.0632, 6.065, 1.1062, 0.4371, 0.4176, 0.0562, -0.3624, -2.441, 6.612, 1.4042, -0.022, -0.022, -0.0073] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The rotated jaws are down beside the dark fruit, now visible between them near the white bowl rim. I’ll close to pick it up."})
tool
executing move_to over 8 steps (0.8s)
step 283
assistant
agent noteThe dark-fruit grasp closed nearly empty, so it remains beside the white bowl. The yellow fruit is still loose in front of the blue bowl; I’ll switch to that clear target and place it before attempting the pour.
move_to
left_x0.2350left_y-0.3100left_z0.0450left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1837, 1.9514, 1.3815, -0.638, 0.5125, 1.1103, 0.131, -0.0021, 1.021, 0.8379, -0.7887, 0.028, -0.2737, 0.9962] state[eef_state]: left_x=0.4137 left_y=-0.1613 left_z=0.0661 left_yaw=-1.3148 left_pitch=-0.391 left_roll=0.1379 left_gripper=0.131 right_x=0.273 right_y=-0.0019 right_z=0.1479 right_yaw=0.118 right_pitch=-0.4163 right_roll=-0.181 right_gripper=0.9962 state[joint_eff]: [-0.2667, -7.8974, 4.8752, 0.1978, 0.5104, -0.2173, 0.6764, 0.0479, -2.5094, 6.7214, 1.3358, -0.0269, -0.0366, -0.0171] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.235,"left_y":-0.31,"left_z":0.045,"left_yaw":0,"left_gripper":1},"note":"The dark-fruit grasp closed nearly empty, so it remains beside the white bowl. The yellow fruit is still loose in front of the blue bowl; I’ll switch to that clear target and place it before attempting the pour."})
tool
executing move_to over 14 steps (1.4s)
step 297
assistant
agent noteThe loose yellow fruit is now centered directly between the left gripper’s low jaws, with the blue bowl just beyond it. I’ll close on the fruit.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1542, 1.869, 1.1992, -0.5907, -0.5667, -0.8307, 0.9969, -0.0021, 1.0245, 0.8379, -0.7929, 0.0284, -0.2737, 0.9962] state[eef_state]: left_x=0.2493 left_y=-0.3202 left_z=0.0508 left_yaw=-0.1549 left_pitch=-0.3721 left_roll=0.1427 left_gripper=0.9969 right_x=0.2722 right_y=-0.002 right_z=0.1465 right_yaw=0.118 right_pitch=-0.4239 right_roll=-0.1804 right_gripper=0.9962 state[joint_eff]: [-0.8, -8.4034, 6.2017, 0.4664, 0.1538, -0.3785, 0.0464, -0.0479, -2.7966, 6.5846, 1.3797, -0.0562, -0.0611, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The loose yellow fruit is now centered directly between the left gripper’s low jaws, with the blue bowl just beyond it. I’ll close on the fruit."})
tool
executing move_to over 10 steps (1.0s)
step 307
assistant
agent noteI could not complete the task safely. One fruit is in the blue bowl, but the dark fruit remains beside the white bowl and the loose yellow fruit slipped sideways out of the gripper. The blue bowl has not been poured.
give_up
hindsightThe blue bowl is near left-arm x≈0.38, y≈−0.39; at x≈0.29, y≈−0.32 a low gripper can catch its rim instead of the loose fruit in front. A fruit released near the blue bowl's left rim can roll out toward the white bowl. The white bowl's rim obstructs a low, wide-open grasp of a fruit beside it; turning the left jaws to yaw≈−1.35 clears the rim better, but careful centering is still needed. The loose yellow fruit ejected sideways when the left gripper closed off-center at x≈0.25, y≈−0.31, z≈0.05.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1526, 1.8847, 1.2037, -0.6315, -0.6094, -0.7956, 0.1129, -0.0021, 1.0248, 0.8379, -0.7952, 0.028, -0.2737, 0.9962] state[eef_state]: left_x=0.2518 left_y=-0.3088 left_z=0.0478 left_yaw=-0.1358 left_pitch=-0.3685 left_roll=0.2356 left_gripper=0.1129 right_x=0.2718 right_y=-0.0019 right_z=0.146 right_yaw=0.1185 right_pitch=-0.4266 right_roll=-0.1797 right_gripper=0.9962 state[joint_eff]: [-0.3077, -10.4821, 5.3265, 1.2332, 0.0806, -0.486, 0.7741, -0.0889, -2.5368, 6.7487, 1.2869, -0.0562, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the task safely. One fruit is in the blue bowl, but the dark fruit remains beside the white bowl and the loose yellow fruit slipped sideways out of the gripper. The blue bowl has not been poured.","hindsight":"The blue bowl is near left-arm x≈0.38, y≈−0.39; at x≈0.29, y≈−0.32 a low gripper can catch its rim instead of the loose fruit in front. A fruit released near the blue bowl's left rim can roll out toward the white bowl. The white bowl's rim obstructs a low, wide-open grasp of a fruit beside it; turning the left jaws to yaw≈−1.35 clears the rim better, but careful centering is still needed. The loose yellow fruit ejected sideways when the left gripper closed off-center at x≈0.25, y≈−0.31, z≈0.05."})
tool
give_up: I could not complete the task safely. One fruit is in the blue bowl, but the dark fruit remains beside the white bowl and the loose yellow fruit slipped sideways out of the gripper. The blue bowl has not been poured.
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 · 5.954 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]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.3874, -0.0208, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0005 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.6752, 9.5795, 1.8095, -0.1197, 0.1441, -0.0855, -0.1846, -1.7846, 9.1282, 1.8632, -0.0317, 0.1783, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4ad09892c22c421b9c0f0ab6a1cfe8be686cdc0b348331323f856e6ae9b1ba5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9231d7ab7bc05dd28fa790a82cde9ee805c5ef72f59ca6a27df7bf6e903057",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66089debbbf9cbb83ed22cb58a2c243ef243e730978a6af2702c088c261ed994",
      "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 · 4.726 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtC2ydk1FgAbxhFTzZ3TUrRuefZcyd2Qp5esZafE9x69PCl4LGBlLhAgn7Kxip87SV_9gEmVaxpZAiARADYhihhY9LHkOAAOaDVp-nmvi9TcikJxr3K9nbYkGKWpOw4LqY4Kg8-JWEOIoct4Snuc4egGNOklOqF0OXll3UrMxuDplyPc0yLlaPT_OKxwyCVzW7HgiysC_B9bGbmnHH7S9BmujwoWmYC4kXmzb5q5yTsjMBFVmDXycq2YN5RcA6rHjgqxuX2q7iCxhxikStC28agSzLIfC3rIklG6DN817QphYYTz1KjcdnQZ0GUP2ZS--PlD7GR9tqD_9qhYYOzyO359I5UKUgspRwQ8ud-oq3vo4YIogzdItxRJ8uJTbHWTeZpFLh2be0NpBO4mTgZ01HksR26MXpNZED55upFoScAO9EURH-3K7A5AjrYGBT-gNejdx_WgdSWRFn6NbW1HtOTw00pIO04-u75-bWb6YPfzV9lfaFg7e1Zg3koBMqzfHQmoqdWrszUVctB7ivenGV29kR7LLejJDijJORN-IqdFCTml8l8HOYVaecas_S-xuaGYFm34fJIgZUljwRVBVLdGrXpgeSeEbde1p3SmWhD1hfRGK6Tsm4PkAhIViEUNE9ElyyIuQuaPJS_4CBAyP6dgNLUU1JEP1YIeZvwbKDLBdrPmEkF4268HDH9Zrydfqj1Q6N7DxB1ixVdDV_1zg5PrItylopXPVdZRZw1BUkTU_aHi9uYVG-zabb-jkNx5hkiX1LrCSq1fqyz25BxS0IpO6_57fFZ-KaRsYmReYrhLgfx-sWvpVfUPKTis9MaWV74Rpf1D9Z3rUYwrWOXSJdcYcDGc-K-TekQqHCB2OqJ4nA2ob-UCKFJ4xd7y0F8vof5Of4_XFiKMxkJDp0YGbrIMRMcoxNMpS484xYyix46P4QONXowszIilsetEUA4jB-kedyFIewbC6lVP2wj0kw3cye_sLgT5ld47tL9U2nV5ispok3HmDy494B-95wMkmzwmgxSJH7g2jBsGTIEO1NHTWvZAOQtKprpYpOkMo7snIAOqpHHWG7chg4SqS1SoSDrX2icvyGtgCUSY-z4sOtyOMg56YY42i2-u-NmiauaCoG7owZcZ0v4wGxb5vQeLzfTgHX8K0OeLzNbGiRvRLNmhYnX-YtD_XYZDIfqaPpNQlWVyCpjPNj4007bcDwBHHhIBIxWVKfF4aCWKA8GrskusN21jGkBGWqm1xMURFh2XZL3TVIy9Dmas5vCFcKFc6t_c9Gq-Sspua5YbpqO0jU0UQZYWXacmRdAZHlqH1SsgbjjzWFOUsB_E47ic0cM7-7ogkLyXEDsSJM_6kCg2BWVorp2LmCf3RsnnN-qXX6ucWLsZ1Hzesc41UsI7kaFC0aBVe05Ql1IMRmQCKSytchch0KOc2e57irFACTnUZRDgK4Oj9Kvo2QVgcqYKRqK2Ube_VnD_VPCXPqa0LPYj-HkTDTwJjtm5UjOXNo4TFuQmK4fm0vLwk7kBx2wKfF2BquT3yfhU9wN35hWU2K01TGNH2G38iRMV07VFR7DGOihTKI9pNh2uPK2IyxvyAxOlceHZIPPfBPd4qSk3l27q4mLMdyOCVIkcRw2VJ3sVX4Ajwph5Ai1B-eBLza3qH1LqG7VbhSjxU0R-LF0WARbC1_KhOdEelrKMdtDcCgxzGyhPHg1q9WotqtlDRlSh-DmxxgJ3vYzAJ1bV-igqZcjVlVE4Rc26CXG9MgNYWmtIL7heeya948A7WxM9zcgIW5HwShvpdZVHkL52CK2HYumO64fd5Z4XHD2nrdHMf6WeASbpdQg7_6-p-72m8yz_bx0jqE47VqurYalS_0fZqhunNDNtaWYaxkHKLxHjbdMDjXZKyMv18zepgaBEEfX6fSnTWbmnEKAYt_FYlEs2Ts1wENIF1fg8nrfuFW_VGJ-msBuzDgw8IaQdlN5iGGdfWewRtAHvLHPzDe7z6QZ0ISnkJ3oXjs1HM-Jw8UF3JASETdUOEP5choygKnTl6sSyZWwo5-HKWxqinF8Q-heI4qHOY27lZSV9p32XwSSVSuRSThbaSZf0M0Zcf-vCj3YEbYab2e9mHTtlJjH7jmBJt6x7MPqh7F0Bo3ATJ0TIM3SD9JxeGEcMXq_EeGzFE-hZGr5kDG225zdz0ZwF0J8c3n95dv1uP2Qn_SeWgVG_HDPl3Mwz4AtFpwuK57KSGnR_Q6scy5fdWkFJGf6FzFraZIimByDBkRAwqvXlsYLPO3GZ6ZnV9_bFjUtKUSoYpu-6RNXkl5rnlzJSLCY8-hBC2wf_j3h5mD_7rAbcSuMQ46rBH29wgrZ2sPVgW2H8G0-5bPptXYpdJZ9WnoAqRBXHctbXF6_j9WhbCtCSEEHkkiNrfa58h37YupA3ky7wjfHN0skTFtWKmOk8vR1U-0efpdqztj-UQ929z2-5EXbb7z3xTnPNtnMPsvcmL2E0mKkRb2FM3jzcN25CsI_Yw0NTTSKjNi5IgHwAFVgmJFK2FlfmnzqbHqanKLFN_TeMKTGCbEjrW7YNFxJ_N6aKhMgK5zZSuXxQGtFSmMx-Ao9hFPxur2hkxwS61f5Q2WYp_Ry7jxrvHlYnLxacYuhQfKIpfe0fhHm9m9cC5I686-TOl5WJIndIGg5kOk7vQ1BklRXEGj4d25u5BdZkL5j9oSUu3JYxLbquogzrahQ_bqKb-4u7k23JZb-TvzwmoQFc4_hxBerk2nGG8pmQB2dqgb8O3CR2JEDiybUZEM0SZEqzq5FGfKA-gceT1eDSXaop7EEiiuD_Im7460LiIFLWGU33IC5UF4okr0XOprp_nLsFsrMysuBFkWNKgC-xAxWL6kQlR_IhVo6wAymndcDfzHICMeCOR2Lxl08611eWp9y3zNIBvrjpDK3muazwv_4_AWqa2ba7c99MiCK0mj_N4pV3yadfoO55eABP6fNRY6eZE3t3snDZ_exebQSeY8Ak4t2MZWXP6WaqaY_kCNJr_ayLJ8lDkXii5m6PrwbmcF3HSIi1mIgv_MdUqOJoy_hxPOj3ae9nP966JlrbV22PrrZiImq3qakbuOmOTNKUyH_kQiPf3HNz7SUda9vfNvrCqpU93RkkPvj87AzRaNVTsAfDC6DCE1Q4-Pw7_eCWaax7NPXbHf4iIME6PDYr6LY9QG1w1DYwJ0o_qGgIihycInl0r8L4KZqL_N23OJSrGgj3cjI41bVLD6A7hkOEV0BTSJ910uwt0xc5Z",
  "id": "rs_009b83eae09bb011016ab42dae1d3887d09974bcc86ab8327a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.17,\"right_z\":0.14},\"note\":\"I see three fruits along the near edge, the blue bowl behind them, and the large white bowl on the left. I’ll bring the right gripper above the green fruit to line up a first grasp.\"}",
  "call_id": "call_S56drySoyqvMUhGAaevaY1N7",
  "id": "fc_009b83eae09bb011016ab42db221c887d0a8fde651d469423c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S56drySoyqvMUhGAaevaY1N7",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6147, -0.3973, -0.0139, -0.0307, 0.9993, 0.8604, 1.2289, 0.6514, -0.2447, 0.6617, 0.5133, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1795 left_yaw=0.0007 left_pitch=-0.0141 left_roll=-0.0009 left_gripper=0.9993 right_x=0.2831 right_y=0.1682 right_z=0.1239 right_yaw=0.0334 right_pitch=-0.048 right_roll=-0.0418 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.2786, 6.9675, 1.9121, -0.0269, -0.0366, -0.0171, -0.1162, -3.959, 8.4855, 1.5214, 0.525, 0.0757, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb36b9e41b0ccdf036abbef41d1638b31139ba383cd1a28a086895b70dc45a56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23500516c68be5f3824d2e4eb7fa604a4eb990c872d3d28d092f19ad70f8960",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c83622cf6540cd26262a91e86540112dff4732cc7a8518e4d71eb7771adc9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 1.755 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.3874, -0.0208, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0005 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.6752, 9.5795, 1.8095, -0.1197, 0.1441, -0.0855, -0.1846, -1.7846, 9.1282, 1.8632, -0.0317, 0.1783, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6147, -0.3973, -0.0139, -0.0307, 0.9993, 0.8604, 1.2289, 0.6514, -0.2447, 0.6617, 0.5133, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1795 left_yaw=0.0007 left_pitch=-0.0141 left_roll=-0.0009 left_gripper=0.9993 right_x=0.2831 right_y=0.1682 right_z=0.1239 right_yaw=0.0334 right_pitch=-0.048 right_roll=-0.0418 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.2786, 6.9675, 1.9121, -0.0269, -0.0366, -0.0171, -0.1162, -3.959, 8.4855, 1.5214, 0.525, 0.0757, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb36b9e41b0ccdf036abbef41d1638b31139ba383cd1a28a086895b70dc45a56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23500516c68be5f3824d2e4eb7fa604a4eb990c872d3d28d092f19ad70f8960",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c83622cf6540cd26262a91e86540112dff4732cc7a8518e4d71eb7771adc9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC27dpDdc-813NDwnGuO-HklWocQXpBwOoauCDQvPIsxzq2buuMsujln7OSS4lzHDMaXFycjDgjTW4DyWuPF2iYtkx_Qz1lY2K0kOl2j7AsEIKu-etqYQQv9S3kIs_GFDwqs3waBMDHXH7RgkSiIs6mh3LrOgrgTyOj470_dHsmY6sylL08ekUbLLY_jQsuKEKrTaRFxNoZEWY3tg1hq5O5_LP6bfEZHI15h5oPuh85s7LkK-gWiT5ngBuVzqYwDiiFBDnW4R3dJlz_g25E_BTYVkteoh52FzjzhjVDeTi8GAjUr4xv0PU9zjblt-UWCnkUGI8yLTl2U9Ii-xYGMjXxTWTNZq7_r-TnZPXZU6Gxx5fLRAn8aaJq9gQWfxInP93BeE83oNtrzSgYOMQv-yMSzNGDdllEBFb0GK-0KVLkiMqfooOrm4m9RUytfk5GoqD6wcQCSZJbbb0YWZI31q7S6fTsrweT92ltv0pQ7VCITzhAWaq0VZqAlXDXv-WU_FNy3ttnr9SoI5v3MRiIAybXVa2rAnK7rfMoZ9zi2QUwqj-90IRqypEhzsdttkV5qHEEo8DuS-gSV_8gQe4ORxXRAJWsAO68u-nAmy_EyxfYhO3_mZ1wWLM2u4tHhuRCzq83yQQFtwGDotiYdCiXDlPTt1rUAUrxDIj8XdbJF1zGoNLm_dlH9PjQb7vkX6qGKT5DRFKHWO_vhKVd1ngzv8SiR4FzvMbTM0Mbxofcnlkl3WJdGRKoro0ii1FNBHYcLsMnMbjqNEPk8FBzJdn1917eaqEBy4V3n5iDT1tLQOxvFcXkfx9rz2E28q9nfBj0KAOQGLM2rN5w3lAmlU14FZlLMSmSvMYCZFCw5RhDVa2K-lRc3Qoj9_CgJxFa0FN_T8GOSO1E0zibMPYk0G1hoS4ESU1FZUJWwg1cBp3kpZ-dU71gZR6JHSNqEFY8dcpeuj-42IUAtZ-6mD7kqMk_wjgB3CTGFrSYCn4TOzQImX1BXIHAjPHrvQjXeqEHxNfcrWlx3HOG4zeh0cG_Dh716CT1ddBuv5OHmBvgsxbfiHanZME8jtS1m9tsc3Gt2paWAuxRzwbqQYE0BA_I6JsrVz1iLy7k8RBc6_G35EFSnywt4hC5Pt5JYZO9OX6ubxS3l7EtH-SD9-QHMkH2EAFp7GEnkpOw6mJbTDkF8rXshn3Po5v-Zb5JsURWIyMqnQdLZq79zAF-kj-XqrUduqOcqk_kD2OFrkQMZr8UDXJ9RKls_FP5XREXHZmFf7nh3vKdXSOMDi0dES0F5zXieWf30qYO5Vki91oUmTlFZ80t_jF977vJDV1ApI0I9deA0T7v4ahfs86VXQESLtQS7JU2LKiV26kjNfO1YB68TyKMMQsdNwJLnrs0StN0Xwt6ropeVZF6G-t9Dmh8Ln5vsUxEWevXLQnggLaXGyJIo5xmIKzKK9macfXFpmN8pd1KmMhdffIW3nOT8q-cgxyaWGf5BR8bO38ZmPcwf8ISzC8mB6BwiMXl3JUs-RZthXh2wruu2ekXlGz2WR2i-uK2z00vOGLcUX6K4oPiSCWQuq7Ig8Y2XISGswouxrsY8BrXjUYVJGfuaYJNZ6T083e9p-zXwlxsJiCzDKl88vJ0xatDTAK9LvJw1B9Nl53yNfWGX6zlHopkTRs8ZbjyZ49ObbIZ_pf6Ej8rBVkyxCUolvNT3RrxG_dQYe4oXFHeTEVXulnZnT19pUNijQhrQrwzrOGzFhZTx_Pt-ciGHUDJ58bIaDAHp41UKSIEs6PXrPifc3P0JkXPina1pybViNWY3zro1gkbcgAZHDZPHi6qQcCWNxPL_x5FdZNYyT3Nbm6F7-q9vcQjAGeJEoJiQf39PAGbXjbb_U8XWcB24tSZ9Fmci28LApnaKOh_Y9G0iWefi2aiVI8GJviL_VoN1kmiNMZT9Q2bshMn5ppCS8OVK9UmK4CHzLvPMCi5gE-nMRPEK0or9PJuukmTheaAPL3018KEap7gvMFD7k_QVyQ8juXO4_6CoTegL0cdsKgH_b12VPhUybDeRtOfWzzRRxjcbm4jCWjLtnDll7u9FtMtrXYqH1JOicmJa5ju3w97rgBY6gZMZOs2croRcyNMQeF6SnJ5zn-0XKcm-h7jWkAA5OwBqi-2M_fDIufVnbFFJOsN20NMnslxA2iegiLiafSp-RSKrknL12GL6WirhvxGdPjIph7ntlrSCeScGC1ecXFS9ml3k59Ff-oKKM6_2_BtkuH8bamvSdndC-Vw-y7sWQAsq9IKsWtdVHp1IZJogFSm1DvI4nodF9c1g0FeqwAPl8NG8kgMtX5xnwufpFypEteMjoF4q_iNUCVlqKK54mdw1akae0S9YHfI_JRnbTpk2Tu3bkNL4ZBJjWgxNW8FlHGQtDrtlY13o8eeK5zILzAdNyaFAE4JwSuRzgGJrUayZgQxFLmu1VJoCMVLCDatrzW4q1NxYEF9RLS-9LxTS276PZWHU6Rm51lyweorCz2pLc57ZX8SdO-QwZjDawKLZ1gfjGSV5cu2z3YFOKa72ital11HDJqafQPAIChPgwXwAnt914J6ZJxHWAK4OsMjk4TSCXzxQDudr0EY-GKs7dO74gd9xQUyabcuU8PS9fK-Pa4MwVm0Mfj8V_Qoa6lwdji_3lFsBpGt8IlXYFdESwP2AnJsbO5Wix63XDqNfI0gBo61kiTndAw==",
  "id": "rs_009b83eae09bb011016ab42db82b9887d0bc6e27c656746eb5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.135,\"right_x\":0.285,\"right_z\":0.115},\"note\":\"The green fruit is at the bottom of the right wrist view, a little to the right of the jaw column. I’ll shift the gripper sideways over it while keeping enough height to clear it.\"}",
  "call_id": "call_FNfQwz2Kp12jW25V0BGXTxQk",
  "id": "fc_009b83eae09bb011016ab42dbae0b087d0bdc44ca24033de73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FNfQwz2Kp12jW25V0BGXTxQk",
  "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]: [-0.02, 0.8013, 0.6147, -0.4072, -0.0139, -0.0311, 0.9993, 0.7403, 1.1343, 0.5442, -0.2085, 0.5831, 0.4194, 0.9991]\nstate[eef_state]: left_x=0.2929 left_y=0.0002 left_z=0.1773 left_yaw=0.0009 left_pitch=-0.0248 left_roll=-0.001 left_gripper=0.9993 right_x=0.2826 right_y=0.1313 right_z=0.1091 right_yaw=0.0214 right_pitch=-0.0733 right_roll=-0.0604 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.2786, 6.9949, 1.8144, -0.0757, -0.0708, -0.0073, 0.1026, -3.9043, 6.2838, 1.5946, 0.232, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18ef9a54ab61f5ccd2e422663b7ffa7c5fb65a1125a6385c8bef2216cc612c28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddf833c65bc20ac8786a72b94067b32cbac47d9e04d950f8b6ef17aff517a194",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f9e61122450fe5e8653e64e21e80d160dbe0def2e4f8086d27ade2a1be8a22",
      "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 3 attempt 0 · /responses · status 200 · 2.491 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6147, -0.3973, -0.0139, -0.0307, 0.9993, 0.8604, 1.2289, 0.6514, -0.2447, 0.6617, 0.5133, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1795 left_yaw=0.0007 left_pitch=-0.0141 left_roll=-0.0009 left_gripper=0.9993 right_x=0.2831 right_y=0.1682 right_z=0.1239 right_yaw=0.0334 right_pitch=-0.048 right_roll=-0.0418 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.2786, 6.9675, 1.9121, -0.0269, -0.0366, -0.0171, -0.1162, -3.959, 8.4855, 1.5214, 0.525, 0.0757, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8013, 0.6147, -0.4072, -0.0139, -0.0311, 0.9993, 0.7403, 1.1343, 0.5442, -0.2085, 0.5831, 0.4194, 0.9991]\nstate[eef_state]: left_x=0.2929 left_y=0.0002 left_z=0.1773 left_yaw=0.0009 left_pitch=-0.0248 left_roll=-0.001 left_gripper=0.9993 right_x=0.2826 right_y=0.1313 right_z=0.1091 right_yaw=0.0214 right_pitch=-0.0733 right_roll=-0.0604 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.2786, 6.9949, 1.8144, -0.0757, -0.0708, -0.0073, 0.1026, -3.9043, 6.2838, 1.5946, 0.232, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18ef9a54ab61f5ccd2e422663b7ffa7c5fb65a1125a6385c8bef2216cc612c28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddf833c65bc20ac8786a72b94067b32cbac47d9e04d950f8b6ef17aff517a194",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f9e61122450fe5e8653e64e21e80d160dbe0def2e4f8086d27ade2a1be8a22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC2-vK4fdQKOwZdcq7DMt3EKNn54QOp-hwx3RGI_RzLXEInIcUeccTZCV11yYUKl30g3_EWJxUDOjitVvqR9mYyw3OdnI_QOHSTVFJmDXi5q20zG17St6CCUUHVUQ7X4GLCzNl_Q3t4d7helFE4sKlRR1S5WgBwPEgqRCWndbNuNBSD1jNn5P5zXndWMYEN4DXag9p9g-nFsQlMKbcNwkA5k1bD7ngZqz-GSKsNPPKfW3Su-TyiFvf2Z-M5jc9jO8_2MCTv6ld2PoMfn8SSkZrj-JKanhLb5VLgVnvOs81f_5UpjCsZdxqpjI1Afnyo2hf7gj8xEiT3tA7Ja55osLAOhcfvo_79FhWUxJ3YmNqczekU7lFiSZ-bfY_F8-bXr3mM3wHTeTJ8pHFLCP4JiGpeQ5VWAS5S7DEtkbBygsOTS0bDhhmvFgrlFoHcqU95LCGRpzgdxgfCWyY7d9uZdmtG5MRW8bJi0OH3923MnL7Z3MrLuZd7vvxxx8IVSfRPvgAvWUaAPVqUToEPCQ9qNEoDHkyyZzgYV3yvhEkPSze8AlmIy9So2-vP_amUmtS3VXzkkuHWeFqUJtcIykVe7eDvGXlJiFs3IQ9hlQR2CLDJu2K1NsXIflREWWXcKbfzCO4OOJALigXdegP5ZjK6TmUmCcyUNGsKxByjsZLT3TkOlE_kC_JqIUaZkDPitH2ZJBzH36t4xWyoPD0rPSH-nxBlEcW0lSAr6MwN3DGj1JPfLqMwbqMad9Pb0i0yKXSGzEeW7qYXjHE9OmRGPNhiMW88FLJd3FfSYcUuwBJBkR7WeTeH5tF0mOzB4zLFILRsN2ntCMK40suYUB4cRFbhhxTphQuctBM056IXIsnHKU9M6QLtUUcUbzuFiwbOasum9Mf_1YU6ds_abC0nRaCmOEkbmq3dF8UY3KlDlAxSwab46YFEG1p8veWbpmmv_a7DkTNGN9paPnD1sY6xhmk6PKtuu00UoclmcoW1aZfo_0ssXjmNnlhNmSznjLVPWH33Wpin1uevQKyDwP7-StRYUamDYS8neZH2Rpnx9nFwOYzJg4unIJCgG_9caJqyCMWGbi7VTfsikOePsYPODx4rqy6Ja2a-HvlixFj3fB2azeADiFgqQAYasvFSGGYODplVPCk-hW0gh16ltRzkcEawkRvCSGDIuY8g7p6lOm5Gg14axodsJ6z-2BEYbTQJy3HFkwYH1mfUwOEbcxVNdjKaNipTtYOGHFi2ONk7sV8j85MqHgyM=",
  "id": "rs_009b83eae09bb011016ab42dbd574887d0be674565430ce16f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The green fruit now sits on the right gripper’s jaw column. I’ll lower the open jaws to the fruit’s mid-height for a centered grasp.\"}",
  "call_id": "call_V9sED7RyCkJYYbqVUaqNgWCb",
  "id": "fc_009b83eae09bb011016ab42dbd96f087d0b8074a6da9c3b4e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V9sED7RyCkJYYbqVUaqNgWCb",
  "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]: [-0.02, 0.8021, 0.6147, -0.4168, -0.0139, -0.0334, 0.9993, 0.741, 1.4208, 0.3332, 0.2813, 0.5739, 0.4107, 0.9991]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1751 left_yaw=0.0021 left_pitch=-0.0351 left_roll=-0.0026 left_gripper=0.9993 right_x=0.2828 right_y=0.1336 right_z=0.0265 right_yaw=0.0333 right_pitch=-0.0837 right_roll=-0.0675 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.3197, 6.9949, 1.8388, -0.0366, -0.0317, -0.0122, -0.1846, -3.2752, 4.0821, 1.5409, 0.2613, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0145aed1464604e03ab9459616588cce226b5e0506a06f3fdac2bf5779a70fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f8d8e7a0342e6094a80a3a35b6d4f974301307e9c87aee741a061ca325940f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44d119d12500b8d736a6f6538836c493ee68a56143fd4e8df084a650d481fc58",
      "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 4 attempt 0 · /responses · status 200 · 2.348 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.3874, -0.0208, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0005 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.6752, 9.5795, 1.8095, -0.1197, 0.1441, -0.0855, -0.1846, -1.7846, 9.1282, 1.8632, -0.0317, 0.1783, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8013, 0.6147, -0.4072, -0.0139, -0.0311, 0.9993, 0.7403, 1.1343, 0.5442, -0.2085, 0.5831, 0.4194, 0.9991]\nstate[eef_state]: left_x=0.2929 left_y=0.0002 left_z=0.1773 left_yaw=0.0009 left_pitch=-0.0248 left_roll=-0.001 left_gripper=0.9993 right_x=0.2826 right_y=0.1313 right_z=0.1091 right_yaw=0.0214 right_pitch=-0.0733 right_roll=-0.0604 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.2786, 6.9949, 1.8144, -0.0757, -0.0708, -0.0073, 0.1026, -3.9043, 6.2838, 1.5946, 0.232, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6147, -0.4168, -0.0139, -0.0334, 0.9993, 0.741, 1.4208, 0.3332, 0.2813, 0.5739, 0.4107, 0.9991]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1751 left_yaw=0.0021 left_pitch=-0.0351 left_roll=-0.0026 left_gripper=0.9993 right_x=0.2828 right_y=0.1336 right_z=0.0265 right_yaw=0.0333 right_pitch=-0.0837 right_roll=-0.0675 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.3197, 6.9949, 1.8388, -0.0366, -0.0317, -0.0122, -0.1846, -3.2752, 4.0821, 1.5409, 0.2613, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0145aed1464604e03ab9459616588cce226b5e0506a06f3fdac2bf5779a70fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f8d8e7a0342e6094a80a3a35b6d4f974301307e9c87aee741a061ca325940f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44d119d12500b8d736a6f6538836c493ee68a56143fd4e8df084a650d481fc58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3CiY7EIOBWfYZfFT96X6XHIXIAKkBXcJl-U78eoamzrvPqaLN9LfUFlUMDMahFXisypn5QicYBZBkFl1UIegYyypHvWQF0R2rF150q8d8iUp9vcOlNUVSEmHqBa7FDF_Gt2SH751F_KAQ9kMQeV3L61i-8KWEF2XistdRM2qaR-rZfjc_ICnQZtBFW-XeQBcty7YQRQ4DVlGCFExszCCFEXAUzzSRxEBS2sIHlpyXROL20qy-rE7h74xMjU3Z4P7bdod7gUGr3xscJWyxmd051i5ucQczE930ENZP9KZGE9FiZ2NhgZRUXwJwbRR4gx-kXj85jeOUV3P3NrZzOdtCl5VxM8KMgp235llv0J-IyaCcMXZX7a1ALVQh8xhGXiGKZcadGUDgb4x-4iXVGL2mAEtevIK5RsfaAgfQ3xbGRL5K390No5w56Ckmb7zQp_cow8PJ1VCUTj-vmDRJ4pDcQRbnHYHpa59QhlZvq3Kci-dRaBlEgaKfMJGXheZOPjyzTdVhq6EUhmjFQ0W1pLXKKKg15tfS6ikB_2SYhfYRDuibYYc-q-S11dgbiGSJbB7eEplBDH4KK-L6XYW0DvWR0U4Ja6EdZfPSyv2bafk3NWU4uQpzZXe9wWHMJRCQ40vz_aDnHyZLZ5XRdEyJHwUyFQcngtwPK52sn9vwldiv6DLOzVuBi6Dtrpdz7HHIc747EhUJaQE9CfejZbtdi7VfILUNpPkuaCDUV_0kUyHFSbqwQLd2Yi9mwVvrdgnrPHBuaWrFl2PPCqwKg2HC_zPal5abLzNa2kT6T_v_3I0I9s7pWdgWty_z74niT1L34asItzp4ElA8WmzDQi4Gxuja1HzaySMuJr8hud3fFKs_tt7zAmjwdyb2G5ZWrY_KxuYOMmXBHyOgV03THEZe01jg0gQm7V4m3VokoqP-N00A_3JDbmHUDJw_4949ZvpJxr0NCMkUkHMtuRy2AknUWf85kaTO71xHFJw56MlIDQ3UU-Qi2IlJ3ouNDPSpzajDzBwLG4aYBidft80euLbn7mDzyF46nLyg3vVRCdVNn_rbuI23SNr2oW_iqzJCiNBeLEn9-HTL0PXozLUNOd8undub9JN5yW_BTNjIb0BLS0iH2B9G44qLz-0n-Tz5plty0nTQzQ04uvvRWrzH12Yr80B6xZ6mq8cp8JTCVfgw_i_ji2S9givmQpgkuJKK8N4urZB0eA87DrZU5quNSfsffxjk93QlBr491I2akdtvNKBzLSb76SWWNr7FrFDEA3FRjruNFYYoAYxqNTQbbzgwcvEI-fPIID0H6qa3uFfZN9TX2CiM=",
  "id": "rs_009b83eae09bb011016ab42dc1857c87d09e9eca92aa621764",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws are down around the green fruit’s position, with the fruit centered between them. I’ll close the gripper and check whether it catches.\"}",
  "call_id": "call_eH8PFEeVA4ar2WpKUoCZBXDR",
  "id": "fc_009b83eae09bb011016ab42dc214f887d0a308a530ea76e0f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eH8PFEeVA4ar2WpKUoCZBXDR",
  "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]: [-0.02, 0.8024, 0.6147, -0.4236, -0.0139, -0.0334, 0.9993, 0.7414, 1.4212, 0.3298, 0.2993, 0.5827, 0.4068, 0.6375]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1736 left_yaw=0.0021 left_pitch=-0.0424 left_roll=-0.0025 left_gripper=0.9993 right_x=0.2843 right_y=0.1334 right_z=0.0286 right_yaw=0.03 right_pitch=-0.069 right_roll=-0.0661 right_gripper=0.6375\nstate[joint_eff]: [-0.0752, -1.1692, 6.9949, 1.746, -0.0806, -0.0415, -0.0122, 0.0205, -4.3692, 5.2581, 1.3016, 0.0806, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623af46465222f6dae0b87126d97029511c210775ec92e49c18a2e01ca87c8cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732ca859c781a043428efa69e7ed91bd24b8591634d54c2c96ac2a6b4728b613",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c269030130bc163ca5279d7ea2f1966590feabd8270bf98a8260da72d3db40",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.574 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6147, -0.3973, -0.0139, -0.0307, 0.9993, 0.8604, 1.2289, 0.6514, -0.2447, 0.6617, 0.5133, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1795 left_yaw=0.0007 left_pitch=-0.0141 left_roll=-0.0009 left_gripper=0.9993 right_x=0.2831 right_y=0.1682 right_z=0.1239 right_yaw=0.0334 right_pitch=-0.048 right_roll=-0.0418 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -1.2786, 6.9675, 1.9121, -0.0269, -0.0366, -0.0171, -0.1162, -3.959, 8.4855, 1.5214, 0.525, 0.0757, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6147, -0.4168, -0.0139, -0.0334, 0.9993, 0.741, 1.4208, 0.3332, 0.2813, 0.5739, 0.4107, 0.9991]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1751 left_yaw=0.0021 left_pitch=-0.0351 left_roll=-0.0026 left_gripper=0.9993 right_x=0.2828 right_y=0.1336 right_z=0.0265 right_yaw=0.0333 right_pitch=-0.0837 right_roll=-0.0675 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.3197, 6.9949, 1.8388, -0.0366, -0.0317, -0.0122, -0.1846, -3.2752, 4.0821, 1.5409, 0.2613, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8024, 0.6147, -0.4236, -0.0139, -0.0334, 0.9993, 0.7414, 1.4212, 0.3298, 0.2993, 0.5827, 0.4068, 0.6375]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1736 left_yaw=0.0021 left_pitch=-0.0424 left_roll=-0.0025 left_gripper=0.9993 right_x=0.2843 right_y=0.1334 right_z=0.0286 right_yaw=0.03 right_pitch=-0.069 right_roll=-0.0661 right_gripper=0.6375\nstate[joint_eff]: [-0.0752, -1.1692, 6.9949, 1.746, -0.0806, -0.0415, -0.0122, 0.0205, -4.3692, 5.2581, 1.3016, 0.0806, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623af46465222f6dae0b87126d97029511c210775ec92e49c18a2e01ca87c8cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732ca859c781a043428efa69e7ed91bd24b8591634d54c2c96ac2a6b4728b613",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c269030130bc163ca5279d7ea2f1966590feabd8270bf98a8260da72d3db40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3FZixZs3qEesYoU-k-S9UpGwiV3fgYDk295Ar6Ik2P-cRrLlyqNJ-1Sp586XIDJxUPrYvZmOkpbLreZpLCGvt1hP5wPb97ESgrfTv7ThLM_0ROoxpfDff1_uxEyZiLrSt1Ql_CgQP_jyvXZFYbqz4yG_GLsuAXzlK6zQR2hrRHxprIKlj4ZQ2-7UG_SVRYL-hH_3dNapDTy7MsjmUmwG24SXfiTjJBzC0Kef-T2z8furVctMyutWvjRl_nJTkAfXH7dVkvxXtEGw7vu4em2gv1_tWUDJATHP7BHsEbHtNV7LKcKBPnSxugVM9f08I9Z7js7kD2Tsjn_zIinPYiCowwoTmzxAX80hMUZk8DHGqLXBIph5edxVLkEux2_dgOmuXHB__-AjI9mUS7enDOtFFMGVTynDCKz7XfmX_ZpQCiTbofRwkx-swNFdpyw0reWBNE3S_4GSO87c8CRqwhWz1D_v7LZVmqImKWzlImpDag-7rA0NLSVtwO0FTGyRCbeAUYKuZfmFHNbbsNrvteIQYCHAoU83Oko6XPwjyd8S7tBICbum4sPjcArh1zATDDBjFk1e2HIwyaWXPK5SAgyrWbDIh6qKDqrQt5SVOQeIgmtMXohrsw0ZdMqVTmdSPs0ilmYRrHWot4d9sBUyDtf2Yk55IGwuLCRbifU3FErGmN8FaKea64pdsnS_sj3zVNvlkvKGFQu6JX6-jJUWa6foGQdrQRAkA-lQAy-OGgrMeE2to-IHtUCxgbQdEMgNB2-V-8TvtK4f4knognHY6NG2e7lujAUzrgz3YJPKBZyEgh1e2DPCALZmz92HzgZZy8m9OR_YiHlHMgMAFWmE39j5UvMLo4Xxg5o_RD3PL_O8XwJubYQHo1Mg9PY5X5IVHSW8SkY6WQFld_MBv_h2FiKb_LlRwphJbQH5ZRfSWg8BuiQ8vePeA0AT1hGReif8Cd9z0SwROEOKfD8YMqZMEzsUa6dGH_nYW9lnhduGQJo-9j6cWbWTDMj49aAHs36-DsK2Sgcyah8iNAX1mzBP3IP5F3rwY4qAq7lZ1dCKg_7OlhtqScD8ge5GJmyXX08tL0pPkyR0UUqS6HqzRJdMe6qKx7u4-UHsEN1IFf7FNF7lOuELxkC07xvKqTejRxQ1_8h0igbK8i2P9N96QigpOvq8udKHkp8dzTqVCdgH4n8m0QPSoXtahkeb0zZ9b0kOp6VonfF8thIp49E7Hx0w1IN-K5BjXpFnW9Z_XpayFSOmJ-e7AnuvbxGsPJxZpkVg6Q2WG9RvD5gAZu6vWOxNH4WAAZxOEi86LGEB9s3d66dROmo3jCtYEWdizdYZwo8CFgBVyTgCqFfcFOKhUk1weZqQHsJ8Lm7tptTlYHcs3qbHooS0hqsjEIOSEStFAKg5xKVVPzkUvPBnnMqepn1jE9_EyI3ar2rDL6sjqaH_0Oa3XG6oeg53yNdzYij4KVsgQGSxYmyXI_qdAKFM_EhmUrFVILy2wufesftLH-f0AE0Dbfnl0A4Pz-sgCdS2w7Dtkw8xAKJmu6XALtrHIFiHg-tiAA5w==",
  "id": "rs_009b83eae09bb011016ab42dc47e3487d0a1e1cfcff0e68982",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The gripper stopped partly open, suggesting it is holding the green fruit. I’ll lift it clear of the table and verify that the fruit comes up with the jaws.\"}",
  "call_id": "call_GYWJEFgY8Y1bUNbE3oZUIIPj",
  "id": "fc_009b83eae09bb011016ab42dc54f9487d0be5cc2a04444a186",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GYWJEFgY8Y1bUNbE3oZUIIPj",
  "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]: [-0.02, 0.8036, 0.6147, -0.4248, -0.0139, -0.0334, 0.9993, 0.7422, 1.1172, 0.622, -0.3302, 0.5674, 0.4065, 0.6406]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1731 left_yaw=0.0021 left_pitch=-0.0446 left_roll=-0.0024 left_gripper=0.9993 right_x=0.2807 right_y=0.1334 right_z=0.1249 right_yaw=0.0403 right_pitch=-0.1014 right_roll=-0.0796 right_gripper=0.6406\nstate[joint_eff]: [-0.0889, -1.3607, 7.0222, 1.707, -0.0611, -0.0415, -0.0122, -0.4034, -4.2872, 8.4034, 1.4823, 0.3492, -0.0464, 0.6032]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25fc7085c8d1a87652336a8550060f6cec21821e7346e6ffb803eabe8e4abc42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28aba30938d36bb540823d204668b6515da91734a0f5db5472b6b5f6489c2692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873fe6c93880b71575aeff98dac864573bc2981b74d1e187b3e5ccd01fdb1a49",
      "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 · 3.854 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8013, 0.6147, -0.4072, -0.0139, -0.0311, 0.9993, 0.7403, 1.1343, 0.5442, -0.2085, 0.5831, 0.4194, 0.9991]\nstate[eef_state]: left_x=0.2929 left_y=0.0002 left_z=0.1773 left_yaw=0.0009 left_pitch=-0.0248 left_roll=-0.001 left_gripper=0.9993 right_x=0.2826 right_y=0.1313 right_z=0.1091 right_yaw=0.0214 right_pitch=-0.0733 right_roll=-0.0604 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.2786, 6.9949, 1.8144, -0.0757, -0.0708, -0.0073, 0.1026, -3.9043, 6.2838, 1.5946, 0.232, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8024, 0.6147, -0.4236, -0.0139, -0.0334, 0.9993, 0.7414, 1.4212, 0.3298, 0.2993, 0.5827, 0.4068, 0.6375]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1736 left_yaw=0.0021 left_pitch=-0.0424 left_roll=-0.0025 left_gripper=0.9993 right_x=0.2843 right_y=0.1334 right_z=0.0286 right_yaw=0.03 right_pitch=-0.069 right_roll=-0.0661 right_gripper=0.6375\nstate[joint_eff]: [-0.0752, -1.1692, 6.9949, 1.746, -0.0806, -0.0415, -0.0122, 0.0205, -4.3692, 5.2581, 1.3016, 0.0806, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8036, 0.6147, -0.4248, -0.0139, -0.0334, 0.9993, 0.7422, 1.1172, 0.622, -0.3302, 0.5674, 0.4065, 0.6406]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1731 left_yaw=0.0021 left_pitch=-0.0446 left_roll=-0.0024 left_gripper=0.9993 right_x=0.2807 right_y=0.1334 right_z=0.1249 right_yaw=0.0403 right_pitch=-0.1014 right_roll=-0.0796 right_gripper=0.6406\nstate[joint_eff]: [-0.0889, -1.3607, 7.0222, 1.707, -0.0611, -0.0415, -0.0122, -0.4034, -4.2872, 8.4034, 1.4823, 0.3492, -0.0464, 0.6032]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25fc7085c8d1a87652336a8550060f6cec21821e7346e6ffb803eabe8e4abc42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28aba30938d36bb540823d204668b6515da91734a0f5db5472b6b5f6489c2692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873fe6c93880b71575aeff98dac864573bc2981b74d1e187b3e5ccd01fdb1a49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3KBB2gedq0SRGqmTFXdryE8-CUgRZwJqs3yOwVLTnuUOpYxlh1fg8n8Jyu6pw3TWUjQiPo6fb8335sdGLPGbsTyWwahDINbgQxi2CWQaRFEIn1TkV8JIj200CHvXclxFkn8deWRJA9NdzVZYQQtynhNFO_kiu0nZutxeF3_vFRzuIiErcx09j8wpRUXLsYDDLMChVCkd8g-coSw6-OfGNLW96-Col-BgjsB1cOIPJeURNvH7l_kIFNbKGD_hvx7PAOGWwYxILhbOb3fcX3i0goXGYlt00EsWMijHKt7hx3-iYqAS6Tg8HoeewLqBxA56IoIlPvUlHuEEoO1ztZImbQ6NFYCJgJSkG7WSccxa43w_VT8m8zvuAJgZ1mo9tm-ZbMznnHPYKZhgpRAAU-NwRT7_2T2Qr05JziPr9fmenyojBh8wkBMXpGeMucUAH1VUuTzHLQ3NTrLruU0v0HjVyn7vzZ4zcbVGpN8XWIw4q3S04IZqSq412BwZIcb2P8voBD3_7AeDWOQ_TVR9ugXbyKtdPFY-64ePZ_VNLE4zKNwm_GUqE4qgPn57Jb7SbMRAPlELXQUC89FvFs_CIL389A9rZYv2ztiIZiTMUrUdrhzuBrLlVy4dIYM8OnGuFLOpGJdD07qqTUsbbwGa8mSN6r0WLjh01bKqTkkvWU8mLYHpChzKGPS10CMEZWDH16OoWL3Aufv0-f7R58njw57LFX1xxdPhNGIsidOSfvPHE9H4CdVAGXKPLtrZxsZsv3kutogoR8rgw9vbotiv75wRqdxDh_lCdy2oORauVAoMM6rGT5Cy1gRIyQzbK1RDU2Qv1Dk5hs_OgZkOwTySGgz8aTqyQ_Qr3zzio1132BIqzgj_YnNOOLZl3fPkGjsvqwTXb7GMEq61UFtmRzF1xPVpoUnSl8XkncqYszbpWyoR1BXlMQWA551z66V-TN-6qPwKLT0ID7K78pOheBjVKR_isTyoD0ziQLMjFQNAVHskfJ_Qq4YHZj9v49_Zm5L4JID6e95k_40azTdDjzmGEWbdl5Ze8z_E85_sHyu7_IRMTcq4f6e-l-Usac4e6t7uA8NS6riysZEvsApBiN9WmC91HNrbzqhCcNxUqQp7GGW0uwWo3KgeM-_tbrWlMrLGgLFsCutIxcpz0X0mzfzo-TM34mJ9KBqPjkZSg5TnFi6jglk0YFdaa66v3wY2QZp1I1INfOFwXy5yFMXdJvAZI0VF-tZnFNqbVqDdyP3JwdcZVZXXsNEMH66G4fhzqJ6E8sL9d5ON8oPnL4WY5dq0VNaZeHPkrHxCVY03G1rY_aBwiivsiH1hn8IVl0SZL2QqFlPk_Cb1G8reJfoqVTwQzNAri3jZ92SmpsJZG8soe3p3uaixixRiWU8Ddk5HDnrUMyTFY19tfs_WC50Px7am9TlQsuNUO3tvQoxlCK7tN1LCKfamEwtCh8UIpcXCWPEsk2Z_TjJD3DCe991kEYjKBCsyg_4H9ResAMG6AcZr2b9AGZrXvSHQ33KEVCxYbGchenHwtGBH8m25rsXgZuX2gTNsv_faZnjfkFPkq-gHYJmK6H5M9dl3UOfcrFCUEGW-Ue3CVLs97VibteNbdwgZCkhnh7sIyBhk_yDtUAhA5vnMKnfmn5_ANsj-enL9MLGJtF8HJYoe5gt6XNt-DpevOhuVDcXG0oxsAAVIR_TVQyWGSblptAHZEn3-j7YVwaL7YQLmyjp60J_tHur_reHfcHlpWF8_KtS23cShY3LSinNaHir6fKYuqOSP2Jdt2Hb2aiMZx0ldej12DAAz_jvqdY0vLRSbLald_QwIsff3esQHRQF3uxA3IJZKXtkonE0_a6bZ8GubNVMzcGAdbMSK0t6t2q5nraDhMLi5pPjCmjBtHb71M=",
  "id": "rs_009b83eae09bb011016ab42dc8c00487d0ae5838ecb3b6a346",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.25,\"right_z\":0.17},\"note\":\"The green fruit rose with the right gripper, and the blue bowl is just ahead and left of it. I’ll carry the fruit high over the bowl’s opening.\"}",
  "call_id": "call_JxHwNZe6nueZNt7RZkTBCqJG",
  "id": "fc_009b83eae09bb011016ab42dca1ac887d0b804017078fe18ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JxHwNZe6nueZNt7RZkTBCqJG",
  "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]: [-0.02, 0.8078, 0.6147, -0.4313, -0.0139, -0.0338, 0.9993, 0.8268, 1.6684, 1.2263, -0.4744, 0.5972, 0.4568, 0.6398]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1706 left_yaw=0.0024 left_pitch=-0.0553 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3579 right_y=0.2474 right_z=0.1528 right_yaw=0.0687 right_pitch=-0.1516 right_roll=-0.119 right_gripper=0.6398\nstate[joint_eff]: [-0.0068, -1.1145, 6.9812, 1.7753, -0.0708, -0.0317, -0.0171, -0.0889, -9.0325, 8.3487, 1.4335, 0.4908, 0.232, 0.4957]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c727a401c3a5b97a34e8618fd3a2efa9f1e939d1ad3cb500ecde17a6859bd0e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1592c9cc791635f4e85b40ca991861650d4d86ea0b1cd971184a1f73cc8ff521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ae3f811b682ab99e396bd22a2ca3622fc3c501cce0f02603754731a4211fb1",
      "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 7 attempt 0 · /responses · status 200 · 1.801 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6147, -0.4168, -0.0139, -0.0334, 0.9993, 0.741, 1.4208, 0.3332, 0.2813, 0.5739, 0.4107, 0.9991]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1751 left_yaw=0.0021 left_pitch=-0.0351 left_roll=-0.0026 left_gripper=0.9993 right_x=0.2828 right_y=0.1336 right_z=0.0265 right_yaw=0.0333 right_pitch=-0.0837 right_roll=-0.0675 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.3197, 6.9949, 1.8388, -0.0366, -0.0317, -0.0122, -0.1846, -3.2752, 4.0821, 1.5409, 0.2613, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8036, 0.6147, -0.4248, -0.0139, -0.0334, 0.9993, 0.7422, 1.1172, 0.622, -0.3302, 0.5674, 0.4065, 0.6406]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1731 left_yaw=0.0021 left_pitch=-0.0446 left_roll=-0.0024 left_gripper=0.9993 right_x=0.2807 right_y=0.1334 right_z=0.1249 right_yaw=0.0403 right_pitch=-0.1014 right_roll=-0.0796 right_gripper=0.6406\nstate[joint_eff]: [-0.0889, -1.3607, 7.0222, 1.707, -0.0611, -0.0415, -0.0122, -0.4034, -4.2872, 8.4034, 1.4823, 0.3492, -0.0464, 0.6032]\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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4313, -0.0139, -0.0338, 0.9993, 0.8268, 1.6684, 1.2263, -0.4744, 0.5972, 0.4568, 0.6398]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1706 left_yaw=0.0024 left_pitch=-0.0553 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3579 right_y=0.2474 right_z=0.1528 right_yaw=0.0687 right_pitch=-0.1516 right_roll=-0.119 right_gripper=0.6398\nstate[joint_eff]: [-0.0068, -1.1145, 6.9812, 1.7753, -0.0708, -0.0317, -0.0171, -0.0889, -9.0325, 8.3487, 1.4335, 0.4908, 0.232, 0.4957]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c727a401c3a5b97a34e8618fd3a2efa9f1e939d1ad3cb500ecde17a6859bd0e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1592c9cc791635f4e85b40ca991861650d4d86ea0b1cd971184a1f73cc8ff521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ae3f811b682ab99e396bd22a2ca3622fc3c501cce0f02603754731a4211fb1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3Qg2yHSxjBNMIN5Q-l_XOZ2_F9DqTBAhcraQUDLYuMn0a-Y3mm5qqz_622U4cYzGKe-sf0_6kOQEJEEOlH28Ba6RVuNLM_bdFd96djwPgtXN7TW0NHVe7uc9EKlI93jwD_3G6tBHAzylzK1y37AteqoPq2eSVTz1dwbW-68Jk0QVFPB4c4bToiydrvbxIH7qnr0eoadP_GSt3omKHgo6CYZQJZAlXNuWF2T_NJhjmwjw38yWnae6RLUnwD-iGaQEMWs7FRRW_AepKZfsl9yCjOh1jE-t76D1CQ2srT8hV5fgm9KTR6cXaR2gn43j3loXJiFGSlUUgc_Db8dpQoBDKu2UDOeeRrt4EAs6xFIbTpAGZpU2V6x9q8Jf0AfJzDea84_L0SfT_4wW32tuEwCuivspQhGxBhoK0DqZmGz5N4B2DhmbgXTf0xFNDw9dQJvdVybfpmWHkKhxk0LPwvDzn0AeCu1Mvk1D6d-iqZ_--YxNXUQenBF9qpuq2ITrmYaDOXFjwB_Tjteqy0j34M5LRvJ5YCN5w5G7SNLxAdvrj1UycRUx81svJLd4479MQcGmbfF272pwtxxFh_FV1KMkn7bvs1-HbCyC_UVZlFofbygKzWhaChccbVyVHR4e7pI6yG9RhoM_FyZ9moSYgPyR16nCAjbzFjfNTO4k_qTfYcktTjeQwYqisl87yksBRnDyFXOUPKD8lqM5-qcs5kPKYhNjA-f6ajSSVbySv47L8JiHcDLBTqlDB3PTfRCdFvzarWqby2AkX9pksHB7sRmsYzXat6CYp2eRT4d9mnHLGPoXez5hpFlxhRzv94DriGtB2AEL0gkGOLc0AfYGHVOhDGzJUim_V62NR-ijRLebCwKKqBvesS_CIXUeIlsc_L9f66GenVhTjGIwlleXIr0b0K1R5GHVo6z1jy-JOU0AYnHYVaALDT8cBFcwQBgykRx_knRiByHXZ6kebTzOFptRz5dlbM7nZImpA6JdBCoqfI4wrW2e1xKvq8gnEIeqMe4Y1273wj64hfE_uV1zGhLGmXgN-jRdbJtpnIMKaFGsgG6DCKBN6X-CXph5Qbo3GDZSLRhYieAwKUo8lKFGsEWcOATIB-ysvZusrhreY5bA0_9tHaK6ISWZNl0NfZQpzZGwHPKt9uIvbuK76oAh-gpzXtIjatYKgMl1n-mWL9PqLnJ5BVJb0gvNPw8JfVo-d2hPxj6dA18QfvZZWrFC06vkMyccaa0uQfTbO8wv8Iu1yIUst8D-oDpMCD7yZqtIb0LHrDXfoF8P9Qrfo1o1TI9K2bH-pPgvWRVAuXtNKCvQxeC5_SFD9gzmMZKENB_GU6feGJyzstwF7RCt175z9ODRYOl_emYyltM3bIVL_PJe3SXCmndi89gCrRiteWU7gi7qJ9AIJMYJkO2tJq2x-jPWombvV5lgjZaQSmYnILP5eUTpgpC8m9gKr6cQwQ7gcZCvqBpfJA-Mk5ITMPSkOB8HQoHytzP-BQvRHM1ei51JtQb3A0Qezcf9Z4T1dgna4zccwT9600KvuMSuFuY6kAS7azyuAH9TL_HNiol7cdHeqQjNI_mjKycY1z6NK10Thc6cAZ1U5qCMPHLKxYI--vESjQjtxi4kmv4JcmF0CfDussX5TXQNlDvMLxkUVxGG8UreuGZ895HX_FrmnyAC6bszH58_-v7NxDdrse6WgpBb7Ff1bvO_nc9bhfqX0rqEdaEyQlT14N_rWglIR8slL-DwYcBcnRqWEGzTFBYqPeeXLVLHb8mkoNxmcimzxl18v7m1su7FoJ0yMfcTrOKNwgkCBowaRaxZP6ahRjOQpTRWuLc3TrLKg4ZxDay4DtQOMeSpZG0Uq76TZJ-cVpkjZPwX0KbnOSgl1CpcR_oxjxoJvspRbfVG-p0SGhgxRK5Pp_wjoiUL2lwm_ieEMXQmtcRqfo2CgTVmtBoPlIISnhzI8LlK5SEO9oSD44jua-1ptkwJcj-VGr3fIi4Ebvw1bfQx9lWHTeUHhA0-JnxScn2R5M_iAUb6paWsRbpkeQk3KyaP3qFK6uxbv9LtfceUKOSWyGzQmFwCN7Avr0x-iaHxC32VOSgurSBEPf9uFa3iJ9VficgBdxnzst3JTK2XW9ZHgn7A9KVLLbjvDJAYHJm3t_cAU=",
  "id": "rs_009b83eae09bb011016ab42dcdb87c87d0aa2e90b2fe676062",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_z\":0.115},\"note\":\"The carried fruit is over the blue bowl but appears near its near rim. I’ll move a little farther forward and lower it toward the center before releasing.\"}",
  "call_id": "call_Ce37kSwqfIg2Cg9Vl200FA4n",
  "id": "fc_009b83eae09bb011016ab42dcfc77087d0a360fb1c3acd0e37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ce37kSwqfIg2Cg9Vl200FA4n",
  "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]: [-0.02, 0.8078, 0.6147, -0.4347, -0.0135, -0.0338, 0.9993, 0.7719, 1.7752, 1.1851, -0.3363, 0.5449, 0.4065, 0.6399]\nstate[eef_state]: left_x=0.2894 left_y=0.0002 left_z=0.17 left_yaw=0.002 left_pitch=-0.0588 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3791 right_y=0.2462 right_z=0.1074 right_yaw=0.0769 right_pitch=-0.19 right_roll=-0.1319 right_gripper=0.6399\nstate[joint_eff]: [-0.0615, -1.265, 7.1179, 1.7167, -0.0122, -0.0513, -0.0171, -0.1436, -9.265, 6.5983, 1.6093, 0.3834, -0.0757, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fcc8b7a2daed08047fbb058b4d5571673d5df6def3f76a669f4f3d7d3f73275",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e340767c4d10336ab33065049652c741a907c01659b392580df8e8940d6e07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05fdcb9c93967b8b8e45558f063a16de5568ae4f2dc9e3c9fd715f85e99ae9e1",
      "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 8 attempt 0 · /responses · status 200 · 3.205 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8024, 0.6147, -0.4236, -0.0139, -0.0334, 0.9993, 0.7414, 1.4212, 0.3298, 0.2993, 0.5827, 0.4068, 0.6375]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1736 left_yaw=0.0021 left_pitch=-0.0424 left_roll=-0.0025 left_gripper=0.9993 right_x=0.2843 right_y=0.1334 right_z=0.0286 right_yaw=0.03 right_pitch=-0.069 right_roll=-0.0661 right_gripper=0.6375\nstate[joint_eff]: [-0.0752, -1.1692, 6.9949, 1.746, -0.0806, -0.0415, -0.0122, 0.0205, -4.3692, 5.2581, 1.3016, 0.0806, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4313, -0.0139, -0.0338, 0.9993, 0.8268, 1.6684, 1.2263, -0.4744, 0.5972, 0.4568, 0.6398]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1706 left_yaw=0.0024 left_pitch=-0.0553 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3579 right_y=0.2474 right_z=0.1528 right_yaw=0.0687 right_pitch=-0.1516 right_roll=-0.119 right_gripper=0.6398\nstate[joint_eff]: [-0.0068, -1.1145, 6.9812, 1.7753, -0.0708, -0.0317, -0.0171, -0.0889, -9.0325, 8.3487, 1.4335, 0.4908, 0.232, 0.4957]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4347, -0.0135, -0.0338, 0.9993, 0.7719, 1.7752, 1.1851, -0.3363, 0.5449, 0.4065, 0.6399]\nstate[eef_state]: left_x=0.2894 left_y=0.0002 left_z=0.17 left_yaw=0.002 left_pitch=-0.0588 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3791 right_y=0.2462 right_z=0.1074 right_yaw=0.0769 right_pitch=-0.19 right_roll=-0.1319 right_gripper=0.6399\nstate[joint_eff]: [-0.0615, -1.265, 7.1179, 1.7167, -0.0122, -0.0513, -0.0171, -0.1436, -9.265, 6.5983, 1.6093, 0.3834, -0.0757, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fcc8b7a2daed08047fbb058b4d5571673d5df6def3f76a669f4f3d7d3f73275",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e340767c4d10336ab33065049652c741a907c01659b392580df8e8940d6e07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05fdcb9c93967b8b8e45558f063a16de5568ae4f2dc9e3c9fd715f85e99ae9e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3UfdvFPvvfQ1aqPcIzr-J32VZglvHASgPCF0tQE8KcjkxZ52avdN-eTEHLC-33PebX3y9HC2y7gKOjUvQWcsP8YvQTpjaQrs_5OCVmGIbH7njA5gECIn4lAogOytcCcvWRHTbYXJBUovKpv5qtCgaIkah2AB7vT7p9sM1kFy6Wck3BhHs2mOWUvREdObTdn3VZgLylngfD9bapN0i0ngkRSRpKVoZNJCVl07Oo8kJ8yThqIEWu07wFW4bg5V7mgqiweEHBKrf3RJY6N62-PmWobSsrfP8NsLeYYTqlJe1mcTpS1yPzwYvbBy_MwzbL7tJbyH8E9yXXgzn8DWcE_iGn86Bmch8CiVGb9qNVV8gspr-UbegdFmmzvE4bg26b8EltmGUQ36KormTkSlyJC3VWTn5EXp5klVtPQHpfmm4rBbQkGAHlW0wuydtYM_sqn4DmJIH_aum3kvky2qJWQajt_JPnM_jW0qPdKSsGa2xfzl6f4Q_a694mrtZ4M_vMInfy7BryOjTgG3YaTiZxF3tYkfOnjCgzOd_1efRmdB89VFb4Xh9YTPaEWBO8L8Gg7g000tFe3wPdWsqsnjIwzZ_nP9CdapmY9uFt7fngxrK73kum4q65fDQY5hsIo5rKMEn2AoRjbaisFjVTseQF8khA3e1JztFG2akENMvNZnNOWXRGvgMp90PCRnNjRiipRcHfg0A6R8XB5epjFaT_eD0Mc6QxPEGGWLN_mZfNLhTX91Gu5QHJe32-GNuDXMJIaqhEsUvcMVsobfLmTkZdcOGf4RwFKTYVB5gWv9fNZNkpPayg7TPw0novKhHMfU4osy6zsuSrz0nk1obB6QisykB-UuE0d24bp6UmHlUujYwHX3pAsMKoGjD6CmrXTdz5zG_8iAIEbURfeT7GRygfHv5pAcobXi_LD7Ul4gZJRmvF7h41E64yW31wvxghztprYoNGumY6jEWZfHud1K1PrGe14AZriE79BUqyk9uR_igv4Z6zD82aRYL3zTzd9SHxr-RndmzHSqtwx58i_ow9TY7nVTTmnhlmzSxagtNf7fMCRCa2c_dsc-2ehwMZZ79kH3VfAZ3kwGKw_T7pllWZFNqDKKBo1tO4aaqTTt86Xvfjfzw3sVsWYuML__s3HwfR50UvmP_IEgMe-D4_8c3KbOZ0lwVrmU6KJmWE8n21VsuzaXzyP2baSWDQKQglR5ervvlWn_OjP2137PXhp_sTChjamqlmg9rKLcsEBJSlGvnyhff1Z2y1GqdIwFlFWf3z0KkH1kbP7ylC27rFnEG6KLgtZ6fB6LUoFCN-zuA6AF4zIq98QhHq5R-1fUqd5MgcwoKYc8mYOJgV6ULk19s0_lRGoB_P-BLn9fjyyQgEVdhzws-OFnZIbI1R2EMmG1GLUXm3LJIRcBx6EroToj3ywYAxYQ==",
  "id": "rs_009b83eae09bb011016ab42dd3f8f487d0a88ea2c4a80266a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is held low over the blue bowl’s opening. I’ll release it into the bowl.\"}",
  "call_id": "call_tiSQ3zDVRGJRoq0k5A6iOTAM",
  "id": "fc_009b83eae09bb011016ab42dd4693487d0aa7efad780756300",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tiSQ3zDVRGJRoq0k5A6iOTAM",
  "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]: [-0.02, 0.8078, 0.6147, -0.4355, -0.0139, -0.0338, 0.9993, 0.7719, 1.7752, 1.1851, -0.3408, 0.5438, 0.4, 0.9956]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1698 left_yaw=0.0024 left_pitch=-0.0595 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3784 right_y=0.2458 right_z=0.1067 right_yaw=0.0807 right_pitch=-0.1945 right_roll=-0.1389 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.306, 6.9812, 1.6679, -0.0611, -0.0855, -0.0122, -0.0752, -8.9778, 6.3658, 1.2967, 0.2027, 0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41913b41d6d7c7c20107f0fd426dbc433070e1eecba7cf0180ff37add76d0918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74e34f7d37648e234ee93859beb16b3977564db4d7dd7319c6b5932005608b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6d6cac6312d67e3dc7d80f62e8fa3c2a62ac1b245e416e46973015a5778af3",
      "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 9 attempt 0 · /responses · status 200 · 2.464 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8036, 0.6147, -0.4248, -0.0139, -0.0334, 0.9993, 0.7422, 1.1172, 0.622, -0.3302, 0.5674, 0.4065, 0.6406]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1731 left_yaw=0.0021 left_pitch=-0.0446 left_roll=-0.0024 left_gripper=0.9993 right_x=0.2807 right_y=0.1334 right_z=0.1249 right_yaw=0.0403 right_pitch=-0.1014 right_roll=-0.0796 right_gripper=0.6406\nstate[joint_eff]: [-0.0889, -1.3607, 7.0222, 1.707, -0.0611, -0.0415, -0.0122, -0.4034, -4.2872, 8.4034, 1.4823, 0.3492, -0.0464, 0.6032]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4347, -0.0135, -0.0338, 0.9993, 0.7719, 1.7752, 1.1851, -0.3363, 0.5449, 0.4065, 0.6399]\nstate[eef_state]: left_x=0.2894 left_y=0.0002 left_z=0.17 left_yaw=0.002 left_pitch=-0.0588 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3791 right_y=0.2462 right_z=0.1074 right_yaw=0.0769 right_pitch=-0.19 right_roll=-0.1319 right_gripper=0.6399\nstate[joint_eff]: [-0.0615, -1.265, 7.1179, 1.7167, -0.0122, -0.0513, -0.0171, -0.1436, -9.265, 6.5983, 1.6093, 0.3834, -0.0757, 0.7302]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4355, -0.0139, -0.0338, 0.9993, 0.7719, 1.7752, 1.1851, -0.3408, 0.5438, 0.4, 0.9956]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1698 left_yaw=0.0024 left_pitch=-0.0595 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3784 right_y=0.2458 right_z=0.1067 right_yaw=0.0807 right_pitch=-0.1945 right_roll=-0.1389 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.306, 6.9812, 1.6679, -0.0611, -0.0855, -0.0122, -0.0752, -8.9778, 6.3658, 1.2967, 0.2027, 0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41913b41d6d7c7c20107f0fd426dbc433070e1eecba7cf0180ff37add76d0918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74e34f7d37648e234ee93859beb16b3977564db4d7dd7319c6b5932005608b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6d6cac6312d67e3dc7d80f62e8fa3c2a62ac1b245e416e46973015a5778af3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3YOZ-5tdSQ-z6ZkKCuO572m0yb2iz_psvWvfPVFwTbz_QYrYV5JloRpy5EehA_zxixqNHb4EWngPA2DLinD3gi0irfwHZVhw770VdUGHNNhqKBBqQxTc1dkIKoSAvjVrmT3Tb6niTzdmyH3o-eDWmFgJbVR2qzH6OA7kqPL3GLfldixBY_R3PUlHM31NLbZWaMmyGKJLjhXGc3tBkL2atjWt9VOd6FjK9Rcd8S7iUIs-VzSVAAYx1uSGF0b01J92MepouHc4Nt2A29pcY9JvDyoqKbeVY7Tq3DkOZgcqYpKB3zISVhPvrykXV45Fh0ArO4h_eQHjnSlz002XjDcpzQHCbbnYtKoFNKyiGTqIxakH4aZkuo_-DMMyqO0vhBhON-ShWTO_02cDuMxtQv7TjpuaVrJ83r9cHNAiwzNY4B6lQtVz30hXtw4hmo8TTbrEL1QSSPZ-F721GyFO_2cWPPKBv2It1RvwXaDgAa2s7CRZmUqoHWairVL9_PScfeYSiP0I4VUHXiToQPm7VPgMynWsJo7KTaybw6mD250CxebDBxa1noQNdWG1y0or0x8Ik9JMM2Ia_I797IUwZDLcs3fjOolntaD3ReHqZ80JNnglMEsUJHhF563MD9U6GSQH5KZmHw3ehJcRmqUT2I8455sf-CrVFYGwm3Wa7rhxJrzPTCOQPdps929LprEBdGl2hhLc-Bo0rYQmAZo1hoUCtAsRFZx6ZcmX291kdlQ5JIb1lbChlaVUGmQ3NV_pRPY5HX5-v6QWSGMrM6bA0ujVrCFlo4tXxXPD_x5fg0zD6EsgF1ZRaA-GDvqqZg0AaOMbsGBuuBt6r8OPblYyoiHuqrBB2dmRE8HP9euZjftJ9GowjfgTDI5cbtGuWPpun2DuK3dKlwExMkhvSpSKe7uGA0cHB3J2uDOgYi8lI8RK6OmZ1l2XfXJWYWrWEoaum0XzG6NZTHtH7BU4MG4L2jghOfCh5eKRc08O8I_sfTHDmYP6Opcnn1Rpgb4cCSG_f30d-_14CPPT7mA7xyFSz8O5MJeWNhcAVdaDZZUVNL2pPsdcziDVBhusHSsUJd3DnU_NEJkRmr_O6rczBt5fDEF0r_EoxO_jh_wOomE_Qt8q7Lo00NPLlvBMwCF_X1A9FcgnT_zSfOGp9X2dgpukYBSJRRUGlfM3CLSQny9leA37zwSh-0uxxBoMgIQzb-OrkiRFPQixGIoghckZlcUN_LlcraE2Fs2b3mQoCUS4eEV5yEPEnXqfpil2rg3VZGnueSmY8th-7Apv1nYuSdgetMTL3PCSPIFmvDqgopzsF-AT894JaejrGafMlGwBrPToRqYU4VK5m2kxhjP5WtWxihRultYBomsOQAjLFXnjcG_Xjc4y972xzs2MxvWqTmMfoLKflkpfcakY_9A5i6ZYBnonHPTZXzKnrUFICe_FsSB9CYVfBsrhiJypSOKhxTRGbkYPLIOqt1dxe0GglzuOsGP-1gdo-ZBYdsc69q2F7kyqVcrrVHnUfZBrLRhc-KZUSjpM7oNCN6GKzZ8CHuk14i1t06o-3iJ51fO5m7-iXPoiAd6gpctL3AvkaWo23Cuy6DrjTIw3IdVB5urJdVohvzavOesAinsX5cqXD3RVZqBn8q0Vg3Let9LeZ4MTdEzZUpmXMiIgi-G1w0cJG299eaItv7KsKlLOKIx9DYBy4gbNg1LTwck0ZMfMQhMkM3pycEW0cfhsl_hB4-1t5jCboZX78pSE8sgQqhOY5PVxhChDiGkB-SAdSFnr_fWqbGcewPiIkvkWbnfA-FTxU72EAyl38QnX5dqrmrfcLzoC01qhw0zzJ-YO7wfIMzEV4NrKqO6dDfmAJfxkfcSGsqq82-3Pjz83NXyoIz_OsZf50xro_cHZg=",
  "id": "rs_009b83eae09bb011016ab42dd6495c87d0a8b344712088d3d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.265,\"right_z\":0.145},\"note\":\"The green fruit is visible inside the blue bowl after release. I’ll move the open right gripper over the yellow fruit next.\"}",
  "call_id": "call_ZdoD4eCz4vh5ZLZqHQj0tVQA",
  "id": "fc_009b83eae09bb011016ab42dd7df1087d0b8b5de1f220f87d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZdoD4eCz4vh5ZLZqHQj0tVQA",
  "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]: [-0.02, 0.8078, 0.6147, -0.4423, -0.0139, -0.0334, 0.9993, 1.026, 1.636, 1.1664, -0.6342, 0.6586, 0.6369, 0.9962]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1684 left_yaw=0.0022 left_pitch=-0.0664 left_roll=-0.0019 left_gripper=0.9993 right_x=0.2849 right_y=0.2684 right_z=0.1309 right_yaw=0.1035 right_pitch=-0.2247 right_roll=-0.163 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.2786, 7.0222, 1.746, -0.0513, -0.0269, -0.0122, 0.1573, -9.935, 7.2, 0.9548, 0.5641, 0.1245, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc0ca966062a13f620969218cad9675121dc99b451d20912eaf5dbee4d9067b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76273e3bcdcbbe9815994c3a90fa04fec4c4e6c8cb6ff9ea8401babf2f77379e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3df0f1491768374ffba14fb47f4fae41f3f972fc9f1f04a3090f392a0e26d3b",
      "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 10 attempt 0 · /responses · status 200 · 2.771 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4313, -0.0139, -0.0338, 0.9993, 0.8268, 1.6684, 1.2263, -0.4744, 0.5972, 0.4568, 0.6398]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1706 left_yaw=0.0024 left_pitch=-0.0553 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3579 right_y=0.2474 right_z=0.1528 right_yaw=0.0687 right_pitch=-0.1516 right_roll=-0.119 right_gripper=0.6398\nstate[joint_eff]: [-0.0068, -1.1145, 6.9812, 1.7753, -0.0708, -0.0317, -0.0171, -0.0889, -9.0325, 8.3487, 1.4335, 0.4908, 0.232, 0.4957]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4355, -0.0139, -0.0338, 0.9993, 0.7719, 1.7752, 1.1851, -0.3408, 0.5438, 0.4, 0.9956]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1698 left_yaw=0.0024 left_pitch=-0.0595 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3784 right_y=0.2458 right_z=0.1067 right_yaw=0.0807 right_pitch=-0.1945 right_roll=-0.1389 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.306, 6.9812, 1.6679, -0.0611, -0.0855, -0.0122, -0.0752, -8.9778, 6.3658, 1.2967, 0.2027, 0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4423, -0.0139, -0.0334, 0.9993, 1.026, 1.636, 1.1664, -0.6342, 0.6586, 0.6369, 0.9962]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1684 left_yaw=0.0022 left_pitch=-0.0664 left_roll=-0.0019 left_gripper=0.9993 right_x=0.2849 right_y=0.2684 right_z=0.1309 right_yaw=0.1035 right_pitch=-0.2247 right_roll=-0.163 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.2786, 7.0222, 1.746, -0.0513, -0.0269, -0.0122, 0.1573, -9.935, 7.2, 0.9548, 0.5641, 0.1245, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc0ca966062a13f620969218cad9675121dc99b451d20912eaf5dbee4d9067b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76273e3bcdcbbe9815994c3a90fa04fec4c4e6c8cb6ff9ea8401babf2f77379e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3df0f1491768374ffba14fb47f4fae41f3f972fc9f1f04a3090f392a0e26d3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3cpuKVGKeYGztoiBfZybyqNE-Bn0USZ47-EesCA4nZZTa1q2C_sNpaqUDVcvKRLmWPsXWQzYd0YqUK6KaWaZ1HM80gDRQgbjrVJJVH6ukC9rNjMmqnpZz4YBlArNR3S0-wj0K9hwSnMpwDgGgzaH6aCsZ3rbzeoKUvCFC_LBE1bk6zXKVyJ-EVtAkpb_6zdlQ29HPOzbnE-zU4MI1t1-p-ytpYKyAXwzy6NR6rebYUoiMG2GQGy2G8eRgi-h_R9rNNEY6891q2b29Rg-YLf3N1LDmntm6LWUfDoDyTfwoqPrrAJj_vs8KCLaBi9iTwM3E-sdO7noGF2eUkm4jRojF0DLFbA41VDkFBJ8ZwH61KdvGTqWp8yAAuV4SyhM40UmrDOh_Wsa4AS7EDUzOM0DGbP4sXC7_Vdui5rzpundd2rfq6M8gd-g9PcO5kHpGWKa8Dfk07DNwHagmFgPvuyLfW_h64ODq3Xi2QueCRHN9G6uXkKtLNUq5nA8TxgjdnZEeEmYK1hzPciJN60TQD2l7gjEIm7iOVogbstllekHo01VohCT1TIQwC6IcSJFplxEs6Wdi9eZVNQp_ONTX97hslC665t9mdBoQFpWr_gg2ZSnZ-ns16AZbaU3eFvB7Y_gwX9fMBMibUMNKw_oK2ZDfyeYylOIarBMznF33BUkiCF76KybkFxNgwhyXnN74gP2dotxaDBI4gyLI9esp0ahP9VVjKLFQ5HzIRxmuaT_MnqTEXwSRAh73d72q3JJ7dOt1-Yw0JpnqRwZsTUGdyzTRAkw7ytG2dN9Q3HNpe9Qba-QLR_YCD88S-uZGBk_A9-TskjzdShjs1h6rRa9BT44B-w1uB6xh9S1rmOc1dhFa5lSWfFuTATC3dnKnitFgEwGQw9oXzOBIpl1o_xMNH3SPxHfGyw1yA1f0dLl5gLXKbtrFikAwYBomfCt--jlfIcAUxDyxb5gZII7AU4_l37iPlzQlwnYU_sUEFnHyKvgR950CE5TtYOFDveMGlOIvCi1TeZ-O4TYD6rovuirNoT-xSBstxvo8QuBmZJs-DZ4ioDXE8_RDakIrljaqRnM1xrbm1X8Xl8Dt_K_dxvWubCLaIvroR2JbcXOk4e64ff7nYW8OtqUeR4IWgLBtrnBtrad-Re8SJZ56cR-dOgnkAziJhmr7XdcAR-GS7SadiOh3EHgxNP4v3hQhKxVUjGeQFOCURPkYo5YgJ5XlWGvs11kKDtshQeN0Yf5WDZXdYm_yqL5Tf-NWbi4THgeftnP3RJ4rM597ZWDCZIMRtSsFoGHrm0OpWh9gz2Sk_vZMGvECVQQPt9390D9wvHH7E_syU02Odx5o4PCvBaPbgYDL6evcfELZatS7i5ZxRVdGO133oNwcqA4EGTLfzDatUlTkBmN54FM6vRtxN_NRiie4FUHA9mRyvQ0q2dD06CN0khoC7Zfs4BxUvsgRh1qa5I3OFcuCEbzoooQGEl33UYGVbK58ExbbZ4LUyp5r_QUo3mf06SUZutcl5sLMFl6bLMB9rbqVD",
  "id": "rs_009b83eae09bb011016ab42ddb96b887d08e61adcc4fae0bed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.305,\"right_x\":0.285},\"note\":\"The yellow fruit is visible near the bottom-left of the right wrist view, offset from the jaws. I’ll shift left a few centimeters to center it.\"}",
  "call_id": "call_8CbKivXfij0WfOrRl3P3uizR",
  "id": "fc_009b83eae09bb011016ab42ddc30cc87d09bc4be5cf3b773db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8CbKivXfij0WfOrRl3P3uizR",
  "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]: [-0.02, 0.8089, 0.6147, -0.4461, -0.0139, -0.0334, 0.9993, 1.0775, 1.7561, 1.29, -0.6895, 0.6582, 0.6712, 0.9962]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0713 left_roll=-0.0018 left_gripper=0.9993 right_x=0.281 right_y=0.302 right_z=0.1231 right_yaw=0.1263 right_pitch=-0.2526 right_roll=-0.1814 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.0462, 7.0769, 1.7411, -0.0513, -0.0464, -0.0122, 0.1573, -8.2256, 7.9658, 0.8669, 0.5055, 0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12bf9ccf803d0d6a7153ea72b515d1f19f86f204ed05a0d5c22a608c691d5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006c470fc9f533a824d02dba250c3adb966aa5896536678705b492ccdb54bc61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f497272d3a36695f0d67c4143e7c964fd590c0a9790718c60d72d1cb7947cb60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.185 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4347, -0.0135, -0.0338, 0.9993, 0.7719, 1.7752, 1.1851, -0.3363, 0.5449, 0.4065, 0.6399]\nstate[eef_state]: left_x=0.2894 left_y=0.0002 left_z=0.17 left_yaw=0.002 left_pitch=-0.0588 left_roll=-0.0027 left_gripper=0.9993 right_x=0.3791 right_y=0.2462 right_z=0.1074 right_yaw=0.0769 right_pitch=-0.19 right_roll=-0.1319 right_gripper=0.6399\nstate[joint_eff]: [-0.0615, -1.265, 7.1179, 1.7167, -0.0122, -0.0513, -0.0171, -0.1436, -9.265, 6.5983, 1.6093, 0.3834, -0.0757, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4423, -0.0139, -0.0334, 0.9993, 1.026, 1.636, 1.1664, -0.6342, 0.6586, 0.6369, 0.9962]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1684 left_yaw=0.0022 left_pitch=-0.0664 left_roll=-0.0019 left_gripper=0.9993 right_x=0.2849 right_y=0.2684 right_z=0.1309 right_yaw=0.1035 right_pitch=-0.2247 right_roll=-0.163 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.2786, 7.0222, 1.746, -0.0513, -0.0269, -0.0122, 0.1573, -9.935, 7.2, 0.9548, 0.5641, 0.1245, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6147, -0.4461, -0.0139, -0.0334, 0.9993, 1.0775, 1.7561, 1.29, -0.6895, 0.6582, 0.6712, 0.9962]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0713 left_roll=-0.0018 left_gripper=0.9993 right_x=0.281 right_y=0.302 right_z=0.1231 right_yaw=0.1263 right_pitch=-0.2526 right_roll=-0.1814 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.0462, 7.0769, 1.7411, -0.0513, -0.0464, -0.0122, 0.1573, -8.2256, 7.9658, 0.8669, 0.5055, 0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12bf9ccf803d0d6a7153ea72b515d1f19f86f204ed05a0d5c22a608c691d5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006c470fc9f533a824d02dba250c3adb966aa5896536678705b492ccdb54bc61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f497272d3a36695f0d67c4143e7c964fd590c0a9790718c60d72d1cb7947cb60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3fWI2YdL3x7koBcF63d3sNvGf2bTQP_DMximQ75dr_SNZj3P1bYtBMeX6bWYsIB01ZcElDY-uZuwRCye98WcJGdeMi7SO8Rr0XiI-gHxubtYW4qa1l7GtH-Zw9nuq2f6FtHRTtZ_b6E4OLnS8D2nHjilPKSFrnCX9VTvVFgjKfvDsLu9T3gmlHj2JBIOG_7qKhaTN2Zfzk7Eylp3YnXxgsUWVMfJwzF1Lepbvy6k5rrJ_DTkWnHFDgDlUKYc5ebIqhQyT2yS3KZ5QEskk3Ypi4vc0B9BZ_eZnqswF2U1774U7Zu5wRHa4GbKjxTFOlMXiiyLvnTj8t31E3IHeSY8b06xSG8-WjKyAMeAnDvLk29b7haSTdo__OZKM5G137K20xqP-0Bmy-ikV53zvhk_cWz99ue6U1MFcZu97I_Wsk-JV0OEluVJ4Xxaay5le5xQiZQkXOzXKBxKlxWXJXc6hiBMt8g6NVBJUZR_vIoRdikiLMZEFM0Kluhbg8u-_QE1Qjt7JmKCGTMQ9nk-ZURfgeCFpKWgHtHZZpR6DyT7hNvQ3SkjQoqUB-zRgapQks8n69NRVIqtNN_oyv6E9hFOOEISoiqnWXWPqOcwP8TBVhkrwIP71qTOLjl3d7Jl-EXQRPOGSBCO40YKqKc1n4YOLJ2Sc9ik0c45n8SYGKKue8B9N8lFLZNfDFXyw_bH__lVIMtD_2Ya00GlH_gzWkNPUGCQUDxtAwXNAx6nbRkaJTDpx7YkUCIezsddIbLd8SCFs_TjAgp6OFJ0RJ6wpqG4Q_HTJ8HfcIbX39alD_oHCZ_fqc2oY0mK8O82Ia8TAaKGGzqDNMix4olkFYPSR1HZyieq1KoD7gOjeVYHo3wQ_m26vNE-fug_CXAYIXYZpROXDnd0jnql0oJ4cS3bT47L4_MQs4gdcQ_LQmdebG1u9dQi5zOUmyyD1d2vJOICg_P2CjmZv8QVSjHCYG7mFZqLYICp_wI9tayTsB_CjN3Zx_CGXa0M32HjM63bqP2V60n85ZAovhRKIP-y-CB-Ezr-ebfdgrYQPKhY3YgFt87fXRetbiaJWUzAuH38jBZupPEOgSH3KuMGAV0XNy4V4B7FNBujxU8MXDPaSp5mhVqUwSwp84_zOiFCXnTcMOT1bW7pQC6bWY2MTqWRyVhJykK9sqfqgsRe4NKz3fgW8gjVtYM-2TApCtpAwJNdneBg6hhiupXiSx8cbGIsQOVQ6tYF6fBTkBDxFYHA7CxiLQzPO7hTGxbQ6MYkeVAZkev_wHyQ868Uy1sLOt6lM_6EcnlhqOfRyeZqJ-_MotXtRzBNF9YOg0Vn_5qw0rc--FLIVWx6ouXs4QkAVtmKZBMEZFWFzykfhbysu8q4ClR-HqdIQaCg28PLTRjG5aUVuXNayU45H6ZoU5qnt8UlDhqqDuOrqO0nO1mwpEGiHVXpxxRvOhkeueO57ZbJUbhbM2jfCeAYL0LYP0eNxurlmbjBNrT8HlecnzGsUWhj3hnBNRCQc_r6su6haVTCvRzm2yxMLyjPoPW90-ZEZeJCrql4CcCoSwGk6GJ323Mkg30YvADv7c3b2p9vevfvGIfMKUyjrnPAgAmNK2vzV0c0WAehQ1x3lj1w==",
  "id": "rs_009b83eae09bb011016ab42dde0fa487d0ad96b7e963faf07a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.325,\"right_z\":0.025},\"note\":\"The yellow fruit is now nearly centered on the jaws and sits in front of the blue bowl. I’ll finish the alignment and descend to grasp its middle.\"}",
  "call_id": "call_HiJP6BsDXeNyNhab7kQmfyt4",
  "id": "fc_009b83eae09bb011016ab42ddf611087d08b638b79c08df527",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HiJP6BsDXeNyNhab7kQmfyt4",
  "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]: [-0.02, 0.8089, 0.6147, -0.4496, -0.0139, -0.0338, 0.9993, 1.079, 1.7599, 1.2934, -0.701, 0.6586, 0.6743, 0.9963]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1667 left_yaw=0.0024 left_pitch=-0.0748 left_roll=-0.0021 left_gripper=0.9993 right_x=0.2799 right_y=0.3012 right_z=0.1219 right_yaw=0.1234 right_pitch=-0.2589 right_roll=-0.1894 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.2923, 6.9675, 1.7021, -0.0513, -0.0562, -0.0171, 0.0479, -8.212, 8.0479, 0.9695, 0.5201, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e926fdc070ffc7766573e4dfffaa7c99393d7ce3a1922d792b35b00f4866ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d104b6e3c4a88a1cf53a8d18507ed41938f716b0d3ac8e8a90cfb32174884b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb598d272e19d4e9a524bc62f7714563d529a983643720039d64ee2f41312ede",
      "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 12 attempt 0 · /responses · status 200 · 3.889 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4355, -0.0139, -0.0338, 0.9993, 0.7719, 1.7752, 1.1851, -0.3408, 0.5438, 0.4, 0.9956]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1698 left_yaw=0.0024 left_pitch=-0.0595 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3784 right_y=0.2458 right_z=0.1067 right_yaw=0.0807 right_pitch=-0.1945 right_roll=-0.1389 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.306, 6.9812, 1.6679, -0.0611, -0.0855, -0.0122, -0.0752, -8.9778, 6.3658, 1.2967, 0.2027, 0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6147, -0.4461, -0.0139, -0.0334, 0.9993, 1.0775, 1.7561, 1.29, -0.6895, 0.6582, 0.6712, 0.9962]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0713 left_roll=-0.0018 left_gripper=0.9993 right_x=0.281 right_y=0.302 right_z=0.1231 right_yaw=0.1263 right_pitch=-0.2526 right_roll=-0.1814 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.0462, 7.0769, 1.7411, -0.0513, -0.0464, -0.0122, 0.1573, -8.2256, 7.9658, 0.8669, 0.5055, 0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6147, -0.4496, -0.0139, -0.0338, 0.9993, 1.079, 1.7599, 1.2934, -0.701, 0.6586, 0.6743, 0.9963]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1667 left_yaw=0.0024 left_pitch=-0.0748 left_roll=-0.0021 left_gripper=0.9993 right_x=0.2799 right_y=0.3012 right_z=0.1219 right_yaw=0.1234 right_pitch=-0.2589 right_roll=-0.1894 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.2923, 6.9675, 1.7021, -0.0513, -0.0562, -0.0171, 0.0479, -8.212, 8.0479, 0.9695, 0.5201, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e926fdc070ffc7766573e4dfffaa7c99393d7ce3a1922d792b35b00f4866ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d104b6e3c4a88a1cf53a8d18507ed41938f716b0d3ac8e8a90cfb32174884b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb598d272e19d4e9a524bc62f7714563d529a983643720039d64ee2f41312ede",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC3kHS9du4T0U6C4Q3hxK0rjqVsucVue5ji9OBYemdeeM01hnr9Tw-xAUnRXC05Bz9Mbis-rT1W6cmz_Hb60CDfs9ldm4kfmjjbaTI4MI88jBi479stLHoaVzg-bZBOHM2ylyeHztyjThIxByrzx1pt0pcrXB8d-pCPo0hGTF6sumYpB_Su3vaKQGH9LP27DeZ9emmjp5zCAWmamAcwECOorw_44AsOOMUKsUQ5IY5hegEC18h-yRcr8fOPAPVbtmzrSBJxsicQTd_f8BdmTly6GSbTo5iWtBGFyf0xX3II8TSEEV3HcwwXrK8j6zEF6h18B-gLaR-owNENcMX2WdUPYe60Wvm3FDOybthfEVZGXdJ6kSdp_470sNbGn5LbJAZp_Thhope4fN7PfvCvXpiJl-iEs3WC6Kd1LWoBM7wFTn38NDYeewaGiuB3Gh4R1w-TSibwnXkwC2xtUcGSWSIhJowxc199v8eOpMWuoodJ3Ybi94j53MioCWmXUhe-_CeOK32Q9ht5joiq9My8de0b5jh2XTXqCO5qlbfhclIcQjV5Qopc53eqa2mPEMo_wlVbZtOBtpkiKG38SKwwpY3azAHHle5VBwg5403SanUovhr28JCtD9E5jVlYjOTgZ9HCn6v9avftSynG59hNgb1T4oCO44j31qzPyalBMOO-yGaPeHup_gHzPMnDXJb-xn3Dzx-CVyw0a9yhINYCa2t7_v2O8_zMDRjkvDY6ZD4SFEgD03StQrBaSWjh0uL1EQQq04Jrv46f0ShkdfH7YxJ6-Ex-NyhvwhpVq2het8suvl12wukIlHzfEAIcLp5XWh10Frjz-QmYIT4NsPu0WFizo0-PulFvZyMcOeBakrsGJ9SzRoOo7rYkesl9LtteN-Fdf97RegAlKOWrXQ3jKif-XrjNi73K4bSBgjfGNCOx9Xd6LDDRSGG3FBBAI0qcORIwKS-OHU_-Jclty-fsgN8zq56ok_sj-oL16rVcIyY0dqUWnY_7RCunoobxbRKjYdFpXa1c0VQSZ4koTQPnmP4ohzqgpXehmCEITd5sMv2ppuJwOSzeDiGUEWeslyk7mAlVfzJkeawXmKOR-dqfWqyNwmrr2hekgoGicgT2y3cMuxdalDo1NK90YwfSe7Ef-U-OsO-bkvGDgnTG7WrUBG0w06x2If3XPvWev8KI77rdFVwDBhGTBLJMRQe0qMQALWWAzxOuoUtmXAcDF6XHIdRZiuv1viaovwOD4Q6Eyn20HDwBDaLCCI1U3LO88_uiwQJlz3BV2pE24dqLwJT-9jxxqO0euFLOUltV5Dcd5_l96NuBpJEWUlyJcwjU8LiaJjKjNxoFy7L7_PinBYnCVOrdk9SrA4Qc8cp6GI9Da_bQqV-jKNfkJ4TE8cA8xMsDPaaZOOGA9-Cr4rTG7mv0XtohRjThzjg13SQoMWd3msDyFWsmDOhCVKtQmZO9aOKB_3v6-XZqhXLQ489YpsUqYFWSF0NnTk-s2ZXOLU3o-ptclQ08z9b5DlXuCX2yXXzHrVheNfgPqQQHj7m0TXp3wxiQfczIvyZuB9_vdfu4V0RZP8yS_rwZuFXw9GFIUS9c6HGM2ypZR0PcGyxIQ91FCDwx3NV-xOsyMoa1Zmgh5hEGLrNGh-He0MOVLhXkmg-vXRlzBA75xUTHaZWjd_VeLrMMdRxaqy1yLgnE2BZnmfMEAm3W19nhcx1Ce8vyI-ZqJ1xpvtNa7t78LKx4dwUo8OJklynF52yk38nfCDSn1TLmp2wkLbKXTh3LWgTQiZBJMu8Sl8A4yWIun1otYACrdnvFcHB20dtQJMpEGOM8VS1sGZ4g3tHG8STtExP83Sf5xYQmKC26JYWnPpT8QkhH9T5vBoLnzda1_0sX3GbH3URPf7V26h20olSqkvlXvMD4myh98QKubfWfDw5_fRJzXWQ-79ad9U77m7T31OW9ZvxNuPaD6kyHNmePGW9MJuPmqvwkikbqhVuJkqfjNc4-Z_UlYywo9_v6lxvIDKrtTGnWzhJ8rmUNWaxczY_frSpd_nMvLTHON1PQuGukmOd9rC7hMnwnuF4F0uDAwq6Aj952CxR3XOd9kd0fF-o3CumJ6isE1wvOSSfKAD-J5U_o9FNFDeo0h6xcaJhYihQn-bUuznV35CJuu-nll3g0HxvPLMnsKW7PaN-1Lhnv1oNWtbBtF1Og7nKwQ6nmQpherMo8C5WJDFyL64b_9CQSflEiQh0m1",
  "id": "rs_009b83eae09bb011016ab42de1c3d087d0a4d5c9a614b5641b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.3,\"right_z\":0.07},\"note\":\"The last descent did not move the right arm; the readback stayed near 12 cm, so that pose appears awkward or blocked. I’ll approach from slightly farther forward and lower more gradually.\"}",
  "call_id": "call_gVvgtGRusnInAAZoKiu2lP0o",
  "id": "fc_009b83eae09bb011016ab42de3ac5487d0880fa6f716de684e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gVvgtGRusnInAAZoKiu2lP0o",
  "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]: [-0.02, 0.8089, 0.6147, -0.45, -0.0139, -0.0338, 0.9993, 1.079, 1.7599, 1.2934, -0.701, 0.6586, 0.6743, 0.9962]\nstate[eef_state]: left_x=0.2872 left_y=0.0003 left_z=0.1666 left_yaw=0.0024 left_pitch=-0.0752 left_roll=-0.0021 left_gripper=0.9993 right_x=0.2799 right_y=0.3012 right_z=0.1219 right_yaw=0.1234 right_pitch=-0.2589 right_roll=-0.1894 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -1.2923, 6.9675, 1.7021, -0.0611, -0.0415, -0.0122, 0.0889, -8.4034, 8.0068, 1.0085, 0.5153, 0.2076, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2cec0b9b412de2c29d4df9270c072c6fa26c6373055e0579ee539b88fe8dbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae1643884e40aa34acde9f53abc2ab70b0b86a8b914dc467672f3c963024bbf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5fc9e6a587a0462940ae98e4546755534b9bb9f27c8bf2e96dbbdbaa5c75437",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.654 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6147, -0.4423, -0.0139, -0.0334, 0.9993, 1.026, 1.636, 1.1664, -0.6342, 0.6586, 0.6369, 0.9962]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1684 left_yaw=0.0022 left_pitch=-0.0664 left_roll=-0.0019 left_gripper=0.9993 right_x=0.2849 right_y=0.2684 right_z=0.1309 right_yaw=0.1035 right_pitch=-0.2247 right_roll=-0.163 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.2786, 7.0222, 1.746, -0.0513, -0.0269, -0.0122, 0.1573, -9.935, 7.2, 0.9548, 0.5641, 0.1245, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6147, -0.4496, -0.0139, -0.0338, 0.9993, 1.079, 1.7599, 1.2934, -0.701, 0.6586, 0.6743, 0.9963]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1667 left_yaw=0.0024 left_pitch=-0.0748 left_roll=-0.0021 left_gripper=0.9993 right_x=0.2799 right_y=0.3012 right_z=0.1219 right_yaw=0.1234 right_pitch=-0.2589 right_roll=-0.1894 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.2923, 6.9675, 1.7021, -0.0513, -0.0562, -0.0171, 0.0479, -8.212, 8.0479, 0.9695, 0.5201, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6147, -0.45, -0.0139, -0.0338, 0.9993, 1.079, 1.7599, 1.2934, -0.701, 0.6586, 0.6743, 0.9962]\nstate[eef_state]: left_x=0.2872 left_y=0.0003 left_z=0.1666 left_yaw=0.0024 left_pitch=-0.0752 left_roll=-0.0021 left_gripper=0.9993 right_x=0.2799 right_y=0.3012 right_z=0.1219 right_yaw=0.1234 right_pitch=-0.2589 right_roll=-0.1894 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -1.2923, 6.9675, 1.7021, -0.0611, -0.0415, -0.0122, 0.0889, -8.4034, 8.0068, 1.0085, 0.5153, 0.2076, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2cec0b9b412de2c29d4df9270c072c6fa26c6373055e0579ee539b88fe8dbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae1643884e40aa34acde9f53abc2ab70b0b86a8b914dc467672f3c963024bbf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5fc9e6a587a0462940ae98e4546755534b9bb9f27c8bf2e96dbbdbaa5c75437",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3omgIZ84SNw6wdzPhjzzGIZYBiadwhP94hdwMZ7QwSJG4f4UqB-WcQUrqovcyofb1rORhnzqgaSuRztBmEpJp8Haxhy6w5CclhVG0H-Rk2jmr16sNIrujwxggPKcMRxCkmkGrCAgipHVGEN8vnusYDVyX7i3D0jsCEVVYetNkgPAyPlAq3t8lqAx0IqjLblWOKa2AvlNRtjvXy6Qx3Nbc2asm2IFqTXsjnaMe-4vY4hrVEYqvZ-lJhL-7ExzfFkGSf36PxJr6KKBIAtnI6FBmCqojSSZOvs4iIxauwD8rgSCnn3ElOfsTKHsykJPjGalm4R_dyYKO_GPjYRdf11jnmbB7wB6zDQtIaoXaiMwPbRIMzELqbWUa60j4z9L7Edbucu16nIkRBq8pMQZT_l-3H-9WmmJ4Df97BkL9aEcScktjSRUCnl7aHC5YO6n3Iaal1vrXDKrWHKL0NSz_Umg3TDU4HKSzXHURcXQ-TyQMSP12iyvpHWnMLw_QJl8LNWl83szgNfIhJpYJEHMDBiLQEEOLxTqNJNKehlTieo5_7FoH-piZZ-AvzEDuSr8hb3E-vRbCZ29ZJI_WZv221f1x0Ll5A2ERsFaNBzRqF0kMCzPBJ-y1_c7ubmTEWbwiLzBDf_g3cXSdLmmGix-lMPjVVRkeIWyswX-aIDAfaJSH_Fbajz_4vrGbIJ6qOioBAsP9DV7jUOmC5j0bPqexJ10l10TEjdHkyq4AP9NE-LQ9cV4Hrqb79PRp_9eYJtgNduMrVo31pbJ392GXZ4n1g_T82U34dgTPO2cjMkvySizXHw_j8BgnP76m9-VcxphBGcFAHOsTKMvvou3jT4i7XGu9koRhfHoGyQtYlXgd_lnbdlTHshrODKhyZOXIO1o2trvBZnfGW143wcVb650IZz7_eaLwwflelXogqz4tmh0pR8cHnfDfFu3zrW8lV24pqN_oSm0JmiunnjnR2-Ii4jVTLsIkl_vniFdkIPtycfXud8ZTw7TOdTAufoJENI02x3y5TdUSKouOb_KnCFzYKKvMNr7zpS6E28osXLxvPiFeUwwBTtmktnPZit6iC_11anm2cHNowWJQ04GrljcF4vFLzx3R8Qypal2YH0rOQndd9fwWZz4FkukB_xjZWqByR7M7evK7ubd7pMnwpCsP5cU-4IPxWhIYRNQx6NZpNDp4TzbIyUABUdOoPbutSwUS51Cr8461XVBtefC5iJmEkDN05z9gAtOjOYShWlZIw_Xl5t5Urc9QiyWx3FqMWmhiQmfOFA5rZSox9c1inwspwBdSp4e-lT69rEgcGlsJKxqQ6D0LhDq7gpDI3xm6S2mjxOC-vmHUjmYIIlYukEZJS4yAwqreewgXppH3qGHfY8CP1-wjk4JSh5jSSu3ZhNqhOAPccs1L1Vy-5phCFisPHQPniuuiwc3VdJbcwrqroyvTne-Qp4ujY1OBWR-ijU2QZoUaSxyNBs5Dq6_rGUbGKSTnFzbFf6vSjh_npuvhaD4pKDvDBc20fCRTQBgEdavkDati0nctDSMrosq9AWnGX8w1z3HijfTii6ioru_r77G9zYTGguGC8I0aIAoGsVuQ2ApXL4mCROEzzCKcgH9yTe4pwoJdwNXnRD6_H2sm0DM464QEIdJ4gQLi4t3NZgdtSBfZ_98eW4e1mFnXYm7-eHxBwE8TA5Gly0lF1x4CG2hVcx8p1T0yyURCnGL5ohvv0Pkt9AOhWIP829-69DxhfU8bZvbbLbzvhAy1Rn2neXUFB-r_cirxa8vrxiW48En_f1d4VT1nsKS6XCsThzp3N-i1U3l6dUn1IgI9djrpEZXzqC84TcjVnOs8zk043pfqClfkkz8ZKNorXgA1-XRskt8NkWeoGKhUmo-6uLfE77U38BNMBX10GTEnBTzCwULVPlTmnQapmEk5PdYsfEdVjDsM8huYYFoYrnZlFVa5btX2_7ybZ0dIt_iMwzM20wzCL9JgaEf7JGfF3QRMvP-_Q4Dow2vig07jayJt7SuDnRqds8Rywkx5BeaS5Tb0sZBnB2aqJjnYV0UCUndZhcpdQgkgTCOcxb96Dm3GvE4Ziz4YTQgZDV98ZOxtlhvS4De5C4EybI0opKaX2QrC4pfji5DsqV6PE9MMhy7Xq9_ulS4NtXNv1lNuHATr6SaUgFCUX7-qT917HfGTc-AM3NpiIFOvVh4b7S_pTOjEv77gmU8QXamviKifS7bg3ZyxTh4oQe3clt0m3XTuonOMe_T81YDznpdAcLLxf_0gNGA9DYTjls7QnHnkA4FzTIfZqaDuZMj-z0UYCRdHYTGp9WOv3VDU9ZPIXF2HMxS6sLB1OUFQy3Oy6iccXZqyD_YRe9wZmpVnu",
  "id": "rs_009b83eae09bb011016ab42de5fc8087d0837e4a12678e8c7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.18},\"note\":\"The right arm is stalled at this cross-table pose, and the overhead view shows the yellow fruit much nearer the bases than I first estimated. I’ll park the right arm and use the left arm for the remaining fruit.\"}",
  "call_id": "call_SSEZ0b8XdWBF2Nq4ibTG8NdW",
  "id": "fc_009b83eae09bb011016ab42de8277c87d086dcf0ed37b7b74a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SSEZ0b8XdWBF2Nq4ibTG8NdW",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6147, -0.461, -0.0135, -0.0334, 0.9993, -0.0013, 1.0039, 0.8383, -0.6861, 0.0406, -0.2546, 0.9962]\nstate[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1635 left_yaw=0.0019 left_pitch=-0.0896 left_roll=-0.0017 left_gripper=0.9993 right_x=0.2922 right_y=-0.004 right_z=0.1681 right_yaw=0.0918 right_pitch=-0.296 right_roll=-0.1929 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -1.2923, 7.1043, 1.7949, -0.0122, -0.0317, -0.0122, 0.4991, -3.3026, 8.253, 1.5067, -0.2076, 0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c521f72f82a392f8741cee6ef2ed10b527bdd7de7f42f5392b45ccdefd47e40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a846576b9351328356a2096dc5baa0a6bc11b2400409a23327895f1f12eff4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a55f3f783d71f0be0498caddb1baf53501d310f811e29f074d53312b393f6594",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.063 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6147, -0.4461, -0.0139, -0.0334, 0.9993, 1.0775, 1.7561, 1.29, -0.6895, 0.6582, 0.6712, 0.9962]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0713 left_roll=-0.0018 left_gripper=0.9993 right_x=0.281 right_y=0.302 right_z=0.1231 right_yaw=0.1263 right_pitch=-0.2526 right_roll=-0.1814 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.0462, 7.0769, 1.7411, -0.0513, -0.0464, -0.0122, 0.1573, -8.2256, 7.9658, 0.8669, 0.5055, 0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6147, -0.45, -0.0139, -0.0338, 0.9993, 1.079, 1.7599, 1.2934, -0.701, 0.6586, 0.6743, 0.9962]\nstate[eef_state]: left_x=0.2872 left_y=0.0003 left_z=0.1666 left_yaw=0.0024 left_pitch=-0.0752 left_roll=-0.0021 left_gripper=0.9993 right_x=0.2799 right_y=0.3012 right_z=0.1219 right_yaw=0.1234 right_pitch=-0.2589 right_roll=-0.1894 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -1.2923, 6.9675, 1.7021, -0.0611, -0.0415, -0.0122, 0.0889, -8.4034, 8.0068, 1.0085, 0.5153, 0.2076, -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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6147, -0.461, -0.0135, -0.0334, 0.9993, -0.0013, 1.0039, 0.8383, -0.6861, 0.0406, -0.2546, 0.9962]\nstate[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1635 left_yaw=0.0019 left_pitch=-0.0896 left_roll=-0.0017 left_gripper=0.9993 right_x=0.2922 right_y=-0.004 right_z=0.1681 right_yaw=0.0918 right_pitch=-0.296 right_roll=-0.1929 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -1.2923, 7.1043, 1.7949, -0.0122, -0.0317, -0.0122, 0.4991, -3.3026, 8.253, 1.5067, -0.2076, 0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c521f72f82a392f8741cee6ef2ed10b527bdd7de7f42f5392b45ccdefd47e40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a846576b9351328356a2096dc5baa0a6bc11b2400409a23327895f1f12eff4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a55f3f783d71f0be0498caddb1baf53501d310f811e29f074d53312b393f6594",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC3xj4XCodbzyb-vuA0IAKKPQJDeQRUz2Vu7bv0jgnqkTTs2K-65Adkojp3fRmFyebh43Wk_V-y53frbz6twl03GUGrVZ48bzosJ7Sv48kpVM2uAbdxrrpFNMuTL9L0HxSc-bMBdcnaWiX1GuA_I-8caR8Hk98Dq91Pk4wF14g4LFp7fi9h6SuhOcfQV8imI2_xSoMpk4UuslgvO_-abbRXnRXb6uTnnYmDHeMnXtTCbrAbBZJHAIrgE5JdSpHJG-yBvtYKF2gJ9DHF2EPfPphEckXHGhmZIC9-zCOWEtpUrvGdF7CrHFieogpJUUlZtCziMiKRX_f7CS-5GssPb5WwUZXvKbpUyFDgxh1wwXkYPOdkZ0mbt_f-vJ4a2fiZ-jl8n7H4TT6hvh8zQRn84za95IsbpcC-85WcdpmbtgeozXXlC5__ZYkdRA5j7RzXDWphN0HNw5yOPz5TelJmHqwtf2DhxngYcMLzuYIyVbqePUU0C6JdOfmHNHuCG9-gD0VLcxF4rm2qOWYgL3DgPAx85fMA668E2aJotp48DvaQ7xb61omLnIHyzaJSsgH5iei69lSizViFHwl3d9bU7rKzneStkHjw4fEeKy2Q77F1N5aiZ6gQrQYmzpDvZdmq7FhK5G0fluoIYYB0LT11wn6Vwqfj4hxeY2MBLgIWtaL189CqT5xUMvM_VdXIwQ8lnw_B0ijjil0KWfAqpOxP78E6rFj97hajuO8Qabs_iWY8h7z8MB4MyVjzcP5EouwEBJY6A-1H0fQF4atvQZC2fiX2lnjeF5Ho1HXpPa2_Ep8SiNcPHM4bWhezF30JqjysTaeuVjdxkMPGdaRwshgrilx71lMgWDiuiA4zmSi_mQ4lKIjrR0V8FevarMJ8I2zo-RQuKwGQ0Ecro6mpVZLLkThaDlULCxroTJiLUMXPpYVBb4SOGcT2zc318t8BgrXbLeUg1R6luixBaytOlc8E6WDIy6uvxwlI1WNUPhI0OzxFFQ4esFzEHWQyOfH6MAh-0jZJ3L-93PjZh0Gwrr66YokKsUo9UmJDD9xjeb-mLgZFvctmtBsz8xSF1Xy0JsvTNuwykbf4aHFR_zbK37TnOrL5M3-RiayWokxn6oqWNouTejfI2lyC0LCokPEDhYDuc5Hkg-LOvTmexMVLDPw8ef58kiPaleCAv_TwiwLEKTv-i1y5FEfHriRWbXiob_-G1Fbb2aR5yc0IWLeQh1dbxwsWTZbfjcBbrV4Ygpo6Vu_Kn98WSOXrTmf-pT-Sp4sRD6OMWIhtwbajFYjJkoHPgMHFajUk1WpZjLetEAjmKBh2CHrK_AYLMKKy0rHuydXAo-0cj8woDpDCVpbmMjR07nJdgus0R3FezyooqWBcHgH1h-XQk6vEbe_Ulktjkb1Rn_rjtV-0kokQQaoon74eojLMjqM0fvJgZMmacjHRX-TzxUPTs-jP52dL8oT6VldTCP3F-aoFJO2jZtT5lodkG8Uju2-9lSMQAW5gaGX0rRlBexZt03vVoEkWTVTlWgEx5DkE5_oCN0Y-tMo9LtLmDqSOaSmGieW9fXSMUUj3FKxPSrn31HEz3DnovH2X1Y-_0cMReJQb-koXEQNFiGw1CgfPBNJOziUJKyLcdJVm3YoD_-TaaFavUWHFwJBYNghsyZPTvfGGr_tSeSoru2SZo6EYKDEGsCXiQjHCH0j4Vq3aURoSW28qh2bcrxU3Gu8v-z0O5evnVHDiQsRqQa8UHMcZ6LjusrsHB3ptNbfXUCZWbeoMBRRq9Iv6FuIO54l1n6hbW5mZay1yqVw2IvWLiGw_QhOy4xi4ien1veXhuqTZW4GZutrP2j8vwWyoiLpByCWCjsa6pmppdT4UeqZKRiNP6UA7bLNwbTzXUkP0cvW3_x_tVydNKwuEmQFt0JnQs4GUnplKHGZTliQvnjyM9PTYfF569G2tabIi2FfE9KyVkRV11yo6jqknCkBD61iJ4d4DJA7mBk5D7zV-TudV2uxV6RktRsDhCr8Kx_btaSWJM2FmIp5rEEuDtOD-1p8a65Yz6",
  "id": "rs_009b83eae09bb011016ab42def34b887d08250a80fe20f6dca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.18,\"left_z\":0.14},\"note\":\"With the right arm parked, the dark fruit is clear on the left side of the table, in front of the large white bowl. I’ll bring the left gripper above it.\"}",
  "call_id": "call_AkaalBP8CsS6uWVSJBpyX9fR",
  "id": "fc_009b83eae09bb011016ab42df0d27487d09ac5648db1f9a291",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AkaalBP8CsS6uWVSJBpyX9fR",
  "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]: [-0.9211, 1.2625, 0.749, -0.4381, -0.6624, -0.7044, 0.9993, -0.0021, 1.0042, 0.8383, -0.7006, 0.0299, -0.2703, 0.9962]\nstate[eef_state]: left_x=0.2735 left_y=-0.1744 left_z=0.1251 left_yaw=-0.0017 left_pitch=-0.1284 left_roll=0.0221 left_gripper=0.9993 right_x=0.2896 right_y=-0.0023 right_z=0.1656 right_yaw=0.1097 right_pitch=-0.3116 right_roll=-0.1935 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -4.3145, 8.9778, 1.3309, -0.5006, -0.0073, -0.0122, 0.0205, -2.5231, 6.9538, 1.5604, 0.1294, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5833b5b263972404ada6d88d804ab64a77e09ac4b484f95805bbe739c27aea12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac52938c22682b7f43022033f7b74f4c8fc421d82a81910bbeb7f95f657b18f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b79332cd6f921aab5dae42047d2c670c94e2b089b71baca5c46abc55175b2f0",
      "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 · 2.916 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6147, -0.4496, -0.0139, -0.0338, 0.9993, 1.079, 1.7599, 1.2934, -0.701, 0.6586, 0.6743, 0.9963]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1667 left_yaw=0.0024 left_pitch=-0.0748 left_roll=-0.0021 left_gripper=0.9993 right_x=0.2799 right_y=0.3012 right_z=0.1219 right_yaw=0.1234 right_pitch=-0.2589 right_roll=-0.1894 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.2923, 6.9675, 1.7021, -0.0513, -0.0562, -0.0171, 0.0479, -8.212, 8.0479, 0.9695, 0.5201, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6147, -0.461, -0.0135, -0.0334, 0.9993, -0.0013, 1.0039, 0.8383, -0.6861, 0.0406, -0.2546, 0.9962]\nstate[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1635 left_yaw=0.0019 left_pitch=-0.0896 left_roll=-0.0017 left_gripper=0.9993 right_x=0.2922 right_y=-0.004 right_z=0.1681 right_yaw=0.0918 right_pitch=-0.296 right_roll=-0.1929 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -1.2923, 7.1043, 1.7949, -0.0122, -0.0317, -0.0122, 0.4991, -3.3026, 8.253, 1.5067, -0.2076, 0.022, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9211, 1.2625, 0.749, -0.4381, -0.6624, -0.7044, 0.9993, -0.0021, 1.0042, 0.8383, -0.7006, 0.0299, -0.2703, 0.9962]\nstate[eef_state]: left_x=0.2735 left_y=-0.1744 left_z=0.1251 left_yaw=-0.0017 left_pitch=-0.1284 left_roll=0.0221 left_gripper=0.9993 right_x=0.2896 right_y=-0.0023 right_z=0.1656 right_yaw=0.1097 right_pitch=-0.3116 right_roll=-0.1935 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -4.3145, 8.9778, 1.3309, -0.5006, -0.0073, -0.0122, 0.0205, -2.5231, 6.9538, 1.5604, 0.1294, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5833b5b263972404ada6d88d804ab64a77e09ac4b484f95805bbe739c27aea12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac52938c22682b7f43022033f7b74f4c8fc421d82a81910bbeb7f95f657b18f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b79332cd6f921aab5dae42047d2c670c94e2b089b71baca5c46abc55175b2f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "id": "rs_009b83eae09bb011016ab42df7c71c87d0835017f7c650d87f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.15,\"left_z\":0.115},\"note\":\"The dark fruit appears just left of the left jaw column, with clear space below it in the wrist view. I’ll center the jaws and advance slightly so the fingertips reach it.\"}",
  "call_id": "call_3hCH02sEmU0UsdONxFxEuWHy",
  "id": "fc_009b83eae09bb011016ab42df8ee8487d084731300cf46c6a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3hCH02sEmU0UsdONxFxEuWHy",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.2621, 0.6914, -0.321, -0.5678, -0.5724, 0.9993, -0.0021, 1.0061, 0.8383, -0.7021, 0.0288, -0.2733, 0.9963]\nstate[eef_state]: left_x=0.297 left_y=-0.1461 left_z=0.1114 left_yaw=0.0174 left_pitch=-0.1468 left_roll=0.0278 left_gripper=0.9993 right_x=0.2894 right_y=-0.0021 right_z=0.1649 right_yaw=0.1125 right_pitch=-0.3152 right_roll=-0.1942 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -4.4923, 6.2974, 1.6435, -0.2808, 0.1929, -0.0122, -0.0068, -2.6188, 6.9949, 1.4481, -0.0024, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e3851505e8e1997bf8535062f9de09daf371b1e48101b0f3088c18a211a459b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce1f97ec79d7d94f14e594596914e4df00ca3edcadc2df5551772629f25353e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:090dec5fc6d1a6bdf31ddef29b5900f9a87227983e1d1652aeee5d6e66e22a22",
      "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 16 attempt 0 · /responses · status 200 · 1.885 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6147, -0.45, -0.0139, -0.0338, 0.9993, 1.079, 1.7599, 1.2934, -0.701, 0.6586, 0.6743, 0.9962]\nstate[eef_state]: left_x=0.2872 left_y=0.0003 left_z=0.1666 left_yaw=0.0024 left_pitch=-0.0752 left_roll=-0.0021 left_gripper=0.9993 right_x=0.2799 right_y=0.3012 right_z=0.1219 right_yaw=0.1234 right_pitch=-0.2589 right_roll=-0.1894 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -1.2923, 6.9675, 1.7021, -0.0611, -0.0415, -0.0122, 0.0889, -8.4034, 8.0068, 1.0085, 0.5153, 0.2076, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9211, 1.2625, 0.749, -0.4381, -0.6624, -0.7044, 0.9993, -0.0021, 1.0042, 0.8383, -0.7006, 0.0299, -0.2703, 0.9962]\nstate[eef_state]: left_x=0.2735 left_y=-0.1744 left_z=0.1251 left_yaw=-0.0017 left_pitch=-0.1284 left_roll=0.0221 left_gripper=0.9993 right_x=0.2896 right_y=-0.0023 right_z=0.1656 right_yaw=0.1097 right_pitch=-0.3116 right_roll=-0.1935 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -4.3145, 8.9778, 1.3309, -0.5006, -0.0073, -0.0122, 0.0205, -2.5231, 6.9538, 1.5604, 0.1294, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.2621, 0.6914, -0.321, -0.5678, -0.5724, 0.9993, -0.0021, 1.0061, 0.8383, -0.7021, 0.0288, -0.2733, 0.9963]\nstate[eef_state]: left_x=0.297 left_y=-0.1461 left_z=0.1114 left_yaw=0.0174 left_pitch=-0.1468 left_roll=0.0278 left_gripper=0.9993 right_x=0.2894 right_y=-0.0021 right_z=0.1649 right_yaw=0.1125 right_pitch=-0.3152 right_roll=-0.1942 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -4.4923, 6.2974, 1.6435, -0.2808, 0.1929, -0.0122, -0.0068, -2.6188, 6.9949, 1.4481, -0.0024, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e3851505e8e1997bf8535062f9de09daf371b1e48101b0f3088c18a211a459b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce1f97ec79d7d94f14e594596914e4df00ca3edcadc2df5551772629f25353e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:090dec5fc6d1a6bdf31ddef29b5900f9a87227983e1d1652aeee5d6e66e22a22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC39HbSPlmGn_EVvueU_za8GeGiiwTvh0tgQRPPQVysF4oiuDygODaxKLOzS7v82RbxKEUZ-UymQihuH-uXkBM642tOq8vlX5i7K3Q4z3E5OS2eqIwdRuaFrewMVpowgR4hbbdyU_fnXRBbahFqArW7UxdHzFoPrED26ScXdFYQXLCToyaAFm0wY_lD_aXHwSJ-AgleW4ulhgcWTSaAK44PTaMnQmyFu34ftnitq417E73868WGzIsP-kiJ6iBxTMaTKc5Dyh8vFOUrWNVkDm7J721yIqI6K7_gKZzWgPxbyXLrsRuggZRAgxnuKwsZTzo0LasqHovalcwJw747N05uWacFywvUC4NMG95Jl6vGOk_bnOTTTxllZaJ7-mrjUkcIzhMoTrjBTSGnfCRama-QkAHDS5WjEFB9wE6_efAn_J1_2d1VntlXZk7GXQ4eXw0nlqWw0AYEnoXHjWZ8vVTgxqC-3N8nTAHDcyhlI4vzlMlf9cVIDgaae97SqcGtI-2JKqoiOBT3u0P76am4eBeBjXmEVFDTcNoJUpDAI2hVSDfTUaxygMztQCFhgQCTiwUuKwv5NTRDAOyBbLUcsjwV6ZjKdG3tyQXsH2JczIAEXrvcFHOlMrXQtUQMDgJ3HIRqea3TNGf0uvuJnIJFHD44xFLkKN12XFmrREYHHvgE72NKYFS22gaCTsHCDDLDEwVwaZIZg5C2uj1x1RicJO36cvTQfphVtxLQEH9uwwSyXLqMYPImUPjFAD3RZhQNcDxBxzSskI1XSdU3hd5DYy2oiL2AYoc1bsDIscAqY2H9rlZK6vJ5AnM_RRCbl_CzVojOcPbomUSODAbMtZCSUKiASVEjZBLfqC4a1sNr1ObF8KjcWH5SokYEhXOdR6h_66WjPk07IeWxOh-yIyzBoAqhbrKViYM2c3LJUh6vxbgfMRboCQz9LQoOBdX5n3X6ZrTZ3g0dW4iejV8XUDqD8MvOo2Ah-F9ECw6nvdeRK-h5Lkb7QvTdtqM-5B0kkdxwt5ySxOWdv9X0HAkmAtozaA2cOILhfoEfy1k4ZaKiFjZBKdzQmqdg7q9eTfxDiQ_jE5IgFt_-TVC_t6EWUm89vliMacm1ZtI96NB5ZaFcQbXtfuBlDgoS5sm4ap_MP1Tkob0sZfd6AmQtkhkBw7lBMjAXZ6RKMZVjVGigNbaGTEOxcUaUDK175a91Ez2ZPldAn4NgTyE5INZfDD02KiZqkvsfpBtEVeE0FnZNOed1-BBty7IXppf-iazpWEQmVm7Xsfo3-S6kDwBqPYgNFc60F2WM-ybXx0SpDeN5WUUl7zMcyfGVvGHfjpj_-zrCZhPycDXIUfhumIGLS6NkkvyNBTnBvug==",
  "id": "rs_009b83eae09bb011016ab42dfbc9ec87d09a3f295432a617cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The dark fruit is now centered between the open left jaws. I’ll lower to its mid-height before closing.\"}",
  "call_id": "call_E58LmcKWyVah4VvjdekIfbK6",
  "id": "fc_009b83eae09bb011016ab42dfc824c87d085df354134f2b049",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E58LmcKWyVah4VvjdekIfbK6",
  "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]: [-0.7597, 1.504, 0.4683, 0.1143, -0.561, -0.5762, 0.9993, -0.0021, 1.0061, 0.8379, -0.7094, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2932 left_y=-0.144 left_z=0.0204 left_yaw=0.018 left_pitch=-0.1717 left_roll=0.0421 left_gripper=0.9993 right_x=0.288 right_y=-0.002 right_z=0.1636 right_yaw=0.1133 right_pitch=-0.3228 right_roll=-0.1932 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -5.3675, 5.1487, 1.5458, -0.3785, -0.0171, -0.0171, -0.212, -2.4684, 6.735, 1.4676, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1711c5641649f6a7a91b4db7c600a40fa12c6321f2e813a0e850c0a7283c1368",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a77f6a9dc771ce82780eb43a2f20d9bec87831aa645c84ac4d69a76f95cbce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e05bd1266a15cc8853c1e4bfa3d8f6d44fd081a622cfca90b83dbc3f038071",
      "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 17 attempt 0 · /responses · status 200 · 3.343 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6147, -0.461, -0.0135, -0.0334, 0.9993, -0.0013, 1.0039, 0.8383, -0.6861, 0.0406, -0.2546, 0.9962]\nstate[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1635 left_yaw=0.0019 left_pitch=-0.0896 left_roll=-0.0017 left_gripper=0.9993 right_x=0.2922 right_y=-0.004 right_z=0.1681 right_yaw=0.0918 right_pitch=-0.296 right_roll=-0.1929 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -1.2923, 7.1043, 1.7949, -0.0122, -0.0317, -0.0122, 0.4991, -3.3026, 8.253, 1.5067, -0.2076, 0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.2621, 0.6914, -0.321, -0.5678, -0.5724, 0.9993, -0.0021, 1.0061, 0.8383, -0.7021, 0.0288, -0.2733, 0.9963]\nstate[eef_state]: left_x=0.297 left_y=-0.1461 left_z=0.1114 left_yaw=0.0174 left_pitch=-0.1468 left_roll=0.0278 left_gripper=0.9993 right_x=0.2894 right_y=-0.0021 right_z=0.1649 right_yaw=0.1125 right_pitch=-0.3152 right_roll=-0.1942 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -4.4923, 6.2974, 1.6435, -0.2808, 0.1929, -0.0122, -0.0068, -2.6188, 6.9949, 1.4481, -0.0024, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.504, 0.4683, 0.1143, -0.561, -0.5762, 0.9993, -0.0021, 1.0061, 0.8379, -0.7094, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2932 left_y=-0.144 left_z=0.0204 left_yaw=0.018 left_pitch=-0.1717 left_roll=0.0421 left_gripper=0.9993 right_x=0.288 right_y=-0.002 right_z=0.1636 right_yaw=0.1133 right_pitch=-0.3228 right_roll=-0.1932 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -5.3675, 5.1487, 1.5458, -0.3785, -0.0171, -0.0171, -0.212, -2.4684, 6.735, 1.4676, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1711c5641649f6a7a91b4db7c600a40fa12c6321f2e813a0e850c0a7283c1368",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a77f6a9dc771ce82780eb43a2f20d9bec87831aa645c84ac4d69a76f95cbce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e05bd1266a15cc8853c1e4bfa3d8f6d44fd081a622cfca90b83dbc3f038071",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4Bjp-py8ImhsKFLGS3yTFiYGlMRtK1QR5Du5uS9Xm_6si7KPKrJ31GlnMdo4sB0gtWwvqEPe8Wr5z21jwGCbNLrG-EeU9sXrXi7R8HOWigobBuP5cGgmlE7OFExboDVYzOSrDZmKliaLevSG4xolRL-HDV8-WaxRa1OohomlHPZuhYhjv2xYhElmctJH66n0t6EGUe97bfbIDpn1iCDIi-qDfa8aVxdud2htGv9CRaenaVq4uXuCG_X7YpeuTe5jWQGg0UJlWrfmpCgLM1yOKhKqyWAi6znRpXqLjbh4v_Mk9rJmZVvwHZ_fm24GWB8B2FigX2qD1S8_UMbuYMl_KFl8Ai4uHD4IM1b1nIt58cS26JkWnovV5dwVCEJN9F1g_ptGBiBk6NcKgyesJEQxTSO06BNKpmQM-pHccCDoxVyKCGkl_trfuaKvW5sZYW51AdISLg4GzMgrFatafO2fLAgwtr4eDUowXMY-SzFrC8nu4yaORnvl3YHlQm0UOpI7LKCTiwA_fRhJlEJfN78NCMlokkESprYHGYOo3CwnZXZT_lfpMdTpbW5YZHNsJElp1YkBOyLab88iMza6X2MAKctsqaPyreIDVWfk6ECky2B3gCLf3fWBBJMFWXLXQkGaLQTMloc0EGNBiHGw24wZR2incLNpAPGXAOAsj6hmjc7Il0e0hRp6x9BDM0LWI1_dC9WSTzJkDKv-CeJjOWyCrbOK7oKEidaTpJtAkCaaNEIhYIlOzox8e5HpdswEsamtgnMiY2UaqK3_lvDj9_4p13rxZVz_uYPZNIWJZmDYTBamfPB0NA1cFatrOhCjaBbywnLPLNYLSbxP6qvtnTKX9xRow7ffhddrqZoPdXBLt6sLJKdhHekagcucb9Nsba7jJzE9CLo5mIBnQYAKZMugXi7qWCQzbw3VEU89VEQeXg7l-6xklMpfbvA-DY6Zej_4tKCqs8-1hX-Z_XO1s4taO0Zz1XMU0RtyTn7ysSSa2LelAv2baWKV4ByGIPJKQsTyl7cIogD3ab7cz8XmsnlBkDPViRwSYZjpef2hb-Nbhx7KkawJlOwDFyOyz4whfnqRICXMGqdRef_1Vq2bXi_aIAh5RX7IeCBQ1FPgj9OeCocmJ0kjzW9Wh7MFIBLrqTkRRA2ccnDEF7296llCWGhCrpTUXIP0hZ3iO_T8n1-23u3AuuCuR8n7D-srQZ8j32XJK6LTjkCqF3sZuHov6TVkQ6g-X5faJllI44ujl-BYbUq-QMzHY_854zVqg5VLFN3uDQ",
  "id": "rs_009b83eae09bb011016ab42e0043e887d085f89d2025113c14",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are down on either side of the dark fruit. I’ll close them to take hold.\"}",
  "call_id": "call_oI4zwFSUfGZsJRdFGOdIuL3a",
  "id": "fc_009b83eae09bb011016ab42e00863487d0bbcff06ba3904271",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oI4zwFSUfGZsJRdFGOdIuL3a",
  "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]: [-0.7597, 1.504, 0.4683, 0.1123, -0.5606, -0.5762, 0.5354, -0.0021, 1.0061, 0.8379, -0.7097, 0.0288, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.293 left_y=-0.1438 left_z=0.0202 left_yaw=0.018 left_pitch=-0.1733 left_roll=0.0433 left_gripper=0.5354 right_x=0.2879 right_y=-0.0021 right_z=0.1635 right_yaw=0.113 right_pitch=-0.3232 right_roll=-0.1935 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -5.1761, 5.094, 1.3455, -0.2857, -0.0171, 1.0281, -0.1573, -2.2906, 6.7487, 1.4237, -0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a08e4e80149db3f2cf4ccbe46bc448789cc3388b26e85a2b572158e1fd255a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b83dae1aee2cbef7f01b4dcf56d092061f98ab237efc4c043469fb868f84df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0e24683c3a0226719ed13df2ee938f5d03e5931b6fd74de1002bd7f41c8827c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 4.192 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9211, 1.2625, 0.749, -0.4381, -0.6624, -0.7044, 0.9993, -0.0021, 1.0042, 0.8383, -0.7006, 0.0299, -0.2703, 0.9962]\nstate[eef_state]: left_x=0.2735 left_y=-0.1744 left_z=0.1251 left_yaw=-0.0017 left_pitch=-0.1284 left_roll=0.0221 left_gripper=0.9993 right_x=0.2896 right_y=-0.0023 right_z=0.1656 right_yaw=0.1097 right_pitch=-0.3116 right_roll=-0.1935 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -4.3145, 8.9778, 1.3309, -0.5006, -0.0073, -0.0122, 0.0205, -2.5231, 6.9538, 1.5604, 0.1294, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.504, 0.4683, 0.1143, -0.561, -0.5762, 0.9993, -0.0021, 1.0061, 0.8379, -0.7094, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2932 left_y=-0.144 left_z=0.0204 left_yaw=0.018 left_pitch=-0.1717 left_roll=0.0421 left_gripper=0.9993 right_x=0.288 right_y=-0.002 right_z=0.1636 right_yaw=0.1133 right_pitch=-0.3228 right_roll=-0.1932 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -5.3675, 5.1487, 1.5458, -0.3785, -0.0171, -0.0171, -0.212, -2.4684, 6.735, 1.4676, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.504, 0.4683, 0.1123, -0.5606, -0.5762, 0.5354, -0.0021, 1.0061, 0.8379, -0.7097, 0.0288, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.293 left_y=-0.1438 left_z=0.0202 left_yaw=0.018 left_pitch=-0.1733 left_roll=0.0433 left_gripper=0.5354 right_x=0.2879 right_y=-0.0021 right_z=0.1635 right_yaw=0.113 right_pitch=-0.3232 right_roll=-0.1935 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -5.1761, 5.094, 1.3455, -0.2857, -0.0171, 1.0281, -0.1573, -2.2906, 6.7487, 1.4237, -0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a08e4e80149db3f2cf4ccbe46bc448789cc3388b26e85a2b572158e1fd255a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b83dae1aee2cbef7f01b4dcf56d092061f98ab237efc4c043469fb868f84df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0e24683c3a0226719ed13df2ee938f5d03e5931b6fd74de1002bd7f41c8827c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4FMD3Cq_usGjL8OrWVfx17Vyy0zP8GC4gCe519TSytnup3x5QICMste4a3H-G4k9a_FRzB797k9-Esb4vmfcn0ZzNHCol05GxJdbHPRdV04PkmxQnj2k_2_EcmRaG-53aOh2-sH5vmrmg1upClPwtDNa3dK9HJfNQdJaaIY557vYkiMn8XBIpfzBc9oOB530uiJDU6p-KfbqOB1AhKOiOmD0Vn9caCp9eCdfrjTZEUmm5HudsaV9Wlgfkd1pFZ2hGUxxmpFiNxV2oBIZyxeXHa4CGwI5pRVtUuD0PXiPF6ir84IkuOUfV-GoOoEO5NIWq-60TdmIZGUavIgYc-XQH02G5kcH-VyNsCZi8pREP8wrpWKbL4wI7dM0df12iSE8MsYC2N043gl-ubbLArjFBg1IUj220garSUv4fCwZbR_YlZY-VtjpdJiTJIZzqtd_sbUkghxsj8b0fSkZDsC75ruwR-Piva2d8F_CJ1qeBVKJsvkMYf6S7LLVhgKQJH1noh73HFVzztfDodZ8bEOyt01k2HkDcdqGhflfl6Oq5V0AkC6Nq2y74k85KiApsLKZWgdDEHmevZQsZmhC0_j9VcYGaH5sKuBfBKIWArzpnASbFo2S0QNUD1Uo2H_ZPbtV0sryMb6hdoCqhjoBDNb6LbTp4Gic4zV7zb2zkN_aXF-fTNt_qLeyoKRccoRDe-GuS-IflAkAXLQ9rKW3IGmzkp8Zc2DK1UoR745V7NiZFKs3dAhQTmu7PfHEMAHlORmtgfa-0vLFWWZCFniAUd455ubNe5oiwezpNriyrOqLGkXYUwiMv3JANl-GGG62V5l6Kn1EtsnIRfhBwKN6xJCfiwluufpSJSwWEMjGwBqXqI2Pb0gV3uKVWlJVIyQO_wI6zp_uGUdDBzH7odFXWTlc3VUKFWll83XlMOwUeR1rKK1WQdG8dkgC9Z_7grQA0IPbCOh9UrjdJ_KNkx0aWPR66kOJp2QUGq6R2W9LAN4Cru7N2YiXnGqVjcANadu2RXMtk8kK8g3U68bpOtFjEv0P5zLjB3wuvU2BtgJ2tRTPW0DYwdMGKaQvOHGPWNvtSF9x_850XbMo4eLf8Y16DUtIckgPh2KeKjglzCwhuD_aXgRzLE9WOIl-t2-sLKTAPbpipDBeaKVK2V_LLDL60sF1OC5pdabyBxee9IhYTA6PRArLk=",
  "id": "rs_009b83eae09bb011016ab42e03bd4c87d0a58e2501498aebe7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.165},\"note\":\"The left gripper stopped about half open around the dark fruit, consistent with a grasp. I’ll lift it and confirm it comes off the table.\"}",
  "call_id": "call_PAxyLVKXxpZRAfZk9XPxdZL6",
  "id": "fc_009b83eae09bb011016ab42e03d8a087d08376b99a09f1f07a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PAxyLVKXxpZRAfZk9XPxdZL6",
  "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]: [-0.7597, 1.2316, 0.868, -0.5892, -0.5568, -0.577, 0.5408, -0.0021, 1.0061, 0.8383, -0.7097, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.2915 left_y=-0.1432 left_z=0.1507 left_yaw=0.0196 left_pitch=-0.1964 left_roll=0.0615 left_gripper=0.5408 right_x=0.288 right_y=-0.002 right_z=0.1637 right_yaw=0.1136 right_pitch=-0.3228 right_roll=-0.1935 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -5.3538, 8.9094, 1.116, -0.2955, -0.0122, 1.0281, -0.2667, -2.4821, 6.8171, 1.4139, -0.022, -0.0806, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0d0cd5a0594738949eea94bc28835f704ee7928c6818b9c771a86b06223e58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d48ac00aebdb5ec1d1f760b63a701231b78a6c52166822fc1ff865242868b0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ccecfa0b2bc40189d7d166969722c8f725067ae54983ac8c71ecca0aa1785a",
      "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 19 attempt 0 · /responses · status 200 · 5.237 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.2621, 0.6914, -0.321, -0.5678, -0.5724, 0.9993, -0.0021, 1.0061, 0.8383, -0.7021, 0.0288, -0.2733, 0.9963]\nstate[eef_state]: left_x=0.297 left_y=-0.1461 left_z=0.1114 left_yaw=0.0174 left_pitch=-0.1468 left_roll=0.0278 left_gripper=0.9993 right_x=0.2894 right_y=-0.0021 right_z=0.1649 right_yaw=0.1125 right_pitch=-0.3152 right_roll=-0.1942 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -4.4923, 6.2974, 1.6435, -0.2808, 0.1929, -0.0122, -0.0068, -2.6188, 6.9949, 1.4481, -0.0024, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.504, 0.4683, 0.1123, -0.5606, -0.5762, 0.5354, -0.0021, 1.0061, 0.8379, -0.7097, 0.0288, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.293 left_y=-0.1438 left_z=0.0202 left_yaw=0.018 left_pitch=-0.1733 left_roll=0.0433 left_gripper=0.5354 right_x=0.2879 right_y=-0.0021 right_z=0.1635 right_yaw=0.113 right_pitch=-0.3232 right_roll=-0.1935 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -5.1761, 5.094, 1.3455, -0.2857, -0.0171, 1.0281, -0.1573, -2.2906, 6.7487, 1.4237, -0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.2316, 0.868, -0.5892, -0.5568, -0.577, 0.5408, -0.0021, 1.0061, 0.8383, -0.7097, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.2915 left_y=-0.1432 left_z=0.1507 left_yaw=0.0196 left_pitch=-0.1964 left_roll=0.0615 left_gripper=0.5408 right_x=0.288 right_y=-0.002 right_z=0.1637 right_yaw=0.1136 right_pitch=-0.3228 right_roll=-0.1935 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -5.3538, 8.9094, 1.116, -0.2955, -0.0122, 1.0281, -0.2667, -2.4821, 6.8171, 1.4139, -0.022, -0.0806, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0d0cd5a0594738949eea94bc28835f704ee7928c6818b9c771a86b06223e58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d48ac00aebdb5ec1d1f760b63a701231b78a6c52166822fc1ff865242868b0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ccecfa0b2bc40189d7d166969722c8f725067ae54983ac8c71ecca0aa1785a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4LryWt1GL49ONab6G57QvPeIigNAQC3FwV2wWtgw_NbtTc-xbNByzu_ubxdfHDScgYJhMKBivZeImZYhRjuAPFEoSVqKUIZAO4jiuEmlsIkTf3yxYMeS8cHJ8_kcpYlRE7rgRpV879HVY5DjTIxUy-W04IB0c_qrhBMgUdajQrluYino7KwqiFuEfjJjpzTOrjQVCSIiZeWQ-yGFXTZOvK-MDLxYr2ESY2JOJhMvjmRZI59FQC1d64hs-AVn3oHxKWCuVMy75Yc09Tgved2Me0cm_YFPiXkwhAfX52H2fDpCONRrSPLwNM3B2rCiAyjys8OwDopp-pGOp_7ogkhTEE0wXBfDA1vixI3bfZMBGmP_UmKBUUr0aXI_5Ti-OcHNTxmV0GTYCzcugF2MBkVqZx1NVDAdp2BHYRG-j3AnmiXxvFly8WoE8ucQgtibbLlUuE9poa-noQc4SdAd1fajkRNEfO5b7fot69mN2JhW-v1CC7YeAEx1KuDbB7dXJAFkHhnkAtKDc7LgiOyO4HaPbEjCtXJyMJV0IhCE1wAIKrwVT1BB6EpZJripvAntGJv1DAbgzgCOyoPhFsO-eH5OVJ_Kw2bnuOHiipCyPCJIGR9rJvCaLqoCrJ4KUnA2TwuM7syEeKWtArl13Zf0MUKENmSLI1GOTFsnp7tQEpz4dwX8lKFT4NsbglImIcwy3lM7IMh9qcbu5ENmGlppvuwCLdYYuSiZB7LNlTR-nchb3mNO-RadG4zP-sXQrwmbTa1O3ZTVfs-JmtTJDfYTsIJsYcgD9ELs-JtemujeiwfL8J36BbIjwMLNzW86HrX-Bz3FcEFOTtexLou6aCcphjJ_K-9bIT7DZajIIEEtEbGkt0tB8MNcQs4cDtuoc6uG31n3PRRvhYRWFtORLM065E7F9my7ByNG9PIeZk6ztHxnJHsu2xGdm858ZvH2RJngUxxKou1UsMjoQmQmQnCuUWU2sU51w-uvKLcyhtbnjP0Fz3IuZHkcMIkARYZhR3zmjHkQ0Ki8GWxogUaq4otPm1SS9mg_vvWUMJzmxJ_C9IJVwxLPNq88zd18ED2gIC-UHZHdqAJrF5DZ6OkFCGqPVmm4RbGkWo3Vd1a0mnjtHfafPCTu8I9EAhvRIOHHj_1IO4ysJev38oQsrsf-T7aeOUoguTVdJXPtcOBdr3FWkCP77AYEY48-ic2uEj-jkNrTJcef_BsyibA2NFIGctgPis2GbgGkYFP7nDHcQhVvufY_ec335sxOKNn9QqnK6PPmtYPqkXQrcE3Vfe_yK3LthIlhMzn8wbKJHKRCHor5fIv8zzUkF1_0YAhLDlS71VnMh6A_MaK1mVs2G6dfoooe6UrWwzHKXn2kZmqnpuG2su3xUYeW0szU3YlYLASvyJBhmyKNVxfhJSVlSVS78-B5JKunA3u8X_pIIcYBzipj_RAzC6J2RY4iMvUZUjBhvHlr_2JR3ci3Tdk76IXFL442Z2xiiRqC-ife6mUbGBjFxwtEQv1yd36H1f36yYOucj2n60nWkVS5Tpbx512WblnFQfmG-pPeXsTrczCxcs_CP8lkqLgPlfF55FhogFRZyKInIqTvlmWcqpZAw5BUC23smRpcWT7SPmv5ibik-rIiSsyY0RRrETMML5vK5yYRy_fFM75OWI13CZAUuxKLJjPT9t4U5-UM5qtYGAN5Zam3Ib3drCxaLgDNNC-qSJmeGlT1_GPiJinhqJCT7wNu-dJ65_7IjF60d9w3fJgkmituuY30kmPFzfqcXI8jm4Fio9ousz4Tpj6cAGA3nR68WrFniNBeqDgCek7HBeBboDtvhxdccK--35AELiRrr2h1smStrPcOhL",
  "id": "rs_009b83eae09bb011016ab42e08fa7487d0a30ee73a6c35a337",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.36,\"left_z\":0.17},\"note\":\"The dark fruit lifted with the left gripper, leaving its spot on the table empty. I’ll carry it across to the blue bowl, keeping it above the rim.\"}",
  "call_id": "call_SCfzvwoYsHRKgiOewNTI84My",
  "id": "fc_009b83eae09bb011016ab42e0a94b887d0a516221de3fb37c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SCfzvwoYsHRKgiOewNTI84My",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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]: [-0.9714, 2.1414, 1.9442, -0.9207, -0.6441, -0.8093, 0.5432, -0.0021, 1.0061, 0.8379, -0.7238, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.3766 left_y=-0.3568 left_z=0.1551 left_yaw=0.0195 left_pitch=-0.2352 left_roll=0.0729 left_gripper=0.5432 right_x=0.2852 right_y=-0.002 right_z=0.1613 right_yaw=0.1141 right_pitch=-0.3372 right_roll=-0.1917 right_gripper=0.9963\nstate[joint_eff]: [-0.7179, -12.3692, 9.1966, 1.072, -0.6422, 0.0415, 1.0281, -0.0479, -2.2769, 6.8581, 1.58, -0.0073, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6296cfb4c3d6e93a209bf110b01478e6d07537a818b0ac123b4d221877124e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:085b7049de16dbff89a5ed490dac0b3aac59a26ee77d267e1551f7a5e1ec4aad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d67b3856dae509df5fcc8c27577f7dff79ce4b4c05d7a1171f61c75f3cf558",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.111 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.504, 0.4683, 0.1143, -0.561, -0.5762, 0.9993, -0.0021, 1.0061, 0.8379, -0.7094, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2932 left_y=-0.144 left_z=0.0204 left_yaw=0.018 left_pitch=-0.1717 left_roll=0.0421 left_gripper=0.9993 right_x=0.288 right_y=-0.002 right_z=0.1636 right_yaw=0.1133 right_pitch=-0.3228 right_roll=-0.1932 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -5.3675, 5.1487, 1.5458, -0.3785, -0.0171, -0.0171, -0.212, -2.4684, 6.735, 1.4676, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.2316, 0.868, -0.5892, -0.5568, -0.577, 0.5408, -0.0021, 1.0061, 0.8383, -0.7097, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.2915 left_y=-0.1432 left_z=0.1507 left_yaw=0.0196 left_pitch=-0.1964 left_roll=0.0615 left_gripper=0.5408 right_x=0.288 right_y=-0.002 right_z=0.1637 right_yaw=0.1136 right_pitch=-0.3228 right_roll=-0.1935 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -5.3538, 8.9094, 1.116, -0.2955, -0.0122, 1.0281, -0.2667, -2.4821, 6.8171, 1.4139, -0.022, -0.0806, -0.0073]\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 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9714, 2.1414, 1.9442, -0.9207, -0.6441, -0.8093, 0.5432, -0.0021, 1.0061, 0.8379, -0.7238, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.3766 left_y=-0.3568 left_z=0.1551 left_yaw=0.0195 left_pitch=-0.2352 left_roll=0.0729 left_gripper=0.5432 right_x=0.2852 right_y=-0.002 right_z=0.1613 right_yaw=0.1141 right_pitch=-0.3372 right_roll=-0.1917 right_gripper=0.9963\nstate[joint_eff]: [-0.7179, -12.3692, 9.1966, 1.072, -0.6422, 0.0415, 1.0281, -0.0479, -2.2769, 6.8581, 1.58, -0.0073, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6296cfb4c3d6e93a209bf110b01478e6d07537a818b0ac123b4d221877124e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:085b7049de16dbff89a5ed490dac0b3aac59a26ee77d267e1551f7a5e1ec4aad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d67b3856dae509df5fcc8c27577f7dff79ce4b4c05d7a1171f61c75f3cf558",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4cWEOdXdSoYWYGpvofTjmrvYWT-mra0gqG-QtTImMkCmoSArg6LEcQV8o-p_y545mUxJLxIqM5-TAfMPPa9J1k8C_yBXYVJvILVbkIa5UBVVGZhgQgdqxgZG2jJRuCscmY9yecWJ5XJ75Cdp0vt0dtUcFA8ZmaOvKcL_tnXK1J6R8rf_JGGlgzenTjzKi4NKtnQx2X1tip1rwT3dNNqq6MUMmuX8VdW_02GZByMKOUKqELIhuVrxWyq2n1TEfO0BprXsg7wjukH4Iro8vraFoI0iTnhxq0QVoJyeuPPKZ--DAoXmZqJ41P7wqhIScj-LEVz5CzJeBIDOvV2cRHGihKJpgyfd4F7U67ej4DYM1BbA_oL8ThZU4LO4jVi2-QHo_A_sI74dzUcnt9n9SMSPPPmsb9X3SFz0sTS-5IBnL3pIyrwZimN2PoV_2yGIj0sgMMl1KcS4PK1TQzED9luC8Bf260x3HwcQl0DIFya6jy54RE-7w4Y6FOnzPJPHgnJAzJPVLSfRwW4uQn8v0YyDHWn_IcufaFRiwtlpvWCtIrU1R8mBIqPbZCZXnTQs01IDkhm0G6m1U1pZzhnqrHSb-JAcCLTxlLjpCQFzU1AuuKJOg6lv9Odz8PGHu9GS57WZR5BXThIDDlditXfk4pk0KbPCewqcPD4E6bqqYSyoPtR1DSLGTg-V-XkuX2yNYPcfcvz05ognL0VVKYntoeokJmZkdat3hBaQG5z4xWak2pQ-ckCgHS8NuDlr7DFkipJ_N1oOutXa8MkqBNDpLDgLe0PkuSodV_opOFVVSiEcth49kZAf4oobQjZrW4UE0OcqRrxaf_xvMUWDs1BN83PboW6fzx0M2jOSxFfHmKfq7lv2lf-wmSInlI9dpj103dWR0hlmV8I69C_a_G30wt9FCwVzwwhbARsIk2DNI3RIPMLk5l2GqDEFrtkD2xqIDdCz87OrKoVCPoZf-AdB8G4dQ8fT7_kpNXTlc7bPwxwMDvZpFaXMIjdxS7AsLEo4OlT5jHzXl4ktlLcjH_eKGbr9HOM2lY_nLZyeVfb0oOQLWtO4vEk57H6Xke5lEbPDHd-sv4f5YsnhMyvMr8xjlcvf9ZRtjGizhacpPfRGRxi6a6wibHTKcuqPoiaBG0bfntfoHKKrWxEpUYTElg0KH-Gnvbig_NIkDPGZtIh34BLXBA68zNCyw4bLB93MuPTfKNsUd9haVFVoQHR1e0v4crFTNdfHitLkhY_uEiQsoazP_5_HrHYU9ILceDiMly1VVgWMdbpNibEJxPxHKdlGeojl5XusjoPAj-Nn2GusKqiWCFOJz0SSnerReaOynk4NeoufsC0rMfi8SM5P7ikQPVYA98VIldnDjTZwdpm5vI9fOw_cAy4r9q0d8I5hPno08ByowVLuZH1SdRAYewsJxQFKru_3UC1VJzEkYh7DNpeJtym8FR45XZ8VlqZZc0ElFeMrIhcC68LFiwPc-9wxrBPWXQvvjnePBrzNPN7bBwsqLK4muNRLbPHVaXR779Dnv8pTJTcppTo65EUBIcXBuknCPofxPxcciwkO_9A8H5s507CFKsagO7vp3D54BJm-rw8-yrLYxNpgaL_Hf8k9SSkew6KYS0qYawy4X-RAQizxyOgOSA9yHRRztkv74IaupETIUjH5T2T-S-P5NxF_eExHeUg8VynSJwmFbHIikOSFlcBTgq1u7dL5hxvCZ4teN0mu2K9o_36JOxahN2bNLQCiAnNqEUESVsElUng0s3iKaeMpWd0RpnD3OTMte8CPY3dalYNN05dstxOBPv_9OC8rrIlJVsAmynbIwuXSZnUrRGY2P9IL9QzufFb2CCtqt6hMA_3baXTMEDH0RtKE99P7lbwme0WsAxB42saxGJ9vy1wJ4750t74DEk9ouKRrBMdaya6AeGRB5j5_T4a2wnObG53jq9UudugmpymQ_wCo8TLKIHkse5nkAfw5a2rx6LNxkaPcTlHqSsLWjw1tj6jOPIL5BGIxsGCwGJPsPZ0zrqfi2uq4vGbxIpPcGn1y2vGSKXtMNUF_JC1srjF1RGoybtjMCzGOcQYQ6kabCgfG9EaOBqc-JHKT3OBmK48HNK_ZQAGfJmBITfH1k0Fz2mljsKKdouZBZ6OBaWVBu2WEGRdIkTuY0MsX3QvcBShIxn2Ow8cOwDydi_APDPuw9st87Yw3u2neA0Ix9vpROmp49b2N_4buKvzwZZuSeqIhkWDtlDzwQhvN2ah4dkwjVnlAfQezmzwFvmtNspz0Tra3_vERbI6ZazMPZSRYVc9hEGLdml-b7HfTXelR0v4MBtT3ahX4YZiqX_Hr5QJ13IhMl5IsMTZjwgY3kl6TflSUscybbt89jQSWIJjRCu9zDKtj6PYLU_Vhhy3tG2W1FhhBkFzZKRkQKg3fu--SICEqpmUh_W8ZccLX-74iCjk_cVXfzBdwzy9d7qvT_h_iaxUQfhVm7-AS3Qd6ylby0EbmK6KGD1Ga6VqJmOOibSH6-Ov1F-B6geP_d_8H-Owktz_91HMPX9P44AX1xFrar7_9VhAaLb_uhR6dKpS2SaepVGIH8OUHrJNbQ_-VtJ0o-PQWAsELtmSocIFk3zPTWnJcX95I030XsyKa030IpNOqzJeRQqfhj3aSElV1iIKnkVE0qVg-cRsmsvqAlCVBItxOgzrX1zt5oX_2FGKyLa-U3_UA189utsz8k3eERqZfgm3L17bTEW6wVhq1fb3tnx_n7-PUvHGf8ItGCC_K48A3A9NMUfERqHaJRTnvSMkjo8eKdUv74oR7RHo4Vjcf6xJx8wB1e19E3_aXdRymrxvmQibtat4Q==",
  "id": "rs_009b83eae09bb011016ab42e18648c87d0b003ec7547b02ac6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.39,\"left_z\":0.105},\"note\":\"The dark fruit is above the blue bowl but appears slightly to its right in the overhead view. I’ll shift toward the bowl center and lower just inside its rim.\"}",
  "call_id": "call_W1n0aav5p7XSaiCoFsbL8dTQ",
  "id": "fc_009b83eae09bb011016ab42e1b9efc87d08ed380a0cddcc5fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W1n0aav5p7XSaiCoFsbL8dTQ",
  "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]: [-1.0039, 2.3104, 1.9598, -0.8627, -0.6399, -0.841, 0.5432, -0.0021, 1.0061, 0.8379, -0.7273, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3727 left_y=-0.3823 left_z=0.081 left_yaw=0.0241 left_pitch=-0.2876 left_roll=0.1322 left_gripper=0.5432 right_x=0.2845 right_y=-0.002 right_z=0.1608 right_yaw=0.1141 right_pitch=-0.3406 right_roll=-0.191 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -14.9402, 8.7453, 1.1111, -0.5836, -0.0757, 1.0281, -0.1026, -2.4684, 6.7214, 1.4579, -0.0415, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e388a5f4f4fe6b0b912c72923c1c2f70a5273cbfb5bd95eed1633db81300cca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c6b546a7955dd4d4fa8ee8148e9ca06de12263c1e1cc54351a328c5cc49fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80edd734d9f8b5a2cde66c79b7ce9f718f3f1a7791c1bbc0b44bedbe457938b4",
      "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 · 4.126 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.504, 0.4683, 0.1123, -0.5606, -0.5762, 0.5354, -0.0021, 1.0061, 0.8379, -0.7097, 0.0288, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.293 left_y=-0.1438 left_z=0.0202 left_yaw=0.018 left_pitch=-0.1733 left_roll=0.0433 left_gripper=0.5354 right_x=0.2879 right_y=-0.0021 right_z=0.1635 right_yaw=0.113 right_pitch=-0.3232 right_roll=-0.1935 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -5.1761, 5.094, 1.3455, -0.2857, -0.0171, 1.0281, -0.1573, -2.2906, 6.7487, 1.4237, -0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9714, 2.1414, 1.9442, -0.9207, -0.6441, -0.8093, 0.5432, -0.0021, 1.0061, 0.8379, -0.7238, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.3766 left_y=-0.3568 left_z=0.1551 left_yaw=0.0195 left_pitch=-0.2352 left_roll=0.0729 left_gripper=0.5432 right_x=0.2852 right_y=-0.002 right_z=0.1613 right_yaw=0.1141 right_pitch=-0.3372 right_roll=-0.1917 right_gripper=0.9963\nstate[joint_eff]: [-0.7179, -12.3692, 9.1966, 1.072, -0.6422, 0.0415, 1.0281, -0.0479, -2.2769, 6.8581, 1.58, -0.0073, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0039, 2.3104, 1.9598, -0.8627, -0.6399, -0.841, 0.5432, -0.0021, 1.0061, 0.8379, -0.7273, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3727 left_y=-0.3823 left_z=0.081 left_yaw=0.0241 left_pitch=-0.2876 left_roll=0.1322 left_gripper=0.5432 right_x=0.2845 right_y=-0.002 right_z=0.1608 right_yaw=0.1141 right_pitch=-0.3406 right_roll=-0.191 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -14.9402, 8.7453, 1.1111, -0.5836, -0.0757, 1.0281, -0.1026, -2.4684, 6.7214, 1.4579, -0.0415, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e388a5f4f4fe6b0b912c72923c1c2f70a5273cbfb5bd95eed1633db81300cca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c6b546a7955dd4d4fa8ee8148e9ca06de12263c1e1cc54351a328c5cc49fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80edd734d9f8b5a2cde66c79b7ce9f718f3f1a7791c1bbc0b44bedbe457938b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_009b83eae09bb011016ab42e1ded8c87d09ef02a31f3187736",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is lowered over the blue bowl at almost the same forward position used for the first fruit. I’ll release it and then check the bowl from a clearer view.\"}",
  "call_id": "call_9Rwt0lN2yRk4pEk1UuxVwUWR",
  "id": "fc_009b83eae09bb011016ab42e1e83b887d0a417cacf876611df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9Rwt0lN2yRk4pEk1UuxVwUWR",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0027, 2.3104, 1.9617, -0.8486, -0.6399, -0.8543, 0.9953, -0.0021, 1.0061, 0.8379, -0.7277, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3749 left_y=-0.3846 left_z=0.0827 left_yaw=0.0287 left_pitch=-0.2785 left_roll=0.1087 left_gripper=0.9953 right_x=0.2845 right_y=-0.002 right_z=0.1607 right_yaw=0.1141 right_pitch=-0.341 right_roll=-0.191 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -14.9538, 8.4444, 0.9695, -0.5397, 0.022, -0.0611, -0.1983, -2.4547, 6.694, 1.4286, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59d501780a612879dba856010b913b621b8d5d37798b7ad38ea38d8e52f7d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4338c820aead054dbcb11966c600a5708afd4dc2fee0ce656395da0fadea3845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c62e1201d5dab5ec23e17cf32fb8c4556389586756e79c4e1f7c34326f4d9d7e",
      "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 · 5.036 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.2316, 0.868, -0.5892, -0.5568, -0.577, 0.5408, -0.0021, 1.0061, 0.8383, -0.7097, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.2915 left_y=-0.1432 left_z=0.1507 left_yaw=0.0196 left_pitch=-0.1964 left_roll=0.0615 left_gripper=0.5408 right_x=0.288 right_y=-0.002 right_z=0.1637 right_yaw=0.1136 right_pitch=-0.3228 right_roll=-0.1935 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -5.3538, 8.9094, 1.116, -0.2955, -0.0122, 1.0281, -0.2667, -2.4821, 6.8171, 1.4139, -0.022, -0.0806, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0039, 2.3104, 1.9598, -0.8627, -0.6399, -0.841, 0.5432, -0.0021, 1.0061, 0.8379, -0.7273, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3727 left_y=-0.3823 left_z=0.081 left_yaw=0.0241 left_pitch=-0.2876 left_roll=0.1322 left_gripper=0.5432 right_x=0.2845 right_y=-0.002 right_z=0.1608 right_yaw=0.1141 right_pitch=-0.3406 right_roll=-0.191 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -14.9402, 8.7453, 1.1111, -0.5836, -0.0757, 1.0281, -0.1026, -2.4684, 6.7214, 1.4579, -0.0415, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0027, 2.3104, 1.9617, -0.8486, -0.6399, -0.8543, 0.9953, -0.0021, 1.0061, 0.8379, -0.7277, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3749 left_y=-0.3846 left_z=0.0827 left_yaw=0.0287 left_pitch=-0.2785 left_roll=0.1087 left_gripper=0.9953 right_x=0.2845 right_y=-0.002 right_z=0.1607 right_yaw=0.1141 right_pitch=-0.341 right_roll=-0.191 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -14.9538, 8.4444, 0.9695, -0.5397, 0.022, -0.0611, -0.1983, -2.4547, 6.694, 1.4286, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59d501780a612879dba856010b913b621b8d5d37798b7ad38ea38d8e52f7d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4338c820aead054dbcb11966c600a5708afd4dc2fee0ce656395da0fadea3845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c62e1201d5dab5ec23e17cf32fb8c4556389586756e79c4e1f7c34326f4d9d7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC4jB6IINBRDSX5g--J5t882NABVN4Dqu_cV07ZxStL3uqxzmgiaLdyGjhLrroyHbid7ZutoqpE-O_S1toaqmqVZnH3Zf1nmrBbdtvIditjAsAGOnREYSaZTCwJm3Ea4CDQM9c-X9AS4ob5FKQPJQY80ctyRXEBbPsUOEyK9L3QxqWnwI6YwgdUFYAwxiAS8CwuqnkMNO9h_puArwJI7kupF_Zn5sHJqzijZifbCpvwNDimEL-qcU25VwT3vcy5x7JcrbScn61F-iVXxTdDuqOacCdN7XCiq4rxl7d1QeejLJx-nrswf4UEmEkWLt3kQqk-MIPUvcFd9AV8gxnzM85qz91sUWbuao7MQt1wTuRfwZnNkoePLOwhlBdV4TSw_ljabmnxHUWy_1MH7NLK3JUMomEzqAqVxr0b9Y1-SApGX4ewRlZQXrgxrnG9lkgDs7UEom-MvvZ_dgevjQAKDPE6X8vCEek8TkgMamGicud4HLZnpo3W2VSi-qtwi6IaPwNffo5SuIXyLG-7gKKYnnvic0aa_DYSyXWJDl3C6guzagoVYNZnEroPoTzE8L25CjVSznIaSMTCndPL7-5yXcTUZpaG6SQCLDecXlzi8vfC11wZrjDvbvTkDVnQSZmH7EdJkiMmfmdwRM9YQwrJ1Al1koqcSohg_eJ8Y_MZxQGKavCpEokwyCZgPxE7I9-6KynYLU0FUaOqSd2M11GborK16IjK88noyUbNDXWGkSkbvzdlbVT7Tm1FfRtYDPztT-NDwAcYmI55sQAQw5Gl9kkaAodLYGr8kgYLXH2R1MSPwElvShod9GbV_uiOKOPPRG31ybdJY0yQm3n4xHE_W0UkavWBTrKyVNnbamhRX2ZfQgWSDq8M1tMg8ExVVY8VW3VUMvjLvHnznm0sHR_EVEjMychlSvHzAR__MKO0Spysd5oUYvc5j6n3cL8328_h4DIabKjjazZKqnHv2nhjgtuoklyyn5a0rASgTJ7B8lM_yhY0ZAaLyar62ngxFq_APjCxwpocbJlR98NTLrVKqjVfODbvBxs7czHzgawhOAPDYvdT15S32DrOfP-UJ-AVFeuqcwq3w669bpbWlWq7jor2wcDuaZNwWgZG2P-SVkDXgNaD3lM0eYvNamkky3um2jpkfv_HGn1NAIae7GSHxfVuNlHNohtAvpKeCO-CNBiyKGAukenwLJLwPEL6av5J01NeoT2YJNlCPlxNzRcGjAJvq2Gjli0Ab8ddpNQ8mSMn5vxTxuF_ocWGfhtPGER2NgY79uSH_8JmDiTw5oRFKpxXFC6BeB0AfXOCPxtDHHtajrSoJVzoN--LlSo1hyF3ngQRy7ilnCuaLKbCp9j34fc6_eXVRXzbphQXSY8emJWRkmmCPH2R9GvrxPkbgG173SYq586vUziTx3yg6eJ13xSg78jC1TgdgWxs6P6lPPdID2m8nYAooBd-xyam9FFCA9usXBeG9Se7YNGZp0EiNaW2aUWkGYXzwPWndtJXNZpeP0eUbvgmjm5JJHPXV-xqqFyVBlpXZxOVkiXJGKRJMLVyLDipmTHUbhEM02NPZZEJIgifRc3oYWXfBuaWO2jA1DQVpPQnhTsN7sn7OgrtrAClnVIML2lFl3FAJyFKQLfrTjKetbk4ET1DGUCTU4OB-9W5ZPhLs5ZpC0BOhwo24ExLtayAaBhmj31TdhkulABJ828oiNt_TXwWCwAFo78E_S1B72LMz60KvSfuc5ujpUaH4PwMvCnLuHiA_PsBOE1iu-as=",
  "id": "rs_009b83eae09bb011016ab42e21343087d0b8b75ab222409a23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.29,\"left_z\":0.15},\"note\":\"The dark fruit has dropped into the blue bowl; the left wrist view shows it there. I’ll bring the left gripper back toward the remaining yellow fruit.\"}",
  "call_id": "call_6TpoeYYGuhA6wrPd9DN5WEwB",
  "id": "fc_009b83eae09bb011016ab42e2295c087d092dba5b3382f857b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6TpoeYYGuhA6wrPd9DN5WEwB",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0809, 1.795, 1.4643, -0.9081, -0.6506, -0.944, 0.9963, -0.0025, 1.0107, 0.8383, -0.7372, 0.0288, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2851 left_y=-0.2996 left_z=0.1476 left_yaw=0.0161 left_pitch=-0.2854 left_roll=0.09 left_gripper=0.9963 right_x=0.2829 right_y=-0.0022 right_z=0.1582 right_yaw=0.1139 right_pitch=-0.3547 right_roll=-0.1896 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -8.6496, 7.0496, 1.3748, -0.5495, -0.1294, 0.0855, -0.1846, -2.7692, 6.6667, 1.5751, -0.0317, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1b045b369bcd19806a428883aa04aee888392d18cb3cb45cfcff37ea0a343d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5dce12e53b8ea0689b62824cc526b9bfd47677c66f3ebd34c3b82d1c240a418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7f38cc11946985353bf99e850da5fe37d007b2b71aaf51e7105bc833b459d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 4.131 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9714, 2.1414, 1.9442, -0.9207, -0.6441, -0.8093, 0.5432, -0.0021, 1.0061, 0.8379, -0.7238, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.3766 left_y=-0.3568 left_z=0.1551 left_yaw=0.0195 left_pitch=-0.2352 left_roll=0.0729 left_gripper=0.5432 right_x=0.2852 right_y=-0.002 right_z=0.1613 right_yaw=0.1141 right_pitch=-0.3372 right_roll=-0.1917 right_gripper=0.9963\nstate[joint_eff]: [-0.7179, -12.3692, 9.1966, 1.072, -0.6422, 0.0415, 1.0281, -0.0479, -2.2769, 6.8581, 1.58, -0.0073, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0027, 2.3104, 1.9617, -0.8486, -0.6399, -0.8543, 0.9953, -0.0021, 1.0061, 0.8379, -0.7277, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3749 left_y=-0.3846 left_z=0.0827 left_yaw=0.0287 left_pitch=-0.2785 left_roll=0.1087 left_gripper=0.9953 right_x=0.2845 right_y=-0.002 right_z=0.1607 right_yaw=0.1141 right_pitch=-0.341 right_roll=-0.191 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -14.9538, 8.4444, 0.9695, -0.5397, 0.022, -0.0611, -0.1983, -2.4547, 6.694, 1.4286, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0809, 1.795, 1.4643, -0.9081, -0.6506, -0.944, 0.9963, -0.0025, 1.0107, 0.8383, -0.7372, 0.0288, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2851 left_y=-0.2996 left_z=0.1476 left_yaw=0.0161 left_pitch=-0.2854 left_roll=0.09 left_gripper=0.9963 right_x=0.2829 right_y=-0.0022 right_z=0.1582 right_yaw=0.1139 right_pitch=-0.3547 right_roll=-0.1896 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -8.6496, 7.0496, 1.3748, -0.5495, -0.1294, 0.0855, -0.1846, -2.7692, 6.6667, 1.5751, -0.0317, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1b045b369bcd19806a428883aa04aee888392d18cb3cb45cfcff37ea0a343d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5dce12e53b8ea0689b62824cc526b9bfd47677c66f3ebd34c3b82d1c240a418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7f38cc11946985353bf99e850da5fe37d007b2b71aaf51e7105bc833b459d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC4phndk34sS4sKxhe_jxvCkvFQbUVDpH9QYEFwN7zMJu7CRAFgt5g0lAqWsB11jw77VSfcZ4twBUhzNAqxunLfjhN3pZ-Dp-g3OwzW8D13S5CDtzLB8XE9GNDNOTI8A2umqgsopj6RxUF4ebmN1npBM1GIA2o_2bJxwfsBVxbSZuA5_umBIofe_6SJnup8UdY18hHPT8avY5i20pivAls74ljfgFUVwsrfcw60amf21mCTwhkstiZaIeJt3Q_n-5j0flFx1tGvkEdU1kWqDxNbXzZxkS9_ls7fpZbffBFPQ_x62mUJ8AYldyrEuFXYmupRv_vMuU8Cq9V9j-QOTK-5Swy8ucW5JsPn7UenfRz0eZiuqUao3E7f8WFs7bOQgE7OFNrgBbvOut7_YwPhfMCenzWFkzij9xByDs0prt3Lv5yl3iMAm1396KAE1AHfSLxvPBt-xPVap8qaPmCR4n9uIus6gPhKxq9OyBJaw0q-nRk6H_PG8yySelwpvY2-QwMm4NGRS0jmzHdbZUdxYxy79CourSaNpObcxkp_f9eVqOxOQEbRsplqNHZsR-uSdA2pGfRCGLfTtdAzalF2JO5nD2nHxUfO-3ClWDve42iEosz19fgOsdoYNoED595rEnQiHpYDGgJa164vUFW21pcNHdt4AqvoGyH7ool9vzN8YWcwgUybl4k3_cEM4nXzKUkZ_oDQFpqitGgdMuBoqTR02L0VKsjqWlHVVRCAbtRyHdJwmMO5GvpDcFUj8hpSy5hvpzvGVG1HK8qAlxRDuZ_w0E0Dv1kuHamD0e1wvmJVZ0DFRED64TQRKQUVc5TTvz_f_AdhUmMCbDkNiHxw0A4YlaFBlqVCMLoKB9NxIVIFjNXF1f9LKvxXh3B_-9wvqQyUQrzwR5a1VtqSc6ikjxtRSTcelP7hFwDwy8eF_GUOWzA6j58Zr7NR031djRwfNjIK7NCu_PkY9LHfuwdP1Yqihc1eFUnikn7U06sw-0WeEWT53EpYElATa3vQgfyQjHKMWtmtMpupPq0LRpnRO1OWi1mEU2S-B3me2P0LFaKzZD3sxGGyQ_tKaZ8I-LqrBqTuqS0qs_ryi2W3YClKaguC0wIhrtqxPlBrxG2jfcJoTnwqyFFWbvOrNGCrJuEeX-6wbOhhw8npfgQsBuyxX1LhjryeWcT2sGqa3y_WptQG30RPofUNpr05MHxaooxM8yjalqwHynhOWnrFdtAeJTwBfUnoOKzLOf_0ykIHP-iD_AarElu7V6HdDqm-HdUIwIeBI9FV8PqPFHSgCO8fI-9s4iCuOtdDBO7lrE3oE3og_wpSWlCWT9gXrB8quOVXIuP_5vY63YmmwhRVqzDmp5q3n-QFPStp6ydEMyuY7ZZFqf1C9tEOmGlo97Uc2_OnkNJJhkm6X1iXbI_L50gr1YynKqosnVxJST1LSNoRQeK2mYWynG_mtXvQjnV1VlaQFKzeNAXo-9Zw7vDvAt-M1GkBueik54hZ0wpgU_ZVoECTsFsUSNGfZNRk1a1hI1W2592AJUtm301aG4Bj135HAjHH1ziEGCzW2l-8-u4ri_BipHFoopgtJz4w_NxqamL0m-A7fyzRnTYOBU2Sf7XsdV3FT1p5RHC6haYxI66720lgeo0_lhSE-hZhJKnqRDgMkC0kjtv30HI2S0XleREtRKmXU1TO3ITJOy1uykjvvVNne2nv_XIS0fII7ag-Kz9ucp0Nf1bGpx1csGrjNmWeQYXpYNSoxoZtc3JiotmN86YVfkIP3ndTdO6MktF2gHzndh1Ft29lfyGt33DshQYCTsHu9kmWfX_YAl0MiVwDErIY4y9635HNr5N4dgTkfws1lwltRJKoC_CJ7S5eZ8KdRSH2R8ro1bCIPQ_jbbP8_4T2VWnBOTbV0zny8v_2EPSzG_0sXacul01w2hy8WCBH2ETQEwRcBiXwmsHxN8n_eQy8S7ExZgJdo0fU_ZLndi8Pe5MGVRK5tiAvVRanI4LPgz9P_0yKAJaK00J3UtqcaHhRAPMKlDlxfAnhrexoeJ4Am5wOUIQ2SMQF8ToXxRvU1_MRF2rBvWmIXdFQ4vXmIVkVyUk0=",
  "id": "rs_009b83eae09bb011016ab42e27077c87d0b067472fc19a055e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.315,\"left_z\":0.115},\"note\":\"The left wrist view clearly shows the blue bowl holding the first two fruits, while the remaining yellow fruit is near the bottom of the frame. I’ll shift slightly toward that fruit and lower partway.\"}",
  "call_id": "call_iLEa1rrdrK3h1UnvMgrpBT0x",
  "id": "fc_009b83eae09bb011016ab42e2903ac87d08e80fc9ad1e4cb4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iLEa1rrdrK3h1UnvMgrpBT0x",
  "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]: [-1.0931, 1.8606, 1.4326, -0.8417, -0.6472, -0.9646, 0.9964, -0.0021, 1.0107, 0.8379, -0.7395, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2843 left_y=-0.3097 left_z=0.1165 left_yaw=0.0223 left_pitch=-0.3012 left_roll=0.1033 left_gripper=0.9964 right_x=0.2824 right_y=-0.002 right_z=0.1577 right_yaw=0.1148 right_pitch=-0.3573 right_roll=-0.189 right_gripper=0.9962\nstate[joint_eff]: [-0.7726, -8.8, 5.9145, 0.9206, -0.4811, -0.0269, -0.0024, -0.3214, -2.4547, 6.8991, 1.3846, 0.0024, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea8f33c7d989d433bbee5c9283fd362677b8f10dcfd5c54ba2be61773bbcd01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a5251e24e2e65c4c699918b58f63b77f5a7763bf1cb65eadabc2d42d0e0bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908695cdc3cac597b27d58199c06e7b9fd37d6b059a7570e02974610a278e17f",
      "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 · 3.748 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0039, 2.3104, 1.9598, -0.8627, -0.6399, -0.841, 0.5432, -0.0021, 1.0061, 0.8379, -0.7273, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3727 left_y=-0.3823 left_z=0.081 left_yaw=0.0241 left_pitch=-0.2876 left_roll=0.1322 left_gripper=0.5432 right_x=0.2845 right_y=-0.002 right_z=0.1608 right_yaw=0.1141 right_pitch=-0.3406 right_roll=-0.191 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -14.9402, 8.7453, 1.1111, -0.5836, -0.0757, 1.0281, -0.1026, -2.4684, 6.7214, 1.4579, -0.0415, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0809, 1.795, 1.4643, -0.9081, -0.6506, -0.944, 0.9963, -0.0025, 1.0107, 0.8383, -0.7372, 0.0288, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2851 left_y=-0.2996 left_z=0.1476 left_yaw=0.0161 left_pitch=-0.2854 left_roll=0.09 left_gripper=0.9963 right_x=0.2829 right_y=-0.0022 right_z=0.1582 right_yaw=0.1139 right_pitch=-0.3547 right_roll=-0.1896 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -8.6496, 7.0496, 1.3748, -0.5495, -0.1294, 0.0855, -0.1846, -2.7692, 6.6667, 1.5751, -0.0317, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0931, 1.8606, 1.4326, -0.8417, -0.6472, -0.9646, 0.9964, -0.0021, 1.0107, 0.8379, -0.7395, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2843 left_y=-0.3097 left_z=0.1165 left_yaw=0.0223 left_pitch=-0.3012 left_roll=0.1033 left_gripper=0.9964 right_x=0.2824 right_y=-0.002 right_z=0.1577 right_yaw=0.1148 right_pitch=-0.3573 right_roll=-0.189 right_gripper=0.9962\nstate[joint_eff]: [-0.7726, -8.8, 5.9145, 0.9206, -0.4811, -0.0269, -0.0024, -0.3214, -2.4547, 6.8991, 1.3846, 0.0024, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea8f33c7d989d433bbee5c9283fd362677b8f10dcfd5c54ba2be61773bbcd01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a5251e24e2e65c4c699918b58f63b77f5a7763bf1cb65eadabc2d42d0e0bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908695cdc3cac597b27d58199c06e7b9fd37d6b059a7570e02974610a278e17f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4uzzi2WjgIMHdyhvMVLAJ8W5lNFnH935zO8YkvGATKcON61BmJ4wGSmLh-pNVPXPiXedEPW-uZc3IPhrBMRphz1OHbrWKqj7-H37OXwMjgemasLKhH_aXrqxbf97tI1EWxb4501pEj5jNJSuDiTMZjjgeC4OB7-8iUag08Ofj696AJgesEc5lZ4phTi8KtyaUdb15CQXMm4fIEZEwYbNcaUZip46OG3NINlDrddmT2Fi2EQfwCgX_mfL29c08Ln0lD0kTmcGOxeu-Ofj0EMrUVXwyhBeggaG88GS_2lD2tuNZX9tDagogGmOk2tMD0B3q88LVds1eUHKNWA40xC44ft0n4dE3r-swqIoyxQtCdbp8WdV227-cX4-W8zYTJIVTehxNNxhFelhjnclGnOF-k0Ls0dwkBJMvCFTKxatAUifHsUJZH8StSXolAKBdDQ4FGtXiIge8VD4T-RUGvjnra4bD2Wwf5N9NsCWQR0nXSgPDOIZSzEt-JzcTdI9IAcZuQA3-AYkXjBCzRFrPZlDBodvhPPGMFgVp0_inJ2TdAdea1pD2JppKdNaNH5gKQ_mDfBfHAPoyU_ct3uDgOarNYeTZscdQ57FGNP1nwLVeahNokNYVPELNqBmyqEutgQEfpRaNmxDv35YR8uE8rhQJ78pUZl-Hj56eMFZIJbXbaZC1e0TfQfb47a3XyKD55XIEJkL2vG5x8ssVEuu0RgA1KdcZWLVzBL_iBSMuLk3XrxGuUsVAdSzvIQYrQnLx1cTeG-e0ul5aEwon4ZMx6nup3dypV9SE718qM4yprLNMw9_FLk7OuC3Gw98-ywSC5sWpyU6-0vF7j2pCernLFMt0CKsGPpEoNMP3W051a2juGfivTBTMvKNjQMwwPjN3rRDgccretC3OCkAZRnB9-eDmtRufXf2v6rN6nsq9MBIABcxP_rKGZuTiu-dJiOfyrD8R8dwFb8bMSsRYL7OgNFzU_1jUCcUOBRrtH0ahhT45lE4Hd440FY8zRTbwE7BtVVPxMiKTzeAqpVpy8DEHwLWD_2Q5cCk19zVOyo6ehKyBKrGL54i_GcbDnNgSH_s16R1qchFXPjiSwnndah87u560bAqYWFozB7Ooh2_n8PEYkMSgY-a4kaGKvli-9CNrmSdOFInLqMO2aMbfLWe0ohw90gZFa2N8V0VPjgW-Uj0ZEOWuJ6KEmQz5JUS8c367vtIfLVVNWIhni905bOjfF-KhlLXuzD9AwF82e7w7WS3qxsvUbc8Wxd52mbKy-yrMf2Q6eLm5_wLzaGho2QoLAbBvdcyIV9TbpdL1vtWlVSDeQdWLrHUsyvywR6efv802ynpQiMmjEE75mk5f-cQekleKsyN0srmYTUAtb2UETlh3YGqGsAJBzTDzXvR0s3awq23UG9ZrMq2VxvqDLuTt3gJ8hNfRRcG8xmsKXZS1nY5XlBSzm3jhyAj_Ir_f3EBJWeNDKMyt2dNwqU7ID3Z-RPB3EaNYQoW9T_govPbX-j-Md-N-OWNN9Tdg2gEQAvkynHsGSxXNFPSmXhilztjFsDSUoIcGBvi6C2dxJb-Xre_4G4ZFpERelK0SDshJU1ETEGQydoOAiq_QLfQxDWOBH7Hr-PuVbVz92KYr6woO0jZm97OZDkF_scy6W71lBDosW0HM6QejovR66N1IFdfw5eiDvU5kb2YyCIHJy6w3V9PLmQ5Mx6qmEc0ma41xmmqlp07UI5GWKu8jNl6z2z2byryEKUi0ukYe6Vc1wjaxRRSUxH2MbkyT0UF_EGi87L1pUdr93FH0u9doY46x6pO0d5H3UAAxHjq-xt7AOZEqKmx7uwJtB6p-UiMWDjcM3ZyX_GRqIfllJyo58NfjBKJtjAzQlZ5keoSwhh1m7aKcpMujHPKmX4_fVsAD3jE9cBeOFlaFdcMPbjD2apxhBzcbWeMfxWu276rd9uCGGQMXZyj-IVkFXX6vls3c7COKaAbq6qgJgbV1Dl2v_e-CbbIA4QPH9JvS3dg0yakzmG2HJGB8s5wcDXxsFWETLCAdIs-Cohx061li3VlXHH5yUsZG61MJMBcqUju5_nR5xQMJ2eyooOe29AYGZmBybcKlpCFUEOu60rBaOllIWIx-xSl5nRUeus3bwFZ9GMXks5WR7xtZnNn0TQu4Qi-ksjEyd8OzMQipbX2fRtD1H4bcyM9IDgBVPaq_Z2JhFj2eN0e4ABkK9Vt1QJUJnSvJhbVt5Q5BtahtVFsK69R2TGuwXlZs-tCLuV1bgo8gitP4ykMzIoKcrEFE31DN8pbwjzVvtSnsacmbIPWjqNRPVS6OpHMglrx8edE6B-liRCCTVO6Ad9yP9tHs=",
  "id": "rs_009b83eae09bb011016ab42e2b6f5887d09898e8cc1b202076",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.33,\"left_z\":0.025},\"note\":\"The yellow fruit is close to the left jaw column and separate from the bowl, though the dark fruit is perched near the bowl rim. I’ll lower the jaws around the yellow fruit and keep clear of the bowl.\"}",
  "call_id": "call_lRw7R1oXzomQyU8fRwYPw8QP",
  "id": "fc_009b83eae09bb011016ab42e2d9c0887d0b5ff975ffc80fd5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lRw7R1oXzomQyU8fRwYPw8QP",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.113, 2.0167, 1.3254, -0.5739, -0.6434, -0.9947, 0.9964, -0.0021, 1.0115, 0.8379, -0.7395, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2859 left_y=-0.3322 left_z=0.0388 left_yaw=0.0165 left_pitch=-0.3011 left_roll=0.077 left_gripper=0.9964 right_x=0.2824 right_y=-0.002 right_z=0.1575 right_yaw=0.1148 right_pitch=-0.358 right_roll=-0.1889 right_gripper=0.9962\nstate[joint_eff]: [-0.6632, -8.1299, 4.4239, 0.7448, -0.4811, 0.0024, -0.0122, -0.212, -2.5504, 6.6667, 1.3748, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f871a1caceec04adec7bde03bd93d510876dc104fab49eaa5b1fb637a9017e40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:367a8a59c4de57d1bac02e9cd34e32ce7699bb7f63ba4275a73a9411d006cc02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb5e96eb1d312a93fc911a012e526d1663376f68a98a63904fa383f3c8c69d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 3.047 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0027, 2.3104, 1.9617, -0.8486, -0.6399, -0.8543, 0.9953, -0.0021, 1.0061, 0.8379, -0.7277, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3749 left_y=-0.3846 left_z=0.0827 left_yaw=0.0287 left_pitch=-0.2785 left_roll=0.1087 left_gripper=0.9953 right_x=0.2845 right_y=-0.002 right_z=0.1607 right_yaw=0.1141 right_pitch=-0.341 right_roll=-0.191 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -14.9538, 8.4444, 0.9695, -0.5397, 0.022, -0.0611, -0.1983, -2.4547, 6.694, 1.4286, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0931, 1.8606, 1.4326, -0.8417, -0.6472, -0.9646, 0.9964, -0.0021, 1.0107, 0.8379, -0.7395, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2843 left_y=-0.3097 left_z=0.1165 left_yaw=0.0223 left_pitch=-0.3012 left_roll=0.1033 left_gripper=0.9964 right_x=0.2824 right_y=-0.002 right_z=0.1577 right_yaw=0.1148 right_pitch=-0.3573 right_roll=-0.189 right_gripper=0.9962\nstate[joint_eff]: [-0.7726, -8.8, 5.9145, 0.9206, -0.4811, -0.0269, -0.0024, -0.3214, -2.4547, 6.8991, 1.3846, 0.0024, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.113, 2.0167, 1.3254, -0.5739, -0.6434, -0.9947, 0.9964, -0.0021, 1.0115, 0.8379, -0.7395, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2859 left_y=-0.3322 left_z=0.0388 left_yaw=0.0165 left_pitch=-0.3011 left_roll=0.077 left_gripper=0.9964 right_x=0.2824 right_y=-0.002 right_z=0.1575 right_yaw=0.1148 right_pitch=-0.358 right_roll=-0.1889 right_gripper=0.9962\nstate[joint_eff]: [-0.6632, -8.1299, 4.4239, 0.7448, -0.4811, 0.0024, -0.0122, -0.212, -2.5504, 6.6667, 1.3748, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f871a1caceec04adec7bde03bd93d510876dc104fab49eaa5b1fb637a9017e40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:367a8a59c4de57d1bac02e9cd34e32ce7699bb7f63ba4275a73a9411d006cc02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb5e96eb1d312a93fc911a012e526d1663376f68a98a63904fa383f3c8c69d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC4zXa2GjCeppLDpIjqSL3noFmVmlOj9bRusGEo-gc_jOIZf7b4oykzdJbokBmj_vSX8bgp8kgKnlgRGbHevoXSnaKY5oNp2879VK19iMG7ZJXwvgUtiHHzq8KablJ2ppL1cdWg8FNy0mtUhshkh7yhlfzt2o1FJ49_vTn03mV2fWU6aJEOrSPTWs1-___HjVUC0cbTg3qLmrQQNV_7X7e01MSs_i5PHuzOB9cMHzcSSB0_5xMa3IOSy691rkwUYAlzx84e-3rdlN1ltTPSCO8l57Pb6KEOkKE8It9j7gtqEl7lf7LhWr-BcwDiHB-FhV6CuNVOFu3eN_MIe1Oj3-nQFV-M_uR3UcfQLObNm0yZWBqJt2N_ZoTJwcECNIuNPAwX3EW--SrBRaqjBI-QcScVuS6opoAeIEmQJQ0U4k6AFOPK0MOlrCR6eKQWlqWNb0ja3hIKSxDZk7hSKBUIMLkQcNA5xBsq9K3bQyytlo7uicImPcPxjwvx2z7Ys6Sxf6e2bDP5FjCt7Ul3CpVyB_7hugrnc_GxaUbeCT94mmYEeNGpuiC26sR3twjDg1-6pieFR4J00ztEygxWor39zQQrOZ27EK1UEJqk-O2CO_st9uauNRQjvAgXdDKValkrg-LCEj3I0mbxuaoYrxFpnbHgKfX0S-BAw9gWlZN5_kczQznwSruWZegt0ArvLKa44KvsjbB7iKaoh5npD6fvELS2wJqGKcvVydwMBzyTj6g6b2r_K6DPA-6rVbzWSHvFs2lES_HNfdBgVay-KgkMJpFnhomhZ7wIhHOj3HnoMZ4Zfz3JL0C06qYJtsjw2bIu0aoKvkvj-XEqYplK8lyxOAuubPSTNJFK3bfOi5eYO6Rxp-ReKg0SD0vy7-ONmrCp2uUeYg5mWtnj6N0h-p6hwJ-DydxezEj_Ocxq5t-qVeoZUHKQGxVzTKwd0cCqfllxE9NXhOaGNnFloth4Dc3B-JoEqlWQhN2-Xeu4qd3KbkyeueGPUTdNYQj2konC9JOYsAo1OVW5dB0y9QHtMJV-eUQYP35V0mBVMNyM8V1ljNjCK-wKSsdEirzb2KOD62kAukiOX-zSFGUW_984amUFOQ_NDsX9vLgLAUB_Zx2LcfvtLpOR0ZxaqIuTo-aZqcwvWcVQV4wwoh1REFqYb_ZUJrQgLec6P9_JYIGcPsDtopL2mv7774afjF6jd5GYoPddE_d_XJAoGVK6xM6oJcj-9bICff9bOjF11H1ZwkcriYdtUnSrSiJilTFaY7etv_aqWbVQdCFw7a0_YpAVGNixoZGHMueoHB5JqaJhzA29YqYapOiqgQTjqDU7Q6grJKsEQGwj_93bT55YoXGz7UM2_InLqvLGXX7_GuYYaKpnmZQHqJmveBBaV8ZTkvZi1LqHp8RQmNboj6UfIQwDcKxU8lIdNBu7I9w20xHX2fEbmP7ZZLf53dX_h62Qu6t9Gj16LvlGF3AN6JqHzrYI6sORdLR3AUWPa4gSWXLs9Uvsoch4Y2R0s6FjTv2cjgg8o97jJ4attZ_5P8irRgoNLoJgzaWq7LyHveJsA19sMug3NFsPuIEbY-sRwidxogRSRVouvaAOy9qLUPMVZBdRPsYbQxqxJ4nnYY7cv28jpAC_Exj0OIw61T2JxPjanmn64SKIGVIDt_d5kwN4jL1OCqQ3YHdZR17e6gELeIz9aa1J66YdYbgUzsQfrQfVsuwI4L-IPvEOyjptYJiSPQtWcGIJKdY1Cjv-W3Cr6ifwNVLa67QShtgAf70802A0z60uvnowSFuqr22oGm3Ppn0EJUorcEPGHHAWxCbaG7jGQWM3f7SSx0263N12pL7oQF2opg5O0HfKfmREItkIneLf9OKe5OUJjsFPOItpPYx1owKSOYoLQtF2cIOSQ19jaDdhcoEmZgMCeitfSNxhTLF8Hm-hjZTvqeqOPk_WhAfijkPoI83TugVzSvQLCB51r6BKEV4M-OHRbxeyVrY2Uuq9_ok2qNUvYa8h6eTj-D9kFe21-2VDS7A623-iGYaDspQrsgjNGgeCdUBMyeAddGZFNoFYltb7015tHT6f6tvN0Hn-2IFUrjysbWcx55JlmcZunDISccnHfsE3TY9M5AFQjndDX-_c0gHpWk04SZ9fFI7kozdr-bDTA-vc5pVvlQhbbNhPz9MVsD4b1I80H2P4AKJX89xBeEVUnJW0lrLqg5m34dpCWqBdRTpsrAtVzZa11hhu10orArZzRpUV2wgDAaYTuTtxouvcYmTcSrsO6fCiuxMNFZGE9N0dRSIgwQeRjcuTS70kqbuR-Pz4i296fUtwP9N9jTyB-bc54k0t2WwkavwAx6-c=",
  "id": "rs_009b83eae09bb011016ab42e304ef887d0998f639e5c9756ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.305,\"left_z\":0.025},\"note\":\"The yellow fruit has shifted left of the jaw column during the descent. The dark fruit has also rolled out beside the white bowl, so I’ll finish aligning on the yellow fruit first and retrieve the dark one afterward.\"}",
  "call_id": "call_UrJNSl0MYeI65PYEVDmjZwAa",
  "id": "fc_009b83eae09bb011016ab42e324c5887d0964a6b44e0deb6b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UrJNSl0MYeI65PYEVDmjZwAa",
  "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]: [-1.0855, 1.9762, 1.1992, -0.4526, -0.6369, -0.9836, 0.9964, -0.0021, 1.0126, 0.8379, -0.746, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2882 left_y=-0.3135 left_z=0.0259 left_yaw=0.0251 left_pitch=-0.2915 left_roll=0.0483 left_gripper=0.9964 right_x=0.2812 right_y=-0.002 right_z=0.1562 right_yaw=0.1151 right_pitch=-0.3656 right_roll=-0.1879 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -10.6872, 4.7111, 0.7302, -0.2759, 0.2906, -0.0122, -0.3624, -2.3179, 6.6667, 1.4335, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb826f29d5a209c05b3c0624ae543213d4a155d5d3197045cc3575a66282d3b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fb4161d27b1276080a2afd0a2337cc8062d2e9eb4a1f184eb567aa454d339ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f0332b5e4598981f730d77ce86056b263398859ae3721675d0f77f8fe8b91b",
      "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 · 2.798 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0809, 1.795, 1.4643, -0.9081, -0.6506, -0.944, 0.9963, -0.0025, 1.0107, 0.8383, -0.7372, 0.0288, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2851 left_y=-0.2996 left_z=0.1476 left_yaw=0.0161 left_pitch=-0.2854 left_roll=0.09 left_gripper=0.9963 right_x=0.2829 right_y=-0.0022 right_z=0.1582 right_yaw=0.1139 right_pitch=-0.3547 right_roll=-0.1896 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -8.6496, 7.0496, 1.3748, -0.5495, -0.1294, 0.0855, -0.1846, -2.7692, 6.6667, 1.5751, -0.0317, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.113, 2.0167, 1.3254, -0.5739, -0.6434, -0.9947, 0.9964, -0.0021, 1.0115, 0.8379, -0.7395, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2859 left_y=-0.3322 left_z=0.0388 left_yaw=0.0165 left_pitch=-0.3011 left_roll=0.077 left_gripper=0.9964 right_x=0.2824 right_y=-0.002 right_z=0.1575 right_yaw=0.1148 right_pitch=-0.358 right_roll=-0.1889 right_gripper=0.9962\nstate[joint_eff]: [-0.6632, -8.1299, 4.4239, 0.7448, -0.4811, 0.0024, -0.0122, -0.212, -2.5504, 6.6667, 1.3748, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0855, 1.9762, 1.1992, -0.4526, -0.6369, -0.9836, 0.9964, -0.0021, 1.0126, 0.8379, -0.746, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2882 left_y=-0.3135 left_z=0.0259 left_yaw=0.0251 left_pitch=-0.2915 left_roll=0.0483 left_gripper=0.9964 right_x=0.2812 right_y=-0.002 right_z=0.1562 right_yaw=0.1151 right_pitch=-0.3656 right_roll=-0.1879 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -10.6872, 4.7111, 0.7302, -0.2759, 0.2906, -0.0122, -0.3624, -2.3179, 6.6667, 1.4335, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb826f29d5a209c05b3c0624ae543213d4a155d5d3197045cc3575a66282d3b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fb4161d27b1276080a2afd0a2337cc8062d2e9eb4a1f184eb567aa454d339ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f0332b5e4598981f730d77ce86056b263398859ae3721675d0f77f8fe8b91b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC42wLA6JH1fCDwRTXKOHgNxT-89gp_JXpzPhOfvemMka57PUS32dC8qCDYyU6DnzgW22mZahj6Nt3bNPNAwmMqUYEkfUgVFlantX2YcFW--YFWVV7Bg8Iyo2tLgTd7zTFZAR3gSU62AzVF788N7C3FPf43Vdn5UIWBmbqOXFWEbugb3bJ_A-yL-Bg9V5Fm2SgrKbHMkqePXdVcpiJOt5oCqi2CcjPolPQqLqqTJvxpoY5O55_hWT3mnGxMM8Ds5ygY3AbJ6hgibOWlxbCRDlkBdPMiN16eDCLEhNIoFe_wf3DAN5l9_Ms88fdpYG-RA8cHPCJJfYsi95mk5zpryEKfXTPPjidVDPAJPAJFDUrPBuYq4IqM3foEj4jpSaPLIQFhnCGqbjW0LKV2AoTk6IqziNOX6SVGbEDDNhQ0Glwt-liasFBP1amGDW32lHKLcPCY1ax0CtPeVSmagbDzAI1xjQtjZB_fAYzFi_iQQRqq1Faek6NwXTJus79qj5W5RIYP_6-UkqpQhsYLr51LYdQz7WsNQmH7r8rAvVr4keS2r92ch7gAdVp2Gp2YHBUd7AGA7PclFonvbuPBucCkYT2vcVUgy2Yge7Njf555z12jtJNnU4UaUhj-Scsc1eNzDpbKx6zEDKS3xr_UtTDozxjWwYkP0IMPlBPcfrw9EOfDPm0a5BiZjdGiVQgaK5ZcABnKhazmqB328U2EfWIBhZMNFj2V5OIeKMK_ei-rvuCMox8gKB0eClWaObCRpuKVfKECJxpu1U0Bzr0MULof9rBzbB9OgxkQhI1u65fXa0UsHjFCimdmuHkgxtNZ6cDRHjzAtoAMWpM40j_HgA1j6yxBLFASAouxQxegYgGl7xYKNSRNKPuo6fyamxtMnXaC_6wa_8ebhsYGqqDh4Wjx_UgC3ExWr6-HUUia6CyQm21qX_NwtNoYpbXBqQ6CdIxKleeG3_Gzg_VoVfqFN8qIVdWmpsQIYEp5lrq07eRpZWL37MD2AIqWAihM3TX2LSAEX-UwUZMfKYz1vnY75UG5yTdBTP1_nB8PskPIkEn7_PSgiz_xoJqkSkB7_Lg93avScNztLU7mndyCHYv33wKFl1kuwApMQmBR4ZLkz2IAk5TzZ5r0lGHElA6DEaxeMjQioq2FqXGBNxTMNcJGQ4Efdk62IOcvyEK7UtafxBfzNOISFJfGy_IWjy5TqKR0fv1MBXDTQG3t-u2y1lyFWtEvEF7WcE-5GnpGCA5YMyjbNHyscqCAp31wuWfVhMWbNWDcRmm9_kf-YpsLD2py0W4mdeZFQebxUCBoZeQo2KP_2F9w6es2d4sUm8f_iirV8849CBCM-sA1cas5eSNEGKSX87pXf3-yM7yYMz9Sk-STn4cIIQOvM2gXAsAOYwo9dpECkBrF1O9dxF--gIwwVpe9OdHPieTZJzYOeUc-4adaoim0uVlgCyLA-qxbUG-5MEegHY7ai4--iAx4s1GI1OQ7VtMJ8OyaGM3sSmrS0ayjPbQuO3VL3lKZ6aa8eLdSB9H3JSFYq22sR6C1kW4Cm-E6j6pbUsrH7ji9TS70YHQhBssOol8MXIYqC7SNhVyEp-qgCFATp63q92IjfUlComZBjHWdJoXyJQ-CVCra7_PK-DgP8gUUmEi3MomcEJ1oC7BB1U5n4xgAKPOQ6tRmY6vlmkH1uBFoIY5zk0jFKFDdt9iAMJCo-80lU6CZ-Z8VUKsABgYBjsM5WbH14pdLWrRyvK2DESeAzY0XmUMZ1iRHpNV6sTMEk3tIM2G5oXHdV4GNEwvFDfWNFqxd6LeR7YFOlUGXbQKgoOEhhSap6m8nhHoXqwfaAYpltpMhDkCMgvWmXaEqi11H5hkJK-MpN5iHJVksTfNUF1XZw05qQ-EKDUVb4d9bYMrRM75V3P-aY-rdT1jmFmQqNXddzudzpweAnio_fgYhi8BiRStVasuaglUW-1XSU-8UpQQzB6ZaDlWBmfVQPl-TdlRmfPP7wvmgqxJmG_Q==",
  "id": "rs_009b83eae09bb011016ab42e345cc887d0ae45814beb31bff6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The yellow fruit now fills the center between the low jaws. I’ll close and test whether the gripper has taken it.\"}",
  "call_id": "call_XrPC4oSGXLBeTRnY2ghAHCKU",
  "id": "fc_009b83eae09bb011016ab42e35e31087d0a692eefb43a2770b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XrPC4oSGXLBeTRnY2ghAHCKU",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.956, 1.2106, -0.4103, -0.6579, -0.9962, 0.7782, -0.0021, 1.0126, 0.8379, -0.7467, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2962 left_y=-0.3239 left_z=0.0427 left_yaw=0.0227 left_pitch=-0.2411 left_roll=-0.0202 left_gripper=0.7782 right_x=0.281 right_y=-0.002 right_z=0.1561 right_yaw=0.1152 right_pitch=-0.3664 right_roll=-0.1878 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -8.2667, 4.9026, 0.5055, -0.188, 0.1099, 1.0281, -0.1573, -2.4684, 6.7761, 1.3358, -0.0073, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668deed627928452dbd56b507b8d91b8289b9c07e7c937e482bed6a371220613",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f83b03c8f716e7f7cc03eafa06ffa7119427bc8e83bd2ef7a814ae159b9057",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db476ea160f637a33360098bc6e2b209260f0ddd554e6cde6e602c28546a0db",
      "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 · 8.213 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0931, 1.8606, 1.4326, -0.8417, -0.6472, -0.9646, 0.9964, -0.0021, 1.0107, 0.8379, -0.7395, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2843 left_y=-0.3097 left_z=0.1165 left_yaw=0.0223 left_pitch=-0.3012 left_roll=0.1033 left_gripper=0.9964 right_x=0.2824 right_y=-0.002 right_z=0.1577 right_yaw=0.1148 right_pitch=-0.3573 right_roll=-0.189 right_gripper=0.9962\nstate[joint_eff]: [-0.7726, -8.8, 5.9145, 0.9206, -0.4811, -0.0269, -0.0024, -0.3214, -2.4547, 6.8991, 1.3846, 0.0024, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0855, 1.9762, 1.1992, -0.4526, -0.6369, -0.9836, 0.9964, -0.0021, 1.0126, 0.8379, -0.746, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2882 left_y=-0.3135 left_z=0.0259 left_yaw=0.0251 left_pitch=-0.2915 left_roll=0.0483 left_gripper=0.9964 right_x=0.2812 right_y=-0.002 right_z=0.1562 right_yaw=0.1151 right_pitch=-0.3656 right_roll=-0.1879 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -10.6872, 4.7111, 0.7302, -0.2759, 0.2906, -0.0122, -0.3624, -2.3179, 6.6667, 1.4335, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.956, 1.2106, -0.4103, -0.6579, -0.9962, 0.7782, -0.0021, 1.0126, 0.8379, -0.7467, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2962 left_y=-0.3239 left_z=0.0427 left_yaw=0.0227 left_pitch=-0.2411 left_roll=-0.0202 left_gripper=0.7782 right_x=0.281 right_y=-0.002 right_z=0.1561 right_yaw=0.1152 right_pitch=-0.3664 right_roll=-0.1878 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -8.2667, 4.9026, 0.5055, -0.188, 0.1099, 1.0281, -0.1573, -2.4684, 6.7761, 1.3358, -0.0073, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668deed627928452dbd56b507b8d91b8289b9c07e7c937e482bed6a371220613",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f83b03c8f716e7f7cc03eafa06ffa7119427bc8e83bd2ef7a814ae159b9057",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db476ea160f637a33360098bc6e2b209260f0ddd554e6cde6e602c28546a0db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC4-jBFGBHl_2DNmXL3ObuP_jbWGicLAwYms9yRIDBo-KSWvV5TBQlJLM9BcJkdI7a84aOhPWp74zDfyV-lfAAOMqwoUrNm9oyBrv8eYBpurtRarBxk65LttYU7XG38VuqN7ADr-IQO2X5WAjWZqKtR4EVRGfLxJH7EpMkFq82GzlDzetruoRwadiTO91GMwUqXp7xj_n5H67PTi4g0LkKtuC10U9-nqkBBi6Drk-kg89XqpaFgr3UxBwcNpqQvvPzAEz2IxogmxjEqW1wXKUezLU-V_Geelhfn9csNnqyYbQeNqDVFapU7vv9uWNwZsSBvqtPCvVHyQH2_buNOvAzoeBF7PcQ6PNEvutnvHEqpYLsHUo_tXOALxRwJp50vw7W1hQGDToG-XgXWnbiIy6TjSkay-NoO1djvvPFcYBYFpKbgwRrSvYTF283rmC77mbO4xHFEE2vk4ytuy8RXqFjNxoS2zha5k51APzMkDCED5QtOS1coow3mZUWzgbaAi0tdC9UfmExUI5RQW1a57F6n7_HrkdTa5JalVe7lfz2YEciHqhgIFU-lCdczAAqZsuezE7vVUbCeULGN_9Esr42rhO1cTC7tlbDQYkzWjGOGPScylkkACFV55PKUrnFdkp9nZD_jfKiu9YC04UPQ8-no8IZewtwi71oPo5rDimTVU6V8VoBWqanha3KnD7-gUIA1P9gdjEi8ZZWOs7PaldcxSreYzSSrOpZc8l2gJct8Pf_x4s5L6pGv4ogWyO52xRVnXnrpbnK6QOYStp4TIURMXxaslK-ed1gGr_mOgB4Lp_MDC7s6eKRrQrFKB0ygHXG2yEkZRTMzdtOnCAkNXF7kegR_YVu0dJ5F3zTZoBkXDviFcw0sl33bxays5RmG60qvsMI6FI3ZJ9CwGlwDeQhm5LPbcB21jukj8TzYiN4WlxyxX_nfO-qV3PyETVf-v13X4PqGatILr5IwB-VSPeA2OAyrWJ_P-BYgyaTdKBXmxXpc6DVDbi6w5AgPb4GBRtd6AQLmhSF1jw34Hirrjw0cscorC2qgjSVOsdnnk19aeNnguxulihMXiNJYkZB1Lir8znVedKjhobSxxPtfG6bQARmPh4j4-OyV73P0ukinjFv4Oe7q7rGw796NUklx8igs1UlI7UVZ4Gv2jTbgBnwJ1oKxr1G0KP4mLO6fJXRnrJLgVtj1SrQcO7uRXXkR9EUZwHDWI76Ks9zApq-XxOJ8mw5_9iQkojdENvlWqXF_8vgiALzVX4Gx8xwHOHir2lHoGyAJGpWLTyuJPkcJSpX3juJdZZdRiMeq7J3MZAhgOKdbVQxWVL1hP0kDVY6rJvGC05C1Va3uDonCtHCs_0HAaWhDzLatkvEp9_4EnnxqgE1obC89Zi10L-XIpJO7EAPyUu0qSYTXaLpy43TFMSOIT8Jg5d5W0PvC1H-irTQiqGKXlrZp-WYjG4L7-6Gbrv0tjhyfVbpHQjgba_AxueqCahByu8rjLzeTRMTdHu7UFhU3u6GG_OUBC67_BHZHRYuhz",
  "id": "rs_009b83eae09bb011016ab42e3ddb0887d0ad787fa16ec417b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The gripper stopped substantially open around the large yellow fruit, and contact nudged the arm upward. I’ll lift to see whether the fruit is securely held.\"}",
  "call_id": "call_KUKk5REGoN9yl7OzCM5CElCJ",
  "id": "fc_009b83eae09bb011016ab42e3e2ff487d08c696efc2952c505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KUKk5REGoN9yl7OzCM5CElCJ",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0866, 1.8656, 1.5299, -0.8303, -0.6395, -1.0039, 0.7773, -0.0021, 1.0126, 0.8379, -0.754, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.2972 left_y=-0.3309 left_z=0.146 left_yaw=0.0204 left_pitch=-0.2608 left_roll=-0.0238 left_gripper=0.7773 right_x=0.2796 right_y=-0.002 right_z=0.155 right_yaw=0.1157 right_pitch=-0.3736 right_roll=-0.1872 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -12.5197, 7.8974, 0.8474, -0.5739, 0.0415, -0.1001, -0.1846, -2.4821, 6.7077, 1.3944, -0.022, -0.0757, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9753e90097c08ac11e0d9b15334dfd5699d103698661f952d9f4d5db4c5f0e2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41756dac065863f34a06b7355228f48bf21cf94659f559346862793cf60f03bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f00d6e74f1e49e8c7f64b7c3de1c16fa0179320a6ef50df4c5e1ac5f8a72ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 1.95 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.113, 2.0167, 1.3254, -0.5739, -0.6434, -0.9947, 0.9964, -0.0021, 1.0115, 0.8379, -0.7395, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2859 left_y=-0.3322 left_z=0.0388 left_yaw=0.0165 left_pitch=-0.3011 left_roll=0.077 left_gripper=0.9964 right_x=0.2824 right_y=-0.002 right_z=0.1575 right_yaw=0.1148 right_pitch=-0.358 right_roll=-0.1889 right_gripper=0.9962\nstate[joint_eff]: [-0.6632, -8.1299, 4.4239, 0.7448, -0.4811, 0.0024, -0.0122, -0.212, -2.5504, 6.6667, 1.3748, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.956, 1.2106, -0.4103, -0.6579, -0.9962, 0.7782, -0.0021, 1.0126, 0.8379, -0.7467, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2962 left_y=-0.3239 left_z=0.0427 left_yaw=0.0227 left_pitch=-0.2411 left_roll=-0.0202 left_gripper=0.7782 right_x=0.281 right_y=-0.002 right_z=0.1561 right_yaw=0.1152 right_pitch=-0.3664 right_roll=-0.1878 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -8.2667, 4.9026, 0.5055, -0.188, 0.1099, 1.0281, -0.1573, -2.4684, 6.7761, 1.3358, -0.0073, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0866, 1.8656, 1.5299, -0.8303, -0.6395, -1.0039, 0.7773, -0.0021, 1.0126, 0.8379, -0.754, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.2972 left_y=-0.3309 left_z=0.146 left_yaw=0.0204 left_pitch=-0.2608 left_roll=-0.0238 left_gripper=0.7773 right_x=0.2796 right_y=-0.002 right_z=0.155 right_yaw=0.1157 right_pitch=-0.3736 right_roll=-0.1872 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -12.5197, 7.8974, 0.8474, -0.5739, 0.0415, -0.1001, -0.1846, -2.4821, 6.7077, 1.3944, -0.022, -0.0757, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9753e90097c08ac11e0d9b15334dfd5699d103698661f952d9f4d5db4c5f0e2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41756dac065863f34a06b7355228f48bf21cf94659f559346862793cf60f03bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f00d6e74f1e49e8c7f64b7c3de1c16fa0179320a6ef50df4c5e1ac5f8a72ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_009b83eae09bb011016ab42e40d36887d09a5d9ff0948b4f4e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5HByoXO9uUbql5YRUBHOTug1nFx7_7UZZVCPQVOe6y8noX8JtPY21KzJDdW9i9HfcSA8ZbObXi6JOVAgM2qF2PcKfcqh6jzZKJ8crVh5ZpNyhIz-2yXxIsZbZGrVjX7IzNUPxBlungLt29Wimwa-fn_sRpK6XslpQx_xYWJuFadhe6gzhVGH4SuBkJFjT4kfqvBAboTeyc3qXj-5r5TzJhiqqPnjYVmh962O0knZfe3kf7bYOH2P_bwK5DPc5HuFbfFAG5msbv6TJCCORKEaFbOhGlUEVvOIEFsKe8_y8vO1gV2YvTEsFIuCky3dtZK-8GV8xzS_01J5-1VfIRpcZ1ma6U0xdS13xwKkoYwk5SNGOc3t4AL4wugvBiEY6EeYnoR1jYPjvrIVfFuWICM--NWLz8OFP8Ohw5Qw4ZNOMgewDMYr-KYwrR4KMwb71ykTrqH_LKXlQ4cCbi7-LUisVJlWMaIYFHAh5rCF-3tYEBwc2Zfr6BtI87aqpYnDQwF12GAHqGMeqqy5J2Iekkt7VzyVGU83rZB3j957zUOTHHFdZbbW_3tE5l7dhFPdyJ4zpCUpqY16ILjqJIxeUvZHcPs7uvF_lIy-vu0WXDZnJ1RWPc2JmHrmirpmg5SIO-JtXiMGm_mVironinvQkGiPpmHmWfDu8tw3TOiBgtFdxDMwT37uH6SEy-DAE5PUEUFsqSDQiOw6_o3wT9QS6xNIaoxlWwEWLHOEeoObjuc9e9GavILXp1IboxdKOkBHxbP-HJB1UjDcyfCeFQs8RwF8J-kN9ieTRZZ5SJlghACLmGmnb4a8qTG8nDuNrUs0qJksUQzJxsO6eCyXD0W1ftmH3xyy-CuskC2C8bICUNhOUGZWQjr_M865Iz9sh-tl0HT_zCo2Pg3ja0c1LL26qUaZ71N8Mp6Fsvj41ASPugdKBSYEsnsVGt8UwVxSJOHuX05TBOeYQoUo_9xZscaJ3YTQGFi-JymtUmQq12DJIw1_4Oyhlz5NZJNqu2IMieUZQgr3O9L72Ea1ap1JClosrZqf91w-3e1eWvO8CpM01z4UPd1HP3OSizOubowZ5_SnHIND4dwuwwtmXgen9su0VRUHW2mwQHWZy-7Sbx2jeeAqZ6IVnGkrLyUqt9rNEoQcJ_hteZZGj7-VJUWbYH7Sc1oLQygNObXX7xKGqR8my098-uSMfFmpkuFotEHnTSZGdiBInGwbwlJbJYbN7w34iQbOriN0AsY22nkRCVWmiA1lD-B37LTBTFvrW__osomGDhdzAOwzx_Qtcs3nLSMeI3bggzzGzWPDLtyehOOvNCMu0j3McVsStjEnsjD0pq1Hpn7hgFhNJWotRw6yHdRHP6Y83cwwn8wBHrMs-CLsuo1oM36QPO1DVteuIXQLkBjrSBnoRjNjJkcZFjWfZf3CrO8LPiRiyff5di8Y09ypia_M5L_jJz1VIUt1fDtqHZV5om2vI-S_zeaQC9bwqDHQQxtc2sESPZk6CSdgTNWpN3YGgEf7PHNp9pgYc6bBdjWUol0miu99kgr_oSRG6z2_22FBM-9Cym_Hwm2ShAkm9S_ohucHYZXTi44RDuL8OLNXkwArDUI-vVhryLkZBQDFAdZghdpJOhOzzvnKMFkOOzJtS417WE3vEVTiTujx7JBtZ-YR6ihFs9Uidpw2B1ku1wB_xIhroJhSvy3MnR3_GVWLMP3vG82Bg0side8L5QlFZxxYrXWQghmomzLD5_KsQOIIyceb3cm0bNB510vbGpjWxGwuBh6BxcDPdaWZ4PcMVhaND-3XOdQ1kPOvc8eRd-Uy-FnUADVpGBxxLcDKkjv65Eic8XaHJXSOEUwi3j_T6AS10CwDzYnDOLuzLqfyHITMdBneZfj9z1s36G5MmWLnlrlqZFRX5S9A5cDtC4VUAQHPCrNSSl3Wz5oc_gbzw-zIezUFcCRHx58dhoNiGuhG1m80O0Ih8kEokIHSlcIkmq5n40sxpNO8XNeHqS6vKrLF7SNw==",
  "id": "rs_009b83eae09bb011016ab42e44b46c87d088e05fc69c336df0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.07},\"note\":\"The wrist view shows the yellow fruit already inside the blue bowl, while the dark fruit is outside beside the white bowl. My last close appears to have caught the blue bowl’s rim rather than a loose fruit, so I’ll lower the bowl before releasing it.\"}",
  "call_id": "call_wHXckag2akg0HaHIY7ggov48",
  "id": "fc_009b83eae09bb011016ab42e467ce487d0abe9161f05d13fb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wHXckag2akg0HaHIY7ggov48",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0866, 1.9274, 1.3266, -0.6228, -0.6357, -1.0031, 0.7772, -0.0021, 1.0126, 0.8379, -0.7544, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2916 left_y=-0.3215 left_z=0.071 left_yaw=0.0327 left_pitch=-0.2894 left_roll=0.0288 left_gripper=0.7772 right_x=0.2795 right_y=-0.002 right_z=0.155 right_yaw=0.1155 right_pitch=-0.3739 right_roll=-0.1869 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -9.4564, 6.0923, 1.0574, -0.3932, -0.0415, -0.022, -0.0615, -2.3179, 6.7624, 1.37, -0.0122, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06de8762e7db82cc0bea3283c57fcbd222d5fcb00cdc024cf5867d9b71472137",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1287c95cb29535098a3438284f02768b959fe7e55337e582b31ed080b785d54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fbb6246ff9a095c1391e435a86a85380f5357cad71b964b2169e0b31874f632",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 4.477 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 115 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0855, 1.9762, 1.1992, -0.4526, -0.6369, -0.9836, 0.9964, -0.0021, 1.0126, 0.8379, -0.746, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2882 left_y=-0.3135 left_z=0.0259 left_yaw=0.0251 left_pitch=-0.2915 left_roll=0.0483 left_gripper=0.9964 right_x=0.2812 right_y=-0.002 right_z=0.1562 right_yaw=0.1151 right_pitch=-0.3656 right_roll=-0.1879 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -10.6872, 4.7111, 0.7302, -0.2759, 0.2906, -0.0122, -0.3624, -2.3179, 6.6667, 1.4335, -0.0171, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0866, 1.8656, 1.5299, -0.8303, -0.6395, -1.0039, 0.7773, -0.0021, 1.0126, 0.8379, -0.754, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.2972 left_y=-0.3309 left_z=0.146 left_yaw=0.0204 left_pitch=-0.2608 left_roll=-0.0238 left_gripper=0.7773 right_x=0.2796 right_y=-0.002 right_z=0.155 right_yaw=0.1157 right_pitch=-0.3736 right_roll=-0.1872 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -12.5197, 7.8974, 0.8474, -0.5739, 0.0415, -0.1001, -0.1846, -2.4821, 6.7077, 1.3944, -0.022, -0.0757, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0866, 1.9274, 1.3266, -0.6228, -0.6357, -1.0031, 0.7772, -0.0021, 1.0126, 0.8379, -0.7544, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2916 left_y=-0.3215 left_z=0.071 left_yaw=0.0327 left_pitch=-0.2894 left_roll=0.0288 left_gripper=0.7772 right_x=0.2795 right_y=-0.002 right_z=0.155 right_yaw=0.1155 right_pitch=-0.3739 right_roll=-0.1869 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -9.4564, 6.0923, 1.0574, -0.3932, -0.0415, -0.022, -0.0615, -2.3179, 6.7624, 1.37, -0.0122, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06de8762e7db82cc0bea3283c57fcbd222d5fcb00cdc024cf5867d9b71472137",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1287c95cb29535098a3438284f02768b959fe7e55337e582b31ed080b785d54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fbb6246ff9a095c1391e435a86a85380f5357cad71b964b2169e0b31874f632",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC5KbtH5Bd4gThfh3mxvlXm2cKjDFmmpiM3aJ0HWGpDQneusOcjkWEQsa4T4YGr_dPNnxiXp8BhnHPyYXVjBIUJdn02sExniGHmAfId_G2L5MPVjFr2nVaY4pSjCg6ExCsOkqQmkYKIsRgQlB2N9lYLnyaknhOrjq3a2P_sQtwJgVGFcAAo-xuCPUtHZMNlvu0lIcQ7QdFI2BNQ01oBmXAWsuERsKULhuObLGrhEHSrq-_RMCGXfyeQ0h2P5WYl-6m9TNKXrMqcq-iLJj2lmMeubQXSBNhe6b1WAorZcstLORdFKVj4M3WR2q-KMn9vtWTVibyiQltbGV6ajj3OsT31D8KZ21YzHDa1rYIXhS9tP0xNJXRGXGOdJCfVdohSPCAB0L7s-TGVou2GyE9jVK3Tq-bRmXumDCA6iTaiNO-hAOxnlKRozi-8Aj68asYbi1RrsjMMi8TdRONbPi8OI9-2lt2FRa_75vWByXQSNbDERJju59aEoRPvrd9Kwj7axw3RhKkWUs52u7BIFWnCTKw9gDMogSrKWg4pUY1UhSJcZJDmVaxW7IhcKa5hrY0j170V_Qn9uSp2-ksWIsJohavE9v2vuWMMEnPCO8hp879QZrZrj6FlB4GdeaJug9IHm3VVdyhM9rVhySxQjtxGUB8Iyw6On3LikT9v49IcAhBvk9JE3OW8HJ7QFtkA9dT4TUz9xEiW7NDJAS44FD6H_HPteZw9GbS9vmfJC9I3aLyGmCGJWmD5_wo-HM15dpW0HcZSWq8y-YJzkahMD-0ppOZmOccfUe2sUpREM5DxdO2PHGH2VcF321rXoJSzPKx9oPLZtJx4dtFI8bjijoqmn-vWkK4-6AF18bI-PYct9gDyUtCTQQCTRHghZ7oYxROG-zVK0U0a26KVAf_nc0tFJnKTy04VMq2uZ_TSQ7Vb2NZ_ULjdlNt4qhz8UWHbtg2oJzSgFI3xAF5IH2FsOfDDNDoups64UiwqrHz3YVsOuWSO9kLL3_uEWo-0EL5Qnso4cZALL41b69HSKbqe_-HwM3u5A_Tw-UtK9I7vsPTuRd-Ev7ucdnZCFF4ONSwC_mxwpnBhyASpioHNHEeuFaLys7PoR1vx96-7b_LwrXlvDTI_d4ybzYB2jFntbWN_csGwVyL2UmWjzAwMlvAUyHacEdunfYf92UwsdFUDjAL6Gs8NgGVxEUjFabMdEtPTISybHRrc0-gnFvo3-w4nDxkcPYRv2wE7cJfTgEO2vCb1cQUF-zwkuMFC5B4DnM0KHqSNRN3uf6NAYg2h-qSrgwIb5_ogrYw==",
  "id": "rs_009b83eae09bb011016ab42e49355087d0bf3eada39fb24f85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The blue bowl is back down near the tabletop, with the yellow fruit visible inside. I’ll open the jaws to leave the bowl in place, then recover the dark fruit.\"}",
  "call_id": "call_HCHc0YEcNdqkIJti2tQiictL",
  "id": "fc_009b83eae09bb011016ab42e49893c87d08799c56239fef62f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HCHc0YEcNdqkIJti2tQiictL",
  "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]: [-1.087, 1.935, 1.3128, -0.6018, -0.6353, -1.0031, 0.9961, -0.0021, 1.0126, 0.8379, -0.7544, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2914 left_y=-0.3215 left_z=0.0652 left_yaw=0.0323 left_pitch=-0.2899 left_roll=0.029 left_gripper=0.9961 right_x=0.2795 right_y=-0.002 right_z=0.155 right_yaw=0.1155 right_pitch=-0.3739 right_roll=-0.1869 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -10.441, 7.0769, 0.7839, -0.398, -0.0317, -0.0708, -0.1983, -2.4547, 6.7897, 1.3211, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caca18d03be91dfe82d69495457ba5d533895aaf967d842f1bd31d7dc8e709ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d3b9869aee3776409fec032f9fe7a14ae8dc660de20594012cdf2626b9421b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdcce73006b3b10d059d28063278649a229cfd8c61d8e130841021ed2c2cca83",
      "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 · 4.852 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 115 changed as sent

message 119 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.956, 1.2106, -0.4103, -0.6579, -0.9962, 0.7782, -0.0021, 1.0126, 0.8379, -0.7467, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2962 left_y=-0.3239 left_z=0.0427 left_yaw=0.0227 left_pitch=-0.2411 left_roll=-0.0202 left_gripper=0.7782 right_x=0.281 right_y=-0.002 right_z=0.1561 right_yaw=0.1152 right_pitch=-0.3664 right_roll=-0.1878 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -8.2667, 4.9026, 0.5055, -0.188, 0.1099, 1.0281, -0.1573, -2.4684, 6.7761, 1.3358, -0.0073, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0866, 1.9274, 1.3266, -0.6228, -0.6357, -1.0031, 0.7772, -0.0021, 1.0126, 0.8379, -0.7544, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2916 left_y=-0.3215 left_z=0.071 left_yaw=0.0327 left_pitch=-0.2894 left_roll=0.0288 left_gripper=0.7772 right_x=0.2795 right_y=-0.002 right_z=0.155 right_yaw=0.1155 right_pitch=-0.3739 right_roll=-0.1869 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -9.4564, 6.0923, 1.0574, -0.3932, -0.0415, -0.022, -0.0615, -2.3179, 6.7624, 1.37, -0.0122, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.935, 1.3128, -0.6018, -0.6353, -1.0031, 0.9961, -0.0021, 1.0126, 0.8379, -0.7544, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2914 left_y=-0.3215 left_z=0.0652 left_yaw=0.0323 left_pitch=-0.2899 left_roll=0.029 left_gripper=0.9961 right_x=0.2795 right_y=-0.002 right_z=0.155 right_yaw=0.1155 right_pitch=-0.3739 right_roll=-0.1869 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -10.441, 7.0769, 0.7839, -0.398, -0.0317, -0.0708, -0.1983, -2.4547, 6.7897, 1.3211, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caca18d03be91dfe82d69495457ba5d533895aaf967d842f1bd31d7dc8e709ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d3b9869aee3776409fec032f9fe7a14ae8dc660de20594012cdf2626b9421b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdcce73006b3b10d059d28063278649a229cfd8c61d8e130841021ed2c2cca83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5OYBpmMVbWr22lHMvxNXeZ7u_1OYNtYy0aVI7eLUpl5R5u5XfBLlVnSp-ipNT1hTgcdT_A9oCWoVyW5MM4FR8dAb76PVbUtml_Q23D_kQDfIIiXv_JOeZTkfTDg2Y0fZ4bvRwyPYiEO0bRbbBr5pMvlS48IPrYYLeim690CMDnVn49NuuXbTEsryAgz8Zpo-OorWpTT4o8vUHyhr5bwVLy0KdXd0GOpNfbzc68Ln1fp8fd13E74ffmTHyWMrajilUDCukbCvo96tend6TM4lsmus6e_xxganNC0LJZ65Bw5x-EksG8u2VFMIordW2ztVUbeZid0RJnloqM_8dgdj3D4MitgFbYEogs2qDdLpWh9eRlpaOxbBY4mInaSoX2XsDn_-aBlJeNhH3eqlDuTPYi4xBpsYxuA5NULT_yrJ8FgPKB9Iz1A5w0qicEszwwrTBCpS7XQyzWnfZCDL-k1dYmNf9GHCE_PvgeFFuq5azJpizNdHekG-SGlNNMJyHJrwUYZqre3oeVxgfZwhFtckDRFw1SEstS1WYDLMT6Sx_PkseFIISSnw4SaOUAIqMBx06xF9oC9AmbAn9a7kFNZ7PeSArtlzpm-AMRFMRPR_MR3O5Rg5ULNHIt2apb6jkFAo0VioQ1VYvceBVcXjPQ9W_LdhtN-qYR_79IRlkGB9TvmEEDVoRtP7rjjacjYNHj-zcmiKeqUzL_3IvhsoUww4NRHostyDdZb07nSiReOaRdisaGH2F6YEZzkzuhHkxqax33E9VXuxmDkePkCczwbSUGtmdcULfLtY9pWd029gbHslrQnnbFEPaCWiPuyLYdnCSVzGsDX4Ffm2mXF_u8-BAveAkGhsmZajgLW3i20pAcfweEgnhJ2xRWNE1hRz1SL4KOVSeAM59-lk8AuFm5cifECTFKn2UnPtCAuNwuwrgQCbMlgerZwhlQxRztVFXLnecnEN8ajznCYlqill724y9S6SXPrcECy3FI2qYhqftZxFaGXnSSFJ2LZ-T6b7iaAxY4N8cftS2cD57wnSHx29q9c-j8Ia38zRBeCBQhS785O8RoDxVIPuW-4lkznN5wathVmKLT6MAZyHL8IpVK9PzYIM4E-TPNTbbZo_FM1UKQi1qtIBoXsJ6j9bunBHAEbcCiNmj6i4K4oCENm04C9_q2Lu6eI3OXhS2X4_RrDEyIMUMA554eIakfGyRaRf0beFbpuv7wnPA1mn3qIGCNMPo0rbfTzu42AnKAwKOLzO5Ax8pJzgCA6Z5-uN_90isyqm4eL2Te_2M8-JQkzSmfreL1ed36mdNkAcbeYnP2ZEp1274kgZbQ5tZmRt5EsICzttWQVaekrzqrw01T6yjXhXsErNkdQBXvqVWGOK9pbLHCL6WLdtJALn-tC0D0ETVSSylhCJfnlt2_x6SDM5eKo3HrJ0xJRoD4r63aFzSUgjxfpTPmuff8ulvCza3U3RY75Tm1di_KZaJFnxpFQBKNXIlI6ImM_Jn6Ve_G1wJA7_NsHUmRUReezlsuEfKSxUs9Xq0CpWBwVwaUqbOI25TPTrrrKn8klKIixjjEY10a9dtuFraPpb6fMfd1zZVFeOr-BP-LrAOWqP0G7ZJdRFNXHPI7yJxDTyEQX1Uwbjif7wh8jqUvDekuzgau9klYow5vtA7pst2eTdLkDP4mu9sEgFuR-EwoT1BAuopZXtl0AWJM-ORogz1yWBXWdlfWGjpDKE0olRXkTU1NIbtpwdhSKqqXqYW-201cBYklOYiqMMWpCQKWKzbrn42RyHEnwgCFki2LCAtcBw8yTljTqUPGSRx-4A==",
  "id": "rs_009b83eae09bb011016ab42e4cfdd887d0a5d7a3a77e49ed8a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.14},\"note\":\"The blue bowl is released and the dark fruit sits just outside the white bowl’s right rim. I’ll bring the left gripper above that fruit for a second, more secure pickup.\"}",
  "call_id": "call_pM8HL19JMqJr9TCYwCFrVjn7",
  "id": "fc_009b83eae09bb011016ab42e4e51c887d099a654cb8af26a49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pM8HL19JMqJr9TCYwCFrVjn7",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "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]: [-0.6716, 1.5509, 1.1107, -0.5793, -0.4583, -0.6113, 0.997, -0.0021, 1.0126, 0.8383, -0.7544, 0.028, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3496 left_y=-0.1735 left_z=0.1313 left_yaw=0.069 left_pitch=-0.3006 left_roll=0.0233 left_gripper=0.997 right_x=0.2796 right_y=-0.002 right_z=0.1551 right_yaw=0.1159 right_pitch=-0.3735 right_roll=-0.1866 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -8.9504, 6.1744, 1.2332, -0.1636, 0.2173, 0.0757, -0.1026, -2.3043, 6.6393, 1.3651, -0.0415, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1cc03faa4ca1ca54a65554292b9ef2603e01c987faa1e29e6f64c0ed09a87b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9b4c594a34ff5953634c50433e11a1552e902a21e307f7d5d1c3e6f8b6455c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdcec471283a74422e87856c5863ceab6139da8c8d781b09dd754288575d8d6c",
      "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 · 7.202 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 119 changed as sent

message 123 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0866, 1.8656, 1.5299, -0.8303, -0.6395, -1.0039, 0.7773, -0.0021, 1.0126, 0.8379, -0.754, 0.0284, -0.2741, 0.9963]\nstate[eef_state]: left_x=0.2972 left_y=-0.3309 left_z=0.146 left_yaw=0.0204 left_pitch=-0.2608 left_roll=-0.0238 left_gripper=0.7773 right_x=0.2796 right_y=-0.002 right_z=0.155 right_yaw=0.1157 right_pitch=-0.3736 right_roll=-0.1872 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -12.5197, 7.8974, 0.8474, -0.5739, 0.0415, -0.1001, -0.1846, -2.4821, 6.7077, 1.3944, -0.022, -0.0757, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.935, 1.3128, -0.6018, -0.6353, -1.0031, 0.9961, -0.0021, 1.0126, 0.8379, -0.7544, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2914 left_y=-0.3215 left_z=0.0652 left_yaw=0.0323 left_pitch=-0.2899 left_roll=0.029 left_gripper=0.9961 right_x=0.2795 right_y=-0.002 right_z=0.155 right_yaw=0.1155 right_pitch=-0.3739 right_roll=-0.1869 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -10.441, 7.0769, 0.7839, -0.398, -0.0317, -0.0708, -0.1983, -2.4547, 6.7897, 1.3211, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6716, 1.5509, 1.1107, -0.5793, -0.4583, -0.6113, 0.997, -0.0021, 1.0126, 0.8383, -0.7544, 0.028, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3496 left_y=-0.1735 left_z=0.1313 left_yaw=0.069 left_pitch=-0.3006 left_roll=0.0233 left_gripper=0.997 right_x=0.2796 right_y=-0.002 right_z=0.1551 right_yaw=0.1159 right_pitch=-0.3735 right_roll=-0.1866 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -8.9504, 6.1744, 1.2332, -0.1636, 0.2173, 0.0757, -0.1026, -2.3043, 6.6393, 1.3651, -0.0415, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1cc03faa4ca1ca54a65554292b9ef2603e01c987faa1e29e6f64c0ed09a87b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9b4c594a34ff5953634c50433e11a1552e902a21e307f7d5d1c3e6f8b6455c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdcec471283a74422e87856c5863ceab6139da8c8d781b09dd754288575d8d6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC5Vicd618Yyg4JVZ_KoN6CiFtvS2eQ7IpvZGeVPaYOXSZBt06i1hH1Eiyhonea7gFauI9lsHTXSmb6xusqnGk-rZ5N3vQoHzdHXA3qMWvzdBtikhCcletxV9saSHhyz2gclSDOQFYUrm-w0rxPzZp84CSzcIMReMXpn8WvT_gGYOzi_0TwROj7IiMXVrHsasOryEryjaVXPFUIlhUsIj7T_VIAJpPq15mTW499yvxs7zRz-oRMqeizii8VGVbcW8N4jaSY8bDRadDOqUiO4jXE3Uq9TiPtJottPFDR6yCg4MrpB3u-j0FsrzZSubECOYemQJJHizQnDekBeCM26LwAaElTWEWYIpMQ08onpSP93ti4Ym7lvzkOvw4GOrXCJZ5kwOl2rPcKnA0CE_8FTUcUHGdUMlmn7bd8at2fNmz_e3QgH6lvfNP6KBlE--4SC7y5hl0REM4iD3woRvgHqNOIhJTDtiwM600RAMj5OA7r4xwziMTmhd-H6BVuCcsNdCDZh2Yg--ztsppe_30ivnuC8XaF4oK8ngXtCiHgBpSpl-x_U4uod4AAqG7c6EucGMUmejStrduAvrbdeOWwHcVBoGpbaJydr16gbAW-HofeZlwmgTps7b8EaeuyK7ne-Vzrzftzym6PhQnNznWOa5MenQlKWbKi1NhiRuIpcZzM0svyTnuG4Se-jMrFPFh9gPaA5rDiyvyZdc-Xp9lenh1gIy5T-liURaPqw3JY1F-boW06QppAOfxV0WVCunDhJ7R49QussNERdta3OGBQgBWSLH7_E_hQQLebnu9B0_1l18rhMnCcA5DRdd50lj-roQwVVazIuIVXyhEYOx9Q3CMFlEcP8-G_xxXTUrbWtXcGBWKdpvIDmTRGVN7MU5NJ-k-T5wnA69xt0OZQmVmNjBWJ6U67dlffK8xPlFfuzofkb3SrRkdf0ZDAthO34ks9tt9Wyp9LCsmaY3qzt9HWO2QkmAB4dYTvXjdkT1IgMOF_itj4WxbPRwS8abRWQ-Uxrg0uWuXbKbC1f-3a0QOCbaDxSDz97ukl2-D6N4JV0AGYwTaniYXwYqDM2Udz_EYh-2HDS4qdv_TWTS_oXhZaO1yKEbiFdlo267XCM3bffIOGDrmEbm_8T2nXzjotTrPUovRSGybjLxno_uSBDm_8nTJ9Jn9fickZKk7Dkv5fYKUHU-fJGy_AEnT86Ws3hEf1b_hBruYe9zuQcPl-vFs0sxuQRLD4W_zfeGZh3gTxGm1tiYmjctKWebpCb-_0JTPDHWmoTLUyg0-UZam_VUqf_8vmlIjrq1D9HPxI7-XLITqE7hQoskEge5V5yybj7eQ3LfiFg5jMmvDVMkZGYdhVSmCZO7DZo24Y1mDQKGcJcWdOS3eERXMh7P8fKMEcJ5jqnRa-BG_Hk2in3tW6qzU6yP3mct4Cn4sdDvO4UPSf0B1ILmRoweCeCaBTllwdNc_a57Gw-WiFUQA8JufOGXWaI3mJaOT0Cosg2qT3CJe2xbRTo6ac3Mz6t29fpaqQxVCvZnjal-EdC1xf0Im7uimscrrP0O9lEh19Skkr2y7-fhpy0BwJKikm3Jbd_bZH0fxsjSSvZftO7_q5hx1LmzeOm9GTA5nyJvjSlisFUkmjulbAUjAQ4oBdBJJhTQHpNbkD0nJuJPK4SXrbxS55MQZZn7N-1TH1fBnRFPfGoi8LxUeSBOV-CReJGHBGRbJecYRprcNuQsD-f-htK-JhjV1rnIH-4D_QF1dkzStkiwC-7PFbsSDM9X9LVbZvXFztOy_iIXnCkjeMj1vFW2yvX0pblEP34qg4Cr7b7GFpRRRfn7dF08mBtnuDSjATJ9BtE2r8XfHhuLtLW_xTeMPqogsdkokFvz9fMWVhpRgGJV2SQ6p95xCdkwZ8PxG_vh-LWANdK4XbNeuxM9mLLC2yeAsibD408zcDAppKHslueWbuM3X9b5x4=",
  "id": "rs_009b83eae09bb011016ab42e52ad2c87d0b641c97bd761e439",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_z\":0.115},\"note\":\"From the cleared overhead view I can see three distinct fruits: one inside the blue bowl, the dark one beside the white bowl, and the yellow one still on the table. The dark fruit is on the left jaw column but short of the fingertips, so I’ll advance slightly.\"}",
  "call_id": "call_tEY2bdKkPwm4fqaN5DB2pCM6",
  "id": "fc_009b83eae09bb011016ab42e54269887d0a5a1d8e850641bc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tEY2bdKkPwm4fqaN5DB2pCM6",
  "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]: [-0.6407, 1.586, 1.1179, -0.5488, -0.4442, -0.5747, 0.997, -0.0021, 1.0134, 0.8383, -0.7685, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.3606 left_y=-0.1697 left_z=0.1239 left_yaw=0.0684 left_pitch=-0.307 left_roll=0.0366 left_gripper=0.997 right_x=0.2768 right_y=-0.002 right_z=0.1529 right_yaw=0.1162 right_pitch=-0.3883 right_roll=-0.185 right_gripper=0.9963\nstate[joint_eff]: [0.841, -5.6957, 7.8701, 1.1111, -0.1636, 0.0415, -0.0073, -0.0479, -2.4957, 6.8581, 1.4579, 0.0073, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9f01accfdf99ece9535ec4a45565f4b20d424cf87f966918c449433b2ab239",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd1423a940227f1da6eb11c0803c879b235ba3abf8e09499d6f2ce892027ebe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38da09bd85d248fdf925283bcea35628f87111f4c4e098b7cf133f136432b2c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.945 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0866, 1.9274, 1.3266, -0.6228, -0.6357, -1.0031, 0.7772, -0.0021, 1.0126, 0.8379, -0.7544, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.2916 left_y=-0.3215 left_z=0.071 left_yaw=0.0327 left_pitch=-0.2894 left_roll=0.0288 left_gripper=0.7772 right_x=0.2795 right_y=-0.002 right_z=0.155 right_yaw=0.1155 right_pitch=-0.3739 right_roll=-0.1869 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -9.4564, 6.0923, 1.0574, -0.3932, -0.0415, -0.022, -0.0615, -2.3179, 6.7624, 1.37, -0.0122, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6716, 1.5509, 1.1107, -0.5793, -0.4583, -0.6113, 0.997, -0.0021, 1.0126, 0.8383, -0.7544, 0.028, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3496 left_y=-0.1735 left_z=0.1313 left_yaw=0.069 left_pitch=-0.3006 left_roll=0.0233 left_gripper=0.997 right_x=0.2796 right_y=-0.002 right_z=0.1551 right_yaw=0.1159 right_pitch=-0.3735 right_roll=-0.1866 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -8.9504, 6.1744, 1.2332, -0.1636, 0.2173, 0.0757, -0.1026, -2.3043, 6.6393, 1.3651, -0.0415, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6407, 1.586, 1.1179, -0.5488, -0.4442, -0.5747, 0.997, -0.0021, 1.0134, 0.8383, -0.7685, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.3606 left_y=-0.1697 left_z=0.1239 left_yaw=0.0684 left_pitch=-0.307 left_roll=0.0366 left_gripper=0.997 right_x=0.2768 right_y=-0.002 right_z=0.1529 right_yaw=0.1162 right_pitch=-0.3883 right_roll=-0.185 right_gripper=0.9963\nstate[joint_eff]: [0.841, -5.6957, 7.8701, 1.1111, -0.1636, 0.0415, -0.0073, -0.0479, -2.4957, 6.8581, 1.4579, 0.0073, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9f01accfdf99ece9535ec4a45565f4b20d424cf87f966918c449433b2ab239",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd1423a940227f1da6eb11c0803c879b235ba3abf8e09499d6f2ce892027ebe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38da09bd85d248fdf925283bcea35628f87111f4c4e098b7cf133f136432b2c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5cbOij9zAwPxr3mv0dUg53CMupZ0biGou-4Ot14ekUIar54MpGFDyperYXSs1gD1SOqtx1Tl57pafo5nBORPfjAh78fqIkrs_gTlWLj7hFTcOfKRnysWZ4XU-_5zxHauBPe-MeN_7Jp1kAiDP0Dc8eUD3t6jbmqCPvQZG8-H9U-A9wvOHYjnv91NOTM9-3x15QWJs_p0JSHErJ5pw9gXRc192cZAcsw7ZEb4wLiTGuSv0E7Pvdw7lyo9fManyg2ELvbndpQ4rTIo92_Qcc7aXrDqfWmPLh1WOsfWS44Lk0KUtcN4AyJesiiGmYRJJcOoexM7RxnsmmCU3hBuROgPfHZ_OQV-qHNvpqgHFUOmHmQNXFzaCkQoPSyF1ULxOabn_BeZWxgVR76iXuDcsniKaw96Sqm_KSdPbVNFG-BvWwR323mVhWq9lz7GVU4T6SHn3RnYNgJg4BEUHsAP0wYBm7SNOc4M807SU7cimTT9-StekQS5Cbr1kJRipc5_XGoSMy7wg1oiqoFlIFK5NMhXtBoii64taDJjfNZMVms2KPlM10kpXELdV-CuvJDGzPKfR5kt2TpPsv7QzRRkBMkhPD2_ELMulLlBpTNS1kftyy1j_figNdtiF6VntX9xwb_ZWHP0Weiubv6uF4CqBAEAM2h1YsnJINbqMWLuwAdd8muTQA1CAo9o9Iaa1Ry1tMZZtnVbMbZepmLHoVlQ46Ce28fZ6__HeOY7vb0BM2Zsyl1J9nNFfZ3xpKr9bd0WrzTNGsLm8CqTEiko-DwxBLPXf3LTJVAd4C-j2OHLqpm16oK9V6Qp_b--Az5kTfKXNwVQaNy8O2M4aZt8zOydjpaoUTRU_lLeHDjUrP_s8ejVfowXZX5VXX47bYvIYy10Tn-tv0-pI0p27W8lse86oFBzL7jEjCNxgVmkK559xOOP-fyas7vOUs7Bk5esKtU9tJhB6lZab5cMXo5I1RQyiF7PXaelQ_NqmV6CP0DTA2VyKM1HM9MQYjkGraw5DVMI1TTHte-PYucbdk58acwO8-PR_4gfm-gyca2ORHgdqTjJOUmbpVXOY3DLpKlwFSs_wIXDQcI-4bsMcTDiETPL4kCqIIG3BbUP2t1fPQfLVD6BkhgvHOlgiw9NB2YYzAKI2kdolmPJpNN6GDs9J_z13M4y7FGQXodJRL1Yq_WPInkDvN9Th6i0ovzISb_h6olHAcw6B5oQme2YZLCdzFiRpxSDvlSkuKMwNNYALQPSdtow8nFMJj7zEpZ-bBC_E0xtiTsURSkSEkcaEK9DmVevzVKO9VPi4KRntzJaEdR03tBM51IkxX9sSZ2DqZEx5k7031A79nUGuzYvg6mAvKiniA7X7jj8qgoAnSKU5OVkv0fLCy0VUWRyWfDKFzZd3RQTfHxacxmrNh_v1ADBrymkdS2IHql3ib7l1NLE0hVKTvtwedVC8YRh5J7vnWQcf3F2YcmnM9UozwJPwMdM1IZOUaUMQOBDeq9h8C1IBAVooW94cRHKDH4lSJDaIDCKKgcrTIgZJaZFL4Z3m2sAKCfmJ74HqDm6KRHgpRAgoeQ2Du9SaACU1xr9s2WF_uhNgxoc-Zlz0UW2c6NnaJiGCAlu4o6wisTfPd_HJ3-yIX-qV8eJYJ38_zshCl5BXBm-O4jOu_YqEMZd1tiW19xUiJXxL38puy65QrH-6TBcsSE-fHVz14p0lsv2InUT07YtnT3L6BYTQ8qFkxiZOKOXwsFPDuNDY_irLtbvQp8BmaXCZh2XL67BOeII1dSJNWCoCl0oyG0r0CYDgsTnNJCDGHWSRzMEdOqgySU_Em3dpnQpXetY4Une1grN1Y8HGufvejxnZm9NjFTlE4Xf2MJj2XMRlxfPbDSdbb9OPSolN3wMgYpC043_-zSLTS6FxgpX6XYffURAhoFb6_iRJ8fahv0Ls04UneP241OtZLvB6k5DSzKoLoK9N4RikSzxqsa4f2RJGkJM02AKFM-PPqsTVfg73MGPTYcKNMixi3KGDnSMQJqpv8KOEnQHB5FFLmqSxr14LZWEvMmJcRzmsuYyWwDBkfHvkyP_dYoRuTXE2p7K2ND8fo4ZeDNd3wckgRTLNf17gymn2F0a_a1df9v17edIWf9RaqrLTZs4GoLLtKiZECWIqWoaMzsz3bYMhJ9bLuh09IXEakGX-pM98xV_S68vdmjvGx2YbJh_5WiLx_EJFR4MX1NxdA4AM4rgYVXFoc5XXMWdDjLjeijIOVwyHUscHkqfkZgFrhAoFsB9p2O_e-1VaE8efSF4C-qlZ42JpmzAu-WJ6xpIVnUuZ6ml5R5amdXGGlVB3cW6vgVJM-Hw37ngnpVOsV-VG-P7sWJPc-5IJNoOaZ-cVyGp893njaQaHIV9d0o6A2bkJixmujyJnAHT3h14jz-dfYHYVggC_IPPMysqtC5CwhKbsJWvSDmuWXpbFFUbg0GR10R-QcRxzRs3ypa42RUP3azgaNZHdoVvt018ITCSI7gYeupQd9_8Q9Shpnl-bgUw93GAKpyI6SBQmI3pCf5hZKEK2S5fc7EoHZ4FTIHzWxCOEIgoaFsLBT8_h1P6JZA9NXfGNoQ7xskOhmcrME7MMIe1h5dxNkyoH2-I614vRggu24ek94woQghFd8KZlqeKJLxvd85SW9PnrX41aXeNypCJxMPlwwhfKdAZm4eIX6jIV4pqVmQ4AztT5xlV9BC6Hy9it1oo0XoHAyDpB5btHLVKSXo0wAfj5jJBVSOG3QHJ-WKfKn29RXMctdMymrUhnt3v1IvvXug7C0eHLbYwk5MdgGCEoWTpNR9-Cjs0oPNl2oUIEPHYMxeR9UjDgwZXskhnOJ8JtpuCN72p1TgBgF8-OIbptoPnp8JxEyawdZQoPqLSbE7T99LfRYaLD_nIhyoAPKljSXZ5dkvnntpAifC9Fl9jRkIf7E-Bbi0PmYUewYM8gbeZpAhK06kjDMnvbMKYYjCixjPCb8yKBjcXQpSiLZmTfqKLnG1TjNqpnNsbLjaGVrDPSk9rN7ZmwyvCusgXrMh56qicaF2kFOcIw5t4Z1D8Obt1Wr3ojpICCkMCAlXOmtrK-QE13yI28LuhY9neMeTh2NahSvD_K5rGrhR27zZdC9f7p7z7vJRbZJ8pSHwSrJcMu1QA1er8fFZAo2wYMqBJTSIeuEDIWX04IlaRnlrMcu97AP4w2024cckK_sCPcfn9ukTo9kAAGTBIINVp-EYl-sdisBOUGKk1x0STPu3Mllhg0PUKcnTTuJe3SzTUQ3RdCxbd3bD6tU75KWLwjbx7MPZ7lP8vd7XoWXVoQDVpwvLKgG7lLYn6_XqR3yutzFsxFIdu5JNmzUmTFrPTdaZ5CGL35issjIzAK_lTrBMsc-hGvudFvjFV8deghL6zlGWq3QB1Llx6LUR8aaVOWlvJ8luZ4VpFeGp6_SMr0qO2UJc00Au79E2joveoz9U-MTb_6xsCigR75zhdF9NXdDi0-IPGCRAx1OX7MWMez03rxHOtFNwcpVSqfqR4PJvqzTZa-NUFvXMzvf64_m_3diLHEoJX_K7eS4uzMoS-ot2pI2ebigiA_fQm6FwoII3Bltx1RF2euUSiGx6y4xylsgpCl9gV-tfnK326gqnVXXCNpIXgLtBrLEcumuqBnTk_Nfbyw7vU0E3WRkBjFbf2cMnYKxXFD7L7Q=",
  "id": "rs_009b83eae09bb011016ab42e565d8887d0b84bcc9646da10d2",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5ck7nRcQbsO2KNi2ly__PdM8E_QMwQN0FpVhaGAvH6KWIE1lGp-glHjBcsYDqCYIFWKQELDvwPSaDuDHi1tzEVBibmyzbrbm5QKSQnh2TwxiIk3kvAgg0-k8IrTY9YIMWyve5EoF4IkUfFwxZ9JIGmzokljHtkXR1wkD39Y8FGT0y8tjk5cXrMkyEIRIjoOQl5Re77moTKQoWo48H6O_OMLaEwbgMVfo5lWs9CswVFfvYRZX87eepVPpdvUtuKyf7TgF4EmOTrnJ6IACXrRCxQLAV_VxirqcuEUJb9hEmJljpjhpbUhqd65TBESyfiq3PBJFeKRRBlf2XRUdW3I6eOY5wrxQElaXefb56fOGnNam7cGT98jx5Hil78YIo1TGpu7ekuPgJlDzr3jXhfrCwid60tS2GoDkiOVpkMzQvaHm2ySaywJJd4MnjlDBQenLhwmOOc4q4F5j9e7OlAZkf9_aoM2dr0KChEhDaVP71Ytc3YYp7OzVwyAMV5h7CobE5yhz7f5abt3dqrqwizjZkAxYhR7I6AiSLzF3SkoOKMXfyLv7JOCVe8oC71hjvki8GOkBrCLniCk35k6iCpWO-5gBT1hFPrvpRfo9IS7kRo2VqZztQNiNaPN3fzz12O8NOn_l17IGr2m3Myd-VgjP0Bos2kyR6IwN5a6v4bozJ_juvdwRkEUc1LnrehuSTpi04nt_nNR1T3ZXY8r6FSFaV_fEcayLl26ruV5XjEvcmAn_ALr-Kwovq_paD0EVf3bAskLr-wT-lp5IOCwz2U6Qsi44De32Xy6yzLr9jZLRa1jJl7laTw2ISn_27SRrjYcAY7FNRj47XV8_fAU8jRaPvcZkrEXR1NnvMhkkc4s_Ob8_CqOsnPAgiatXakyfioanPnMJfkTQ7Rp-Iwi6AnRQu3NoV42KN0_ygYHFrcBBBvo0U0w-5dFDr9Q6265nuYbhndu8_zcdCI15CB6AvVQmSU1XNk-_JMdW9wZo15uGIQZB0PIxA3D1bfsLaQGneeuYthjrhFBiBOtQaakw5wpB7M8W8F3WExI8XMO-B3SK2c6PRLPpmFTVZoomLszeDvbAtQny5UXW30rfz5TH1-CtC0SXyTqayhUgS8UJ3IoonbQlUezzv_utfonD9ejiwsuEpmM2GKKq_VAhC7gH7MM6IdL5Nq_X-BcMJmnvDlN551syVYWXNXCU2GnnDY8mNkXxm5uCLc9fw4kgfbbJPfd1na-I33zXbYj23s4-9BO-eTrhs5rOWGtTgFOiuZNwHIBxoHL4xI_JHj8IpcNxt6SF-IBAtQLJTR8943vKHWqD8EWjKeXT4ZccQ7c5gJrXI1lyenIMU91hGvgexV1IR5PrhAQTRIPc8cGtV7VgVq9RZKmpo=",
  "id": "rs_009b83eae09bb011016ab42e5aeac887d0b9f50e43e8afca62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.15,\"left_z\":0.032},\"note\":\"The dark fruit is exposed beside the white bowl, slightly left and ahead of the fingertips. I’ll descend on it from the table side, aiming to keep the open jaws clear of the bowl rim.\"}",
  "call_id": "call_x2WWJRHjb6w4h6uEL9UFvaRr",
  "id": "fc_009b83eae09bb011016ab42e5b7ee887d09671f82795aa332b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x2WWJRHjb6w4h6uEL9UFvaRr",
  "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]: [-0.622, 1.6417, 1.0786, -0.4896, -0.432, -0.5716, 0.997, -0.0021, 1.0157, 0.8379, -0.7685, 0.0284, -0.2741, 0.9962]\nstate[eef_state]: left_x=0.3638 left_y=-0.1654 left_z=0.0952 left_yaw=0.0843 left_pitch=-0.3412 left_roll=0.0548 left_gripper=0.997 right_x=0.2768 right_y=-0.002 right_z=0.1521 right_yaw=0.1166 right_pitch=-0.391 right_roll=-0.1849 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -10.359, 6.1607, 1.2723, -0.3004, 0.1197, -0.0122, -0.1026, -2.6598, 6.653, 1.3407, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601fe2b54828d987f32d6541f6370628a09364b455da0171152576e2a8a039ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9aff6fb0bae46b7e2ae4c68b943d788a0af99fc05554fd363569aca0ad566eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2615497e90e1ecb46ec64dd0b43ffc7bbbb8ded1f99a28c942fd4484b03aa5",
      "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 · 3.808 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 132 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.935, 1.3128, -0.6018, -0.6353, -1.0031, 0.9961, -0.0021, 1.0126, 0.8379, -0.7544, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2914 left_y=-0.3215 left_z=0.0652 left_yaw=0.0323 left_pitch=-0.2899 left_roll=0.029 left_gripper=0.9961 right_x=0.2795 right_y=-0.002 right_z=0.155 right_yaw=0.1155 right_pitch=-0.3739 right_roll=-0.1869 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -10.441, 7.0769, 0.7839, -0.398, -0.0317, -0.0708, -0.1983, -2.4547, 6.7897, 1.3211, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6407, 1.586, 1.1179, -0.5488, -0.4442, -0.5747, 0.997, -0.0021, 1.0134, 0.8383, -0.7685, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.3606 left_y=-0.1697 left_z=0.1239 left_yaw=0.0684 left_pitch=-0.307 left_roll=0.0366 left_gripper=0.997 right_x=0.2768 right_y=-0.002 right_z=0.1529 right_yaw=0.1162 right_pitch=-0.3883 right_roll=-0.185 right_gripper=0.9963\nstate[joint_eff]: [0.841, -5.6957, 7.8701, 1.1111, -0.1636, 0.0415, -0.0073, -0.0479, -2.4957, 6.8581, 1.4579, 0.0073, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.622, 1.6417, 1.0786, -0.4896, -0.432, -0.5716, 0.997, -0.0021, 1.0157, 0.8379, -0.7685, 0.0284, -0.2741, 0.9962]\nstate[eef_state]: left_x=0.3638 left_y=-0.1654 left_z=0.0952 left_yaw=0.0843 left_pitch=-0.3412 left_roll=0.0548 left_gripper=0.997 right_x=0.2768 right_y=-0.002 right_z=0.1521 right_yaw=0.1166 right_pitch=-0.391 right_roll=-0.1849 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -10.359, 6.1607, 1.2723, -0.3004, 0.1197, -0.0122, -0.1026, -2.6598, 6.653, 1.3407, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601fe2b54828d987f32d6541f6370628a09364b455da0171152576e2a8a039ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9aff6fb0bae46b7e2ae4c68b943d788a0af99fc05554fd363569aca0ad566eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2615497e90e1ecb46ec64dd0b43ffc7bbbb8ded1f99a28c942fd4484b03aa5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5fC-yokj2ry7hzZeeC6gs9l95sLTGDYwIPlXWg5ybYgARwv7qWhNfDV-8O3fpjxUfvrL-wUt0ZH5WlTUh3DtLnapHzQyz_DW1M6017CWgOxsJzmGtY2-wM6sD1IE-fd_w8acSSRY89nYZ7u5A3ZsclvS2xkFHZEolrWYfRaFFYSb3jZHBPlkStSeHynQVEHOJWGG1fCQ_Q8z7JuxhmQ4CSyO2uFgTQsfgrxIKS5i_7aOpG__J5zyEDHUAHJ4bS4fMyUanOboegiA7RnFHIawmX1K9Tdp1mmi3QsOcWAxDLSpzIhrluD1JF9wPIoYQ3hridSXSnshya8gg20mLVvZIsJi2VTf1yXFT7PaNsrCwwVQ-N8pKYZDavQky_bl_TS_Nz3l806jga80cc6rnJxaULxQLPNCFo-AooLLf0IfCY3eqFobEgogV5TJX14ya0AsIemThBeny70Ngx1B1tgu4sDchTWi2Wrs0rMUM1hqbmGIth0O6Mb0JjZdiE6_ePOUQlk1S7sVMmlBffutPXyXGti6uKrkyF9sIZt4L7nzyjirfWU5fmHPrWMuYjjCbjhj6Nk9pThu7djC8yJ5tFFTm58OWoHPhmkbWVLu9vA-jHkjUaBwFL-z_1LmI9WuPc4gObX049f3sSXTzMyXp2z2jdVfM5ursCf50HcMe-0EsWHVdizt2ohW_ygO-c0b6wOsBHLWw76uitc84498RMC-ffVfek8H17emHBfFykCN07EVZ1S2as32M4ZuKfP7IqKAHwR9Tw9Nsnian2RVL_2u1O7Zc05zkI5izq8njjQ6npb7tcAOo9q0V0tG6H6wIKQV60wStsh7d5Qf5QOTTVhGkb6usITfv6UVIoHwN-a6vCsm_iYqSqbR11n3Tm_VfRpP2Hnz-1ERaSjEvjifuar8XnsrSjX_xf5ppfi3yhIWK8Gu5LuTp8UfnyAkg059wC50FSYeSw2RfSzy0PbG0RynH-b0j3MojHVMwE_oyDtxMQJDhOHS8DOIrcom0PmqGKEhapEl5SvwGxHJYNd2h3KnybOLmqP1bY-bggueOPR_7QlL8kg8DOb_JWNo_8-pNZckseF7T80Z74mh88g07128a_O6aP1OJazmEBFRaaYr7wQ4lauP6T6WQgJAphjJcIG5pW3ezTwTmt_d8S1j_P0YV_TJv90Oh8E9FtJFShEhBUVwvWs52KGSGaxlZGPtlVxD73iQq1wyxclYVxh0uJ3OCwJuh0OycXxh6wsGaK4cbGlO7VebNdMawgQaDmKCOv2HcETbFAQfJuBgzHguuGw7EuBib4E-obA90SVLoEGmSqh17a5h4UxUmELqehGBCh-GxzDUku2eOGx7-fGGF2GFsYrnwSEP6Z5rE3Nen5OOrSR-0NdChcwoEIWZus91L2n1BEKFf_Ri-ucyTPti0j6cBsmXWkr1unJdw_FVclYYt4kwqDI7XAHF7nibtfNSh9-eC1VpbCD3o0JG9dkBeGQtezIAc8qkHu0AMEmS5_e3GfTP_C6k9WHCdgo2qy3lWtErmDT4OPpO6cpMHZLontT2zAWqt4P8yMDz5i-YVukR9-_ryxXV6Dnoq6wVIZRqonqrNv2RRSkAZ2N7dC-qSekMLY7FMBn6MVG_9ooFEIDCOmSS0sa4PaP8h82UI8M8Wvx3TqHUyYZaAqykGpV_Sou8wBGZFGdARrE3iGavXtx4JGcNM75Z3iKvjNiyq0D15CAmSqUDpB2mMAX2Szjv9cYOmJ52K5n-J1kTakMVyNG3rzDOMFm4fucQjcMfitutymM-8U",
  "id": "rs_009b83eae09bb011016ab42e5de5e487d0bea32722428c6b04",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.55,\"left_x\":0.39,\"left_y\":-0.17,\"left_z\":0.085},\"note\":\"The descent stopped high, likely because a wide-open jaw met the white bowl’s rim. I’ll narrow the jaws above the fruit and approach from the table side.\"}",
  "call_id": "call_w1biDsc8qFMr618WiiEZy0NF",
  "id": "fc_009b83eae09bb011016ab42e5f212487d0b93fdde9fb1b9e03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w1biDsc8qFMr618WiiEZy0NF",
  "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]: [-0.622, 1.6417, 1.0786, -0.4892, -0.432, -0.5682, 0.5553, -0.0021, 1.0157, 0.8379, -0.7689, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3639 left_y=-0.1654 left_z=0.0952 left_yaw=0.0823 left_pitch=-0.341 left_roll=0.0568 left_gripper=0.5553 right_x=0.2768 right_y=-0.002 right_z=0.1521 right_yaw=0.1164 right_pitch=-0.3914 right_roll=-0.1846 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -10.359, 6.2564, 1.2479, -0.2418, 0.0855, 0.2076, -0.0205, -2.2769, 6.8581, 1.3065, -0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69222406313ceaa8ec0bf6dcac83cbe5a073b89562d48dc25a4f02b22fc3da6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b02c1388c6f0f89ffc7b9cb455f81796528457c91c6db8ebfa25a45f2a75f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1559a64e5add8efaa386219fdf6c4c94876830a0732e229c6cedf191d751b60d",
      "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 · 4.858 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 132 changed as sent

message 136 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6716, 1.5509, 1.1107, -0.5793, -0.4583, -0.6113, 0.997, -0.0021, 1.0126, 0.8383, -0.7544, 0.028, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3496 left_y=-0.1735 left_z=0.1313 left_yaw=0.069 left_pitch=-0.3006 left_roll=0.0233 left_gripper=0.997 right_x=0.2796 right_y=-0.002 right_z=0.1551 right_yaw=0.1159 right_pitch=-0.3735 right_roll=-0.1866 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -8.9504, 6.1744, 1.2332, -0.1636, 0.2173, 0.0757, -0.1026, -2.3043, 6.6393, 1.3651, -0.0415, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.622, 1.6417, 1.0786, -0.4896, -0.432, -0.5716, 0.997, -0.0021, 1.0157, 0.8379, -0.7685, 0.0284, -0.2741, 0.9962]\nstate[eef_state]: left_x=0.3638 left_y=-0.1654 left_z=0.0952 left_yaw=0.0843 left_pitch=-0.3412 left_roll=0.0548 left_gripper=0.997 right_x=0.2768 right_y=-0.002 right_z=0.1521 right_yaw=0.1166 right_pitch=-0.391 right_roll=-0.1849 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -10.359, 6.1607, 1.2723, -0.3004, 0.1197, -0.0122, -0.1026, -2.6598, 6.653, 1.3407, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.622, 1.6417, 1.0786, -0.4892, -0.432, -0.5682, 0.5553, -0.0021, 1.0157, 0.8379, -0.7689, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3639 left_y=-0.1654 left_z=0.0952 left_yaw=0.0823 left_pitch=-0.341 left_roll=0.0568 left_gripper=0.5553 right_x=0.2768 right_y=-0.002 right_z=0.1521 right_yaw=0.1164 right_pitch=-0.3914 right_roll=-0.1846 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -10.359, 6.2564, 1.2479, -0.2418, 0.0855, 0.2076, -0.0205, -2.2769, 6.8581, 1.3065, -0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69222406313ceaa8ec0bf6dcac83cbe5a073b89562d48dc25a4f02b22fc3da6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b02c1388c6f0f89ffc7b9cb455f81796528457c91c6db8ebfa25a45f2a75f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1559a64e5add8efaa386219fdf6c4c94876830a0732e229c6cedf191d751b60d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC5k1M-BBM3uoGwN3nh4p5efytYwL8zqfCvL9SmT7auggIx-Ay8JvYD27mrMshRmbkf0FbcFDO213FX7G54E1Ek4BNY9dfPalaepeQbscaDWpNcaur-k0BESMmAc5OfWf35R7ltvc2pk71I3ik2VbS-aVBYVaepaKKRy5Ovf7AfLiWt615fbKEv4rX8XUQauSdOqlJ1BuiREnJOt6hZVnlVgY-ccb_oTdLGsepAad_vV-VefITZuyyKXBfZRHGrRLE-dX3x07c6uny4C24yyvq7UE4l6kR3N1xrfb9zFFX1b0uMnRpo8pNOJvkwWQ-wRgqRxDMEeMI03AQSaoLESRXaki4764XEGQiS4ryp1KEnS62Fm4357lDFn04fdXy0X1r8TVtU1TXtAcdFkBgzfBE05QZQ9mc76Xaq341aJH9GG67Ru02PvXmWnjsG7dDiJ-Enn1iC40GFmZ02clnuhnMXmtiXnQ7TGLAvkKJgxxLJimszvuQbvVvSjAdxBv-6aX9Y_qhm-WQJiBvDTzKvn5wKFXqlIL-3Ez7k_xyzw1XdwLKbAVWccF0djC2CCGo3znV6r2st2YGXp5PbI3WrxPfF6fUGRgZq01YML_2dzlwYB7MBzMUWYSuzTPpPPZH1C6CnkfITvTKPR4E7bEe_x38bpvJGgA0NEV-0H89hJlMqivLfrgCv7Qv7AUti857Aq1tpBh3UiVRgf9zrPzaNjtYXOEGhBey231e65WYdjB8yxghheW8QaKbAaxj2CQ1JAn5mnueK8xkRjlygsIPWE8HctSBoF8NqJpCVxUUJtvQOTjmw9gNXXs4qSXLZpEZWkDcsr2R5KjfTnZTqw3PSmHimq1JiIpIikq_flsntGn6f6SPTivDc0s-02Cf9R1H_EPZBrIbmWAV3kysybMMoFlOdmwobpcrK0SdABdpJL8l1NKGgPHV8Qzlip56WatYBJzLP0aRrJcGKw99W1gCI0rRerS7blRHcvcM5CD_Rypp93ZkkDET5hSxpl_bUU23QUmxBO1VQphCcxkjamD5nqFSl9CFj8qaWEgb6y54x_3VoA21uJJxIt-rcZ2wa-if-86VhbhktOYrUUW6KvqrEOXvK3dq9sMxFz3WnG3k69ModrgFTK8VRSjvwqoaDh8XwOxMG3jwuqOPqcMsEN8MiGr2y5yauf3dnbd7P8Iz2mlLSyYy9Z-f8aCirAIDyrQdYtVk9KmBskLIhGaStXbVqBQ-alj_U4TJ3ytX-CX9G9OoiuyqB7W-KsAsBIe4brUZJpImX_Q5s2U3vBLmN8-zGVtY1kWY2T96Q34qmwVBhHy4Xj0B-uU4saHc7xVjMzrt9cRyReFlP_UymKilp3612uyfE3YNt8lKEqBtyqKclHsWZ3mckGIiIN0DBn75R23fwASzD8UjtmZlwsw-ghXjDuNH4u69Ul0LPzj6P1SKsu9uOT-xGJgIwmGerqnCyXJ9k8CZ1VLhXteHc8kd2XkRU9j-_S_L2aj7ettaXQo3-6QHJjUIliK_kw2o3F85W9gawVX3p3_feDGFq0fhuq0RmHmxkhYdWixvEUOGFPQrMHctFu3w66esKpYyMrhvk4-xxsF4Jk_oOANdCh4toq0DGNQgqlubEN9r64p-_1uZuxw-1tUipZaBnIdI8YATBRpwcWIFrPIxHmeO3fQcnMeEWZUwpDWC-9mGND5s5hJBesAqHa55D7_tECUUziHHJi88hODalH1gNl8L2hP1M5WAZlMuiGPUU8FX4FvKa278qubFe3Pi-Y4RVAYp6GDU7qo-uq8o0zKxANn_9XPy0K_oaYxTfC7P8-bPcAoEBf1GdfdGeEN9dbPio4Ggji4wgHYfL_CP7zVflv3v_zzgMR7v_uoeDGaaNim7MpkwzqJDtB-9amwck=",
  "id": "rs_009b83eae09bb011016ab42e6188d487d0b0cdee02bd11c5dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_yaw\":-1.4,\"left_gripper\":0.8},\"note\":\"The arm still cannot lower beside the white bowl, even with narrower jaws. I’ll raise and turn the jaw axis so the fingers approach the dark fruit along the bowl’s edge rather than across its rim.\"}",
  "call_id": "call_xGWMDhAVQFyc8THMhq1Mf4Pm",
  "id": "fc_009b83eae09bb011016ab42e63088887d0b275b56149740cf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xGWMDhAVQFyc8THMhq1Mf4Pm",
  "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]: [-0.1947, 1.7496, 1.4109, -0.8387, 0.4892, 0.8997, 0.7982, -0.0021, 1.018, 0.8379, -0.7704, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3815 left_y=-0.1562 left_z=0.1384 left_yaw=-1.1801 left_pitch=-0.385 left_roll=0.0468 left_gripper=0.7982 right_x=0.2766 right_y=-0.002 right_z=0.1513 right_yaw=0.1165 right_pitch=-0.3952 right_roll=-0.1842 right_gripper=0.9962\nstate[joint_eff]: [0.4171, -8.8821, 7.788, 0.6276, 0.4908, 0.2271, -0.0611, -0.1026, -2.3863, 6.6667, 1.3455, -0.022, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea1dcbde5674d50067f64f05afe0ad00df3af9aabd7698afc5030baea5a7a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609d9f390ed755a6cdc73619eb284c78f14aa533635b0facb4030db66668e9bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da42c1cf43c5d73fa6ca43d1e60327fa562a381dd2e1869fb409e2a03d6ba62",
      "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 · 2.134 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 136 changed as sent

message 140 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6407, 1.586, 1.1179, -0.5488, -0.4442, -0.5747, 0.997, -0.0021, 1.0134, 0.8383, -0.7685, 0.0284, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.3606 left_y=-0.1697 left_z=0.1239 left_yaw=0.0684 left_pitch=-0.307 left_roll=0.0366 left_gripper=0.997 right_x=0.2768 right_y=-0.002 right_z=0.1529 right_yaw=0.1162 right_pitch=-0.3883 right_roll=-0.185 right_gripper=0.9963\nstate[joint_eff]: [0.841, -5.6957, 7.8701, 1.1111, -0.1636, 0.0415, -0.0073, -0.0479, -2.4957, 6.8581, 1.4579, 0.0073, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.622, 1.6417, 1.0786, -0.4892, -0.432, -0.5682, 0.5553, -0.0021, 1.0157, 0.8379, -0.7689, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3639 left_y=-0.1654 left_z=0.0952 left_yaw=0.0823 left_pitch=-0.341 left_roll=0.0568 left_gripper=0.5553 right_x=0.2768 right_y=-0.002 right_z=0.1521 right_yaw=0.1164 right_pitch=-0.3914 right_roll=-0.1846 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -10.359, 6.2564, 1.2479, -0.2418, 0.0855, 0.2076, -0.0205, -2.2769, 6.8581, 1.3065, -0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1947, 1.7496, 1.4109, -0.8387, 0.4892, 0.8997, 0.7982, -0.0021, 1.018, 0.8379, -0.7704, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3815 left_y=-0.1562 left_z=0.1384 left_yaw=-1.1801 left_pitch=-0.385 left_roll=0.0468 left_gripper=0.7982 right_x=0.2766 right_y=-0.002 right_z=0.1513 right_yaw=0.1165 right_pitch=-0.3952 right_roll=-0.1842 right_gripper=0.9962\nstate[joint_eff]: [0.4171, -8.8821, 7.788, 0.6276, 0.4908, 0.2271, -0.0611, -0.1026, -2.3863, 6.6667, 1.3455, -0.022, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea1dcbde5674d50067f64f05afe0ad00df3af9aabd7698afc5030baea5a7a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609d9f390ed755a6cdc73619eb284c78f14aa533635b0facb4030db66668e9bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da42c1cf43c5d73fa6ca43d1e60327fa562a381dd2e1869fb409e2a03d6ba62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5picBhw7mxQqGnoBIb8Q60RwMvmJuVByeLPGVkWCWoPufTSlFxD8tLz_O69U3U7RjNyZ6EYO15vpO3EnsUZfFg_N3TyU-WjNuPzOuCSWLWKhzH096z-1aezQZXuNabyzYYNZetRPAB7WfBGB50cHxHfLcATZfEh8zbB2jDGzszkBc58PvfXLuIyCjsPeQeSRrGZeOlXMxbKuDpqiOcrsQmxmwJvBoQX56QILYvU0zIQdYubS9fST-JjvWqncLMZV9EeQQAGfYAy7Rcd8c83VnWlZWvUjXhgayWG7wwNmQuf0pPrrrBX6oIj5PCKA66qWAmUqh5dwOzTzs27H13Fv8GphqORp1AejHvGvPPHwCJRjB7fTsAJfGiuy1gTgymaLK4UTXhuyYzqedJq-sxGO7C74EUtNhnymlWrpJsI5wWgLhHaoXhbxfb950NEyYZz14jO82CuQLDQz_AKEzC9Xs9-A7SlpKxtPslwW0B9bz5pe2HQ9CLlfGekJSg_lKfaqoW5G5S9fuNLK4p1OyouAosSfPtktcqZwuxKyjK5tOv9bcygfCFEu_uyd-CJWRR8uzpEeHZAxJUtTAVmXLj-y0WXoYm76cosuplC-_QqaFpY2ThW0-tJEDov1a-tu5KOjtqpBQcU3CvGu5AcshE8pa60RcOejl2Vbgo73IXNh5eAeQzYI5rfuPd_O2AVXd-cPXCLUf2wGTX5kD8EIK5RizqWemWE6w2tEefbPdJmaRzw13L20buahNMkWm3UIGAKzJrGlSQbUOps3JrxrTVlBmZAx2w6WvQkvlfC0uGCtg2dtsef1kxMO__b2nbm2vnPjBmtKsoG59clEtebCniYQ58r-2XYy8dg4T_jSVbKtAU7PWgo2V375uriESh5hUqkjkz7HP4Aeu63h7-baxx_mQyAuzDFIPZN0Ti1KMj7L5aAo2GcOm0_qayGb15WemfOnq63fAv79rJc45yoFZ5IUJQyv1u93KzdaJYx_z087rW5RYwxcq5wnqLz0OOTqQ-p--0riXaXZSMXHNqcSslDnc8qz0lxjK8AnBJDtV-dD4sKPmAddvKJaThE2Xzgh-62PTOa0VFFeHD5_2Qr8UPcmxkiNi6iUGaqe8aUkX_j8a_t6I4F9ouzpYKe24_uWa-XuBCVyrkJQD5-Bl53CsXwNMn0zk01g9vfk9e6pt-zoF5kqWM_7_Y-rkzXboHBV4UBSHwn4YOtp-evc0N5BktNfRSgzl5x-jX5yu_L_S8jFMoJd0ObeQCk57ajnyrtf1mPLh0_Dao6BqY9U4fwcU3yL1viCE11iLP_DoQN0IUtLrgpG4xyuDspy2Yihtd50q7zTWXtIbbWXFPU-U9qlOgW52OYetd5PwSX0vYjuH_suzlCDwdrKGDeBkJFZk3qMnVtNpvwdiAVAAuXZFefIQ78ITJl5Ho5tQCM8mQcQPKUlyG3bRVYxUzSBsaTxzlcu-lr9tzW-Enyhic3Z9MlL_zbq7YwbUqlqOjc5-Uxkctd8-xQWgZY89rTBkxI3aHe2GYRZp71aDvHisNzmJbIozug4uPptESW8HFOXQl7nKunH2NdQ0eBFT2VZXelnq8krulxLy-cQYod6-CJPwaiLv1EIxNu26jdAAx3zScFgSDcRF2z88cjK8zXHCoOLFFkxP0uBWcwknzD0CYInoxAf9v1qmy-QldbuCqd5r564CRQ-W351B93zX6BRdflV2aiKIUU1Om12xitp7hIEb512hCthAor3r8u5VCQJQ9TOPjrY1SALWBIj8Ty_hRRvsq2ME7oQ3fkQmrFH1O9EB-fpvzM5NKgKF2kc1Xa2sKM_EvkSk3LFHj71bknDLasYKlXTQEJa-xAg2JUQxxaJTCCrX5yPK4zoLTGcdixBe1_eLj4PoaemiV6pmSrLxno1t1j51lhwwwMySe8HotLHLKUxT0su7cMcK0_n2aDcU0DO1zh2mAwhV6V23M8SncnCfxOlTCcfZklmOpTEeB21s2VZ46o9g5CTD5cZrrg32TD9S0j57Fy8Nilb1vNPkoTit0P2AzIf86Qp65fJs1pOQjqR-6m8OG_Ununmi_FijkjIFNX_sSjNZ-V7XTedfQG_wB1dHtHN5-ywL_JAHqVI5Qo8PZ2W392CUj86IUInQQ4OOMPoGCzOS4e187cJRy3lIeWG-P2-2ZSn3_Y1Vcgcs3JPCozIP3u_npVMJB-rHG1kAL61zHKzFGs9MueqaZklp1q5c_Fu5tGA_8HYSbvMXxhvXFmjRLi1HDd18YkDGU59_IWnIe48jY5bssBQ6ztbWK5UyN9IHHSuf07r9t_4c7FiVL1RycWbyxlpo0sdG7-4YS1jHjNxO7y2xKI0pT2xKviGwFSWDZTd4AgET4GzyZ9GIc7Swk4o7PUisF5QBk5bY4X5DjRtM=",
  "id": "rs_009b83eae09bb011016ab42e66d25c87d09c769d09381df14d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.17,\"left_z\":0.033,\"left_yaw\":-1.4},\"note\":\"With the jaws rotated, the dark fruit is between them and the white bowl is off to one side. I’ll advance slightly and descend to the fruit’s mid-height.\"}",
  "call_id": "call_aPFy1bqOxI8GYwVt5hat2HDF",
  "id": "fc_009b83eae09bb011016ab42e69109c87d0a62605711e4e700d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aPFy1bqOxI8GYwVt5hat2HDF",
  "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]: [-0.1844, 1.9766, 1.3651, -0.6998, 0.5438, 1.0782, 0.7988, -0.0021, 1.0191, 0.8379, -0.7834, 0.028, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.3928 left_y=-0.1626 left_z=0.0493 left_yaw=-1.3513 left_pitch=-0.405 left_roll=0.0026 left_gripper=0.7988 right_x=0.274 right_y=-0.0019 right_z=0.1491 right_yaw=0.1176 right_pitch=-0.4091 right_roll=-0.182 right_gripper=0.9963\nstate[joint_eff]: [-0.5949, -7.0632, 6.065, 1.1062, 0.4371, 0.4176, 0.0562, -0.3624, -2.441, 6.612, 1.4042, -0.022, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e6748ff7b01c62f60bb43468820ec5485d1b24c9a9b0b1e8737a7222be67bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e46fee08410657a7dab5e931f229423a1c521bcd9ad2442ee2dad11dde4e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1107472f4f3c89349a633a4a794f7153dff34f13bd738ad879446689f703ae9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 10.29 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.622, 1.6417, 1.0786, -0.4896, -0.432, -0.5716, 0.997, -0.0021, 1.0157, 0.8379, -0.7685, 0.0284, -0.2741, 0.9962]\nstate[eef_state]: left_x=0.3638 left_y=-0.1654 left_z=0.0952 left_yaw=0.0843 left_pitch=-0.3412 left_roll=0.0548 left_gripper=0.997 right_x=0.2768 right_y=-0.002 right_z=0.1521 right_yaw=0.1166 right_pitch=-0.391 right_roll=-0.1849 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -10.359, 6.1607, 1.2723, -0.3004, 0.1197, -0.0122, -0.1026, -2.6598, 6.653, 1.3407, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1947, 1.7496, 1.4109, -0.8387, 0.4892, 0.8997, 0.7982, -0.0021, 1.018, 0.8379, -0.7704, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3815 left_y=-0.1562 left_z=0.1384 left_yaw=-1.1801 left_pitch=-0.385 left_roll=0.0468 left_gripper=0.7982 right_x=0.2766 right_y=-0.002 right_z=0.1513 right_yaw=0.1165 right_pitch=-0.3952 right_roll=-0.1842 right_gripper=0.9962\nstate[joint_eff]: [0.4171, -8.8821, 7.788, 0.6276, 0.4908, 0.2271, -0.0611, -0.1026, -2.3863, 6.6667, 1.3455, -0.022, -0.0122, -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 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1844, 1.9766, 1.3651, -0.6998, 0.5438, 1.0782, 0.7988, -0.0021, 1.0191, 0.8379, -0.7834, 0.028, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.3928 left_y=-0.1626 left_z=0.0493 left_yaw=-1.3513 left_pitch=-0.405 left_roll=0.0026 left_gripper=0.7988 right_x=0.274 right_y=-0.0019 right_z=0.1491 right_yaw=0.1176 right_pitch=-0.4091 right_roll=-0.182 right_gripper=0.9963\nstate[joint_eff]: [-0.5949, -7.0632, 6.065, 1.1062, 0.4371, 0.4176, 0.0562, -0.3624, -2.441, 6.612, 1.4042, -0.022, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e6748ff7b01c62f60bb43468820ec5485d1b24c9a9b0b1e8737a7222be67bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e46fee08410657a7dab5e931f229423a1c521bcd9ad2442ee2dad11dde4e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1107472f4f3c89349a633a4a794f7153dff34f13bd738ad879446689f703ae9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC5sJMjmPZFwjvHAgoS6Z6-i51y0Ruhhet_BXgk_sl1xLpYvH5wb9UPJL4kq58OyTKL9IexMEzEnYO814JrscA47gLLBO7oOttp9zzfZZWAty17s5L6cJWZGsrXzY8BhEtg9X-YxLdV_Sv4_YOKhqDdN-xcLiBAiKJE-6FsIbg_pDP1gF2r-K_jtltNMZIWGvf26FEc-kHgllZ1FT-t_1tnF5_TiCHomLG_fUovcg_nr3_z28VrPxJNqFMRWFRVaUq9pAA4GyBwWaXWWQVGFwrivBPhdpUGXfKmUvCl_rGDmAw4KCiBlmK-o_NcUnI2tJf85BMOzmWOIUgLB8Zi7nVWvboALY0m8qt2ZxE-Pbkw71Mwp-ICIoep8zyc2oQ1RW-sY3XbewUq3CrUoPU1s3sVT6yTUv1Pr2B4jRQYsiLJ2RXEunDZa2e-dUp73LRWjWY4-bZAWeR0-o8HjGHc4_dcnXUtkDNqAf1GpVJkCWDzq-Kg9u6MO8YdHU04HPBGzoOyKyQzgSztAFEFK0MiwD9bulPTE0CJZxfLJXBGF4wtl-HlpIU7qcGjZigJlEFM86uNMYDn6Fo_I-CvTTR-eqHptkOUQU2Vm3gI91UGaLY42Pgv66Pjs07QGqT9e4XKbH7NXK3uJiNODJDI6W8wJ4C-8ObWJI9gCS37xB_oEM7MRJ4dg_aGVIQ9GenFs0t0A7EiJa1VIx2Qzw_GNanQzbKJ6zADR_j5DzF8k20A8m8uYhQScEAPNh2PQedmiDmNTAffYJ55P8L-GZ8paEOYLmdBlOEwgfU44u4sOJLi0nWiweP8hltrbI9KcT46jIOkgaBryCZ2GFXIKW7y9l00-dTRxWJttG-X2fFGthlvZYBbWpPxrKoe9ZVQlkNrlkBkZR3yQdVdV-KADw4CXXoGsfTHCwjgioRs0uIDAB_9qx4EJaHF6nzNtF4vgtKWYjsscjaeFrI4Xy0nXj5MsCvBQAQNRDDkYVBRtLdukfm_H7jeXTcqe9ReEKYgLELl2-9z5w22LvrdiNuoSuS9S6SjAecHlM9wiQJPeWiw6rm-Y9SYJAWda0CHCpvP5MDXRznh1eKKqQ6nPKYxjCghQooAFOUSZl8nqD1Q8mIdukop4sE5IY7bSXoDC6BC0erXXImCKE4bQ-4V0R8k4zCnHF_BrKizynpct5mX1rbgFYNOEPdaA-sc_EBHPBIjl7dR8J-G4mC6q11dx1F5E17xZNfnBy1PEDjaBOIQ4yNjyZ57P0bxjb8IbHp5eRnClwS9qVD3mVYk_Aq4cdryL4OLvBhIq-KpEOL6JhNg10rxmw6MV1ARBW8s=",
  "id": "rs_009b83eae09bb011016ab42e6b9cac87d0896de35042189c95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The rotated jaws are down beside the dark fruit, now visible between them near the white bowl rim. I’ll close to pick it up.\"}",
  "call_id": "call_gODqo4JR0aovf2gTBglw2tu6",
  "id": "fc_009b83eae09bb011016ab42e6c0b1c87d0b1d8e92a64c23d3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gODqo4JR0aovf2gTBglw2tu6",
  "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]: [-0.1837, 1.9514, 1.3815, -0.638, 0.5125, 1.1103, 0.131, -0.0021, 1.021, 0.8379, -0.7887, 0.028, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.4137 left_y=-0.1613 left_z=0.0661 left_yaw=-1.3148 left_pitch=-0.391 left_roll=0.1379 left_gripper=0.131 right_x=0.273 right_y=-0.0019 right_z=0.1479 right_yaw=0.118 right_pitch=-0.4163 right_roll=-0.181 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -7.8974, 4.8752, 0.1978, 0.5104, -0.2173, 0.6764, 0.0479, -2.5094, 6.7214, 1.3358, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f325531ef686f34efd9bf456a1a74687c8cd864423b6101e453b76ca8f16feb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5dfaaae385ad7b9f4c3b99f341cc4f4f58f2e083cb1709497408eb8cf1175b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a5814080d4be0f86b7557540df9e599f2b2fd15acf32095c8e56edf9ab2ae3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 2.152 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.622, 1.6417, 1.0786, -0.4892, -0.432, -0.5682, 0.5553, -0.0021, 1.0157, 0.8379, -0.7689, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3639 left_y=-0.1654 left_z=0.0952 left_yaw=0.0823 left_pitch=-0.341 left_roll=0.0568 left_gripper=0.5553 right_x=0.2768 right_y=-0.002 right_z=0.1521 right_yaw=0.1164 right_pitch=-0.3914 right_roll=-0.1846 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -10.359, 6.2564, 1.2479, -0.2418, 0.0855, 0.2076, -0.0205, -2.2769, 6.8581, 1.3065, -0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1844, 1.9766, 1.3651, -0.6998, 0.5438, 1.0782, 0.7988, -0.0021, 1.0191, 0.8379, -0.7834, 0.028, -0.2737, 0.9963]\nstate[eef_state]: left_x=0.3928 left_y=-0.1626 left_z=0.0493 left_yaw=-1.3513 left_pitch=-0.405 left_roll=0.0026 left_gripper=0.7988 right_x=0.274 right_y=-0.0019 right_z=0.1491 right_yaw=0.1176 right_pitch=-0.4091 right_roll=-0.182 right_gripper=0.9963\nstate[joint_eff]: [-0.5949, -7.0632, 6.065, 1.1062, 0.4371, 0.4176, 0.0562, -0.3624, -2.441, 6.612, 1.4042, -0.022, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.9514, 1.3815, -0.638, 0.5125, 1.1103, 0.131, -0.0021, 1.021, 0.8379, -0.7887, 0.028, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.4137 left_y=-0.1613 left_z=0.0661 left_yaw=-1.3148 left_pitch=-0.391 left_roll=0.1379 left_gripper=0.131 right_x=0.273 right_y=-0.0019 right_z=0.1479 right_yaw=0.118 right_pitch=-0.4163 right_roll=-0.181 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -7.8974, 4.8752, 0.1978, 0.5104, -0.2173, 0.6764, 0.0479, -2.5094, 6.7214, 1.3358, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f325531ef686f34efd9bf456a1a74687c8cd864423b6101e453b76ca8f16feb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5dfaaae385ad7b9f4c3b99f341cc4f4f58f2e083cb1709497408eb8cf1175b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a5814080d4be0f86b7557540df9e599f2b2fd15acf32095c8e56edf9ab2ae3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC53_9cqyv-bKE7coY2AdUPWnt0UYj0vPJ6GVzv48S9BxGVpo7X__v9BYijzhF79F0vmPDdRGCKNnYIVX_2B1yBSINnbcqhNYQ56xANaIBDv4WZQUtQJskOXnfF9ZLgSCupfatydF5zpNJw03aSXnRq4POvKzho_4ruKJg6ShfZLJQeu0ViLLlof1axb7UJH8Ii_sydSHp-npRqxflWafI2PZT5aKe4OL_-WKBQxnYEAo9914MIikA16f92ymgOYkrKM-Nf2SL4SIN-fslMt4MrLn9xuAwvLc6LntZRhsabB5Yq7Of8Jq-lDjF7axW1V1nchq-308e_JB-V3is3QUICIrBSPCZs5CRnARh2Nu24V_1O3vh4JZ-D0oTZNmRN9J7ghj1iQxkBis-Qu2CHX3TsoLzOpzn0iiMpRG19JhanWQJxDasuUTF2S8FoyetZWImG9e7hmBj1Ze1Zp6Et8gMO1nAHL5DzQbah67Q--7FOnPCHu03DUOYuBFXN7dAK_fA9jt-dsZO2Uw62ecr_CWQoeUl_lbSL_zHjQRYp_8ycdL3ZKYsMNVVad7isJuB4ynJ6jCIkXodgCztBHc2Pe9pY-zdhgg6MYKpuWWuqolLXjwfjXKiYz_v0a1Poq-IFuINuuJhgv73htDqBLZUtDpodCl7111Bdr5RKrIhBFqFv0Wytpij8I6IzdfJUMIdInFivDF_4rX4FzpQAc-kTyr6E7AMqAxn2dDnXM_wP-ymCTLiNlq-7Vrg3O8ssWw-ly_JAkCY-al0aRii43VvioSrgv4_Mlb9xuKDuNBo5pe4otJ8YVpkSEVl1hjmH3k49z4GxfLO7OK-TEjuPa82qppiqsyZ_Z1klVUj19dUT_LCsiJX_sCvptIxGTnjL_FxbF37rKdc6W1WD4d3PyUJMYVS3yhaTfKWrkCJuhPgXXmz7hEIcrUC9upZRpPpcjmz7T8T-goxSI3nBCLqbYZZ5GuNH-nL72NWvOII0aSFHd1SOhVy9I5IT7KLeMbwx8j70V2Fi9khwt5gtI_h0W7SZOwgczKwBPnaS5bbjtEkI59GwPlKGG7wUkHWbxClk4ny4DGPNbCCOn8lXYokbNnXtFz-SO4sdPR839_Vrtt2fBNpG2ZOaIdtL3rhctfHPYY_wL50nCwtXvyZjtW8xYVZ4T2GG3fRQ0ty5yTraUl0ZsFBRAkf39W45VZm-qP_eMkEHDqB_5nQJLYT9YE7D20bHELE_CfTL2hWSXtEEtgULKOuJm-cg4dPbeJyb_NrHI5JMgOPYS26YivikcmlYSpnjzmWiaO5v5pfKdBJOwdBoJofgXF7OJ62v0h4JP_AeBij72aw-pq3M3Q-v_uAQh4OXz7Qrl-E8WG1Qjxqc86HEl29BSpFl2m0t2ZQhq1LkDLXcsfQ-2BMxq4o3fccnHNcDJGUI5UOj5kECn-4Q9V252lC24-6Lmy1Kmw4ZiD51kLFqo7rqqJWLVD9uL33n268addq_IgCytcBB2zOESa4SsVrAPJ5kx_M-MYF8BdqFWh6NKJx1bLWHaHvo_-dqccK0jDB-583mVd1Z22mCJdc0vcJp_6HW285UO_IsmQpCw4svjTDs3PCxN2FwoL5qxlzWxYztnur0AuEFUulTucHi6r9XuWPrVPclVo4vs0c-IhYKW6xy2BkUyToR-HGbYkV9m3pY6Kxqm8yUBZ1MuHznfsiJrXdx9CP9CTGhLcXPgDCmkaE0YDgkblDc6JIrMOLRkj-NisdKnLvD70E2Qlw8A8R5yJRd8yKjGDz53m_1KQam68Z6Yj2v9kPTMCRok53L4R2CeGXk5e3xNfC4pMjukYfaDhrUzdVn-_gA1SuJmmprm64GCWv51U8svb0UN_spjHUSVscnLgK57B-46NXE_V13M8GZ3xVx_4X4XARkm0HHxiSgpw_sCRw2ugeWOkU-A4_1Kqq6LoM_D1dWftyiaQiUDv_lnEpV-jFTeaD2Oz1HPRLHQNWTL_ksJU3BTMdldTnonc7EPJJhl5w91TK21zX_-RZ2mb6m7oLzmKYPBA8HeSQ1mv8c6wzMpkFNZnvTmbdieoeg8HGMKEiz_Mn24sfHz5lgR826NdVJDKf75Bm7G5yGBNeP7EyQBIUc_r90lLtQGhbmY0LFdF11ImxmB7SKCGV7bMwSdYkbIIMuZi8vSXT3mVoNiz9YeJMCbNBnyvpQvHK0juMEw52_Brd_7yq_-vwCuWdLCxb7BtdHq0vVgesAjhb07L66FtnlzF4-y8qaasa8LRBF8Ym3EsPlPL3plVAttVmhHBuLk2jbZHH0XK7BRQHGxqzTT0H4_ESUkJ35jQmq8IaWmeFRy9yTTQfiVMFFnR2V2-ad7xgxqXG5iC1nxK_yqGvPyiHEsAFS-y2PBMhZNloysuNeNMv5bHhb08RIoZyyHuk6V6f-1IiKk2qyZBRaVtOKUAoXpng561Fe8rNP3baqdHpMEvIbXgHaZdj0NNqy35KbOp9E2zk61JMsznpOGt2jqD86AwnmzhS-iSKf84BjFblAh11OEm4b5hXZVBBlhvAcDlFgXsBzwcVH3hHuebLZ2Xd2GoryBYKdDey-E__14s8mukOgTu9C_qXXX6aM5XqjgNEp8SsJ-jbDWta4EPM9xKPkEXIVLBr61wiksGZ7yUlSYlcWjB19wew_A4NMa_PYoEO47fb3tvG-0vMcRc_8WrP1otEMbdhKVF6ZrwryjFmrhceS_WfXSMd3ZV-bZ0BCRezNdNJgYnoQm2t6eazH3WL_Po8rLDuVwI4TCBFgwp6ENgOvd5r7cJXFmHIdF30bptM48ykwv-eK_vLEMLhZhjw3dO8Dnhrp3FuLlDSFdIXociteTXGb_d8FbngKPF76m-xu8a1TI3x-3Z_ddzAOzQogcvkKKijDi1qKUavXgWFSG6onIJ6dQMihlXsf-TBQ4YjMHt2XPJ57l_t39cmQRX1dhwLos1y7Gu-m9zx3lcvwWL7wRWZ1-FNrSAjtEVdfWTyMTeXHNFjxHGWsGwmVpz8tJWm4N2j5Dis-h7l5nR3Ia64yFRJ8Rkt5lI-FOzuEDVP-_m_eMAPkXz-tUx6ieb-72djjfFuLddU3yijFxzjv1joEKxqLAqGJy2tbpxlQNoPR_D7Jx50QwOWsWFax5hEhpR29Lc15I4cNtuRAiWCla-vwCBJ5Y5VdN3gvdPqmObQabAP_-FgE8--yIFpAB9W_eJOpd2i238cBqkVlteDEz66RJuECbQeqcdO5kmDQjMR3UuD7BkKCghkdLBp7OhkpOt5G0eK1YSYpmXbX7ziSamZansDPp0rStgykMoZp-23tWA3TyVRvNkrzr5YaEVwiJOxtowZb4vcxLt14NLA7nsNSBoURU3ZVSI2tEqqDcM_VjgtNt2wyjDCFh9FUcltPxpQG_XzRnMqqnUAWnhn12cbapeHpukNIeLGJu7bgNL9_bXv9bDHU5qXvSyjBpJpzHIZdUCa8Xbf0MX2z5Zsgxlt3LkqFof7cSON2obPF13VFAL4CSvbgwLWHLBLL5-RZHIcayGectIqImSlWt62f0hpMjXN3oGUnNvqh7OlQjH4Yv08ztBW4VYBQ7IiJu1PQnuHYiCV40SOzybT3ESIYS1L8ftjqWd2c=",
  "id": "rs_009b83eae09bb011016ab42e711ec087d0b6ee50cbb98e3542",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC531h652lYdHHLpyDl6xvqOBuYZvlE1InX8P9Lcqv-qn-wtXc1yuw9q3s8ZmvQGYDZ5t-rdVjphmPGX-yB9fFIVcnhQO7qO838KAbLsRoDVoGXp2jI8N20uX17GAdOmqtHobfCfjoDqJu_3mppeucAroAeYviix5WEsE1B-K5nDcQg6jIo8FAqguPcbUE5e3n5VNh0lFXMo0_JUcf4r5v67vlLD9ej2RoM4cyEc4vBiTcSlyc3YqFNOiQ5oALnUm5k_mFvkQ-Mkh8B1jYydpgL4HnsiZkcF2zedUJNMcVbVPSRhV-xSVO6Dtbl-8N2EzXbtsiCCw-fxzJSRTc4svFW51O9Dc4gPl0n07QyrDJFurvQF8TLUE1nFL7VZUF8XnjpcDD64hq6kktnRyNuNlJMELf0JSkgdUx7gxDFqPslPSPUZUYCpsqgLzZvjUmLEnP08UMcHYWBOMlgZmLq-yw5jOLiObToEVuicCMoYQqcU6ef1hPCgqDQqlHvbvJfTDZOQL10fobhRX2u7wQiD5jWiVMrk8hHfgGAR039OyKrprdglwegEIdrBzzdVpSmkt9oCjn0UcmPUvLrX7aQPeFrcK_52D8AlBy4G21XxhnlboBEm7jVdCnPuLxukV5vlU4KhAbWqw_Mpft2UHXJGwxfL23fEzsuXN_k8kLrJvWCt_nsXV-hn-1fbciV0tl_uW-_u5z5AisExAr350boc5aF86aABPmDKKXF7MnwrizCG_XbJlecgzoLHj5bxe3LpDzAveq3xSK6l0tggN71N8n9VwW0MRBSkvNlwgEK_KVBD3wD_Srucxd1YJZvAARPqEaGQUHiByS5IZob1GLG7Mrn-jzFTW24C7ztH2rowspWwhk41V_cZft4FVVaeu1ebsOMZixadC5-WkwSoyqZEnrwta7-X5XZHwnu93qMZyr-Jol86Km5mzhyemfsUh3oGvO_TmNjw9MclvncFR9u4FEnQsGfJSp9R88MzfRpZD4C1x77XASV49qEsp4t0bu--EOTdTEzzpvdhyoBFqAMfTtP_WRcOcwuLhksVRP80jcSpDrieAz9pUcDdHFv0Jrgvczge8_XtQ_rUwHZmEtyT4mcYuZITzS_Q1NBUl65XpcdHMdeDMd_pWKrX_fy0xQkRi6OO8H3OrgoANnIx7FRCsQfLOLJx1khf1I4rJXTvvJHWr8paKWE3gOcnIuvzRXlkvzj6JkYImneKl4QiUazeNFIf3cX4Fh3zQYyM_8LKGJyywBJkJyGmwLZ0dD4MqMhCs6mHJBbkpnnG2WZhbjOlTTCqeA==",
  "id": "rs_009b83eae09bb011016ab42e76b8e087d0b43a790e575d7d7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.235,\"left_y\":-0.31,\"left_z\":0.045,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The dark-fruit grasp closed nearly empty, so it remains beside the white bowl. The yellow fruit is still loose in front of the blue bowl; I’ll switch to that clear target and place it before attempting the pour.\"}",
  "call_id": "call_2hHWeUC54aqRYoOorw71mPPi",
  "id": "fc_009b83eae09bb011016ab42e76d84087d0bd46b804a9df439c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2hHWeUC54aqRYoOorw71mPPi",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "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]: [-1.1542, 1.869, 1.1992, -0.5907, -0.5667, -0.8307, 0.9969, -0.0021, 1.0245, 0.8379, -0.7929, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2493 left_y=-0.3202 left_z=0.0508 left_yaw=-0.1549 left_pitch=-0.3721 left_roll=0.1427 left_gripper=0.9969 right_x=0.2722 right_y=-0.002 right_z=0.1465 right_yaw=0.118 right_pitch=-0.4239 right_roll=-0.1804 right_gripper=0.9962\nstate[joint_eff]: [-0.8, -8.4034, 6.2017, 0.4664, 0.1538, -0.3785, 0.0464, -0.0479, -2.7966, 6.5846, 1.3797, -0.0562, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a38f3844af23cd6426e9a9610e97142bf661bac03c49574a620f057ea13692",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024270501053e8e3917245ebeb20e7bfee2f0ad11b2cd55cc6e8a6df3d047cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e4467a6a83688ff11e3b5a3d625fd79144f29e2caed072e03ced27aa1a2436b",
      "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 · 11.07 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 153 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1947, 1.7496, 1.4109, -0.8387, 0.4892, 0.8997, 0.7982, -0.0021, 1.018, 0.8379, -0.7704, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.3815 left_y=-0.1562 left_z=0.1384 left_yaw=-1.1801 left_pitch=-0.385 left_roll=0.0468 left_gripper=0.7982 right_x=0.2766 right_y=-0.002 right_z=0.1513 right_yaw=0.1165 right_pitch=-0.3952 right_roll=-0.1842 right_gripper=0.9962\nstate[joint_eff]: [0.4171, -8.8821, 7.788, 0.6276, 0.4908, 0.2271, -0.0611, -0.1026, -2.3863, 6.6667, 1.3455, -0.022, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1837, 1.9514, 1.3815, -0.638, 0.5125, 1.1103, 0.131, -0.0021, 1.021, 0.8379, -0.7887, 0.028, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.4137 left_y=-0.1613 left_z=0.0661 left_yaw=-1.3148 left_pitch=-0.391 left_roll=0.1379 left_gripper=0.131 right_x=0.273 right_y=-0.0019 right_z=0.1479 right_yaw=0.118 right_pitch=-0.4163 right_roll=-0.181 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -7.8974, 4.8752, 0.1978, 0.5104, -0.2173, 0.6764, 0.0479, -2.5094, 6.7214, 1.3358, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1542, 1.869, 1.1992, -0.5907, -0.5667, -0.8307, 0.9969, -0.0021, 1.0245, 0.8379, -0.7929, 0.0284, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2493 left_y=-0.3202 left_z=0.0508 left_yaw=-0.1549 left_pitch=-0.3721 left_roll=0.1427 left_gripper=0.9969 right_x=0.2722 right_y=-0.002 right_z=0.1465 right_yaw=0.118 right_pitch=-0.4239 right_roll=-0.1804 right_gripper=0.9962\nstate[joint_eff]: [-0.8, -8.4034, 6.2017, 0.4664, 0.1538, -0.3785, 0.0464, -0.0479, -2.7966, 6.5846, 1.3797, -0.0562, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a38f3844af23cd6426e9a9610e97142bf661bac03c49574a620f057ea13692",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024270501053e8e3917245ebeb20e7bfee2f0ad11b2cd55cc6e8a6df3d047cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e4467a6a83688ff11e3b5a3d625fd79144f29e2caed072e03ced27aa1a2436b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC57OGQKNK0jYstyLwc4GhiCgahbtsDSbIVcZr4duX2QxhpguPPamUt-suLkNKPTT6ROKd43kufDal8Y97huvhnl8Bh_VeCuZsHnB1BIpKby63i8XB1q3NP8zJDHjZghoj6fGRf4G7jV9L2GQY1_OkC8EEzT8f4wh7RLwYzrPrWw2gymLTEm1sQNDq6W_6IQiWJ_tPxBrDwvbm01W7x4Ozr-DGrVRW8bqZMzjvzlskyJv9iDUnjpz9IidF5psH3uBM7XzNrT5wvDF5zyOGVORHGuX2o_dzwphLRCQdTEsOvl2l6GS1GXadbqP2nkyQmQrcEgbNTfr_BZq83evaK5ufozCyP7hT12XYR_Rgrn6ReFsrbiCe42bPKgT87K_T6kJapstU16VHgAj-MOKQDSYJDAP_0oNSn_AxnMmvSE0TfD90Xl-zqrpRFA-uCB0WaJ8ImRZkfD3Uwx22bNABk78vmZwNEZlNDpyJKqQO8gH008yTAD4dttu1QYs-4KAqsLx13AIopck1w36BRmpsn3I00m5TsiDrw4k_-hS79VDSYxgcmbv3Wom8ea5R_upii6noDRHy9X6RrJ1bKKuMk2Bp37ZS1USFg8D_0aadlQHQFWDdIaeE9CrRterhwBaNxf2IyEMST2shgbTL5ke950eI9CVPrzrX5sqYVr0ynl_5hOYZcQzCqsMFFFWKHm0tphSh7ns3JEfRVoHJNddvj1g4SQlfJlVbR9RrZGq1N5DgwAQyJd_O4rctTaNLperk9UFCSwwOQqzxzo9X4Ef8bmOMn9g_vmLk33xcJAQC7PZ22zn1bVWSRqc-wlB88TPI0sXGvFKLh-snEro1HKa9km6je_6IWFw6QIQ2VSRroWUJNzuYvgSfx6UkNFbJLtLZWj83W-wf6dp191sAm0_cVXsYsm77lipsCdBA5FQgtiS61Oi6WT-nCp17zlr3YIkPPneMnmvZy3h4hI9mSeANTyI9bNA1URXKTXO6PlzQy6eXRKc6_RPLfS58nBoYDKG3k7reJBougWSEFM16gGbjlm9Zl4xorGU355H-r8J9XtzhVguIc8WSGphtAEoOWbqOSgHEi_4HtDNFOe3g7C3z7QQ7-SqQQO2aORSADlyRpjmr2wuh5En2fNK9_B7DaWZGFuDz65vSL5g5gvljf2VYMJWmcEKn-0sUmtXMDqZuhmwgQiP6ggxKLmHoXW0VwGWrlmmVMQSBnMrQJTv1fTDXsdxaMhkh_bSwIQOZjQGNvxQhxYCV-u_ft1JX_bPwBss1C0C7-Z1Q7Jr7jcVoNauuPNakVlJ6qkJhFEfsY6yRvB_8AyuGo09yh85bG3B-0Z0daPHjQ6",
  "id": "rs_009b83eae09bb011016ab42e7a29a887d0a9cfa3f01af1d451",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The loose yellow fruit is now centered directly between the left gripper’s low jaws, with the blue bowl just beyond it. I’ll close on the fruit.\"}",
  "call_id": "call_FVyuI1XRKimUTVvBDoFbT1aE",
  "id": "fc_009b83eae09bb011016ab42e7a874487d08ea073330c0eaf88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FVyuI1XRKimUTVvBDoFbT1aE",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1526, 1.8847, 1.2037, -0.6315, -0.6094, -0.7956, 0.1129, -0.0021, 1.0248, 0.8379, -0.7952, 0.028, -0.2737, 0.9962]\nstate[eef_state]: left_x=0.2518 left_y=-0.3088 left_z=0.0478 left_yaw=-0.1358 left_pitch=-0.3685 left_roll=0.2356 left_gripper=0.1129 right_x=0.2718 right_y=-0.0019 right_z=0.146 right_yaw=0.1185 right_pitch=-0.4266 right_roll=-0.1797 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -10.4821, 5.3265, 1.2332, 0.0806, -0.486, 0.7741, -0.0889, -2.5368, 6.7487, 1.2869, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95d18b9576ea17d134082a6d803959adcac7635043bc1b86272a07e808fd25f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bfb95ec2aabce7aa14aa287dc0a648de480ba5b048a3f823cfea858781157cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e969451701b7ee9bdb4cafab52527b4caffb009438316b997d845918a2e9c9e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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