adhoc

completed
2026-09-23T18:53:51.104989+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 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
220.5 s
total steps
381
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits: a dark one left of the blue bowl, and yellow and green ones beside it. I’ll move the right gripper above the green fruit first, keeping the jaws open.
move_to
right_x0.3600right_y0.1200right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0319, 0.8013, 0.6136, -0.3817, -0.0143, -0.0299, 0.9988, -0.0227, 0.8005, 0.6197, -0.3874, -0.0174, -0.0334, 0.9994] state[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2961 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [0.5538, -1.7709, 9.5521, 1.8095, -0.1148, 0.1392, -0.1392, -0.3487, -1.4154, 9.1282, 1.873, -0.105, 0.1538, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.12,"right_z":0.15},"note":"I see three fruits: a dark one left of the blue bowl, and yellow and green ones beside it. I’ll move the right gripper above the green fruit first, keeping the jaws open."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe green fruit is to the right of the jaw center in the wrist view, while the blue bowl is just left of it. I’ll shift the gripper rightward to align with the fruit before descending.
move_to
right_y0.0600right_x0.3600right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8059, 0.6132, -0.387, -0.0139, -0.0311, 0.9987, 0.5041, 1.2949, 0.704, -0.1009, 0.3969, 0.2478, 0.9994] state[eef_state]: left_x=0.2957 left_y=-0.0037 left_z=0.1795 left_yaw=-0.0008 left_pitch=-0.0103 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3504 right_y=0.1194 right_z=0.1309 right_yaw=0.0292 right_pitch=-0.0613 right_roll=-0.0322 right_gripper=0.9994 state[joint_eff]: [-0.0889, -1.5658, 7.2, 1.8242, -0.0855, -0.0659, -0.022, -0.2803, -5.2171, 8.6769, 1.9072, 0.3687, 0.1783, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.06,"right_x":0.36,"right_z":0.12},"note":"The green fruit is to the right of the jaw center in the wrist view, while the blue bowl is just left of it. I’ll shift the gripper rightward to align with the fruit before descending."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe green fruit is now centered between the open jaws in the wrist view. I’ll lower the gripper to its middle so the jaws can close around it.
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]: [-0.033, 0.8062, 0.6132, -0.3981, -0.0139, -0.0311, 0.9987, 0.2489, 1.264, 0.6159, -0.041, 0.2035, 0.0853, 0.9994] state[eef_state]: left_x=0.2942 left_y=-0.0037 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.0218 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3564 right_y=0.0574 right_z=0.1092 right_yaw=0.0208 right_pitch=-0.1049 right_roll=-0.045 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.347, 7.0359, 1.8486, -0.0366, -0.0562, -0.0171, 0.3214, -5.8735, 6.6667, 1.9902, -0.0122, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025},"note":"The green fruit is now centered between the open jaws in the wrist view. I’ll lower the gripper to its middle so the jaws can close around it."})
tool
executing move_to over 6 steps (0.6s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe fruit fills the gap between the lowered jaws, with the blue bowl visible immediately to its left. I’ll close the gripper and check whether it holds.
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]: [-0.033, 0.8078, 0.6132, -0.408, -0.0135, -0.0311, 0.9987, 0.2512, 1.5467, 0.4179, 0.4149, 0.2039, 0.0853, 0.9993] state[eef_state]: left_x=0.293 left_y=-0.0037 left_z=0.1747 left_yaw=-0.0012 left_pitch=-0.0332 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3533 right_y=0.0574 right_z=0.0211 right_yaw=0.0221 right_pitch=-0.129 right_roll=-0.0509 right_gripper=0.9993 state[joint_eff]: [-0.0205, -1.0735, 7.0085, 1.7802, -0.0171, -0.0464, -0.0122, -0.3761, -5.4496, 4.7111, 1.8388, 0.0269, -0.0366, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fruit fills the gap between the lowered jaws, with the blue bowl visible immediately to its left. I’ll close the gripper and check whether it holds."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gripper has stopped partly open around the fruit, which suggests a grasp. I’ll lift it clear of the table and check whether it comes along.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8124, 0.6132, -0.421, -0.0139, -0.0311, 0.9987, 0.2516, 1.5417, 0.4206, 0.4484, 0.2047, 0.0849, 0.6243] state[eef_state]: left_x=0.2914 left_y=-0.0036 left_z=0.1708 left_yaw=-0.0008 left_pitch=-0.0507 left_roll=0.0005 left_gripper=0.9987 right_x=0.3597 right_y=0.0591 right_z=0.03 right_yaw=0.0231 right_pitch=-0.0888 right_roll=-0.0422 right_gripper=0.6243 state[joint_eff]: [-0.1983, -1.7299, 7.0085, 1.8486, -0.0659, -0.0122, -0.0171, -0.0342, -4.8752, 5.012, 1.2723, 0.0464, -0.0611, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The gripper has stopped partly open around the fruit, which suggests a grasp. I’ll lift it clear of the table and check whether it comes along."})
tool
executing move_to over 9 steps (0.9s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe jaws stayed partly open on lifting, but the overhead view still hides the fruit, so I can’t confirm it moved. I’ll carry the gripper toward the blue bowl and check whether the fruit follows.
move_to
right_x0.3900right_y0.1700right_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]: [-0.033, 0.8135, 0.6132, -0.4244, -0.0139, -0.0315, 0.9987, 0.2523, 1.2179, 0.7433, -0.2684, 0.2039, 0.0807, 0.6243] state[eef_state]: left_x=0.291 left_y=-0.0036 left_z=0.1698 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=0.0003 left_gripper=0.9987 right_x=0.35 right_y=0.057 right_z=0.1369 right_yaw=0.0248 right_pitch=-0.1574 right_roll=-0.061 right_gripper=0.6243 state[joint_eff]: [-0.0342, -0.9915, 7.2274, 1.7656, -0.0415, -0.0562, -0.0073, -0.0889, -5.1077, 9.347, 1.8584, 0.0122, -0.022, 0.9646] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.17,"right_z":0.18},"note":"The jaws stayed partly open on lifting, but the overhead view still hides the fruit, so I can’t confirm it moved. I’ll carry the gripper toward the blue bowl and check whether the fruit follows."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe green fruit is no longer at its original spot, so it appears to be riding with the gripper. The blue bowl is ahead of the jaws in the wrist view; I’ll bring the fruit over its opening and lower it gently.
move_to
right_x0.4300right_y0.1800right_z0.0900
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]: [-0.033, 0.8188, 0.6132, -0.4267, -0.0135, -0.0334, 0.9987, 0.5713, 1.5345, 1.1446, -0.4706, 0.3958, 0.279, 0.6279] state[eef_state]: left_x=0.2909 left_y=-0.0036 left_z=0.1679 left_yaw=0.0001 left_pitch=-0.063 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3814 right_y=0.1684 right_z=0.1617 right_yaw=0.0695 right_pitch=-0.2096 right_roll=-0.0871 right_gripper=0.6279 state[joint_eff]: [-0.1299, -1.812, 6.9949, 1.7265, -0.0269, -0.0317, -0.0171, 0.2803, -7.3778, 8.9094, 1.4481, 0.4225, 0.1832, 0.8034] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.18,"right_z":0.09},"note":"The green fruit is no longer at its original spot, so it appears to be riding with the gripper. The blue bowl is ahead of the jaws in the wrist view; I’ll bring the fruit over its opening and lower it gently."})
tool
executing move_to over 5 steps (0.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe fruit is still between the jaws, but it appears near the near side of the bowl rather than over its center. I’ll raise it slightly and shift it farther across the opening before releasing it.
move_to
right_x0.4500right_y0.1500right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8211, 0.6132, -0.4278, -0.0139, -0.0334, 0.9987, 0.5259, 1.784, 1.1133, -0.2817, 0.3622, 0.2481, 0.6307] state[eef_state]: left_x=0.2909 left_y=-0.0036 left_z=0.167 left_yaw=0.0005 left_pitch=-0.0664 left_roll=-0.0009 left_gripper=0.9987 right_x=0.4115 right_y=0.1706 right_z=0.0732 right_yaw=0.0568 right_pitch=-0.3051 right_roll=-0.129 right_gripper=0.6307 state[joint_eff]: [-0.1573, -1.5521, 7.0085, 1.6874, -0.0366, -0.0513, -0.0122, -0.4034, -9.7436, 6.9812, 1.6825, 0.1587, 0.0122, 0.6032] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.15,"right_z":0.12},"note":"The fruit is still between the jaws, but it appears near the near side of the bowl rather than over its center. I’ll raise it slightly and shift it farther across the opening before releasing it."})
tool
executing move_to over 4 steps (0.4s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe gripper is now over the blue bowl’s opening, with the fruit hanging inside the rim in the wrist view. I’ll open the jaws to drop 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]: [-0.033, 0.8211, 0.6132, -0.4309, -0.0139, -0.0334, 0.9987, 0.4332, 1.8107, 1.2961, -0.4221, 0.3073, 0.1749, 0.6319] state[eef_state]: left_x=0.2905 left_y=-0.0035 left_z=0.1664 left_yaw=0.0005 left_pitch=-0.0694 left_roll=-0.0008 left_gripper=0.9987 right_x=0.4446 right_y=0.1507 right_z=0.1081 right_yaw=0.0523 right_pitch=-0.3144 right_roll=-0.1289 right_gripper=0.6319 state[joint_eff]: [-0.0342, -1.388, 7.2, 1.7167, -0.0513, -0.0415, -0.0122, -0.1709, -9.1419, 8.0068, 1.326, 0.1294, 0.1636, 0.7302] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The gripper is now over the blue bowl’s opening, with the fruit hanging inside the rim in the wrist view. I’ll open the jaws to drop it into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe green fruit is visible inside the blue bowl. A yellow fruit remains just below and left of it, so I’ll position the open right gripper over that fruit next.
move_to
right_x0.3500right_y0.2200right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8211, 0.6132, -0.4313, -0.0135, -0.0338, 0.9987, 0.4301, 1.8107, 1.301, -0.4488, 0.2985, 0.1665, 0.996] state[eef_state]: left_x=0.2904 left_y=-0.0036 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0698 left_roll=-0.0013 left_gripper=0.9987 right_x=0.4412 right_y=0.1492 right_z=0.1059 right_yaw=0.0587 right_pitch=-0.3379 right_roll=-0.1359 right_gripper=0.996 state[joint_eff]: [-0.0889, -1.1419, 7.0085, 1.6679, -0.0269, -0.0513, -0.0171, 0.1026, -9.1282, 6.2291, 1.5458, 0.1538, 0.0464, -0.1148] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.22,"right_z":0.15},"note":"The green fruit is visible inside the blue bowl. A yellow fruit remains just below and left of it, so I’ll position the open right gripper over that fruit next."})
tool
executing move_to over 8 steps (0.8s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe yellow fruit is close to the jaw column but slightly left of center in the wrist image. I’ll make a small sideways correction and descend to grasp it near the table.
move_to
right_y0.2400right_z0.0180
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0135, -0.0334, 0.9987, 0.7273, 1.7012, 1.2984, -0.6788, 0.4328, 0.3958, 0.9965] state[eef_state]: left_x=0.2903 left_y=-0.0036 left_z=0.1663 left_yaw=0.0001 left_pitch=-0.0702 left_roll=-0.001 left_gripper=0.9987 right_x=0.3542 right_y=0.2209 right_z=0.1296 right_yaw=0.0955 right_pitch=-0.3724 right_roll=-0.1583 right_gripper=0.9965 state[joint_eff]: [-0.0752, -1.1419, 7.0085, 1.6777, -0.0317, -0.0513, -0.0122, 0.1846, -11.0838, 8.9094, 1.1111, 0.3541, 0.1441, 0.0464] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.24,"right_z":0.018},"note":"The yellow fruit is close to the jaw column but slightly left of center in the wrist image. I’ll make a small sideways correction and descend to grasp it near the table."})
tool
executing move_to over 8 steps (0.8s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe yellow fruit is now centered between the lowered jaws. I’ll close the gripper around it, then test the grasp by lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.7631, 1.8915, 1.0962, -0.3416, 0.4404, 0.4194, 0.9965] state[eef_state]: left_x=0.2903 left_y=-0.0035 left_z=0.1663 left_yaw=0.0005 left_pitch=-0.0702 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3489 right_y=0.2344 right_z=0.0211 right_yaw=0.0984 right_pitch=-0.4102 right_roll=-0.1855 right_gripper=0.9965 state[joint_eff]: [-0.0479, -1.2239, 6.9949, 1.6777, -0.0806, -0.0659, -0.0122, 0.3897, -9.1966, 5.2171, 1.1941, 0.2857, 0.1294, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now centered between the lowered jaws. I’ll close the gripper around it, then test the grasp by lifting."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe gripper closed almost empty, and the yellow fruit has rolled toward the near edge of the table. I’ll reopen, raise clear of the bowl, and reposition above where the fruit came to rest.
move_to
right_x0.1800right_y0.2500right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.762, 1.9076, 1.0824, -0.3412, 0.4404, 0.4091, 0.0396] state[eef_state]: left_x=0.2903 left_y=-0.0035 left_z=0.1663 left_yaw=0.0005 left_pitch=-0.0702 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3446 right_y=0.2297 right_z=0.0107 right_yaw=0.095 right_pitch=-0.4344 right_roll=-0.2117 right_gripper=0.0396 state[joint_eff]: [-0.1709, -1.2103, 7.0359, 1.6484, -0.0415, -0.0171, -0.0122, 0.0615, -10.5504, 6.5983, 0.989, 0.2173, 0.1832, 1.1111] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.18,"right_y":0.25,"right_z":0.15,"right_gripper":1},"note":"The gripper closed almost empty, and the yellow fruit has rolled toward the near edge of the table. I’ll reopen, raise clear of the bowl, and reposition above where the fruit came to rest."})
tool
executing move_to over 13 steps (1.3s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe rolled yellow fruit is in the right wrist view, a little to the right of the jaw center. I’ll correct sideways and lower the jaws around its thicker middle.
move_to
right_y0.2200right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8219, 0.6132, -0.4339, -0.0139, -0.0338, 0.9987, 1.2324, 1.565, 1.2339, -1.0679, 0.5503, 0.8791, 0.9962] state[eef_state]: left_x=0.29 left_y=-0.0035 left_z=0.1656 left_yaw=0.0007 left_pitch=-0.0733 left_roll=-0.001 left_gripper=0.9987 right_x=0.1858 right_y=0.2603 right_z=0.1358 right_yaw=0.1412 right_pitch=-0.4488 right_roll=-0.2065 right_gripper=0.9962 state[joint_eff]: [-0.0068, -1.4017, 6.9812, 1.7558, -0.0464, -0.0562, -0.0122, 0.212, -8.1436, 7.4872, 0.4664, 0.5446, 0.1245, -0.2173] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.22,"right_z":0.03},"note":"The rolled yellow fruit is in the right wrist view, a little to the right of the jaw center. I’ll correct sideways and lower the jaws around its thicker middle."})
tool
executing move_to over 7 steps (0.7s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe yellow fruit is between the lowered jaws but still offset to the right. I’ll make one small alignment adjustment before closing, to avoid pushing it again.
move_to
right_y0.1850
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]: [-0.033, 0.8249, 0.6132, -0.4358, -0.0139, -0.0334, 0.9987, 1.1824, 1.5372, 0.7856, -0.68, 0.535, 0.8291, 0.9971] state[eef_state]: left_x=0.2899 left_y=-0.0035 left_z=0.1644 left_yaw=0.0005 left_pitch=-0.0782 left_roll=-0.0005 left_gripper=0.9987 right_x=0.1792 right_y=0.2095 right_z=0.0327 right_yaw=0.112 right_pitch=-0.4836 right_roll=-0.2596 right_gripper=0.9971 state[joint_eff]: [-0.0752, -1.4564, 7.1043, 1.6874, -0.0464, -0.0611, -0.0122, -0.3214, -4.9709, 6.106, 0.7106, 0.4615, 0.0269, 0.0855] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.185},"note":"The yellow fruit is between the lowered jaws but still offset to the right. I’ll make one small alignment adjustment before closing, to avoid pushing it again."})
tool
executing move_to over 3 steps (0.3s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe yellow fruit now appears centered across the jaw opening. I’ll close carefully and check the settled jaw width for a secure grasp.
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]: [-0.033, 0.8257, 0.6128, -0.4461, -0.0139, -0.0338, 0.9987, 1.1465, 1.4631, 0.712, -0.6411, 0.5228, 0.7982, 0.9972] state[eef_state]: left_x=0.2884 left_y=-0.0035 left_z=0.162 left_yaw=0.0007 left_pitch=-0.0897 left_roll=-0.0004 left_gripper=0.9987 right_x=0.1805 right_y=0.1941 right_z=0.0317 right_yaw=0.1172 right_pitch=-0.4786 right_roll=-0.232 right_gripper=0.9972 state[joint_eff]: [-0.0479, -1.0051, 6.9812, 1.746, -0.0317, -0.0659, -0.0122, -0.3214, -5.135, 5.2718, 0.6813, 0.3053, -0.188, -0.0024] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit now appears centered across the jaw opening. I’ll close carefully and check the settled jaw width for a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe jaws closed empty again, and the yellow fruit slipped to their right in the wrist view. I’ll reopen and approach it slightly farther forward and right rather than repeating the same close.
move_to
right_gripper1.0000right_x0.2000right_y0.1500right_z0.0550
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]: [-0.033, 0.8257, 0.6128, -0.4496, -0.0139, -0.0338, 0.9987, 1.1423, 1.4567, 0.7017, -0.651, 0.519, 0.791, 0.0091] state[eef_state]: left_x=0.2878 left_y=-0.0035 left_z=0.1614 left_yaw=0.0007 left_pitch=-0.0931 left_roll=-0.0003 left_gripper=0.9987 right_x=0.1786 right_y=0.1889 right_z=0.0298 right_yaw=0.1128 right_pitch=-0.4899 right_roll=-0.2472 right_gripper=0.0091 state[joint_eff]: [-0.0889, -1.2376, 6.9538, 1.6777, -0.0415, -0.0708, -0.0122, 0.2256, -4.3145, 6.2154, 0.7057, 0.315, 0.0122, 0.7009] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.20,"right_y":0.15,"right_z":0.055},"note":"The jaws closed empty again, and the yellow fruit slipped to their right in the wrist view. I’ll reopen and approach it slightly farther forward and right rather than repeating the same close."})
tool
executing move_to over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe yellow fruit is centered again and now extends to the bottom of the wrist view, where the fingertips reach. I’ll lower and advance a little to bring the grasp point onto it.
move_to
right_z0.0150right_x0.2200
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]: [-0.033, 0.8257, 0.6132, -0.45, -0.0135, -0.0338, 0.9987, 0.9699, 1.2968, 0.6743, -0.6914, 0.4816, 0.6094, 0.9953] state[eef_state]: left_x=0.2878 left_y=-0.0035 left_z=0.1614 left_yaw=0.0004 left_pitch=-0.0931 left_roll=-0.0005 left_gripper=0.9987 right_x=0.2002 right_y=0.1538 right_z=0.053 right_yaw=0.1069 right_pitch=-0.4897 right_roll=-0.2409 right_gripper=0.9953 state[joint_eff]: [-0.0068, -1.347, 6.9538, 1.6532, 0.0024, -0.0415, -0.0122, -0.3761, -4.9026, 5.3402, 0.6618, 0.3053, 0.0513, 0.1245] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.015,"right_x":0.22},"note":"The yellow fruit is centered again and now extends to the bottom of the wrist view, where the fingertips reach. I’ll lower and advance a little to bring the grasp point onto it."})
tool
executing move_to over 3 steps (0.3s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe yellow fruit is immediately below the jaw column after the approach. I’ll try closing once at this revised position to see whether the jaws catch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8284, 0.6128, -0.4526, -0.0139, -0.0334, 0.9987, 0.9012, 1.4139, 0.6083, -0.5411, 0.4622, 0.5537, 0.9964] state[eef_state]: left_x=0.2875 left_y=-0.0034 left_z=0.16 left_yaw=0.0005 left_pitch=-0.0988 left_roll=0.0002 left_gripper=0.9987 right_x=0.2093 right_y=0.1433 right_z=0.0153 right_yaw=0.0692 right_pitch=-0.5335 right_roll=-0.2855 right_gripper=0.9964 state[joint_eff]: [-0.0752, -1.4974, 7.1316, 1.7118, -0.0513, -0.0562, -0.0122, -0.0342, -5.7094, 6.0513, 0.8376, 0.2808, -0.1783, 0.105] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is immediately below the jaw column after the approach. I’ll try closing once at this revised position to see whether the jaws catch it."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe right gripper closed empty again, so I’ll leave the yellow fruit for now. I’ll park that arm and bring the left gripper above the dark fruit beside the white bowl.
move_to
right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000left_x0.3500left_y-0.1500left_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]: [-0.033, 0.8288, 0.6132, -0.4534, -0.0135, -0.0338, 0.9987, 0.8986, 1.4269, 0.5919, -0.543, 0.4549, 0.5419, 0.0091] state[eef_state]: left_x=0.2875 left_y=-0.0035 left_z=0.16 left_yaw=0.0004 left_pitch=-0.0996 left_roll=-0.0003 left_gripper=0.9987 right_x=0.2041 right_y=0.1376 right_z=0.0075 right_yaw=0.0639 right_pitch=-0.5616 right_roll=-0.3133 right_gripper=0.0091 state[joint_eff]: [-0.0205, -1.4427, 6.9402, 1.6923, -0.0513, -0.0708, -0.0171, 0.0615, -5.3812, 6.5162, 0.6911, 0.2808, 0.105, 0.6618] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.18,"right_gripper":1,"left_x":0.35,"left_y":-0.15,"left_z":0.14},"note":"The right gripper closed empty again, so I’ll leave the yellow fruit for now. I’ll park that arm and bring the left gripper above the dark fruit beside the white bowl."})
tool
executing move_to over 14 steps (1.4s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe dark fruit is visible to the right of the open left jaws in the wrist view. I’ll shift the gripper toward it and descend to its center before closing.
move_to
left_x0.3600left_y-0.1900left_z0.0330
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]: [-0.6125, 1.354, 0.7967, -0.2684, -0.4313, -0.4145, 0.9987, 0.1177, 1.2217, 1.0985, -0.9997, 0.21, -0.2047, 0.9966] state[eef_state]: left_x=0.3385 left_y=-0.1432 left_z=0.1218 left_yaw=-0.0185 left_pitch=-0.1617 left_roll=0.0264 left_gripper=0.9987 right_x=0.2873 right_y=0.0005 right_z=0.1708 right_yaw=0.0251 right_pitch=-0.5619 right_roll=-0.315 right_gripper=0.9966 state[joint_eff]: [-0.3077, -5.4632, 9.0051, 1.5995, -0.5397, 0.0024, -0.0171, -0.1846, -3.4256, 7.9658, 1.0085, 0.0171, 0.1148, 0.0171] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.19,"left_z":0.033},"note":"The dark fruit is visible to the right of the open left jaws in the wrist view. I’ll shift the gripper toward it and descend to its center before closing."})
tool
executing move_to over 6 steps (0.6s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe dark fruit is centered low in the wrist view, but the left gripper stopped a little above the requested height. I’ll back off slightly in reach and lower again so the jaws meet the fruit rather than pass over it.
move_to
left_x0.3450left_y-0.1900left_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]: [-0.6804, 1.6836, 0.7757, 0.0917, -0.5365, -0.4477, 0.9987, 0.1177, 1.2266, 1.1007, -1.0153, 0.1978, -0.2245, 0.9972] state[eef_state]: left_x=0.3699 left_y=-0.1786 left_z=0.0566 left_yaw=0.011 left_pitch=-0.1076 left_roll=0.0573 left_gripper=0.9987 right_x=0.2845 right_y=0.0023 right_z=0.1682 right_yaw=0.0485 right_pitch=-0.5844 right_roll=-0.3139 right_gripper=0.9972 state[joint_eff]: [-1.4154, -5.7094, 4.547, 0.8327, 0.1832, -0.4029, -0.0171, -0.1162, -4.3419, 6.3385, 1.16, 0.2222, 0.1783, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.19,"left_z":0.025},"note":"The dark fruit is centered low in the wrist view, but the left gripper stopped a little above the requested height. I’ll back off slightly in reach and lower again so the jaws meet the fruit rather than pass over it."})
tool
executing move_to over 3 steps (0.3s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe left jaws are now low and straddling the dark fruit in the wrist view. I’ll close them and check whether the fruit stays between the fingertips.
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]: [-0.7391, 1.7226, 0.7204, 0.197, -0.5922, -0.4808, 0.9987, 0.1177, 1.227, 1.1007, -1.0153, 0.2035, -0.2256, 0.9973] state[eef_state]: left_x=0.359 left_y=-0.1889 left_z=0.0428 left_yaw=0.0107 left_pitch=-0.072 left_roll=0.0541 left_gripper=0.9987 right_x=0.2845 right_y=0.0013 right_z=0.1683 right_yaw=0.0433 right_pitch=-0.5846 right_roll=-0.3207 right_gripper=0.9973 state[joint_eff]: [-1.2376, -5.7231, 4.1094, 1.2479, -0.0562, -0.3443, -0.0171, -0.0205, -3.6171, 6.3521, 1.0769, 0.0024, -0.0415, -0.0024] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are now low and straddling the dark fruit in the wrist view. I’ll close them and check whether the fruit stays between the fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe left gripper settled partly open around the dark fruit, suggesting it caught something. I’ll lift it and verify that the fruit leaves the table.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.762, 1.7287, 0.7048, 0.2676, -0.6601, -0.5011, 0.1857, 0.1177, 1.227, 1.1007, -1.0157, 0.2043, -0.2283, 0.9973] state[eef_state]: left_x=0.3614 left_y=-0.1902 left_z=0.051 left_yaw=0.047 left_pitch=-0.0035 left_roll=0.0372 left_gripper=0.1857 right_x=0.2845 right_y=0.0012 right_z=0.1683 right_yaw=0.0442 right_pitch=-0.5854 right_roll=-0.3229 right_gripper=0.9973 state[joint_eff]: [-0.6496, -6.0513, 4.0, 0.7937, 0.3834, -0.2222, 0.3101, -0.2256, -3.8906, 6.3658, 1.033, 0.0464, -0.0073, -0.0122] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The left gripper settled partly open around the dark fruit, suggesting it caught something. I’ll lift it and verify that the fruit leaves the table."})
tool
executing move_to over 8 steps (0.8s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe dark fruit is no longer at its original spot after the lift, confirming the grasp. I’ll carry it across to the blue bowl while the right arm stays parked.
move_to
left_x0.4200left_y-0.3900left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7597, 1.5108, 0.9474, -0.1997, -0.6605, -0.5217, 0.1848, 0.1177, 1.227, 1.1007, -1.0176, 0.2043, -0.2283, 0.9973] state[eef_state]: left_x=0.3634 left_y=-0.1908 left_z=0.1507 left_yaw=0.0607 left_pitch=-0.0079 left_roll=0.0251 left_gripper=0.1848 right_x=0.284 right_y=0.0011 right_z=0.1681 right_yaw=0.0441 right_pitch=-0.5873 right_roll=-0.3231 right_gripper=0.9973 state[joint_eff]: [-0.4034, -8.7043, 8.8547, 1.3358, -0.2906, 0.1929, -0.1001, -0.0479, -3.6855, 6.3795, 1.0867, 0.0562, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.39,"left_z":0.19},"note":"The dark fruit is no longer at its original spot after the lift, confirming the grasp. I’ll carry it across to the blue bowl while the right arm stays parked."})
tool
executing move_to over 18 steps (1.8s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
assistant
agent noteThe left gripper is above the blue bowl, which is partly hidden beneath the arm in the overhead view. I’ll lower the dark fruit into the bowl before releasing it.
move_to
left_z0.0900
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]: [-0.9691, 2.2559, 2.0792, -0.7155, -0.7898, -0.7422, 0.1848, 0.1177, 1.227, 1.1004, -1.0222, 0.2043, -0.2287, 0.9973] state[eef_state]: left_x=0.4238 left_y=-0.3893 left_z=0.1812 left_yaw=0.0596 left_pitch=-0.0106 left_roll=0.0007 left_gripper=0.1848 right_x=0.283 right_y=0.001 right_z=0.1675 right_yaw=0.0441 right_pitch=-0.5923 right_roll=-0.3237 right_gripper=0.9973 state[joint_eff]: [-0.759, -13.4359, 8.4581, 0.7643, -0.5055, -0.0269, -0.0171, 0.0068, -3.9316, 6.5299, 1.0427, 0.0757, -0.0513, -0.0122] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The left gripper is above the blue bowl, which is partly hidden beneath the arm in the overhead view. I’ll lower the dark fruit into the bowl before releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 211
assistant
agent noteThe dark fruit is low over the blue bowl’s opening. I’ll open the left jaws to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9691, 2.2906, 1.8053, -0.4564, -0.7856, -0.7418, 0.1848, 0.1177, 1.227, 1.1004, -1.0225, 0.2039, -0.2287, 0.9973] state[eef_state]: left_x=0.4192 left_y=-0.3835 left_z=0.0918 left_yaw=0.0578 left_pitch=-0.0391 left_roll=0.0418 left_gripper=0.1848 right_x=0.2829 right_y=0.001 right_z=0.1675 right_yaw=0.0445 right_pitch=-0.5927 right_roll=-0.3233 right_gripper=0.9973 state[joint_eff]: [-0.0889, -12.6974, 6.5026, 1.5165, -0.4127, -0.0269, -0.0171, -0.1162, -3.8496, 6.4068, 1.0281, 0.0464, -0.0659, -0.0171] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The dark fruit is low over the blue bowl’s opening. I’ll open the left jaws to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 220
assistant
agent noteThe dark fruit has been released, and the yellow fruit remains near the table’s front-right area. I’ll park the left arm and bring the right gripper over the yellow fruit for another attempt.
move_to
left_x0.2900left_y0.0000left_z0.1800right_x0.1800right_y0.1300right_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]: [-0.9691, 2.3043, 1.7905, -0.4526, -0.7853, -0.7498, 0.9953, 0.1177, 1.227, 1.1004, -1.0225, 0.2039, -0.2287, 0.9973] state[eef_state]: left_x=0.4175 left_y=-0.381 left_z=0.0796 left_yaw=0.0629 left_pitch=-0.052 left_roll=0.0563 left_gripper=0.9953 right_x=0.2829 right_y=0.001 right_z=0.1675 right_yaw=0.0445 right_pitch=-0.5927 right_roll=-0.3233 right_gripper=0.9973 state[joint_eff]: [-0.1846, -14.4342, 7.8564, 1.1697, -0.3639, 0.0269, -0.105, -0.0068, -3.9179, 6.3111, 1.0379, 0.0611, -0.0659, -0.0122] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"right_x":0.18,"right_y":0.13,"right_z":0.14},"note":"The dark fruit has been released, and the yellow fruit remains near the table’s front-right area. I’ll park the left arm and bring the right gripper over the yellow fruit for another attempt."})
tool
executing move_to over 34 steps (3.4s)
step 254
assistant
agent noteThe yellow fruit is clearly visible ahead of the open right jaws. The dark fruit also still appears beside the white bowl, so I’ll need to revisit it; first I’ll advance and lower onto the yellow fruit.
move_to
right_x0.2100right_y0.1500right_z0.0750
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]: [-0.1383, 0.8337, 0.6559, -0.4442, -0.2249, -0.1253, 0.9964, 0.9497, 1.2133, 1.0019, -1.2182, 0.4309, 0.5827, 0.9973] state[eef_state]: left_x=0.2945 left_y=0.0024 left_z=0.1822 left_yaw=0.1218 left_pitch=-0.0348 left_roll=0.045 left_gripper=0.9964 right_x=0.1805 right_y=0.1316 right_z=0.1385 right_yaw=0.0787 right_pitch=-0.6065 right_roll=-0.3205 right_gripper=0.9973 state[joint_eff]: [0.1846, -1.7709, 6.8034, 1.7363, 0.105, 0.1636, 0.0952, 0.3214, -2.9607, 6.3795, 0.4469, 0.3932, 0.1392, -0.0122] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.21,"right_y":0.15,"right_z":0.075},"note":"The yellow fruit is clearly visible ahead of the open right jaws. The dark fruit also still appears beside the white bowl, so I’ll need to revisit it; first I’ll advance and lower onto the yellow fruit."})
tool
executing move_to over 5 steps (0.5s)
step 259
assistant
agent noteThe yellow fruit remains centered but is still visibly short of the fingertips in the wrist view. I’ll advance a little more and lower to its middle before closing.
move_to
right_x0.2300right_z0.0290
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]: [-0.1356, 0.8375, 0.6559, -0.4671, -0.2161, -0.123, 0.9965, 0.8993, 1.356, 0.8639, -0.9726, 0.4225, 0.5365, 0.9973] state[eef_state]: left_x=0.2915 left_y=0.0021 left_z=0.1765 left_yaw=0.1163 left_pitch=-0.0619 left_roll=0.0486 left_gripper=0.9965 right_x=0.1984 right_y=0.1391 right_z=0.0773 right_yaw=0.0428 right_pitch=-0.6441 right_roll=-0.3688 right_gripper=0.9973 state[joint_eff]: [-0.4718, -1.7709, 6.9675, 1.8974, -0.1734, -0.022, -0.0024, -0.4718, -4.4103, 5.5316, 0.5055, 0.315, -0.149, -0.0122] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.23,"right_z":0.029},"note":"The yellow fruit remains centered but is still visibly short of the fingertips in the wrist view. I’ll advance a little more and lower to its middle before closing."})
tool
executing move_to over 4 steps (0.4s)
step 263
assistant
agent noteThe yellow fruit is now at the lower edge of the wrist view and aligned with the jaws. I’ll close at this position and see whether it stays between the fingers.
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]: [-0.1352, 0.8398, 0.6559, -0.469, -0.2161, -0.1276, 0.9965, 0.8227, 1.4754, 0.7517, -0.7441, 0.4324, 0.4648, 0.9973] state[eef_state]: left_x=0.2914 left_y=0.0022 left_z=0.1755 left_yaw=0.1192 left_pitch=-0.0659 left_roll=0.0459 left_gripper=0.9965 right_x=0.2161 right_y=0.1292 right_z=0.0285 right_yaw=0.0031 right_pitch=-0.6536 right_roll=-0.4134 right_gripper=0.9973 state[joint_eff]: [0.1162, -1.5932, 6.9812, 1.6777, -0.105, -0.0171, -0.0122, -0.212, -6.0513, 5.5726, 0.6667, 0.2613, -0.022, -0.0122] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now at the lower edge of the wrist view and aligned with the jaws. I’ll close at this position and see whether it stays between the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 273
assistant
agent noteThe yellow fruit remains on the table after another empty close; it may be too low for the jaws to catch from above. I’ll park the right arm and re-examine the dark fruit with the left wrist camera.
move_to
right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000left_x0.3400left_y-0.1600left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1352, 0.8398, 0.6559, -0.4694, -0.2161, -0.1276, 0.9965, 0.815, 1.4906, 0.7448, -0.6731, 0.4332, 0.4332, 0.0088] state[eef_state]: left_x=0.2913 left_y=0.0022 left_z=0.1754 left_yaw=0.1192 left_pitch=-0.0663 left_roll=0.046 left_gripper=0.9965 right_x=0.2257 right_y=0.1366 right_z=0.0254 right_yaw=0.0405 right_pitch=-0.6256 right_roll=-0.3855 right_gripper=0.0088 state[joint_eff]: [-0.0205, -1.4838, 6.9538, 1.6484, -0.1294, -0.0317, -0.0073, -0.0068, -5.7504, 5.5179, 0.7497, 0.3199, 0.0611, 0.7009] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.18,"right_gripper":1,"left_x":0.34,"left_y":-0.16,"left_z":0.13},"note":"The yellow fruit remains on the table after another empty close; it may be too low for the jaws to catch from above. I’ll park the right arm and re-examine the dark fruit with the left wrist camera."})
tool
executing move_to over 15 steps (1.5s)
step 288
assistant
agent noteThe dark fruit is upright in the left wrist view, to the right of the jaw column. I’ll center the jaws on it and descend lower than on the earlier attempt.
move_to
left_x0.3500left_y-0.2000left_z0.0150left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7349, 1.4254, 0.8139, -0.297, -0.6342, -0.5682, 0.9965, 0.1505, 1.2572, 1.1366, -1.0435, 0.263, -0.2192, 0.9969] state[eef_state]: left_x=0.3303 left_y=-0.1526 left_z=0.1143 left_yaw=0.099 left_pitch=-0.12 left_roll=0.0814 left_gripper=0.9965 right_x=0.2873 right_y=0.0007 right_z=0.1723 right_yaw=0.01 right_pitch=-0.5999 right_roll=-0.3855 right_gripper=0.9969 state[joint_eff]: [-0.3761, -5.7504, 8.9504, 1.4335, -0.5739, 0.0464, -0.0073, -0.1983, -3.1932, 7.8291, 0.9499, 0.0757, 0.0024, -0.1734] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.2,"left_z":0.015,"left_yaw":0},"note":"The dark fruit is upright in the left wrist view, to the right of the jaw column. I’ll center the jaws on it and descend lower than on the earlier attempt."})
tool
executing move_to over 7 steps (0.7s)
step 295
assistant
agent noteThe dark fruit now fills the space between the lowered jaws. I’ll close and then move the arm away to verify whether the fruit actually leaves its original spot.
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]: [-0.7712, 1.792, 0.7361, 0.1032, -0.606, -0.5396, 0.9965, 0.1493, 1.2602, 1.1431, -1.0592, 0.2535, -0.2436, 0.9973] state[eef_state]: left_x=0.3419 left_y=-0.187 left_z=0.0106 left_yaw=0.0328 left_pitch=-0.168 left_roll=0.1203 left_gripper=0.9965 right_x=0.2852 right_y=0.0017 right_z=0.1719 right_yaw=0.0324 right_pitch=-0.6182 right_roll=-0.3889 right_gripper=0.9973 state[joint_eff]: [-0.759, -8.5265, 4.8479, 1.536, -0.3053, 0.1099, -0.0122, -0.0752, -4.4239, 5.7504, 1.0818, 0.1343, 0.1978, 0.022] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The dark fruit now fills the space between the lowered jaws. I’ll close and then move the arm away to verify whether the fruit actually leaves its original spot."})
tool
executing move_to over 10 steps (1.0s)
step 305
assistant
agent noteThe left gripper remains about half open around the dark fruit, consistent with its full width. I’ll lift it clear and check the overhead view before carrying it to the bowl.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7727, 1.8103, 0.7326, 0.1154, -0.6067, -0.5468, 0.5199, 0.1493, 1.2591, 1.1328, -1.0523, 0.2562, -0.247, 0.9973] state[eef_state]: left_x=0.341 left_y=-0.1867 left_z=0.0046 left_yaw=0.0369 left_pitch=-0.1737 left_roll=0.1223 left_gripper=0.5199 right_x=0.2847 right_y=0.0012 right_z=0.1694 right_yaw=0.0315 right_pitch=-0.6208 right_roll=-0.3939 right_gripper=0.9973 state[joint_eff]: [-0.1299, -9.2239, 5.3402, 1.1551, -0.3394, 0.0464, 1.033, -0.0752, -5.3675, 5.8462, 1.0769, 0.0952, -0.0366, -0.0122] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The left gripper remains about half open around the dark fruit, consistent with its full width. I’ll lift it clear and check the overhead view before carrying it to the bowl."})
tool
executing move_to over 11 steps (1.1s)
step 316
assistant
agent noteThe dark fruit is gone from the tabletop and remains held beneath the left gripper. I’ll carry it above the blue bowl.
move_to
left_x0.4300left_y-0.3900left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7731, 1.5333, 1.0637, -0.503, -0.6056, -0.551, 0.5229, 0.1493, 1.2583, 1.1168, -1.0447, 0.2562, -0.2474, 0.9973] state[eef_state]: left_x=0.3426 left_y=-0.1887 left_z=0.1407 left_yaw=0.0394 left_pitch=-0.1813 left_roll=0.1261 left_gripper=0.5229 right_x=0.2832 right_y=0.001 right_z=0.1648 right_yaw=0.0311 right_pitch=-0.6285 right_roll=-0.3952 right_gripper=0.9973 state[joint_eff]: [-0.2256, -8.6085, 8.7453, 1.1453, -0.3394, 0.0122, 0.7399, 0.0615, -5.4359, 5.9829, 1.1306, 0.1343, -0.0269, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.39,"left_z":0.19},"note":"The dark fruit is gone from the tabletop and remains held beneath the left gripper. I’ll carry it above the blue bowl."})
tool
executing move_to over 18 steps (1.8s)
step 334
assistant
agent noteThe held dark fruit is over the blue bowl, which already contains the green fruit. I’ll lower it into the opening before release.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9283, 2.5607, 2.6896, -1.1988, -0.6739, -0.7315, 0.524, 0.1493, 1.2484, 1.0931, -1.0309, 0.2562, -0.2478, 0.9973] state[eef_state]: left_x=0.4362 left_y=-0.3928 left_z=0.1655 left_yaw=0.0395 left_pitch=-0.1882 left_roll=0.1064 left_gripper=0.524 right_x=0.281 right_y=0.0007 right_z=0.1606 right_yaw=0.0314 right_pitch=-0.6286 right_roll=-0.3954 right_gripper=0.9973 state[joint_eff]: [-0.8957, -12.3282, 5.6821, -0.0952, -0.5446, 0.0317, 0.735, -0.0479, -5.1487, 5.9282, 1.1209, 0.1148, -0.0122, -0.0122] camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08},"note":"The held dark fruit is over the blue bowl, which already contains the green fruit. I’ll lower it into the opening before release."})
tool
executing move_to over 6 steps (0.6s)
step 340
assistant
agent noteThe fruit has come down to the blue bowl’s opening, and the downward motion stopped near the bowl. I’ll open the gripper to leave the dark fruit inside.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9295, 2.487, 2.1685, -0.8486, -0.6621, -0.7315, 0.5234, 0.1505, 1.2415, 1.0672, -1.0168, 0.2562, -0.2474, 0.9973] state[eef_state]: left_x=0.4268 left_y=-0.3841 left_z=0.0605 left_yaw=0.0498 left_pitch=-0.2517 left_roll=0.1827 left_gripper=0.5234 right_x=0.2786 right_y=0.0006 right_z=0.1547 right_yaw=0.0318 right_pitch=-0.6334 right_roll=-0.3959 right_gripper=0.9973 state[joint_eff]: [0.2803, -16.9231, 6.735, 1.1795, -0.442, -0.0415, 0.7253, -0.1299, -5.3265, 6.4752, 1.1355, 0.1441, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The fruit has come down to the blue bowl’s opening, and the downward motion stopped near the bowl. I’ll open the gripper to leave the dark fruit inside."})
tool
executing move_to over 5 steps (0.5s)
step 345
assistant
agent noteThe dark fruit appears to have bounced out to the far-left side of the blue bowl when the jaws opened. I’ll move the left arm away to get an unobstructed view of where it landed.
move_to
left_x0.2900left_y0.0000left_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]: [-0.9279, 2.487, 2.1487, -0.8333, -0.6582, -0.738, 0.9951, 0.1532, 1.2282, 1.0367, -0.9985, 0.2565, -0.2478, 0.9973] state[eef_state]: left_x=0.4262 left_y=-0.3828 left_z=0.0548 left_yaw=0.0539 left_pitch=-0.2567 left_roll=0.18 left_gripper=0.9951 right_x=0.2758 right_y=0.0009 right_z=0.1494 right_yaw=0.0344 right_pitch=-0.6323 right_roll=-0.3964 right_gripper=0.9973 state[joint_eff]: [-0.3761, -14.1607, 7.9111, 0.7399, -0.4029, 0.0659, -0.0415, -0.0479, -5.1487, 6.2017, 1.116, 0.149, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18},"note":"The dark fruit appears to have bounced out to the far-left side of the blue bowl when the jaws opened. I’ll move the left arm away to get an unobstructed view of where it landed."})
tool
executing move_to over 35 steps (3.5s)
step 380
assistant
agent noteI couldn’t complete the requested sequence. The green fruit is in the blue bowl, but the yellow fruit repeatedly slipped beneath the gripper, and the dark fruit bounced out of the blue bowl to a far tabletop position that appears beyond table-level reach. I did not pour the incomplete contents into the white bowl.
give_up
hindsightA gripper reading around 0.18 did not confirm a secure grasp of the dark fruit; grasping it lower, near z=0.01 m, produced a much wider and confirmed hold (reading around 0.52). Releasing the dark fruit from roughly z=0.06 m above the blue bowl let it bounce out toward the far edge. The yellow fruit repeatedly escaped or was pushed aside by top-down jaw closes near z=0.01–0.03 m, consistent with an object too low to catch that way.
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]: [-0.1688, 1.0111, 0.8635, -0.6983, -0.2638, -0.0708, 0.9958, 0.1532, 1.2118, 1.0092, -0.984, 0.2562, -0.2474, 0.9973] state[eef_state]: left_x=0.2948 left_y=0.0001 left_z=0.179 left_yaw=0.1025 left_pitch=-0.2466 left_roll=0.1715 left_gripper=0.9958 right_x=0.2727 right_y=0.0004 right_z=0.1454 right_yaw=0.0349 right_pitch=-0.6289 right_roll=-0.3953 right_gripper=0.9973 state[joint_eff]: [0.1573, -3.2889, 6.5983, 1.536, 0.0464, 0.2027, 0.0562, 0.1026, -4.6017, 6.2701, 1.1258, 0.1197, -0.0562, -0.0122] camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I couldn’t complete the requested sequence. The green fruit is in the blue bowl, but the yellow fruit repeatedly slipped beneath the gripper, and the dark fruit bounced out of the blue bowl to a far tabletop position that appears beyond table-level reach. I did not pour the incomplete contents into the white bowl.","hindsight":"A gripper reading around 0.18 did not confirm a secure grasp of the dark fruit; grasping it lower, near z=0.01 m, produced a much wider and confirmed hold (reading around 0.52). Releasing the dark fruit from roughly z=0.06 m above the blue bowl let it bounce out toward the far edge. The yellow fruit repeatedly escaped or was pushed aside by top-down jaw closes near z=0.01–0.03 m, consistent with an object too low to catch that way."})
tool
give_up: I couldn’t complete the requested sequence. The green fruit is in the blue bowl, but the yellow fruit repeatedly slipped beneath the gripper, and the dark fruit bounced out of the blue bowl to a far tabletop position that appears beyond table-level reach. I did not pour the incomplete contents into the white bowl.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.271 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]: [-0.0319, 0.8013, 0.6136, -0.3817, -0.0143, -0.0299, 0.9988, -0.0227, 0.8005, 0.6197, -0.3874, -0.0174, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2961 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -1.7709, 9.5521, 1.8095, -0.1148, 0.1392, -0.1392, -0.3487, -1.4154, 9.1282, 1.873, -0.105, 0.1538, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1cfb5638f5368496d0bdd2f1cc28dd87002fc9a3585202c03a87bc4f871200",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56ecf622fe5e3cdd2a8a2ec0f6e25ef007145ca0b8d24854d4f843cf76b15cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de9fe4f9841e61f74a6572259b9ce736688b64be0f394ba4077e8f5db0873a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.626 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBTQfxpttm8a-br7VivNG4KwBWBIdX9UJ9MTyCJL5u5fhNHtoJW3v7seO2JbFLZ6rgHorJWM1JHfIFuVgrVeTGH1idfVcNhobll6zxd3Rt2siw5PRD-7lFYTS7mM6UBNwtC-ag7EW1Kd7HTjBDhJlTo3p8GuKkthxCoKEDpmCzK3fApN06uOdLrlfkHbgqSTZxUNmHXg6vm0_BW-TMOLdd8OZFq2Bfeldp0ddJZoDslsvbzgw9jvQLsb29n_KHzuwR2VZSlkiBf20b4sD5ayML1s0oqKUdTfaFBkeXPNoaqqDj7eGdu9oPhl5V_kLApUBMFB1iXI2RygBqACGxxunEgZS9Rh-zLUUACBkndOrIWtFSWrG62MT7DyKOvyCzubyXzAf6OwdesA4t8TFnzNKvFrCeYiXM6vqmmaM1fAZU2gcEtR0DkuhAuEVUwZU4YxjjHmLEDVT-qO448tL9yl3nEy9of9IsC5ykD-PCFT5I5nHO6WpJTCFPNQEBefkQ7U3Yegfjaw2wCqD_1xzzNXb1gLlPLCx33hvMPo94-SMoDEHxpfnrrIWLes3cHDa9SqECLGK2Pg5k2RHYqbwnhn_7tSHRsObG_JCV4CQYGp8ovPWNIYqSrkzh3YXKNTRoghCSoNepyL5grXoPhcTmIHCuJD77dPLy_gbTQTG69w6HddoFAfWqcGjl_Q3PwSwgFc_YAdNdOZqp7uG5711xD3_LTjQAy0mfyucGydIhenOKsXrvYruNXuTuaesfdv1PS1w4rnhaIgVaHbfKl6IXFdFM6ZU0YsiChbx1pkIYy0tjEWizQ1McpTEB265J7UMPDMp8rlcDxK-1mbBTf-8XD19j8gB1Xs3CGo2V7Dz8ztqS2u1LnJSKj_G0KZk5Syi2xjHcDIOu3f3Oi2Oa1wdxa0sqAgAZa3_3nP_ccfhewn6vNpVXjbnx_vfe9gl8qmAH-NxFtua4tV5L4Ed4ZT_WT5v4rowTfiABZsJ8WtDIhW_t_u0fLhjiFyEChkWX_4nCeYYcBMxDh6w5kgUKQfOTLfTcRgV8O-FbxFahfmB6czSF041dt8mVd3dibNU1rUM1i_nZhvfXtMA4e0ZoV4689maTnwjQ5Uh3mOTzszeun3Q0zuuuSGgEaUNe0zh1P-W-vd4erWyE2yRTnEqGkFiquBP8DrgxV-GqIPuud4NUqEbrNwAjRATqpFgdtXvB-_gY_ehCuNd2T1lm__UvQjUdHxXEoWdkoHUgnXJZYh-Bwt6oK9tW5_dRwkY2-hc4TNpwao0UglOGoLXqQPP-MfvLXDAYfzIsUXYPqdfMa7PrFt-tUnrnvCy5Byj-LWHP9V1ivyZm6NbR9_ZA9oX1RKVMepShO90TcpS20ixMHy75ep1h41K4xLUu1R-iBTklBrCdkYORCY6YlxbXYD-R7ZOaPhxZNHwBjuLdgpCWmpyx2XbyCiFEtQEARzaoLIAru9qJF-NrHzWIZVh5vEQUeidQqgC_-fpkZ7Lmm8_cCl1Po0RA0jnklmn-B7kRHMBDHYFyH9Kzn2K5g5EH6dZkaS-XHGdBY19Agnm1VILhtU2twWtG0hMORNSzQ1WHac-wfIj6ZCzHZ2mqo0sCic0qkAlGKPogsdD3Qm1ue8KCuVW7654sj9jza9OytFX8lhjbKnof5JgHILkOdIa5Hqdaj-iU9WA86B6USgDf_ezUIY4KQsjtmfaZxs1nmUeX1eMgkumHrdkTb9TJN9tqSzJRcYpiAWHov7UtRId1cherR1cqFdZLspAyYKsdydOwCsNd4qMpj5VuD6sr4BWhnL2n0S_WFZ5s3ENfNZrokSJuo_6RtR_K_-QpbwNB_0ntIhGOWoz_he-8Plivu7mZXq9qv4iVkpd4TJHpRn5OAWmBRB2uloPxAE7W-wKsXUSzODazomK-lbeMSkJvAbkZThU0yAcPTrYtWd03m_o0gqeisktzjm92V_TXD4Rf4_z2By_Q6aJZa_Y4aHmPoFLdXNyRisV1xOKfZfYc5TcMjcWD8N0syPv-3pbhwl1Ze30aH6OMgLVcyBy37fSIQM4Dw_StKSx_98Myf_6QEYgeFkOENzqfkEXm7SXz7A7WdfEffLBQkZc3CZKL3vOB4B0SFI2FZs1lEyw6TWaHXn-8LLSbaWyXONpm1t01GEp8Rz4Uu-5jWW8JWrjTRByzZ28h5pGxwt8dz-L82e0qfcmOMlZq0kh9FFAEBR-Qz3ivPmzmYyTlbatRYR5EY2HlWGYruqA6WRgTUuD0GQlxD0jhjBiqslKBxbGCXLyeEpWSDm8RGhdfH2KSzdpSI9oK_ToBjKttLPgUDGncnEEYuyGFAcrXTweRE8spvJSrajBjfLEv8ZRjCvOFeGqHrNPJiOs8dIiZz0mNbYOSaGIPY47kSpCSWmHEXsqdPxoRwNqpYuhqba877YMxsQkxtKAfgICHZRmZsWKfsxM6kM-_04cjixz04bAPdXeVH5S0gyKTXjNdqzSOegjbnSbig-dGnYn5ySu7iJPu45LI5FxOFLTmyr5lBBVBy6rCJAP0YLVcvK3if_HA9emql0Rhhm9KZ-RrXYnWWlQoBc_Fbvel-TFkZX4zEhxEYPuQpTbIiM7satQ3GuQ00KHCyysBFfPIcHa2-drC-MChvLoCQjc4r_uYqNsniEBEJZE0QL2VXcLKAgSYMg3NplKP9sMiefi_5-YqwB68nyroD5C8CDz9KGkP--tMRX0kMiSy9206X65UtumsbV4edmcWZRYri",
  "id": "rs_0f0aeae220085024016ab4204e403087d0b2053e3268c1d139",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.12,\"right_z\":0.15},\"note\":\"I see three fruits: a dark one left of the blue bowl, and yellow and green ones beside it. I’ll move the right gripper above the green fruit first, keeping the jaws open.\"}",
  "call_id": "call_nJ2QhDjJodEUzjg87lhcr7Rn",
  "id": "fc_0f0aeae220085024016ab420523ea487d0a879f49c9b139cc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nJ2QhDjJodEUzjg87lhcr7Rn",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8059, 0.6132, -0.387, -0.0139, -0.0311, 0.9987, 0.5041, 1.2949, 0.704, -0.1009, 0.3969, 0.2478, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=-0.0037 left_z=0.1795 left_yaw=-0.0008 left_pitch=-0.0103 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3504 right_y=0.1194 right_z=0.1309 right_yaw=0.0292 right_pitch=-0.0613 right_roll=-0.0322 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.5658, 7.2, 1.8242, -0.0855, -0.0659, -0.022, -0.2803, -5.2171, 8.6769, 1.9072, 0.3687, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846151bdd06a58397cb52924bbeb888e885b6a5517ffc598aeb1bea0ad4d9c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e83ab80039da04d4ab67f241dd5599bc142164eb1317ca0920011c2b617c078",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4d25919c6b3f2e489642fb9f67f9e9c0cbe44b18063b1ac9ff7b97881a0970",
      "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 · 3.4 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]: [-0.0319, 0.8013, 0.6136, -0.3817, -0.0143, -0.0299, 0.9988, -0.0227, 0.8005, 0.6197, -0.3874, -0.0174, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2961 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -1.7709, 9.5521, 1.8095, -0.1148, 0.1392, -0.1392, -0.3487, -1.4154, 9.1282, 1.873, -0.105, 0.1538, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8059, 0.6132, -0.387, -0.0139, -0.0311, 0.9987, 0.5041, 1.2949, 0.704, -0.1009, 0.3969, 0.2478, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=-0.0037 left_z=0.1795 left_yaw=-0.0008 left_pitch=-0.0103 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3504 right_y=0.1194 right_z=0.1309 right_yaw=0.0292 right_pitch=-0.0613 right_roll=-0.0322 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.5658, 7.2, 1.8242, -0.0855, -0.0659, -0.022, -0.2803, -5.2171, 8.6769, 1.9072, 0.3687, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846151bdd06a58397cb52924bbeb888e885b6a5517ffc598aeb1bea0ad4d9c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e83ab80039da04d4ab67f241dd5599bc142164eb1317ca0920011c2b617c078",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4d25919c6b3f2e489642fb9f67f9e9c0cbe44b18063b1ac9ff7b97881a0970",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCBgnt98lALiiCqRDcEnYxnrCCVTCUSEwHvnBl6aFQfCJXB3xi2E1KzxzZr2oaXs00Fz9S4OZDlo71g8NgvDC6-Vv324Uu8RUjofPaPW7pkD7nFMIjmHqjBY7L6QSbAo52ql2T0v-_HrsWd6r-9VgOd8ODP2YUH-TwihCBJ9wpUkCv4cbZHa5bGsZuz0fM1esdZ_d1I6OZJJbe96_eXqU9EHUxivc9f_XbMQLEXxYx4wCOqnKNf2OCr-aXSDJYNOzPUocHWUIGvU5THKJliUtp1qzNDy9-N91VVh66AFvoW--0G_L7ci0FYgRk0LP45t7HTKBxixInbBjcBuLjNEclSLw5uBDzZC2VcnUPz3muvD4fPzAOhOrO5DbIwkLN2oGn-pnpxLNYol5VaJ5zENpe2ZpMdR2-ySr1q5G6435wi0vUvqKaI4AGJ7Kq6GsgibmfpnbgAi7cXyznQYfygdvnFR1eHv19U0CIyJ_3NH77ZWebd3L0WNuzEsETlcI9ZfBKUiTyiYXG86VRf6c6DRQXYtGTBoTjilyCiW_oABcQyoZb_GQG7UWNvUqWWO_muVrxOBHqWiW0F0BtqpsD2NaBPqg34DhfCygwuo7ld-nwD58jB6vgmU0NAGBLUDv4kk_Lx6AXk0fcSHDNY51hrC36GDYYLP-jmy3T1oRnqPTUkaX3tHoyJPxZi0t7lu13sogaORvqXWe1o7r9MTH-Wo0DlTIH8nL8qQjglLDaThxlWVKKspgkaXg9_6oNZra-UdidkuAoyGxfN_Sh1lfJKhHqNK4ICqs_8fUkG7uWIMuR8uZhP_M1JClapPq3wd99XQvQJ6rMbGa52aEQz96WjjR0aDljPomh2pwiGPbB7dT9oTUZOgLhFiB2_HmIhscS2lCPCXOCC7zYiirBgqS3On4Z-eCH_mTKRxEj-l8s_cq6HKCxZD_iwS2YhBH6vhSUfVtW1DFweN8UqWTL3Py7GqevJd-1xuGokT9mRknBr_EjqEnYJXf6UD4LeNjna_9Q7T5Wm-iSU66CiNTV6K2yZYxyCr2mA4pmjvPEPLcAbKFve-NJQ__vui-QSzPN3gJwmg5kBO57mKy1jYW01t3ApsOEm_83IyEpFoiRrSxz3V6LugzZ9WIeDhH9TfFuo5IkQwEvuqi-fJHa-9ha3FqCK6UYpgL8qfmLzXQCK_AMvh8ZtXGl0fI3jkyfIkId1-RsTZaWNcBhzUbaX-Bdmml02Nyd8Y39jY6XjT-bvNfT09Z1Mee9UA499E3yBFZQwsHcYEiUVXMo5d0albl8EdskvS_D6QVbiGuhm5yHfAILp5sGJos9PlIxMi637zBIY02cqsKA0d8B632TITuRhChF6kKPlVK7kZuB7kqfG1_BwVoKNW6PJfn4K-i2WquvmfouEhhKR4M4ZW0nVYoiD4BOLz6t9xijUFmsmvAk_BO2lTzWIyzxrRND4u7V_jSPg-auRf2gBv9i2uFNE6P24jOGkugdL-LyVza-VNzgLy1XNxGX8VBHozYAhO-oSQ64Bp9uRLIwrkIHynmmv-ajV3jn8kkb7_n_AjNeE0Ff7fDh7Oi8F9tOMpgjnbG7a9ZQLcYUgauLHhZz2beiLAGTB0jWOZTiVIVeZedgxnzhXcUmOpoJVhZQhT7x8vrMyitDeRcct4JV2wa6K3j7Nu7_XSRguOKAdLBRi_24u49qwIochZjoaWtfHylMs2JBLCcwpWnF2f6oXorjTSkVHu6gG7ZLQkcb7SvQHz9FsgeRSioKLSY1hZJA25ES_qASNiQqsS8XISPJsrNe47cW1mpiPjTcty5yzEebkoR8Tb7CqeRKXiZnSfN7tQWG-zuvcbTc_3qwfUH2_IIF6wtxDvbjPntmL6_32sjDTwI1ooz7JileARbQsZBxLf7jqrxxbQMElMHzardbqdxkX9pxI8FXab6jFuheU_nIJBRh02PT_ifmZDehq_qp8l8Dem4vHmYMGk1nhvJlodNJ1wRy-bvsit_BG_sgvBuaSsFk56K2jK97vbb4un3Hjn7wVH16PJ32OFkOlHcziKA7TBIYZPqaXKm0TKFvSLPLRTY_yupIQHUEiBvbdN0DwLxAgG6f-AvwR5qE7uNpW7vYpDbN9GbilDbE7RsM6nIA==",
  "id": "rs_0f0aeae220085024016ab4205d792887d0b1f14602eaecd456",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.06,\"right_x\":0.36,\"right_z\":0.12},\"note\":\"The green fruit is to the right of the jaw center in the wrist view, while the blue bowl is just left of it. I’ll shift the gripper rightward to align with the fruit before descending.\"}",
  "call_id": "call_JRjyET4SaoDlljqETTssxKvZ",
  "id": "fc_0f0aeae220085024016ab4205f534487d0bf46ec37de7229ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JRjyET4SaoDlljqETTssxKvZ",
  "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]: [-0.033, 0.8062, 0.6132, -0.3981, -0.0139, -0.0311, 0.9987, 0.2489, 1.264, 0.6159, -0.041, 0.2035, 0.0853, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0037 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.0218 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3564 right_y=0.0574 right_z=0.1092 right_yaw=0.0208 right_pitch=-0.1049 right_roll=-0.045 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.347, 7.0359, 1.8486, -0.0366, -0.0562, -0.0171, 0.3214, -5.8735, 6.6667, 1.9902, -0.0122, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d302ec73523cf66ac8a4f7df254bf8670a7198574d79bd0eaa3e8b6445e8b43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f7a9dc51f26c565797c87649d927dd770c994242ea03d2e7b4b8947f60b353",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb098ff5b3d1db8e5b458e6d2db5d5ed6182c0a7deba44e71a187bee8cb84896",
      "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 · 1.951 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]: [-0.033, 0.8059, 0.6132, -0.387, -0.0139, -0.0311, 0.9987, 0.5041, 1.2949, 0.704, -0.1009, 0.3969, 0.2478, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=-0.0037 left_z=0.1795 left_yaw=-0.0008 left_pitch=-0.0103 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3504 right_y=0.1194 right_z=0.1309 right_yaw=0.0292 right_pitch=-0.0613 right_roll=-0.0322 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.5658, 7.2, 1.8242, -0.0855, -0.0659, -0.022, -0.2803, -5.2171, 8.6769, 1.9072, 0.3687, 0.1783, -0.0171]",
      "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]: [-0.033, 0.8062, 0.6132, -0.3981, -0.0139, -0.0311, 0.9987, 0.2489, 1.264, 0.6159, -0.041, 0.2035, 0.0853, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0037 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.0218 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3564 right_y=0.0574 right_z=0.1092 right_yaw=0.0208 right_pitch=-0.1049 right_roll=-0.045 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.347, 7.0359, 1.8486, -0.0366, -0.0562, -0.0171, 0.3214, -5.8735, 6.6667, 1.9902, -0.0122, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d302ec73523cf66ac8a4f7df254bf8670a7198574d79bd0eaa3e8b6445e8b43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f7a9dc51f26c565797c87649d927dd770c994242ea03d2e7b4b8947f60b353",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb098ff5b3d1db8e5b458e6d2db5d5ed6182c0a7deba44e71a187bee8cb84896",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBklMzMjn-dCK8X5QS7nN_nFgL3NUgVz4jf8X7Sz8UXjm_9bxYEDKQT1at_wOcyY7beFOL_ly-XxSVfUN5bhUtXaxLYN7cE36Zmrqe7LXjDeZ70QihZhNwXwP-6gELPVOpk3ACcQbKNWh6jXG3i7Tfndt0y-h2lBVlolNkcylH9Sgc0wME7ver_MhT5EYvInDeZg75iaS5PZD5Za0LYEltL7_qZrawHVueqHK2d3gfrW36jymIU5bLm9PCSqnwZnrDwsQUvW6Cu2fQeZc7i9HBLK6fdIoEPsYO5iRj7YmfJqi6AMEZk6jA8TvUsAfuZ6IL6GgBTjqmo5gvchoVGAG1ydf5mcb3qsZIML1pmmg3GbPIURyrHSMzRcigmx309ipmKJQMXuW6PN3c-uPzWgS8vzXmVFhM1b8t6kGhW4GOSK0qbabv_RbzUizvYcMfU_n7J6N1F-iWc3uT4UJFcryuCLwnT1JpmBq-I2FO-B5vkowBNjl43u7OpBx-fuZHnaA-gx0PKqMom-4zxnuWmrUoqNl8L_s6l0IoiSUmwPHpaSri3duPEqBzz1qt9Qdj1XuQE_4Cpd9FMB3a_2WzASSEg9oWlOEN4ftGQNBzyx8hNhTm5Gj456WZ5p8pnxExvR8XlDrHDZbA3WAmImSPq737lSL4HM-tbvTG-drCP3M4jmzcjGPO-xx2Ab9t_bWN784rE7iOebCyQFLACce2lq-pxW9z_TYxTqPtlh9vbc0y_c-VtFwkWhcuo8kKIMDXuaI7gNFbb3ZWXHpp_HFB9TN5_fnMszcYA7t-o4e5s1dYvwuGeej4rWltLPIab8fH8NyFui6oO48c1TGOpx9IRTotJVGkcpfW9_bEbn9CY5ExxvqhaDfH1yvMg-tE8lriI-WkYy5GxUH8g1KuCTOEcR4T4EaZYfnYf-XmGlV5ugvzL2wbe7Gh6gVvQcIpxVmkKegXfvBrLhRKsSpG7mn9aSnsJTCEEd73T7CLK-mBDLcWhOdkkMqKc1YB1ypgyieMtc1akiPUPiGuFlPKAzwKsVjxTd5eBmPIAB-dTxh1u8yYxyXbLmjD5FG5agWKValiEsUV0fMRHzI6O2Ta0ylfNMbrA-Lq0cloCoADZuxkE_x7_EpXXnTTZzKWBfz5fs7c4Pl5Qn-IUc7xmicxVuq5pVftDGuL3Fs2XZGfWBcr_JUxBzXNQXZY8UVrMdt7McfatMrqltE135LVnjUBcAjxLCK6mi1opeqQDEYOVR_mY7z52Sul9CzAy-MkA2K0AfZ6e34HjCCteb0PGFBeo2_WFLDp75tqy1vSI7AM8UIeM5pscQS1jibuQ0y-tj3g081fF52-_vlQeGmRtfV3-07MvJxwUWdRINqCSFUCbusyzNLy7gasp6zVLbeSCpDpyqt6nlS4_pRbF4wq3H9giasCNuJyYJ2WnaFVoUkdhA9NYKGCJA2425JYkSMhzqnPha_jepIcndbR7ypIAeHsQqFk2_XE4sYIfjOMlv9pbrKtKYNZCJZXcWK6lacCZlcVu6g444QzdITF68PAMUpmodYBxiTWLcV5rPUUIdBU57yWkaA7p0eAxsIC9ZpiNSfFgQp4DR2O7M2y8EBQb1Or38mITzB-8NoFeJQ8KcYrAiIMcLyQXoRdbiuM38zyBUx4o9NG5xzf_DVH1b2nplMJuy50q3xd372MnkisOv9mKrae-nMvWHsXNnHy4ePEVDbjQ6OVRCQph6dQ9VvTgvEWW8hDLU6nKvEAYF2usmP6Jgz6zrL5uoMpr5rf4XAvxhTQVxpt0Hu8jmaf9Q2ZDrEyItuMage5Gs8xi72rfvTPorPlnNTaBv2Yh6WdzqzH94Z0yuPV-ayjyzzu6aV3zzdNIFIRYcaWUwVHJPFA73hNEn3kvGt7LQtZx51r5z8PQPFmhZWSrHZhLawdO3URGCDBedOR-EClmlzgf_A_CGnl8vEZPPwNjoB2XODhPhAnPqpHyv34zvgqw2QpUSWCQou2qiS30ikiLzn16LjZJo8Q_W27N8aZ_kkZ6L2TzC8doNP8cDtGX0g_PKv9y9nZyvFyKVz4oyCBCT0z6Se1qTKHjjlDbZfs9lopQtjciSPe8JZRmooG04YUsi4i-UXo0u4S1wyM7mDMgc5vGyup0EdydOa647ShWsHCqrpt19TYUNQDPBmppotFy",
  "id": "rs_0f0aeae220085024016ab4206223bc87d0ac63f6d8ec74ce15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The green fruit is now centered between the open jaws in the wrist view. I’ll lower the gripper to its middle so the jaws can close around it.\"}",
  "call_id": "call_CqA4sb8ZAlecOo6gcNnhujJk",
  "id": "fc_0f0aeae220085024016ab420641b0887d08dc6f9cbfe011ebb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CqA4sb8ZAlecOo6gcNnhujJk",
  "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]: [-0.033, 0.8078, 0.6132, -0.408, -0.0135, -0.0311, 0.9987, 0.2512, 1.5467, 0.4179, 0.4149, 0.2039, 0.0853, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0037 left_z=0.1747 left_yaw=-0.0012 left_pitch=-0.0332 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3533 right_y=0.0574 right_z=0.0211 right_yaw=0.0221 right_pitch=-0.129 right_roll=-0.0509 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.0735, 7.0085, 1.7802, -0.0171, -0.0464, -0.0122, -0.3761, -5.4496, 4.7111, 1.8388, 0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b9878972b9fcc13a5a6b349826865939234458bf8eb82ecb09b417d506f60c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4657e255a689cbb5651acea778100b3bc607c535f4f31499d2963f697bcfe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e0698802de21e1646fb234d8054b756ca4138366bcaa9a63b2a501d07a9393",
      "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 · 2.133 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]: [-0.0319, 0.8013, 0.6136, -0.3817, -0.0143, -0.0299, 0.9988, -0.0227, 0.8005, 0.6197, -0.3874, -0.0174, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2961 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -1.7709, 9.5521, 1.8095, -0.1148, 0.1392, -0.1392, -0.3487, -1.4154, 9.1282, 1.873, -0.105, 0.1538, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8062, 0.6132, -0.3981, -0.0139, -0.0311, 0.9987, 0.2489, 1.264, 0.6159, -0.041, 0.2035, 0.0853, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0037 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.0218 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3564 right_y=0.0574 right_z=0.1092 right_yaw=0.0208 right_pitch=-0.1049 right_roll=-0.045 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.347, 7.0359, 1.8486, -0.0366, -0.0562, -0.0171, 0.3214, -5.8735, 6.6667, 1.9902, -0.0122, -0.0659, -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 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]: [-0.033, 0.8078, 0.6132, -0.408, -0.0135, -0.0311, 0.9987, 0.2512, 1.5467, 0.4179, 0.4149, 0.2039, 0.0853, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0037 left_z=0.1747 left_yaw=-0.0012 left_pitch=-0.0332 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3533 right_y=0.0574 right_z=0.0211 right_yaw=0.0221 right_pitch=-0.129 right_roll=-0.0509 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.0735, 7.0085, 1.7802, -0.0171, -0.0464, -0.0122, -0.3761, -5.4496, 4.7111, 1.8388, 0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b9878972b9fcc13a5a6b349826865939234458bf8eb82ecb09b417d506f60c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4657e255a689cbb5651acea778100b3bc607c535f4f31499d2963f697bcfe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e0698802de21e1646fb234d8054b756ca4138366bcaa9a63b2a501d07a9393",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBq_mlufI0pSajqr_wwz5mlZVKtVj7tlYqgoD6w1sETcNJeyrHmBsst6sPi07dDAQ5Zzy2m9Bih3rH6UTJ3V2MG9q8Z2enYccV9VcS5emrihGMwtkcoi3OQMkIjrJs1nSpLzNPvavSMVvc3na04GMctYC7n-ZXaBq5WhuNUEmFrfFD7AteLeoxJIEP7E4X9yVuUX4DPIr1SRuAMm3MVRJz4EWkvKEQzRDUJSyNA9xVjmBfc-F9R65CCHJCD7-ZGWSqg4WTG3UNhHYFnnHkXxls_7-EiItNnGCea3NrWSGEqrL2Nm-4PXDqVzBp3oUFqf-Pm1eiCLhp7wj3J-A2v62QLIxuKuRzYNCv_bNU-soHq7QFi0zJmeVZ4BNCBTZRpl04tunZsQTRPZf-uGD5lokju0b29sO2M44FuwXVyhNfuXnPgcvVTKCdU4_ic3hH_hcuciwe-Z7iWQJnWBV1DvfdRqTHoUHin4hWhBFmAlfkR5-0KsIV68gp_3sVdej7pyAlCQKXwyBjOgRSmZXKib8xouDGdwDzDEF9-T75fu-VGAZVIJf2fY7_PCjLYRS6PW-A5RxhO29MNpaD2hDal88ccY6iTc_tqnJ6vgnJH0c1Olnr716aeYGJXw0dUJABKvedy9qDa7P7cQ_XKa_QpZVWFyNsxVpbfLa_pBO7uXUNRkdcy3t6I4xy_THRM8Sqtj0-j4cNpiG7zwZ3aJuBKBjjVe0OM82wM9WfFZikO32pHIrOwu2i-GNL3jIjbQbgm10W-bT-sJWcjZEj3CwO7ujRLyyc87KOaBMWaGXnMmmHMjEBODc63zgUicwjOP2OJXok4VX6gsSoXhAQYCyD9EWB-Z1slmV1V73LPbImCJaGtGCdoNRHpr4I2UWQ-OmXcDNgivh4rAooj7H-HERIMIDQuNXvXVSDP1L9zh4AtKEIDViW1Xjnzt3mLqzqjdXtldCIUjP-ODZrzlAvqxpHru5PxxgZ2UNmO3Eog_4LvCtAD_pg42ArYVPsMGA4EZKwnTUkcJ0ssUwiDKUIoMcIwSVVvfkmSFF-iUAXBooM7xhUey3nzgkdm7-Z7oJTokx2eVcYqiOxm6Rizr9FZDc7o8jm77Bd6jE6XmkLzJ5ZiN4mXyk99rcdqIULt1qcjKbd6KS6BADe18Jn4eDYDpooHvbVD-AXLNiqPjVDk2L3i6bjFxlX0cCxZZMgLzIhlPJT-A-2PiBgym2e7Lg2wp5Lhw0737JogwhDE6V7EFwi_LS3uHlfFLZH6Th2yKK2xJ1krz_UtPQuFVGfdHEUIHuxNx4tCZ6PRrDMC9jQvHaUtLUIcl5vqFtDk7fHWK6WLKmMgPaRj92WyIwfkZvKoq_2ywsRg3Q==",
  "id": "rs_0f0aeae220085024016ab42069da8c87d08d6a9656bb9a4520",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fruit fills the gap between the lowered jaws, with the blue bowl visible immediately to its left. I’ll close the gripper and check whether it holds.\"}",
  "call_id": "call_Vs4kFoCOTAvx38DcIVWha8nt",
  "id": "fc_0f0aeae220085024016ab4206a587487d0923fe019f650d71d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vs4kFoCOTAvx38DcIVWha8nt",
  "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]: [-0.033, 0.8124, 0.6132, -0.421, -0.0139, -0.0311, 0.9987, 0.2516, 1.5417, 0.4206, 0.4484, 0.2047, 0.0849, 0.6243]\nstate[eef_state]: left_x=0.2914 left_y=-0.0036 left_z=0.1708 left_yaw=-0.0008 left_pitch=-0.0507 left_roll=0.0005 left_gripper=0.9987 right_x=0.3597 right_y=0.0591 right_z=0.03 right_yaw=0.0231 right_pitch=-0.0888 right_roll=-0.0422 right_gripper=0.6243\nstate[joint_eff]: [-0.1983, -1.7299, 7.0085, 1.8486, -0.0659, -0.0122, -0.0171, -0.0342, -4.8752, 5.012, 1.2723, 0.0464, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8a578032532210098e27f0786ae5df9bfda7f09b905e569f2b3e669668252d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147d05e16de0d103bc743e0d756e692a754b0afd7541655d8f8998b4920b7b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e51fea269a3b5a4694bd7977476f9707578ad56228a09577aafdb3a5d38af39",
      "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 · 5.506 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]: [-0.033, 0.8059, 0.6132, -0.387, -0.0139, -0.0311, 0.9987, 0.5041, 1.2949, 0.704, -0.1009, 0.3969, 0.2478, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=-0.0037 left_z=0.1795 left_yaw=-0.0008 left_pitch=-0.0103 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3504 right_y=0.1194 right_z=0.1309 right_yaw=0.0292 right_pitch=-0.0613 right_roll=-0.0322 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.5658, 7.2, 1.8242, -0.0855, -0.0659, -0.022, -0.2803, -5.2171, 8.6769, 1.9072, 0.3687, 0.1783, -0.0171]",
      "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]: [-0.033, 0.8078, 0.6132, -0.408, -0.0135, -0.0311, 0.9987, 0.2512, 1.5467, 0.4179, 0.4149, 0.2039, 0.0853, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0037 left_z=0.1747 left_yaw=-0.0012 left_pitch=-0.0332 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3533 right_y=0.0574 right_z=0.0211 right_yaw=0.0221 right_pitch=-0.129 right_roll=-0.0509 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.0735, 7.0085, 1.7802, -0.0171, -0.0464, -0.0122, -0.3761, -5.4496, 4.7111, 1.8388, 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 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]: [-0.033, 0.8124, 0.6132, -0.421, -0.0139, -0.0311, 0.9987, 0.2516, 1.5417, 0.4206, 0.4484, 0.2047, 0.0849, 0.6243]\nstate[eef_state]: left_x=0.2914 left_y=-0.0036 left_z=0.1708 left_yaw=-0.0008 left_pitch=-0.0507 left_roll=0.0005 left_gripper=0.9987 right_x=0.3597 right_y=0.0591 right_z=0.03 right_yaw=0.0231 right_pitch=-0.0888 right_roll=-0.0422 right_gripper=0.6243\nstate[joint_eff]: [-0.1983, -1.7299, 7.0085, 1.8486, -0.0659, -0.0122, -0.0171, -0.0342, -4.8752, 5.012, 1.2723, 0.0464, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8a578032532210098e27f0786ae5df9bfda7f09b905e569f2b3e669668252d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147d05e16de0d103bc743e0d756e692a754b0afd7541655d8f8998b4920b7b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e51fea269a3b5a4694bd7977476f9707578ad56228a09577aafdb3a5d38af39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCB0xhfASG33rK3uCDCwwfWm4355vyWgK13E4UoUsdsxNPjQjjTj8qIhCMi-7jWhEol5F8YcWWs-kTDHDOHtJ72oFa27hhDmgpSGCUxWPrfCaTf_7sc5yF3bd81w4_G2jD9XiY4nLvgWXHKzKFph4Na9aqsMimp4PhI4cQf11M1IfTbcq71QIdY1dnqaggbktaNekImQp5PNcQX_xFGPjOOEdTv9_7O9ecfyafXBakfQ4nVJKpOz8hgAFzdBJd468RSg4ATh4qfvoVQYPmNlakpfZ_rOp0YAHvn-IVQk34Y_dKMUujuNF3WEThm8Saerej1YK_2RkSblt6YdFsGce51cpZxE0W8V6O2wfz6VJGoUp6VV3yQLvyObj2B3DKx-nX85jup-VekF-Oj4nMy_FrDcuqxccCjIXY3YAS4CKpuzpfEFu3QseDg_5LCJa0NftfBAnndC1ZEUMz6YkVcmzQLBfc2CFoau-VudBCU52dwkTYi3eiR1uJE1XijoTXPk7HSE9BRoJuAviYYvvXAFSY56VfknYILP5KNcqP3FdrFMwN771TH879sTCZqUl5rRmokkrKkyXY6gF6-5H55LKVkvYDXdMxJeL_OdxdS8WseIqqD9gK1VA6-ww6s5nSme723zpJteSpkPYOMUhtP1S8PWnyP3_YfC2j-KW7ZKkFO_b4vpDAxavufbVY0sNrF8qNkiS4AU9haDaPuw66_Zs1rqd5rhTPVaEIx3IQhTPf8DKQW3Y1BidtVOnuJhiTGWXzvY8TFfIB8unYSrpl12z_94LpZpaXNIVDl0R90MVXzicAFbAcfFvVcDBc8IKl7fx0lop1aOA4kDaDuqQZmihN1RS8DtZTKBcKs0vYbFtO3JJTh1qJcwW32cXNzpiok5mUeaUVEMwLtV08gJssZ_geBaQxGZ2zbTfGoUuxi7TVP7u3lm26lrL4B42mPc8z9ojAYaqfcUxmkoGh8V5j0TQnIwRpaxeoR8T4gEKOF8zIf9wl5Ilgj8rVKONVtEAcqNsP6VndS2yMLfjN3WW5Ht7BY7UlBmp2BebSbmVndF13dUORPHLwnLv45WH2vAv5dehpsfw2N2fyFNANpeDbUzkXNvRVK0ytaNoRddjM4ennW9OU9TIucI20UFwZhWAu3a2ovMeib_kpuPEk66bfLkbGmwqN8gVodM67WG8Jp2KEJcRLw1BCazxxD5lqglXHsbV-mrb9HUNInpgsh-Y9FoU35HyhvEyJgh3RYrM9Y0CVDtoYdU0l0Gqe1h6Cw1Jq_uUi5d141zoNqYkgI2gDgLHyPiew==",
  "id": "rs_0f0aeae220085024016ab420738a8087d091e24beee4085f00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The gripper has stopped partly open around the fruit, which suggests a grasp. I’ll lift it clear of the table and check whether it comes along.\"}",
  "call_id": "call_P9GzRWGe2OBGL7i2S2muhTYF",
  "id": "fc_0f0aeae220085024016ab42073c8a887d0bc9431d131310996",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P9GzRWGe2OBGL7i2S2muhTYF",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8135, 0.6132, -0.4244, -0.0139, -0.0315, 0.9987, 0.2523, 1.2179, 0.7433, -0.2684, 0.2039, 0.0807, 0.6243]\nstate[eef_state]: left_x=0.291 left_y=-0.0036 left_z=0.1698 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=0.0003 left_gripper=0.9987 right_x=0.35 right_y=0.057 right_z=0.1369 right_yaw=0.0248 right_pitch=-0.1574 right_roll=-0.061 right_gripper=0.6243\nstate[joint_eff]: [-0.0342, -0.9915, 7.2274, 1.7656, -0.0415, -0.0562, -0.0073, -0.0889, -5.1077, 9.347, 1.8584, 0.0122, -0.022, 0.9646]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2398b4f10d436c11fc0c71a75cb8a0da6cd3a6149a45f57b8625c2acd760e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63a8e22c4cc0789650d7a6dae5149a2bd668f2c31f41db6fa089217664a2376",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daaf22f504dd64f2a7ee7dfeee10f41135762a310f0e1d52935765e945b465b4",
      "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 · 4.565 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]: [-0.033, 0.8062, 0.6132, -0.3981, -0.0139, -0.0311, 0.9987, 0.2489, 1.264, 0.6159, -0.041, 0.2035, 0.0853, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0037 left_z=0.1771 left_yaw=-0.0008 left_pitch=-0.0218 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3564 right_y=0.0574 right_z=0.1092 right_yaw=0.0208 right_pitch=-0.1049 right_roll=-0.045 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.347, 7.0359, 1.8486, -0.0366, -0.0562, -0.0171, 0.3214, -5.8735, 6.6667, 1.9902, -0.0122, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8124, 0.6132, -0.421, -0.0139, -0.0311, 0.9987, 0.2516, 1.5417, 0.4206, 0.4484, 0.2047, 0.0849, 0.6243]\nstate[eef_state]: left_x=0.2914 left_y=-0.0036 left_z=0.1708 left_yaw=-0.0008 left_pitch=-0.0507 left_roll=0.0005 left_gripper=0.9987 right_x=0.3597 right_y=0.0591 right_z=0.03 right_yaw=0.0231 right_pitch=-0.0888 right_roll=-0.0422 right_gripper=0.6243\nstate[joint_eff]: [-0.1983, -1.7299, 7.0085, 1.8486, -0.0659, -0.0122, -0.0171, -0.0342, -4.8752, 5.012, 1.2723, 0.0464, -0.0611, 1.033]\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 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]: [-0.033, 0.8135, 0.6132, -0.4244, -0.0139, -0.0315, 0.9987, 0.2523, 1.2179, 0.7433, -0.2684, 0.2039, 0.0807, 0.6243]\nstate[eef_state]: left_x=0.291 left_y=-0.0036 left_z=0.1698 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=0.0003 left_gripper=0.9987 right_x=0.35 right_y=0.057 right_z=0.1369 right_yaw=0.0248 right_pitch=-0.1574 right_roll=-0.061 right_gripper=0.6243\nstate[joint_eff]: [-0.0342, -0.9915, 7.2274, 1.7656, -0.0415, -0.0562, -0.0073, -0.0889, -5.1077, 9.347, 1.8584, 0.0122, -0.022, 0.9646]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2398b4f10d436c11fc0c71a75cb8a0da6cd3a6149a45f57b8625c2acd760e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63a8e22c4cc0789650d7a6dae5149a2bd668f2c31f41db6fa089217664a2376",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daaf22f504dd64f2a7ee7dfeee10f41135762a310f0e1d52935765e945b465b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCB8hmU7fE2CqPQdWnwQazWkcyaac37mD_vxRkniEy7VgxJODfATXFc85UojjPF2d-kA42l8dgkO2mlb6ovDvCwArzuGw2lLSUxwCgHyI9ZxdYN8uSESbgI1Nqroygc-gc9aC0FfsmyvGmv1QP2sUV95caS7UkZU9sMfbVlKzlgDFw0SbeLRqfqtnuZQvQWwgtuptpJBJPnDNOAdnmENxyuGNNfTO1zQHzi3ZyIql-dKE0xi1F31cWvdZHM6Fs4jjf_swG026DVwO9OtD_VlZ12tvuPTb5Gy5DNYpbw_Acte9O6aDpTLmAtqWqc3gOT4deJBN31Z3rrE_AKPRivB8P5oUwCQPalccYVzqbXG_2pG3meT48Rhjdhecv5u5N3TGZ20_f9fQ0y57qmOX-LDeQKNUR_Fq--RbDBHlQHQv_NTEn_lbtNqQDUCQu9H2VufKnSIFqBS_gcdIhlubCY6SiAzonq5fZYrGOPXE0WBXz4fdKC28ls9-yPAaM_aN48BTUb1LKJgy6LW9YeXbpygyU8N82lUqNOY9w6ChEVt6_CDj5XKOiCwbJB8lrU24iNRO1OPptP96XlGT8NHdKtAoZOgcBWiIgmLcJNa0khJeS3LEsn5W_t0Xnd6wv3VM6XhQdkkxA57lJBZ0keZEC-oRjN1HAi3SksqgrNcXOT__vBWRPbul7d-tvZzx4TkA7e7iXGPdHQ1pWY0zKQ1tGzwAovNot63Iq8gOi46UUC75LayNW8KgKEggKwK8ePnWybajuJZMofFTLDJyeA3mf52BCLhcgt2AR-juHF08zpGV8h1eeGvJ01W8luhFhtlMUwrOZBrooYBI-0XEfi7h4r4a5xzU83sShQTAiJPXVjYQ1qpz7P600vP00mAUA87HcC3Qy9BTsx4qbyY0bPhU_Mo-W5EkyZqdifByLbXvzofr-5VDJa93sit3su_0SNYsyfwJsRsciVc9gKzSz8MRHzAtv2Th0OGDKZniSxzKooCI8YK8o2-Y_AbDmudxE1lcWDLwuD7mWD6oUZS5FCbR26IZceU6WHDCqtuT4_0p5YdWKMKGcY5IwkgU-fN4UYY01ePe7RgMFXQZZYUuAAVvuIZjhMp4Ha6WPauGH1ssmwNBR5rS3MwPm_lrrL-Y8mR65vaQBDeNyWjZHiD-T5QzcAPs9gbMpuxZMaAZIsfPzmSqNDWI096A0NYnjJbuqAskc87hQy9660nHPEvYEqCNdCbe35cHbIUyjbjMxcu45k_9Wpsu972jv662YHshul_ZSXTzRsl_kPQhA69i8w10Ow8JLK-zXgCZ4Vk2-V7w63s1ASwSUIVblkgqsgKBMnycfKKpFhCFCmADnjlf6fZNVQCLeEUiFBElj3JKQYV7x92AOGMHz0_Ni4lI8b_T6t7BzxaW3yIOAOUmJU3EiSTr7LDUkOEHripVd5WBWLxk20IlDCxu3oeoLkg2lgEsW-mB59SQUfMsSWJYpm7VciK49kzZMHc2D9HHogvSvbAfNHf4Jo6PG6h08PLfBAFyUUniEYmwq6re_2OWg_Sdjzznuy70aLWNgT7ILCaHxI97dW_wXSdYvW18q1VahRvrPr3qnruAdUU4xM0jW9jBzWCQqXpKgvwbES6eKKjbEaMas8GMMOGYISDGdB5MLqSy4bqpR0-xhULqFOk6MyM9xjaK7NFq7GlHv53TtmeURg0vslFTWQ4oN-ak3jJ_dxyk9t5VPApjMRdan7Ec--_pR4DI8AZXp6m5HZdtQXpehJrX6zywL2jMqACWwXJCq_NuPiU1c1IziHe7hlSpI_L1t3t8xQAjjoSL9PbSFGzRqcu4UfOU3LYEym8YAwXbf-gIh66AGPITXDNxsZ_WpVHL9co_P06BntryDiiUw6xnAP5XAZL4G5vBQgrZTF3RTd2od3Y0qOa48r1LNaLtDiP__AAGFwCn2e87Qkz2AWvozBEqXuFf0do8fVheTIFy5pqmfEVihZ-Id7a0vZcYOjPDa_lYwtoyYTiKlGeCJ5D6Y7vUG6pRQQOv7nt6Kq8indNs7JGyDggb0RfoAa1B_0S7IFDq9EitdHFo8aEPLif9edSaKQkH826sPB6pMwfUOUuuAVYqcOj0vzYSxS80uWoQgD3Mks7PbvRPy5u2LH3rzVRGGm8Hu17djMzasZzccjV8CcLwfA0ia1b41-H6IY7zW79Gi5I3k0zpV8AErwzjaN1zFO0byjb5EvTnAgJ-TfkRIsdPxdXcAxHj84SXV8NmKj5nF3PeDluLwNN--h-uExe-uFLboD7nMvxjKvmS5qQW8l-Cp5FgZPvlyWC1Qn-f58WAwSaQEGEAIBfxaeDqAEKLRPp5XYfR4xnWh_9co8gOEPQYSFJ43gKpnt4Vnri0mdhe9cQDxH_DeByDy2rlUUzk5nEGs_4q6fv4oIXr_M1KUCb7QWKAaPGJVkrjTr1von56lAeviyFMG6WtynQ3wJzKBKjrXPemwsw6x2woDbPWRufaoq5YKYP_D3-lNRiolxDWebMe7oXu6zz1N9ob2DHcCEXkgcUTqLlsvfjPQ3qXGNG7SBIb1dhDoEQATeHS0uEL_Fv16Rt97RGU_CSRFnb3aPicG4z4yvBu84K1S0KZt9k3Wrd4KqimigdT6oG5GTl0Ssko9RCIsDN0ov2A2IQ3I-HbyduDVqBUX9jaB6k3M_7sJ8J7JapsE0rr5gSPFA1Q-THiOYWKKLTAkfBXEjMlwxp780cKTwOo2M6JmFZiOZLSltZ0pN4pnmX0mHHEaEqlwHvvK23o7pzZd9sY3Pca4viBeRpnffYl128-76wjl6rfK6vBOKrgb1CnKqzz5pttHWS0VBUub8LfgUcVVmJEsb5cU0UvWhO_6YZUVc8N7XPi5YjYtx5xWeeyt_TM82M2Q-UM55Ol3F5i4yz_FSEDKcySqJfl6AAvgIVc9nexlSJvxFFrHcBtPXEO81xmFJq9I5G3XOJDdJjAHf-AElM5xZL_TpzBg7XOZvG6VJGH1vHaK7w2Kqf77rxYDtb4q6WsODe8t1T9xXxW-lXHN38US7rA-28hzlm3w2q3j0NHUINh4paIvtuBEY3y53PaHX17xDA4OPz5LmbKsIIM6tP5RH9HUD_jhqULLoPXFy3qrM18n6TiY4Dk6NlfzJXLhkC9UfTGMLZ6nBUFN1z-rxEPvzZMG8kzvEQjrTV38ujAdMUA5I10wqHGElbtnl0fupCM9a5Hw6JWQf2N-sgsOErhD-aCSZliGg=",
  "id": "rs_0f0aeae220085024016ab4207828c087d089bb21c06a2ecc4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.17,\"right_z\":0.18},\"note\":\"The jaws stayed partly open on lifting, but the overhead view still hides the fruit, so I can’t confirm it moved. I’ll carry the gripper toward the blue bowl and check whether the fruit follows.\"}",
  "call_id": "call_ix3D98ryYvohsPf4syTifc5V",
  "id": "fc_0f0aeae220085024016ab4207bac1c87d0bafa4c1a6411e2fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ix3D98ryYvohsPf4syTifc5V",
  "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]: [-0.033, 0.8188, 0.6132, -0.4267, -0.0135, -0.0334, 0.9987, 0.5713, 1.5345, 1.1446, -0.4706, 0.3958, 0.279, 0.6279]\nstate[eef_state]: left_x=0.2909 left_y=-0.0036 left_z=0.1679 left_yaw=0.0001 left_pitch=-0.063 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3814 right_y=0.1684 right_z=0.1617 right_yaw=0.0695 right_pitch=-0.2096 right_roll=-0.0871 right_gripper=0.6279\nstate[joint_eff]: [-0.1299, -1.812, 6.9949, 1.7265, -0.0269, -0.0317, -0.0171, 0.2803, -7.3778, 8.9094, 1.4481, 0.4225, 0.1832, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e464c82278b30a4654ae212fa7da88f53d838dc81a01f7fba8a302ae05779c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bd68d765219282e1ed67b946f338a1e74ae36b2a94455fa74af5f13f8b9cd71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a9d61b878899ad08cf55a86403fc7131646b472f72804b91bc73a68f228b44e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.341 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]: [-0.033, 0.8078, 0.6132, -0.408, -0.0135, -0.0311, 0.9987, 0.2512, 1.5467, 0.4179, 0.4149, 0.2039, 0.0853, 0.9993]\nstate[eef_state]: left_x=0.293 left_y=-0.0037 left_z=0.1747 left_yaw=-0.0012 left_pitch=-0.0332 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3533 right_y=0.0574 right_z=0.0211 right_yaw=0.0221 right_pitch=-0.129 right_roll=-0.0509 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.0735, 7.0085, 1.7802, -0.0171, -0.0464, -0.0122, -0.3761, -5.4496, 4.7111, 1.8388, 0.0269, -0.0366, -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]: [-0.033, 0.8135, 0.6132, -0.4244, -0.0139, -0.0315, 0.9987, 0.2523, 1.2179, 0.7433, -0.2684, 0.2039, 0.0807, 0.6243]\nstate[eef_state]: left_x=0.291 left_y=-0.0036 left_z=0.1698 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=0.0003 left_gripper=0.9987 right_x=0.35 right_y=0.057 right_z=0.1369 right_yaw=0.0248 right_pitch=-0.1574 right_roll=-0.061 right_gripper=0.6243\nstate[joint_eff]: [-0.0342, -0.9915, 7.2274, 1.7656, -0.0415, -0.0562, -0.0073, -0.0889, -5.1077, 9.347, 1.8584, 0.0122, -0.022, 0.9646]\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]: [-0.033, 0.8188, 0.6132, -0.4267, -0.0135, -0.0334, 0.9987, 0.5713, 1.5345, 1.1446, -0.4706, 0.3958, 0.279, 0.6279]\nstate[eef_state]: left_x=0.2909 left_y=-0.0036 left_z=0.1679 left_yaw=0.0001 left_pitch=-0.063 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3814 right_y=0.1684 right_z=0.1617 right_yaw=0.0695 right_pitch=-0.2096 right_roll=-0.0871 right_gripper=0.6279\nstate[joint_eff]: [-0.1299, -1.812, 6.9949, 1.7265, -0.0269, -0.0317, -0.0171, 0.2803, -7.3778, 8.9094, 1.4481, 0.4225, 0.1832, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e464c82278b30a4654ae212fa7da88f53d838dc81a01f7fba8a302ae05779c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bd68d765219282e1ed67b946f338a1e74ae36b2a94455fa74af5f13f8b9cd71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a9d61b878899ad08cf55a86403fc7131646b472f72804b91bc73a68f228b44e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCCBNZASRxYrU-9eWEooZshPanRZGRF9ITr5h0ZAWqA-taz34jCc0NXp7J93TnxTwm_FOpCNCmKrAj8kBUzVXfL7rrTNz-49A8rrmSO2JSMgtDJsjRIQastSLVuSzfhPd5TIPearbkj4OcPx8p5tfkcfl5rBnmNQI8b2ul5ugqYpxI_kKiEmij1XmKs4D-tNjr6cu8Kw3cMWUk5afnSCxVdqGy_cl_kPSxgXTw8c3PrTs0xAqavPsRdIBq-THRV9P4Ut0K2FdH4XrtZVr4FyuEB-Vpcb_1sR_SbYlwDmOMzLXjKlwLIFz9MrJc6oZ2F5EBrCqseKn-DYyHP52ruauzt3VIE14onJgIu0kVv9jegc7X4XIubEbbkHc02pc4XX_uZDebLmrMBelJulXB0-GmEQY2otm1_QnPuj_0PfY3tON2tl1rH-DAjXLuswoVOWOKJdvLzc4WnuHSANCnL2sJ4xEh-3WhqS2hSFLrzc3PSlExPG3foqTjKgWYJzvlMsUiMv0VHyfJ6bOsjLcQzLXwQhaKlc8mVrez8MuAkidGWzA2x0sQpuZXsx2WNjH5hjCczAemNY1P-i_8uToqjn_IdUGup05ZI9tVDle5m0ctcoBPTILuU3UazQMKsZtsJ5P9jKcgZv2xaSzeZjd_oAZ8isPfA0hX2uOZf47zp8Uedvn09nEqP1U0DTC_jb3Yyp03gxE1r_0zqBFubSG8eWrR8D3e3JjiuUEuWQt3qQXB_JvJJEhONpWGB7xg2WjmtNASRSLLZMDPnxz3f_EDl4-qhqBh4hRpKUbL6IL4EJ9hKEwMHBdnhQCVDSaGW0fZkrCQE3LlNgKwcsfN_U6913hcLwxOczOeCJ-TN0GkID9csBvVKs5ZwObPn8qNbZugqhluBZC8qk8VXAFWl5wWXPm6w7x5EENcMVOQo0oEz-RYfAiHKKjlTnQ4ZtaPhqPWr0gFZWnSOAgJ_5u1su1jciCTxo-E-z8k_Zz0WcaYyC1daEOB3qy-b1Iosi5M06YJ_2nNTuqjjBpEK-0Vr_FVPHdht1STszLFHg4fkaUajhW4y1q9rIlX8j0ztPw72lYb8-taMgJJFNAynr1PoF8RwJ9ZKnECY04LPqycqA5DYXvFCdexD4tnBhcDoXmEEmpe-tDnrbgzk1bERpcDFcOt2AHEbyUVJqy9hCpd1DS0DnfuPVSHTwLIMldpmSBvAH3rjNA6XwzqrjXR7ILygSXjxrbN96FmHUAvpIik-8fkmGC00oLonvPpWPVOSkl-qBcem-PxbEuCU_NieQ8WG12OQ44OpziR5k82h6I55N5rGv0Cz8FHWPo_IqAyiAQvJ0cJ5LJ84oXphpJQvqwbjlghkblSCPvX-_9HjfUIXM11RyDzTYT3KF_96nw-57uPZaVwGHOyuvRZU1u43xtFE8bqSt_uYCyebuB1FBavlysw9yAtYrMetzeyG5C6ReUG3wTRnfluj6ufuoB_iZlmlHqMZ9VwmwG2xXIXEnJgJKgpE6ppj4T1uP-rotN8yvgb7zSAmtvvftirFK7zl4mGsMBxRWVJF-hWgzg5chEqPQsiajzbZnKtR6yj23qLFCL96fyjWkvGRJsshCeKeDvcDazykmT-KMQKnpCRIjVI4j7zCBCZVUzIfWPK37aS39x1AMEP4ZL1R44jBAa3XyXvdtI5Ffxw_oXKIuTjo20G0JtYvCj4sBh0IOFfVEqmcOtUXzHQX8wy7GETXbQdIgUVJLzC_uxFgQ9qkjgV7rGQae0ca8d1pzlw_Hm_Zgu-lOdZyEZYmjXJzOPx1A1oY2r3XUDbTR7--XZej9-Lkl4VNBEqU2PSHa_cNIo0Hdiblyj4d4oG5nBXOGE_0Gj5E_1EvfGI-Dz-Boxsj59XpvQ_4vV7OF0tstB-UyTLPgLOQaRpzzK1mK7Z-6app2ZszpU0UqF250sAtDYhIqV0tjCwmNYJKoquJ3w9onIGqikOEfeQ2daAn_QuTc0JqEKbHRgJNE5O0S2aGD_zv0jgTSbPC4hng72m5qO8mnZ_gX5Ae4P17-vuHSlrbLtJnJJP8xGA9quQg_kaxPDTNuN8-qZ_SNL9M6XSLWxUzsOdEf7qca1LUJC0Gy8po0nB0PheomZbQKJCWbp6f6F8-ikL_RP5I1Hf6vKXWQ4MN2ZOO0AHIhWqq6GJrfLdtrhffEHghj1S6e6415iakE3EHs_cBQ9P0iHEihDsMTSgyYbx-41jAO61e37sgMLP2cNA8plZVldeprkWAbtL6X07BC4MPByCN2EhNdEE8Xa9ZsIH9hoCo1VTCXGektEenAS15lbuIbgKRgFK20RplJZw==",
  "id": "rs_0f0aeae220085024016ab4207e5f4087d0be60b90833206ce4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.18,\"right_z\":0.09},\"note\":\"The green fruit is no longer at its original spot, so it appears to be riding with the gripper. The blue bowl is ahead of the jaws in the wrist view; I’ll bring the fruit over its opening and lower it gently.\"}",
  "call_id": "call_v4LsFUEDZKUzRAbnYnzlozZb",
  "id": "fc_0f0aeae220085024016ab42080ea2087d0aa0c985414681218",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v4LsFUEDZKUzRAbnYnzlozZb",
  "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]: [-0.033, 0.8211, 0.6132, -0.4278, -0.0139, -0.0334, 0.9987, 0.5259, 1.784, 1.1133, -0.2817, 0.3622, 0.2481, 0.6307]\nstate[eef_state]: left_x=0.2909 left_y=-0.0036 left_z=0.167 left_yaw=0.0005 left_pitch=-0.0664 left_roll=-0.0009 left_gripper=0.9987 right_x=0.4115 right_y=0.1706 right_z=0.0732 right_yaw=0.0568 right_pitch=-0.3051 right_roll=-0.129 right_gripper=0.6307\nstate[joint_eff]: [-0.1573, -1.5521, 7.0085, 1.6874, -0.0366, -0.0513, -0.0122, -0.4034, -9.7436, 6.9812, 1.6825, 0.1587, 0.0122, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1108daa7c0b459dd97c9c994e77d60a1fed0ee1340fcfd42d668ad37de8255a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca294c7d90c086b6ec6649932ec4178a70d0493b2de8a956515cf7f652ebdcbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3f3d23cf0cdf12dcb5a78ac979fb4c593a9522e1822ff21fd7e643733e2674",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.808 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]: [-0.033, 0.8124, 0.6132, -0.421, -0.0139, -0.0311, 0.9987, 0.2516, 1.5417, 0.4206, 0.4484, 0.2047, 0.0849, 0.6243]\nstate[eef_state]: left_x=0.2914 left_y=-0.0036 left_z=0.1708 left_yaw=-0.0008 left_pitch=-0.0507 left_roll=0.0005 left_gripper=0.9987 right_x=0.3597 right_y=0.0591 right_z=0.03 right_yaw=0.0231 right_pitch=-0.0888 right_roll=-0.0422 right_gripper=0.6243\nstate[joint_eff]: [-0.1983, -1.7299, 7.0085, 1.8486, -0.0659, -0.0122, -0.0171, -0.0342, -4.8752, 5.012, 1.2723, 0.0464, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.033, 0.8188, 0.6132, -0.4267, -0.0135, -0.0334, 0.9987, 0.5713, 1.5345, 1.1446, -0.4706, 0.3958, 0.279, 0.6279]\nstate[eef_state]: left_x=0.2909 left_y=-0.0036 left_z=0.1679 left_yaw=0.0001 left_pitch=-0.063 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3814 right_y=0.1684 right_z=0.1617 right_yaw=0.0695 right_pitch=-0.2096 right_roll=-0.0871 right_gripper=0.6279\nstate[joint_eff]: [-0.1299, -1.812, 6.9949, 1.7265, -0.0269, -0.0317, -0.0171, 0.2803, -7.3778, 8.9094, 1.4481, 0.4225, 0.1832, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8211, 0.6132, -0.4278, -0.0139, -0.0334, 0.9987, 0.5259, 1.784, 1.1133, -0.2817, 0.3622, 0.2481, 0.6307]\nstate[eef_state]: left_x=0.2909 left_y=-0.0036 left_z=0.167 left_yaw=0.0005 left_pitch=-0.0664 left_roll=-0.0009 left_gripper=0.9987 right_x=0.4115 right_y=0.1706 right_z=0.0732 right_yaw=0.0568 right_pitch=-0.3051 right_roll=-0.129 right_gripper=0.6307\nstate[joint_eff]: [-0.1573, -1.5521, 7.0085, 1.6874, -0.0366, -0.0513, -0.0122, -0.4034, -9.7436, 6.9812, 1.6825, 0.1587, 0.0122, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1108daa7c0b459dd97c9c994e77d60a1fed0ee1340fcfd42d668ad37de8255a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca294c7d90c086b6ec6649932ec4178a70d0493b2de8a956515cf7f652ebdcbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3f3d23cf0cdf12dcb5a78ac979fb4c593a9522e1822ff21fd7e643733e2674",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCCHE8mDoCaeykLJTieI0LZ3ilW9r6Zd-_jyGdBIP3CJW06t8oNaku_G-xwAACxjwE61R1PsmKIST4HbWHT-ruNbm8GMBzKQb-KwiY6Q-WHvMfUGdn5axMdYZxgE9CFDvpF3P7QZHK-H2LB47_rdK-nOGNW9_EvYuj2v7kGY68-58YZt3yhIQeHndnSi7OgueiGXQvEcBnxmpoRT5w9b6ta8XOJ9WOapJd9A8BlSKLi9kEONE_-j3nCCsULm3SJEx8kY4H0eyIhyuOqkA5uH-s3X_97MHLwKoDTEkCESKykuYwfPMe_ULRrbwFIwwm6DmjWXoHWJq6kCA8haPcHZZ84530jHzUMeXI2y0_oHdkNuCR_YXJZHdZBv9LzeVEFZbdCJYT_DnPGMkcFaLkTa29R1ujd1TGrxhKggHEQftjZyEYTSbECd46zsIAppYxOkjOL879LDuD5kg2g6lBD5LFe9sDTDQmOtRX0pvyq8_3AmRNkq4WOR61kpGoozQUEqAudHVKxYiqZqkf_RMLfEXMxGu0cmimgy16dnsT5QZKyV6OoMFwv9irh8rv1nUzd5CjdviBwR1NSCmHFgqHObe-MjufbMTrJdcguIZL4_XGqtURlixXaMMz8gQ_IM4fF3ERER5eXJyOS4l127fMpRzRArb1S1a7JOtY-PSFRer2U-KorGpK0j8qESGRYJPKTS8t5SwMkPVGK9YgNpWox_bPvDnWOWs5pQ8uWCF7Kqc0cfE5GRt50pkeWyY-lh-7fJlO0PWm081CrDjvJbl0MHUwHDx6C_Cz2r01prI2v2O-lV8Y0Ag_BCBI_UThEQmNCByS8soVwwmEk8nteXLVYPQAatGq3P3lCx4BegToc7Wy92F39UJ5WEcferjAZWguG56zMPw-Tnk-1qBY0x5umPZqk6cEILUK2eqzRmjzlmmqIgAhQr8kNhB1rmGhYyQMR8R02NH8aoebSJfFCx7X9akjuoBeH_Z83V4SKFO36XhcBDmGEQLuAIH47373EyXIP6G7DUyd9khUWDMd5cGmyIWzWA39QFlNkXYKiKrrGlx7psHFfRELYxEMkUwQ7PD3_3xJk7JrCocgV_t-qcJuSQ5Xx1ILVFTRyMUMtn4J5FIyt8O3DxmUW7RImVfoxS2qQOeWph7KMh_gueCz3I5nUH0RNTShDjnDXcA3Qp1vXyAJ9JRF4EB3NUXEhLUhyNvCRtEoyz5h02JE8O7v3H4IHZqsVT8qrRa65fLsew3VT1K3hInclahwNS5QuqmJ1KN4QK9F3uJ-diPVrGbFYJCCcGLu2EaqdSM-EQao4ho1_dVVWnIQpE8Rz1bngN8VqLIUlRrzJ8pEZoIAwcEyHV3UALPKwq3ZY9fdZz8Ov82ajAva-sOiJ8IWm1g2lH_AoJrj8ccd2ToxTFA1C7BpSgJ-OAgxz08Dqs1SG9RG0lfJSbw6RWS7PsM5fgk6UDI0FnEQl_Z7yvGms7_lNW_UdupEdOGSuI-nM5v80Fep0PrmQAqqstFQHXZfjORJX46qtsqOGEyI74Wnk6MRoJmKaF0d1uuntNrP5cWt5VKFrQ312-2IG2qCYGvYKZfw9H5sjM8bGt8YMNCFo1UVdlJQmMzwCD29ykBtins9O-nBgxLO2wvUgzlzFNDjiP55AagUWoS_VI3wOiOkUylZ6l4yCdEDBEJgpO1XWBI_cjAViqjdXA7eaZ3BfGfIUPeDSGhNw5jPr4MKGIpS43Wb8JVSw7aXg-c88I9G_5xSbAdSn-nojIzDedRrEOVAKt4ff3cr5Dv9fZkxbI71aRqsD4V6iqORNUA3fX3bX0_t5cEhuSSLtesFuEFuBZFyMWDeuwquDhE-UKsvqHzSCMwuYLwJYH0ljaomFlENdFi6xRwEaYDeD8uPImBQexSHOdWbYUWoI_dBHt3Rlwlnc1mNR0lUBSN6-OtJEXfUnoflcPQXIvDEt6bRRlI-FZnuWAecXJfwsBfLBlQvYQC_JxmEOJXFiGqL7P__efmgp94U6PvHSdVm5yG0oHyMv7wF8L3y85RX5TtH7XQzwJZz6oxuet_X-2mdGKz5R8eBltY_mAZpDFpRNb8Md3slHUC7_H3AEwS3uSch5BligE7aG_Y0i8pJSAThCsrOMld0t3yImMkwRooGh9Dz08IQ4NP_sisJWTGT_crUv4UYnEHo2E5HdfkJL8Fzw2P5dhHQg_Iq3q1zwUEtduE-YCKa3Y80lW_pvJHo3lYBixrAd7O2VrhXF8FiRl_ESNcTvrJMfRPsw55PaYLInIk3B6hgn45u7vVXmKgav0sMlklYZ9t6IaQ-WIkqAgu0FfLR8vjPSirzODl-gpX9Czj39MWN3d1YJ8JGOxGlk5NzpOAZ5We93SHhSDDOyjq1P7JglZtu9rIucajxZ6V4YLlWuAqIhVSqd7egHdGcE1fK3nN779HQH_p_mSyHquVOrczm12oe48_pjse9RRo18abgx2eauzCYNX_E1huUz_NIzTX5WA",
  "id": "rs_0f0aeae220085024016ab420846fd487d0a00dc792d58db86b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.15,\"right_z\":0.12},\"note\":\"The fruit is still between the jaws, but it appears near the near side of the bowl rather than over its center. I’ll raise it slightly and shift it farther across the opening before releasing it.\"}",
  "call_id": "call_sS4TQAsGD2bdZIUllLHQvTyL",
  "id": "fc_0f0aeae220085024016ab42086ca2487d086f387fa06468fc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sS4TQAsGD2bdZIUllLHQvTyL",
  "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]: [-0.033, 0.8211, 0.6132, -0.4309, -0.0139, -0.0334, 0.9987, 0.4332, 1.8107, 1.2961, -0.4221, 0.3073, 0.1749, 0.6319]\nstate[eef_state]: left_x=0.2905 left_y=-0.0035 left_z=0.1664 left_yaw=0.0005 left_pitch=-0.0694 left_roll=-0.0008 left_gripper=0.9987 right_x=0.4446 right_y=0.1507 right_z=0.1081 right_yaw=0.0523 right_pitch=-0.3144 right_roll=-0.1289 right_gripper=0.6319\nstate[joint_eff]: [-0.0342, -1.388, 7.2, 1.7167, -0.0513, -0.0415, -0.0122, -0.1709, -9.1419, 8.0068, 1.326, 0.1294, 0.1636, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03950873ef889a220a93b5121a76bb6f768ad52f943b41dfb4397c09ff0e161",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda5321412439f4b1baad9c37a0c2202eb337aae32910ba21d9e2183455f4471",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bb6b19a39cb4cddc03b8d2eeca471d75730789d7182cf5b5052b62c55e77975",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.93 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]: [-0.033, 0.8135, 0.6132, -0.4244, -0.0139, -0.0315, 0.9987, 0.2523, 1.2179, 0.7433, -0.2684, 0.2039, 0.0807, 0.6243]\nstate[eef_state]: left_x=0.291 left_y=-0.0036 left_z=0.1698 left_yaw=-0.0006 left_pitch=-0.0553 left_roll=0.0003 left_gripper=0.9987 right_x=0.35 right_y=0.057 right_z=0.1369 right_yaw=0.0248 right_pitch=-0.1574 right_roll=-0.061 right_gripper=0.6243\nstate[joint_eff]: [-0.0342, -0.9915, 7.2274, 1.7656, -0.0415, -0.0562, -0.0073, -0.0889, -5.1077, 9.347, 1.8584, 0.0122, -0.022, 0.9646]\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]: [-0.033, 0.8211, 0.6132, -0.4278, -0.0139, -0.0334, 0.9987, 0.5259, 1.784, 1.1133, -0.2817, 0.3622, 0.2481, 0.6307]\nstate[eef_state]: left_x=0.2909 left_y=-0.0036 left_z=0.167 left_yaw=0.0005 left_pitch=-0.0664 left_roll=-0.0009 left_gripper=0.9987 right_x=0.4115 right_y=0.1706 right_z=0.0732 right_yaw=0.0568 right_pitch=-0.3051 right_roll=-0.129 right_gripper=0.6307\nstate[joint_eff]: [-0.1573, -1.5521, 7.0085, 1.6874, -0.0366, -0.0513, -0.0122, -0.4034, -9.7436, 6.9812, 1.6825, 0.1587, 0.0122, 0.6032]\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 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]: [-0.033, 0.8211, 0.6132, -0.4309, -0.0139, -0.0334, 0.9987, 0.4332, 1.8107, 1.2961, -0.4221, 0.3073, 0.1749, 0.6319]\nstate[eef_state]: left_x=0.2905 left_y=-0.0035 left_z=0.1664 left_yaw=0.0005 left_pitch=-0.0694 left_roll=-0.0008 left_gripper=0.9987 right_x=0.4446 right_y=0.1507 right_z=0.1081 right_yaw=0.0523 right_pitch=-0.3144 right_roll=-0.1289 right_gripper=0.6319\nstate[joint_eff]: [-0.0342, -1.388, 7.2, 1.7167, -0.0513, -0.0415, -0.0122, -0.1709, -9.1419, 8.0068, 1.326, 0.1294, 0.1636, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03950873ef889a220a93b5121a76bb6f768ad52f943b41dfb4397c09ff0e161",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda5321412439f4b1baad9c37a0c2202eb337aae32910ba21d9e2183455f4471",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bb6b19a39cb4cddc03b8d2eeca471d75730789d7182cf5b5052b62c55e77975",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCCKV2rKu72as1mL2Vvzvgb5ZGMddq8oxVwlrJcW8ewmuOqPMsGKKZ3nDp_9t7ckQg7upztyZUI2Sg2BWwuglJd3cgJDuA2fDaBapIBrkNdfv6vprru8G25a69B4sUAV8Bd2nDk1pnDgMjChl4vAKQeBOq7tm7tDCFPreL2LyvXHo-VkgsqX3e0ZOrfgH6UZrX0u2VebFg8TYIpXMyVkEvQ4IqdBx-ruIHUiHtS-xLYklYZf10XlchsM1UocmKFpMp3H2fPugqHD7vrUIrngzLZ0wv4zAKPi4RqhWfgLb1nYCtvIkb_ZyxSA5EPDIbVo2MZsDmwok4uhcU1vpWLhCILzhsLUcxiAAmRWY4AKyJF6B__38Qz4PshGvvuseb1srr3AE5j2D_cKh-ADBiJRv8uXqDtnOrvdAwtF2vd7XrwKg3ePePTXYF_vHnuWrdQbzu-_x_cZDMkqyaV3ZDYzNEuSWCYbEhYxG3BjXZzEw2fLStCl90wFKHRqdA5cTO2aXx6A1DRVsoC9HLP_81VMaTi2PIl4XBsRmbisj_Y8_qmrOVBb5U6_Bkq0mmMYglel5rKklIpELYhu6ehK0UM4V9BMwMsn3NWXFn1tdZl7-11Z1VSippL8lMgduOGFPue3f32D6lQ4xoFXdpN5zG0VkNkpMwCoy3GC7_n9XQWEjsdGva9HRMIZzt-ZWfpdolP1O7u56EP7nQ_dROmY9n0Xk3e6hcQWKPa8KwnMh0uXnoYfxEfJgkBvaUlNiWGc2pbaFHrzHpnkK_OiOV7cylVnN18zKQbJYabkkG1OEE7zg59IftjMzNI7dmhonFtuUV1ghk67TAucmuS3nrXi0Q9162_60161crtd0zP19rOOdauAT4qXZ6YmeO37SORjjVU4W4Fks3OVQgGzmcHQGMyHdmqHGknS2e7jbbP_esCXoNQJTbI2b0MvaIsrlCiS8f_5FBqhiUzHs9_J7Iipvtxofbeq2SHgxtScPiFXBhkv_BUbDT874Qpa9X3qmBLiDLROKG67EU5xZS_yUyZdrFHKjIXPuk57JOfCfXpl3ggBAelN-nur4Qf-5ikx8a8k_vq1j9tHhirSpc_YXe92yqd5IR_yaciUXq1PccXGGXu1hB9cysNmEHK1MVsai68jLGNm_NCFYlxCVbhPx0w07jRgUG7bdfJjXydsAz6cVzUtrCKtZsInNyT3XiHsZGu7KU7qiywwkc45dEB_4R0ZwNFIv_MwSEckeKUr4DtalcUHqnehEgE7y8_6IjtTIWEtK1qFpHYPr7xdOsyowoOdjfLi_bch3VpUBeifTKjG9CIEXDvmcRCuljWt47JFFjQeo3qnnRBSt_9Ntrj1rEH6lUfX5sZRmpjC-mD5F1RA5nSLIp1_4j4RKoaUwK4QdZjk7U7NaPQBhnACFje00X3-geywfAO8c7TjEacBOzoM2cg7bGXbAMHCgvy7ggMYjWNeBc_F-R70PKQAnE_BAiPN7Q7vRDy0iJkq_KmzrktzEvRTrqbRTsyPhZ9VOBLcPf8xtyT1RPYyCh0FyrsMfzvw7h0XNh3QPILvTKuvkxhF_eCKwLR0qawIX4z78yt0NxOpU3KR8ikn",
  "id": "rs_0f0aeae220085024016ab4208916dc87d0a50a89d3d77eae8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The gripper is now over the blue bowl’s opening, with the fruit hanging inside the rim in the wrist view. I’ll open the jaws to drop it into the bowl.\"}",
  "call_id": "call_RGH5Wk5QBJ3iDFAGaCdtL3zJ",
  "id": "fc_0f0aeae220085024016ab4208a0d7c87d08aba33418dcf5248",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RGH5Wk5QBJ3iDFAGaCdtL3zJ",
  "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]: [-0.033, 0.8211, 0.6132, -0.4313, -0.0135, -0.0338, 0.9987, 0.4301, 1.8107, 1.301, -0.4488, 0.2985, 0.1665, 0.996]\nstate[eef_state]: left_x=0.2904 left_y=-0.0036 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0698 left_roll=-0.0013 left_gripper=0.9987 right_x=0.4412 right_y=0.1492 right_z=0.1059 right_yaw=0.0587 right_pitch=-0.3379 right_roll=-0.1359 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.1419, 7.0085, 1.6679, -0.0269, -0.0513, -0.0171, 0.1026, -9.1282, 6.2291, 1.5458, 0.1538, 0.0464, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d925f27d15376d8f2301738252c8943c2cbf9dafdda743ee0514f12e61e243",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3256a1e7f9a40af6c50cea5a4fb1fc89e5be2726858a4dbc6c17e66ac255433",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7dc431115d3c36e9a243c5a0eeb424f28bb2463d7f9f70051d9b3407a628671",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.476 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]: [-0.033, 0.8188, 0.6132, -0.4267, -0.0135, -0.0334, 0.9987, 0.5713, 1.5345, 1.1446, -0.4706, 0.3958, 0.279, 0.6279]\nstate[eef_state]: left_x=0.2909 left_y=-0.0036 left_z=0.1679 left_yaw=0.0001 left_pitch=-0.063 left_roll=-0.0012 left_gripper=0.9987 right_x=0.3814 right_y=0.1684 right_z=0.1617 right_yaw=0.0695 right_pitch=-0.2096 right_roll=-0.0871 right_gripper=0.6279\nstate[joint_eff]: [-0.1299, -1.812, 6.9949, 1.7265, -0.0269, -0.0317, -0.0171, 0.2803, -7.3778, 8.9094, 1.4481, 0.4225, 0.1832, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8211, 0.6132, -0.4309, -0.0139, -0.0334, 0.9987, 0.4332, 1.8107, 1.2961, -0.4221, 0.3073, 0.1749, 0.6319]\nstate[eef_state]: left_x=0.2905 left_y=-0.0035 left_z=0.1664 left_yaw=0.0005 left_pitch=-0.0694 left_roll=-0.0008 left_gripper=0.9987 right_x=0.4446 right_y=0.1507 right_z=0.1081 right_yaw=0.0523 right_pitch=-0.3144 right_roll=-0.1289 right_gripper=0.6319\nstate[joint_eff]: [-0.0342, -1.388, 7.2, 1.7167, -0.0513, -0.0415, -0.0122, -0.1709, -9.1419, 8.0068, 1.326, 0.1294, 0.1636, 0.7302]\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 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]: [-0.033, 0.8211, 0.6132, -0.4313, -0.0135, -0.0338, 0.9987, 0.4301, 1.8107, 1.301, -0.4488, 0.2985, 0.1665, 0.996]\nstate[eef_state]: left_x=0.2904 left_y=-0.0036 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0698 left_roll=-0.0013 left_gripper=0.9987 right_x=0.4412 right_y=0.1492 right_z=0.1059 right_yaw=0.0587 right_pitch=-0.3379 right_roll=-0.1359 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.1419, 7.0085, 1.6679, -0.0269, -0.0513, -0.0171, 0.1026, -9.1282, 6.2291, 1.5458, 0.1538, 0.0464, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d925f27d15376d8f2301738252c8943c2cbf9dafdda743ee0514f12e61e243",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3256a1e7f9a40af6c50cea5a4fb1fc89e5be2726858a4dbc6c17e66ac255433",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7dc431115d3c36e9a243c5a0eeb424f28bb2463d7f9f70051d9b3407a628671",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCCOjiy3KJ8BEhPZ-KIWS2M3wNtl5jJlKEO3bC6QcAd0r7xMEnPS-deL7rzD0XrtRgfirDuVhnNI3BDnJZNomYC4FYsmfX7gLcyJ3NxC5VtKQaP5XD2ufQwjEVqtsFoyydXzssaEsDfW_FFmN5lK8gqP4B-yrdPWTJIX7zrAtjtRlwTBufk0I4B53a3WjeiEukvXvvpFJHr67cs6WBQS_1lvUyGRbDNYBxq_l96C1wpXYRQG86L_LU4F00OmGa8yv0M4eT8LvUZ51mAydSyK9_0-6AzV3cw0v7UrW0jJt2fiP8AfdVH_SoXnnikTvXB2XNdvLGshpJprGfbOzND5PyT-SA1vsgFnsqYK0riJ4UKQmXFkaksKXr8jyr2hgcdPlPEqLimzczC_m4fsNKmKBb5izDNOBFlCL5Rsa8nW03hkDyYSmjB6Wn3AU_O55BkbyGm0xDSHSdkrK_urnyLb14w8sUhGN2wnTFP8E9k27xul-T6dj3Ht1n-OJQRbJQ1R18geHkGc71pgkKWWD2jQencgZKsELhgGoivGNhIrDg5R54hwaB9oP8AGyYNZpmzJRBNbb3aXSOCRJGhxajlDyXhx9Q9nbnClY2A3vrMBRM9pX3R0KqLwU-i0f5pDsnN_X1Fq4sEOc_5oXSEoDonyt85tdVbIPxdhyDkVulk61C-A0gWzggs4nQQ5Jp7X_i_015EsjXFPNM4xwlyf7ZVeGY7Ka7XpVhC-iKYbXSxflIUmVKjU2Zke_dkX2vMb9qKYZKX2SnGmT29AQdT_QkFaIPxiZy18zS8dUGRHHC8knrvWljodOqbsTz4k-eVqsDt1QeRuNBgxUL0f6QZMwALsAEe-VmSh9joSozyLHw2KnUoAQt29eWZGmK4xGyQqualCpt0KGsqgnfS0jm6e_4gmxgksUzn9pgmrQcyZeDJ9FagwHFpAhDwiehwJYVZ2SO-Mfu1L6e24CZEUMbB2Ga6tDDG9Hr5zL9yy6h10eDw5yKpfQYiv0FtNgic3dL1mbN0xRUIx2N5WO5oQn2ie4U7dmWuyQh3-ETIj4ZnZAG7B0g7crRQjG7hR_gPRhBvM4UnqEAAVDHUR68jWGYJkxwJRTjpWUPmvEOS3rMB18mUiH2pdwq7lwdlL6RuvHmmTSGYZ2ilYWc1qG97tDdEVaJFxA9tnVczDVeME-faEDScx3qQoM-kXuYSvT73OmzKf0xlE3gDSSthm_ApzTEDbiSMP76Xu6c89lIc7pei5oCEG0d0ZcCO7wiS1qiQ6g48TZxI7mx1x4Kxx7JOykppqy172ulKXqdWseaQzrvdO-3Twbh5ab9dPdOEeZ_EGW3Jv-a5hVtBr28C_5yiebUe3mYrUIwnHP5OKgfPY1AvjKVAZIg2nBl__0sE5sA6EazYpvn8ozmu2EA7sEXTmgrm8-R6g5RTzMDI94WMP8n3wR-nE4Wt0gN-uejxpjxpwpy0IqDO4gPpfd1bgm0SbNGt_JkYcw17OiS0X4ali-VTgQqkDTdk41ZRi9XRy1krbdSrdRgHGScvrho44M054LDSP6dMa3DbTMkfIBTrLH9BH3Q4aCbM1CZcoACsTyiHmgJxLhA8fPZNw_YmDCa3Mgznm0An5hD9NcWd5aOyo6_yDdH3pzoiCAqe1zHf24LUmHiQ9GWJ9QOVHngV2pgObx44kvMRRzctd_194C79kylrBSShIWK9v_lvO4LmSM_bZdvswDUITmNg7CSSb72y4OAsaaC3TYh7UpeaTQjLHbpLY0MrgzXFaBrubXAmw8o-Xx_d9gvezPZnWDF6IQ4lHmKTNjyjLrre1Mg==",
  "id": "rs_0f0aeae220085024016ab4208bf42087d0bcb35c00bbf33bb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.22,\"right_z\":0.15},\"note\":\"The green fruit is visible inside the blue bowl. A yellow fruit remains just below and left of it, so I’ll position the open right gripper over that fruit next.\"}",
  "call_id": "call_mJVp39EjbLnK89FQFk43Ko0s",
  "id": "fc_0f0aeae220085024016ab4208d383c87d0babaa50a773002de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mJVp39EjbLnK89FQFk43Ko0s",
  "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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0135, -0.0334, 0.9987, 0.7273, 1.7012, 1.2984, -0.6788, 0.4328, 0.3958, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0036 left_z=0.1663 left_yaw=0.0001 left_pitch=-0.0702 left_roll=-0.001 left_gripper=0.9987 right_x=0.3542 right_y=0.2209 right_z=0.1296 right_yaw=0.0955 right_pitch=-0.3724 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.1419, 7.0085, 1.6777, -0.0317, -0.0513, -0.0122, 0.1846, -11.0838, 8.9094, 1.1111, 0.3541, 0.1441, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342097a7f61c2ed084bf0f8cf32776a889ebb9612bc3a55189bac47e74ca2712",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ecfdc451b7ee962af82c00b74a4d2f5d43f581fd71727081064bc3427a2478d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c55a5a2cdc28c5f31714d2576c119c3d878f14e55ffcc0eeaa5a6d944064be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 1.8 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]: [-0.033, 0.8211, 0.6132, -0.4278, -0.0139, -0.0334, 0.9987, 0.5259, 1.784, 1.1133, -0.2817, 0.3622, 0.2481, 0.6307]\nstate[eef_state]: left_x=0.2909 left_y=-0.0036 left_z=0.167 left_yaw=0.0005 left_pitch=-0.0664 left_roll=-0.0009 left_gripper=0.9987 right_x=0.4115 right_y=0.1706 right_z=0.0732 right_yaw=0.0568 right_pitch=-0.3051 right_roll=-0.129 right_gripper=0.6307\nstate[joint_eff]: [-0.1573, -1.5521, 7.0085, 1.6874, -0.0366, -0.0513, -0.0122, -0.4034, -9.7436, 6.9812, 1.6825, 0.1587, 0.0122, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.033, 0.8211, 0.6132, -0.4313, -0.0135, -0.0338, 0.9987, 0.4301, 1.8107, 1.301, -0.4488, 0.2985, 0.1665, 0.996]\nstate[eef_state]: left_x=0.2904 left_y=-0.0036 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0698 left_roll=-0.0013 left_gripper=0.9987 right_x=0.4412 right_y=0.1492 right_z=0.1059 right_yaw=0.0587 right_pitch=-0.3379 right_roll=-0.1359 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.1419, 7.0085, 1.6679, -0.0269, -0.0513, -0.0171, 0.1026, -9.1282, 6.2291, 1.5458, 0.1538, 0.0464, -0.1148]",
      "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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0135, -0.0334, 0.9987, 0.7273, 1.7012, 1.2984, -0.6788, 0.4328, 0.3958, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0036 left_z=0.1663 left_yaw=0.0001 left_pitch=-0.0702 left_roll=-0.001 left_gripper=0.9987 right_x=0.3542 right_y=0.2209 right_z=0.1296 right_yaw=0.0955 right_pitch=-0.3724 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.1419, 7.0085, 1.6777, -0.0317, -0.0513, -0.0122, 0.1846, -11.0838, 8.9094, 1.1111, 0.3541, 0.1441, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342097a7f61c2ed084bf0f8cf32776a889ebb9612bc3a55189bac47e74ca2712",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ecfdc451b7ee962af82c00b74a4d2f5d43f581fd71727081064bc3427a2478d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c55a5a2cdc28c5f31714d2576c119c3d878f14e55ffcc0eeaa5a6d944064be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCCSRdsuyVScuQUrGwabaZ9h9HWXzlUE-zH4JClp4QwhLQy0JQreAySncAnO-oJtU369MJHh2nxDPrGkS6Ewase-Ia70jKTy4rkLJw0dNQf9Vm-T27ZP4iVNBfOzJqn-mLZzIx38f3f3QbKUNS1aPMxQJJ5YxsxFN0MkZEqUdV0JjZP8CsmhWQK5yT7YqAdP9SF98nCiAUA0oBoc75UuBq6ZJ0iDqFBMoZLY71VWeBIS5MS_jDL3p3bq6DNtG74IQwp-r1pAonl0AP9kUAbBSLikCHg-3SPEYpGLnbWFQPFYDnWsTitZXualeiUWD6h3U8hit8MsJ4EP3LqKPPv8uOJnnjT2kmEp8rzmdQ7iFhvAXGsy2YUismgP2K0aTpF5CM3CgTPcNN0F3M3VZFou1YmWJTiEWsitfckj0XS3iwYvrEDL_btVqYB8Lfx3tzAjyBXQkAxVNF5b8izu-H884eK8iPsFJgkx4TTUMB4N_B_vek7dSjkVfHAf74weocSOzRWEH5RcxbyGEVAoBlA4v0BSZrM-G10PPE4iMp4IOuDsk7w0jjiTgZNEJmBi18cCBH6ks2DfXmEJIgjw3wuLTyJbNY62Occ1GWfpglMPlJXlhD9lxwE0nFkWw701YxCEp4DpaRRmHZ1UNCr-zVJazTosQaGprxy2TMijHcgfmqmg_tc7YMlQQD34lGVKnsQbFy6MQVqPHtRPZelmgOSogkAXdC1jmZ9YbnYJ3JR-WCo4h4KObJRJYuM-6QNs0t5GUoS9X2TcIKChmXd5XmhlEIFVY3E9DMjl2LrdVlEzETD8surCL7c_5IEV8nR6i5wgpMEyN6rM3u7T4w9BKolS-Q-BxTWh75tilYsgZjKqsnk1dFOWOhuiHzwKhaA3B5lknYmhOWomdGlLpygU2hNnT3o3X_pP9mNsUrE5tL5UQKeknXXDPoPY7iKrU8NOUcjWGNnfrIzw20jUKZQ6B6YYkumoXEzBKHpcV41Zsxmv6YLszQ680aOL_ZBbK5YF4DGzfEeA7uF_lHIJqz9x09-GlVNesQv4a4k0Tu9hcX9Q47p8_yJlOoR5LnVlF6uR7k8RzJoKwwS2rTRS2rNenc-DcIQyXSYGiHdHMFh3WKvz0yt5ZopF27bAj2p8P0VnTig-PUWjmIZqnWaXo6b0ylduDt95VLUw_wC7nXWtRRbFtiDajdv4t3a1wdLfAHfdN6tFLurIz-Vkf36Up1o0HnO0Q5h26jNn_6TOpYBT8W7fHKU34qZ0XNaUDjHWvvWuW9CirR0O7hQx_gBcdFfgy4f8A0w1uS29fPCR1xd_34NAzBvWyNE36WmoiFeeaUHV6_opYJvmHVwmkH9br01Yn_KMCmcHRtJG8nM1f4LOl0i4fqV4HPtO8-YHjeRvMjtImaibr5WaUQK9wowyHGbiecXYfnjZnucSwz0DKWIWYshqEUgGgkVrRue09ovCpE0k2CPPQ02xRydxuStDW7jyMNP1X4P2xnHMKNoAiwKJDD7cVKeaJZFsH8oC6fWlPB-VDH-ordcqZx8diHkEZeDnM9PgmbeIGAUJIYDxHP9PcB1J0mssjhxKCQ7RttJngWY6dDzW9HDysKMvE9oo6I-HdpUBfLREMF6uZCOKGuHpGhIN3bYIgNLSDZLnxZEtViMTe1qyLa4nmDLP30lbDavwOUauJh65InDMgwkomotQCN52zvu8kgmFLExvpSBLzVZOlr4ulbUik-2Rjz3pSnDzleHyDpqOOZnXhbHxnTI9zYiyeX1FOxC6XfcZShBJlR8pdkd62PAdmCpi-Vaq06Ou7EUGZJNNBElq5tVW234Lymj-rsvILS-9oXhkyuov3vOfIaXh2OOHAW-s7nDp7PAEWDBJgxjQJxsU6LgIdIrj3kwPkLaAZKlWNh6Pw0rCZICzrKXCxgPfI49Op0qvohrGyOqD9tSNDQ==",
  "id": "rs_0f0aeae220085024016ab4208f9cbc87d0aa42d9624d38de32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.24,\"right_z\":0.018},\"note\":\"The yellow fruit is close to the jaw column but slightly left of center in the wrist image. I’ll make a small sideways correction and descend to grasp it near the table.\"}",
  "call_id": "call_Y4B9WITbnzfEugfbIW208E8i",
  "id": "fc_0f0aeae220085024016ab4209187f887d084ef7547d03cd354",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y4B9WITbnzfEugfbIW208E8i",
  "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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.7631, 1.8915, 1.0962, -0.3416, 0.4404, 0.4194, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0035 left_z=0.1663 left_yaw=0.0005 left_pitch=-0.0702 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3489 right_y=0.2344 right_z=0.0211 right_yaw=0.0984 right_pitch=-0.4102 right_roll=-0.1855 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.2239, 6.9949, 1.6777, -0.0806, -0.0659, -0.0122, 0.3897, -9.1966, 5.2171, 1.1941, 0.2857, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c405a14225a6cad113b60ac4f04c8c7d8117faca0580d8a0d5eb79bbbac733",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb02d46c5d4416aed56e57e8ea8bcc28520a67cb5d150563211253a378b95f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab64d34f6431eda8637c147063319ce4b134a18722a8b42d30ac34885cf6705",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 4.782 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]: [-0.033, 0.8211, 0.6132, -0.4309, -0.0139, -0.0334, 0.9987, 0.4332, 1.8107, 1.2961, -0.4221, 0.3073, 0.1749, 0.6319]\nstate[eef_state]: left_x=0.2905 left_y=-0.0035 left_z=0.1664 left_yaw=0.0005 left_pitch=-0.0694 left_roll=-0.0008 left_gripper=0.9987 right_x=0.4446 right_y=0.1507 right_z=0.1081 right_yaw=0.0523 right_pitch=-0.3144 right_roll=-0.1289 right_gripper=0.6319\nstate[joint_eff]: [-0.0342, -1.388, 7.2, 1.7167, -0.0513, -0.0415, -0.0122, -0.1709, -9.1419, 8.0068, 1.326, 0.1294, 0.1636, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0135, -0.0334, 0.9987, 0.7273, 1.7012, 1.2984, -0.6788, 0.4328, 0.3958, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0036 left_z=0.1663 left_yaw=0.0001 left_pitch=-0.0702 left_roll=-0.001 left_gripper=0.9987 right_x=0.3542 right_y=0.2209 right_z=0.1296 right_yaw=0.0955 right_pitch=-0.3724 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.1419, 7.0085, 1.6777, -0.0317, -0.0513, -0.0122, 0.1846, -11.0838, 8.9094, 1.1111, 0.3541, 0.1441, 0.0464]",
      "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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.7631, 1.8915, 1.0962, -0.3416, 0.4404, 0.4194, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0035 left_z=0.1663 left_yaw=0.0005 left_pitch=-0.0702 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3489 right_y=0.2344 right_z=0.0211 right_yaw=0.0984 right_pitch=-0.4102 right_roll=-0.1855 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.2239, 6.9949, 1.6777, -0.0806, -0.0659, -0.0122, 0.3897, -9.1966, 5.2171, 1.1941, 0.2857, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c405a14225a6cad113b60ac4f04c8c7d8117faca0580d8a0d5eb79bbbac733",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb02d46c5d4416aed56e57e8ea8bcc28520a67cb5d150563211253a378b95f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab64d34f6431eda8637c147063319ce4b134a18722a8b42d30ac34885cf6705",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCCUVeOZ1NDb9UNBqIyPLdj2WdNdI5bYzGcxEvxcM9z6wxL8-Ljn79jnE4tv_xu0Q8fNxv3AQExghaHdfDsYFq2JNKZpWTAfVmm1c7ZwCzlsUhBRR_LqCGha_kkjwRK73hLF3D0_LESN6P7DvFC3rusENynNSn0r7QqKKQoxRKZYLDFTxcg8nz3HYmWl-_T2BuFlbUzCAg8VLA7XWaPQL1t5VNVketSSxTT1Zej1aPHWJAc5PQVH1vBhgzCcXrBHw3Drm2K1aL7r9RxHRA-Ed9WP1ORVR8B2AMo6nDDWofeNHv-G2PAgl0VFqt4PFaWZJnzzrKBzGaGofP0kY64fSXRnypYAGRrLPkBNmXtrQWEOgAlOZkeRfF23iWbHlmvUWjphNhNFxxmfaD4Nmn5E79H6nC2VCHpOF8LpbwSI1xHZss1J7FiPCRXfZsLS_uufYNPJjVrSS-oWws-A8ywSuTTHayiqOs6RzAWPe5cLSt-wNWrfKX0-Bm7DC08aveAsAaKLlpColGKHk7gzbRu-XyryQVVxQ6QRhGaoaAE8ruLBmEkaynxaXVCZTNNJ_bqi7akGK9idHtMnliBfMUUx1Xi98pxzAEAdnMvbUvSiiDehGfj3QpUd6VJYZjE2ms7rVZ6lejegz3FRhA_B5ytR8d6zoSNpxJOu-FK_xhoAxuFOS4MwIQs-eXGh93WYdv5ebWgJL1jho14ulMGOtvmQ9r6SJAJw1bCozr-2LtIYLSSZo2BQL7ATsPCoyN_B9qie58x0-EznFb6ia3ufWXeSMSg7HjeLXD2EiwY7sK5DSus1BVaQ3QApqr8hAmmD6LQN5LZw0YEmAhwhuaDzbquk7D3EB598CeUqLG8EGXVq0winpEWYBeyVuBxmrYxvjwGOXunepXDgGEL4WKDUD-Es-UdOMst4S91O8ucIi_PAwpAjOp27XY4IX3gdZNnb3TXbeshPnabi0OqoG93YKKxPP8dcpsu-DwwFEyq4V43Hepo3nyAU5T9wNQAjma8oWDpJLaa8B8op6o-NLep7G3oT2NvEjbfyvPNs_zsfuNZYAG9-up-cEY_ApgmYNGMQV5dSWnae-pydmFSofX3BOfP6p_iyVitluoem4Pdcx0MUhvVy2ZhgbUInpXTbDLk7wGeNG8W-0tpgosbp8JiedKN-p5BKYdL8JG0Tm4WoCprSCVc-8zD3HDxUorc9-8sz8Gwt17KbqaTMOSPn1ADWiWeUfBsfFt-gETqucqDKxuT4iwyVm5vffOnBaTfrsjN6a0HocxFZ-zmVxTSYw0GZllm1Rjg9JA==",
  "id": "rs_0f0aeae220085024016ab42093e4f887d0b4f7fd0cb5cde3c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now centered between the lowered jaws. I’ll close the gripper around it, then test the grasp by lifting.\"}",
  "call_id": "call_dicZrf1srhjLAQDVwhifGH2J",
  "id": "fc_0f0aeae220085024016ab4209436c087d0aaea336082893c5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dicZrf1srhjLAQDVwhifGH2J",
  "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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.762, 1.9076, 1.0824, -0.3412, 0.4404, 0.4091, 0.0396]\nstate[eef_state]: left_x=0.2903 left_y=-0.0035 left_z=0.1663 left_yaw=0.0005 left_pitch=-0.0702 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3446 right_y=0.2297 right_z=0.0107 right_yaw=0.095 right_pitch=-0.4344 right_roll=-0.2117 right_gripper=0.0396\nstate[joint_eff]: [-0.1709, -1.2103, 7.0359, 1.6484, -0.0415, -0.0171, -0.0122, 0.0615, -10.5504, 6.5983, 0.989, 0.2173, 0.1832, 1.1111]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d4209a65c5f30d55f2a8d1acbf75db5197576005a56035ea83daba385fa679",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b6e45f3e8110325c552a575f3f3509b221c8d4d87a926906edad631b1cee23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb46a8d3781bff1a59f14fb11192b8b25b0b065e3c8f607a2f76776d9996d3a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 2.7 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]: [-0.033, 0.8211, 0.6132, -0.4313, -0.0135, -0.0338, 0.9987, 0.4301, 1.8107, 1.301, -0.4488, 0.2985, 0.1665, 0.996]\nstate[eef_state]: left_x=0.2904 left_y=-0.0036 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0698 left_roll=-0.0013 left_gripper=0.9987 right_x=0.4412 right_y=0.1492 right_z=0.1059 right_yaw=0.0587 right_pitch=-0.3379 right_roll=-0.1359 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.1419, 7.0085, 1.6679, -0.0269, -0.0513, -0.0171, 0.1026, -9.1282, 6.2291, 1.5458, 0.1538, 0.0464, -0.1148]",
      "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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.7631, 1.8915, 1.0962, -0.3416, 0.4404, 0.4194, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0035 left_z=0.1663 left_yaw=0.0005 left_pitch=-0.0702 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3489 right_y=0.2344 right_z=0.0211 right_yaw=0.0984 right_pitch=-0.4102 right_roll=-0.1855 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.2239, 6.9949, 1.6777, -0.0806, -0.0659, -0.0122, 0.3897, -9.1966, 5.2171, 1.1941, 0.2857, 0.1294, -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 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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.762, 1.9076, 1.0824, -0.3412, 0.4404, 0.4091, 0.0396]\nstate[eef_state]: left_x=0.2903 left_y=-0.0035 left_z=0.1663 left_yaw=0.0005 left_pitch=-0.0702 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3446 right_y=0.2297 right_z=0.0107 right_yaw=0.095 right_pitch=-0.4344 right_roll=-0.2117 right_gripper=0.0396\nstate[joint_eff]: [-0.1709, -1.2103, 7.0359, 1.6484, -0.0415, -0.0171, -0.0122, 0.0615, -10.5504, 6.5983, 0.989, 0.2173, 0.1832, 1.1111]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d4209a65c5f30d55f2a8d1acbf75db5197576005a56035ea83daba385fa679",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b6e45f3e8110325c552a575f3f3509b221c8d4d87a926906edad631b1cee23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb46a8d3781bff1a59f14fb11192b8b25b0b065e3c8f607a2f76776d9996d3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCCacOSN5-4ZbQekTHLaUDPluAcbzysfz826sXA9tvttGUDzU96vvoNhqAen_UBr9xr6ouXNeC0FFNmQYK69fEHD75gi_Yy0gAYnGrjon6syQJimZMLg5bqVGbk2REVuvhVsaq3qfsL0LUDn4FOfUpVZ0EOr97cVfSjT0sNK_DQRp8xcpOHvdwyHPvT1m6U60cvE7XlO8N3-jmQaStHDBbyFzMo5BkAILYA00SP5YnpEogAvydjY2unQ2Dd-VZ-WxIyHAesxJUbSI3I5QQ3ndJ7oPHyDROa5jMHWWI2tHL1xTIwRAm5mzxE_rALgtMkPffsIlVG75iotbmjEcpdCO6UNzDuNUvIR9wD3bbCS645JwTfkN5wA8wHZNSlHANbEBiKrPLdb7Nc8mEC8-Xa2wCLAjNynhUac3pzGDbEFPc23Xiu8-wnsFztKkkDKc4ZmO6RUyrKiCglH0kUNuDW7fKmvV0iDSwDxJ-qX7s1KXjIh2p8NtT8fppdLlUlJ27n77qCU8igRgijhYUptSQU7joUH0E9ChaZr2bpHsIMhbI085ojlBG4SAY6rfnoKGLhD5P0726wsrPxFy3JD0XWWdLfnz-ZJNul65GoZ4lNDOGfRLZg9Y0C8vkn1txYXRUV41t7qNN6VGw3RQHlNSwM9H0BMT9_XEYbi_q1noDvze7YDVIYkKRbps0wGH7X0DPo2wxhLFGq0CfoogMFjuMDC7WT8Ppe7Lvxv5K6HtkxNStzRGIfwyAIP_eMKvHNh-pOvxw0eN8f1j4hqMBP7FPTG6CLWyAV53_9dPpRQe25yAE9Cp4aJO1KCTGr3lJvFpRasZajR6xbWKtbY5SoeACd9J6b4iJo-3_HAoImaSsveSrz84fCt0vSctD0KCyu764LzK87697Sq4r3RTbX5YDie9v6RGIFGbnikayqtrxvGU2YkhcQIBfaFI3uJmG53LAl3nUgswCUtZf3NkucVG1L5rvnTRiOlZUBIHd9v9UUP4wcfQt8DOIl1k9CrdYgoAwCwpXZC7d_-heJeUBsn2QN2EWgfPUy46j8mUM5Ia_U2gGy7J5WOCIThmZtaTFpClyf8C8KLwFLK312XUzwnjCtgYhS4JeciBsbngzFJuqtvLIc9AlkZR_utoJAIm_Ud3PEerv2uvSRN2Dj6pZjeP0uayThnRIUZhGhNX4uiYxEPNT06llZ3wJtMV-VuVwHqSW7y5KtznM-byQRAV-qesUcAK0_faTDCBrCS4Nbk06Hg6ja6GG-nQiZzrZR6-dceThRCkeRyWuWxS_qTIjk1veE8j01_QfN4XuyRRMaCepK-0VR40EF9-XuQXjOU-FkipWbP0R-PoOXsM2-JHBpY0D8B8BVVpWhOLXb2XaHb1cYP18auasWVq4phomWp82XXGAEK3fe2Ug6SI8OxGG3rkPpJvh3aeu6SFZq4Pxj3CKVg1D4OYjQEHvAsvV95l1DHnrLW3nETqJ197ygkkmqVrfNKOs2xc0LRUTlNkiXseYMfFOV1ph78KupS_bP_2VHriLqHeok6l3Yz7u1bd7YMG79ovuyUppBTOLmnbkWVG9IDAvOgvLJheF5dXe4Kp4C23OX37nxeBms2RJxlhkSQuQ74-QxLHNZe7dDJr7BWvWDzOtDT3h7oi9RtWSPYD34xR0rLT2bSYOiHH9mVb4pp-DdNDILYG8AQWm_fLgx4alfidEp4fKn_8lnhrqzynV3l7dq101UIjhy9L2BkdckU0YkK0HvvfKE5voV7jgLeU6tiUBimN2AXRgO01iPEh0-19YAFV8tRCHGu-z1mnX4DM5Q48ukBIvwR3U2U6PwSdaCuvyOPX3HbKdW5cvx87rWcvEf70e6I4J3jzCA_Ov4Qi6Zegz4d5X23pCb-kZesu16qDt3Cg2UQR2W8mLBS18De5WmmPQFHx9y-fHmstx0FXeaKbMV_TOAbk3Ui834QZzebp55YG4m5Cn53QViRlwMJZeuMChD9Et2unlrzPi_4q1n0Nip44rmbgSXp9-bsibOWCxP3347wSIzx4hKxJf6AoGIer6CfgbL7GlF27Rz2VtCSh9_OS4ritNWTnjq9kteIUNX27NgQvi6xZPdQURto3vFzxeEWfsXa1_I5nLwt4upVni9-kt9WJw4OYBYOhWscIXrFgYANoZj9CyVZkCYMxhgIQHCBPKpn-G1g51rDJp4NMjDXM0FN_SWEEaGZ8U-LT0tRd919fog6twKMBayMR_rjYMeU9TjnOjlWl0RipKWCIwkR50USf7DhfWigKhzeWVNn2U6x2M5nXInCpJHvqhOouKMqR2VPPlMmsqEuN_SQsgIRHX1_g9jKCN26MLt40IPBLM6cbbtnD8Zc4M2_q0VyL3vZUgePjHTiDrvqIX0dkys6FBY4_95tFMxSasRckMR25BLQi5EBHzth53t0_I_Fuk89uLr4j0Ik7a5BlQrtzLtcLOfBhm5bWvN88V9jj-p87jAp3lcr1QhCKV4qP2cHtpX5itdmO3GZfbENsLA4fNoJTA_wbuhnUPSZsjbh_VsKodBPDIhxz12JTD6w7TNaA_6FiXe0eB9KVd8hOy4cgfVoO0C5HJwVJzWawsmUXVGZQHKs3oIIrfx76SJ0ASq7QmTmGDnHb7cCLqs-_4DHmT96kg==",
  "id": "rs_0f0aeae220085024016ab420972ec487d0aff2d30a63d504fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.18,\"right_y\":0.25,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The gripper closed almost empty, and the yellow fruit has rolled toward the near edge of the table. I’ll reopen, raise clear of the bowl, and reposition above where the fruit came to rest.\"}",
  "call_id": "call_xiL8jogGLPr71i3cEqMV5Bue",
  "id": "fc_0f0aeae220085024016ab42099a9fc87d0a7e5868eae38b746",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xiL8jogGLPr71i3cEqMV5Bue",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8219, 0.6132, -0.4339, -0.0139, -0.0338, 0.9987, 1.2324, 1.565, 1.2339, -1.0679, 0.5503, 0.8791, 0.9962]\nstate[eef_state]: left_x=0.29 left_y=-0.0035 left_z=0.1656 left_yaw=0.0007 left_pitch=-0.0733 left_roll=-0.001 left_gripper=0.9987 right_x=0.1858 right_y=0.2603 right_z=0.1358 right_yaw=0.1412 right_pitch=-0.4488 right_roll=-0.2065 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.4017, 6.9812, 1.7558, -0.0464, -0.0562, -0.0122, 0.212, -8.1436, 7.4872, 0.4664, 0.5446, 0.1245, -0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08aebd6a700efc213d3d2665a9029fa80a50e97ac51c5eb7638c4a2687ccac5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebec007b0363fcbeb1d7e42056172295b5e7621226a7b76383e9cbf778f5437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96fc96d472b0dc067568b9de198ce40ea282d9cc72dd512c39d5bac61b25ed7e",
      "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 · 3.347 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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0135, -0.0334, 0.9987, 0.7273, 1.7012, 1.2984, -0.6788, 0.4328, 0.3958, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0036 left_z=0.1663 left_yaw=0.0001 left_pitch=-0.0702 left_roll=-0.001 left_gripper=0.9987 right_x=0.3542 right_y=0.2209 right_z=0.1296 right_yaw=0.0955 right_pitch=-0.3724 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.1419, 7.0085, 1.6777, -0.0317, -0.0513, -0.0122, 0.1846, -11.0838, 8.9094, 1.1111, 0.3541, 0.1441, 0.0464]",
      "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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.762, 1.9076, 1.0824, -0.3412, 0.4404, 0.4091, 0.0396]\nstate[eef_state]: left_x=0.2903 left_y=-0.0035 left_z=0.1663 left_yaw=0.0005 left_pitch=-0.0702 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3446 right_y=0.2297 right_z=0.0107 right_yaw=0.095 right_pitch=-0.4344 right_roll=-0.2117 right_gripper=0.0396\nstate[joint_eff]: [-0.1709, -1.2103, 7.0359, 1.6484, -0.0415, -0.0171, -0.0122, 0.0615, -10.5504, 6.5983, 0.989, 0.2173, 0.1832, 1.1111]",
      "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]: [-0.033, 0.8219, 0.6132, -0.4339, -0.0139, -0.0338, 0.9987, 1.2324, 1.565, 1.2339, -1.0679, 0.5503, 0.8791, 0.9962]\nstate[eef_state]: left_x=0.29 left_y=-0.0035 left_z=0.1656 left_yaw=0.0007 left_pitch=-0.0733 left_roll=-0.001 left_gripper=0.9987 right_x=0.1858 right_y=0.2603 right_z=0.1358 right_yaw=0.1412 right_pitch=-0.4488 right_roll=-0.2065 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.4017, 6.9812, 1.7558, -0.0464, -0.0562, -0.0122, 0.212, -8.1436, 7.4872, 0.4664, 0.5446, 0.1245, -0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08aebd6a700efc213d3d2665a9029fa80a50e97ac51c5eb7638c4a2687ccac5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebec007b0363fcbeb1d7e42056172295b5e7621226a7b76383e9cbf778f5437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96fc96d472b0dc067568b9de198ce40ea282d9cc72dd512c39d5bac61b25ed7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCCeLlEVCzJpac7g1ASOrXGqcahsOnsdzSKb3IF5LzNilRrX1GXr2n_YMdH1xeQbNPU528U_9kAVZwzPQMLLPUKvrLVhD4xtFlwCFEgzfXE8hfDPu-jGKHL2uXMFQIbfSFrtJuhalpEsAMhvUDCN_gYSA5HIR2IFSIhHnObb639GYnCO3H20pLNS8alfnO5nffJY7UojNEkyIaPlQn1kYqebrIl-3m-KPb67RwL1pFyhtnFAIGXIOoc4kzqc7fE-B6wnvLWeRi1K7O6feMI5qsbcI1CfLnFgyogr67IkRyIB4ygyKpVygMXD-dMAXZf0uO7djVQav3zo47cX8uYTqhfoFS8B8lp59z1W7YPDh1ujHbyVImFcF3EcMlzAwAU5waB93h9eHvTp7iwqxKwdnatP4ZWENapVtZqhqSIpkZUW52WhMl-QX_Te3_rtUNJioTJEdEW3qlCDDi96g-Iz2FVYI8q-DaEv2zaVWGWZ_FSjbOOdWoGREFcJV-3xNn2BfED6Xk_qGESYISR958hmrNRW93YP0aeyykxIXgobL_xIUEaTthgIOSuxEJveq2X9kuCbjVOExuP56lo7CjAmHJBaSqrcRjyjEFPz6Pco0JUKyXnnb-aIOZ5-9C4k9aDK79dX5I2jyCCmM1u3APlNJIkug-1V2AaKYd_Pu1N0yMWqxsWI2ouJotMr2cZz01k8YKwokt59Zrgf1vESVyFo9hIZ9cQgNCJTYd4dJlapySYdszygSM2c_eTWd8ROmCsGhDZg8I2S8SuwN9aB7Q6FU1mpkr6BRFkWZSKUS-vkKx9rTEC3k0m4qx5Sn5VJloq4CUT3zLlWu0T3CP8LpRvpz5vH1xSu6lkmh3X3JAFYj7zf5o2NS4qZlh9h5_c3E-L_QjxtStBaEqc_BQHo7utR3_2Oh9s73OX5Sx6Oh_XlzpKSfbgfElTHw0XWNH8vg4O4MvYjrHU0l0rZTH7BjWa3NoyzNVYBHMdxdLtEiMkVDDmRakH2nZ-XfWIPrWJjdlDYswnaNUfefYQdpAbnHjjio4RztJS8ZpeaH63F2GCZB1pjzbmNDXE4X-uIKjsChIWKIEwO3RiUiip5mUv_8-yQ8d0hABTxYMbvLvzZC_pXuW17f9wV9KaChKd9-8QR0edwE8cx5oeRkOgXw0d33kTkrrenMXnzxnjwK-pV7JXrpPeSm3aGwvzxRTyBuiU0NlMxr7uzFE4D8d6ASLt8kW31wbILaDj54cxm_pRSmd9rj5vF4kYw1Q0Hs2UFkUF8wRXLCPYyz8ujS-sOqN31Hq0vNej019bqjpeupsa2pCtW-jf1lBR4_GkEDhE2lcs9YV5elbYSbgk0Sq_-WHSXXV9hEfIUEd89lM8zwEtirTHY__U0PmoCQmOk-c2v2u8yTozsC03vB4dsvFVz8MnFpB_g6lZgAzh-qWtnRXKpBAUW_nrN2XI238Gp2Lz_yC6Sf4L7Vxzlvora5D3GpwF4NgbLCJmlyK6K-8gqI9-4aQ31CU8BR0ADImi_kpA8n-x5e5w9LHUbjQvXlhGOABoBFD2yaeBLK5-qUU5Bgeve1vS2MEANYM3GSdccT-q_YUVcIbQITikZGlZLbvfA6RmTUQ4Ms1QQyo4-5NCyjFX11u2WI4DB7CA=",
  "id": "rs_0f0aeae220085024016ab4209cce9487d0be16b600f08fbe94",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.22,\"right_z\":0.03},\"note\":\"The rolled yellow fruit is in the right wrist view, a little to the right of the jaw center. I’ll correct sideways and lower the jaws around its thicker middle.\"}",
  "call_id": "call_FiGQLXLKEkqNGWMX2r3K86yc",
  "id": "fc_0f0aeae220085024016ab4209ddcbc87d08dff018e7b19257c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FiGQLXLKEkqNGWMX2r3K86yc",
  "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]: [-0.033, 0.8249, 0.6132, -0.4358, -0.0139, -0.0334, 0.9987, 1.1824, 1.5372, 0.7856, -0.68, 0.535, 0.8291, 0.9971]\nstate[eef_state]: left_x=0.2899 left_y=-0.0035 left_z=0.1644 left_yaw=0.0005 left_pitch=-0.0782 left_roll=-0.0005 left_gripper=0.9987 right_x=0.1792 right_y=0.2095 right_z=0.0327 right_yaw=0.112 right_pitch=-0.4836 right_roll=-0.2596 right_gripper=0.9971\nstate[joint_eff]: [-0.0752, -1.4564, 7.1043, 1.6874, -0.0464, -0.0611, -0.0122, -0.3214, -4.9709, 6.106, 0.7106, 0.4615, 0.0269, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0036d79d2c21ffdb16943408a62b6d94832f7ba6e7c5d3f937f013fc04c9bef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be436cab6aa5bc2a82291004693a6e82da933c33228b7bcf355b6874d00f22b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d3a9e286992e60ba6dec7e8080db2011da6ae4b320c8731869eeee407368f75",
      "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 15 attempt 0 · /responses · status 200 · 2.414 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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.7631, 1.8915, 1.0962, -0.3416, 0.4404, 0.4194, 0.9965]\nstate[eef_state]: left_x=0.2903 left_y=-0.0035 left_z=0.1663 left_yaw=0.0005 left_pitch=-0.0702 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3489 right_y=0.2344 right_z=0.0211 right_yaw=0.0984 right_pitch=-0.4102 right_roll=-0.1855 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.2239, 6.9949, 1.6777, -0.0806, -0.0659, -0.0122, 0.3897, -9.1966, 5.2171, 1.1941, 0.2857, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.033, 0.8219, 0.6132, -0.4339, -0.0139, -0.0338, 0.9987, 1.2324, 1.565, 1.2339, -1.0679, 0.5503, 0.8791, 0.9962]\nstate[eef_state]: left_x=0.29 left_y=-0.0035 left_z=0.1656 left_yaw=0.0007 left_pitch=-0.0733 left_roll=-0.001 left_gripper=0.9987 right_x=0.1858 right_y=0.2603 right_z=0.1358 right_yaw=0.1412 right_pitch=-0.4488 right_roll=-0.2065 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.4017, 6.9812, 1.7558, -0.0464, -0.0562, -0.0122, 0.212, -8.1436, 7.4872, 0.4664, 0.5446, 0.1245, -0.2173]\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]: [-0.033, 0.8249, 0.6132, -0.4358, -0.0139, -0.0334, 0.9987, 1.1824, 1.5372, 0.7856, -0.68, 0.535, 0.8291, 0.9971]\nstate[eef_state]: left_x=0.2899 left_y=-0.0035 left_z=0.1644 left_yaw=0.0005 left_pitch=-0.0782 left_roll=-0.0005 left_gripper=0.9987 right_x=0.1792 right_y=0.2095 right_z=0.0327 right_yaw=0.112 right_pitch=-0.4836 right_roll=-0.2596 right_gripper=0.9971\nstate[joint_eff]: [-0.0752, -1.4564, 7.1043, 1.6874, -0.0464, -0.0611, -0.0122, -0.3214, -4.9709, 6.106, 0.7106, 0.4615, 0.0269, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0036d79d2c21ffdb16943408a62b6d94832f7ba6e7c5d3f937f013fc04c9bef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be436cab6aa5bc2a82291004693a6e82da933c33228b7bcf355b6874d00f22b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d3a9e286992e60ba6dec7e8080db2011da6ae4b320c8731869eeee407368f75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCCikXjAOx2h03HDyscQ6tm9FNxdGbgCJ_tw764pmnLX1HTbErE-BsVAKMcnX_l63H8gvqmMSypouXYDXVUTMv--yT7iA8vo7irxSDRUiUWtilBXV2oReJUYRv9aANGNQWiRBF_yXqSu7rvolnr2_8-M0dDlHEmr9BfsqkmxovQfK3e5fK-A5oHWVpZfiShF9RnG9nsHvI14JliyMpvXTWZp09k1JhQe0VW7jDLxMDoM8lH4a43F_tzoR4R49Z6CzYWryw2FQSOMvrMQpfugyx_INcMtcJPHX7CSa1OjsH1ic25aluhE_MmDOQGPtU8_Mezgv79sr6dGXCgt92kSmNBtJjdwQMZxTh11vxhM0f1ywANG0HcdiRoJoQrs_B9BQG-sPhTgi8CxzX-RkracGgQlyV8ByQLNgwFrhSPoVf0RgsofTn7CJgtaZEAgIvKXTz_MSN5dIeM_MgD3LkIoZ8D5qWgjUI16Yg6SQ5xr_DCxj7p29J_XesTdhCSSR6kBr9eYjOzz5YWfx_PGCOn6TaYWr-F-i0s5Rp8YhORmZmp1GcYbUKR7soLXz3kXj9XeoA4viOMY-r1uu2rW-Xn7vUnQEwlByoxDEFh3uEPSHU6ZqQjEd65f4SJnYEg968LmVABTZlCv6q7I_UGnMQT7f0R56iCYNM-nBiGtgjFgMQJ0eA7Y9ZVSf6-vDsPlMNBDuZxAQ9js5UMSl5Eyuivgj791IFNFnq9us9vDO_WQ2FPZDeCLu-scnJt8wtDQKL8jQkH0E9Ob6K2fCzptKjNFFVDVw4NwTlbxIPzg0O86_yy1Njk0zLe3u3zh-g68BSbBB_lp-WSm9elSbgvgKxAuWkxqtzEUs2ey4qa_G6w0sfSD14SWgHHnIqqu0ZJx45RWtOOHa8iqk60xjny5QDjyOGQRtPFZvlzvNb--h7rkFdgJ_0z_2HSpC4EoXigRjl7GH083gV1s07YgvCfQg7cbr1t1kcLe42mMAgB7fUuWO88wWJS5uv51aRMTK8FP_mYcQP_aguS1Ym-7SbX-c2LcbvWdCkF_L2kSLta6WTxj5In5cMO7FUfi-TV7DiEw_mefOuTaqBTMFojVraUQu0wtCP1ZZk0zG8mTlS401VSQCMMV2PBVDS7YzS29L7TKZOq8PbOvNGuDRCY1j06FSzifk-bW9vS84tt-HolUENtq7T5TcDse-isHv9Q3YynflzFsIlNZPgoQFyuVdXuu1VMyjGebCCs8uofcJhpUjHe-lBlLbEbFwLoOJHawUFXmw0HFiLCPeRu6QBIsZY-x8KPzWsHLU2KB_OIozsvGttGeRpnFFqWE78xmvsR90zU14Wbz8fekPZJ8xkd_9qUxlCGwGcRsXGh0gXgQUCFDorh3j2Hi5RaVhrVJdgEfbQ-pIvFsubJg0AksrtezBaVLIy1tQ5MXgrpYXAkPttZk0YGb5CG07n2D38nKXKn7N0KMdvH58Uo6QfXv57UzFEa-u_ZIn2r0bGIyy4Oa6H97Kqv4HBG6qsPAIyWeNVa0qPJX3p88nTkFpapd_D5whMLtVoX0n9RlmdT0lsB2kfnz-dCKO7DoenIJULgOtkteb3-M5rP4OxuZOosbMi_xJT-VDIDhyzTARCESGtfVd9ueEI-ugshhGmaq0fe0ukmkpQSLskJ6JjQeaB1voAwSxVvfKXqgGKL2huKgsuYvorHb8rxXrQ4CF7khL5bDDwK98WCZFN345dZjCkNO4323KKSwHPcHXO-rxDNtWh1cjFBIria-GHaxUPfiXUJv5m1V0epPT-SVeQzK1ns01pCL6JUTAzFsfhhEc3JwxSO_xVlHOVQBoJfet6ZaJaQtwkUfYh-AZW3ku9Dq",
  "id": "rs_0f0aeae220085024016ab420a0140c87d0b604c76e15f4b789",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.185},\"note\":\"The yellow fruit is between the lowered jaws but still offset to the right. I’ll make one small alignment adjustment before closing, to avoid pushing it again.\"}",
  "call_id": "call_xHCFkH6kOhdzAxNJ8z90RCxj",
  "id": "fc_0f0aeae220085024016ab420a1ab5887d089d2e60d3a3cb8dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xHCFkH6kOhdzAxNJ8z90RCxj",
  "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]: [-0.033, 0.8257, 0.6128, -0.4461, -0.0139, -0.0338, 0.9987, 1.1465, 1.4631, 0.712, -0.6411, 0.5228, 0.7982, 0.9972]\nstate[eef_state]: left_x=0.2884 left_y=-0.0035 left_z=0.162 left_yaw=0.0007 left_pitch=-0.0897 left_roll=-0.0004 left_gripper=0.9987 right_x=0.1805 right_y=0.1941 right_z=0.0317 right_yaw=0.1172 right_pitch=-0.4786 right_roll=-0.232 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.0051, 6.9812, 1.746, -0.0317, -0.0659, -0.0122, -0.3214, -5.135, 5.2718, 0.6813, 0.3053, -0.188, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93562abf4982fa4693f5dfde05a368b87fe129ea29f2499d9d1c3784559b4ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df05b37f3cae100887f74882fac8f04e249290d3c65773bc1a54c69054da484",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f5156bf8cf1809266ba494c51f21d49f9f7b4bc14ddd8b1f47610c36f46197",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 3.925 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]: [-0.033, 0.8211, 0.6132, -0.4316, -0.0139, -0.0334, 0.9987, 0.762, 1.9076, 1.0824, -0.3412, 0.4404, 0.4091, 0.0396]\nstate[eef_state]: left_x=0.2903 left_y=-0.0035 left_z=0.1663 left_yaw=0.0005 left_pitch=-0.0702 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3446 right_y=0.2297 right_z=0.0107 right_yaw=0.095 right_pitch=-0.4344 right_roll=-0.2117 right_gripper=0.0396\nstate[joint_eff]: [-0.1709, -1.2103, 7.0359, 1.6484, -0.0415, -0.0171, -0.0122, 0.0615, -10.5504, 6.5983, 0.989, 0.2173, 0.1832, 1.1111]",
      "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]: [-0.033, 0.8249, 0.6132, -0.4358, -0.0139, -0.0334, 0.9987, 1.1824, 1.5372, 0.7856, -0.68, 0.535, 0.8291, 0.9971]\nstate[eef_state]: left_x=0.2899 left_y=-0.0035 left_z=0.1644 left_yaw=0.0005 left_pitch=-0.0782 left_roll=-0.0005 left_gripper=0.9987 right_x=0.1792 right_y=0.2095 right_z=0.0327 right_yaw=0.112 right_pitch=-0.4836 right_roll=-0.2596 right_gripper=0.9971\nstate[joint_eff]: [-0.0752, -1.4564, 7.1043, 1.6874, -0.0464, -0.0611, -0.0122, -0.3214, -4.9709, 6.106, 0.7106, 0.4615, 0.0269, 0.0855]",
      "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]: [-0.033, 0.8257, 0.6128, -0.4461, -0.0139, -0.0338, 0.9987, 1.1465, 1.4631, 0.712, -0.6411, 0.5228, 0.7982, 0.9972]\nstate[eef_state]: left_x=0.2884 left_y=-0.0035 left_z=0.162 left_yaw=0.0007 left_pitch=-0.0897 left_roll=-0.0004 left_gripper=0.9987 right_x=0.1805 right_y=0.1941 right_z=0.0317 right_yaw=0.1172 right_pitch=-0.4786 right_roll=-0.232 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.0051, 6.9812, 1.746, -0.0317, -0.0659, -0.0122, -0.3214, -5.135, 5.2718, 0.6813, 0.3053, -0.188, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93562abf4982fa4693f5dfde05a368b87fe129ea29f2499d9d1c3784559b4ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df05b37f3cae100887f74882fac8f04e249290d3c65773bc1a54c69054da484",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f5156bf8cf1809266ba494c51f21d49f9f7b4bc14ddd8b1f47610c36f46197",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCCkGwsEiZQTP_sAxTqOTgbsaDCK5kW6UdP1dG9txGnNQUofNs61NM3mt36ZjIVB0EM-JDAosrc-HvKSU004v4M5VvB0Rlz1ThYaoh--R8e9qe28UiW9fg9-dkDYPnT-kzZMpsgmYEIWSYgRCOj_azochTRUa3IT2hEa616mLuQa2eXPcqPwoHuPec6EAs6czjqj-M4xJ9dqDeeaRjEdpy7JXPOPVScJzv7HZWZ9RsWnm1Cgu08aat8fc_vX8FZoZ5dETTlxFF9_4DZnf_SNCBsB7k_BrvZ3kZADd8hbzY7w5njmwWehdc7bo7j2ASj7Sj69B_d5zT2loVSW3jhPDcD9BnzKLYt5O4NLi1USu0a0r_aP7CYeLtra25ht6ysxILrAHdhxnEljDOZmBH6FgWIRLRaJm5MoKKYHPHMXOHNCaz9-23qzAaw8DGP2AiXREHq0BBb2nDaLxFRl8OCWjJnOYnCY2VCGvi6gz_rAmd_WxyWEpRHs9zPFiWr2G8-1973VQMOseNFdqdOgO6t5cRSElHvNSKcNEGnNaO-yhy8I5iDMlKmU-UklBKuBu88Do4dfSN4q9yJeujo212yf4zwDAOkFmMIfo8EMmpxNdmsjPa7HFfkX92inuj9RGhWFFGdJvvDReEl0XqD6x4ieFxbd20e4AWH8IjA1zoXcl970zuNe79NnGTvxhKaJ7HyjMU6--s3mAi0sMLQMnP2FtUlNVKiGffHTT5wKq77v50hnp_k0MsEgey7K8bLVvBYZSUab6dQUREje9wloQGg04fVYUfGt7QiweHlrZ7Cd9au2XcNikpI7FlUum4kx66etkywkHwzUmv6mloa47l6ZzYZBD6z2oe5jd8pk_fnq1eJRqbuyqH35pK9I1dOOYU4nS_sbOuD8sOkUnPNZ93PcmPJXfB_mfcbOCMILwHFlpQfFUxg2IfxmL5lMzzWvdhE-OxG26ZYiRB08tv3GiOU-nyw-UzgJ9bx_7HSqreQ-tCSVH4LnHI3lf3rpWTxLX7ATZad-hqKlDPBFPm1rzMS0zhMol5YPSrktpIZCRd2NXY5JcvmKF760p93llCcYKOmZXzN35HzHRBCRjuLkE8MUc2bBCLkjV57_j8PA1uuBKxZnibOcIkf-wkV3nbSmMuah-tJrhHvLX7OjkZzbu_3tAfCAUIAalVDDw8ynp0Ips9rLP050EasCIZfPW72ea2irVyo9",
  "id": "rs_0f0aeae220085024016ab420a4327c87d09c113019af211181",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit now appears centered across the jaw opening. I’ll close carefully and check the settled jaw width for a secure grasp.\"}",
  "call_id": "call_1X2AHaDXVslvL2VNRHHDiRks",
  "id": "fc_0f0aeae220085024016ab420a4680487d09db695b4b9ea2714",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1X2AHaDXVslvL2VNRHHDiRks",
  "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]: [-0.033, 0.8257, 0.6128, -0.4496, -0.0139, -0.0338, 0.9987, 1.1423, 1.4567, 0.7017, -0.651, 0.519, 0.791, 0.0091]\nstate[eef_state]: left_x=0.2878 left_y=-0.0035 left_z=0.1614 left_yaw=0.0007 left_pitch=-0.0931 left_roll=-0.0003 left_gripper=0.9987 right_x=0.1786 right_y=0.1889 right_z=0.0298 right_yaw=0.1128 right_pitch=-0.4899 right_roll=-0.2472 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -1.2376, 6.9538, 1.6777, -0.0415, -0.0708, -0.0122, 0.2256, -4.3145, 6.2154, 0.7057, 0.315, 0.0122, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae226929a48ad12ab0239276429ad5205155f6f1ecc91495e7b5d17246381fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa09830d144dcdc40f4bcd2feaa89d63c51f080ecee05a6d46e76d0b3ffa2ece",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168d80751f1a7e30287d66b14e8b0fa59cf3c083d21b8e6b6e8fbfe984ae3319",
      "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 · 4.838 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]: [-0.033, 0.8219, 0.6132, -0.4339, -0.0139, -0.0338, 0.9987, 1.2324, 1.565, 1.2339, -1.0679, 0.5503, 0.8791, 0.9962]\nstate[eef_state]: left_x=0.29 left_y=-0.0035 left_z=0.1656 left_yaw=0.0007 left_pitch=-0.0733 left_roll=-0.001 left_gripper=0.9987 right_x=0.1858 right_y=0.2603 right_z=0.1358 right_yaw=0.1412 right_pitch=-0.4488 right_roll=-0.2065 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.4017, 6.9812, 1.7558, -0.0464, -0.0562, -0.0122, 0.212, -8.1436, 7.4872, 0.4664, 0.5446, 0.1245, -0.2173]\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]: [-0.033, 0.8257, 0.6128, -0.4461, -0.0139, -0.0338, 0.9987, 1.1465, 1.4631, 0.712, -0.6411, 0.5228, 0.7982, 0.9972]\nstate[eef_state]: left_x=0.2884 left_y=-0.0035 left_z=0.162 left_yaw=0.0007 left_pitch=-0.0897 left_roll=-0.0004 left_gripper=0.9987 right_x=0.1805 right_y=0.1941 right_z=0.0317 right_yaw=0.1172 right_pitch=-0.4786 right_roll=-0.232 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.0051, 6.9812, 1.746, -0.0317, -0.0659, -0.0122, -0.3214, -5.135, 5.2718, 0.6813, 0.3053, -0.188, -0.0024]",
      "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]: [-0.033, 0.8257, 0.6128, -0.4496, -0.0139, -0.0338, 0.9987, 1.1423, 1.4567, 0.7017, -0.651, 0.519, 0.791, 0.0091]\nstate[eef_state]: left_x=0.2878 left_y=-0.0035 left_z=0.1614 left_yaw=0.0007 left_pitch=-0.0931 left_roll=-0.0003 left_gripper=0.9987 right_x=0.1786 right_y=0.1889 right_z=0.0298 right_yaw=0.1128 right_pitch=-0.4899 right_roll=-0.2472 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -1.2376, 6.9538, 1.6777, -0.0415, -0.0708, -0.0122, 0.2256, -4.3145, 6.2154, 0.7057, 0.315, 0.0122, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae226929a48ad12ab0239276429ad5205155f6f1ecc91495e7b5d17246381fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa09830d144dcdc40f4bcd2feaa89d63c51f080ecee05a6d46e76d0b3ffa2ece",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168d80751f1a7e30287d66b14e8b0fa59cf3c083d21b8e6b6e8fbfe984ae3319",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCCpXwE5U02Bjq7ta4LlpKktFDnYJF3kuYnWUaBMlKlV_O9MGbVvD754FqebJrwuO1dcj5T_bw_R41L8CHv7F1UFJlpZmF9PT4AJe7cHHZnqbBcYmnD2HKvdXJIlpxk9-uwi-ksBiGpN_lZ10InCzgBFrRVDuaov7ofzhb0GPqMKM71Ko7JT4T8KkeXOvyL7QAHJbBbcHpOPWLU782C474f0J9_OwLN3kdVV3VJp61ZxSTilIaSeOcdiPOqjnDzZh1SuhSzRTE970q5BvcxllFcyqBRpH-ci76udf6CtiVw_Fy1Fq0056-Z-3JnvLOqoNsOxKnjPAJpZ9Sz8fjmdS83Aqix-oK-84VnSgq1E0B9j0WyLgrpC0AnO8qB_Km4yg-kom1p-2yt5ki3jfOA08iHGQHBuBO-ywjF-0UBVbX-M59UWzqe6iCGEd6W0b1GelOSRJZWmeW2uAfWYLsj_2JvWHxc9EPdtzH9BwYAgknoSWEhWVc4WNxlKFLiYBtluGORst-Nf4QdzMdkPX3zLIqgCHypGxCYUU3ciHDUsGWvwMENORCRq5CtU8Zs1zCu1mELLBMk__WkxLvA1UhiULV397saMq5IaPmXMXZR0018QeXKvhifbdaeaH9zHkTF_ysj-hgdBUfRpTwayhsVTJeDG7057eu-WQAeR6J56LKPVb6qxcZeq94-PikLAW2RGNwkU7tY3IPGx8JLQOWgwA0ImiBs-5QV8_9LOhmT_1A4KPbk992QgQMBaR6Fe3nYwLKsAxW4O8T50IQCroUbkewdOAnrSLkDNohygXz0v7vUw0ogWOfdRkur0YUDzo057bQNT9WzhllSbsDLulowm9C0q1pckeh74Lhs8cv5HuYTk1x-J0QeFXSv4IPCM9WII_l48mVI_XrRSjx2UBY8K3jy0LbUPY_jDpdAVzwj-rI-YYnCqm1DpTH8UUjNIZzFWs6bbViupPqOv2g78bt53R2xinulcbXiCu-szO7j7s5vAKG1LQU8AiMvlVFgYkugXuqoNx02GZl2GMH0T8bUjoAyVsEtvSGc-xV8yux0H8juUhk1gbE9B5SUdMqZO5v8u6XtlzqNYdw64fOMET2TLKvbafeuTZ964NaQ8k_p21_5OhVdHiQr3HdDtWoB0vElb1DpcDIZYRQQjxfC1y1NOfG37ctcevtSqv-3OUc6livV_z0uSLTSAOwkCu-9YG9kheOsRFtUHxwpwEFlnrYlO6z3G9cZRL1Tc5ebfic4Zlj3DJjCetYXmwkNbWo89an7eGvYylANWMYSqOIdLsMK-HiTiIKGkiqP9XruYIG0O9PWCAziYB0foMDPvyOyb_BDtkAwJqbw_iHerQ17CGgZiZd4uH3XpPKo5yZW4xy0sWkvw3oqFzUc4TVM1uf5GUT4QKWh8SIT9JcqyAxIPDVSY_h3w3RE7_jmq-cir32g605MHYAMpvnhq2crBIL8mp73mBUZGjMFQm23806LdaXb4hyk4xm8v5pfKhmpJhObk9Yd21ICe8mVkO_AFbHrwVwiWbVC-5nSE0gak9RjUxFI-hqJSWawrGtULzyqCn9hugL3Ryj3UzytzFtzZgor-RN_EUGWc4F596Xa1MOgIaINF2OPOf33ScrrlTqRLtofdLpHi-x27cNKpoTmGE3tfSUSZqZiYNoK7p_mXkZ18_LZFdQQmby9gZrU9p2V5tly9FC0PLkBR_X76mfN3lEMOqsvqHGfrxUAM8_MO-TNdCm-6zyXOL5RIDIOaxNy3g-z3Ku0iJnDjOq61hSAEYuSQGYGuRnYmSvk3nCaZDP06KgN7RYw7vMVo_rii_Kq_e-rzhQihlK-IzTDIXW2jl8D9w6OacL8I0ZYbOymVVwJcYRcM6LtR-H5cEw6Hlz8MOC8qmYLLzSAq8vMEcmlt0o0_Jg7vM2ooDHYTZ7MynuRKyOA-zIYo7qENxhLaQusM8B1Mn9tIOhQ9C25Mq3XUPMVVenSSEk5jGYx1Yo_MZTp_0OI8kHIUJJTJYnpNfQVZbk8UARA8PXVA9map937PFQmTyBW1scivVPZOclsw1UzEfIvQF95ujfEVlEUC1yv15E5vcc9-8rpC9iR9_cxWYvxTAD4hCDs8633FfeOr8s2l66xAkwO62AfgFgfa-oby8rHBwTBLF6vtZnsuuD9aMUQ27YO2GzIPR4TN_42BuVPPnGyrF6qGojDJiAxfcHbf_47OC4OU_TO9DizNdbxQI3BeEbcG5GAT5jO__Uor28C-rFkhQrnc6XpZhGYm9cVe46Rtx3gFRayMyeoInkdqktZ4rSu4YJMsi99ML-6LB88IymrF--wJVgjkZfLDCZSFbR8MGCHMT63hajIyvibr1OiJ-vpek94YE4CrlHOtRph8yg_QMcGN3nHw7-22BJaXHjzIjD0wqdxJYJp8nNbqAxPg19sRqtbHP5QO7Lah0I_-wl78AqlF4aKs8nH5jN5-hkUWGflj_1GTAkFXBRkEtr5LFkZFHqPN",
  "id": "rs_0f0aeae220085024016ab420a6eca487d0933a85c615dfa8cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.20,\"right_y\":0.15,\"right_z\":0.055},\"note\":\"The jaws closed empty again, and the yellow fruit slipped to their right in the wrist view. I’ll reopen and approach it slightly farther forward and right rather than repeating the same close.\"}",
  "call_id": "call_AukiqvuWA596oN77EvzF3rrE",
  "id": "fc_0f0aeae220085024016ab420a90b3c87d0a4b07e2381b9fa41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AukiqvuWA596oN77EvzF3rrE",
  "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]: [-0.033, 0.8257, 0.6132, -0.45, -0.0135, -0.0338, 0.9987, 0.9699, 1.2968, 0.6743, -0.6914, 0.4816, 0.6094, 0.9953]\nstate[eef_state]: left_x=0.2878 left_y=-0.0035 left_z=0.1614 left_yaw=0.0004 left_pitch=-0.0931 left_roll=-0.0005 left_gripper=0.9987 right_x=0.2002 right_y=0.1538 right_z=0.053 right_yaw=0.1069 right_pitch=-0.4897 right_roll=-0.2409 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.347, 6.9538, 1.6532, 0.0024, -0.0415, -0.0122, -0.3761, -4.9026, 5.3402, 0.6618, 0.3053, 0.0513, 0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b95654991fb1d92b1d4930ca7ef27a1ab20b28795030a370c33a2b7b99b839",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06edde2b1b21634a4ef72caaa562dbd51bd46d870b3d97ed9d9d90cecf4a1cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752eff9d3d34b57f98aba49187985e291e3590c4053602f0d8dfd621de5bed97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.931 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]: [-0.033, 0.8249, 0.6132, -0.4358, -0.0139, -0.0334, 0.9987, 1.1824, 1.5372, 0.7856, -0.68, 0.535, 0.8291, 0.9971]\nstate[eef_state]: left_x=0.2899 left_y=-0.0035 left_z=0.1644 left_yaw=0.0005 left_pitch=-0.0782 left_roll=-0.0005 left_gripper=0.9987 right_x=0.1792 right_y=0.2095 right_z=0.0327 right_yaw=0.112 right_pitch=-0.4836 right_roll=-0.2596 right_gripper=0.9971\nstate[joint_eff]: [-0.0752, -1.4564, 7.1043, 1.6874, -0.0464, -0.0611, -0.0122, -0.3214, -4.9709, 6.106, 0.7106, 0.4615, 0.0269, 0.0855]",
      "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]: [-0.033, 0.8257, 0.6128, -0.4496, -0.0139, -0.0338, 0.9987, 1.1423, 1.4567, 0.7017, -0.651, 0.519, 0.791, 0.0091]\nstate[eef_state]: left_x=0.2878 left_y=-0.0035 left_z=0.1614 left_yaw=0.0007 left_pitch=-0.0931 left_roll=-0.0003 left_gripper=0.9987 right_x=0.1786 right_y=0.1889 right_z=0.0298 right_yaw=0.1128 right_pitch=-0.4899 right_roll=-0.2472 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -1.2376, 6.9538, 1.6777, -0.0415, -0.0708, -0.0122, 0.2256, -4.3145, 6.2154, 0.7057, 0.315, 0.0122, 0.7009]",
      "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]: [-0.033, 0.8257, 0.6132, -0.45, -0.0135, -0.0338, 0.9987, 0.9699, 1.2968, 0.6743, -0.6914, 0.4816, 0.6094, 0.9953]\nstate[eef_state]: left_x=0.2878 left_y=-0.0035 left_z=0.1614 left_yaw=0.0004 left_pitch=-0.0931 left_roll=-0.0005 left_gripper=0.9987 right_x=0.2002 right_y=0.1538 right_z=0.053 right_yaw=0.1069 right_pitch=-0.4897 right_roll=-0.2409 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.347, 6.9538, 1.6532, 0.0024, -0.0415, -0.0122, -0.3761, -4.9026, 5.3402, 0.6618, 0.3053, 0.0513, 0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b95654991fb1d92b1d4930ca7ef27a1ab20b28795030a370c33a2b7b99b839",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06edde2b1b21634a4ef72caaa562dbd51bd46d870b3d97ed9d9d90cecf4a1cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752eff9d3d34b57f98aba49187985e291e3590c4053602f0d8dfd621de5bed97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCCv7xQ2_sM4A-v531LKgoPvKKNCyRVUvLxYUUGEbai19sw3yCuf_kMeCAEYu-XHWlmUmIz60s9LPxwsP72XyTV3UJhQ9U8WJnBqhR1x2suMyvuA5Faci8PNlf-rQy_UMp6rsX-4TOA9wwcEXOH_grGArgRDNuNmpIoz5hF-iEEBZ_n7FkHqg3vvHY57u4f3f2nCVxsN6zeqrCs7SL4EVn76WEkwZYAbQN-HKl7tCkVc7R2MLVIXdxT8Pw3cEgQCXGcOkmuzcmufQ0rqpnkyZN8zS86ThCCb_hSIV8RTAmBmZUbEnVMRB2isjU5BiEH0m16kQB8vgs7-7W8CbT0zpFPx18p8hUt96JFTh62MOF32mpdVd5A0KfS38g4pwwKZyOyZvzvkZHxr4_uBjsG1OQTb2COSpUIWoRBzVtjjNtMMeoLwRc5ffhCgjTL6X3u1Vw5WL1aJogxwzLk0YnVyG-CvTqFqzPWzfXSP016YkNy193L_ZcL9EEhCq_mD8fSqkpFA4ceQ6uKy7p3D8lzFbXgcLARsE8EOJIDX52s6b0nVh7j9HUS-ysDJ1d-7hnjfv9i7brXH8tyJ43xpEiAEJ2V4KwKfPRLwUGjqToNNnSbaDhD04z67DVdMO8hKIfgePzhMdAMbaaYG4LWeYX_FZdT41adMcAegXCFNkBGOxNjvjWFElp9yTmDUFiLolgU9iWQaFtmCLxeAX8TVDV42EvuxZrotgVuw_WjQk5CGZjMg3iDK2g03-EGLzL2IJ2-CRr2Jx9GdAd1uO_MF9GIwPAV25WIrDhPK8kVVriHPEMD3nA4xPKUstroD-JhiSalWUahea0fFuvU1hqX2G98MufTUbJifUhU2VgPMtLN97xltcEjDHWIFVoCz27HgiQLkT2MdGLR9UaKf7qDujXvEn7P0RwulNenbDvRaORYK1THrAwf77PLagCiWP5nRkP-ogubrEt9bd8F4JF7k8HBJrqkjiT9-OYnIYYDKPWpTwq7tcP9PLr0IxDn6MY9-Rn-jhYS4XW5N9tUyT4oQrpIMRobYtDUcvsW2wIxNsRqrB1wALHLpyb1RxfKxyjqFWNSkRyyXac6I7ZXemQtoPM6zoARjBpz0KRSC4KqGqDbusMQ41AhcerzCQsa94nrsT_ADbqqiui65WoumPPNwg7wokWOzlyBv2xMpSH128wVmP0QaCvvejm7aXBHAGH9upLCBa6VxiB8CfTRo0kr3RIEJDi9ZRkdPBpdod7ciouVAZQdXDvfwYBePPYQKcbaxOmTpkeJpzPKayGyE3Jo5y-F24vDCBrSsAz2OuxopuuwRwCBmUpGnN2CA0Z-MpCs__ulxOrSspfMXRXC0WVUhgYT2bOkues1yS-rSJ_Ab0_LBfbatYvqeSJvlh0tBBuEWduN1JGhUjR-Q3RTssoVRHB9YXVTSjwKMVO3EmVS_RYkQtzL48uSNvRMu84i3hwjR8ZjhcEtPUpZUZMUz2OQ_4GiYwpNFT96-FpXZBg3rDVgiUab9VbH1wwzyhwVSo0wmQIKphwusvaZW6F96IlIu5DvUwBBSapmC5VLDU4y0PfmsXFrbg7bYpPGQYadgegswCRmDcpiJFQPJReFozP1X1EUwMXnAhUENNhomkDNLob6Gr8JuAt8wOYxfb6czjYKKqBK46LJy8YifkyviTXg_KBBOMg0nc1bZt0SQ6hsAUcKwVaO3tIlxSE1fYoZ2CXq5XZXI_BHkbENVeCMBkT-XbH2oNxDucy541x8gZ0OaGcoSyJ2Ljulnox7mfgyiMjjszMRrMWNhDk-NiwU2Mh4wDe1-zPT8iUo-Si1XETqGDAUKbAtLZmqyXvWAL3KzG5bLL6LQdl9nAY454Bpqi4a-VpmsqnocP6Mq4U8j2yXv3N6Fbc9vnLdNMc6MaaSmhdBv17m0X73f8LlAoB-ZW_c0VEpktGuszE4dsG1eTeZPpf2XE8HrX7gbvxtCAjLN_n-ox9ejDp-hVBfdPVz9ENvPFj-5DG8eCja9dxXrU-E7J2xwYwlOPYZycKsZ8mNE8HxBFXJrWu7O1d8jtqeLR9bIBEo0sU09zlYKSS3HV6xhMftesiZLBdSmbXViJVNBFdFfCNfVSvwo8ae__6GxhU6iPh2AM_QEsILo33X9pE-Slbi537gtjZvqmNl1_sW0Q5iOh-knCfBlh0VWTPoPs0eexS2y1I6fWTP2UiKVUBAAgI4lkRycHo7TqJLFV6vs1PRtQvjwRwgFNgIoK6oj5y0l-4qWhTFKLKkpU6j0oxGptO09Vw9_h8MW8EhWGprjErSJA96hLIa6CU5HQ2459iTlbVPP7UE1fVaHV03W2a3oDXKy88nAjllYdorAakZpvg34WOoJ4tjnJpdtB-lfq7DO01mDvZltpE-6pDJ3br5J4cFIz4LRyif_cZnUlhJM45avHQWztgUX5yC35WaFaw9Z3amF796Tlfj9QgO_cB9dIUXGZECtESuOWcmRaxmP1MWeM3A9fdSCC0l_YiwHom0IbuVTkw-Ut07XWEg-61V2ESJREeIjejsd9wDTqabzyZx0dp7ZxxwCcJS-ZMdKw8khHrcDGv9QABgrCVTZ86775bBn98Bs6eo-BzXCKHZRE_Z3RRMkpTGdMB7bSKvrwt6Vwp-vWwPCpeoHtOOzGUaMkSUM8SncXlPgfZdRsN-ggTsqq-nJnDtqsu6xGczAMUO-i-RsrGvZV-ju_MveI95EaJitYDmJr2JZd3VVTqm9N-EMzan67psMMft78QjSvv18H0Aa6UOwCcEK5mtbE4cnMlROrsSw8o43jzWE2KIYuW00xneFug5YORHCbtJO57VotT4Wghu-4iqMX_lPnDEsRLXGF9xo_A-sWlbGfmGWR5IYRbuprQHCYukVUN9R2Gq9hAsBiy6ldkDoAoOHI9RuRxgQ_iHsTl1RUX6o9KtRNXiDYVOcPeDo0t45WD5Aq8IoQnU2V_IzWyaN2VV4TMMLoeLPHLTL2wy6p_COOXiey7ljuh1stgIy-JOafA8F2ZbAQ5lvOQu0Q-Mrg-DQLcXalLbfU3OKAMeaL4L24sxFyG_W1lWnLnZXm22yp8q_30-Z61xkKsH9QYCy41aKzCS6HgyRRomZOD7ilYoQprvc5Ktg-ay6gIRmvXZzesKQp_-Iis1vAbWPNHgsvQI31WnysaaYvP5H9DjnOa1_iIVm-dOK27TH0_lIrbC70-WkmpvSRLZxgLdBSYyqNTkzBuXtN8S9sBerf_jSw0s1tVtLVSXSt1pZQx1f0DqC9w6_EW7FZ42tVaOamQ==",
  "id": "rs_0f0aeae220085024016ab420ac609087d08d9972eb7307137c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.015,\"right_x\":0.22},\"note\":\"The yellow fruit is centered again and now extends to the bottom of the wrist view, where the fingertips reach. I’ll lower and advance a little to bring the grasp point onto it.\"}",
  "call_id": "call_WVPIxlyOA66GHejFr9w3KjAS",
  "id": "fc_0f0aeae220085024016ab420aed69887d0b00e3411d12bdffd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WVPIxlyOA66GHejFr9w3KjAS",
  "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]: [-0.033, 0.8284, 0.6128, -0.4526, -0.0139, -0.0334, 0.9987, 0.9012, 1.4139, 0.6083, -0.5411, 0.4622, 0.5537, 0.9964]\nstate[eef_state]: left_x=0.2875 left_y=-0.0034 left_z=0.16 left_yaw=0.0005 left_pitch=-0.0988 left_roll=0.0002 left_gripper=0.9987 right_x=0.2093 right_y=0.1433 right_z=0.0153 right_yaw=0.0692 right_pitch=-0.5335 right_roll=-0.2855 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.4974, 7.1316, 1.7118, -0.0513, -0.0562, -0.0122, -0.0342, -5.7094, 6.0513, 0.8376, 0.2808, -0.1783, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0ef30d674e2e5783ad628fbdfe6247051a7e1bafce755c7c8f798471b784df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8d654e1deb01196b91e87d0b3b29aa1a01672555c698283cc0e83d7de4f16b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ab9555993c35317e1f18e3c34bc602f7c5f8d290f19c7d09eed9fae2d93511",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.407 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]: [-0.033, 0.8257, 0.6128, -0.4461, -0.0139, -0.0338, 0.9987, 1.1465, 1.4631, 0.712, -0.6411, 0.5228, 0.7982, 0.9972]\nstate[eef_state]: left_x=0.2884 left_y=-0.0035 left_z=0.162 left_yaw=0.0007 left_pitch=-0.0897 left_roll=-0.0004 left_gripper=0.9987 right_x=0.1805 right_y=0.1941 right_z=0.0317 right_yaw=0.1172 right_pitch=-0.4786 right_roll=-0.232 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.0051, 6.9812, 1.746, -0.0317, -0.0659, -0.0122, -0.3214, -5.135, 5.2718, 0.6813, 0.3053, -0.188, -0.0024]",
      "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]: [-0.033, 0.8257, 0.6132, -0.45, -0.0135, -0.0338, 0.9987, 0.9699, 1.2968, 0.6743, -0.6914, 0.4816, 0.6094, 0.9953]\nstate[eef_state]: left_x=0.2878 left_y=-0.0035 left_z=0.1614 left_yaw=0.0004 left_pitch=-0.0931 left_roll=-0.0005 left_gripper=0.9987 right_x=0.2002 right_y=0.1538 right_z=0.053 right_yaw=0.1069 right_pitch=-0.4897 right_roll=-0.2409 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.347, 6.9538, 1.6532, 0.0024, -0.0415, -0.0122, -0.3761, -4.9026, 5.3402, 0.6618, 0.3053, 0.0513, 0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.033, 0.8284, 0.6128, -0.4526, -0.0139, -0.0334, 0.9987, 0.9012, 1.4139, 0.6083, -0.5411, 0.4622, 0.5537, 0.9964]\nstate[eef_state]: left_x=0.2875 left_y=-0.0034 left_z=0.16 left_yaw=0.0005 left_pitch=-0.0988 left_roll=0.0002 left_gripper=0.9987 right_x=0.2093 right_y=0.1433 right_z=0.0153 right_yaw=0.0692 right_pitch=-0.5335 right_roll=-0.2855 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.4974, 7.1316, 1.7118, -0.0513, -0.0562, -0.0122, -0.0342, -5.7094, 6.0513, 0.8376, 0.2808, -0.1783, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0ef30d674e2e5783ad628fbdfe6247051a7e1bafce755c7c8f798471b784df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8d654e1deb01196b91e87d0b3b29aa1a01672555c698283cc0e83d7de4f16b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ab9555993c35317e1f18e3c34bc602f7c5f8d290f19c7d09eed9fae2d93511",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCCyFVJqqAiASrqLKdbeBjrSiiYjA2Y8eIl0hhtyACLIgIV9p4abhrqYi5l-ac0TtBgYfl4ZGKUodxaEwuev1ivylMYoXeDWUFH5c3H8SKW2y5vCW6NO8XLRbO92TD85f0_pU7s1TKT1R58Shej5G-sYm-zRrc34dp-SdMCWJpUSDefFctkGQpkmYRRHAyVyne55PIqiQhijyCFiLSit5ZcalkPoegIVVzrzDm0XjggS5U-sGsQR2p1fnlMhOOiXb-LjzQ6SZOpTx_NC3kSfk27wosdHZT-mp4m2vaRP2d46gtK0RLC_8XulaN20BHMVHzRtCf6h3zM_q7g6jVuFh35y6IM9mFWRYwmluX2c98Uq_Sj_mgm36fk5XxRM7vD_ljE6B2XIvT-jUC6BCQ8zmEBop0oViW5yySbBGD6bBj2VVXB9N5bqqpqPTU09_tsAOIuHifchTdrf3YzXoSmJLODZmanXH2pBqpgFxn1P7cqDf7JSVTOS0YNSrY9SBjQfuvn3BPpZXsl5w8tJJVjh5faQGB5VFqGvk0EdldcGAgO97FROCmaDRquMifMwGyXhm2S0Sf_A_JQKUG1i2LpG1nVsolq8luM-UWGp-XbtkFh70I0o6TEzATJ2qhlDXdStyhnH859vcxD8lWWkl-X6Bq4ZD5S1q4H3P33HzEuTClt1KeE8VCOU1GJmIOg21nmIfY9QqFoehycJoYlfZjyZOHZJGhhC5_DJbVcYe7tJqKqkwzFFe6jS-1V0Li42KqRGol2vSccroeXartQarKOXCV1s-Avsz883gj0PxjZcISzjt01BdGbeAQAUZWrYbOXKivXbMHYGCcM5pPXKOh8xJ6gy3N_2MaKPPhLmb6WXjVrFU0n1Dajixi6b7DkW8BiTcrQaXg0zjhu_V1lBijk9b8Q1SgNm22ACSBeBDmyJxUiuThiJnmtpK4DyOaWPvZkKFYkal1W-5lwwLkLeyITjYc4xmqzPb0P1ZMBNzgpT9V0J7HTkF67Fu3UPxqpn0EH2Zqw2mvp4WPN3X24wHmoYA93kcGmiRXsvtOP5I4ULpgnDuSjQBsRM23H8bZZ-Wgb4Uzuu3APxgFIHA8JrEHcao90U66m8NxlQfYD6f3lrS1CwkVdJ7YiQXOUSm27NpqPdB-aHqU_4FXY03iVDpc79VjGbK4vcfVoNp-hfpN12H4aR1kbsDFHeETD1V1zQKG6lz5641wzAPnaqbfpk8o8ok3pFKpVCw_e22tY0O5BesVDJm7o5VL2-Nq1EkmrKvJ_LXjPoqNb3WyCsmyi-xP8nPRO_xwF73oW5BP-aador0DWV0zw_6FVAYe_Eqrt8zM5ILyF9rHmObct1zF9RTSsglevEtXDTHAWp8aI79q16UEG7j8Yc0etu8AQK0a4Ek37wA0SMjbxTH76iTi3KJM7Vc6WytQVk4B_niMyhT191Yt35CNSm88JR9l0_mZ0RDT3jKf5Ct__ipD4eCDsm-GaKgnFPnPcL2tFr4xMk_tNZyqZqXIYFrJ6lZtbgkOW6oOmn4EiJZXqFo6oDWvxpZVu7qJp-KpHH3SWuiQ95Wy36UrYNqnpvOdHWItFz9gjXJrgD4bSLj0hHMYb6Zu7h82JtMXtqjr2afXar0K8deDdJOzaF1Exf8xxoR2_UXWttO7aKML6X5E2cblk2BUSLiDfq7OC9gCdd71KPzJXKP3vE3EM2J_6s2lKY3IFmWvH76fMAWCdA2xhRpla-0bp0oGJgDFHG1GiP7a-euUtiuS4IhBXjl7t5KJFZ-OpSW2Q4laLpfEeaZyOtXHBO2VjZA5QueqISE486sfRZVpv8KZMTi_CMQ_LwaDNboaqgolkqDNc9efG_3sksoWfIzQmC-nWU3HLd3MJZOMrLmkTJAQTB-ZDwexULAVlS4VqCaLS2iZucUyzL2W1cdEXmq1lOzPu3um-NYjqQ_R8yQM4TM4HPtj-sqryWmgHaoj6uwztZYJoWRb7i",
  "id": "rs_0f0aeae220085024016ab420b0be9487d088c9bc04399f2684",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is immediately below the jaw column after the approach. I’ll try closing once at this revised position to see whether the jaws catch it.\"}",
  "call_id": "call_4ktKYO7N0Y9EzcNIql50ieG8",
  "id": "fc_0f0aeae220085024016ab420b22b9087d09845b6d7f08c9160",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4ktKYO7N0Y9EzcNIql50ieG8",
  "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]: [-0.033, 0.8288, 0.6132, -0.4534, -0.0135, -0.0338, 0.9987, 0.8986, 1.4269, 0.5919, -0.543, 0.4549, 0.5419, 0.0091]\nstate[eef_state]: left_x=0.2875 left_y=-0.0035 left_z=0.16 left_yaw=0.0004 left_pitch=-0.0996 left_roll=-0.0003 left_gripper=0.9987 right_x=0.2041 right_y=0.1376 right_z=0.0075 right_yaw=0.0639 right_pitch=-0.5616 right_roll=-0.3133 right_gripper=0.0091\nstate[joint_eff]: [-0.0205, -1.4427, 6.9402, 1.6923, -0.0513, -0.0708, -0.0171, 0.0615, -5.3812, 6.5162, 0.6911, 0.2808, 0.105, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796bd6c94522231b6db6b87d9db787e6275823d1b3abc833ac8181e2ab8ca097",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e26c29f3658d1532d69c73c451b023077540603dd8cae9ee5c3dffde48a24ce0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:444f8e19c770547dcc99cb2bdb1899fa85f656a2a11bc08a48410be0c22e2357",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.333 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]: [-0.033, 0.8257, 0.6128, -0.4496, -0.0139, -0.0338, 0.9987, 1.1423, 1.4567, 0.7017, -0.651, 0.519, 0.791, 0.0091]\nstate[eef_state]: left_x=0.2878 left_y=-0.0035 left_z=0.1614 left_yaw=0.0007 left_pitch=-0.0931 left_roll=-0.0003 left_gripper=0.9987 right_x=0.1786 right_y=0.1889 right_z=0.0298 right_yaw=0.1128 right_pitch=-0.4899 right_roll=-0.2472 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -1.2376, 6.9538, 1.6777, -0.0415, -0.0708, -0.0122, 0.2256, -4.3145, 6.2154, 0.7057, 0.315, 0.0122, 0.7009]",
      "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]: [-0.033, 0.8284, 0.6128, -0.4526, -0.0139, -0.0334, 0.9987, 0.9012, 1.4139, 0.6083, -0.5411, 0.4622, 0.5537, 0.9964]\nstate[eef_state]: left_x=0.2875 left_y=-0.0034 left_z=0.16 left_yaw=0.0005 left_pitch=-0.0988 left_roll=0.0002 left_gripper=0.9987 right_x=0.2093 right_y=0.1433 right_z=0.0153 right_yaw=0.0692 right_pitch=-0.5335 right_roll=-0.2855 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.4974, 7.1316, 1.7118, -0.0513, -0.0562, -0.0122, -0.0342, -5.7094, 6.0513, 0.8376, 0.2808, -0.1783, 0.105]",
      "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]: [-0.033, 0.8288, 0.6132, -0.4534, -0.0135, -0.0338, 0.9987, 0.8986, 1.4269, 0.5919, -0.543, 0.4549, 0.5419, 0.0091]\nstate[eef_state]: left_x=0.2875 left_y=-0.0035 left_z=0.16 left_yaw=0.0004 left_pitch=-0.0996 left_roll=-0.0003 left_gripper=0.9987 right_x=0.2041 right_y=0.1376 right_z=0.0075 right_yaw=0.0639 right_pitch=-0.5616 right_roll=-0.3133 right_gripper=0.0091\nstate[joint_eff]: [-0.0205, -1.4427, 6.9402, 1.6923, -0.0513, -0.0708, -0.0171, 0.0615, -5.3812, 6.5162, 0.6911, 0.2808, 0.105, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796bd6c94522231b6db6b87d9db787e6275823d1b3abc833ac8181e2ab8ca097",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e26c29f3658d1532d69c73c451b023077540603dd8cae9ee5c3dffde48a24ce0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:444f8e19c770547dcc99cb2bdb1899fa85f656a2a11bc08a48410be0c22e2357",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCC4Smh42btfs4EgYkFhX8v22A9fJixYXMZInP6nLFqabxhj5AKAzYZ5HJJvhp_9EU52bNYfP9ieRE-6L-ixzyoODMoehf3RbaNdpw6t4hH3X8SKokeDuoee-PBPlHlrx9XKXTynj6rrc5oqnf_uVG5vxZ2f00YDyhjmHFiKMtiR7CuYeLTGQEAMsvB6eCsvk48pNVgWHAVZKA0fGJOw8VOfwll_Y51q04TQymkI87mRIVVhGuKQ2qzg1F3c71kN52fNhBcAg680SkmltBPgQgkUOLTrsYNVI4pkUsWfSmVTneH4UixkB_VWbGvk9DdRmBuKRt7zoGViOyyTcPhX8EdEzgoQLd_4eaC2fO6WYtJAkc4ILTk5gubcFbMM6TRXaWmdpR0knnersdxVfoXmMxMIkBhLWHOZPtQLA-rGCYSGpmx0aDTRVihjNFTZ8H9NxyUt2KEns49Qe1RJzoB5ZZDXB-E-bAzwVKARx6Cnu3uyVarXGirCDM0m3c4UiaXjG3249bglZMqRy5KfOWgjSlSMEZmZ-oGifh-yoG-fJkPQsVmt25gs_h0Glnm5PASWCDAfmI7auPtJDz-iOWhWcZ9Ej1UJPNmZZa01q_EV3D7yqx6-uEx9MJpwdYvPBJT0M1iAKQY0iJxgKIEbsumztzlEJC2owozHzxI-xzciFk8cdLOMC2YpD7tZJ6MuDL8wKcJD0gF_SATCEpOE0sIx1Pqd1CLcGj9xm-NBeQ0S3ajM8cl8dbNpD2ycxSd5-i3osnGB87tPsJrdCy2Ur7-G60phFjbKTvI84Q7IKaXs5-ztfhwigQhjdPcsS-NRKbD9h0q5uvoo3CWL8ECuSAlNdLEnaipJJW6i29IjfxeMGN44H0zv0vHVyLM9OKsmWdltakqMmV6WzGmQGwhiwSDVwBuVl1OFEilu7nZg1-el1-2j4PAPWxMj6rG_jxt77az0Rq4W930nU0EQwEldcbyML0fDd3W-NvidAYpcmNzdQGdLfOCkGrlmJeUnhg9ckc5ONZgogRKcB832mB_kz57xKEi2_e32EtsAIWZ9jwpHvPGNjY5CMkXToSjflGGkM-dHhVZzlmAo3o_K-WiIXSlJH_uZYH5J8cCgFrYZPQeAs1_2cFKNHblv_ubfD5JzYIEJQxUfvwFHjqk9otFPFs6tYSdmxS-5M-Lw7NIb0_vd5t6H37h9f6reBzgvdvXArB7a1qwTftOEUX8oKoyWhgQvb4hGI76cdYkY7gBFc1CIkcph5M_XLo80TttJHfUgvvXgOfmyT_rQpgnd02JyFJVkQfFGvqghUZPgpPhK1xzcH385WFCgjqNQYrv2Y8TzyKMbT1aj0D4tzEWyLLHezUmEbq_vDsrzT7PXgzbUp6VEdTR4TpOh0XIIsX9lo9MV9eFEXwhS6xQvCaXmrcFlUKmt1vs-0XqzDP5RWhC_QXoT6XthDEPaGFXsHy60hUhhauYOeLxMz2-jRgcZomJQDqJffABtP1eOAAteKsdszLfmmG0pGblebRLRdwKqqECsbOHQb9sEDhZZcXuPUcDKjopEhVxTDa1W9_CIFL5PGNhQsRX9XRhgt5j6wkHoYdSW1xiQ5Ej0xbIc1FD8tadiv8nv_FrI9OmWRoXB5BRiFf7T0wBary04OzDV6iIq97EVYnDZU1Sxq8zvDPKLikZLmbdRM1eKK16V-Iu2q0cw7xQ4ExkFXyR_YTSLM7Uh2VIoeRG9BOd-n0mJIOb8Qk-0sx-Y6DK1Pq7JXPxZ3noshNi5P378wyJNqbCgq1d5-IGWcmw6R8A6iUt2zZry6t1l3asXgEstgO47BRZCpA-zBekeTq4GDbJg3Y7aJs8j4cHufZo421TXizomQOJfzFpn-4spHK_A5Mfw7xG8KtcRleFf7merhZ5_6kk5czELOKKE_SyIZ2IY7mtM6q_JVK1rhXAi7hS9qhEwP7d_ZzJJFA7nWwrxn4aDeIk5SD0sKBsruNMXD7Fo0wuqM3XRvyc6XskcRsKEnZSTSLPgKftJysV-5n_mdHS_znaSOt0u7zT1ckz1qo2wdx9M07r-2byq9C31HDvNRg8nE3M4SZ5wkdQjwFq7E6Yh2nqssKF4RxOXiAlaxSUD3xuEMzUTR9u7E9eTx6FK-KCGsG7W_LJvc7GLKy1uKbpGiWam3Ajxch5n3sW9xmpWCnfU-ub4-Yj4Tp-sGC_9klIpQs_h3xKBcUwPpv73Be3BQKyAdvGvH5OynXJp7FiNxtxn-SFCV-Z2apuB73lPTUPy_77r1bm8VOcuDW5YwFd1yz7NiRW-WdfXDJcg66eqjuhgMPXUCZSGcCEw951KpA==",
  "id": "rs_0f0aeae220085024016ab420b4d60087d0ab8402ab0bf5d1c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":0.14},\"note\":\"The right gripper closed empty again, so I’ll leave the yellow fruit for now. I’ll park that arm and bring the left gripper above the dark fruit beside the white bowl.\"}",
  "call_id": "call_L443xRZw19qUzX01cORBB3qY",
  "id": "fc_0f0aeae220085024016ab420b7718887d0948a1b7c988d5def",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L443xRZw19qUzX01cORBB3qY",
  "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]: [-0.6125, 1.354, 0.7967, -0.2684, -0.4313, -0.4145, 0.9987, 0.1177, 1.2217, 1.0985, -0.9997, 0.21, -0.2047, 0.9966]\nstate[eef_state]: left_x=0.3385 left_y=-0.1432 left_z=0.1218 left_yaw=-0.0185 left_pitch=-0.1617 left_roll=0.0264 left_gripper=0.9987 right_x=0.2873 right_y=0.0005 right_z=0.1708 right_yaw=0.0251 right_pitch=-0.5619 right_roll=-0.315 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -5.4632, 9.0051, 1.5995, -0.5397, 0.0024, -0.0171, -0.1846, -3.4256, 7.9658, 1.0085, 0.0171, 0.1148, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:934b934f5b0d2ebaacecf34aed0e2c47fe975fc50e4b9e7682e61ca2f259920a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68dda97e32bae18bb194f4f9cb0b441fbf7d30ab34a48c67f2d873ddfad1b047",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95517b605b5c8c91b3a0a765aab5d6bf639d006d9da4fc835d8474ee62de3548",
      "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 · 4.191 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]: [-0.033, 0.8257, 0.6132, -0.45, -0.0135, -0.0338, 0.9987, 0.9699, 1.2968, 0.6743, -0.6914, 0.4816, 0.6094, 0.9953]\nstate[eef_state]: left_x=0.2878 left_y=-0.0035 left_z=0.1614 left_yaw=0.0004 left_pitch=-0.0931 left_roll=-0.0005 left_gripper=0.9987 right_x=0.2002 right_y=0.1538 right_z=0.053 right_yaw=0.1069 right_pitch=-0.4897 right_roll=-0.2409 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.347, 6.9538, 1.6532, 0.0024, -0.0415, -0.0122, -0.3761, -4.9026, 5.3402, 0.6618, 0.3053, 0.0513, 0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.033, 0.8288, 0.6132, -0.4534, -0.0135, -0.0338, 0.9987, 0.8986, 1.4269, 0.5919, -0.543, 0.4549, 0.5419, 0.0091]\nstate[eef_state]: left_x=0.2875 left_y=-0.0035 left_z=0.16 left_yaw=0.0004 left_pitch=-0.0996 left_roll=-0.0003 left_gripper=0.9987 right_x=0.2041 right_y=0.1376 right_z=0.0075 right_yaw=0.0639 right_pitch=-0.5616 right_roll=-0.3133 right_gripper=0.0091\nstate[joint_eff]: [-0.0205, -1.4427, 6.9402, 1.6923, -0.0513, -0.0708, -0.0171, 0.0615, -5.3812, 6.5162, 0.6911, 0.2808, 0.105, 0.6618]",
      "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]: [-0.6125, 1.354, 0.7967, -0.2684, -0.4313, -0.4145, 0.9987, 0.1177, 1.2217, 1.0985, -0.9997, 0.21, -0.2047, 0.9966]\nstate[eef_state]: left_x=0.3385 left_y=-0.1432 left_z=0.1218 left_yaw=-0.0185 left_pitch=-0.1617 left_roll=0.0264 left_gripper=0.9987 right_x=0.2873 right_y=0.0005 right_z=0.1708 right_yaw=0.0251 right_pitch=-0.5619 right_roll=-0.315 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -5.4632, 9.0051, 1.5995, -0.5397, 0.0024, -0.0171, -0.1846, -3.4256, 7.9658, 1.0085, 0.0171, 0.1148, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:934b934f5b0d2ebaacecf34aed0e2c47fe975fc50e4b9e7682e61ca2f259920a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68dda97e32bae18bb194f4f9cb0b441fbf7d30ab34a48c67f2d873ddfad1b047",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95517b605b5c8c91b3a0a765aab5d6bf639d006d9da4fc835d8474ee62de3548",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCC8d_2YflHCt4p_cmDwRrZiurBX9fD2MRZABt07Zpu5zgoAprb1jdVT8KlS7LDfdm_gBiPMVxWpida3f4MtczHMD0gwzVSCelViEVJGcC9RTmd33hpaPI9E3I_KhopnFn4GPqNbC5apbRtBY1lq1V9RvIDwPxuUBzwaUaNkcOMFIfAyev-QgzrEjbmtvNnhQfX83aczEwvvmIcs4uNy5zHIBXN4INh5D4ulIsq8kQyiPcQt2_D_iqat6RkMm2cyLzuD2Msxxdp6MO6hxNZPOkV2Y132yRVgnknaGMOTWR6eRuXxhwhFgfSzL1E1IOtsf_6qaZnsU5NPESLUetYvQ9CoY_D_CUrtU9VRXsaA89dh7xRLYFqo_wH0TihcogaYn0Tl6Hn2igDJLX7fGNbfiT3P--xD3vHgJHFqKb0FSViAM6iF1EAlJ7t1PwgCzS3ngH4WDlW865ZRJWxbjdxWmk1yN15CXbYg6fxCV3YQHYipynrtGKeV_YeGfcAEUogXWeeXr32G1VBsvUEnzblTWgrFb7CnMblQ1O0vhpPCdvqodqdzPqtBu4J3TK-yfvXMNzkeUwwk98Pjvx3qcjUzf0RH9XfhFgorJWeK7pO9WUvtqvaVgAd8fa_m-4SKH_Yv1RxQ92wDvxLn8NaRon-skSAHco8fh_XQIqDzBJpD_Pkrt4VDlQwsxNPae4-lg8kgYMwUKoNyXcJ24pO2CN4eHL0cEu8FNWmaYNLBHuAYYWLCs82KiqkardbrYxYH3tGD0ne6XBadxg89YtsD5vaHgiy9tdl9CAzDiRqBkLMhbd46NlQVYCMVsLK2FQfjsW14l0902cSgUYbxCYOiAAbs5EYFx7imMKoSEkOIxW3-BRo8UUKZ8DuG3wcwErn66mwSx0efbBUoiLmsNbx5tfF_zPhYVwFdDu2xYEEqQzdcFl1m9uQaft0hea5_lY5eJ9EDSle-4ZISVfxdcXLKm3kvSBMt8Nri3sm_Rs7UJiKmJ0S3-SiVL_opgReD_EVgiSdRtf7Cs25sAFrr8aIUzXUlL1VFZCvO1mDaw5M3UVMnlWlerwOtkXFSyVV9vQ7iur9rQSCRqaTQtpV6LilimwtM77SFsrNJoXXlLlc9C2YHlQLugx4N6n62ec8v8SU-lVl7PKasl1MchO6bkMHKS19iLVvbBB6xeI-0dZZpy4yih2lV3-nYE5Vr_7DPIsraySZVDkcHdT1OptS5gy7JskpXaw8t6CtFvEaNbYDAQAXquuISqizmL0Itu_iQxfTrnH_s4OhCc40JvEASvBFRFfFtIt_WgPyf8udkP9uMrGKzn-nRfrtkxqlUvEp0BEhzShoxrfI9ee86CkpMeak7mfiOu7Ehp3urLEn8WIYVVphA0wR9ByY3nkcCf0ZN-lac_awTu9l1Wqv7xoZ9Wtc2einvZJ8VDDU6xQAzoMW0FDS2jc-gisDxiMdllMWE1ZqcjAK5HMDTT1YpEiLu0ssDBCCuI7dfGUfedMqMQk8PPlpPsoK_hgqx9ISoEBp9ftewCBYbubjoZ2xDScfFC4UOA4AmpfzssVW1a_uKawQopfNIcpoFHDFCkEexULTwy1excuOHoTwgzQRWUs4lQNlhiiK-Cs6NdxJx8aFPMlRT0Vzr_FwMyt3rBHwoCptlorCIzN7IiojqfZO8aGaOwfLV7WRhEMTljexraDosJYq3IFLUiJXTn2T--h0X4-bDtf75eaWsp2Y_6Tj8JNbxuT0PGbCcFIj-dnBr3GMR3EGH5cfVjzDApqHdS8YYdWTt5-iCl4TP_RbMHHGYWpBTNq3wkYyO8uHtcLffYywDwfmHbfiNrtPuqhiJKlk11qKQerp53Z3QxDdHrgjxsrGh4j_h56tKgvZG-XLyw-rOAO7kgr1hqU6VpdKJMklfuJCCldN-dCMvsrkVsX2v4oXKhVKN694oODsUrk-w06OPivVHchT13PseT3Tpte1Gey0dZrEQWain_BjRPjEI2ivpFPfKxQ3kimm2wz1FK4iM_s3D4eMaCCB60_NKvit-xl4CQ5y90qcGossIdU8M2Z7OLLaTKYhe40LZVFAeRcTdvl78jDy-8a0sDVKq4eeYhkdaJf6_W65JhnVNaOxPAELFo3l_MZ4KDiYR6dQUKJXmFaO8IOZqRG17mNg=",
  "id": "rs_0f0aeae220085024016ab420ba6d9487d0af6f27a7a4d435e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.19,\"left_z\":0.033},\"note\":\"The dark fruit is visible to the right of the open left jaws in the wrist view. I’ll shift the gripper toward it and descend to its center before closing.\"}",
  "call_id": "call_WRjiuXnvDn1Qxtc7BlZ1iOL3",
  "id": "fc_0f0aeae220085024016ab420bc218487d0bda0fb2cd3c5d1bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WRjiuXnvDn1Qxtc7BlZ1iOL3",
  "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]: [-0.6804, 1.6836, 0.7757, 0.0917, -0.5365, -0.4477, 0.9987, 0.1177, 1.2266, 1.1007, -1.0153, 0.1978, -0.2245, 0.9972]\nstate[eef_state]: left_x=0.3699 left_y=-0.1786 left_z=0.0566 left_yaw=0.011 left_pitch=-0.1076 left_roll=0.0573 left_gripper=0.9987 right_x=0.2845 right_y=0.0023 right_z=0.1682 right_yaw=0.0485 right_pitch=-0.5844 right_roll=-0.3139 right_gripper=0.9972\nstate[joint_eff]: [-1.4154, -5.7094, 4.547, 0.8327, 0.1832, -0.4029, -0.0171, -0.1162, -4.3419, 6.3385, 1.16, 0.2222, 0.1783, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2186d83bc9a52110824767793993d374580c32996243d6f3c4a24ff60961d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a76be0e3a464c7fd1b320a26dd73916f585bf1df9fcaf21d3f4e9d459030f23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c887004b4d4bebb7009df30e6b3f87d4fa900c47abc26e8bb8a170a0098b084",
      "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 22 attempt 0 · /responses · status 200 · 3.368 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]: [-0.033, 0.8284, 0.6128, -0.4526, -0.0139, -0.0334, 0.9987, 0.9012, 1.4139, 0.6083, -0.5411, 0.4622, 0.5537, 0.9964]\nstate[eef_state]: left_x=0.2875 left_y=-0.0034 left_z=0.16 left_yaw=0.0005 left_pitch=-0.0988 left_roll=0.0002 left_gripper=0.9987 right_x=0.2093 right_y=0.1433 right_z=0.0153 right_yaw=0.0692 right_pitch=-0.5335 right_roll=-0.2855 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.4974, 7.1316, 1.7118, -0.0513, -0.0562, -0.0122, -0.0342, -5.7094, 6.0513, 0.8376, 0.2808, -0.1783, 0.105]",
      "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]: [-0.6125, 1.354, 0.7967, -0.2684, -0.4313, -0.4145, 0.9987, 0.1177, 1.2217, 1.0985, -0.9997, 0.21, -0.2047, 0.9966]\nstate[eef_state]: left_x=0.3385 left_y=-0.1432 left_z=0.1218 left_yaw=-0.0185 left_pitch=-0.1617 left_roll=0.0264 left_gripper=0.9987 right_x=0.2873 right_y=0.0005 right_z=0.1708 right_yaw=0.0251 right_pitch=-0.5619 right_roll=-0.315 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -5.4632, 9.0051, 1.5995, -0.5397, 0.0024, -0.0171, -0.1846, -3.4256, 7.9658, 1.0085, 0.0171, 0.1148, 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]: [-0.6804, 1.6836, 0.7757, 0.0917, -0.5365, -0.4477, 0.9987, 0.1177, 1.2266, 1.1007, -1.0153, 0.1978, -0.2245, 0.9972]\nstate[eef_state]: left_x=0.3699 left_y=-0.1786 left_z=0.0566 left_yaw=0.011 left_pitch=-0.1076 left_roll=0.0573 left_gripper=0.9987 right_x=0.2845 right_y=0.0023 right_z=0.1682 right_yaw=0.0485 right_pitch=-0.5844 right_roll=-0.3139 right_gripper=0.9972\nstate[joint_eff]: [-1.4154, -5.7094, 4.547, 0.8327, 0.1832, -0.4029, -0.0171, -0.1162, -4.3419, 6.3385, 1.16, 0.2222, 0.1783, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2186d83bc9a52110824767793993d374580c32996243d6f3c4a24ff60961d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a76be0e3a464c7fd1b320a26dd73916f585bf1df9fcaf21d3f4e9d459030f23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c887004b4d4bebb7009df30e6b3f87d4fa900c47abc26e8bb8a170a0098b084",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDBTVWjwqYzbkVpJ12STWhJchzZwID7DszfP5qrHpu4x-kMFMK-GF8n8NEgH0M2ujCwJroP42szTfANRo84BGzGL-W9vkROdYren_xBovB-eCApF58gkzhGqKQyghvy-23i-_NbZh-MH8juAmGo_57X7i8fz3uACf1eOSiwSUtO5cw-933OGLolBbT-ffja-J7YBaf46bh24HOJSov1piyxOFApNGihWogXrT9NGuII84cikFlCssPuisDaf5mKb8k7WcrBYo3cjQZlLjIm4xawFa8YHde7Fshg-Iz0eK_qPexPjZmpglCJ92DhHwtlnygkHGfjntJmFFntDJdJ2TRr8H29wx-FpK01Ekfb8sZWDfigF0zPwJfn9MLxvtIjBXRNiizPtblMSL4kHmGAyoOkFX55Yyk8nm4WtwAV36YgANfWVxqhTMlOWrrxNFVMiMu_8vR8GHeLi936DYmEpq4Q57PgBxBs13ii2mk3peiHwED3QmOtaXYTrZMUUa0CvYAnkdvfJgclclcHMCAQGoqPPoufvj_7BzaKv3HAbupDiCgjYVu04ycCf_bjADVSI7tIZNTGpkI2_0EKHUhmUqKsjyQK2inrcFtEEVF_DzUG5cvVGscBtLh23sOobq72Mz6TXxtrMbcuF4lLq53Kwp2XCZ8Rmx_UO5PD7aTW4cXK2GjRYesMDuxQw129s9pgooHChvu8YgcyDcMJ2f-XQ9xznFtICwJvvpJ8qEEkY9xLERKgzFTkv_irBujIbRnrzfxinNzYPjekk_j81m9SxC1daovINy_TPRe1_vC85XJfrjDNX5oHoEHuzbb5CVSvI6klzpArkKEkirAV4iUnww9J_afFLKl206M_zIHSeagqPjvwhuFQebWU9SHjCilfS1ryG8b_QRU-4-GxJC83eymOOoeECki9XcF_dCp0xWczLOBs3gaflGOGVwEyQJT6DasZb0NNvrky_v5aPGgk2VOCTkjb9qR-uRNVuHgT0iHwM_PAB4i8XxoIQ6ACaWJ2qaW_PrFz2yc_rTH2MeRoQmNCpDC2hjVyORFAi13ZpzaMx_lGfsMDQbKITgAiYy6hy3LFzEHXu1HtqALX5DyWqtgavsuNEaZZeFyi_ior2sOVLTF6rDSn5q9qJVtcYtCZChBHvzHErPE_chV1z2O0ZaoMYXoARmx-VcdpxQYnjjvEU8jEsB8xQK0rz7a-q1uELi1wppi7EPfEZyxaCpdCRY_7MIMFM4hA0CuwsrfHflM3XfJVVDPA37ZJOTkOJVRg34wW-bMjcCFMHCe59MeHcvkcCglFT15mld_tm00qClR_805yKbdF-qOc7DJCPdnfTe9-lkZ4RwN1Yf21npm9HHBe0HsEOmGsQ2N6deyxG3Y3-aN4M1bvEg98gyekgZrh3wUj8Op2wKXYz0zC7TeuaZrHWL1JBAftk32qFXA5RCMYVLJtKMZ2hyYyASd2Rst5XBIWtksC8WTg8dRbzIO8_4XkozfJc0kdrVtGgI0AukU1_M-YOS3A_8LC2U2XeH_M8L_sPL769l2NI1W-dEnKDYB9MNL_cbYR5XbiWk3D9hym-Ak3LhSby17-6v5qqc_c5yaXFkkYI6m0KjCNAHMLgOfObgcNAZ8-A97TnpWt5quifZQEaqlW_AXHcg5LfHWFIl8WpdMZyEbgCsDJOT2TDArIFg0GqocMS33EqnhoMVXrlUOxLxIi6hE5GjOhFoInueN-1fsB7MrZypKByHga7KKQcQ092FKLHd9tjDL9zSjUzogbJNMrqnOMFW90or-QvEAIoQ0iKY4QvjbR8hxlypy-D3SMxnQBQyE5PHfAzmttIa8PqoBXcEAejAc8l6j2OOHoCBbnfnQKnZ8tNV654Smx5r140fbpQE41rrDiuqs36iC2oSGCwn0QV9PesblPdpBpPwSDV1X_qE5QLUwKRsZED1Fw6CEQk2ScoIVlEhXwkQsyWaAsMR7TuQvyECxTtWPCeUjO9v13rmiAaVr_UOr1_8mlz64ZrELEuK8AQh7Q5AeBLngaeRwpYi52VvArrZGuC632Pi9jkh6-qiNf_Q4JfNAXKCFwdFfUMcW3XkUcY1ZSuAR5k9WyLQmrR5p6imNnBvPMCtmKOvzyIl_lmaiaxzsG8yqKIBtOiDfOfS6aTYiiMR9GNqN29rGwMTnHxUenL29IyGJODwgRcynJj04Zmw8hIZjuaUZK84zLLS2Ppyk7d_lfsSqmMLpUM1jNDIkWILVqHh-JBRDV8NhGXNllnGB7vqdA5hoXjLCRzic7GdATJCZcnd4ECFn1N57TsQdu5Ch91ebAn36xc6ba9zWeSdSzbcjerue-mSjBur98CxTfuJcLG8xa3wZ2j_nqo4vnE8PwEFWgKxm02q1PhDTNfjTN1qtYIM3XSCOzg6a0sBrkbnjPLCslgCvhhAzvagtPSFY4_Kix-LgzgXQnolF6H6yiqIvEkzh2GEogcfesVW4=",
  "id": "rs_0f0aeae220085024016ab420be7e4087d09ee6d436244abad4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.19,\"left_z\":0.025},\"note\":\"The dark fruit is centered low in the wrist view, but the left gripper stopped a little above the requested height. I’ll back off slightly in reach and lower again so the jaws meet the fruit rather than pass over it.\"}",
  "call_id": "call_gBxreLVF3uj2s9Bjf2MqwNH6",
  "id": "fc_0f0aeae220085024016ab420c0be8887d0a69d15a170483ed9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gBxreLVF3uj2s9Bjf2MqwNH6",
  "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]: [-0.7391, 1.7226, 0.7204, 0.197, -0.5922, -0.4808, 0.9987, 0.1177, 1.227, 1.1007, -1.0153, 0.2035, -0.2256, 0.9973]\nstate[eef_state]: left_x=0.359 left_y=-0.1889 left_z=0.0428 left_yaw=0.0107 left_pitch=-0.072 left_roll=0.0541 left_gripper=0.9987 right_x=0.2845 right_y=0.0013 right_z=0.1683 right_yaw=0.0433 right_pitch=-0.5846 right_roll=-0.3207 right_gripper=0.9973\nstate[joint_eff]: [-1.2376, -5.7231, 4.1094, 1.2479, -0.0562, -0.3443, -0.0171, -0.0205, -3.6171, 6.3521, 1.0769, 0.0024, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5380b25f7e2037e1c53c0112025cb2b4b6c0653c4f3901e85256951b44a53bb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:269dcc161151e8fdf4c615b92afa2899781b21fffd3784d2783324fdaee2100c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ff9b1c4e619a1adc44af0d4c0e83021dc9a677aa710be1973f46f644decd905",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.063 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]: [-0.033, 0.8288, 0.6132, -0.4534, -0.0135, -0.0338, 0.9987, 0.8986, 1.4269, 0.5919, -0.543, 0.4549, 0.5419, 0.0091]\nstate[eef_state]: left_x=0.2875 left_y=-0.0035 left_z=0.16 left_yaw=0.0004 left_pitch=-0.0996 left_roll=-0.0003 left_gripper=0.9987 right_x=0.2041 right_y=0.1376 right_z=0.0075 right_yaw=0.0639 right_pitch=-0.5616 right_roll=-0.3133 right_gripper=0.0091\nstate[joint_eff]: [-0.0205, -1.4427, 6.9402, 1.6923, -0.0513, -0.0708, -0.0171, 0.0615, -5.3812, 6.5162, 0.6911, 0.2808, 0.105, 0.6618]",
      "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]: [-0.6804, 1.6836, 0.7757, 0.0917, -0.5365, -0.4477, 0.9987, 0.1177, 1.2266, 1.1007, -1.0153, 0.1978, -0.2245, 0.9972]\nstate[eef_state]: left_x=0.3699 left_y=-0.1786 left_z=0.0566 left_yaw=0.011 left_pitch=-0.1076 left_roll=0.0573 left_gripper=0.9987 right_x=0.2845 right_y=0.0023 right_z=0.1682 right_yaw=0.0485 right_pitch=-0.5844 right_roll=-0.3139 right_gripper=0.9972\nstate[joint_eff]: [-1.4154, -5.7094, 4.547, 0.8327, 0.1832, -0.4029, -0.0171, -0.1162, -4.3419, 6.3385, 1.16, 0.2222, 0.1783, 0.0513]\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 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]: [-0.7391, 1.7226, 0.7204, 0.197, -0.5922, -0.4808, 0.9987, 0.1177, 1.227, 1.1007, -1.0153, 0.2035, -0.2256, 0.9973]\nstate[eef_state]: left_x=0.359 left_y=-0.1889 left_z=0.0428 left_yaw=0.0107 left_pitch=-0.072 left_roll=0.0541 left_gripper=0.9987 right_x=0.2845 right_y=0.0013 right_z=0.1683 right_yaw=0.0433 right_pitch=-0.5846 right_roll=-0.3207 right_gripper=0.9973\nstate[joint_eff]: [-1.2376, -5.7231, 4.1094, 1.2479, -0.0562, -0.3443, -0.0171, -0.0205, -3.6171, 6.3521, 1.0769, 0.0024, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5380b25f7e2037e1c53c0112025cb2b4b6c0653c4f3901e85256951b44a53bb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:269dcc161151e8fdf4c615b92afa2899781b21fffd3784d2783324fdaee2100c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ff9b1c4e619a1adc44af0d4c0e83021dc9a677aa710be1973f46f644decd905",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDFS7laXkqOWfth6nlTI8jfb5sAld_-GWM5CegJQ3QZmVjMPo8nkC5gkxQfGClExO7fmAXQxtL444acpHQPKQdoRludPpe2aQ4nA6Dx8B_XVND1_-mDbR7RL6aYEzIBIFdC2xJrnTPT2pTdpOqfsX6IQqWkhiBFrHQpSrpCn-fe9sKVOg82DasTvVOKCL0-bKo4oj3pbKF7KJGQXWM8RsWbEHhK3pvyW3_f8dTE9oT02wizMfJJ1ghW3wPRp5tVORgslN7k5_rLHxG1TTevZga2Fg64sRxth0SKH36EpoaDjMLcPx6WHttwFBvMk9T5_4w0O1j7og8EF5PaVpjGkJOjv8roloHK4CVDmgF6wBLu7Uy5AjbM-twc760U7hxj5abQwiIHKa5RZ7vA15qvK6HQINYcrPHLW1Bey352xzpDli0wuCkAYOg5FodY3fimx8LXJHEBJ3ERt9XEqUxJVEa34NjaIdFP4B88PdhWDK4OnZggv_NzGE32Nxjjv79QA_Up1dHyfKWT5Y4-Iv-_OYZgoEy1flWFkW0BfXypiCxlurcevnSZ04nWUdkdBimB7El0Hc8ZUUPW0CCioM5VcGqdJblxEYC4NZ66LthzRxdXBJqGcZ3pCaLKXgV3JZSAHepTzRJO-rEdYmDU-w8TxKyb69hdinBPf0Maq5Ey5gXI3TnJMQJUd8nxCaZZm7KpAy0GLPMmj0J6NK0tTnApc8wGNyhCS_FHWTHqFq8ZA0kQlG5-iRDs2QqzytzBnzOC_F0hHa2g6GyVje3LZFqXTMV___7SodOfPO1436PMSxaHN8MlSPJXLnLx71jEbNEtK3q-D6swdtwth0HFHP7V3NO4NjhAZZiw0TnTPcjLMLsTVravXQ7u6KiSWgRiLG3HnTAOkBJYXTPX7zna0CV2HWSkvaqo6LChyLc8zEMIFCQo79Adl8QbHoYvXNjyub6wgbjTqn0hNYeH8JM_cmNgvTWA2QDblmqPLg7IhRNA9_w81T3JRml71u68eIXZuo9bWWjBtIENzxzdWOXiHQxBlbsp2bDD-rWJ5tuE7JYYhfFH89ZWWaSEO1PKrW4MnnU2iCPZ8l_xW6kWBRjCjvjEJTljNY4WtVo-OVdu7XxTWbB6-8hNxQHrWV-Si0c2GlBfMpa8P5pFhhA93Y8_h_Ff6VJlUqObk3jLbL0AGNDTSOSPQGRHI2uDGBI4j-1vnUr229IH780K-CHa6CtNMdwoRfsXQfN4g732AWZQ0eO6YoqB98wzySfbqH3txaO3sPkTvNTCWnsgD_6WMlMLQhzCpOIjp4TSFfPTTUGBdIRpKXD1tO9msB5T81RC6RZg-oAF0QFJdeLvrIld_FoLYHyh-Vyz1HsAELU6eyfJJ9O6rTrKx4fEy5Jk8Uh-njRm3rIVwtDLzYqcHdzduq965CzwVyYzyGC8Q9T8H4-mw6V4MBi1xmA=",
  "id": "rs_0f0aeae220085024016ab420c30a1887d081e31f8dc87f556e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are now low and straddling the dark fruit in the wrist view. I’ll close them and check whether the fruit stays between the fingertips.\"}",
  "call_id": "call_kK1Ta15iM1FUVJqq7USDmnZW",
  "id": "fc_0f0aeae220085024016ab420c42f1c87d0906fb278adeff76e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kK1Ta15iM1FUVJqq7USDmnZW",
  "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]: [-0.762, 1.7287, 0.7048, 0.2676, -0.6601, -0.5011, 0.1857, 0.1177, 1.227, 1.1007, -1.0157, 0.2043, -0.2283, 0.9973]\nstate[eef_state]: left_x=0.3614 left_y=-0.1902 left_z=0.051 left_yaw=0.047 left_pitch=-0.0035 left_roll=0.0372 left_gripper=0.1857 right_x=0.2845 right_y=0.0012 right_z=0.1683 right_yaw=0.0442 right_pitch=-0.5854 right_roll=-0.3229 right_gripper=0.9973\nstate[joint_eff]: [-0.6496, -6.0513, 4.0, 0.7937, 0.3834, -0.2222, 0.3101, -0.2256, -3.8906, 6.3658, 1.033, 0.0464, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520fd87c9f73748b41809567a558ed4ee0415a1664806c6c93377a9ea8b714a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f4b220e92843b99b5ce5acb6eeca9d13ad9a588df3da86414898299af3b2a18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3841c9df4d1827382404818a846836703b14d3f7657d4e1fbdfcb91492f8dc34",
      "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 · 4.631 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]: [-0.6125, 1.354, 0.7967, -0.2684, -0.4313, -0.4145, 0.9987, 0.1177, 1.2217, 1.0985, -0.9997, 0.21, -0.2047, 0.9966]\nstate[eef_state]: left_x=0.3385 left_y=-0.1432 left_z=0.1218 left_yaw=-0.0185 left_pitch=-0.1617 left_roll=0.0264 left_gripper=0.9987 right_x=0.2873 right_y=0.0005 right_z=0.1708 right_yaw=0.0251 right_pitch=-0.5619 right_roll=-0.315 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -5.4632, 9.0051, 1.5995, -0.5397, 0.0024, -0.0171, -0.1846, -3.4256, 7.9658, 1.0085, 0.0171, 0.1148, 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]: [-0.7391, 1.7226, 0.7204, 0.197, -0.5922, -0.4808, 0.9987, 0.1177, 1.227, 1.1007, -1.0153, 0.2035, -0.2256, 0.9973]\nstate[eef_state]: left_x=0.359 left_y=-0.1889 left_z=0.0428 left_yaw=0.0107 left_pitch=-0.072 left_roll=0.0541 left_gripper=0.9987 right_x=0.2845 right_y=0.0013 right_z=0.1683 right_yaw=0.0433 right_pitch=-0.5846 right_roll=-0.3207 right_gripper=0.9973\nstate[joint_eff]: [-1.2376, -5.7231, 4.1094, 1.2479, -0.0562, -0.3443, -0.0171, -0.0205, -3.6171, 6.3521, 1.0769, 0.0024, -0.0415, -0.0024]",
      "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]: [-0.762, 1.7287, 0.7048, 0.2676, -0.6601, -0.5011, 0.1857, 0.1177, 1.227, 1.1007, -1.0157, 0.2043, -0.2283, 0.9973]\nstate[eef_state]: left_x=0.3614 left_y=-0.1902 left_z=0.051 left_yaw=0.047 left_pitch=-0.0035 left_roll=0.0372 left_gripper=0.1857 right_x=0.2845 right_y=0.0012 right_z=0.1683 right_yaw=0.0442 right_pitch=-0.5854 right_roll=-0.3229 right_gripper=0.9973\nstate[joint_eff]: [-0.6496, -6.0513, 4.0, 0.7937, 0.3834, -0.2222, 0.3101, -0.2256, -3.8906, 6.3658, 1.033, 0.0464, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520fd87c9f73748b41809567a558ed4ee0415a1664806c6c93377a9ea8b714a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f4b220e92843b99b5ce5acb6eeca9d13ad9a588df3da86414898299af3b2a18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3841c9df4d1827382404818a846836703b14d3f7657d4e1fbdfcb91492f8dc34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDIEhjmKjRwQWgEabCuyPmdYLSE5-id20inmJfjZTuxXzL0hPLSbAUS8ReBrq5sBEZ5BxGXbC7VjC4kUed_E7mTzbtpif-05AXEzkG5Sg77U9_xx0Eg8wXVYEYWqWeM7BY7MFsdntbZvXKRLagcAmqPUbOyce0RxN76YKWsaol-OKZddf079mUiThPiTAz5i7ZXmwSEoNAx2AQrTg1DcB2V_Ni1M9wN_VMAaVzmBh60FGPCB_N4SjkXdRY4QpiYRJV7OOcYqZILe6B5h8WZRkU7k6zQySorYRvmi1MqBKJLQSfzrI-QpDTgh9VLU8GItqcJrEFWkTThywaQxk4jMMyk2zLIgQh0_e4BfBMDWnT3jOP5iMH2KZEadFigByKzddkUr_VQNPc1dvmp7KDZXAhJWuw3VhY4HZmy_Hids4AHksaHC2yfbI9mFzRRF_0rqTZPMToeHnTmAFPHU0gGDSN2QKGIrdF8tRqMZ201Z4PqMoXu7a5orrF0P6TvQ_ENDoZ7k6csuntPfKeB1ceGfXFZpLWNwCCQ81IKU_iwFrACvN5O5thH9LUH4ClqbM1npB5QT0Ro70ocEFa3We99kURWLsTlquf3iOwL6mxeuk_-Kpv5YL4ADz8WWLnWEFkGksz38oRO_jBARuSXckd-woNd8z3mk3xEE5ezzBIppoOd-mLJq2UW2jqkwAJsXnA4ickL4YyXPJGQ6drRr9Vmn--cnlnYI4q_O79gD1DhCLhg-ZDFYvMQLkWrm1RqrBWqiFlPzqnkIaFRpGLFWPqfPpufVxGTlaEvikNSkUrRa8CH4y6JPp8xO5HPcpJIiUjDprn1XIlh4LfqAOEp5UE7Clf0qy-4wBSJaT1Zp7pqPDZxcXP7P9Od7meg7wNq8kHuLKMsCiNM4bQiswlI7-dLvUcfOpZtbc-JLFnP36mU7ZsPCrMSwO6jxeibQ2N3NDuKBNpO400EHXLjf-_o3HpK1l4_xepsvSbZPUimMxdSnweGfMUK1Y-A9ZCJLEROGFmoeheefBx_Lla2JMbEXfBvVAmYnYNlTCpGO-nVva4aTY9Z5UXDBgsEqW_U8nnUTNdioKfYEjm_YoW7MDzIZEx61GihHjnaPb7lmiweHUhK5hYTxFjDjD7RuGe_CP-kZgUie_rZb9JGKwrk1ajjznYFfKZuiFN4kmS-xSRFBPqlcpPryMtGBwGNRCOjXvtKRscjHwMfF1AqEK_JzodJAxWjJ_egvEAfZi_lHlo1GYVCIecJ6of76DAYuzLhaq1f3FMm8tRGCNzoat6nPQ4igSqgnk757rgIpuG6QtSOwyf1D-wVAhreBDJ_yConIGhHS_sSDHcG",
  "id": "rs_0f0aeae220085024016ab420c6f81c87d0971e2283659a37f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left gripper settled partly open around the dark fruit, suggesting it caught something. I’ll lift it and verify that the fruit leaves the table.\"}",
  "call_id": "call_xIKCq9VhFYDk56sdpq3Y4ik6",
  "id": "fc_0f0aeae220085024016ab420c757c087d0ab8be85e45a90cba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xIKCq9VhFYDk56sdpq3Y4ik6",
  "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]: [-0.7597, 1.5108, 0.9474, -0.1997, -0.6605, -0.5217, 0.1848, 0.1177, 1.227, 1.1007, -1.0176, 0.2043, -0.2283, 0.9973]\nstate[eef_state]: left_x=0.3634 left_y=-0.1908 left_z=0.1507 left_yaw=0.0607 left_pitch=-0.0079 left_roll=0.0251 left_gripper=0.1848 right_x=0.284 right_y=0.0011 right_z=0.1681 right_yaw=0.0441 right_pitch=-0.5873 right_roll=-0.3231 right_gripper=0.9973\nstate[joint_eff]: [-0.4034, -8.7043, 8.8547, 1.3358, -0.2906, 0.1929, -0.1001, -0.0479, -3.6855, 6.3795, 1.0867, 0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbfa3cbe1c65c680d733268846f814f3bc8ea61fad8b5678973754cf1c26c80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26d88a5b7c6cb1557dfa21a73775376465695ea44e5f1c3ff7ca44a991ae12c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0c6476b2333f83e1549c4f220cd5a61e8259ff7c7d699dbc4e3ea6eb4223e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.723 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]: [-0.6804, 1.6836, 0.7757, 0.0917, -0.5365, -0.4477, 0.9987, 0.1177, 1.2266, 1.1007, -1.0153, 0.1978, -0.2245, 0.9972]\nstate[eef_state]: left_x=0.3699 left_y=-0.1786 left_z=0.0566 left_yaw=0.011 left_pitch=-0.1076 left_roll=0.0573 left_gripper=0.9987 right_x=0.2845 right_y=0.0023 right_z=0.1682 right_yaw=0.0485 right_pitch=-0.5844 right_roll=-0.3139 right_gripper=0.9972\nstate[joint_eff]: [-1.4154, -5.7094, 4.547, 0.8327, 0.1832, -0.4029, -0.0171, -0.1162, -4.3419, 6.3385, 1.16, 0.2222, 0.1783, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.762, 1.7287, 0.7048, 0.2676, -0.6601, -0.5011, 0.1857, 0.1177, 1.227, 1.1007, -1.0157, 0.2043, -0.2283, 0.9973]\nstate[eef_state]: left_x=0.3614 left_y=-0.1902 left_z=0.051 left_yaw=0.047 left_pitch=-0.0035 left_roll=0.0372 left_gripper=0.1857 right_x=0.2845 right_y=0.0012 right_z=0.1683 right_yaw=0.0442 right_pitch=-0.5854 right_roll=-0.3229 right_gripper=0.9973\nstate[joint_eff]: [-0.6496, -6.0513, 4.0, 0.7937, 0.3834, -0.2222, 0.3101, -0.2256, -3.8906, 6.3658, 1.033, 0.0464, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.5108, 0.9474, -0.1997, -0.6605, -0.5217, 0.1848, 0.1177, 1.227, 1.1007, -1.0176, 0.2043, -0.2283, 0.9973]\nstate[eef_state]: left_x=0.3634 left_y=-0.1908 left_z=0.1507 left_yaw=0.0607 left_pitch=-0.0079 left_roll=0.0251 left_gripper=0.1848 right_x=0.284 right_y=0.0011 right_z=0.1681 right_yaw=0.0441 right_pitch=-0.5873 right_roll=-0.3231 right_gripper=0.9973\nstate[joint_eff]: [-0.4034, -8.7043, 8.8547, 1.3358, -0.2906, 0.1929, -0.1001, -0.0479, -3.6855, 6.3795, 1.0867, 0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbfa3cbe1c65c680d733268846f814f3bc8ea61fad8b5678973754cf1c26c80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26d88a5b7c6cb1557dfa21a73775376465695ea44e5f1c3ff7ca44a991ae12c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0c6476b2333f83e1549c4f220cd5a61e8259ff7c7d699dbc4e3ea6eb4223e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDNm42JK-L-DvQyLrvHPdfMP9FDlr0aFE6h5-WOaTX3A_lSTrL1kJtx9nKfYO0eykSDoacWe2Reb-JDjkX1GYXvdi0rCXrMwq8p1nxzM4C8o7qxxqZ3V6Z59tjwhL49EJ9B8bOSmjndEOAZu7qG7vK67Dj8tg7RlvcNmowM4eiwGlk7u8DVFwBn2rHGwF4UYIG4ESMcPmLYQ6w3Chtkfi1Cidetjl5IfZAcKcw_ljRpg1DVcHGTKgKCMVDkKu9OaOjHeOe9JajPX1GX0p6iBs4OLYgybtabZikbqb_mG9YPpz-YNLLK7J_tQNkw7-cljzAYnmGyT2P_H4S6Zx6rV-tt0gUX_mrZdOyBKr2dMPGitIefSxJkb-1veN-cwPB3IQeT06QebBGkXWJlqTqUzvRp3IXV-bbXcCiy6rQcTqG1PxEvp-R0OipjNfR3BcDE3w-GqYYd5lzE2xb2_SjrjBMBykyPAIx1N2ZroziVmGOAbZLCk0Odruzm4XBbhHxTGb_61QTq81Zwv_GLGK-IZZRG3j49SpNGIeP-om0BHRYYCRq7ndEix_bBw1ZZYeQc91O2XL3r6IWi99X7Icxyjol8wE7R924AM6uzvW9rc48pWvdAP25ddZLO3llBck9rYR56TDohuQ5LZwagpy9ih85pRIkAMaBCvcGsLa2tJWZJwMLqXhmhgoq914LU0D8DTQRiO5l95jE0yWgKjxaZVjZqm3zFAiJeMluKwYIWC5_yCam5CiKltHns3ucAis1_C0aaoJok-iI89L8UVzfMXLgtkcJE1fbpjHFwYbK7UuJL59y06gk3a3ymX1rjOKVCBHkf5mUoSWX00kXWNppFuGfuPfEcfza9ZQ70-k_xg8O-xLunDznY-FuhAju9bdfcfLOja2oj4kW1DQwsF3LRWRvSQntt9HINEni5yfFvw7_dE0UufZ0P9vJQe5JR9abR3IyV9kvMMVSXDCN_OxvMRUbKScfQ_esU4cwb3vIbOxLzzeujxn5QRqOhs7f6HPpvNm3NEQ8RPoq7rZ5wI9KuhIkJNz-_PMss1RFKOv6bHKKt1tbDtm-sKL1fHQOrtZ5UzUajfNzlt1kaGzEzsRrhOT4CSaSBCRe-m8xguNmTDguQW1tQ_VeJo5vhQXFK2usa8XQeeh4qiTC-E3hYl8rL8homGgSiy3upNlY7GDFHium1ct5xwqvCWGbzbrgNSTB4AZrid6VwlGJZ_Fm2WE6gLrs7DggmBypi2IMoM6gZy6VsOIlxqsXEC6tWIEvw2B0E1I-oyefRuPCIRbz4GXk1uk4rgsAeshRmJ004tsA3uoh6kRocqCyMDevu6I2zSgxYUEFgOT5bNMwy3aRZjRL1DCStbweP1n-ZJH2qRV2RbNiPpWbyWW09GI4uTyNR7poetPNlN3oCLyVd_VvLXhDqqaZCKEm6nDSE3MlpXEvffLSc0j91tlFeivVK6i5fR5wJIIEr4D-lirLFuCuoRPv-eHogO2GKrUEljE_aTIg9KScnML77Zq1bop3wyPy4uxWU4YALVEpDplHCPb_69kAAOjESgUZCoVfUQYIfLL4s73MKW-arOa5VzAcdzjzvYKKyUSMwpgYy2lHgMJ0uerAa1hBmscZ149wFx0DYaErgSw7UrKxqO0zaStT4ZL9c109eYtWq0d2kbV6aX-qdX7Tm0SxpYQ2PIC-6RsYc11Hi50DyOkKFDmqTHdH8yzfJ_mA0CZBbQrahjV_apwgMkvc0Z8cMmIF6WIqWe_5ORoHbO-8g9_jnptbZrzW0kK0sTp1lHpm1IxN5AwXtYrWzqVtN3Xpm2fvSWeArzZeRoFBOvOC8RQe1OlVFCaZf49pLoZ9BCykoN4TsaQ-_BOVeR087PmvuSO6a4sDGRkJKcaSeVPeuZZ7rd2pEZaRFoQK4mqOK-ebyZ7uTObBQBcghTeLfMGamSvDrhbxeekpaBlhNgkIZ3znt4h5d4j_dRjmv0tUqWe3AG6ffP6Efhvwm9afEgpp-irAgeUweS70wo9fSA8B8NPDHrvA3DNi3Yk6VFF1QOdkr8gPpmShnuEA5hgarx9IyMJBl0fSpfllGP3WnFcPgSvebvFpYueaL0j70nfxHrsKdUU2FJfeVPgyeWMzs7HxCuAXBp_9QyDJN1Kmo4c4nC5ai8yyml1h4EVOdPYz6Ir5E-k0KE7VjThiVqwW1t2IK1gVFuoqq_RfUaC9h32tef-J3jmOC6JNLSl8xrIkjNA8MesuWUdtKUeakyswvsPdpaZZ-UFAISyZCm94dr2m9kcveB5siAn-8MbOF98yU8rg9xM3S9MUYS74JzFAUJA-2aMUHVRtMAqvFamyXSTiEty0iWI8-2XajgllLu5o2GyW60jBDfFkw0Lh2YYuxZ05kDdYIToVVOs1UBemoSkP57bL7epgB1j9MHTAT3-CUzQN-xgl_4-zopR5oEQDxsUeaZCD9Vhg1A2iWcjqSEjw97c5W9cSiRxM7ZtGjuUR3wleWozg8mFAGLVm8fvBZNqBzQB2VyIcN9P9yA6EVvgzDdOSTWQWVDRKEOX9KirElYxVPB5_RN8hN9_rafm9Kha3oOok2t8T-C2JK3VBksMO5PUo=",
  "id": "rs_0f0aeae220085024016ab420c9dc7887d0ba5cb2d966581926",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.39,\"left_z\":0.19},\"note\":\"The dark fruit is no longer at its original spot after the lift, confirming the grasp. I’ll carry it across to the blue bowl while the right arm stays parked.\"}",
  "call_id": "call_L4EMjIcnwBV1184mS6Xg4Zpv",
  "id": "fc_0f0aeae220085024016ab420cca07887d0b802c41168e79239",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L4EMjIcnwBV1184mS6Xg4Zpv",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 2.2559, 2.0792, -0.7155, -0.7898, -0.7422, 0.1848, 0.1177, 1.227, 1.1004, -1.0222, 0.2043, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4238 left_y=-0.3893 left_z=0.1812 left_yaw=0.0596 left_pitch=-0.0106 left_roll=0.0007 left_gripper=0.1848 right_x=0.283 right_y=0.001 right_z=0.1675 right_yaw=0.0441 right_pitch=-0.5923 right_roll=-0.3237 right_gripper=0.9973\nstate[joint_eff]: [-0.759, -13.4359, 8.4581, 0.7643, -0.5055, -0.0269, -0.0171, 0.0068, -3.9316, 6.5299, 1.0427, 0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef7021a1d11e54c47dc8ed7b5c8e2341093a5a6fff6efaacf43df3a4ff43c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76209579c5542c5e39672b58b95233208873338355c83e3a9479eaac97cebb6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54663d0039c12ff90561f6ad53c7a8d5f7fc449819e3e4319bdf80c434b7fb99",
      "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 26 attempt 0 · /responses · status 200 · 2.058 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]: [-0.7391, 1.7226, 0.7204, 0.197, -0.5922, -0.4808, 0.9987, 0.1177, 1.227, 1.1007, -1.0153, 0.2035, -0.2256, 0.9973]\nstate[eef_state]: left_x=0.359 left_y=-0.1889 left_z=0.0428 left_yaw=0.0107 left_pitch=-0.072 left_roll=0.0541 left_gripper=0.9987 right_x=0.2845 right_y=0.0013 right_z=0.1683 right_yaw=0.0433 right_pitch=-0.5846 right_roll=-0.3207 right_gripper=0.9973\nstate[joint_eff]: [-1.2376, -5.7231, 4.1094, 1.2479, -0.0562, -0.3443, -0.0171, -0.0205, -3.6171, 6.3521, 1.0769, 0.0024, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.5108, 0.9474, -0.1997, -0.6605, -0.5217, 0.1848, 0.1177, 1.227, 1.1007, -1.0176, 0.2043, -0.2283, 0.9973]\nstate[eef_state]: left_x=0.3634 left_y=-0.1908 left_z=0.1507 left_yaw=0.0607 left_pitch=-0.0079 left_roll=0.0251 left_gripper=0.1848 right_x=0.284 right_y=0.0011 right_z=0.1681 right_yaw=0.0441 right_pitch=-0.5873 right_roll=-0.3231 right_gripper=0.9973\nstate[joint_eff]: [-0.4034, -8.7043, 8.8547, 1.3358, -0.2906, 0.1929, -0.1001, -0.0479, -3.6855, 6.3795, 1.0867, 0.0562, -0.0757, -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 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 2.2559, 2.0792, -0.7155, -0.7898, -0.7422, 0.1848, 0.1177, 1.227, 1.1004, -1.0222, 0.2043, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4238 left_y=-0.3893 left_z=0.1812 left_yaw=0.0596 left_pitch=-0.0106 left_roll=0.0007 left_gripper=0.1848 right_x=0.283 right_y=0.001 right_z=0.1675 right_yaw=0.0441 right_pitch=-0.5923 right_roll=-0.3237 right_gripper=0.9973\nstate[joint_eff]: [-0.759, -13.4359, 8.4581, 0.7643, -0.5055, -0.0269, -0.0171, 0.0068, -3.9316, 6.5299, 1.0427, 0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef7021a1d11e54c47dc8ed7b5c8e2341093a5a6fff6efaacf43df3a4ff43c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76209579c5542c5e39672b58b95233208873338355c83e3a9479eaac97cebb6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54663d0039c12ff90561f6ad53c7a8d5f7fc449819e3e4319bdf80c434b7fb99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDRlwGG0LJ-tS8DtjL9PfD_X3-0X-SgnIPT4RLXacHdEUY4RpzOkkyy70SggXZrzH3m4d0jgCeSZZlHdymcbxlPQM3Q3ZE2cjdIpl5Hyc0jvn7ruMLTCp8PQ2mQG-djlstlg0WWXQRnCb-MqPc7_x5X_KHnJ470v_7SiXdroTGQtUQKAdJbT-LZyl0sTMFUUYdGZEII-9H9acY1zTvOTqvDqb_ATqD_afmuxxNu_eUvAQquvL1oZj_XYrSeHrQqZHUv5xaJIGRwxqK_fDTspmKtMYWSvGVrZFbtTvOIzTC8Qw06f0WGuz-m3x5byGw2VSowlkr6msYCjdHTUPPezEvVpsdtdVw46i4x3CAQ-zxvX6Tp3HQSg1DyJLaFmWI6OKyWq9WrVjJg1mN6o0rDJVzmuKaLVvWPMmzKxkpUaKjAWJPTs5DbG3qmZXHX6MIf46rIjtxLLK3MaiCtHq4FxUBbXPnW1E9dlO9-d49ev2eCwm41mboI36f47mRbuegtJtcxAsejOVPRln2ApIWTZYYZy0dJ8sby1pvvBor4ND2hSr67x9d0YSBsvDi5K_ieCCVYJ87VS4L3BP7i8r4al711xHNet-ONQAjU0fvt4mhoCHybdgzXF33NvfdVheez98bnabL27HHt06OdLCJoKeTLJoAfnC38hGWUBr33WHTXkbjE_8STsRMHKN889hxKSoaeFG_BUzLkeTcK2mBr8XbK7qk63v3aES_epUQrv4h6nRomaXZCLMBFIpUP-v39Nf0KwcSx17zYaz-cbG8Y06gXKdbOphSxEn3CPvNOZ_JfnkCq7dba4zdmP8E2q894z8Gf-l6p_UviAh_V_GwI26G-HTsEWazJqM3hxbzC5EaGU9pwK33KeXF4uU-8CV2QGirYIeWlp5vtVhr0C2-KMsqs2TNGKU_hBbAih_cpIK3SbN-5RONzlpN-pBPgACoYejr4HA3GlhOSYB5DC6Z9LfXviG9jPlHmh6D79M-vPZO9TH5lCqouHbTXuR9GBrm0vhwDVR0XOr2O7E1LKDKT-zXqRWyo6Z4BFgM6w3ejzfWTdJKXCD96FJq-0KAJuELTD7iwXbm90rV-_q9VBip1GUPUNzPi6lf4FwRUS7FqM8GTFvwYegtxBlm3N_GHQITkKP-dHmTbc3tbNpoD3MUZwbtucmK2bqoU1FkqJhztnZKlG81UOwqkRwJKR4j1qsnX5iewME3ZuqZ-y-kOlw374SWN8RHd5QVuS3BvwpcJoG3h7UuUZ7sS9tST-dLm7tjWJmR8R_X2I7DWcHLaO3noIEoFwaGPSWm1KYHVjULNCT0MbckKyG_vFq36KXOsN5JGUMsYMAPi3z2uLHNZfyLJ1spKwixUFqM8YEom75ZA_1I8Fm4sPTCUshdb4qmk4ZTQPV2Smr2i8-27LsB6EPtgWocx77ubcvCd2gIav4vW0ytxpSMd7otO2-ocVOFECw79WtbTHG33Chy3dPmVwuxd9avA6z7CwDE-cVSh-sIX8t32Zg2aR8BupluyCC77ZfB84W7EEeR3dszNb5e403hCHkc4y-C4Z_GKHBVwtZSQyEvekxglMIJQThMTdIBqIuHa4MQcEhWj9mH6g_X0OwMyTf4Pw1HHdwZQnRNpgZ4u-75F3WGTLC2P6bOhjDClbwcjZDPvpMTf2RjmB0BnOP5zw28utzGFMEA_KF0qtJ_1wUTCkCM=",
  "id": "rs_0f0aeae220085024016ab420d02b7087d0986ba312f9700d1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The left gripper is above the blue bowl, which is partly hidden beneath the arm in the overhead view. I’ll lower the dark fruit into the bowl before releasing it.\"}",
  "call_id": "call_4USIP74Hfw379rGn19eGxag8",
  "id": "fc_0f0aeae220085024016ab420d1292487d0818f18a8395c8f43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4USIP74Hfw379rGn19eGxag8",
  "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]: [-0.9691, 2.2906, 1.8053, -0.4564, -0.7856, -0.7418, 0.1848, 0.1177, 1.227, 1.1004, -1.0225, 0.2039, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4192 left_y=-0.3835 left_z=0.0918 left_yaw=0.0578 left_pitch=-0.0391 left_roll=0.0418 left_gripper=0.1848 right_x=0.2829 right_y=0.001 right_z=0.1675 right_yaw=0.0445 right_pitch=-0.5927 right_roll=-0.3233 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -12.6974, 6.5026, 1.5165, -0.4127, -0.0269, -0.0171, -0.1162, -3.8496, 6.4068, 1.0281, 0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b96c8ac7ba851b139166145f49ab2de54cbe99efdad8f8ab2cbf004e57c3db9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da1b20ddf5fd525bbe9858e8d7d0a144f06e94b2134249d2c0fea9c256751e99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a52c913b3debdd6feadbbf87ec4beee75ea1cf0641979be4ef7707b91639d15",
      "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 27 attempt 0 · /responses · status 200 · 4.097 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]: [-0.762, 1.7287, 0.7048, 0.2676, -0.6601, -0.5011, 0.1857, 0.1177, 1.227, 1.1007, -1.0157, 0.2043, -0.2283, 0.9973]\nstate[eef_state]: left_x=0.3614 left_y=-0.1902 left_z=0.051 left_yaw=0.047 left_pitch=-0.0035 left_roll=0.0372 left_gripper=0.1857 right_x=0.2845 right_y=0.0012 right_z=0.1683 right_yaw=0.0442 right_pitch=-0.5854 right_roll=-0.3229 right_gripper=0.9973\nstate[joint_eff]: [-0.6496, -6.0513, 4.0, 0.7937, 0.3834, -0.2222, 0.3101, -0.2256, -3.8906, 6.3658, 1.033, 0.0464, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 2.2559, 2.0792, -0.7155, -0.7898, -0.7422, 0.1848, 0.1177, 1.227, 1.1004, -1.0222, 0.2043, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4238 left_y=-0.3893 left_z=0.1812 left_yaw=0.0596 left_pitch=-0.0106 left_roll=0.0007 left_gripper=0.1848 right_x=0.283 right_y=0.001 right_z=0.1675 right_yaw=0.0441 right_pitch=-0.5923 right_roll=-0.3237 right_gripper=0.9973\nstate[joint_eff]: [-0.759, -13.4359, 8.4581, 0.7643, -0.5055, -0.0269, -0.0171, 0.0068, -3.9316, 6.5299, 1.0427, 0.0757, -0.0513, -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]: [-0.9691, 2.2906, 1.8053, -0.4564, -0.7856, -0.7418, 0.1848, 0.1177, 1.227, 1.1004, -1.0225, 0.2039, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4192 left_y=-0.3835 left_z=0.0918 left_yaw=0.0578 left_pitch=-0.0391 left_roll=0.0418 left_gripper=0.1848 right_x=0.2829 right_y=0.001 right_z=0.1675 right_yaw=0.0445 right_pitch=-0.5927 right_roll=-0.3233 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -12.6974, 6.5026, 1.5165, -0.4127, -0.0269, -0.0171, -0.1162, -3.8496, 6.4068, 1.0281, 0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b96c8ac7ba851b139166145f49ab2de54cbe99efdad8f8ab2cbf004e57c3db9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da1b20ddf5fd525bbe9858e8d7d0a144f06e94b2134249d2c0fea9c256751e99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a52c913b3debdd6feadbbf87ec4beee75ea1cf0641979be4ef7707b91639d15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDU90q-3jB-2T9-OgLuNgsZo7rsmDnEVhtolUfk7uezqosNwDkSUTONSAy6Y8hcqhez9eW5s_vVv_rUpEEMC23vqoSzkXvGltrgCv7VExawXmEf9G7g9ByIxW6gp-vfALABSfBxshYhHxZ4aDZdD22bZKVVUQ-HWvsLRgx8Eqaazu9ImNKpMueQpUBy7FtWHtQVkJk6stvYRq0B2HWdhjCA4gfdR1ejgPGkMbnb-PKr0JMFTHTyNs4Zmh0wLxx7XsIpN6OwncNg2i5ayeTvYGCDIZ5TDXG94TfH2Aj-C6_pS82G1F3OPLDPu3lzzmApbfqsi6ibHgU4YGnoEEz66t1jOoM2iJ87nOAc93YPqUduKm6owfPHhtAJ8i4zTm7nRunsWnDXbceLkaLlZTy4YYCzab2U3yBAOtEd2vEkip3euaA_YaKUdG-fz8fdWox0bUavXhRPw_ktuQcak9QouiTOIMyzhv19dp5Rg6GHnR4IZc65MrHKheqe1FD-3eGT9Rfm1SlN1WFgbcSp1F81VgDvwThCDgFkiVFhg4yeelmXTR92uevLB6I2lObH0r-A8pNdFmMBskwNmpQrzgkFfakT8rgd2d7__ZzHNAkYEXDKxlJH2G-Nm-cFk5nJAdfIpvMRsHnB4xD52IDQZ-LNaxnysp4gmtdsYGHR-iAiwd0xhur_Cl8MaRDCQMnYgCiUbdjpsvV1pA2ZeyGQk079pU8dSSVMCH4QlVao6061Rc7CYeFMQZ5hVc14fixwj02logJhlVjj0uRDgcQK-fGcNSNIQk2rhQ0RxsmAjkrHVhU4aj-b6YoLlWjhExuzwSc8noxy6J1aAeTztbzYq2ESG_SHovkzWslyw5CeQYYhvsx77y2b-5Me9jZd3gkoevpP_JMxcCHS732d7sURRhiCsJozxd4HzOTwEQVhF8o7UA72AuONrW-T_HpsqOfQh18pKGueAblMLCLIWHtbRW5Cup47cDIchqhs6hif-cH8Nq1EOt79XtJTGXAC7rJNhPqnwrKS3aPdUIA_QGfLKX6DC1PtS6iqHeh69-eeEt6BjqZuvl2I-w3DqSO6GqVEI9E3LlH0TMHTNH4uURNUfoiEiMWN0z8G5fa9lD5wwxcezAAt3CKyieoDNeCzFIiWSYBgnprNxo--DaIA23DUBHWV892zB34g4DohmenlinqmiFFoLqDNFgsoAtFXPq0qcjvVRwskyXk-Xc1Ye6C-JIeI8FWoyQVxTQRxER5ea-gXq-yF6yLindYj7v8OOgqP6vBOuHYmokw_Zx0wFOnPQ3A3QuiXJV7UazD5kP_sT2GztLxqraEx_r5SiimP1_L8k5hyxnSFUz9VIXg1QRXG1vjD9Lyymwt0lmd-R_S__gzqmbLInh0=",
  "id": "rs_0f0aeae220085024016ab420d3709c87d0ae3d53d5b8e2102e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is low over the blue bowl’s opening. I’ll open the left jaws to drop it in.\"}",
  "call_id": "call_XPTSUyjkP4SW6UV0t3xUQ5sB",
  "id": "fc_0f0aeae220085024016ab420d3ec6c87d08bfc793944761eb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XPTSUyjkP4SW6UV0t3xUQ5sB",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 2.3043, 1.7905, -0.4526, -0.7853, -0.7498, 0.9953, 0.1177, 1.227, 1.1004, -1.0225, 0.2039, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4175 left_y=-0.381 left_z=0.0796 left_yaw=0.0629 left_pitch=-0.052 left_roll=0.0563 left_gripper=0.9953 right_x=0.2829 right_y=0.001 right_z=0.1675 right_yaw=0.0445 right_pitch=-0.5927 right_roll=-0.3233 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -14.4342, 7.8564, 1.1697, -0.3639, 0.0269, -0.105, -0.0068, -3.9179, 6.3111, 1.0379, 0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a0008c063b11725b618bdb9beb9e5f063637fbee1f637dba0539cd75221ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540d1fbee34909894803bcbc1aeb95c61d7e5bb5faca6ca0e6f5e42a81cb920d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e970ac82cb2b2472a8af846aeb15d7427b4f9741a55db257b534257ba9c556",
      "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 · 3.973 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7597, 1.5108, 0.9474, -0.1997, -0.6605, -0.5217, 0.1848, 0.1177, 1.227, 1.1007, -1.0176, 0.2043, -0.2283, 0.9973]\nstate[eef_state]: left_x=0.3634 left_y=-0.1908 left_z=0.1507 left_yaw=0.0607 left_pitch=-0.0079 left_roll=0.0251 left_gripper=0.1848 right_x=0.284 right_y=0.0011 right_z=0.1681 right_yaw=0.0441 right_pitch=-0.5873 right_roll=-0.3231 right_gripper=0.9973\nstate[joint_eff]: [-0.4034, -8.7043, 8.8547, 1.3358, -0.2906, 0.1929, -0.1001, -0.0479, -3.6855, 6.3795, 1.0867, 0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 2.2906, 1.8053, -0.4564, -0.7856, -0.7418, 0.1848, 0.1177, 1.227, 1.1004, -1.0225, 0.2039, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4192 left_y=-0.3835 left_z=0.0918 left_yaw=0.0578 left_pitch=-0.0391 left_roll=0.0418 left_gripper=0.1848 right_x=0.2829 right_y=0.001 right_z=0.1675 right_yaw=0.0445 right_pitch=-0.5927 right_roll=-0.3233 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -12.6974, 6.5026, 1.5165, -0.4127, -0.0269, -0.0171, -0.1162, -3.8496, 6.4068, 1.0281, 0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 2.3043, 1.7905, -0.4526, -0.7853, -0.7498, 0.9953, 0.1177, 1.227, 1.1004, -1.0225, 0.2039, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4175 left_y=-0.381 left_z=0.0796 left_yaw=0.0629 left_pitch=-0.052 left_roll=0.0563 left_gripper=0.9953 right_x=0.2829 right_y=0.001 right_z=0.1675 right_yaw=0.0445 right_pitch=-0.5927 right_roll=-0.3233 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -14.4342, 7.8564, 1.1697, -0.3639, 0.0269, -0.105, -0.0068, -3.9179, 6.3111, 1.0379, 0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a0008c063b11725b618bdb9beb9e5f063637fbee1f637dba0539cd75221ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540d1fbee34909894803bcbc1aeb95c61d7e5bb5faca6ca0e6f5e42a81cb920d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e970ac82cb2b2472a8af846aeb15d7427b4f9741a55db257b534257ba9c556",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0f0aeae220085024016ab420d68e6487d0a92fb2973d4e2c94",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.18,\"right_y\":0.13,\"right_z\":0.14},\"note\":\"The dark fruit has been released, and the yellow fruit remains near the table’s front-right area. I’ll park the left arm and bring the right gripper over the yellow fruit for another attempt.\"}",
  "call_id": "call_KFW79vsegkLrntH9uAPGInDX",
  "id": "fc_0f0aeae220085024016ab420d8732087d0a04b6363d347afeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KFW79vsegkLrntH9uAPGInDX",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "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]: [-0.1383, 0.8337, 0.6559, -0.4442, -0.2249, -0.1253, 0.9964, 0.9497, 1.2133, 1.0019, -1.2182, 0.4309, 0.5827, 0.9973]\nstate[eef_state]: left_x=0.2945 left_y=0.0024 left_z=0.1822 left_yaw=0.1218 left_pitch=-0.0348 left_roll=0.045 left_gripper=0.9964 right_x=0.1805 right_y=0.1316 right_z=0.1385 right_yaw=0.0787 right_pitch=-0.6065 right_roll=-0.3205 right_gripper=0.9973\nstate[joint_eff]: [0.1846, -1.7709, 6.8034, 1.7363, 0.105, 0.1636, 0.0952, 0.3214, -2.9607, 6.3795, 0.4469, 0.3932, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f833c420a0491da2e7ba395a56336cf9bfc25bc25729edac254ca05beb32cd98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d01d087f812b281715f68796509c641a1ab9f19b39ce3ed9458e3fc385f5446",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7146cafad33e9bfb504d223b8b8dcca3c5a69ee92bf6ff0bcd10dc02cb822c2a",
      "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 · 3.193 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 2.2559, 2.0792, -0.7155, -0.7898, -0.7422, 0.1848, 0.1177, 1.227, 1.1004, -1.0222, 0.2043, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4238 left_y=-0.3893 left_z=0.1812 left_yaw=0.0596 left_pitch=-0.0106 left_roll=0.0007 left_gripper=0.1848 right_x=0.283 right_y=0.001 right_z=0.1675 right_yaw=0.0441 right_pitch=-0.5923 right_roll=-0.3237 right_gripper=0.9973\nstate[joint_eff]: [-0.759, -13.4359, 8.4581, 0.7643, -0.5055, -0.0269, -0.0171, 0.0068, -3.9316, 6.5299, 1.0427, 0.0757, -0.0513, -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]: [-0.9691, 2.3043, 1.7905, -0.4526, -0.7853, -0.7498, 0.9953, 0.1177, 1.227, 1.1004, -1.0225, 0.2039, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4175 left_y=-0.381 left_z=0.0796 left_yaw=0.0629 left_pitch=-0.052 left_roll=0.0563 left_gripper=0.9953 right_x=0.2829 right_y=0.001 right_z=0.1675 right_yaw=0.0445 right_pitch=-0.5927 right_roll=-0.3233 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -14.4342, 7.8564, 1.1697, -0.3639, 0.0269, -0.105, -0.0068, -3.9179, 6.3111, 1.0379, 0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1383, 0.8337, 0.6559, -0.4442, -0.2249, -0.1253, 0.9964, 0.9497, 1.2133, 1.0019, -1.2182, 0.4309, 0.5827, 0.9973]\nstate[eef_state]: left_x=0.2945 left_y=0.0024 left_z=0.1822 left_yaw=0.1218 left_pitch=-0.0348 left_roll=0.045 left_gripper=0.9964 right_x=0.1805 right_y=0.1316 right_z=0.1385 right_yaw=0.0787 right_pitch=-0.6065 right_roll=-0.3205 right_gripper=0.9973\nstate[joint_eff]: [0.1846, -1.7709, 6.8034, 1.7363, 0.105, 0.1636, 0.0952, 0.3214, -2.9607, 6.3795, 0.4469, 0.3932, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f833c420a0491da2e7ba395a56336cf9bfc25bc25729edac254ca05beb32cd98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d01d087f812b281715f68796509c641a1ab9f19b39ce3ed9458e3fc385f5446",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7146cafad33e9bfb504d223b8b8dcca3c5a69ee92bf6ff0bcd10dc02cb822c2a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDgP9D5CwRzIzyDT6schO0NUW47g3TutxVvNiB8CfbIkF5ZTBC0OtOXaTXlIefR4bzJN1QouUiUHPIOrtBOhWYIl91hoHkbp5AFnyxsLT3-ZBkWSP5Rp7jMy2GhC0Kt4HQGqNS7LFyl6a668UbEsXAueJVbAF9QGEehESpJX_WaBhQYkAYvo6FYyEoTcYGCYLfXKZHb8lW-dV7knWHi211tt9xNnUoqUIfkSbFKx9vr6j8VeYoFrS3Mx2CZ_L_mnfZuVnHKVN-1uFbQgD2gJ6rEVNKS-MBos_64h2g49B8aVZP0MNuX6pU3TMap-7VeyRDMh--ixkqHorSbmXqtqVkngmXRGZuH9hphJI_WrNp3M0rulWWGkpBYpsgDifdcY7gH4S6RshPvNf4aaBdVZzpKRimDhDX2VHacb4VCWBT5LX_oZs46Kdcekv392rMmWW-srI1Uhz8gf0kSSBlNEOcbuZ_Pr_7iAtj-d6ZOWWVydcAzxuUImago2FvMFwcsLkx3n-iT77lARpxuQ5AaS9G5ecHEIMhM31obMyVJzLKgycKwfgr6z_SLUm20LpJlg6QAq_K6fnO2UIx0apALeTJ09A7a728LxHE-tmNg3kJm0DwVeAJ65MZbjlPu50fRdr6IOvzfDKpLgXysqjoTeH9Om0Gc63Y0HNhAq_TZioETFk_suBVWz1n_CyX4d9cgLyy040qWcjB_OwpkarPoxkIQOtaQBkduwJgBaoZQE1CDbz4ItyFy1AsWi18K6hZYXRMpYdoOKtnmRlQ-KtifXbzzfi_ZSFQLVKR30hdBDT-Zh38YYCEWIamM6LP-4UuhNCdqAblRxryG3xlBJvCejpnKTMvmTLc04l_ukdGjt8ZCMX-cm4B6rJqJHN0k0FY240dniL3H7VsUVeNkN_mEfD3FjEslUpmM0f9-03h0LT3wttkxuQgatOKTKg-cYpd_4ixgiIpWPNz-uSdw2aAMGorH_mEm-u3ySxD04XTbvssYf82lGwyi3nPsO73ajJ9eN_h055cby5gkZyOSm7Z0M7LIz_6_pXQz9hVZLdmuAq8SK-rKItXL_v2fi6nh8YgSBd7O_YKZiSSfNvh5REyx59-36zPrMzTrEtNgCo557tv-wCH2g7t9JThdZh5jju8h6J-rAp8n1R2osDEWeRAiuMtg8oSacGk30QQpuSVSbcumcsWBTrAYJn_0zLjve5zfqbVY_jAmdXSPxcLFhA_YXQN-3ttZCiCxLV7UlPtJGrqcbQ6qtI71KYsiyzzTde3wV41MPwIuLWBK-uGOfZLMam3AAyPTm-UAB-Ruy4NISnTAGZFm8mmZG3Kw6FUV2OLLCuonvGp9fjCWK7HPXO6huINg8jQKjclGSgCx862L5a_eYMEdnxxXQUoleo3_nctijel8EMw6tgC04N6spawKCe9uKagCE5n3qFlSfG7gK8ZV436yBuQ_PP7gheTxuPK1v6Qa4_MDs1fP6P0DhSghaF3B8L9FdaEkokoH-_AJYamxTyJgyqLhFrYxkWbN74wWhU2pmMV132jfZXeaM4KJS5ASPKF11Rd-q7LkIUdn7gZjIznKH8go1kN1MetJRn9lKMj0feaP5kIPGnBbTj5ndjSYlLbgRAzdIrvBKOJCDrY_EnDSWgLE6pksOTfkpvu7VzWugVXusFxQaOgNQxkLbLZRx-GGGhcEPjDCWUYhW3WdOrGVYWCbC0OSQLXhNDw79KLJut4_LFC4PJTm3kRPT_Iti730sFR3HHWL3NSwVfQS0bZ2BKftQaspV04ViNSdnC2SGg17FP08cR1FG-bJ1DWYV87RMFFBz460OjT2qgxWRxYF_XxhE8gUubxJv6_0i4IJ9hTt0lmcyn-aazQS76kxeOXozul8xc6HSw0F3NznK3WD2QOV8FSxKuX6qjGuNNcolhKKF6eAeRBnDZIPQNHHx4jQ7MCVE5F3neZIPOLhBdDEeDoKB6l7kPeNFqdJ1i7H1jdjgLILiolhX6-xbD0PgUNK8PYIWc6bdlKcgBtN8a0YLpi1dGL1-KDfuVrj_8bqwMsFnUnVD63ETvO6ggHVMILCvhlMUg68eQ-R7kXq4VBLL2K1lP4hRR8ILtEJ7ky7Mmc1D749UWiEe7edsJHj4wi1hJl_ycMwKR_mu20WY8aYDuSGS2uNDpvhrABnDOAnMCJ5mMyluJ2HjyVmlravmoMoNRp9mY9uKalchINEJmFUcxjGHPh5-jELlqWpFb0d6WAgLSqOFC7Hq6L-jZk_Q0xEzcZuPXOd6QYab2tiAUbrIRYRaVthfULzlToX2rh0",
  "id": "rs_0f0aeae220085024016ab420dda9e487d085cb60b73b5e5793",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.21,\"right_y\":0.15,\"right_z\":0.075},\"note\":\"The yellow fruit is clearly visible ahead of the open right jaws. The dark fruit also still appears beside the white bowl, so I’ll need to revisit it; first I’ll advance and lower onto the yellow fruit.\"}",
  "call_id": "call_nUSG7tqsxGDiV8g4nwAB4Ch8",
  "id": "fc_0f0aeae220085024016ab420dfb00c87d0b10834d4eb350b41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nUSG7tqsxGDiV8g4nwAB4Ch8",
  "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]: [-0.1356, 0.8375, 0.6559, -0.4671, -0.2161, -0.123, 0.9965, 0.8993, 1.356, 0.8639, -0.9726, 0.4225, 0.5365, 0.9973]\nstate[eef_state]: left_x=0.2915 left_y=0.0021 left_z=0.1765 left_yaw=0.1163 left_pitch=-0.0619 left_roll=0.0486 left_gripper=0.9965 right_x=0.1984 right_y=0.1391 right_z=0.0773 right_yaw=0.0428 right_pitch=-0.6441 right_roll=-0.3688 right_gripper=0.9973\nstate[joint_eff]: [-0.4718, -1.7709, 6.9675, 1.8974, -0.1734, -0.022, -0.0024, -0.4718, -4.4103, 5.5316, 0.5055, 0.315, -0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a7599684c51e1fa5cc388deba95b76664a91f3c259a537d73d85c3841813e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:635e70975b76405dee6963ff93aa8beb4920d14ffa3769506c76ef179d2d5df9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84e00d17c1249fb59555bc7a1133625ee866b957cd59265898c6f4886b10b9d9",
      "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 30 attempt 0 · /responses · status 200 · 2.288 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 2.2906, 1.8053, -0.4564, -0.7856, -0.7418, 0.1848, 0.1177, 1.227, 1.1004, -1.0225, 0.2039, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4192 left_y=-0.3835 left_z=0.0918 left_yaw=0.0578 left_pitch=-0.0391 left_roll=0.0418 left_gripper=0.1848 right_x=0.2829 right_y=0.001 right_z=0.1675 right_yaw=0.0445 right_pitch=-0.5927 right_roll=-0.3233 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -12.6974, 6.5026, 1.5165, -0.4127, -0.0269, -0.0171, -0.1162, -3.8496, 6.4068, 1.0281, 0.0464, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1383, 0.8337, 0.6559, -0.4442, -0.2249, -0.1253, 0.9964, 0.9497, 1.2133, 1.0019, -1.2182, 0.4309, 0.5827, 0.9973]\nstate[eef_state]: left_x=0.2945 left_y=0.0024 left_z=0.1822 left_yaw=0.1218 left_pitch=-0.0348 left_roll=0.045 left_gripper=0.9964 right_x=0.1805 right_y=0.1316 right_z=0.1385 right_yaw=0.0787 right_pitch=-0.6065 right_roll=-0.3205 right_gripper=0.9973\nstate[joint_eff]: [0.1846, -1.7709, 6.8034, 1.7363, 0.105, 0.1636, 0.0952, 0.3214, -2.9607, 6.3795, 0.4469, 0.3932, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1356, 0.8375, 0.6559, -0.4671, -0.2161, -0.123, 0.9965, 0.8993, 1.356, 0.8639, -0.9726, 0.4225, 0.5365, 0.9973]\nstate[eef_state]: left_x=0.2915 left_y=0.0021 left_z=0.1765 left_yaw=0.1163 left_pitch=-0.0619 left_roll=0.0486 left_gripper=0.9965 right_x=0.1984 right_y=0.1391 right_z=0.0773 right_yaw=0.0428 right_pitch=-0.6441 right_roll=-0.3688 right_gripper=0.9973\nstate[joint_eff]: [-0.4718, -1.7709, 6.9675, 1.8974, -0.1734, -0.022, -0.0024, -0.4718, -4.4103, 5.5316, 0.5055, 0.315, -0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a7599684c51e1fa5cc388deba95b76664a91f3c259a537d73d85c3841813e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:635e70975b76405dee6963ff93aa8beb4920d14ffa3769506c76ef179d2d5df9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84e00d17c1249fb59555bc7a1133625ee866b957cd59265898c6f4886b10b9d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDk-ajpupF3hKdWegNm8O-lxIN0GQOkPMjHxykd0BeJUVKR04ZEgMlnt36fWtw1yO-qhiTA0oj3pkl0ZFgjDmYBijDB8YBYcnorJ14wrIZF4j8L8QL4IIS-27a2pYFxfGHuSTMqG9OMzO6Oge0QOBxmk8Y6ar3hEMn62elLXrxqJM-1YL6sVmZZrfZygb9vYRZE4JvnISACD9hcl8MnCsWpIztesqwnjBzLOrfbvGqxPlnIgYrszLwMII3ZFqd6-oQeDqZIawotfYwJtOsKulPOV5dAuHIzTu3JdzXf-jKNfnf-sT9IQo6iTnDDIbWLeMTBq6NOIXvh6SQw6Js-fBc17cJm1TQgx8JHIq8XdwFkLxIhZZYuxt5JRI7B4It7BkGysIjSl1boK1VrRW15h3FFxgtQGTE0izSG3Bq-bDZf_P_JijoaO-IQXcwW8XJfZJdfocjbuR_D4encWSRzor6zPtvpbNNSkRIg1ychJvHv-XI7r67u0-kd_SS4q_OaSdH6EUi4wRToDZIQ-gp_3vdH5fZoeyG2Slynhh8dauTFUPScHSQEZk0tsH2TNWcIAqqFYnMU8txqrHgQy2RMBAGIr7aLUf1rIMp6eZEJ5YJaryn1svqx_sZjiG8TlWd6tWsCllImmi-eZuA6kU2NVXb5nZdB0PZ8EI-aclkHSLUPKQsWD8RC_MOpcL2qUj2cAlXaEIB-9ZogDnpnE4flJ3puTKcOUsO13sRkXJNcwHlu9YrptrGc8QVaCdykU8FIWd-lJGWF5i_bWBhp49arnpc4vmCRCbqqmXhRZeoDbf3b45opoZcm_XaiLuyihCoqe4Cd4KOUO-NDvUxyBHqJ4HTR2aMaiIl0hI7bxuWZ4MyeEG3AYkUVHRuzg-f71cDswwiDDyJNt9gGjMAbicl0PQ5ZX6VG3DDJqtQP3K_EUEPUD3urr3PCr9lGHiMFAHcb6RO2TPJEjWS8TeGHgkAX8lpRW67lB8XYsu9ouxOi2UaFFc6Q6aP1e7843po5McUSdfBq-9qEEh-QKJOFmVgTnYKghJBQUCu_PLRmgbonMBmg0Nw4vamdLIKdtZz2-2wtK0qaVComFgT7eV1tr-OQC0fyJ8GmTuThZmDOl7QY7jInVtERyEhMfrwMIzP-Pfcs9M0XYa8DHg88C06Hykp6dIN_6ODhS-rU9RsKyWLeI3wSBhAHsJbOVLefsadeLHIAN1-KrNridgnaht0KqErPK3MKaxqx8-fFxz83nhXbJYn9ESq4CQzOUV5gsDtDBrug-RLPgFy2YBegp0jw3W21Fcz1G5sbRqmO_VlkooH5xVP5Rbb6vJgmeXR6u2P5XfXl6JNfnq1pDPsfIKNYT570tv2iX81xtXjUd9wW9n6RZCQDazMLiGEJeguo_brnF6_nIwtyH-_vXTMYqNFh1KdCMI11KY2GFcRTK9x9u9cvKE4nDZDQO71yDL5mZPhLLonTT0s4jSgA2WmC8iGdMmja4llVVNovDM6QfjhjVQV34RRJv5DGJHw23ftlrmMJ7RNWXHLsniuGhpBKfr8g4eDfbJgYvrdjcrmO-tOhb3lKjh1vguIfQwtIzYU5cxRJtkuc48bi8zg8IZHTWdnSETPGnRstNg==",
  "id": "rs_0f0aeae220085024016ab420e2725087d0a78ab101bab2aaa4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_z\":0.029},\"note\":\"The yellow fruit remains centered but is still visibly short of the fingertips in the wrist view. I’ll advance a little more and lower to its middle before closing.\"}",
  "call_id": "call_6AmPKVOPLUbdaATGRok6wGjW",
  "id": "fc_0f0aeae220085024016ab420e3800887d0bd4b7d9974b4fe6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6AmPKVOPLUbdaATGRok6wGjW",
  "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]: [-0.1352, 0.8398, 0.6559, -0.469, -0.2161, -0.1276, 0.9965, 0.8227, 1.4754, 0.7517, -0.7441, 0.4324, 0.4648, 0.9973]\nstate[eef_state]: left_x=0.2914 left_y=0.0022 left_z=0.1755 left_yaw=0.1192 left_pitch=-0.0659 left_roll=0.0459 left_gripper=0.9965 right_x=0.2161 right_y=0.1292 right_z=0.0285 right_yaw=0.0031 right_pitch=-0.6536 right_roll=-0.4134 right_gripper=0.9973\nstate[joint_eff]: [0.1162, -1.5932, 6.9812, 1.6777, -0.105, -0.0171, -0.0122, -0.212, -6.0513, 5.5726, 0.6667, 0.2613, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e89e2d62137da57bb6d17d781c9bca17f7d1a5f089410a5a7ecef005dc2f39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f328bbabf31660135a094326e469d4cbc996c8ca46cece2c9b08116d725923c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa42fab954860475c74b501bf15504c4cdd7e70bf2c4c387563558fffe302165",
      "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 31 attempt 0 · /responses · status 200 · 6.66 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9691, 2.3043, 1.7905, -0.4526, -0.7853, -0.7498, 0.9953, 0.1177, 1.227, 1.1004, -1.0225, 0.2039, -0.2287, 0.9973]\nstate[eef_state]: left_x=0.4175 left_y=-0.381 left_z=0.0796 left_yaw=0.0629 left_pitch=-0.052 left_roll=0.0563 left_gripper=0.9953 right_x=0.2829 right_y=0.001 right_z=0.1675 right_yaw=0.0445 right_pitch=-0.5927 right_roll=-0.3233 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -14.4342, 7.8564, 1.1697, -0.3639, 0.0269, -0.105, -0.0068, -3.9179, 6.3111, 1.0379, 0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1356, 0.8375, 0.6559, -0.4671, -0.2161, -0.123, 0.9965, 0.8993, 1.356, 0.8639, -0.9726, 0.4225, 0.5365, 0.9973]\nstate[eef_state]: left_x=0.2915 left_y=0.0021 left_z=0.1765 left_yaw=0.1163 left_pitch=-0.0619 left_roll=0.0486 left_gripper=0.9965 right_x=0.1984 right_y=0.1391 right_z=0.0773 right_yaw=0.0428 right_pitch=-0.6441 right_roll=-0.3688 right_gripper=0.9973\nstate[joint_eff]: [-0.4718, -1.7709, 6.9675, 1.8974, -0.1734, -0.022, -0.0024, -0.4718, -4.4103, 5.5316, 0.5055, 0.315, -0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8398, 0.6559, -0.469, -0.2161, -0.1276, 0.9965, 0.8227, 1.4754, 0.7517, -0.7441, 0.4324, 0.4648, 0.9973]\nstate[eef_state]: left_x=0.2914 left_y=0.0022 left_z=0.1755 left_yaw=0.1192 left_pitch=-0.0659 left_roll=0.0459 left_gripper=0.9965 right_x=0.2161 right_y=0.1292 right_z=0.0285 right_yaw=0.0031 right_pitch=-0.6536 right_roll=-0.4134 right_gripper=0.9973\nstate[joint_eff]: [0.1162, -1.5932, 6.9812, 1.6777, -0.105, -0.0171, -0.0122, -0.212, -6.0513, 5.5726, 0.6667, 0.2613, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e89e2d62137da57bb6d17d781c9bca17f7d1a5f089410a5a7ecef005dc2f39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f328bbabf31660135a094326e469d4cbc996c8ca46cece2c9b08116d725923c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa42fab954860475c74b501bf15504c4cdd7e70bf2c4c387563558fffe302165",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDmAZ68BAVT4yd8UJ0LsgQBJur_esKpyjRhZ7PNVlFfrM8c951yD-0Knw810XATq15F5jKG6XmKUaCSSAbhvhpIa9NiGKccH0S-_CdfJrXRCXUJ9FTUVq5Ij4DmXT28pGgEvhZM5cSJ_xaQWHiinJmwo2lwZCfTSfH99kXqBgkRiJlrVvXHRoJNApQ32WcWoes634_L3WZ8-8kQnlKUzg2xfjKxSeO-bmcVvjhlliFeW_B0EHP9UPRFS7a5ljBNgMJQlrhm1uctqgg6fKt2CB0BcLeLd2wJ1TFOBgPyeRsW9XFIbbsnfePBWs-lx-V5llgR_OMY32sQAB2CZtk0b-_2pP3D_nRWJ5zwtm7PMjEdBT3P6c01BSEaFo4Z0sJ-jFbseuOW6dnkzfoUqiskPnpJF-dl3EP5m2bfPo8nxg1REpeY7Xa6XyE3RBqF_rc9DTeXoFYTl-S1H-WBZKWX3tyVQ4BNIN0wjJGEI45Jsg06FxRKTp0TDF5CpRcgPFQ5RFzO1MTnaJjiMDXxRByEUBqheJORp_sduWK5Nt5kbwvdG3iwy7SktFuFPHImhmDi4f774ajDHokFGvrKkRc9c_n7NKXX7FuCuPjr7vcUq0r8NOlsMT1BTVsW-GDcpff-w3AGH5z9FdGuLN_FC9pyTzZmDqfafi8llID0U3LSZBe9iePlkocmUHW7DNL6Xps5Xsfv2OSJa6U7VwNZDOQzlhj5WTriYDJNAcA0ju364Fmqf1zA6bxpsoxNk7wTi9-QNLdF3bjbuss_XiQV9Sv_yTLdF_hOG12zL3_Hnvcuc3c-s4-LYvWyIgtgpxaafcp9lHNQq0zKSRD27wYmDfoCXdJHerk-51Ci2Z5BdgVcmxEyMB1FEfafP-755HRferAm6ayqVN-b0CqOJ51-TtB70O2ItioqBf6T9Ltw0U8c_AU8v5bsd-Tdi1hOqNtErQ0oV7_Lix4NY_7FhRWxhVlNfLUKVWKioJvKDL-l2W-qH0cEEG0-pWfIZ-8mYLRoomHXGjP34FyP15CpmTOhLJwzDlgQQsEyhsxrZze_Atg3DmAbYqohrN09XMLALeoOzOfl16I5kjX5SqMBDsoNXiQytpbxFkKKKSd2p_iQf8IG1ZZ3_p2LCEL5URirWJLe3tQFQUlJ0NUB1A5yJ0pyiO5O0pVwUc3B9LptUAtfvaM0mg_oZ1AiOecXucYf4gsi9xyV6BrAW-F025aYqb3QSkYlBH78bAhUal4CMOriHcD6LGi6ugsJo-XX9s_c7foCgk00BTILHUw-1kX9E1l_GN8Ne1nqbA_68dEy8ctMIgD6Dg4iqKbRltRa1LV_EnIu9QaOqk9vRL4VGf90z1IWQonHdMb7Hlp3zLGEm0GrK2sQtYoI1G4=",
  "id": "rs_0f0aeae220085024016ab420e5b9bc87d0a216c19662f15a09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now at the lower edge of the wrist view and aligned with the jaws. I’ll close at this position and see whether it stays between the fingers.\"}",
  "call_id": "call_hn42MACoA7uZML6onPNdGC8o",
  "id": "fc_0f0aeae220085024016ab420e6473487d083d36b7d6ba0723a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hn42MACoA7uZML6onPNdGC8o",
  "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]: [-0.1352, 0.8398, 0.6559, -0.4694, -0.2161, -0.1276, 0.9965, 0.815, 1.4906, 0.7448, -0.6731, 0.4332, 0.4332, 0.0088]\nstate[eef_state]: left_x=0.2913 left_y=0.0022 left_z=0.1754 left_yaw=0.1192 left_pitch=-0.0663 left_roll=0.046 left_gripper=0.9965 right_x=0.2257 right_y=0.1366 right_z=0.0254 right_yaw=0.0405 right_pitch=-0.6256 right_roll=-0.3855 right_gripper=0.0088\nstate[joint_eff]: [-0.0205, -1.4838, 6.9538, 1.6484, -0.1294, -0.0317, -0.0073, -0.0068, -5.7504, 5.5179, 0.7497, 0.3199, 0.0611, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b692cbb8f4f085d75556390d746283408bbc26bde106a6bc1b69a859fda0220d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1972b2d6e47132d17d4be73d401f3326ad2307eddfb3315e1a0a67dfb65bc1e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9148c79bba0431605f2522b13adeede335d9bc24a2399e8e274a9360e75719e2",
      "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 · 5.287 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1383, 0.8337, 0.6559, -0.4442, -0.2249, -0.1253, 0.9964, 0.9497, 1.2133, 1.0019, -1.2182, 0.4309, 0.5827, 0.9973]\nstate[eef_state]: left_x=0.2945 left_y=0.0024 left_z=0.1822 left_yaw=0.1218 left_pitch=-0.0348 left_roll=0.045 left_gripper=0.9964 right_x=0.1805 right_y=0.1316 right_z=0.1385 right_yaw=0.0787 right_pitch=-0.6065 right_roll=-0.3205 right_gripper=0.9973\nstate[joint_eff]: [0.1846, -1.7709, 6.8034, 1.7363, 0.105, 0.1636, 0.0952, 0.3214, -2.9607, 6.3795, 0.4469, 0.3932, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8398, 0.6559, -0.469, -0.2161, -0.1276, 0.9965, 0.8227, 1.4754, 0.7517, -0.7441, 0.4324, 0.4648, 0.9973]\nstate[eef_state]: left_x=0.2914 left_y=0.0022 left_z=0.1755 left_yaw=0.1192 left_pitch=-0.0659 left_roll=0.0459 left_gripper=0.9965 right_x=0.2161 right_y=0.1292 right_z=0.0285 right_yaw=0.0031 right_pitch=-0.6536 right_roll=-0.4134 right_gripper=0.9973\nstate[joint_eff]: [0.1162, -1.5932, 6.9812, 1.6777, -0.105, -0.0171, -0.0122, -0.212, -6.0513, 5.5726, 0.6667, 0.2613, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8398, 0.6559, -0.4694, -0.2161, -0.1276, 0.9965, 0.815, 1.4906, 0.7448, -0.6731, 0.4332, 0.4332, 0.0088]\nstate[eef_state]: left_x=0.2913 left_y=0.0022 left_z=0.1754 left_yaw=0.1192 left_pitch=-0.0663 left_roll=0.046 left_gripper=0.9965 right_x=0.2257 right_y=0.1366 right_z=0.0254 right_yaw=0.0405 right_pitch=-0.6256 right_roll=-0.3855 right_gripper=0.0088\nstate[joint_eff]: [-0.0205, -1.4838, 6.9538, 1.6484, -0.1294, -0.0317, -0.0073, -0.0068, -5.7504, 5.5179, 0.7497, 0.3199, 0.0611, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b692cbb8f4f085d75556390d746283408bbc26bde106a6bc1b69a859fda0220d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1972b2d6e47132d17d4be73d401f3326ad2307eddfb3315e1a0a67dfb65bc1e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9148c79bba0431605f2522b13adeede335d9bc24a2399e8e274a9360e75719e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDubDc8fGuBwqh4_8bQuudgGcu332IQR3f0h9VA3eWtqMKP3IimsGLP2H6UqndMrzvhdLLJSwODd2K2rdxjfCeX6zIoc6xB2b1oQg93pgQKfMaQ_10xRlAFfuLJoZbL3G1yYZF5HrTfhoT2ahk-gnRtw_kXRw92PKFVF3-H0AmYVeKR3SUciDljrMf_3uA8BysJF9YeckCdzoAcHklWwjb61nVbPAZYAxf-luVBuT--jM4cburuibquwl5Z7KGbRKGbOgJ-jwFLdnq_p1IaAMqsSoDDm-WneS4LNAaYGxPKerERSUgEpzFPwc1P_SLB5Zcnbs9_37hhCmTw_K9brj9o5lVmNGGxq5fKWYIQB7ACyZmMaNkakrCdQ3ozsnH7ibDyZ7uohJYNkTUa6q-91QmGIvLQBXPUxbRr3UVb_LeYd7qsWRuSUVq-zJ67Thc7Sw_JRceIH8xofY4MuueEhvxkTAgGJ25sE66ilSNAxXX4sTURWozz6phLjFXy6Tabrhrtr_yBxMH0i_WOV0Ljh2H2GUOxcNa8iJwGLCH7YfPo_ePX81Sj3CyWsjd5-GoBvfSVrtADZKpapAi7huW7bHO3UaGApCMuaUKxD7-fhx5xWEym_gjmL_i4ffY7Stk9NHlhXAojA65QW_Lz14FUnAZ5de0Jqa5QaImQzS6fuT8fLaLtkLm50nAsktfYdwlkkggKF8rMHPcE8vM55ebjoldAeVhSmqsICO5h1z_bBTCqekUGcLuv2OrQrTa2XEyCk2Js_Ml-E5uuaEPLMiUqxi2TAX2RgPvNvdZl3vKATnprsTCn_LPutbymOsooxPEPjAdhHmqSzLwcoI3KG_AIckj-E3cen9OluPUkVPTKEHlUi91WG4ui6xolXivGpkdhPKGlJhEmOt38Makwk9vWMA05wZbRn_8s4MbEf7oojEDsMdrqw812c34rJQXv23UuTewSoKiXPWcN-9wXgrw3BnkHbNXevaBWCwyyihWtoOrvSS1rR_zEoSrlI3iSGDZ8clu86fzIDwqPz2wN3PgJHYznJdMQSA0oBdoZ10cgpqonNVif9TLUnKjqWNG5-Et-uZlt20ajktILLN5GXhDCRtwyJRf-KrNyM6lylR8z2qZ7xznxodnxvtXziCssG5PJUYRaRc-cI4XtG2FMVepv2b7J_smShwAx9JBJ3u55_eP2jOsUM_W-HDNP53SSjsJIEdPxWEyBDw48u_MTomujwYXyAKBCxK3U0ZArKkb21xOcoYtiNqfdNSVNO9SEsvyiqFsi6xZQRlzM7YnOv_Zf0YSnqxLCcnq8X8uUA2vfONjjM8diyYnd6G6qMkEmCFNAk25maYET_CbUUHqLKzjIbKDmmfs-h_8PZ5g-GPPgTNbcHlz5XrslLqzyl3Btnd0fK5ZcGKfymevXvKR9NyFvj0gZ9oXf1zeLMa-dHhi3o3GUx-07XtasJvPvPT_0wXGnJXwXmWAiOq_ig3trgemiau1MAjtd6KgiZZvGj8sVfQce9zpXjm2u3wjeLP0-0XKHlAHlvaSMAa2ZSNs6r0jn1JIC9e3NrSYF4KZldibYcAtd-biWn9Pma4nVwybQvtymj8AWkH2lZKX5AL2BmNsBfgvY35QaEKXrwTtG-6f_267nx_ynNnTlXQYkYUOy_1795qEhynTXs5aVATGgDbeMOCIID1gQRwmP8Lk-7fcOD7JJ3ip1S0yx2Z-6o3N9lrBQ3i3V7uH6D3DyPqFv4pGIlekk5xqaMsNGgfsqkjZBlMBihA2wpqx7hr28xoJVF_TmHtxTLxViZT-FU-mwnf39o-y_RZlqO-fAg16dlsxiQ3YvFE4tGhxIROrZe1m5jnkieklbvV64kkCLDKa0VdZoUP_aMNKoGEfK6fr8NwjEUqRAycsU0gtCUu4C8j_70yNeNXeLX2XpTxJzqSi8HSFyOQN95hEytLnDkGEwAGQPORjhRsHRbPvniO2sljw1aB9hbKvUcywq-C06wdFKTSqE6kyP0Nr8TTg5HfbfKcPAvpUEkrxeUIQowRpGw7Z0KVmx3sEUBOufiPfWUtI1J3PV1FTjUfnEUS0ihT11uQoO3hFDRfPh3BVAu20PIWfqCutTLrdwOzeIVqiZX72796NTkQk2Zb23Sk_t10OEXpUE_Pd4UD6Tzb2n1fXI5VVWxYuMMtjTGQGZHt_QgyvvxsJYZykfk5fiAB9Elyj6q0XjI5ZQaEVuPAdE_3a_AAVgMItSi7WGJBXydgwLn2cq9sZU4QKDlgzyyZHms4-lThJlCJxBOnV5UCi-z30AxE3l5Hs-uIAJvcDpFGDPSukB88wJL0mE34Qa3x11JfxrXzvY4JuZP-R3MyGz3aWzqNHsS-M1RX9TDkHrPmO7QJ1pvkKG5GPjjsVV0_85E96OGfQmDq4hOr0nm0C8BqIzaeM3L8tyEfovNL_TIw0QM1O1z-M-_Pb3UsQyPLi6k5wRa0yw0SQ5rqYTD8YUcH2GwnEmwi18dU10jpuNMZvAHwp0MNv0nGIJefsAtyMpLudgu-WPDyxfdiMxsJWkz9KT5gedSyIeenf4qxQGLxNk71Lqg50yJzbm0T6LymoPMtqA-my2_TPxz1RQkBxelS78zHI7jLWBKx8FAD5kOAB2bldukqFCqpuxoeSgHjyBiMpSVKGcaypzKgp7mDFeYMw3YcxA0qFzb5lBu8JKND7rqCJwBMOQ7UOtceJmfZe4QaX4WpFCc3wnJ4a4lDQWu-zrYmEZizVnL-pY1bFdJqwf8simnb5qeIpY66IDcqjhP8RJ2H8vMdlOPGlCdHHyOakjj0Hv_fWk27zYcG4-cr-xYd_CN4IoTxQTMswaT02chc7wteDuHAFD-KuZ8MCTWtBa3bwsfws0Gs0VDGl-EtPe-6kMJ6OwmPwOn-ZgP5_SDeuzZR-xuoXC0ZVFUibEc6vVF_FE-Y52QAhZUUPqI31E641wd4_RG4mqXrexRJNP_Z6olWgP7OFE7GLQJVJlYR0Dg6RpMMp3urUSplWlHazUYBJazF7m6WEYzsLccn0Foss_uxVJUchm8KCyxT36gRrh0XF9caCnta5f1y2aM4dSVtt858do0tZuSWgkWhCVJQLcKvySAOQBHzoATldkSACVBv1ZtmvBHeGRMLZH6oox0nY19TgHgkqG8zspy1gxkbfOButuHsXGwQ-zywXmmufXLBu9qRMcIvCzIWG6Q6VeRJQHKItG9Dseb7dn_cwwaOZ2C8wvVQ2zo53-guMAXbCSlTioIoAUIoe7qDQNTYJYEYTgzD8PJogJfvdGySPGAsj1vGAJ6sQy2ELEGYixHT7nXyw8A6TV4ht0-smZGz4EMlHuV-VIRUMpKi2sNjqbBzEcFDuGxi_6Di2_ga5Kmm0I8s5QfRC3MF5amuwhsLWFlRosQUGrVYF9QyyIqz9kvS-iKbDapfrt54v-HPCjJtTRKfxZ6e6pGXNO0gDBLxOUIXKoQ-9P3spaeWP80IRpKsYuorIusVC67Pw5JNBcX9G4fy1r3OPQXFPIb2-5pv_NAk3WopiTCAE1wV2P4dZr7RPgCR-24xSYSB046c7lWdfiPDIq8RcC2JlxzoQwW5rEcH97q8x7xi38TOJbZScuq-8RSjN5l0HM_n1Lf5JVX15-RlbM9-omOq_hEp6otkWnQQRZu98ar3mE-gGCF2jyAyugVcJMDDq3M3yPukRCNK75umCMAe2AzJxIyfrtcR5J4FfjGPkw9Wehe__rdIQV9OkyTHgZu3pdg5nJKaAF8sUMPpQcwAtW2AV0FH5AdzzTSW8Zz20dZQyGWrdibPI4DrM7X6fKiX3KvZkIzx0ZSZquhTtqS78ImMt8Y1qpaC_mEoAfN9TcTLkLc_JPr8vl3ED-v6aI3vG6Z2hhxBUcN_VBHeBrTYtTNBcOL9U5QNPfE1Sl5uXkM-064vvyk9dLAZlbpG9tsDYMLul8CLVaowdq7TwoCax7TofceD3zqBhnCT_P6iSzI2s5sw==",
  "id": "rs_0f0aeae220085024016ab420e91f6487d08ebdf69386bccbd4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDusWCghLYb6rDnD-fhr1zeoUoSzWFM_wgWGoUn71WDUJP93MfUCn4UEDtfPCqNaYLLNL1a_j6Wt87SxRSiDYjQly0guRFCmndoLF7Qye4fumK2a9foiN9gqGmKdMjn4f5n_YAPaHp4SNKv4tLOQu5r4_ronvIBW_WxAr4WmzE-oIxQd4c-OCh7dB2oHYd-ueUUjpGG4jCd7TaGXVBGjExMpkfTQYzDxo-82iiGxTsvMdAfPq-ogaoUXElEwwNxXvqK2ydzny-fjG4x8TM4iSrZ23mjq4XBSg5S2xddcF7GNMpWESaqJ0HUcJ5WqBaGrUAjTxqi4-wOnu1xVmOsqF-IZx2wIIR01gp4coIj0WoLr0fNJZuTV-KFmyVZcfOezIHwchAj5CHgtfbAsSlWIQlq8bEsFhfEEDepVXbnAcwUke9iKmqEXaVNzhq8G9_OCRhwKn-i3KYyTNFGvbJ63C9oDIG5BctBFAIsCvisaB7kLYXYKnVTAc6u2RKosmP5t6KQY5m7zx9eaxZECrIX9iLF0CsCWZuri7a7stoNrlcsDaoYUXRtJaJFlKcQ806k43AbIQCsbJPq8h-OAqD_K2DDM4J6IyUWqLWkRbitIKY3i7QqDvqP13o1h7TKqKOXoZpTQe3CTcrRWpMEcD-18RLkv1gCTYTiglyfy7fd9XwDVa6BQfXYkQFC3iT3wqIQKOnASOP_19LYDSo3Hi7p6mKZiAuJHugSt2-Jh5Gw_01N2-RRN-peiecTV_cD45h843L9KzkLmboJR73Gj0D4Dc_y-PRkPZeWBPA61E5B5m9j9iwhJmIC8sm7-5MiCqDU7v-LhXAAyrN7pfTRKcdrTHafEHbllgqfidHgC0hlCCQy9lqnHvF0M5rgjrIYx-sXG2PYk3S9Gx3d5artIAR1lfqSZcD9JX7sIT_o4rbiugTEHXwW_K-6EbGhhOBIyR_mJR_4i0x7I7feknCtSRxr9BD9h03mpMK5AYeaCP68pJtuMs2f-fx7F2LqYOnW5rkyODTOGeZ0rMOZLRYzj5iO-2KyNQ-I6iEPlv28jfQjirySbANZYEdx0rPVn6lhD3kMDWQVpYjI7sG4bI5q6rcNuqsH4CedJRK9UmJVGFkCGwFIj4m6VwvCmy8ZwLECw-3-nYjuRewMYBkmOJeKlBCjt6e2WUnt7CCPiZHJWpiD0JVCM50=",
  "id": "rs_0f0aeae220085024016ab420edbe0c87d0b84aee47a970ab5c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.34,\"left_y\":-0.16,\"left_z\":0.13},\"note\":\"The yellow fruit remains on the table after another empty close; it may be too low for the jaws to catch from above. I’ll park the right arm and re-examine the dark fruit with the left wrist camera.\"}",
  "call_id": "call_WauYgcG4uTrE3ggdHx3J6Bay",
  "id": "fc_0f0aeae220085024016ab420edd5c487d08285117fa40e12a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WauYgcG4uTrE3ggdHx3J6Bay",
  "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]: [-0.7349, 1.4254, 0.8139, -0.297, -0.6342, -0.5682, 0.9965, 0.1505, 1.2572, 1.1366, -1.0435, 0.263, -0.2192, 0.9969]\nstate[eef_state]: left_x=0.3303 left_y=-0.1526 left_z=0.1143 left_yaw=0.099 left_pitch=-0.12 left_roll=0.0814 left_gripper=0.9965 right_x=0.2873 right_y=0.0007 right_z=0.1723 right_yaw=0.01 right_pitch=-0.5999 right_roll=-0.3855 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -5.7504, 8.9504, 1.4335, -0.5739, 0.0464, -0.0073, -0.1983, -3.1932, 7.8291, 0.9499, 0.0757, 0.0024, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5cdb007b36b2785d4d938401ce87a329bcd3195fd7e9678cf6df0c87553762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18162fc9df9fb202e178824cc67222f1dcfd29ed5048c55b29ec71e1dd5018c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6195c6eb4e946a9c32ec3bcd9f45203414b6fd8be0715ed5b6d7c1b16e58b10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 3.049 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 131 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1356, 0.8375, 0.6559, -0.4671, -0.2161, -0.123, 0.9965, 0.8993, 1.356, 0.8639, -0.9726, 0.4225, 0.5365, 0.9973]\nstate[eef_state]: left_x=0.2915 left_y=0.0021 left_z=0.1765 left_yaw=0.1163 left_pitch=-0.0619 left_roll=0.0486 left_gripper=0.9965 right_x=0.1984 right_y=0.1391 right_z=0.0773 right_yaw=0.0428 right_pitch=-0.6441 right_roll=-0.3688 right_gripper=0.9973\nstate[joint_eff]: [-0.4718, -1.7709, 6.9675, 1.8974, -0.1734, -0.022, -0.0024, -0.4718, -4.4103, 5.5316, 0.5055, 0.315, -0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8398, 0.6559, -0.4694, -0.2161, -0.1276, 0.9965, 0.815, 1.4906, 0.7448, -0.6731, 0.4332, 0.4332, 0.0088]\nstate[eef_state]: left_x=0.2913 left_y=0.0022 left_z=0.1754 left_yaw=0.1192 left_pitch=-0.0663 left_roll=0.046 left_gripper=0.9965 right_x=0.2257 right_y=0.1366 right_z=0.0254 right_yaw=0.0405 right_pitch=-0.6256 right_roll=-0.3855 right_gripper=0.0088\nstate[joint_eff]: [-0.0205, -1.4838, 6.9538, 1.6484, -0.1294, -0.0317, -0.0073, -0.0068, -5.7504, 5.5179, 0.7497, 0.3199, 0.0611, 0.7009]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7349, 1.4254, 0.8139, -0.297, -0.6342, -0.5682, 0.9965, 0.1505, 1.2572, 1.1366, -1.0435, 0.263, -0.2192, 0.9969]\nstate[eef_state]: left_x=0.3303 left_y=-0.1526 left_z=0.1143 left_yaw=0.099 left_pitch=-0.12 left_roll=0.0814 left_gripper=0.9965 right_x=0.2873 right_y=0.0007 right_z=0.1723 right_yaw=0.01 right_pitch=-0.5999 right_roll=-0.3855 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -5.7504, 8.9504, 1.4335, -0.5739, 0.0464, -0.0073, -0.1983, -3.1932, 7.8291, 0.9499, 0.0757, 0.0024, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5cdb007b36b2785d4d938401ce87a329bcd3195fd7e9678cf6df0c87553762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18162fc9df9fb202e178824cc67222f1dcfd29ed5048c55b29ec71e1dd5018c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6195c6eb4e946a9c32ec3bcd9f45203414b6fd8be0715ed5b6d7c1b16e58b10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCD1r2bJfvFS7C4dsdAibtXqnQFtgxmXIS5TumhVJBeGsoumkXx9yYRUzSB2dBaaiehefygyMdRmFdddwDMJpXiFdisvsJHn6pQBS2VGs7fOi_pxXDPe8DJA8Im4-sQmZT1IEsLVSQT9cuoig_EBxieFlYO1nHWCrGqfOEy1_AuXdogZmomwdrCYQeLzG5mcTszALJAcCTHyVZ2s2T0Z7iM5VsXufWmiGEjXzZG05z4GvybN9R-OpoeNwIuIxYfXaWoZGlfczwGVwDohYfVM_zD0RLfQYJE1CVvXWnm_lTnCD89jHMCTzHqJtnD8Od3bQXszc1GOoLpFK00xHiCaucNrH22VHBN04erDYvwQjyIEjewROo6_18KzTYUIiMvwMEJ0GJK_PDuEuHFNyNXkAmcePq4tl_QP8WiQuxRExSBPceEfZIm90Ry-ODKbQOZZuZB75yI7wIwoArWAaInkXKMBl06hHM1NBwoOio105IHi3XJG0_UuIlhRCtKow-voVkt2ZZDEy2zqRAsvMUp9KaMjy9okZX6tmkxADfjJDo2sIO3z5afP3oxddoeJyAUsvd4tCSSD3pgP1yAPpWAwuJ5x4NAAvX52ICy1hZPYFHW_lDI6-q4amMkDYJ4N2Zn2W8XdKhPCmrXeHjC9X6FrWZcJael78ci6189lPbE2tK63uiaJ1vdnJV7ygyaw0sVoF8E2VKwOBhql1S0surz2L_QS21um3fC5obMM23Jljqq5_8dfMKXj8cBqi-B-3LeWtJQ2kvuZU41LSheEXez-xlxwxlr3i55ef3nymzmAt3M53zTxTVjoJHP4XQlxxSU0WYOfZKuXs0QNbPuXCfVwqVjzwCpwXdwy1SPGRZe056DIbgJypvaqsigW82M2i45AAmbrzBcaN4ankTZcrNowlJEdDMAvkbGx8Q9HyOjPxbuIev_KJMx10OwBtZp5usBfV9tDSStK0Z1F4zLhVz1tZ6LRHtcU_ZueA2VUVUOe90aBtWQqv9ya8Qtd1Y16UuIQGM6pL1E6wMYj-uo4a5jkgKByfPEcT8PqyPr1ldRzg_AhB2vSJVCNjuNKpIePG-2UbWPzvkoh3MIA8qtWBMdXNEEqga__Fk_ACKeECIAgUAjlS1Dy9QScp7SyKYeldRRr6U8R__BcCcMhTxZvODBWb_61IRHrfou_72ZeZ0majY-9q7CLHSpmezpw_dUBubulMwBOJmA822hs4ZFMBerx6_b0NwHuCwJmaOvl6ccl27RqpNcIjEu6igI9L4vZgX6aIIXVuv2veymtZJ9Smv5JFZnUe-5zeNqiYEflbEv340c3tvG1l5WgZzqNsO381YxGzO-sPuz3SkMUX-wvFzR-ahEdlNHN-FLkt09RCCjoHU3CM2A6wKXcXpDIcXKPcNQMm7F1vPKOGfED10X2-633S7iYShE2thS3ghbMDDEozgCsibhA_wEhvd7hY6Rw5q4JGF5yH1DOgdp18fCcMyeBjT8d-WecvhZV4dOTixmaM-ICckXnUykndb2IgO-lRXF2cTGxIKXAZLviH6IG6x6c1Eeebx1cQsJMe9YCW-JlhN_R0Gp71fC45mDQE8MavOqmWXcvqwPAwj-5lP9FVA1TJbl_pL3gEcS2veqWrV7UIuugCWYE3BHH4fx_OEWdTseillR0FG7s57YFAIl3wKMqkY3PdhS9j310aObYU-w6caRZdjcmI24zX41YOeKsbx_4G-k4veTbWhuXTUq2cgc-rQC0nriikHATS6ypKplT_a1vi-KcRGGhHMdVr7rZhkBTIF7d-R1dS0Pz4KhYuUCJCbwidL7s-S6NLJOkjct4PQdqr7tYb395tWvLPs436lHI3Yh4elmQihZNhkkUAiCwAcyl0TKm64WFt1X1MergR3WJUuZ7E-glmQ5YZC4c81NXH8eq1UmoDd4eOpoOlHwXaCRALz-2DEf8JEZTNw4IY7GbwZuFLLvGFOCgiXrgeYr9BUtxxhh43PXi_dQkHJoUwm4Weu8-3STiQtE31ffGu8ywkmagpMlp2vQz1Q49mxT6kx7f_tdOPD2VwUwiyE1iIFz9OTwGhkhlL5XsDJv-tNwQqPieYrRQdRg-jhlUkUs1MrvvEYPs5vPskCjy6H48aREqym1i22IPnF0ZF7RooQ2ovZIANHBfMurtqa1k345BLd3xXbnwrqYldHkgzohU7J461fF7-HpD4arkigSSQvLqz-rPDQi4qeSTogPT5UI88aY4kRLyJ3wI48gthBA7lpeL_sXdC9GzYJpHXHwYkghEL1g9Can9YluWIxse3nGkVNSCBq1l_XC4H-Em9sa4GQzwu9TsWLzL5Ge3p25R9AOfLozRhVw3DpAtxiZ78MPLGmlxoAR6cKNMU_uQVJJS46POCQoLMoFNFTm3YoTjNmpSMT_x_Gu-Y5WOxGzRBtxvFb0Hs3fA52kAMps2odJoNHdAS-dlusUJU-t5SiBEplvNTCOVwUeU9JguyBrzJrJPGjyWz790YIgiQWUsJDLWxqAGhnFfLMnbKIxXrgoLrvPQbtPmCr48NNUxL1bJthj9U2_yAvu3MkNj5YtyZa5MGbs6BFueKy2tSuPNVuThfxaoD0BC0bFvWppy1P3vVJWO3wZAxNO1VVJqJoTgDlIi-_wE7H0ULx9UsSlwnesmARsbVgEHmjJjzK_9D-yzQdGkONvQYbd6CuEXxqqu0HSurha1uJ1mT4axoqht3pH6rGHPc14xXQli8d7avq-BSBxVZbV0QuqZiu6QdPTwYGRBFkM_wxwzmIFrDBJ5hu3lwSgKCkiWjjeUXIP690rfEAWTXgC1MuVV96jKGZKadgpRm3yuSQo9vJv_VfHg323jSMY6_c-EITtB7TBlFdD5DiF81FsvfBjkaTdlkwq3FnH5zsq4bEdc6xXMy9OyQoXjUgR71oH4KSu0M_7ZUagILFPWyjNw43C2raHZ041JVeVIcKWiaZs7JFigQfXBPFZj7WomkVCYNY7yFepVU2lRlSrPkcqVNJvHIzD_eZo91cMtBHuQ3Q==",
  "id": "rs_0f0aeae220085024016ab420f11a2c87d0b97a370d0363b39b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.2,\"left_z\":0.015,\"left_yaw\":0},\"note\":\"The dark fruit is upright in the left wrist view, to the right of the jaw column. I’ll center the jaws on it and descend lower than on the earlier attempt.\"}",
  "call_id": "call_QfwFDx625J9xLpMGGZ3bw3r6",
  "id": "fc_0f0aeae220085024016ab420f4557c87d09e1478b378399210",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QfwFDx625J9xLpMGGZ3bw3r6",
  "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]: [-0.7712, 1.792, 0.7361, 0.1032, -0.606, -0.5396, 0.9965, 0.1493, 1.2602, 1.1431, -1.0592, 0.2535, -0.2436, 0.9973]\nstate[eef_state]: left_x=0.3419 left_y=-0.187 left_z=0.0106 left_yaw=0.0328 left_pitch=-0.168 left_roll=0.1203 left_gripper=0.9965 right_x=0.2852 right_y=0.0017 right_z=0.1719 right_yaw=0.0324 right_pitch=-0.6182 right_roll=-0.3889 right_gripper=0.9973\nstate[joint_eff]: [-0.759, -8.5265, 4.8479, 1.536, -0.3053, 0.1099, -0.0122, -0.0752, -4.4239, 5.7504, 1.0818, 0.1343, 0.1978, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476cdddd391dcc895e2192336c84609227433cc5ae45dcf5abc63e42554f6114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc652a5f7fcebe0a7cb3fb9bfff59c0fa425a6d9ba0e97e982ff9e4a0363b595",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a291d41d0ddd3ad26ba06af07200dd03c66226e06a3341218667b2b2dce7d84a",
      "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 34 attempt 0 · /responses · status 200 · 3.006 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 131 changed as sent

message 135 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8398, 0.6559, -0.469, -0.2161, -0.1276, 0.9965, 0.8227, 1.4754, 0.7517, -0.7441, 0.4324, 0.4648, 0.9973]\nstate[eef_state]: left_x=0.2914 left_y=0.0022 left_z=0.1755 left_yaw=0.1192 left_pitch=-0.0659 left_roll=0.0459 left_gripper=0.9965 right_x=0.2161 right_y=0.1292 right_z=0.0285 right_yaw=0.0031 right_pitch=-0.6536 right_roll=-0.4134 right_gripper=0.9973\nstate[joint_eff]: [0.1162, -1.5932, 6.9812, 1.6777, -0.105, -0.0171, -0.0122, -0.212, -6.0513, 5.5726, 0.6667, 0.2613, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7349, 1.4254, 0.8139, -0.297, -0.6342, -0.5682, 0.9965, 0.1505, 1.2572, 1.1366, -1.0435, 0.263, -0.2192, 0.9969]\nstate[eef_state]: left_x=0.3303 left_y=-0.1526 left_z=0.1143 left_yaw=0.099 left_pitch=-0.12 left_roll=0.0814 left_gripper=0.9965 right_x=0.2873 right_y=0.0007 right_z=0.1723 right_yaw=0.01 right_pitch=-0.5999 right_roll=-0.3855 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -5.7504, 8.9504, 1.4335, -0.5739, 0.0464, -0.0073, -0.1983, -3.1932, 7.8291, 0.9499, 0.0757, 0.0024, -0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7712, 1.792, 0.7361, 0.1032, -0.606, -0.5396, 0.9965, 0.1493, 1.2602, 1.1431, -1.0592, 0.2535, -0.2436, 0.9973]\nstate[eef_state]: left_x=0.3419 left_y=-0.187 left_z=0.0106 left_yaw=0.0328 left_pitch=-0.168 left_roll=0.1203 left_gripper=0.9965 right_x=0.2852 right_y=0.0017 right_z=0.1719 right_yaw=0.0324 right_pitch=-0.6182 right_roll=-0.3889 right_gripper=0.9973\nstate[joint_eff]: [-0.759, -8.5265, 4.8479, 1.536, -0.3053, 0.1099, -0.0122, -0.0752, -4.4239, 5.7504, 1.0818, 0.1343, 0.1978, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476cdddd391dcc895e2192336c84609227433cc5ae45dcf5abc63e42554f6114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc652a5f7fcebe0a7cb3fb9bfff59c0fa425a6d9ba0e97e982ff9e4a0363b595",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a291d41d0ddd3ad26ba06af07200dd03c66226e06a3341218667b2b2dce7d84a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCD4V8F9_ijmVinM_Fs3GDx01mGFxCuFGVr9CH5ywIz_mrZWHALhggKtE25k0Cx2ePyN65oUh7VEoTBU0jcJAkFuFSkGaWhGTj3XQuSNaaXAPbAuRWh7ZDd_oQ9TSZuBAlkZ4m6hjKiFWvesGmzfBaaJN7EOecjUkvvQN_C9PfK17o-TI6Kvc5vtRPqR7qGGgymE9o-FcGmbdU5rleJzqkdhk8bZtByZRx6KRzQQfbDpGl5uB0sZ4KSVdZ3PTSTFQt_x_zxhmKg3lWT2HcECLZoRtfaIfpselL6iWeJ2QhEfzdTlU8mdTEB5OK-BK2ptc2z5i5mhSKehTbrtI-1LRzF0ZeHjSFqdkTfgImtwYssMO8LHczbvil5oyj8lI1Ri31Rc1R9SMJK3T5A4Wwndl-Ye33O1foL-xNKpiUV-NL4ca8lYMLqmE4pZBSEan_7geg5tq-dV6pB_ndijpVpNb7DAvgFl6a4pWLzheiIvuac_ckAFMBiUm9AeMO2Flh26pk25Fl82jYbHVebFWXsZ8oiMUwhL-xgHupIrB9s9uYxUQDxU6rryxxQvMjLhB-yz5j-Ifmax-jtG0o9l87qdZEEb0S4LLgwMG08gbJilDnmUcfmPsfu4qEG3H-nsV-kHnHTbDBgKqlChyIcH5zsVjGOX61ec3TgUuaL-Q5aLoUoTE0r9unaN6FiQwnqRBWLuQyT42Q8JFA0oUHQ8zGgUQl3bnSrKWqsWUvwgOLmXQx-hKYcWCzMJcvayKQG75_JuQYasojReLWdaQXO7rIJiBomt_w_TsTE36QakuExKhRYMyuvBkof8fWWRuvRDQ7cUYNuXYHbntpBbwFzx2KhsKJPEs4D3BxB08eaMln1CPHtzdSkjJHIGLt8T5Czvk5P21Z1AJjakOmXqurm7XzQfEf2UcuMrg5iYkBx_nLNQYVapFZc2HsguMx53xxnmYNT9aLH7WLv69XUIBMlu0882S_jsF0fRwDo08I1q5-BE1BKEFw8B8el3pRuNm302JKczEvjJ3DismPU1QYFLRgyYlN_o6ueejR7CLSroi22kubvhywyPicigwwaBqtm18ymkvM7_zPFk0edg-0zEhDe50it35TGI75f8TyNpJ0wQlZhkbGK5wt-QiNmUZqMkrVVczNYjnQcN80f41i6sq0sYZ5r8WPJKKDHNxXKzJqqPRJQe2dXccVV_mOThkG4F6wDobK26CdW9oaXp4XWd1Gz6yrgq0q5bcxHZmhC6L-wj03u-fRQki1dy8CZlCmk2eBDdCLwWksczioRgqaJ3mlNVmACKf8tUVB1is-FmOV31ViHBjTNniaCL1buzYFQoPu_aDPhVnRfpZohVFzCcPCNogkOGVz2259AEXvKBjFvgoaC0NAMhvE4h_LuJcOdT-TXahI4gz8E9UXYnA_psf-ETTRhiSzN8sOonP4sXoUTZ24d_E7iQofnEqDAId5vJoErIMizKm_G-N70mroxXmV4ZaSI5syA9LJD5kcX25be4Vh2Estc0VDjE7ERjltZRq-cWvODU",
  "id": "rs_0f0aeae220085024016ab420f718fc87d0a2a6ee9ed2c8c63a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit now fills the space between the lowered jaws. I’ll close and then move the arm away to verify whether the fruit actually leaves its original spot.\"}",
  "call_id": "call_XbMafy8TuX5ZkWRiqYHxEaCs",
  "id": "fc_0f0aeae220085024016ab420f835cc87d0b8a42a48b6367984",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XbMafy8TuX5ZkWRiqYHxEaCs",
  "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]: [-0.7727, 1.8103, 0.7326, 0.1154, -0.6067, -0.5468, 0.5199, 0.1493, 1.2591, 1.1328, -1.0523, 0.2562, -0.247, 0.9973]\nstate[eef_state]: left_x=0.341 left_y=-0.1867 left_z=0.0046 left_yaw=0.0369 left_pitch=-0.1737 left_roll=0.1223 left_gripper=0.5199 right_x=0.2847 right_y=0.0012 right_z=0.1694 right_yaw=0.0315 right_pitch=-0.6208 right_roll=-0.3939 right_gripper=0.9973\nstate[joint_eff]: [-0.1299, -9.2239, 5.3402, 1.1551, -0.3394, 0.0464, 1.033, -0.0752, -5.3675, 5.8462, 1.0769, 0.0952, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39270db967038b7cedfe2e37017d02dbce337de717e1c48dc9939999daf8dc2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecdc820690f2857008ef70d38a90c402a172f21e154be00e7cd4fd6ef000e8e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65ca49e879d943a250f2209af0b5e7570da226ed68ee5fb9122055eb3b60333",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 2.451 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 135 changed as sent

message 139 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8398, 0.6559, -0.4694, -0.2161, -0.1276, 0.9965, 0.815, 1.4906, 0.7448, -0.6731, 0.4332, 0.4332, 0.0088]\nstate[eef_state]: left_x=0.2913 left_y=0.0022 left_z=0.1754 left_yaw=0.1192 left_pitch=-0.0663 left_roll=0.046 left_gripper=0.9965 right_x=0.2257 right_y=0.1366 right_z=0.0254 right_yaw=0.0405 right_pitch=-0.6256 right_roll=-0.3855 right_gripper=0.0088\nstate[joint_eff]: [-0.0205, -1.4838, 6.9538, 1.6484, -0.1294, -0.0317, -0.0073, -0.0068, -5.7504, 5.5179, 0.7497, 0.3199, 0.0611, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7712, 1.792, 0.7361, 0.1032, -0.606, -0.5396, 0.9965, 0.1493, 1.2602, 1.1431, -1.0592, 0.2535, -0.2436, 0.9973]\nstate[eef_state]: left_x=0.3419 left_y=-0.187 left_z=0.0106 left_yaw=0.0328 left_pitch=-0.168 left_roll=0.1203 left_gripper=0.9965 right_x=0.2852 right_y=0.0017 right_z=0.1719 right_yaw=0.0324 right_pitch=-0.6182 right_roll=-0.3889 right_gripper=0.9973\nstate[joint_eff]: [-0.759, -8.5265, 4.8479, 1.536, -0.3053, 0.1099, -0.0122, -0.0752, -4.4239, 5.7504, 1.0818, 0.1343, 0.1978, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7727, 1.8103, 0.7326, 0.1154, -0.6067, -0.5468, 0.5199, 0.1493, 1.2591, 1.1328, -1.0523, 0.2562, -0.247, 0.9973]\nstate[eef_state]: left_x=0.341 left_y=-0.1867 left_z=0.0046 left_yaw=0.0369 left_pitch=-0.1737 left_roll=0.1223 left_gripper=0.5199 right_x=0.2847 right_y=0.0012 right_z=0.1694 right_yaw=0.0315 right_pitch=-0.6208 right_roll=-0.3939 right_gripper=0.9973\nstate[joint_eff]: [-0.1299, -9.2239, 5.3402, 1.1551, -0.3394, 0.0464, 1.033, -0.0752, -5.3675, 5.8462, 1.0769, 0.0952, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39270db967038b7cedfe2e37017d02dbce337de717e1c48dc9939999daf8dc2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecdc820690f2857008ef70d38a90c402a172f21e154be00e7cd4fd6ef000e8e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65ca49e879d943a250f2209af0b5e7570da226ed68ee5fb9122055eb3b60333",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCD8mthRsN1EwgerPT3JsYkSh6rYCFLkXSkjmUpfrPDkHr4OEwqkhtPXOv3sysRq6CxKv537GWPev41qSTg9k4culixY48Vy177R2p6sGjANmk8CBf9pgegyEmVsDWZPDE8f8JYczx51JPMmpkWGyHlzQRfTn-RaZ9-AsDfO8weOLgtexIFzuTmXDlvDi0KB4ZN3QxMauc_K-TKjYfX3CkVWk3gtTzbnzf8wt0jLtmO6UavyE3N0oiHCHYF6qAzvKJwz6oQZV4v4xckZUzs6yGT1811BcwLEFr1QpkOMBkwAOR_3GgISP2tupkB2ut7uc67mj-Tb6Q2fudnpo0vPbdQDDvTarC2iWWaoIJ63alMAyvJhRDYZHXnm9FYAE-lkrknPLNHfwZ75d3G02WQD_KO7AfAK41X40zzRjrtQJnwIObvTTt3_lWVfySi2aVQs_eHPvBumDlXOsEoppQz6_zAsTP4QcfCp4-9RLcHHJri2dd5usrtmAY_SGZ3IYqONHpdM23zcAhPh8ZCLEhC9tzYbXLXU3vMWtFn6F44jhHTNqXLz9hDajGss4DkSljhU4Uoc-KRjZdaJ3LbYd1IsklERvzpewvzUll7Kwch2lJM1QtE9IkTJz-vDFwNAPH37dsUlEe5io5lhTxdldUIIsaQ_EnzCDllKSsOr12MR8NV4BLnHT5Tln1LKbwgU4fzvaDdFcogquzbSyZ9MNJlEAoTPFTNKO8KYQVG-xqyMu1ib13oWN2ZZ0Vn2odd4zcYO7h04FbFV_jAI5Xwp1s8SRiQ60mowQfxXFV5spm-CPGh5RmuEs4QlkKFnGXH7tE_wt7VDLbvFNx_1IDRdIYjcj3mHPr1zBJBViVrEJt02WUWIXAp2oEgKbyECbP45RwCellajdgdkqXD9RK-2xCuAtC_viAE8zcOhxkxasyRuifF-Y5rfN-Iea7NTtE1oryfz9M9N410cowxJxC8UqK_8iwvIjtkto6WPohAcxhOr23xriWd7MDbZ6Xb1oARSUet7FuzmtSh3n8qg16f7t5H-NMIQuAygk6yVHM2y6lqgwWFOWTVquXcTF9q96NpvU4UXsoKvcnuZLg6cCMk3S2MBaC_YSqFXWMkk0vgOv1R06b7nBrmDO_2pUJ7Dg0Ndk8CGCW9ZsoPiWOSbzOEc4BlqaffLeb126_B4HJFD1TD2fV27l8Zq43eLB3Exw13O53cELSA9mtlAw9YDgljzP07Dj-1dhIc3waiVcvUnd2ILAM56go3_d-UVvQOiQ-A7IJDsu8YXzFeSWHE5yz-rmW1-1m9OnoGRli8QlfGlCeSsZLnjxm3OFfmyHCa55maq7L_ldZcUMvii5dbklcWaQcQv_gBnjv3LjprsTQP18b0Q78zu_ATDTWJHi-C21R8Jl1VUN1F4",
  "id": "rs_0f0aeae220085024016ab420fbac0887d09b1ae3479b724d20",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The left gripper remains about half open around the dark fruit, consistent with its full width. I’ll lift it clear and check the overhead view before carrying it to the bowl.\"}",
  "call_id": "call_euNV9Ay3yDYhbCh1nD2qSWDu",
  "id": "fc_0f0aeae220085024016ab420fc03fc87d0bc03be18328bb738",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_euNV9Ay3yDYhbCh1nD2qSWDu",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7731, 1.5333, 1.0637, -0.503, -0.6056, -0.551, 0.5229, 0.1493, 1.2583, 1.1168, -1.0447, 0.2562, -0.2474, 0.9973]\nstate[eef_state]: left_x=0.3426 left_y=-0.1887 left_z=0.1407 left_yaw=0.0394 left_pitch=-0.1813 left_roll=0.1261 left_gripper=0.5229 right_x=0.2832 right_y=0.001 right_z=0.1648 right_yaw=0.0311 right_pitch=-0.6285 right_roll=-0.3952 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -8.6085, 8.7453, 1.1453, -0.3394, 0.0122, 0.7399, 0.0615, -5.4359, 5.9829, 1.1306, 0.1343, -0.0269, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9a7b443a96388284933cedfe23af1173db191cbc68a05b8eb4b099232711c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656dd57aa4baefcaf4af08bf963d9ef6721378596cc2bbaa359b0ef695012456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7cca36e130664282a6982b8ec31534eb9c2aeb8083524a4f1ba26f6951a1826",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 3.518 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7349, 1.4254, 0.8139, -0.297, -0.6342, -0.5682, 0.9965, 0.1505, 1.2572, 1.1366, -1.0435, 0.263, -0.2192, 0.9969]\nstate[eef_state]: left_x=0.3303 left_y=-0.1526 left_z=0.1143 left_yaw=0.099 left_pitch=-0.12 left_roll=0.0814 left_gripper=0.9965 right_x=0.2873 right_y=0.0007 right_z=0.1723 right_yaw=0.01 right_pitch=-0.5999 right_roll=-0.3855 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -5.7504, 8.9504, 1.4335, -0.5739, 0.0464, -0.0073, -0.1983, -3.1932, 7.8291, 0.9499, 0.0757, 0.0024, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7727, 1.8103, 0.7326, 0.1154, -0.6067, -0.5468, 0.5199, 0.1493, 1.2591, 1.1328, -1.0523, 0.2562, -0.247, 0.9973]\nstate[eef_state]: left_x=0.341 left_y=-0.1867 left_z=0.0046 left_yaw=0.0369 left_pitch=-0.1737 left_roll=0.1223 left_gripper=0.5199 right_x=0.2847 right_y=0.0012 right_z=0.1694 right_yaw=0.0315 right_pitch=-0.6208 right_roll=-0.3939 right_gripper=0.9973\nstate[joint_eff]: [-0.1299, -9.2239, 5.3402, 1.1551, -0.3394, 0.0464, 1.033, -0.0752, -5.3675, 5.8462, 1.0769, 0.0952, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7731, 1.5333, 1.0637, -0.503, -0.6056, -0.551, 0.5229, 0.1493, 1.2583, 1.1168, -1.0447, 0.2562, -0.2474, 0.9973]\nstate[eef_state]: left_x=0.3426 left_y=-0.1887 left_z=0.1407 left_yaw=0.0394 left_pitch=-0.1813 left_roll=0.1261 left_gripper=0.5229 right_x=0.2832 right_y=0.001 right_z=0.1648 right_yaw=0.0311 right_pitch=-0.6285 right_roll=-0.3952 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -8.6085, 8.7453, 1.1453, -0.3394, 0.0122, 0.7399, 0.0615, -5.4359, 5.9829, 1.1306, 0.1343, -0.0269, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9a7b443a96388284933cedfe23af1173db191cbc68a05b8eb4b099232711c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656dd57aa4baefcaf4af08bf963d9ef6721378596cc2bbaa359b0ef695012456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7cca36e130664282a6982b8ec31534eb9c2aeb8083524a4f1ba26f6951a1826",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEAA4w2oTrb_PcS0FNLwAM4r2JPbk-lI5Wp0HNC1xHU556VBop9nk-4CFxpsab775vM528XGopB07oARu2AiQvhNe6OLF2WJqIl6LqViuqT2O2iG10370PVeBfNEaSgBlxMQXgfIxRC4eJzh0rHHAEqD1Mxhq3Zb41WWDQVz87H--UqcVj5aFw41Fp1fB2l3YJnkaLvEc-ql196-kSBkjBb_rmvgXqz8Ek9Ihe6ISj4oER2g1Yn3vWN9i1aFRXTd-8hxLIZAoeySUzNuUAU3ZX5pqnV8gDJbHtfjtPs88Vd3vN60-cls0k0AJJbTuBNWECiGzv6VEgh9wLHbL86MPAVNN9CFptTuWBDco4dX_3KLiWd740h6OANax4i_7NkcOsySVr3z7C7t2TDOQ7LFTpnxi3pUHmHXbDnmb51JkaQKXVMSCVLM0x5VIsNA4kli8hkCbFkUuJzsqXLiwTTypKuyrn1bTJ_lcRLi7XFZMX8eyOBMXyBqZW_aXBY4_PdePfGvOFaNWMbwe_j03ZDNszSScjKbI3GbQ3mBE8VPXoCPtcL9GJBfTBHdHnT1Kjt_RCWIlW--DCks-gsi9WTZhjxgPDuDbeREpw7HFNrohJTNWOtm4sJDDTGzd2mD4Mv-QIHaS8k-5gz-l0MZuyNazRrGaqGElqO2ppJMGKO_MBXUZf9SyVHZzRbPduUqPxr_5_zUZBX39mYM_MFrQoAmBo7RcTNJTX2SIc_Zw9AS6Bq5x32jk8tDD04xbQ6c2zkogCOE-fdEZe9SnEskaunmIX1P_OmLktdHM_kiRaSuhW5Psuje9wrWust72543YDq2uFE9rEfy1XO-kkpNDDYZ36-TIqHQceCN36RMCDnAf_FnDC8dKKY9VpPcOPoHYGTHRo7TFyLWmGVUHC50_M4NzCJTh0LzPOCENenSJ5rwOQ3cNvsV8aRrqYodujqEFA_kyNL4r3R8nbGTNq98BjXBdkUVJtjKEKX6G3fzJQSxQFlEUOVkX0xkGt4Qn8bmxGkYjmlY8_2lFdP6iPKdGBqpym5QyqQ4rEaNUsT85aRCmV6lnZIDN6av538N2Yrxh5m-SIQbERxccnhRGBwaG9EyJwd-9rpLfPMaYIwXhu4T7nmhuJMXnSqI4M9trYvqMoDMHo1ol9gCmCvcnnibbO_5fdKOcttGxNenhCOtWgS8z0SijIrr8j2rthzuA3JLBxvGaRmSKXB7PdYbZ5zgPjSV9gVJ1ft1tmUngfTYcWbisDID2_bnIU8aNif6dzFGKFR4duvZz2raCC7EzoxA5jHIRkLeFHuzPbfM12H9oWdAypgei95qhT3htYem5uJbU1bq2ec",
  "id": "rs_0f0aeae220085024016ab420ff2de087d0af226479a5391a2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.39,\"left_z\":0.19},\"note\":\"The dark fruit is gone from the tabletop and remains held beneath the left gripper. I’ll carry it above the blue bowl.\"}",
  "call_id": "call_Zyh1cdD6ttl8wpYPVT7PsCFE",
  "id": "fc_0f0aeae220085024016ab420ff9ea887d0b8a232175848c4a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zyh1cdD6ttl8wpYPVT7PsCFE",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9283, 2.5607, 2.6896, -1.1988, -0.6739, -0.7315, 0.524, 0.1493, 1.2484, 1.0931, -1.0309, 0.2562, -0.2478, 0.9973]\nstate[eef_state]: left_x=0.4362 left_y=-0.3928 left_z=0.1655 left_yaw=0.0395 left_pitch=-0.1882 left_roll=0.1064 left_gripper=0.524 right_x=0.281 right_y=0.0007 right_z=0.1606 right_yaw=0.0314 right_pitch=-0.6286 right_roll=-0.3954 right_gripper=0.9973\nstate[joint_eff]: [-0.8957, -12.3282, 5.6821, -0.0952, -0.5446, 0.0317, 0.735, -0.0479, -5.1487, 5.9282, 1.1209, 0.1148, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ddc07ea84ff94e44ddc54991d256a8f2babdc76cf39f1b0f464eb49d9cffca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cbe19923a153d901bffd6ae325f544ec26c55e3db8eed59324888f1bd33d7bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e46c016927ccdc100d39cbffcc9fa8802ecdc4cea8081dfc3d52976ffe079d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 2.123 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7712, 1.792, 0.7361, 0.1032, -0.606, -0.5396, 0.9965, 0.1493, 1.2602, 1.1431, -1.0592, 0.2535, -0.2436, 0.9973]\nstate[eef_state]: left_x=0.3419 left_y=-0.187 left_z=0.0106 left_yaw=0.0328 left_pitch=-0.168 left_roll=0.1203 left_gripper=0.9965 right_x=0.2852 right_y=0.0017 right_z=0.1719 right_yaw=0.0324 right_pitch=-0.6182 right_roll=-0.3889 right_gripper=0.9973\nstate[joint_eff]: [-0.759, -8.5265, 4.8479, 1.536, -0.3053, 0.1099, -0.0122, -0.0752, -4.4239, 5.7504, 1.0818, 0.1343, 0.1978, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7731, 1.5333, 1.0637, -0.503, -0.6056, -0.551, 0.5229, 0.1493, 1.2583, 1.1168, -1.0447, 0.2562, -0.2474, 0.9973]\nstate[eef_state]: left_x=0.3426 left_y=-0.1887 left_z=0.1407 left_yaw=0.0394 left_pitch=-0.1813 left_roll=0.1261 left_gripper=0.5229 right_x=0.2832 right_y=0.001 right_z=0.1648 right_yaw=0.0311 right_pitch=-0.6285 right_roll=-0.3952 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -8.6085, 8.7453, 1.1453, -0.3394, 0.0122, 0.7399, 0.0615, -5.4359, 5.9829, 1.1306, 0.1343, -0.0269, -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 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9283, 2.5607, 2.6896, -1.1988, -0.6739, -0.7315, 0.524, 0.1493, 1.2484, 1.0931, -1.0309, 0.2562, -0.2478, 0.9973]\nstate[eef_state]: left_x=0.4362 left_y=-0.3928 left_z=0.1655 left_yaw=0.0395 left_pitch=-0.1882 left_roll=0.1064 left_gripper=0.524 right_x=0.281 right_y=0.0007 right_z=0.1606 right_yaw=0.0314 right_pitch=-0.6286 right_roll=-0.3954 right_gripper=0.9973\nstate[joint_eff]: [-0.8957, -12.3282, 5.6821, -0.0952, -0.5446, 0.0317, 0.735, -0.0479, -5.1487, 5.9282, 1.1209, 0.1148, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ddc07ea84ff94e44ddc54991d256a8f2babdc76cf39f1b0f464eb49d9cffca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cbe19923a153d901bffd6ae325f544ec26c55e3db8eed59324888f1bd33d7bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e46c016927ccdc100d39cbffcc9fa8802ecdc4cea8081dfc3d52976ffe079d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEFRZR6zJ3jVOeBTKS_wxBNBBPSlVDfcPKDrGL9WXOo1TIb6bm3bxU3UbuOVk2paN-oD6pFXNCTHkZp4OC-tFLeOeXx2D--4l6ORVPBKfOcqQTc8aoR7tVAz6sVUzwM-fc3QvUNx1N8uu3_blWv_NHwnkDc-Opo1ji_JNTLzu0cW--8JBV2l0YlSgnLmPFnODzH0AT0mBDEOewXiXeGlRGsHo8zCKiFVjkTlQZVJoqgCFHR-a7_IAttEQ6qBVZajQPzzbZbvu6RqiRuRrAXoDH1mmNUmyByQt9roGff66Xh6OyEDYHGIOlXJYy5phn15J8v2cCBmN8ByLZI6mYUfm_t72N84YgvqgjhSPiPx84FwCrenJgAGX4NzdH2hxReCJsgPYsmMD-mpqL2WZHLfubHIaYwaPWHMO8v4IzRzDBVADNOq7gGl9YgJNW7Cgk2YJtIsq4ZDE920toM5UXIPLZ6ZW9Io8wh-YGPhFyRf6C4UQXBnLHa0xIdst9aVuZQGn6JO9m4M0yzFprzYgxwosz_tVZkq-W1sbZ156l4E0gyfFrWIuDgXa9UbzGofBdo0gpRCWEJfeCYbKM1L9MOln8cvCY0jfLJ0SDepao-wWNQgpTQii52u3nX9ux_NHrG4drwyY55wgoRyfQ4PTWOeSniextdL0jyOu1eh6k_VLTUM6WpRq1CemxWvEFkxjpuCakr6ejiMrGDwI_ZtliePzmnoiFjIlCH0Wqz06gAW3ZpJG6TXIMdZouxgSozOhjRStLiEf3nYtjJzMV9ghYUUTz8naf-PEcTuHw3XvdeaIoyU00mkObV5FxX8vSGcVBhYj7qcHa8_xPuH2uh_hdcp2qHifoNtN313EZFj0lfoWKpw60kUKDhPNc5wKVNCT0NCw0sijXI-I2xPju0K3-T6G1bZIJeLGundVer2W9ftLnnw6K5MqbX2GtnBrJDFDM-CO4UEbgQVKPyEKTCQv6JiqPuEIOuxfBbvvi5KwMu9KT2tktys0jTtCxOUIszvJ44sVTVhsrqNwj9ZB7Hgla4zFm-oAUY-CJsAqtE1UZUTvLn23H0X-IGvInC8JtET1cK7LddjoG-FuxwUBwY29f_omd7Ry0ODg45DfNoWc485J-peT6yuMemy9em4s8e6od2DpVAFNULTSFi1wpo63Ri_l0TD-jAYWZ9diEOMcCgrP4TQ0gX06Jcq2u-qq1CjCU-2H614IovwXfyIzP7n-7Ij8lsRf3WPdVLOXF4JiRVBcxZCAK0GLS-P9d8FWwL0TXghRnrS3wrcr19_qeQjEcpAkq-DkmJtgKdko6cgwvSH0K21hK-u7JHhti6btpZlEdukBpAL71hzdofD5IsKB6rZh6lX4EHF7WIO57nPsAbBU5T3WT6LQ7T6hABlGdMlHMBwO-X_ajmP9DcxlXBY_SL1AL3PdYQwxuQwdA-LD3FU6DTBgvcvkwLXkuEWp48eC01zGhlRtwnWwkMHY4jY3ncZTiJjBan9JUuRFL69jmXvtYd3MBS97vVd9CcfboXforP8S0s",
  "id": "rs_0f0aeae220085024016ab42103810087d0acb247ea11d62e13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The held dark fruit is over the blue bowl, which already contains the green fruit. I’ll lower it into the opening before release.\"}",
  "call_id": "call_UMgvMYWdZV78lfLmYpANd2ay",
  "id": "fc_0f0aeae220085024016ab421049c1487d089f08e41655766b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UMgvMYWdZV78lfLmYpANd2ay",
  "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]: [-0.9295, 2.487, 2.1685, -0.8486, -0.6621, -0.7315, 0.5234, 0.1505, 1.2415, 1.0672, -1.0168, 0.2562, -0.2474, 0.9973]\nstate[eef_state]: left_x=0.4268 left_y=-0.3841 left_z=0.0605 left_yaw=0.0498 left_pitch=-0.2517 left_roll=0.1827 left_gripper=0.5234 right_x=0.2786 right_y=0.0006 right_z=0.1547 right_yaw=0.0318 right_pitch=-0.6334 right_roll=-0.3959 right_gripper=0.9973\nstate[joint_eff]: [0.2803, -16.9231, 6.735, 1.1795, -0.442, -0.0415, 0.7253, -0.1299, -5.3265, 6.4752, 1.1355, 0.1441, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39051d2883ca1af5d07d330dbc14579401be1a19abc58bffde9d568c6c3150ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11151d7af657e1ab3dbb5317e3b861c0a922d099394b7531769f350e291ac25d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:473ec05c47bec2260c539189886ab9d1c384197f759f6a096c7d272fd4c0c7b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 9.037 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7727, 1.8103, 0.7326, 0.1154, -0.6067, -0.5468, 0.5199, 0.1493, 1.2591, 1.1328, -1.0523, 0.2562, -0.247, 0.9973]\nstate[eef_state]: left_x=0.341 left_y=-0.1867 left_z=0.0046 left_yaw=0.0369 left_pitch=-0.1737 left_roll=0.1223 left_gripper=0.5199 right_x=0.2847 right_y=0.0012 right_z=0.1694 right_yaw=0.0315 right_pitch=-0.6208 right_roll=-0.3939 right_gripper=0.9973\nstate[joint_eff]: [-0.1299, -9.2239, 5.3402, 1.1551, -0.3394, 0.0464, 1.033, -0.0752, -5.3675, 5.8462, 1.0769, 0.0952, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9283, 2.5607, 2.6896, -1.1988, -0.6739, -0.7315, 0.524, 0.1493, 1.2484, 1.0931, -1.0309, 0.2562, -0.2478, 0.9973]\nstate[eef_state]: left_x=0.4362 left_y=-0.3928 left_z=0.1655 left_yaw=0.0395 left_pitch=-0.1882 left_roll=0.1064 left_gripper=0.524 right_x=0.281 right_y=0.0007 right_z=0.1606 right_yaw=0.0314 right_pitch=-0.6286 right_roll=-0.3954 right_gripper=0.9973\nstate[joint_eff]: [-0.8957, -12.3282, 5.6821, -0.0952, -0.5446, 0.0317, 0.735, -0.0479, -5.1487, 5.9282, 1.1209, 0.1148, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9295, 2.487, 2.1685, -0.8486, -0.6621, -0.7315, 0.5234, 0.1505, 1.2415, 1.0672, -1.0168, 0.2562, -0.2474, 0.9973]\nstate[eef_state]: left_x=0.4268 left_y=-0.3841 left_z=0.0605 left_yaw=0.0498 left_pitch=-0.2517 left_roll=0.1827 left_gripper=0.5234 right_x=0.2786 right_y=0.0006 right_z=0.1547 right_yaw=0.0318 right_pitch=-0.6334 right_roll=-0.3959 right_gripper=0.9973\nstate[joint_eff]: [0.2803, -16.9231, 6.735, 1.1795, -0.442, -0.0415, 0.7253, -0.1299, -5.3265, 6.4752, 1.1355, 0.1441, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39051d2883ca1af5d07d330dbc14579401be1a19abc58bffde9d568c6c3150ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11151d7af657e1ab3dbb5317e3b861c0a922d099394b7531769f350e291ac25d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:473ec05c47bec2260c539189886ab9d1c384197f759f6a096c7d272fd4c0c7b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEI2G9E75lKz8PZK-dzBv6EMKVdsccmWVhlIKiIsqkCicEUEyBLR0LvDeCy1-DPOfIP5IDJVh8rVZJ-GliuVKA3n58hP5cnxi3km-ZD6m1Hl8uFoW2n9Ypawj6NmxFinBlGo8pC07HgjXVuPU-WFTvuA6khalQvwtiJ0nhyZvKeUhIdXvwYg1klli2N5pyqRsq0UBg5h81jcCr9PGFyjXjZltbIKf6TeyTN2Dza0osO7tRFF45RVmWSxO8xUQMX2tMSnxmi3U5zIV-t6KQhQgbaZNgUIKUTDJ2apEv947p4rqZFCXcoXpzN2UDEWfTgy-FDKxDG9iGQqzoY9ZJBTXMc5iZF7RRbSAGq4nDWm52lAWsA8eCyIqS8zWr5kxGAhSIwUF8PstHdByAxrQtXB4Gh7V7U989Xf66-LzjiMbMaznt4F1GD4LQ1eovWXhqQQXJskE1BbiFKcXDy7Q3Bx58cHPdVPCxb-rxSC5pHJxprCLf9Tp_o34VnR_wrTTWxQBZ2mckX1JzAiT2An-HZ3eA7-YU1vklgFkzCCyOJRR2sIHbETwy1vEJ8mtC80tGH9gr2Gvo5bZUKnZeKQ_wSwqiTKfcCR7yOcsq5-PDoAkvHMyCgLUQBpfiX2wacguO4ijvbqyIzMG-IqA7d9QRA428u-snOPdK9x8Sezu_37yFgom9pvoNWgJayPPZsLipOm7XJ93zzQSv1_9jr8NgydFkBwI1Qm1DjDkDsy5oYq3EacthR-eyRLfYjjsR7qHvYVSLfQuuDD9ODLCa17_wCVZUs41JnVVksaaPaCD-bbeTYK7LVLf8_pcuOnbEaxkgSO_xPZMN6X0nXxHs7cDzyvVvbIUllIlNigNsSO6kRneenZCbkId9HFI57X3XSJM-L-db4SWt8N53fLaeYZ_ToY1BSofNBvYvRc1mf3dPflXEI0sHZnhWLo7CzsTnhOPeNwO_A2H0wzNV3Z-5uWe5gImM4v5ZCHH_NBnkkE_-AjwBuRXGPl7wyK63L7BW7COJDGwMckySPxBouuS-_WseQ0_jiMP67XE8hv7MnkMrgI8UQQX8g6AZVSfpFk1q5LAjNTbNbdfCZUoDsHRSeikC1VWhsDXj_iywQSXbdfR84aTia6w-Iwkb62JTzFvCGVuj1g4wrDmOpI32JdMy-OpA_XVYlMlXQcheHjf5N6rFKqZuXn-Yegs4JRV6LVYR0bNsyf32iW56775PHcsjoB9sIX8OI-Gk9oxp9DzP5omYH50I1UbI=",
  "id": "rs_0f0aeae220085024016ab4210769a087d0b14b12ce1910b348",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The fruit has come down to the blue bowl’s opening, and the downward motion stopped near the bowl. I’ll open the gripper to leave the dark fruit inside.\"}",
  "call_id": "call_Cu4IentyMapx8YjoHTIE2OJm",
  "id": "fc_0f0aeae220085024016ab42107951487d084f7bfe336f8d4e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cu4IentyMapx8YjoHTIE2OJm",
  "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]: [-0.9279, 2.487, 2.1487, -0.8333, -0.6582, -0.738, 0.9951, 0.1532, 1.2282, 1.0367, -0.9985, 0.2565, -0.2478, 0.9973]\nstate[eef_state]: left_x=0.4262 left_y=-0.3828 left_z=0.0548 left_yaw=0.0539 left_pitch=-0.2567 left_roll=0.18 left_gripper=0.9951 right_x=0.2758 right_y=0.0009 right_z=0.1494 right_yaw=0.0344 right_pitch=-0.6323 right_roll=-0.3964 right_gripper=0.9973\nstate[joint_eff]: [-0.3761, -14.1607, 7.9111, 0.7399, -0.4029, 0.0659, -0.0415, -0.0479, -5.1487, 6.2017, 1.116, 0.149, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349e898e352e5984d566f9a039683584516b25017d0d42e7644f63c54c7654b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b178cd8410cb177921438b61b45f4ea0cc59f3579dd61793e8797639b66da74c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce5631d700563dcc1621447e693d648eec135052c6a7a703d2684c4e2ed3a48",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 11.46 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7731, 1.5333, 1.0637, -0.503, -0.6056, -0.551, 0.5229, 0.1493, 1.2583, 1.1168, -1.0447, 0.2562, -0.2474, 0.9973]\nstate[eef_state]: left_x=0.3426 left_y=-0.1887 left_z=0.1407 left_yaw=0.0394 left_pitch=-0.1813 left_roll=0.1261 left_gripper=0.5229 right_x=0.2832 right_y=0.001 right_z=0.1648 right_yaw=0.0311 right_pitch=-0.6285 right_roll=-0.3952 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -8.6085, 8.7453, 1.1453, -0.3394, 0.0122, 0.7399, 0.0615, -5.4359, 5.9829, 1.1306, 0.1343, -0.0269, -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 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9295, 2.487, 2.1685, -0.8486, -0.6621, -0.7315, 0.5234, 0.1505, 1.2415, 1.0672, -1.0168, 0.2562, -0.2474, 0.9973]\nstate[eef_state]: left_x=0.4268 left_y=-0.3841 left_z=0.0605 left_yaw=0.0498 left_pitch=-0.2517 left_roll=0.1827 left_gripper=0.5234 right_x=0.2786 right_y=0.0006 right_z=0.1547 right_yaw=0.0318 right_pitch=-0.6334 right_roll=-0.3959 right_gripper=0.9973\nstate[joint_eff]: [0.2803, -16.9231, 6.735, 1.1795, -0.442, -0.0415, 0.7253, -0.1299, -5.3265, 6.4752, 1.1355, 0.1441, -0.0708, -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 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9279, 2.487, 2.1487, -0.8333, -0.6582, -0.738, 0.9951, 0.1532, 1.2282, 1.0367, -0.9985, 0.2565, -0.2478, 0.9973]\nstate[eef_state]: left_x=0.4262 left_y=-0.3828 left_z=0.0548 left_yaw=0.0539 left_pitch=-0.2567 left_roll=0.18 left_gripper=0.9951 right_x=0.2758 right_y=0.0009 right_z=0.1494 right_yaw=0.0344 right_pitch=-0.6323 right_roll=-0.3964 right_gripper=0.9973\nstate[joint_eff]: [-0.3761, -14.1607, 7.9111, 0.7399, -0.4029, 0.0659, -0.0415, -0.0479, -5.1487, 6.2017, 1.116, 0.149, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349e898e352e5984d566f9a039683584516b25017d0d42e7644f63c54c7654b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b178cd8410cb177921438b61b45f4ea0cc59f3579dd61793e8797639b66da74c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce5631d700563dcc1621447e693d648eec135052c6a7a703d2684c4e2ed3a48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCERLg_6wFKGOau93UJ9_mim96KC6MBQXvORrZDV24GoA39wP9gumSewBDuhzvkZBDLgfBsTEzTxCpa2C34Or9pz4NsjIMf5Uc652NpmN6CGsC9yzs70TG7sSfGlDzk0wRaFCISdnnuJzCyDUjVX1RLoPXcxXPqzMwKbgQh33egmGrKz3KccosqOYK0B7RMrkaHZWtlgybbQEIl902zQ2wjCfz4FxqRydQ2eHqZtnGC8uZpUSHuZ-OXKgthlxgAmBnGw_0XVvsfzaPiO6Iya5HnwKlfUPomB-AS4lFhHQ3drLDzaRtGBFOwf7cIrJJYB2dgPP0ID2dN9ZvsOouXc1_V44lH1JH03bNdH3GqeTBwrcJjG8Rg7U5TQvnIe8xjhVYZdWzEuCTOW1-8v6bD1USWqRQoL0wnZH3oHYRNwsiDBuuM5XAJkUshr9_aGILpYeHEaYDpaiqiaLr7kRhz5t1jO2y_GlnJpmE1GyeMArC-VyfzGfBi1v9Qs6cfWyJIKDt_66iNwTWFhBKk7f_K21-ojuqHGGcO-d_c3uo-mFLGGbaM_o9eB2mhfiGD8HeJjIdnTghBIH7gTt0mlUhWJMbBwOm6xltLz7Kq4mOG3uamMX46H6kMFeWBgGeHY3UJ0x9c6NfB9Z6vZ5ErXd1JfkswNMd9wG62fKJNVx7q0qQeeEWtuTGRe4A7uEuOPWIF-gQk6972aJ4alksPLJrg7VUJikJFfZ8h0L_SUvwoTTExhgAwNNtTXebdFij0NwhLc0GzopJPsioNXJwbXAlWqXSx_DNTbYQqYIseCNyK61_fKEf2ME2xvHWZWiFxv_ZPJ_9AciRk66bLkBDJjZyduSilgO5CQfyn164iHdaYgOXnGRSaQqW8OSF2Rx1qxZGdiJzrCPzztdGwTOjhmQJlQH81gR5q35IxB_JXfCb7akjY-P0tvWK7PY3FcRkCveZVo1YqY3MudIK2D_whOhzIjV23I8YQ_iR_vAwjl841FhNU6h3BSq0qsGsp9mK_r9RQ6rjPgWZ8sT9Z4B1Jg4nXXRb1PPFlc7C2uAP1V3_rVk3DN3MrQZwWVy9zV5vD5ThuGOYIyEgQzSVVuI1RouGkERGPici251JBI0Do2M9zi3IyZpwH_A5p8tEqLn6KzcZTXD3jjtu2IsKEMPyKjk284S9Y70uYiFTQacGOOUUP4XALVPkQoQ3AqBzUELIbLqG7zn_FtNIAJLYBgmEpZt49RsbXfAlZLloOX48LZQi-ebXWHBCnDgH5Ze-9TobCyKJt8oFlFIG5ua-JAwP8FceigZjyUf9tuwoTOyNydlqxp7znqN589Rg3iPhiPQHCxR9hZTkIcw9qBb06Wdlx7nVADkYq2MbuBDV_1sFyg7K8J75jiJS_yEEA1Wggk9mXMZVpxK5Ur4k7zUbYW9FGjO_7CIezuYHPtEAPrkt7JtltcG3TCwh8oW87KHIrZdsEGGteEqRUsGo_LutjXBtbLFnh356iSN0s2nI3Gs_SMAoXDb5SM2k_3_KlhrV4zBfUsxT0N14b-GpRLgiAzYlrgyyIPJi-X4S4PNhD6qXSqmu5yfFxkfSDl9KxuCb3MGQqU3zkcjsA2Kpvw9slYZ246-IThspSCwmHPYI1qcm1DskOcfRzoUxJHu4wY4ggJ-hr2lWPVRY4me4AJrmCyeo4CMqnhiBmNgyHpsA3KabQg0GSkhq-bZuAT3GI4_-ioouFmG0YBbkA5wYQCS1p7Y4PlfIljBYaC_FzzbnrbVmNkX3McY77anuaarnsSK6wllRu0SPP9E9Mw6XFUWB7XRR45HVkzh93SvNk8Rh0ik8gr7w9b05z0tVzo79540LjGgHORAoRJSaY2U8gCqzDoaSUZEZtwQgBTfM2dfQP44MBLTXb8nUhUEVsjvU-Fcx9ob9q1e2YibK50SsQcT_h3bEf9E4kL38r42K3MyyKFMkqTYsYKim1mV8sINPOP8cCuaZSLvN7SViPVzQE3_SQqf4Y_BtuwH-OHAb5_tqWQi_6nVt21hKrqOUM8FntSvVA7vNC1BUPIVY-OUaUGYOavvmjFaqNPdINhDDH38G7ehob_0NS-d1G6CdIToTiGRWOZRHQNRZYWI6W8pFZRPk4WfhurjbGFDzZrK6-U4pAmfiwHoPDRnvJHHP9euIgKsLWTmmvi4Tcf2H6Y4V6Eljju83zj3OCQ6OO4ONDDPhxhk6TyO0hI_u-QGisoT4jYJWWtSqh8XV8ZBvPixwVWMMiEIgdVUWcOyrcSbKxc1M8q5N3OGzaCXTIXEYtYS2NWnURWmRlJAiPKTRKE9GnGM4-AOJYUhR8xeMi9Ow26rukaGY3MN25JbPxbdEKKbpO3vqWeyUO5pP0aAW_OM_DYsb_yhBAk-p9VKlH3ohpcPc1GyDL0rCFCWNJCSyCylXHP19TyZdZyz_uhnbGzEAmAWFlIWj_xj8p8o4Sz3DhPNvA3kq8BrT8rj3fZtLqawQYIFvUuT4p7aNNKznG5wqQU2OxlbCNKGWkdM9MpH85jbaLktZQzdtFSyXLCeMSIknz5_ZuIliC4hatkcS3RI_qwnoE7UYqJPtniNmMlgbENIztTVet7J-wVlqGz3x8KdpFVhJ2gihYLfzvJ1BmU3X06cUu1VHwKnSerV4KG0AopOEawv9fza5ea4W-s2GxrGa6Ydl-bKDjrbtV2CRb_WzHh6DHZuzoYq_ZGdHjSFYixA59kGeL2wKJW-E_8xkrxVjZMC7IC7eel_0vMjQEW6-thx0AM76qhYpg86iWfsG69B8LvtDAh2mpm3VARfubyPtG4MsLRy8t0q4uCAeQ6IXF9pS9Crxc2tCuvF-70abzcGebM_lMhiHbMyoAq_D61ktq0CW6ygxrmNyTJV0Avyz4EXHhsd61cnHa8R5mHZ4jbfhnrdWilX5SeTI34cO9JR_1oQM6Jg43XhU1fA9KotyfVFgcWn0uFB0FxkCgV12cilvK6xKlFxToVuW_BRS5DH7EeDMmE1GY3yNbhnoe-hNv21qewtmlYNXRkbMloAvKQxtr02pDC1FWsdGWLqnD6dSs3i6jc1Ff5uZAnZ4tECfxHlS2JyNu-e1osSu6rVSeqmMxJg5ySZXn8rTDVw_niE1dEvj-cpO-j5wdg9vlpxRZ3-m2XTV6xH3v6UYmnRLHcM6ouYQkcnZBdl0SK3UxI8XBi0TJNt4q3p7wfP6b97ggyOWkw3UEjfT8BR5WRA0-vhMgDm6SL8JLR3x2ry-VIfxnbUp9-b_wjsnW-kIHuYrs6GhPL-oNwWf4AzzBVrdclsvewK2_XTMbFjQa8qWOiMrUXQqkm7_NV-wPu0myoTGy_WR_GAV5iJ0_YItgj0SdNIkYUiFHQERLctiNlB4miHy6VOflZHcp0o5ytpakPrmblVDRSpVv1NzRbXzT3wsHRVUS-QG54bQTwihPa2f5WR0Qzz6Q2Y2rvWfiPh0KeBHjJT2ym_wvEbePkxWiPDMtR8I3xhWtlOK79Z10YHuxqhqYa_f-DbAfzgfkqPGL7Dgs9SZqjdM6kdEfu3uF_Yw==",
  "id": "rs_0f0aeae220085024016ab4210a47ec87d09e19a2fedeb055af",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCER1QdMBecjhHXybUsOjWRX8kFWiWjAQfETGd-KofbWVMBqGdP4K2TNII3xGD2U_aNE7IntXDr93OiAGnSJiOC3X_CD0NoF7sFoQxSJ2YzQ1SXfiNpsI-wUV9ap2yaqxrklGdxTt0viWp9w9CJ1peQPV6uLIAJTTPcf4o-7M6ZYB7-lrfEQA7gr7-sHSnmaefXC5gvkZ2wueTIxMM21uWhPi1oomc6kPH4D0nKXMval0cZ3yvqEkE0GaoUgHfiw7CgeGNckLgzhqBT95-uwVset7kbfVTvFBQzDhrX-t_Gb3UbpKOfXR6NpH6XlwITO2gglMyu223zkvHqcVr36DRPVoRIs3iJ6w9Lpf0lv23utXhQqHKO-Ydsa91kl8Y6tf-J1aYsX5A5_QYztFYNH-XXIIs7LEtMhUpgH3nifDkgvBkOZzvKImWWoaRCXMUaJ30gy9NGyQPNZIJiznOZsD4uSfHHEPN0TuOigj3mpOPnSdppnVAvRCM3dNe5EKFTK-7YrW0DIkD8cdb-Rpheb5iRF-OL18uNaQXwlHadUYAD5INsauzQQk9d4YGQuAuhUObBCkT8FEtIBeZSKN8-wCDw4l4BsyHfZhIz7BAmRSBsqnlQO_DqLZ3FUbGmdzFmL45zS2mFqDaDCkkTUPVxYwXOu7rDnmrulruqhgnrxIPBVyZit6csAafgEvZcsJQGoIyoq9necWQTJTcsODRDXrvOiKRBk6kh_u3AQCXmYkVfEXLjBTlmk_-irKjxNkAvLWrzUJQUPWKpktD9wmKfzXUxliVOlRznDkVnMJFfxtIdRrRfQRZigV1ztRFdW1d06kQY3m5jcCCG3a1lJ4Dt2zouCcM62CvZDFC_viU47B2yrXb_u6FeZm9_Ep1Pwqzq5eg0PdUsnBR_RWba9wEjWduzFqeYMsl8upfAvRcN-kjGJsYUNpGhJGFdjSd1afxJYYeUuz8qmtS9AAeASQ9B9lKD5pRSahm1uPPulmHmCtigIEGtMUSFlACNnIbQv1BI5NWBMI8olFcgwm-F5AeYKXKplwvClwiYB4HebadExOIOLkUa9kaaScg59WhqYoPH43D2pAag3jvRj1J3Yu8sj7hTtYQX33ArgLNbRzKzxWxbk6abhfsqhL_QAQxjL8FMPuTL9uPtlGsl3QQSe8J-u1iNsO4pEJKJr9NzzCmKIPcTCza0n97XzfsHjMauY1B_TPcNkZWwkg634oilgoAzoPKE5cJbihSI0TPDwcsA60DQAHfIe5qUZBDEfXqBg5jJ_uzRy4kFNVfTD9W6LRRg5t-b8h50RhBjYTE5rClF2V1WLvLJGcaitKW2CWDIgO6UTGnMTHxWmvKZxg3gtZJaqeCCm-APVNzA3OiSBvGF3DFrBYxWfrGY-6NjlclCzkb_TWEh8",
  "id": "rs_0f0aeae220085024016ab4210fdaf487d087751725c7c70d21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18},\"note\":\"The dark fruit appears to have bounced out to the far-left side of the blue bowl when the jaws opened. I’ll move the left arm away to get an unobstructed view of where it landed.\"}",
  "call_id": "call_Klge8J6hGeIXpKNLyOreCpRz",
  "id": "fc_0f0aeae220085024016ab421104a5087d0ada2dfc5eb4bf23e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Klge8J6hGeIXpKNLyOreCpRz",
  "output": [
    {
      "text": "executing move_to over 35 steps (3.5s)",
      "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]: [-0.1688, 1.0111, 0.8635, -0.6983, -0.2638, -0.0708, 0.9958, 0.1532, 1.2118, 1.0092, -0.984, 0.2562, -0.2474, 0.9973]\nstate[eef_state]: left_x=0.2948 left_y=0.0001 left_z=0.179 left_yaw=0.1025 left_pitch=-0.2466 left_roll=0.1715 left_gripper=0.9958 right_x=0.2727 right_y=0.0004 right_z=0.1454 right_yaw=0.0349 right_pitch=-0.6289 right_roll=-0.3953 right_gripper=0.9973\nstate[joint_eff]: [0.1573, -3.2889, 6.5983, 1.536, 0.0464, 0.2027, 0.0562, 0.1026, -4.6017, 6.2701, 1.1258, 0.1197, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f90f4e9863e4ca115f61c2f813cbc197d6f5116cde87ad4323d3d34fa1c382c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb77753c61c067105b2250c3ba33df05bcbf40904372b30d7df1a7e9671dcf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eae909e1d5ce54d9f84788a795bf1123c8b1b6f87f14330677dddf76d8c2b82",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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